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IEEE International Conference on robotics and automation (ICRA)

作者： Tom P. Huck Yuvaraj Selvaraj Constantin Cronrath Christoph Ledermann Martin Fabian Bengt Lennartson Torsten Kröger Intelligent Process Automation and Robotics Lab Institute of Anthropomatics and Robotics (IAR-IPR) Karlsruhe Institute of Technology India Department of Electrical Engineering Division of Systems and Control Chalmers University of Technology Gothenburg Sweden

Safety critical systems are typically subjected to hazard analysis before commissioning to identify and analyse potentially hazardous system states that may arise during operation. Currently, hazard analysis is mainly based on human reasoning, past experiences, and simple tools such as checklists and spreadsheets. Increasing system complexity makes such approaches decreasingly suitable. Furthermore, testing-based hazard analysis is often not suitable due to high costs or dangers of physical faults. A remedy for this are model-based hazard analysis methods, which either rely on formal models or on simulation models, each with their own benefits and drawbacks. This paper proposes a two-layer approach that combines the benefits of exhaustive analysis using formal methods with detailed analysis using simulation. Unsafe behaviours that lead to unsafe states are first synthesised from a formal model of the system using Supervisory control Theory. The result is then input to the simulation where detailed analyses using domain-specific risk metrics are performed. Though the presented approach is generally applicable, this paper demonstrates the benefits of the approach on an industrial human-robot collaboration system.

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RESIDUAL LIFE PREDICTION OF LITHIUM BATTERY BASED ON IMPROVED MULTI-OPTIMIZATION ALGORITHM AND SUPPORT VECTOR REGRESSION 14

RESIDUAL LIFE PREDICTION OF LITHIUM BATTERY BASED ON IMPROVE...

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14th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2024

作者： Tao, Yulong Wang, Jun Wang, Kai School of Computer Science and Technology Shenyang University of Chemical Technology Shenyang China Key Laboratory of Intelligent Technology for Chemical Process Industry Liaoning Province Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Robotics and Artificial Intelligence Manufacturing Innovation Institute Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781837242672

The lithium-ion battery is increasingly critical in the fields of electric vehicles and sustainable energy. Accurate prediction of the Remaining Useful Life (RUL) of lithium-ion batteries is essential to mitigate risks and minimize potential losses. This paper introduces a novel fusion algorithm, FPSOGWO, which combines Particle Swarm Optimization (PSO) and Grey Wolf Optimization (GWO) with an enhanced Circle chaos strategy and a random adaptive weighting strategy. The FPSOGWO algorithm, integrated with Support Vector Regression (FPSOGWO-SVR), was utilized to predict the RUL of health factors in lithium batteries. Compared to other optimization algorithms, FPSOGWO exhibits superior optimization speed and value, effectively overcoming issues of local optimality. Specifically, when benchmarked against the Whale Optimization Algorithm-SVR (WOA-SVR), the R-Square values of FPSOGWO-SVR showed improvements of 15.62%, 1.28%, 5.67%, and 10.65% across four different types of batteries. Experimental results demonstrate that FPSOGWO-SVR provides more accurate RUL predictions for lithium batteries, highlighting its potential for broader application in battery health management systems. © The Institution of Engineering & Technology 2024.

关键词： Support vector regression

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Finite-time asynchronous dissipative filtering of conic-type nonlinear Markov jump systems

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Science China(Information Sciences) 2021年第5期64卷 151-162页

作者： Xiang ZHANG Shuping HE Vladimir STOJANOVIC Xiaoli LUAN Fei LIU Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil EngineeringUniversity of Kragujevac Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University

In the present study, the finite-time asynchronous dissipative filter design problem for the Markov jump systems with conic-type nonlinearity is studied. The hidden Markov model can describe the asynchronism embodied in the system modes and the filter modes reasonably. Moreover, a suitable LyapunovKrasovskii function is utilized and linear matrix inequalities are applied to obtain adequate conditions. These techniques guarantee the finite-time boundedness and strict dissipativity of the filtering error dynamic system. Furthermore, the design problems of the passive filter and the H∞ filter are studied by adjusting the three parameters U, G and V. Finally, the filter gains and the optimal index α*are obtained and the correctness and feasibility of the designed approach are verified by a simulation example.

