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A Novel Gas Classification Method Based on The Improved GasNet

A Novel Gas Classification Method Based on The Improved GasN...

引用

第43届中国控制会议

作者： Xiaolin Qin Lei Cheng Xiang Tao Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology School of Information Science and Engineering Wuhan University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Accurately and promptly identifying harmful gases in the environment can effectively prevent many accidents. Most existing pattern recognition methods are focused on addressing gas classification problems in static scenarios, but the real world is a dynamic and changing environment. Therefore, researching gas classification in continuous learning scenarios will better meet the needs of suddenly emerging gas classification tasks in real-world environments. To address this issue, an incremental learning model was introduced into gas classification, and an improved deep convolutional network was proposed for gas image feature extraction. The proposed model and other baseline methods experimented on an open-source gas dataset. The proposed model reduces knowledge loss due to catastrophic forgetting and effectively classifies the 10 gas samples in the dataset in continuous learning scenarios compared to non-incremental methods. It outperforms other baseline incremental methods by optimizing the network's shortcut connections, making the feature extraction network easier to train and improving gas classification performance. In dynamic learning scenarios, the proposed model achieved a classification accuracy of 86.30% for 10 gas *** experimental results demonstrate that the proposed method effectively mitigates catastrophic forgetting interference and completes gas classification tasks in continuous learning scenarios.

关键词： Gas classification Incremental learning Shortcut connection Catastrophic forgetting

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Gas Source Localization for UAV Using Infotaxis-Based Three-Dimensional Algorithm and Particle Filtering

Gas Source Localization for UAV Using Infotaxis-Based Three-...

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第43届中国控制会议

作者： Duan He Cheng Lei Wang Rong Zhang Yu Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology School of Information Science and Engineering Wuhan University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Unmanned aerial vehicles(UAVs) are extensively utilized in gas source localization tasks due to their payload capacity and maneuverability. This paper presents a UAV gas source localization algorithm that utilizes three-dimensional Infotaxis and particle filter. The algorithm is designed for gas source localization of UAVs in dynamic outdoor airflow *** source localization process comprises UAV search area partitioning, particle filter initialization, observation and update of probability map, entropy calculation and direction selection, particle direction and weight update, and UAV movement. To validate the effectiveness of the algorithm, we build a CFD gas environment and UAV source localization platform, and compare it with traditional Infotaxis-based source localization algorithms. The proposed algorithm based on three-dimensional Infotaxis and particle filter demonstrates higher accuracy.

关键词： infotaxis particle filtering gas source localization olfactory drone path planning

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A Task Offloading Method for Smart Instruments Based on Edge Computing 7

A Task Offloading Method for Smart Instruments Based on Edge...

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7th International Conference on Computer and Information Processing Technology, ISCIPT 2022

作者： Liu, Yang Zhang, Tianshi Xiao, Jinchao Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110000 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

The development of edge computing technology has enabled the promotion of traditional industrial instruments to smart instruments with collaborative working capabilities. Smart instruments are widely distributed in industrial production sites and can monitor working conditions in real time. Implementing multi-instruments collaborative computing on the edge side will help improve the responsiveness of industrial systems and reduce instrument maintenance costs. This paper proposes a task offloading method for smart instruments based on edge computing. Firstly, the instrument capability is evaluated based on the characteristics of the smart instrument. Then, the task scheduling of smart instruments is optimized based on Lyapunov algorithm. Finally the simulation verification is carried out. The experimental results show that the algorithm in this paper has a significant effect on improving computing power and reducing resource occupancy. © 2022 Copyright for this paper by its authors.

关键词： Edge computing

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UAV Path Planning Based on Simultaneous Optimization of Monitoring Frequency and Security

UAV Path Planning Based on Simultaneous Optimization of Moni...

