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12th IEEE International Conference on control, automation and Information Sciences, ICCAIS 2023

作者： Do, Tuan Anh Le, Quang Nghia Nguyen, Thang Long Dich, Nguyen Quang Hoang, Phuong Vu Hanoi University of Science and Technology School of Electrical and Electronic Engineering Hanoi Viet Nam Hanoi University of Science and Technology Institute for Control Engineering and Automation Hanoi Viet Nam

ISBN: (纸本)9798350328783

Home battery storage systems using Second-life time batteries (SLBs) are of recent research interest for resilient homes. The AC Battery is chosen for this application due to its flexibility, in which the Interleaved Full Bridge (IFB) converter is studied in this paper for the Power Correction Factor (PFC) stage. The pulse width modulation and control strategy are introduced for the IFB converter in this research. To verify the operation and the feasibility of the proposed structure in the grid-tied mode, a real-time simulation is carried out with the results meeting a good agreement with the theoretical analyst. © 2023 IEEE.

关键词： Electric power factor correction

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Typical Scene Material Classification Based on Remote Sensing Image Data 12

Typical Scene Material Classification Based on Remote Sensin...

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SPIE 12th International Symposium on Multispectral Image Processing and Pattern Recognition, MIPPR 2023

作者： Gao, Yang Dai, Ling Li, Haipeng Zhang, Yini Wang, Feng Beijing Aerospace Automatic Control Institute Beijing100854 China School of Electrical and Automation Engineering Nanjing Normal University Jiangsu Nanjing210023 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Hubei Wuhan430074 China

ISBN: (数字)9781510675001

ISBN: (纸本)9781510674998

In spectral scene simulation applications, it is necessary to recognize and detect desert satellite images and satellite images containing water. However, previous network models such as AlexNet, VggNet, and GoogleNet have gradually fallen behind the trend of the times. Compared with the latest network models, they not only have slow training speeds but also do not achieve high accuracy. Therefore, this study adopts a series of the latest network models to solve this problem and compare and analyze the results. © 2024 SPIE.

关键词： Semantic Segmentation

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Trajectory control of Multi-Axis Robotic Arms Based on Physics-Informed Neural Networks and Nonlinear Model Predictive control

Trajectory Control of Multi-Axis Robotic Arms Based on Physi...

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2024 China automation Congress, CAC 2024

作者： Wang, Yiqing Xia, Changqing Jin, Xi Xu, Chi Zhang, Yanzhu School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350368604

Multi-axis robotic arms are extensively utilized in intelligent manufacturing scenarios, with trajectory control in flexible scenarios constituting a primary challenge. Physics-Informed Neural Networks (PINNs) represent advanced methods that integrate physical laws with data-driven approaches. Despite their outstanding performance in integrating theory and data, research on their application for controlling robotic arms in complex scenarios remains limited. This paper establishes a nonlinear dynamic model based on the physical relationships between the axes of robotic arms. In the absence of prior data, Sobol sequence random sampling is employed to generate data, which are subsequently trained using PINNs. Considering system noise, the Extended Kalman Filter (EKF) is utilized to predict the next state in noisy environments, and Nonlinear Model Predictive control (NMPC) is implemented to control the robotic arm for trajectory tracking, achieving real-time control. Simulation results demonstrate that the proposed Discrete Physics-Informed Predictive control (DPIPC) method exhibits smaller position and velocity errors with less fluctuation compared to the method in the reference, indicating superior control capabilities. © 2024 IEEE.

关键词： Extended Kalman filters

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Dynamic Blockchain-Empowered Trustworthy End-Edge Collaborative Computing via Rotating Multi-Agent DRL

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IEEE Transactions on Wireless Communications 2025年第6期24卷 4864-4878页

作者： Xu, Chi Zhang, Peifeng Yu, Haibin Li, Yonghui Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China University of Chinese Academy of Sciences Beijing China University of Sydney School of Electrical and Information Engineering Sydney Australia