关键词： dissipative filtering hidden Markov model finite-time boundedness Markov jump systems conic-type nonlinearity

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Distributed Optimization by Network Flows with Spatio-Temporal Compression

arXiv

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arXiv 2024年

作者： Ren, Zihao Wang, Lei Yi, Xinlei Wang, Xi Yuan, Deming Yang, Tao Wu, Zhengguang Shi, Guodong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China College of Electronics and Information Engineering Tongji University China School of Electrical Engineering Telecommunications University of New South Wales Sydney Australia School of Automation Nanjing University of Science and Technology China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University China Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney SydneyNSW2006 Australia

Several data compressors have been proposed in distributed optimization frameworks of network systems to reduce communication overhead in large-scale applications. In this paper, we demonstrate that effective information compression may occur over time or space during sequences of node communications in distributed algorithms, leading to the concept of spatio-temporal compressors. This abstraction classifies existing compressors as spatio-temporal compressors, with their effectiveness described by constructive stability criteria from nonlinear system theory. Subsequently, we apply these spatio-temporal compressors to standard continuous-time consensus flows and distributed prime-dual flows, establishing conditions ensuring convergence. Additionally, we introduce a novel observer-based distributed primal-dual continuous flow integrated with spatio-temporal compressors, which provides broader convergence conditions. These continuous flows achieve exponential convergence to the global optimum when the objective function is strongly convex and can be discretized using Euler approximations. Finally, numerical simulations illustrate the versatility of the proposed spatio-temporal compressors and verify the convergence of algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Stability criteria

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Research on Target Detection Method Based on Improved YOLOv5 19th

Research on Target Detection Method Based on Improved YOLOv5

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19th International Conference on Web Information Systems and Applications, WISA 2022

作者： Wang, Rongzhuang Liu, Jun Zhang, Hualiang School of Computer Science and Technology Shenyang University of Chemical Technology Shenyang110142 China Liaoning Key Laboratory of Intelligent Technology for Chemical Process Industry Shenyang110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9783031203084

At present, various target detection algorithms are used in detection and classification. It is a problem to improve the accuracy and speed of target detection by using deep learning and neural network model to train the parameters of the data set. Aiming at the problems of insufficient detection, inaccurate detection of complex background and loss of small target feature information in yolov5 target detection, an improved method combining hole convolution, moving exponential average and retraining of positive samples is proposed in this paper. This method effectively solves the problems of complex background, occlusion and incomplete feature extraction, reduces the loss rate of target features, and improves the detection accuracy of each category. The improved yolov5 target detection algorithm in this paper can not only use multi feature fusion and accelerate positive sample matching, but also use cavity convolution to increase receptive field, improve the detection effect of small targets and reduce the occurrence of missed detection and false detection. Experiments show that the improved yolov5 algorithm has better detection rate and lower loss rate than many existing target detection algorithms. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Convolution

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Distributed Functional Safety for Modular process Plants

Distributed Functional Safety for Modular Process Plants

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Anselm Klose Florian Pelzer Mike Barth Rainer Drath Rainer Oehlert Silvia Vélez León Alexander Horch Christoph Kotsch Jochen Knab Bernhard Gut Hartmut Manske Leon Urbas Process Control Systems & Process Systems Engineering TU Dresden Dresden Germany Research Training Group 2323 TU Dresden Dresden Germany IoS³ - Institute of Smart Systems and Services Pforzheim University Pforzheim Germany Retired Process Engineering & Automation The Dow Chemical Company Stade Germany Dept. Global Consulting HIMA Paul Hildebrandt GmbH Brühl Germany R. D. & Product Management HIMA Paul Hildebrandt GmbH Brühl Germany Control Systems Technology BASF SE Ludwigshafen Germany Engineering Services Merck KGaA Darmstadt Germany Retired Electrical Engineering for Process Automation Endress+Hauser Germany Automation and Robotics Merck KGaA Darmstadt Germany

ISBN: (数字)9781728189567

ISBN: (纸本)9781728189574

Modular process plants enable the process industry to adapt to volatile and fluctuating markets. The preferred process technology concept for these market scenarios is realized through combining pre-engineered process equipment assemblies (PEA) from different manufacturers with standardized interfaces. While the flexibility gain for this type of plants is high, the design of the safety systems of these modular plants in terms of exchangeability and compatibility is challenging. One solution could be the development of a safety-interface for PEAs to create flexible and scalable safety systems. The principles of modular basic process control are analyzed and requirements with respect to safety design are discussed. The authors provide a differentiation of the intramodular safety concept of a single PEA from the intermodular safety concept of a complete modular plant. A concept for safe and modular interaction of PEAs in a modular plant is developed and additionally validated on a basic demonstrator. Finally, from these findings, standardization requirements are provided and aspects for further research are pointed out.