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第34届中国控制与决策会议

作者： Yifei Shu Yang Chen Mian Hu Huaiyu Wu Xingang Zhao Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

UAVs have great potential when applied to persistent monitoring,but there are still problems such as difficulty in ensuring the monitoring frequency and easy leakage of monitoring path ***,it is necessary to increase the UAV monitoring frequency of targets and the randomness of monitoring paths as much as possible on the premise of covering all monitoring *** response to the above problems,this paper studies the UAV path planning problem of simultaneous optimization of monitoring frequency and path *** the evaluation of monitoring frequency and path security based on monitoring overdue time and path entropy,a mathematical model for UAV path planning is *** improved ant colony algorithm based on the monitoring overdue time(Overdue-aware Ant Colony Optimization,OACO) is designed,and finally the UAV flight trajectory with high monitoring frequency and the high monitoring path security is *** simulation results show that the method proposed in this paper can effectively improve the monitoring frequency of each monitoring node to be accessed,improve the security of the UAV monitoring path,which is of great significance for enhancing monitoring security and preventing intrusion.

关键词： UAV persistent monitoring path planning monitoring frequency overdue time security

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Smart Manufacturing Integration of Heterogeneous Information systems via OPC UA. A Case Study

Smart Manufacturing Integration of Heterogeneous Information...

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Automatics and Informatics (ICAI), International Conference

作者： Plamen Vasilev Ani Boneva Veronika Ivanova Tsetso Tsvetanov Department of Industrial Automation University of Chemical Technology and Metallurgy Sofia Bulgaria Department of Communication and Computer Systems Institute of Information and Communication Technologies Bulgarian Academy of Sciences Sofia Bulgaria Department of Robotized and Mechatronics Intelligent Systems Institute of Robotics Bulgaria Academy of Sciences Sofia Bulgaria

ISBN: (数字)9798350353907

ISBN: (纸本)9798350353914

Modern automation, digitalization, virtualization, and intelligent production impose new criteria and approaches to process management. The operation and performance of any system and device depend on how it is managed. The article describes Smart Manufacturing Integration of Heterogeneous Information systems via OPC UA. The main goal is the development of heterogeneous information systems with real applications, with which reliable and up-to-date information can be exchanged between systems of different hierarchical levels. The goal was achieved with the following steps i) building the research infrastructure ii) analyzing the information compatibility and challenges in integrating systems from different hierarchical levels, and iii) implementing the integration by means of the OPC-UA standard communication protocol. The setup has been tested under laboratory conditions. The obtained results are shown.

关键词： Performance evaluation Protocols automation Process control Production Topology Reliability Virtualization Standards Smart manufacturing

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Trajectory Tracking of Fractional order Quadrotor UAV Based on Adaptive Fuzzy Fractional Order PID Controller

Trajectory Tracking of Fractional order Quadrotor UAV Based ...

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Asian Control Conference

作者： Shiyu Xi Zhihuan Chen Zhiheng Chen Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

In this paper, the trajectory tracking problem of the quadrotor UAV with fractional order characteristics is studied. First, an accurate fractional order mathematical model is innovatively established, addressing the deficiency of traditional integer order models in modeling precision. Secondly, the prediction-correction algorithm is applied to solve these complex fractional order differential equations. In design of the control system, the adaptive fuzzy fractional order PID (AFFOPID) control strategy is applied to the position subsystem and attitude subsystem of the quadrotor UAV, dealing effectively with the fractional order characteristics and also enhancing control flexibility. Since the AFFOPID controller does not require the integral term of the error as input, it can be more easily applied and tuned in practical situations. Finally, comparative simulation experiments are conducted to confirm the effectiveness of the proposed control strategy and the superiority of fractional order controllers.

关键词： Adaptation models Trajectory tracking Differential operators Autonomous aerial vehicles Control systems Prediction algorithms Mathematical models

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Fixed Time Synchronization for Heterogeneous Complex Network with Time Delay by Soft Variable Structure Control Method

Fixed Time Synchronization for Heterogeneous Complex Network...

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Asian Control Conference

作者： Jie Wei Zhihuan Chen Tinghao Shi XiuJuan Zheng Zhenhua Zhu Mian Hu Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

Ahstract-This study focuses on the fixed-time synchronization problem of drive-response complex networks with time delay. Distinguish from most of previous works, a more practical complex network is introduced, whose nodes and dimension between drive-response system are different. To achieve fixed time synchronization of the network, a dynamic soft variable structure control with fixed-time strategy is proposed, aiming to achieve higher regulation rate and shorter settling time. Then, the stability of the controller is rigorously proven through mathematical analysis and numerical simulations validate the effectiveness of presented results.