Blockchain-empowered end-edge collaborative computing is a promising technology for enhancing the timeliness and trustworthiness of Industrial Internet of Things (IIoT). However, integrating task offloading with blockchain consensus inevitably escalates resource consumption across communication, computation, and energy domains. Thus, the joint optimization of task offloading, resource allocation and blockchain consensus is very important for IIoT. This paper studies a general end-edge collaborative computing scenario with multiple end devices and multiple edge servers. We first propose a novel dynamic blockchain (DBC) scheme by developing a dynamic leader election mechanism and designing a dynamic consensus waiting time window. Then, by fully considering the constraints of multi-task size and deadline, communication bandwidth, computing frequency, battery capacity, Byzantine fault tolerant and trustworthiness, we formulate the trustworthy processing efficiency (TPE) maximization problem with respect to end-edge task division, communication and computation resource allocation, leader election and consensus waiting window. To address this problem, we transform it into a Markov decision process and design a compound reward by fully considering the penalty for computing timeout and consensus failure. After that, we propose a rotating multi-agent deep reinforcement learning (R-MADRL) algorithm tailored to the proposed DBC scheme, where an entropy-based dual-critic DRL algorithm is proposed for rotating multi-agent training and decentralized execution. Extensive experiments validate the effectiveness and superiority of the proposed DBC with R-MADRL, where three benchmark DRL algorithms and three blockchain consensus schemes are compared. The results demonstrate that R-MADRL achieves stable convergence with more than 60.32% TPE reward than other algorithms while the task timeout ratio of DBC is reduced by more than 66.49% compared with other schemes. © 2025 institute of El

关键词： Markov processes

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Accurate RGB-D SLAM in dynamic environments based on dynamic visual feature removal

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Science China(Information Sciences) 2022年第10期65卷 256-269页

作者： Chenxin LIU Jiahu QIN Shuai WANG Lei YU Yaonan WANG Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center College of Electrical and Information Engineering Hunan University National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University

Visual localization is considered an essential capability in robotics and has attracted increasing interest for the past few years. However, most proposed visual localization systems assume that the surrounding environment is static, which is difficult to maintain in real-world scenarios due to the presence of moving objects. In this paper, we present DFR-SLAM, a real-time and accurate RGB-D SLAM based on ORB-SLAM2 that achieves satisfactory performance in a variety of challenging dynamic scenarios. At the core of our system lies a motion consensus filtering algorithm estimating the initial camera pose and a graph-cut optimization framework combining long-term observations, prior information, and spatial coherence to jointly distinguish dynamic and static visual features. Other systems for dynamic environments detect dynamic components by using the information from short time-span frames, whereas our system uses observations from a long period of keyframes. We evaluate our system using dynamic sequences from the public TUM dataset, and the evaluation demonstrates that the proposed system outperforms the original ORB-SLAM2 system significantly. In addition, our system provides competitive localization accuracy with satisfactory real-time performance compared to closely related SLAM systems designed to adapt to dynamic environments.

关键词： SLAM dynamic environments indoor localization graph-cut robot navigation

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SAR performance-based fault diagnosis for electrohydraulic control system:A novel FDI framework for closed-loop system

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Chinese Journal of Aeronautics 2022年第10期35卷 381-392页

作者： Yang ZHANG Shaoping WANG Jian SHI Xinyu YANG Jiarui ZHANG Xi WANG School of Energy and Power Engineering Beihang UniversityBeijing 100191China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Institute for Automatic Control and Complex Systems(AKS) University of Duisburg-EssenDuisburg 47057Germany

Model-based fault diagnosis serves as an efficient and powerful technique in addressing fault detection and isolation(FDI)issues for control ***,the standard methods and their modifications still encounter some difficulties in algorithm design and application for complex higher-order *** avoid these difficulties,a novel fault diagnosis framework based on multiple performance indicators of closed-loop control system is *** this framework,a socalled performance residual vector is constructed to measure the differences between the real system and the nominal model in terms of system stability,accuracy,and rapidity(SAR)*** criteria for quantification,normalization of the SAR residuals and the explicit mappings between the thresholds and the required performance are *** can be easily achieved simultaneously by monitoring the normalized residual vector length and direction in the SAR performance residual space.A case study on electro-hydraulic servo control system of turbofan engine is adopted to demonstrate the effectiveness of the proposed method.

关键词： Electro-hydraulic servo valve(EHSV) Fault diagnosis Fuel metering unit Performance degradation Performance residual Stability,accuracy,and rapidity(SAR)

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Spacecraft Integrated Pose Determination with Unknown Noise Covariances

Spacecraft Integrated Pose Determination with Unknown Noise ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Chen, Hang Hu, Qinglei Wu, Huai-Ning Duan, Chao Chen, Bin Zhang, Peng School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Beihang Hangzhou Innovation Institute Yuhang Hangzhou310023 China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Peng Cheng Laboratory Shenzhen518000 China Beijing Institute of Control Engineering Beijing100094 China

