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7th International Conference on Machine Learning and Soft Computing, ICMLSC 2023

作者： Wang, Changhao Xi, Jin Xia, Changqing Xu, Chi Duan, Yong Shenyang University of Technology Shenyang110870 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)9781450398633

Indoor positioning services are being used more and more widely. However, existing indoor positioning techniques cannot simultaneously take into account low cost, ease of use, high precision, and seamless switching between indoor and outdoor positioning. With the maturity of 5G techniques, 5G-based indoor positioning is gradually being paid attention to. 5G-based indoor positioning does not require additional equipment, and supports flexible indoor and outdoor switching under the same system. However, the 5G-related information used in existing research on 5G indoor positioning is not open to users. Therefore, in this paper, we propose an indoor fingerprint positioning method based on measured 5G signals. This method first collects 5G signals in the positioning area, and processes them to form a fingerprint database. Then, a machine learning algorithm is used to match the signal to be located with the fingerprint database to obtain the positioning result. Finally, we conduct experiments in real field, and the experimental result demonstrates that the positioning accuracy of our proposed method can reach 96%. © 2023 ACM.

关键词： 5G mobile communication systems

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Migration node selection strategy based on gray prediction algorithm in trusted environment 2

Migration node selection strategy based on gray prediction a...

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2nd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2022

作者： Wang, Chen Zhang, Bowen Chen, Xin Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9781665408868

This paper studies the selection strategy of task migration nodes. Considering the security of nodes, this paper analyzes the trusted security model of each node of migration candidates. Security credibility includes three aspects: time credibility, behavior credibility and resource credibility. By calculating the trusted values of migration nodes in these three aspects, Three nodes with the lowest trust value are obtained to preliminarily screen the migration nodes, and the final nodes are determined in the remaining nodes. Because the gray prediction algorithm requires a small number of original data models and has a strong discrete type, it is more suitable for the model selected by the task migration nodes. This paper uses the gray prediction algorithm to finally determine the migration nodes, In the experiment, the cloud simulation platform is used to compare the algorithm and random algorithm, and the results show the effectiveness of the algorithm. © 2022 IEEE.

关键词： Forecasting

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Research on information security risk assessment based on integrated influence of neighborhood 6

Research on information security risk assessment based on in...

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6th International Conference on Electronic Information Technology and Computer Engineering, EITCE 2022

作者： Wang, Tianyu Zhao, Jianming Zhang, Bowen Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781450397148

At present, the information technology of industrial automation control system is developing rapidly, and the system information security is facing severe challenges. Accurate and efficient risk assessment of industrial control systems is conducive to their protection and efficient production. Although there have been quite a few studies on the risk assessment of industrial control systems, there is less consideration of the interaction between the equipment in the system at present. In view of this, this paper proposes an information security risk assessment method based on the impact of neighborhood integration, which can fully consider the changes of equipment functions within the damaged range of industrial control systems. The experimental results in some model systems reveal that the algorithm in this paper can evaluate the information security risks of industrial control systems more accurately, and provides a theoretical method for the stable operation of industrial systems. © 2022 Association for Computing Machinery.

关键词： Risk assessment

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Signal Processing for Acoustic Emission Signature Analysis and Defect Detection

Signal Processing for Acoustic Emission Signature Analysis a...

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Digital Signal Processing and its Applications (DSPA), International Conference on

作者： Yeldos A. Altay Dmitry O. Kuzivanov Dinara A. Altay Alexey V. Fedorov Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation Department of Natural Sciences Military Engineering Institute of Radio Electronics and Communications Almaty Kazakhstan

This article presents the results of implementing a digital signal processing method for analyzing the acoustic emission (AE) signature and detecting defects such as cracks and pores. The signal processing method is based on a cascade connection of digital high-pass filters and ensures the selection of informative signals and increases the signal-to-interference ratio. In order to control the formation of defects in the process of selective laser melting, the paper presents the results of experimental testing of the cascade filtration method for detecting defects in the internal structure such as cracks and pores. The signal components recorded during the development of defects during the growth of additive manufacturing products were extracted. AE signatures were analyzed and statistical relationships were assessed. The relationship between the parameters of the AE signal and the values of laser radiation power has been identified, which characterizes the process of defect formation.

