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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Li, Chenqi Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory BinshuiXidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering Systems and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

A path planning method based on a two-layer coordination system is proposed for the compatibility requirement of path planning global optimum and local coordination in a spherical multi-robot system. In the first layer of the algorithm, the global path quality is improved by proposing a nonlinear sine factor and a sparrow search algorithm with improved levy flight strategy to plan the global collision-free optimal path for each robot. In the second layer, a rolling window method is used to determine the possible collision positions of each robot in the system, and a priority-based conflict resolution strategy is proposed to complete the local coordination of the path near the corresponding position. The experimental results show that the path planning method enables the robots to drive along the global optimal path, but still can carry out flexible and orderly local path coordination, which effectively improves the path planning performance of the system. © 2023 IEEE.

关键词： Multipurpose robots

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PID control for Aeroengine Based on Sparrow Search Algorithm

PID Control for Aeroengine Based on Sparrow Search Algorithm

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2021 China Automation Congress, CAC 2021

作者： Xu, Liang Wang, Hao Liu, Ying Xue, Wei Li, Ningning Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China National Key Laboratory for Complex Systems Simulation Beijing China BeijingAerospace Propulsion Institute Beijing China

ISBN: (纸本)9781665426473

To address the problem of aeroengine PID parameter optimization and tuning, this work employs the excellent performance of the sparrow search algorithm (SSA) with high convergence accuracy and fast convergence speed to propose a self-tuning PID control method (SSA-PID) for aeroengine parameters. Considering that the oil supply output by the actuator may have a substantial overshoot, the proposed technique adds a penalty mechanism for the overshoot at the output, designs and improves the fitness function weighted by performance indicators, and effectively avoids the possible excessive overshoot and sharp oil supply phenomenon of the engine oil supply. The SSA-PID simulates and verifies the mathematical models of the turbofan engine ' s steady-state operating points on the ground and at high altitudes. The results show that the SSA-PID control method has better parameter tuning and optimization effects, a faster speed step response, and generates a fuel supply that does not have a large overshoot, thereby proving its effectiveness and feasibility. © 2021 IEEE

关键词： Three term control systems

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Quantifying the contribution of activity patterns to PM_(2.5)exposure inequity between urban and rural residents by a novel method

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Building Simulation 2024年第8期17卷 1323-1333页

作者： Wei Du Zhanpeng Cui Jinze Wang Yuqiong Wang Yungui Li Xiaoan Li Yan Zhou Tao Jiang Kang Mao Xianbiao Lin Jianwu Shi Dengzhou Gao Yiming Qin Yunnan Provincial Key Laboratory of Soil Carbon Sequestration and Pollution Control Faculty of Environmental Science&EngineeringKunming University of Science&TechnologyKunming 650500China Laboratory of Earth Surface Processes College of Urban and Environmental SciencesPeking UniversityBeijing 100871China Department of Environmental Engineering Southwest University of Science and TechnologyMianyang 621010China NHC Key Laboratory of Nuclear Technology Medical Transformation Mianyang Central HospitalSchool of MedicineUniversity of Electronic Science and Technology of ChinaMianyang 621000China State Key Laboratory of Environmental Geochemistry Institute of GeochemistryChinese Academy of SciencesGuiyang 550081China Key Laboratory of Marine Chemistry Theory and Technology Ministry of EducationOcean University of ChinaQingdao266100China Key Laboratory for Humid Subtropical Eco-Geographical Processes of the Ministry of Education School of Geographical SciencesFujian NormalUniversityFuzhou350117China School of Energy and Environment City University of Hong KongHong KongChina

PM_(2.5)pollution variations in different microenvironments would result in PM_(2.5)exposure inequity between rural and urban *** this study,the real-time PM_(2.5)exposure of urban and rural residents in China was examined based on portable PM_(2.5)sensors together with activity patterns derived from questionnaire surveys,with a focus on students and senior citizens who are sensitive to air *** results showed that PM_(2.5)exposure varied significantly among different resident groups,with higher PM_(2.5)exposure of rural residents than those of urban ***_(2.5)exposure peaks mostly occurred during(Accompanied)cooking activities owing to strong *** and resting were the main activities that affected PM_(2.5)exposures of different resident groups,accounting for 60.7%-94.5%of total daily ***,the long duration of sleeping makes it the predominant activity contributing to PM 25 exposure *** is necessary to obtain point-to-point respiratory volume(respiratory rate)data when measuring real-time PM_(2.5)exposure data and incorporate respiratory volume(respiratory rate)into the analysis of PM_(2.5)*** the first time,this study quantified the PM_(2.5)exposure inequality based on a novel method and can provide useful information for further studies on the exposure inequity.