关键词： Delay effects Power system dynamics Stability criteria Complex networks Power system stability Numerical simulation Robustness

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Variation of sEMG with Muscle Fatigue for Lower Limb Stroke Patient During Walking

Variation of sEMG with Muscle Fatigue for Lower Limb Stroke ...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Shang, Wenze Huang, Ruisen Liao, Wei-Hsin Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong999077 Hong Kong

ISBN: (纸本)9781665481090

SEMG signal is widely used and explored in control strategies of powered assistive human-robot interaction systems due to its non-invasive nature and ability to estimate motion intention well. However, prolonged use of the sEMG-based systems leads to muscle fatigue, contributing to unstable sEMG signals and regarding the performance of sEMG-based control strategies. In this study, three subjects, including two healthy subjects and one stroke subject, participated in our experiment, and the time domain, frequency domain, and complex features extracted from their sEMG signals were utilized to evaluate muscle fatigue. The results indicate that sEMG from the stroke side of the stroke subject contains more non-linear and chaotic parts, and the statistical differences between different trials are more significant, indicating that stroke has a more significant impact on the stroke side of the stroke subject. This study suggests that RMS in the stroke side of stroke subjects is less than that in others, whereas FuzzyEn in the stroke side of stroke subjects is greater than that in others, indicating that stroke leads to different motion patterns and more susceptibility to muscle fatigue. © 2024 IEEE.

关键词： Human robot interaction

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Fractional-Order Global Fast Terminal Sliding Mode Control Strategy for Fractional-Order Hydraulic Turbine Regulating System

Fractional-Order Global Fast Terminal Sliding Mode Control S...

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Chinese Control Conference (CCC)

作者： Shiyu Xi Zhihuan Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

Hydraulic turbine regulating system (HTRS) directly affects the safety and stability of hydro-generator units. In this paper, the control and modeling problems of the HTRS are mainly investigated based on the fractional-order theory, aiming to design a novel control strategy to raise the dynamic response of the HTRS and ensure the frequency stability of the hydro-generator units. Firstly, a nonlinear model of the fractional-order HTRS is established mathematically. Secondly, a fractional-order global fast terminal sliding mode controller is designed to improve the dynamic performance as well as the robustness of the system. Finally, relevant simulations are carried out to illustrate the effectiveness and rationality of the proposed control strategy in comparison with two other fractional-order control strategies.

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Speed Optimization of Cell Penetration based on Simulation

Speed Optimization of Cell Penetration based on Simulation

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Chinese Control Conference (CCC)

作者： Bin Yang Huiying Gong Zengshuo Wang Ke Li Qili Zhao Maosheng Cui Xin Zhao Mingzhu Sun Institute of Robotics and Information Automation Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China Institute of Animal Science and Veterinary of Tianjin Tianjin China

Cell penetration is an essential step in many biological technologies. In this paper, we propose a cell penetration optimization method based on dynamics simulation. Firstly, we establish a cell model and perform the simulation of the process of cell penetration. The cell model, which is a three-dimensional model, is composed of elastic particles, plastic particles and liquid particles mixed in a certain proportion. The cell penetration process simulated by this model can not only analyze the intracellular deformation, but also the deformation of the extracellular surface. We analyze the penetration process especially according to the extracellular surface. Secondly, the cell is penetrated at different speeds(uniform velocity), and the coordinate data of all particle points that formed the cell during the penetration process are recorded. The normal vector of the extracellular surface is calculated from the particle points of the extracellular surface based on PCA. We select some areas on the extracellular surface and analyze the change progress of the normal vector of the extracellular surface during the whole process of penetrating the cell. Finally, we design the penetration speed according to the changing trend of the normal vector of the extracellular surface under different penetration speeds. Simulation results verify that the designed penetration speed scheme is better.

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