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A Novel Semantic-Web Based Technology for Control Logic Rapid Reconfiguration of CPPS 7

A Novel Semantic-Web Based Technology for Control Logic Rapi...

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7th International Conference on Intelligent Computing and Signal Processing, ICSP 2022

作者： Wang, Peng Wang, Zhongfeng Wang, Chu Hu, Kunyuan Li, Ligang Song, Chunhe Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665478571

Aiming at solving the problem that the traditional production control system cannot support rapid logical reconfiguration of CPPS, a semantic-web based technology consisting of an overall research framework and three key methods are proposed. Within this overall research framework, product process can be first matched against production resource capabilities, then transformed into the production process of production system, and finally into the control logic of production control system. All the transformations can be done automatically by the help of the proposed semantic-web based methods, namely unified ontology model and related reasoning methods, so that when product process changes, control logic of production can be adjusted efficiently, which enables rapid logical reconfiguration of CPPS. In this paper, the overall framework is first introduced with emphasis on background and technical characteristics of CPPS, analysis of research gaps and overall methods. Then, the three key methods are introduced in detail, namely the unified ontological modelling method of product-process-resources, and the rule-based reasoning methods to automatically transform the production process and control logic, are described in detail. Furthermore, concerning the shortcoming of existing Product-Process-Resource ontological modeling, the description of production system's control behavior is extended within the resource domain, so that key information related to PLC programming such as action sequence and control variable can be integrated and leveraged during the transformation of control logic. Finally, a reconfigurable CPPS prototype is developed based on the proposed framework, and the advantages of the methods are tested and verified. © 2022 IEEE.

关键词： Production control

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Low-Power Heterogeneous Networking Method Based on NB-IoT and WSN 6

Low-Power Heterogeneous Networking Method Based on NB-IoT an...

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6th International Conference on Communication Engineering and Technology, ICCET 2023

作者： Guan, Mo Qi, Liangliang Jin, Xi Guan, Suoling Xia, Changqing Xu, Chi Shenyang University of Technology Shenyang110870 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems 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)9798350336153

Digital oilfields generally adopt the multi-hop technology to expand the network scale, and the data generated depends on the large-scale wireless sensor network (WSN) for transmission. However, multi-hop communication will lead to uneven distribution of network energy consumption and premature death of nodes. To prolong the network lifetime of digital oilfields, we extended the narrowband internet of things (NB-IoT) module on some WSN nodes deployed on site to form heterogeneous nodes. Through the heterogeneity of NB-IoT and WSN, the nodes could transmit as little data as possible from other nodes, fundamentally reducing the node energy consumption. Furthermore, an optimization method was proposed that could simultaneously optimize the network lifetime and node expansion cost. The experimental results revealed that the proposed algorithm could greatly prolong the network lifetime while only introducing a small number of nodes. © 2023 IEEE.

关键词： Internet of things

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Comprehensive Performance Optimization of a Novel Anthropomorphic Dexterous Hand

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IEEE robotics and automation Letters 2025年第7期10卷 6816-6823页

作者： Ma, Yifan Shang, Weiwei Zhang, Fei Pang, Shunxiang Dai, Shuqing Yi, Zhengkun Li, Guotao Cong, Shuang University of Science and Technology of China Department of Automation Jinzhai Road 96 Hefei 230027 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen 518055 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing 100190 China

Grasp and in-hand manipulation of dexterous hands are essential for daily operational tasks. In this study, an optimized design method for a novel anthropomorphic dexterous hand is proposed, which improves the comprehensive performance of grasp and manipulability of the dexterous hand. The constraints of multi-fingered contact force and kinematics are established with full consideration of the applicability to the objects of different sizes and the shape characteristics of finger contact surface. The performance index of in-hand manipulation ability is proposed, and the optimization problem is constructed through the technique for order preference by similarity to ideal solution (TOPSIS) to achieve multi-objective optimization of precision grasp and in-hand manipulation. Finally, simulation and experiment verify the feasibility of our prototype and optimization method. The results show that the in-hand translation space and in-hand rotation range are increased by 20% and 8.5%, respectively. Our dexterous hand has excellent abilities of multi-fingered interaction and in-hand manipulation, which can perform 33 grasp gestures and two/three-fingered in-hand manipulation. This study provides a valuable reference for the design of dexterous hands with anthropomorphic functions. © 2016 IEEE.

