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American control Conference (ACC)

作者： Weijia Liu Lei Wang Fanghong Guo Zhengguang Wu Hongye Su Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China Department of Automation Zhejiang University of Technology Hangzhou China

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper studies the distributed least-squares optimization problem with differential privacy requirement of local cost functions, for which two differentially private distributed solvers are proposed. The first is established on the distributed gradient tracking algorithm, by appropriately perturbing the initial values and parameters that contain the privacy-sensitive data with Gaussian and truncated Laplacian noises, respectively. Rigorous proofs are established to show the achievable trade-off between the (E, 8)-differential privacy and the computation accuracy. The second solver is established on the combination of the distributed shuffling mechanism and the average consensus algorithm, which enables each agent to obtain a noisy version of parameters characterizing the global gradient. As a result, the least-squares optimization problem can be eventually solved by each agent locally in such a way that any given (E, 8)-differential privacy requirement can be preserved while the solution may be computed with the accuracy independent of the network size, which makes the latter more suitable for large-scale distributed least-squares problems. Numerical simulations are presented to show the effectiveness of both solvers.

关键词： Differential privacy Privacy Accuracy Laplace equations Gaussian noise Distributed databases Cost function

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Data Augmentation Integrated with Feature-Enhanced Convolutional Neural Network for Imbalanced Fault Diagnosis in Rolling Bearings 13

Data Augmentation Integrated with Feature-Enhanced Convoluti...

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13th IEEE Data Driven control and Learning systems Conference, DDCLS 2024

作者： Wang, Li Qu, Qilin Wang, Yanwei Wong, David Shan-Hill Zheng, Ying School of Artificial Intelligence and Automation Huazhong University of Science and Technology China -Belt and Road Joint Laboratory on Measurement and Control Technology Wuhan430074 China School of Mechanical & Electrical Engineering Wuhan Institute of Technology 693 Chuxiong Road Wuhan430073 China National Tsing-Hua University Department of Chemical Engineering Hsinchu30071 Taiwan

ISBN: (纸本)9798350361674

Imbalance in fault samples is a key problem with most rolling bearing datasets in real industrial processes, limiting the performance of fault detection. In addition, existing fault diagnosis methods for rolling bearings do not adopt a modular division between the initial layer and the classification layer. This lack of modularization inhibits the full activation of the network's feature extraction capabilities and impedes subsequent model improvements. In this paper, a novel fault diagnosis method based on data augmentation integrated with a feature-enhanced convolutional neural network (DA-FECNN) is proposed. First, Variational Autoencoder-Generative Adversarial Network (VAE-GAN) is utilized to expand the number of fault samples and improve the diversity of few-shot. Second, a uniform feature-enhanced structure is designed with a feature extraction module, a multi-scale classification module, and a reconstruction module. The network's ability on feature extraction is improved by focusing on high quality features. Thereby, accurate fault classification is realized simultaneously. Experiments on real world data show the effectiveness of the proposed method on fault diagnosis task. © 2024 IEEE.

关键词： Convolutional neural networks

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Multi-Timescale Trading Strategy for Renewable Power to Ammonia Virtual Power Plant in the Electricity, Hydrogen, and Ammonia Markets

IEEE Transactions on Energy Markets, Policy and Regulation

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IEEE Transactions on Energy Markets, Policy and Regulation 2023年第4期1卷 322-335页

作者： Wu, Sirui Lin, Jin Li, Jiarong Liu, Feng Song, Yonghua Xu, Yanhui Cheng, Xiang Yu, Zhipeng Tsinghua University State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Beijing100087 China Tsinghua University Sichuan Energy Internet Research Institute Chengdu610213 China University of Macau Department of Electrical and Computer Engineering Macau999078 China Tsinghua University Department of Electrical Engineering Beijing100087 China State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing102206 China

Renewablepower to ammonia (RePtA) is a prominent zero-carbon pathway for decarbonization. Due to the imbalance between renewables and production energy demand, the RePtA system relies on electricity exchange with the power grid. Participating in the electricity market as a virtual power plant (VPP) may help to reduce energy costs. However, the power profile of local photovoltaics and wind turbines is similar to those in the market, resulting in rising energy costs under the conventional strategy. Hence, we develop a multi-timescale trading strategy for the RePtA VPP in the electricity, hydrogen, and ammonia markets. By utilizing the hydrogen and ammonia buffer systems, the RePtA VPP can optimally coordinate production planning. Moreover, we find it possible to describe the trading of electricity, ammonia, and hydrogen in a unified timeframe. The two-stage robust optimization model of the electricity market is extended to multiple markets and solved by the column and constraint generation (CC&G) algorithm. The case is derived from an actual project in the Inner Mongolia Autonomous Region. Sensitivity analysis demonstrates the economic advantages of the RePtA VPP joining multiple markets over the conventional strategy and reveals the necessity of the hydrogen and ammonia buffer and reactor flexibility. © 2023 IEEE.

关键词： Ammonia

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Fully Distributed Practical Fixed-Time Time-Varying Formation Tracking control for General Linear Multiagent systems

Fully Distributed Practical Fixed-Time Time-Varying Formatio...

