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15th International Conference Management of Large-Scale System Development, MLSD 2022

作者： Fominykh, Dmitry Fuchedzhi, Nikolai Kushnikov, Oleg Laboratory of System Problems of Control and Automation in Mechanical Engineering Institute for Precision Mechanics and Control Problems of Ras Saratov Russia V.A. Trapeznikov Institute of Control Sciences of Ras Moscow Russia

ISBN: (数字)9781665497015

ISBN: (纸本)9781665497015

The article proposes an algorithm for solving the problem of controlling the welding process in robotic technological complexes according to the quality criterion of the products. The statement of the problem is given and the model of system dynamics by J. Forrester is considered. Welding quality indicators in robotic complexes were used as system levels. Functional dependencies are taken by using the mathematical apparatus of artificial neural networks, in particular, radial basis functions that allow for rigid interpolation. The introduction of the models and algorithms discussed in the article will improve the quality of products using robotic technological complexes. © 2022 IEEE.

关键词： Robotics

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Specific-Time Unknown Input Observer for Lur'e System

Specific-Time Unknown Input Observer for Lur'e System

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2023 International Conference on Neuromorphic Computing, ICNC 2023

作者： Chao, Chengke Huang, Shengchao Lv, Yuezu Shan, Dan Beijing Institute of Technology School of Automation Beijing China Advanced Research Institute of Multidisciplinary Science Beijing Institute of Technology Beijing China Shenyang Jianzhu University School of Electrical and Control Engineering Liaoning China

ISBN: (纸本)9798350316889

This paper investigates the problem of specific-time state estimation for Lur'e systems with unknown inputs. By analyzing nonlinear Lur'e systems, sufficient conditions for the design of unknown input observers are provided. Then, a specific-time observer is designed, with convergence analysis illustrated. The main advantage of the designed observer can realize accurate estimation of Lur'e system in specific time. Finally, a simulation example of the third-order Chua's circuit is conducted to verify the validity of the proposed specific-time unknown input observer. © 2023 IEEE.

关键词： lur'e systems specific-time observer unknown input observer

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Investigation on Synchronization of Two Identical Class of Chaotic Systems Using Back-Stepping control Technique in the Presence of Time Delays 9

Investigation on Synchronization of Two Identical Class of C...

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9th International Conference on control, Decision and Information Technologies, CoDIT 2023

作者： Bora, Riddhi Mohan Sharma, Bharat Bhushan Dey, Bhabani Shankar Kar, Indra Narayan Indian Institute of Technology Delhi Control and Automation Group Electrical Engineering Department Hauz Khas New Delhi110016 India National Institute of Technology Hamirpur Department of Electrical Engineering Himachal Pradesh Hamirpur177005 India

ISBN: (纸本)9798350311402

Time delay analysis is very crucial when it comes to the synchronization of chaotic systems. All practical dynamical systems are described by differential equations, hence the presence of time delay in dynamics becomes a pivotal part of the system analysis. So, in this article, an attempt has been made to study the synchronization problem of two identical same-ordered time-delayed chaotic systems, in strict-feedback form as described in (2) and (3) in master and slave configuration. Unlike other conventional nonlinear control techniques, the back-stepping control design strategy is used to serve the purpose of synchronization. The main advantage of using the back-stepping control technique is that it utilizes only a single scalar controller to attain synchronization among different chaotic systems. A generalized control function u∈ R is designed for the same. For verification of the theoretical results, the 3D time-delayed Genesio-Tesi chaotic system is considered both a master and slave system. Simulation results are provided to support the proposition. © 2023 IEEE.

