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2024 China automation Congress, CAC 2024

作者： Wu, Xuejin Wu, Yali Hu, Yanghu Department of Information and Control Engineering Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China State Key Laboratoiy of Metal Extrusion and Forging Equipment Technology China National Heavy Machinery Research Institute Co. Ltd Xi'an710016 China

ISBN: (纸本)9798350368604

The scarcity of fault samples presents a significant challenge for fault diagnosis in industrial processes. Conventional methods often fail to deliver satisfactory results when dealing with small sample sizes. In addressing the issue of small sample fault diagnosis in industrial processes, this paper utilizes the Variational Mode Reconstruction(VMR) algorithm to screen the best components decomposed by the Variational Mode Decomposition(VMD) through the envelope entropy then random weighting them and signal reconstruction to achieve data enhancement, to enrich the sample size and to prevent the model overfitting phenomenon due to the scarcity of samples. Meanwhile, this paper integrates Convolutional Neural Network (CNN) and Long Short-term Memory Neural Network (LSTM) to propose a network model of spatio-temporal feature fusion for feature extraction and classification. The experiments demonstrate that this model not only enhances data diversity but also ensures consistency before and after enhancement, effectively mitigating overfitting. Furthermore, it guarantees high recognition and generalization rates in fault diagnosis. © 2024 IEEE.

关键词： Convolutional neural networks

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Direction-Constrained control for Efficient Physical Human-Robot Interaction under Hierarchical Tasks

arXiv

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arXiv 2024年

作者： Xu, Mengxin Wan, Weiwei Wang, Hesheng Harada, Kensuke Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of System Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka560-0043 Japan Department of Automation the Key Laboratory of System Control and Information Processing of Ministry of Education the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which, however, cannot be directly applied to human interaction due to its allowance of arbitrary velocity direction adjustments. To resolve this limitation, we introduce the concept of directional constraints and develop a direction-constrained optimization algorithm to handle the nonlinearities induced by these constraints. The algorithm solves two sub-problems, minimizing the error and minimizing the deviation angle, in parallel, and combines the results of the two sub-problems to produce a final optimal outcome. The mutual influence between these two sub-problems is analyzed to determine the best parameter for combination. Additionally, the velocity objective in our control framework is computed using a variable admittance controller. Traditional admittance control does not account for constraints. To address this issue, we propose a variable admittance control method to adjust control objectives dynamically. The method helps reduce the deviation between robot velocity and human intention at the constraint boundaries, thereby enhancing interaction efficiency. We evaluate the proposed method in scenarios where a human operator physically interacts with a 7-degree-of-freedom robotic arm. The results highlight the importance of incorporating directional constraints in pHRI for hierarchical tasks. Compared to existing methods, our approach generates smoother robotic trajectories during interaction while avoiding interaction delays at the constraint boundaries. Copyright © 2024, The Authors. All rights reserved.

关键词： Constrained optimization

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Design of a Novel Autonomous Docking system With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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Boundary Sliding Mode control of a Diffusion Process under Sampling and Hold: Chattering Analysis

Boundary Sliding Mode Control of a Diffusion Process under S...

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International Workshop on Variable Structure systems, VSS

作者： Paul Mayr Stefan Koch Markus Reichhartinger Alessandro Pisano Institute of Automation and Control Graz University of Technology Graz Austria Department of Electrical and Electronic Engineering University of Cagliari Cagliari Italy

ISBN: (数字)9798350353686

ISBN: (纸本)9798350353693

This paper investigates discretization chattering effects in a distributed-parameter process governed by the diffusion PDE and equipped with a sliding-mode-based boundary controller. The collocated measurement is sampled in time and the boundary control signal is applied through a zero-order-hold element. The limit cycle modes constituting the chattering effects are determined exactly by exploiting the difference equation method, yielding their period and spatially dependent amplitude. Simulation results show that the theoretically determined limit cycle modes occur in the closed-loop system.