关键词： PM_(2.5)exposure environmental inequity activity pattern urban and rural difference

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Inverse response behaviour in the bright ring radius measurement of the Czochralski process II: Mitigation by control

arXiv

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arXiv 2021年

作者： Bukhari, Halima Zahra Hovd, Morten Winkler, Jan Department of Engineering Cybernetics NTNU Trondheim Norway Institute of Control Theory Faculty of Electrical & Computer Engineering TU Dresden Germany

This is the second part of a two-article series investigating the presence of an inverse response in the measurement of the ingot radius in the Czochralski process for monocrystalline silicon production, when the ingot radius is deduced from a camera image of the bright ring at the meniscus connecting the solid crystal to the silicon melt. Such inverse responses are known to pose a fundamental limitation in achievable control performance. However, for the bright ring radius measurement, the inverse response is an artefact of the measurement technique and does not appear in the physical variable one wants to control (the actual crystal radius). The present article addresses control for the mitigation of the inverse response behaviour, using a combination of parallel compensation and feedback control. The proposed design is validated against simulations where the production process is subjected to temperature disturbances. Copyright © 2021, The Authors. All rights reserved.

关键词： Monocrystalline silicon

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Inverse response behaviour in the bright ring radius measurement of the Czochralski process I: Investigation

arXiv

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arXiv 2021年

This is the first part of a two-article series that deals with the investigation of the anomalous behaviour in the radius measurement signal of the Czochralski (Cz) process and its mitigation in a feedback control system. The inverse or anomalous behaviour is indeed a measurement signal response, which initially is opposite to that of the expected response. This is a crucial and limiting factor in feedback control system design. The paper presents the development of a rigorous 3D ray-tracing method to investigate the inverse response behaviour in the measurement signal. The results of this study provide an insight into the dynamic behaviour of the Cz growth process. It can serve as a guideline for achieving effective crystal radius control, which is addressed in the second part of this article series. Copyright © 2021, The Authors. All rights reserved.

关键词： Adaptive control systems

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A Multi-Objective Discrete Social engineering Optimizer for a Disassembly Line Balancing Problem 19

A Multi-Objective Discrete Social Engineering Optimizer for ...

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19th IEEE International Conference on Networking, Sensing and control, ICNSC 2022

作者： Tian, Guangdong Zhang, Cheng Zhang, Lele Yuan, Gang Kang, Qi School of Transportation Jilin University of Architecture and Technology Changchun130114 China School of Mechanical-Electrical and Vehicle Engineering Beijing University of Civil Engineering and Architecture Beijing100044 China School of Mechanical Engineering Shandong250012 China Transport Management Institute Ministry of Transport of the P.R.China Beijing101601 China Jiangsu University Key Laboratory of Theory and Technology of Intelligent Agricultural Machinery and Equipment Zhenjiang212000 China Tongji University Department of Control Sciences and Engineering Shanghai201804 China

ISBN: (纸本)9781665472432

Product disassembly is the key part of recycling and remanufacturing. Disassembly line balancing problem (DLBP) is an important part in the product disassembly process. This study develops a multi-objective discrete social engineering optimizer (SEO) as a new extension to the original SEO. In order to enable the algorithm to formulate the discretization rules, a swap operator and swap sequence are introduced, and three sequence operation operators are defined. Finally, the algorithm is used to solve the disassembly of a worm reducer, and 12 feasible task allocation schemes are obtained. Findings show the effectiveness solving DLBP, and the superiority of the proposed method is verified. © 2022 IEEE.

关键词： Balancing

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Effects of Varying Rainfall Intensities on Nitrogen Loss in Paddy Fields and Orchards Based on the Hydrus-1d Model

SSRN

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SSRN 2024年

作者： Gong, Chunjin Li, Yiyang Dai, Junfeng Xia, Rui Wan, Zupeng Qi, Shanshan College of Environmental Science and Engineering Guilin University of Technology Guilin541000 China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of Technology Guilin541000 China Collaborative Innovation Center for Water Pollution Control and Water Security in Karst Region Guilin University of Technology Guilin541000 China Chinese Research Academy of Environmental Sciences Beijing100000 China Guilin Institute for Environmental Science Research Guilin China Guilin University of Technology China

Nitrogen migration and transformation significantly affect soil health and water quality in agricultural ecosystems;however, the effects of varying rainfall intensity and land use types on nitrogen dynamics are complex. This study investigates the nitrogen migration and transformation characteristics in soil solutions under different rainfall intensities and compares the responses of paddy fields with those of orchards. Soil solutions were collected in situ at different depths (30, 60, and 100 cm) from paddy fields and orchards to measure nitrate nitrogen and ammonium nitrogen concentrations. Simulations of varying rainfall intensities were conducted using the HYDRUS-1D model to analyse their interactions with soil moisture and groundwater fluctuations. This combined approach offers a comprehensive understanding of nitrogen migration and transformation dynamics. Results indicated that the leaching flux of nitrate nitrogen significantly increased with rainfall intensity, whereas that of ammonium nitrogen remained relatively low. Additionally, significant differences in nitrogen migration were observed among land use types;specifically, nitrate nitrogen migration in paddy fields was limited to 60 cm because of the restrictive plough pan layer, whereas the leaching depth in orchards reached 100 cm. Under heavy rainfall, the nitrogen leaching fluxes in orchards were similar to those in paddy fields. In summary, rainfall intensity, rainfall duration, and land use type notably affect nitrogen migration and transformation, highlighting the importance of these factors in nitrogen dynamics and providing a scientific basis for improved agricultural management and water resource protection. © 2024, The Authors. All rights reserved.