关键词： Chaotic systems

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A DAOs-Based Publishing System for Advancing Open Access 4

A DAOs-Based Publishing System for Advancing Open Access

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4th IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2024

作者： Ma, Siji Li, Juanjuan Guan, Sangtian Ni, Qinghua Lin, Fei Zhang, Tengchao Huang, Jun Wang, Fei-Yue Macau University of Science and Technology Faculty of Innovation Engineering 999078 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Institute of Automation Beijing100190 China

ISBN: (纸本)9798350349252

The development of the scientific publishing system has remarkably enhanced global accessibility to research findings and substantially increased the visibility and dissemination of academic publications. However, significant challenges still exist in effectively safeguarding the intellectual property rights of contributors, such as the unauthorized usage of materials, the complexity of enforcing intellectual property rights across various legal jurisdictions, and high instances of plagiarism and content misuse. Additionally, financial barriers related to open access may restrict the participation of economically disadvantaged researchers, potentially biasing scientific records towards more affluent research initiatives. To address these issues, a novel decentralized framework is formulated to ensure truly open access. This framework leverages blockchain for immutable record-keeping and clear attribution of authorship, to prevent unauthorized usage and plagiarism. Besides, it also utilizes a copyright-sharing model based on decentralized autonomous organizations and operations (DAOs), where smart contracts automatically enforce copyright and access policies to ensure fair compensation for authors and researchers. Furthermore, the copyright sharing model based on non-fungible tokens (NFT) and gradual ownership optimization (GOO) mechanism is proposed to ensure fair and accurate recognition and compensation for scholarly contributions. © 2024 IEEE.

关键词： Decentralized finance

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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The Algorithm of Searching for Critical Combinations of Events During the Welding Process in Robotic Technological Complexes 15

The Algorithm of Searching for Critical Combinations of Even...

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15th International Conference Management of Large-Scale System Development, MLSD 2022

作者： Fominykh, Dmitry Baryshnikova, Elena Antipin, Sergei Institute for Precision Mechanics and Control Problems of Ras Laboratory of System Problems of Control and Automation in Mechanical Engineering Saratov Russia V.A. Trapeznikov Institute of Control Sciences of Ras Moscow Russia

ISBN: (数字)9781665497015

ISBN: (纸本)9781665497015

The models and the algorithms for control the welding process in robotic complexes are considered under conditions of occurrence risk of critical combinations of events leading to emergency situations. Using the apparatus of dynamic graphs, the previously developed approach was modified by synthesizing and further analyzing new edges of the activities graph © 2022 IEEE.

关键词： Robotics

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Augmenting Vision with Radar for All-weather Geo-localization without a Prior HD Map

Augmenting Vision with Radar for All-weather Geo-localizatio...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Can Dong Ziyang Hong Siru Li Liang Hu Huijun Gao Department of Automation School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Department of Control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Accurate and robust geo-localization in all-weather conditions is essential for enabling autonomous vehicles and delivery robots to offer uninterrupted mobility services in the real world. In this paper, we propose the first camera and radar fusion based geo-localisation method that is robust to all-weather conditions. The core of the proposed method is to leverage the rich semantics information in images and sensing consistency in radars across all-weather. Our proposed method surpasses the state of the art camera-based and LiDAR-camera based methods in inclement weather conditions, shown by extensive comparative experiments. Notably, our approach requires only an open accessible map, eliminating the need for high-definition maps and offering a cost-effective solution for geo-localizing or globally localizing autonomous vehicles in any weather condition. Our code and trained model will be released publicly.

关键词： Accuracy Robot vision systems Radar Radar imaging Cameras Feature extraction Sensor systems Sensors Autonomous vehicles Meteorology

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Simulation Research on Generalized Proportional Integral Observer Based Active Disturbance Rejection control for Coarse Pointing Assembly 8

Simulation Research on Generalized Proportional Integral Obs...