关键词： Variable structure systems Simulation Difference equations Conferences Process control Limit-cycles Diffusion processes Time measurement Closed loop systems Sliding mode control

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Biochar technology cannot offset land carbon emissions in Guangdong province, China

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Carbon Research 2024年第1期3卷 1-14页

作者： Wang, Funing Zhou, Wenneng Wang, Xili Zhao, Qing Han, Mengjie State Key Lab of Clean Energy Utilization Institute of Carbon Neutrality State Environmental Protection Engineering Center for Coal-Fired Air Pollution Control Zhejiang University Hangzhou310027 China Jiaxing Research Institute Zhejiang University Jiaxing314000 China Guangdong Provincial Key Laboratory of Water Quality Improvement and Ecological Restoration for Watersheds School of Ecology Environment and Resources Guangdong University of Technology Guangzhou510006 China Economic & amp Information center Zhejiang310006 China Department of Earth System Science Ministry of Education Key Laboratory for Earth System Modeling Institute for Global Change Studies Tsinghua University Beijing100084 China Guangdong Key Laboratory of Integrated Agro-environmental Pollution Control and Management Institute of Eco-environmental and Soil Sciences Guangdong Academy of Sciences Guangzhou510650 China National-Regional Joint Engineering Research Center for Soil Pollution Control and Remediation in South China Guangzhou510650 China

As a highly developed region, Guangdong province has substantial industrial emissions. Its subtropical monsoon climate, characterized by abundant hydrothermal conditions, contributes to a substantial biomass potential. The adoption of potential biomass-based carbon dioxide removal (CDR) technologies, such as biochar, presents an opportunity to mitigate emissions and work towards carbon neutrality in the future. However, the current state of the land carbon balance and the CDR potential of biochar in Guangdong province remains unclear. We first calculated the land carbon balance based on inventory data. Then we estimated the CDR potential of biochar derived from agricultural residues, forestry residues, and bioenergy crops cultivated on marginal lands in Guangdong province using life cycle analysis (LCA). Results show that Guangdong province has not yet achieved carbon neutrality, with a net emission (carbon emissions remaining after offsetting by carbon sinks) of 925.63 Tg CO2e (CO2 equivalent, 1Tg = 106 t) in 2021. Emissions from energy consumption account for the highest proportion, contributing 83.8% of total emissions. In the highest biomass utilization scenario, the maximum CDR potential of biochar derived from all biomass types reaches 84.30 Tg CO2e yr-1, which could offset 9.11% of net carbon emissions in Guangdong province. Our findings provide crucial guidance for setting emission reduction targets and implementing effective mitigation strategies in Guangdong province under temperature warming. Graphical Abstract: (Figure presented.) © The Author(s) 2024.

关键词： Carbon capture and utilization

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Flexibility-Oriented Scheduling of Smart Energy Hubs Considering Integrated Demand Response Programs

Flexibility-Oriented Scheduling of Smart Energy Hubs Conside...

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Canadian Conference on Electrical and Computer engineering (CCECE)

作者： Leila Bagherzadeh Innocent Kamwa Atieh Delavari Department of Electrical Engineering Laval University Quebec Canada Power System Control Department Hydro-Quebec Institute of Research Varennes Canada

ISBN: (数字)9798350371628

ISBN: (纸本)9798350371635

The transition towards a sustainable energy system requires the integration of renewable energy sources (RESs) and the adoption of innovative energy management frameworks to handle RES variability and uncertainty. The evolution of novel energy management technologies has made it possible to design and operate integrated energy systems (IESs) that couple various energy carriers such as electricity, heat, and gas. The emergence of energy hubs (EHs) presents opportunities for enhanced efficiency, reliability, and flexibility in energy supply and demand. However, optimizing operation schedules in EHs incorporates non-renewables, renewable sources, and energy storage devices becomes increasingly complex as they strive to meet diverse customer demands. This paper introduces a stochastic model for EH operation integrating electrical, thermal, and cooling storage with an electric vehicle parking lot (EVPL). In addition to uncertainty modeling of demands, PV, and EVPL outputs, the model incorporates an integrated demand response program (IDRP) and seasonal load patterns. It's formulated as a linear model solved using the CPLEX solver in GAMS. Results show integrating a shiftable IDRP reduces operational costs by 6% and validates that ESS discharges during peak hours enhance system flexibility.