ISBN: (纸本)9789811966125

A novel robust unscented Kalman filter (UKF) is developed for orbiting spacecraft pose determination without knowing prior noise statistical characteristics by using dual quaternion formulation. First, an adjustment coefficient multiplied by a predesigned positive definite matrix is updated iteratively for the process noise covariance adaptation and the moving window of the measurement innovation are adopted for the measurement noise covariance estimation. Then, the adaptation method is incorporated into the dual-quaternion-based UKF procedure where the dual modified Rodrigues parameters (MRPs) are adopted for sigma points description to avoid violating the quaternion normalization constraint. Finally, the effectiveness and practical usefulness of the developed algorithm are verified via numerical simulation examples. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Covariance matrix

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Terahertz Spectroscopic Characterization and Thickness Evaluation of Internal Delamination Defects in GFRP Composites

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Chinese Journal of Mechanical engineering 2023年第1期36卷 190-210页

作者： Walter Nsengiyumva Shuncong Zhong Manting Luo Bing Wang Fujian Provincial Key Laboratory of Terahertz Functional Devices and Intelligent Sensing School of Mechanical Engineering and AutomationFuzhou UniversityFuzhou350108China Institute of Precision Instrument and Intelligent Measurement&Control Fuzhou UniversityFuzhou350108P.R.China School of Mechanical and Electrical Engineering Putian UniversityPutian351100China

The use of terahertz time-domain spectroscopy(THz-TDS)for the nondestructive testing and evaluation(NDT&E)of materials and structural systems has attracted significant attention over the past two decades due to its superior spatial resolution and capabilities of detecting and characterizing defects and structural damage in non-conducting *** this study,the THz-TDS system is used to detect,localize and evaluate hidden multi-delamination defects(i.e.,a three-level multi-delamination system)in multilayered GFRP composite *** obtain accurate results,a wavelet shrinkage de-noising algorithm is used to remove the noise from the measured time-of-flight(TOF)*** thickness and location of each delamination defect in the z-direction(i.e.,through-the-thickness direction)are calculated from the de-noised TOF signals considering the interaction between the pulsed THz waves and the different interfaces in the GFRP composite laminates.A comparison between the actual and the measured thickness values of the delamination defects before and after the wavelet shrinkage denoising process indicates that the latter provides better results with less than 3.712%relative error,while the relative error of the non-de-noised signals reaches 16.388%.Also,the power and absorbance levels of the THz waves at every interface with different refractive indices in the GFRP composite laminates are evaluated based on analytical and experimental *** present study provides an adequate theoretical analysis that could help NDT&E specialists to estimate the maximum thickness of GFRP composite materials and/or structures with different interfaces that can be evaluated by the ***,the accuracy of the obtained results highlights the capabilities of the THz-TDS for the NDT&E of multilayered GFRP composite laminates.

关键词： Glass-fiber-reinforced polymer-matrix(GFRP)composites Terahertz time-domain spectroscopy(THz-TDS) Nondestructive testing and evaluation(NDT&E) Stationary wavelet transform(SWT) Thickness evaluation Delamination defects

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Single-ended protection method for hybrid HVDC transmission line based on transient voltage characteristic frequency band

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Protection and control of Modern Power Systems 2023年第2期8卷 207-217页

作者： Hongchun Shu Shixin Wang Shunguang Lei Yunnan Key Laboratory of Green Energy Electric Power Measurement DigitalizationControl and ProtectionKunming University of Science and TechnologyKunming 650500Yunnan ProvinceChina School of Electrical Engineering and Automation Harbin Institute of TechnologyHarbin 150001Heilongjiang ProvinceChina

Hybrid high-voltage direct current(HVDC)transmission has the characteristic of long transmission distance,complex corridor environment,and rapid fault evolution of direct current(DC)*** high fault current can easily cause irreversible damage to power devices,rapid and reliable line protection and isolation are necessary to improve the security and reliability of hybrid HVDC transmission *** address such requirement,this paper proposes a single-ended protection method based on transient voltage frequency band ***,the frequency characteristics of the smoothing reactor,DC filter,and DC line are analyzed,and the characteristic frequency band is defined.A fault criterion is then constructed based on the voltage characteristic frequency band energy,and faulty pole selection is performed according to the fault voltage characteristic frequency band energy *** proposed protection method is verified by simulation,and the results show that it can rapidly and reliably identify internal and external faults,accurately select faulty poles without data communication synchronization,and has good fault-resist-ance and anti-interference performance.

关键词： Boundary frequency characteristics Characteristic frequency band Hybrid HVDC Single-end protection Transient voltage

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