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International Conference on control and automation (ICCA)

作者： Jinsheng Li Jianglong Yu Yongzhao Hua Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Beihang University Beijing China Institute of Artificial Intelligence Beihang University Beijing China Institute of Unmanned System Institute of Artificial Intelligence School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This paper concerns the practical fixed-time time-varying formation tracking problem for multiagent systems with a leader-follower structure, where the agents have general linear dynamics. The previous works are built on a priori knowledge of global information, which is often unavailable in many applications. For this reason, a fully distributed fixed-time time-varying formation tracking protocol is proposed. Specifically, the estimation of the required setting time is independent of the initial system states and any global information. Furthermore, within the setting time, the residual set can be reduced to any desired level. These notable properties are analyzed by means of Lyapunov functions. Besides, a detailed design procedure for this protocol is presented. The effective of the above results are validated by a simulation example.

关键词： Protocols automation Estimation Topology Time-varying systems Multi-agent systems Lyapunov methods

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Distributed Formation Tracking control and Collision Avoidance with Formation Transformation for Fixed-Wing UAV Swarm 43

Distributed Formation Tracking Control and Collision Avoidan...

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43rd Chinese control Conference, CCC 2024

作者： Yao, Bingchang Liu, Yishi Liu, Yumeng Dong, Xiwang Tan, Qingke Lv, Rui Liang, Zhuo Beihang University Beijing100191 China Institute of Software Chinese Academy of Sciences China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Institute of Artificial Intelligence Beihang University Beijing100191 China Institute of Unmanned System Beihang University Beijing100191 China China Academy of Launch Vehicle Technology China

ISBN: (纸本)9789887581581

This article proposes a distributed consensus-based formation tracking and dynamic obstacle avoidance method for fixed wing unmanned aerial vehicles (UAVs). The tracking target moves along a pre-set geometric path, while other UAVs automatically track the target to form various distributed formation shapes and always perform dynamic collision avoidance. The fixed wing UAVs in this article form a distributed formation based on information exchange between neighbors, and further the formation process is improved by incorporating position allocation into the formation transformation. Firstly, the fixed wing UAV is modeled and simplified. Secondly, a basic formation control protocol is designed based on consensus strategy, and a tracking target feedback is added on it. Then, an anti-collision controller and a variable formation position allocation strategy are designed to avoid the collision. Finally, the effectiveness of the presented method is verified through numerical simulations. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Unmanned aerial vehicles (UAV)

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Grey-box Modeling for IPMSMs Considering Nonlinearity of Torque and Current

Grey-box Modeling for IPMSMs Considering Nonlinearity of Tor...

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Annual Conference of Industrial Electronics Society

作者： Takumi Ohnuma Keiya Watanabe Shou Mano Department of Electronic Control System Engineering National Institute of Technology Numazu College Shizuoka Japan Multidisciplinary Engineering Course National Institute of Technology Numazu College Shizuoka Japan

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

This paper proposes a grey-box model for IPMSMs (Interior Permanent Magnet Synchronous Motors) that accounts for the nonlinear relationship between currents and torque directly. IPMSMs with high power density typically exhibit complex torque characteristics due to the effects of magnetic saturation and spatial harmonics, necessitating the introduction of various nonlinear compensation tables based on magnetic field analysis to ensure control performance. However, inputting data without considering the physical properties can lead to many variables and increased memory usage, which does not necessarily improve control performance. Consequently, models representing magnetic saturation characteristics with a reduced number of parameters, as well as torque estimation methods, are under investigation. Moreover, advancements in high-precision and rapid-response torque sensors, along with magnetic field analysis technologies, have enabled detailed offline measurements of IPMSM torque, with promising prospects for control applications. In this study, we propose an Extended Torque Coefficient (ETC) matrix to express the grey-box model for control purposes, utilizing accurate map data reflective of the actual machine. In addition, the proposed model can be applied to calculate torque gradient in the current vector space, which is maximize torque control performance, while maintaining the ETC matrix.

关键词： Torque Magnetic field measurement Sensor phenomena and characterization Harmonic analysis Mathematical models Data models Vectors Magnetic fields Torque measurement Saturation magnetization

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Haptic-Based Bilateral Teleoperation of Aerial Manipulator for Extracting Wedged Object with Compensation of Human Reaction Time

Haptic-Based Bilateral Teleoperation of Aerial Manipulator f...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Jeonghyun Byun Dohyun Eom H. Jin Kim Department of Aerospace Engineering Automation and System Research Institute(ASRI) and Institute of Advanced Aerospace Technology(IAAT) Seoul National University Seoul South Korea