关键词： design optimization Dexterous manipulation multifingered hands precision grasp

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Design of a Highly Reliable Redundant Network Card Supporting the IEEE1588 Protocol 5

Design of a Highly Reliable Redundant Network Card Supportin...

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5th IEEE International Conference on Electronics Technology, ICET 2022

作者： Zhang, Bo Yan, Bingjun Liu, Mingzhe Xu, Aidong Wang, Kai Wang, Zhiping Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665485081

To adapt to the digital and intelligent trend of ship management and meet the requirements of shipborne industrial Ethernet with high reliability and strong real-time performance, this paper develops a shipboard redundant network card with a Zynq7000 series SoC chip as the main controller, and designs the IEEE1588 IP core and PRP IP core on the FPGA side of SoC. The design of the IEEE1588 IPCore can avoid the impact of the jitter of the upper layer protocol stack on the time stamp accuracy;the PRP IPCore implements dual-network redundancy on the FPGA side, reducing the software overhead of the Ethernet protocol stack on the ARM side, and lowers the impact of network switching on synchronization accuracy. Through testing, the point-to-point synchronization accuracy of the network card is better than 50 ns, and the dual-network redundancy switch can be quickly completed when the network is disconnected. The design of the network card greatly improves the consistency and accuracy of the internal time of the ship system, and meets the requirements for high reliability, fast fault switching and recovery. © 2022 IEEE.

关键词： System-on-chip

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Development of a Fault Adaptation System for Underwater Robot Manipulators

Development of a Fault Adaptation System for Underwater Robo...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Filaretov, Vladimir Zuev, Alexander Zhirabok, Alexey Protsenko, Alexander Institute of Automation and Control Processes Vladivostok Russia Sevastopol State University Department of Informatics and Control in Technical Systems Sevastopol Russia Institute of Marine Technology Problems Vladivostok Russia Far Eastern Federal University Department of Automatics and Robotics Vladivostok Russia

ISBN: (纸本)9781665473729

The paper describes the development and research of a system of adaptation to faults of manipulators of underwater robots. The following types of faults were considered: unknown additional load torques on the output shafts of the manipulator electric drives, changes in the electrical resistance of the armature windings of electric motors, and measurement errors of sensors of the position of the manipulator links. The proposed system makes it possible to identify these faults and compensate for their negative consequences in two stages. At the first stage, the values of faults are estimated using a bank of diagnostic observers operating in a sliding mode. At the second stage, with the help of the obtained estimates, a control signal is generated that ensures the stabilization of dynamic properties of each electric drive at the desired level. To check the operability of the proposed system, a computer simulation was carried out. © 2022 IEEE.

关键词： Manipulators

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Research on Multiple Automated Guided Vehicles Path Planning to Reduce Default Time 2

Research on Multiple Automated Guided Vehicles Path Planning...

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2nd IEEE International Conference on Data Science and Computer Application, ICDSCA 2022

作者： Liu, Yiyang Yan, Shuaihua Hou, Zheng Zhao, Yang Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China Kunshan Intelligent Equipment Research Institute Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China University of Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China College of Information Science and Engineering Northeastern University Shenyang China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China

ISBN: (数字)9781665472005

ISBN: (纸本)9781665472005

This paper studies the path planning problem of multiple automated guided vehicles (multi-AGV) in a matrix manufacturing workshop. We proposed the multi-AGV path planning problem with default time, which is a variant of the classic path planning problem. In order to ensure the timely completion of each task, the default time of the task is explicitly considered. The goal is to obtain a conflict-free path with the minimum total default time, total time, and total path length. For these three goals, this problem is NP-hard. In order to solve this problem better, we established a multi-objective optimization model of total default time, total time and total path length of multi-AGV in flexible manufacturing environment. This paper proposes a multi-AGV path planning method that integrates game theory and A∗ algorithm. This method regards each AGV as a participant in the game model, through the default time obtained from each game dynamically adjusts the probability of each AGV planning the next path, and uses game theory to help the system dynamically select the most suitable AGV to plan the next path to improve the on-time delivery rate of tasks. Finally, the simulation results show that the multi-AGV path planning method integrating game theory and A∗ algorithm further reduces the total default time, total time and total path length of all AGVs. © 2022 IEEE.

关键词： Motion planning

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