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Thermometry of photosensitive and optically induced electrokinetics chips

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Microsystems & Nanoengineering 2018年第1期4卷 190-198页

作者： Feifei Wang Lianqing Liu Gongxin Li Pan Li Yangdong Wen Guanglie Zhang Yuechao Wang Gwo-Bin Lee Wen Jung Li State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences110016 ShenyangChina University of Chinese Academy of Sciences 100049 BeijingChina Shenzhen Academy of Robotics 518057 ShenzhenChina Key Laboratory of Advanced Process Control for Light Industry of the Ministry of Education Institute of AutomationJiangnan University214122 WuxiChina Department of Power Mechanical Engineering National Tsing Hua University30013 HsinchuTaiwan Department of Mechanical and Biomedical Engineering City University of Hong KongKowloon TongHong KongChina

Optically induced electrokinetics(OEK)-based technologies,which integrate the high-resolution dynamic addressability of optical tweezers and the high-throughput capability of electrokinetic forces,have been widely used to manipulate,assemble,and separate biological and non-biological entities in parallel on scales ranging from micrometers to ***,simultaneously introducing optical and electrical energy into an OEK chip may induce a problematic temperature increase,which poses the potential risk of exceeding physiological conditions and thus inducing variations in cell behavior or activity or even irreversible cell damage during ***,we systematically measure the temperature distribution and changes in an OEK chip arising from the projected images and applied alternating current(AC)voltage using an infrared *** have found that the average temperature of a projected area is influenced by the light color,total illumination area,ratio of lighted regions to the total controlled areas,and amplitude of the AC *** an example,optically induced thermocapillary flow is triggered by the light image-induced temperature gradient on a photosensitive substrate to realize fluidic hydrogel *** studies show that the projected light pattern needs to be properly designed to satisfy specific application requirements,especially for applications related to cell manipulation and assembly.

关键词： exceeding illumination manipulation

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Temporal-spatial cross-correlation analysis of non-stationary near-surface wind speed time series

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Journal of Central South University 2017年第3期24卷 692-698页

作者： ZENG Ming LI Jing-hai MENG Qing-hao ZHANG Xiao-nei Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control （School of Electrical Automation and Information Engineering Tianjin University） Tianjin 300072 China

Temporal-spatial cross-correlation analysis of non-stationary wind speed time series plays a crucial role in wind field reconstruction as well as in wind pattern ***,the near-surface wind speed time series recorded at different locations are studied using the detrended fluctuation analysis(DFA),and the corresponding scaling exponents are larger than *** indicates that all these wind speed time series have non-stationary ***,concerning this special feature( i.e.,non-stationarity)of wind signals,a cross-correlation analysis method,namely detrended cross-correlation analysis(DCCA) coefficient,is employed to evaluate the temporal-spatial cross-correlations between non-stationary time series of different anemometer ***,experiments on ten wind speed data synchronously collected by the ten anemometers with equidistant arrangement illustrate that the method of DCCA cross-correlation coefficient can accurately analyze full-scale temporal-spatial cross-correlation between non-stationary time series and also can easily identify the seasonal component,while three traditional cross-correlation techniques(i.e.,Pearson coefficient,cross-correlation function,and DCCA method) cannot give us these information directly.

关键词： temporal-spatial cross-correlation near-surface wind speed time series detrended cross-correlation analysis （DCCA） cross-correlation coefficient Pearson coefficient cross-correlation function

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Sliding mode tracking control for miniature unmanned helicopters

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Chinese Journal of Aeronautics 2015年第1期28卷 277-284页

作者： Xian Bin Guo Jianchuan Zhang Yao Zhao Bo The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter＇s dynamic model is divided into two subsystems,such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles＇ dynamic effects and external disturbances. The global asymptotic stability（GAS） of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportionalintegral-derivative（PID） and linear-quadratic regulator（LQR） cascaded controller in the presence of wind gust disturbances.

关键词： unmanned sliding miniature compensate quadratic cascaded subsystem disturbance facilitate linearized

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