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

Bilateral teleoperation of an aerial manipulator facilitates the execution of industrial missions thanks to the combination of the aerial platform's maneuverability and the ability to conduct complex tasks with human supervision. Heretofore, research on such operations has focused on flying without any physical interaction or exerting a pushing force on a contact surface that does not involve abrupt changes in the interaction force. In this paper, we propose a human reaction time compensating haptic-based bilateral teleoperation strategy for an aerial manipulator extracting a wedged object from a static structure (i.e., plug-pulling), which incurs an abrupt decrease in the interaction force and causes additional difficulty for an aerial platform. A haptic device composed of a 4-degree-of-freedom robotic arm and a gripper is made for the teleoperation of aerial wedged object-extracting tasks, and a haptic-based teleoperation method to execute the aerial manipulator by the haptic device is introduced. We detect the extraction of the object by the estimation of the external force exerted on the aerial manipulator and generate reference trajectories for both the aerial manipulator and the haptic device after the extraction. As an example of the extraction of a wedged object, we conduct comparative plug-pulling experiments with a quadrotor-based aerial manipulator. The results validate that the proposed bilateral teleoperation method reduces the overshoot in the aerial manipulator's position and ensures fast recovery to its initial position after extracting the wedged object.

关键词： Visualization Heuristic algorithms Force Tactile sensors Predictive models Manipulators Haptic interfaces

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Design and Evaluation of Nonlinear Inversion Based Automated Landing control for an Airliner in a High Crosswind Scenario

Design and Evaluation of Nonlinear Inversion Based Automated...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Kim, Ho Joong Lombaerts, Thomas Looye, Gertjan Department of Aerospace Engineering San José State University Santa Clara County San JoseCA95121 United States Aerospace Engineering Department Charles W. Davidson College of Engineering United States KBR NASA Ames Research Center Intelligent Systems Division Mail Stop 269-1 Moffett FieldCA94083 United States Institute of System Dynamics and Control German Aerospace Center DLR Weßling82234 Germany

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper describes the design and evaluation of an autoflight controller under maximized crosswind landing scenarios using Nonlinear Dynamic Inversion (NDI) and Incremental Nonlinear Dynamic Inversion (INDI) control methods. The simulation model is representative of a nonlinear, 6 DOF twin-engined civilian transport aircraft in landing configuration starting 300 meters above the runway. The designed flight controller is of cascaded control structure based upon the time scale separation principle. While only INDI based design is evaluated, each control loop implements both NDI and INDI based design, accompanied with feed forward path control for select loops. The controller is evaluated through multiple Monte Carlo statistical analyses, each set containing 2000 landings, which are performed under widely distributed environmental and system parameters. The designed INDI method based controller as discussed in this paper satisfies all safe landing criteria for crosswind landings of up to 30 knots. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Aircraft landing

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Research on optimization of two-stage scheduling for aluminum extrusion machine manufacturing line

Research on optimization of two-stage scheduling for aluminu...

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2024 China automation Congress, CAC 2024

作者： Zhou, Aoran Qiu, Lipeng Wu, Yali Department of Information and Control Engineering Xi'an University of Technology Shaan'xi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China State Key Laboratory of Metal Extrusion and Forging Equipment Technology China National Heavy Machinery Research Institute Co Ltd Xi'an710016 China

ISBN: (纸本)9798350368604

In view of the problems of high energy consumption, long inventory time and low production efficiency in the production process of traditional aluminum extrusion machine, this paper establishes an efficient two-stage parallel scheduling optimization model based on the integration of flexible job shop scheduling and assembly sequence planning (IFJSS-ASP). On this basis, an evolutionary algorithm combining strong dominance relationship and simple grouping method (SDREA-SGM) is proposed. The algorithm utilizes a two-stage hybrid chromosome encoding and decoding method to establish a rational mapping from the decision space to the solution space. Furthermore, in order to prevent the model from easily falling into local optima, an adaptive intra-class and inter-class pairing selection strategy has been adopted by the algorithm. This enhances global search and improves local search ***, the feasibility and effectiveness of the algorithm are verified by solving problems of different scales. © 2024 IEEE.

关键词： Job shop scheduling

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Enhancing Transparent Object Pose Estimation: A Fusion of GDR-Net and Edge Detection

arXiv

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arXiv 2025年

作者： Pulli, Tessa Hönig, Peter Thalhammer, Stefan Hirschmanner, Matthias Vincze, Markus Automation and Control Institute TU Wien Vienna Austria Department of Industrial Engineering University of Applied Sciences Technikum Wien Vienna Austria

Object pose estimation of transparent objects remains a challenging task in the field of robot vision due to the immense influence of lighting, background, and reflections. However, the edges of clear objects have the highest contrast, which leads to stable and prominent features. We propose a novel approach by incorporating edge detection in a pre-processing step for the tasks of object detection and object pose estimation. We conducted experiments to investigate the effect of edge detectors on transparent objects. We examine the performance of the state-of-the-art 6D object pose estimation pipeline GDR-Net and the object detector YOLOX when applying different edge detectors as pre-processing steps (i.e., Canny edge detection with and without color information, and holistically-nested edges (HED)). We evaluate the physically-based rendered dataset Trans6D-32 K of transparent objects with parameters proposed by the BOP Challenge. Our results indicate that applying edge detection as a pre-processing enhances performance for certain objects. © 2025, CC BY.

关键词： Robot vision

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