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8th International Conference on Electrical, Mechanical and Computer engineering, ICEMCE 2024

作者： Ma, Jijun Guo, Yulong Wang, YuNing Shi, Yongkang Beijing Research Institute of Telemetry Beijing100074 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China Research Institute of Telemetry Beijing China

ISBN: (纸本)9798331506230

The coarse pointing assembly (CPA), as the outer loop of the laser terminal, its tracking stability is the basis for ensuring laser communication. This paper presents the model of the CPA. Aiming at the disturbance factors in the low-speed operation process of the CPA, an active disturbance rejection control (ADRC) method for the position loop of the CPA is designed based on the generalized proportional integral observer (GPIO) to achieve disturbance compensation control. Finally, simulations are carried out on the system model. The simulation results show that compared with the PID control strategy adopted, the proposed ADRC strategy based on GPIO of the CPA can effectively improve the tracking accuracy. © 2024 IEEE.

关键词： Disturbance rejection

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Modeling and analysis of the influence of air gap structure size on the churning loss in wet-type permanent magnet synchronous motors

Modeling and analysis of the influence of air gap structure ...

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2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Cheng, Yunkai Li, Shuanglu Lin, Jionghui Liu, Zhicheng Jiang, Chaofan Zhang, Xinbin Yu, Tian Tianmushan Laboratory Hangzhou China Shanghai Aerospace Control Technology Research Institute Shanghai China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China Ningbo Institute of Technology Beihang University Ningbo China

Wet-type permanent magnet synchronous motors (WTPMSM) are extensively utilized to meet the power density requirements of electro-hydrostatic actuators (EHA), which are widely used in modern aircraft control systems. These motors are valued for their superior thermal performance and compact design. However, WTPMSM face a key challenge in the form of oil churning loss, especially within narrow air gaps. This churning loss can significantly impact the motor's performance and efficiency. In this paper, an analytical model has been established and computational fluid dynamics (CFD) has been employed to simulate the internal flow of the motor, thereby predicting the churning loss. The paper also investigates churning loss caused by the thread air gap in the wet motor, examining the effects of thread geometry, size, and motor speed on churning loss. Strategies such as optimizing thread design and adjusting operational parameters are proposed to mitigate churning losses. In summary, churning loss of WTPMSM is significantly influenced by the thickness of the air gap and the depth of the threads. These findings provide guidance for the design of electric motors. Future research should delve deeper into the specific impacts of various design parameters on churning losses and explore methods to reduce churning losses through enhanced motor design. © The Institution of engineering & Technology 2024.

关键词： Computational fluid dynamics

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Pavement Cracks Coupled With Shadows:A New Shadow-Crack Dataset and A Shadow-Removal-Oriented Crack Detection Approach

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IEEE/CAA Journal of Automatica Sinica 2023年第7期10卷 1593-1607页

作者： Lili Fan Shen Li Ying Li Bai Li Dongpu Cao Fei-Yue Wang School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China School of Civil Engineering Tsinghua UniversityBeijing 100084China School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body and the College of Mechanical and Vehicle Engineering Hunan UniversityChangsha 410082China School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Automatic pavement crack detection is a critical task for maintaining the pavement stability and driving *** task is challenging because the shadows on the pavement may have similar intensity with the crack,which interfere with the crack detection *** to the present,there still lacks efficient algorithm models and training datasets to deal with the interference brought by the *** fill in the gap,we made several contributions as ***,we proposed a new pavement shadow and crack dataset,which contains a variety of shadow and pavement pixel size *** also covers all common cracks(linear cracks and network cracks),placing higher demands on crack detection ***,we designed a two-step shadow-removal-oriented crack detection approach:SROCD,which improves the performance of the algorithm by first removing the shadow and then detecting *** addition to shadows,the method can cope with other noise ***,we explored the mechanism of how shadows affect crack *** on this mechanism,we propose a data augmentation method based on the difference in brightness values,which can adapt to brightness changes caused by seasonal and weather ***,we introduced a residual feature augmentation algorithm to detect small cracks that can predict sudden disasters,and the algorithm improves the performance of the model *** compare our method with the state-of-the-art methods on existing pavement crack datasets and the shadow-crack dataset,and the experimental results demonstrate the superiority of our method.

关键词： Automatic pavement crack detection data augmentation compensation deep learning residual feature augmentation shadow removal shadow-crack dataset

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