关键词： Orchards

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SLAM-Based Joint Calibration of Differential RSS Sensor Array and Source Localization 49

SLAM-Based Joint Calibration of Differential RSS Sensor Arra...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Fu, Linya Qiao, Xu Huang, Shoudong Mao, Guoqiang Lin, Zhiyun Li, Youfu Kong, He Robotics Institute Uni. of Technology Sydney Sydney Australia Xidian University State Key Laboratory of Integrated Services Networks China City University of Hong Kong Department of Mechanical Engineering China Southern Uni. of Sci. and Tech. Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen China Southern Uni. of Sci. and Tech. Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China

ISBN: (纸本)9798350331820

Sensor arrays generating differential received signal strength (DRSS) measurements have found many applications in robotics. However, accurate calibration of these sensor arrays remains a challenge. Most existing methods are impractical in that they assume to know signal source positions or certain parameters (i.e., path loss exponent), and try to estimate the others. In this paper, we adopt graph simultaneous localization and mapping (SLAM) as a general framework for jointly estimating the source positions and parameters of the DRSS sensor array. Our contributions are twofold. On the one hand, by using a Fisher information matrix approach, we conduct a systematic observability analysis of the corresponding SLAM setup for the calibration problem. On the other hand, we propose an effective procedure to select the initial value which is fed to Levenberg-Marquardt iterations for further improving optimization accuracy and convergence. Extensive simulation and hardware experiments show that the proposed method renders high-quality calibration results. All the codes and data are publicly available at https://***/SUSTech2022/DRSS-sensor-array-calibration. © 2023 IEEE.

关键词： Calibration

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Design of control System for Lower Limb Rehabilitation Robot on the Healthy Side sEMG Signal 20

Design of Control System for Lower Limb Rehabilitation Robot...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yu, Shiqin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

With the number of stroke patients increasing year by year, rehabilitation exoskeleton robot has been paid more and more attention. For the rehabilitation exoskeleton robot, human-computer interaction ability is an important index, which affects the effect of rehabilitation therapy to a great extent. Surface Electromyography (sEMG) signals are the combined effect of sEMG signals and electrical activities on nerve stem on the skin surface, which can reflect neuromuscular activities in advance and can be used to predict movement intention by sEMG signals. Therefore, this article proposes to use sEMG signals to monitor the motion information of the healthy leg in real-time, extract the characteristics of the electromyography signals, use the sEMG of the healthy leg as the control signal, reflect the motion patterns reflected by the sEMG collected from the healthy side, and then use the motion intention recognition method of Long Short Term Memory(LSTM) neural network to identify the motion intention of the prosthetic limb by identifying the motion patterns of the swing phase of the healthy side. The results indicate that the predicted maximum Root Mean Squared Error(RMSE) is 5.3729, which proves the feasibility of using LSTM model for motion intention recognition and contributes to the real-time and accuracy of lower limb exoskeleton rehabilitation. © 2023 IEEE.

关键词： Long short-term memory

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UMBRELLA: Uncertainty-Aware Model-Based Offline Reinforcement Learning Leveraging Planning

arXiv

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arXiv 2021年

作者： Diehl, Christopher Sievernich, Timo Krüger, Martin Hoffmann, Frank Bertram, Torsten TU Dortmund University Germany Institute of Control Theory and Systems Engineering TU Dortmund University D-44227 Germany

Offline reinforcement learning (RL) provides a framework for learning decision-making from offline data and therefore constitutes a promising approach for real-world applications as automated driving. Self-driving vehicles (SDV) learn a policy, which potentially even outperforms the behavior in the sub-optimal data set. Especially in safety-critical applications as automated driving, explainability and transferability are key to success. This motivates the use of model-based offline RL approaches, which leverage planning. However, current state-of-the-art methods often neglect the influence of aleatoric uncertainty arising from the stochastic behavior of multi-agent systems. This work proposes a novel approach for Uncertainty-aware Model-Based Offline REinforcement Learning Leveraging plAnning (UMBRELLA), which solves the prediction, planning, and control problem of the SDV jointly in an interpretable learning-based fashion. A trained action-conditioned stochastic dynamics model captures distinctively different future evolutions of the traffic scene. The analysis provides empirical evidence for the effectiveness of our approach in challenging automated driving simulations and based on a real-world public dataset. Copyright © 2021, The Authors. All rights reserved.

关键词： Reinforcement learning

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