关键词： Renewable energy sources Uncertainty Cooling Stochastic processes Optimal scheduling Demand response Energy management

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Automatic Nonlinear MPC Approximation with Closed-loop Guarantees

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IEEE Transactions on Automatic control 2025年

作者： Tokmak, Abdullah Fiedler, Christian Zeilinger, Melanie N. Trimpe, Sebastian Kohler, Johannes Aalto University Department of Electrical Engineering and Automation Espoo02150 Finland RWTH Aachen University Institute for Data Science in Mechanical Engineering Aachen52068 Germany ETH Zurich Institute for Dynamic Systems and Control ZurichCH-8092 Switzerland

Safety guarantees are vital in many control applications, such as robotics. Model predictive control (MPC) provides a constructive framework for controlling safety-critical systems but is limited by its computational complexity. We address this problem by presenting a novel algorithm that automatically computes an explicit approximation to nonlinear MPC schemes while retaining closed-loop guarantees. Specifically, the problem can be reduced to a function approximation problem, which we then tackle by proposing Alkia-x, the Adaptive and Localized Kernel Interpolation Algorithm with eXtrapolated reproducing kernel Hilbert space norm. Alkia-x is a non-iterative algorithm that ensures well-conditioned computations, a fast-to-evaluate approximating function, and the guaranteed satisfaction of any desired bound on the approximation error. Hence, Alkia-x automatically computes an explicit function that approximates the MPC, yielding a controller suitable for safety-critical systems and high sampling rates. We apply Alkia-x to approximate two nonlinear MPC schemes, demonstrating reduced computational demand and applicability to realistic problems. © 1963-2012 IEEE.

关键词： Predictive control systems

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot

Design and locomotion characteristic analysis of a novel ten...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Mo, Jixue Gao, Changqing Fang, Hao Yang, Qingkai Peng Cheng Laboratory Department of Strategic and Advanced Interdisciplinary Research Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Beijing Institute of Technology School of Automation Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9798350325706

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot's hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment. © 2023 IEEE.

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An Efficient Stability Criterion for Near-Fundamental-Frequency Oscillation Risk Assessment of Wind Power Integrated systems via MMC-HVDC 19th

An Efficient Stability Criterion for Near-Fundamental-Freque...

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19th Annual Conference of China Electrotechnical Society, ACCES 2024

作者： Wu, Linlin Dong, Wenkai Ren, Yina Wang, Xiao Xie, Xiaorong State Grid Jibei Electric Power Co. Ltd. Research Institute North China Electric Power Research Institute Co. Ltd. Beijing100045 China State Key Laboratory of Power System Operation and Control Department of Electrical Engineering Tsinghua University Beijing100084 China

ISBN: (纸本)9789819613823

Recently, near-fundamental-frequency oscillations (NFFOs) have been observed in practical wind power integrated systems via MMC-HVDC (WISM). However, a practical WISM is often high-order, causing the oscillation risk assessment to be computationally heavy. Therefore, in this paper, an efficient stability criterion is proposed, which gives the critical stability conditions considering the impact of number of generators and network topology. Then NFFO risk of a WISM under different numbers of generators and network topologies can be quickly judged. The stability criterion can be obtained via the Nyquist-based stability analysis on a single generator integrated system via MMC-HVDC and hence is simple in application. In addition, derivations of the stability criterion also give an analytical explanation to the NFFO risk induced by the integration of wind power. Finally, effectiveness of the proposed method and conclusions drawn is verified based on a typical WISM. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Topology

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FPGA Self-Diagnosing and Testable control Devices for Railway Switch Point

FPGA Self-Diagnosing and Testable Control Devices for Railwa...

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2023 Seminar on Networks, Circuits and systems, NCS 2023

作者： Efanov, Dmitrii V. Pashukov, Artem V. Khoroshev, Valerii V. Peter the Great St. Petersburg Polytechnic University Institute of Mechanical Engineering Materials and Transport Higher School of Transport St. Petersburg Russia Department of Automation Remote Control and Communication on Railway Transport Moscow Russia

ISBN: (纸本)9798350370386

The authors solve the control devices synthesis problem for railway automation and remote-control devices. At the same time, the devices are endowed with the automatic fault detection properties and self-diagnosis, including pre-failure state control. As an example, a control device for a railway switch point mechanism is considered. As an element base for the implementation of the control device, field-programmable gate array (FPGA) is used. The authors considered a solution that implies the finite state machines (FSM) with data from external systems using for technical diagnostics and monitoring in the process of developing a device when describing its operation. This linkage allows to endow the control device with the properties of self-diagnosis during operation. This does not affect the device safety and its operation in any way. Linking with the technical diagnostics and monitoring system increases the technical staff information content due to the timely generation of data on the occurrence of a control device pre-failure state. Even though we synthesized a device based on FPGA, the synthesis approach itself is universal and can be easily used with any element base. It should be noted that it is expedient to link directly with diagnostic equipment in the future, minimizing the amount of hardware used. The solution of this problem requires additional research. © 2023 IEEE.

关键词： Remote control

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