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第41届中国控制会议

作者： Feng Liu Feiyue Zhuo Shujiang Sun Zhi-Hong Guan Hua O Wang School of Automation China University of Geosciences Engineering Research Center of Ministry of education for intelligent technology of earth exploration Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Artificial Intelligence and Automation Department of Mechanical Engineering Boston University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper presents a ring synthetic gene network model described by fractional differential equations,studies the conditions of Hopf bifurcation in the model,and discusses the limit cycle oscillation phenomenon due to the existence of bifurcation,which causes the system to become unstable,and then We propose a method to control the bifurcation behavior in the system,so that the system can be stable over a large *** addition,the dynamic behavior of the fractional-order model is simulated by triggering a genetic oscillator(a single inhibitory gene) composed of a transistor composed of linear and nonlinear electronic *** circuit simulation results well verify the theoretical analysis conclusion,and the circuit simulation model can well demonstrate the biological characteristics of gene regulatory networks.

关键词： Synthetic gene networks fractional-order bifurcation control circuit simulation

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On the leader-following exponential consensus of discrete-time linear multi-agent systems over jointly connected switching networks

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control Theory and Technology 2023年第3期21卷 469-477页

作者： Tao Liu Jie Huang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055GuangdongChina Shenzhen Research Institute The Chinese University of Hong KongShenzhen 518057GuangdongChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina

The leader-following asymptotic consensus problem for general discrete-time linear multi-agent systems over jointly con-nected switching networks was solved about a decade ***,the leader-following exponential consensus was further established using the so-called Krasovskii-LaSalle theorem for a class of discrete-time linear switched *** this method involves some advanced concepts such as the weak zero-state detectability of some limiting *** this paper,we offer a simpler solution to the leader-following exponential consensus problem for general discrete-time linear multi-agent systems over jointly connected switching *** converting the solvability of the problem to the establishment of the exponential stability for a class of discrete-time linear switched systems,we first show that this class of linear switched systems is uniformly completely ***,we further conclude that the uniform complete observability for this class of linear switched systems implies the exponential stability for the same class of linear switched systems,thus leading to the solution of the leader-following exponential consensus ***,our approach also gives rise to an explicit characterization of the exponential convergence rate of the leader-following consensus problem.

关键词： Leader-following consensus Exponential stabilization-Linear switched systems Discrete-time systems

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The Training Set Automating for a Neural Network Model of an Industrial Robot control System

The Training Set Automating for a Neural Network Model of an...

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IEEE Conference on Quality Management, Transport and Information Security, Information Technologies (IT&MQ&IS)

作者： Vyacheslav I. Voronov Victor A. Smolnikov Lily I. Voronova Olga L. Antonycheva Nikita V. Belov Department of Intelligent Control Systems and Automation Moscow Technical University of Communications and Informatics Moscow Russia

ISBN: (数字)9798350367522

ISBN: (纸本)9798350367539

The industrial robot control system solves a large number of tasks that affect the ease of integration and efficiency of the manipulator in the technological process. One of its main tasks is to calculate in real time the trajectory of the manipulator flange movement taking into account the selected type of movement. In particular, this task can be solved using a neural network model. The article describes the solution of the problem of automating the creation of a training set for a neural network model that forms the trajectory of movement of an industrial manipulator. The source of data for the set is a KUKA KR4 R600 manipulator and its digital twin created in the “Rational Production” software. The training set includes many sets of the manipulator joint angle vectors (generalised coordinates) that uniquely define the current position of the robot and its flange in space.

关键词： Training Service robots Robot kinematics Neural networks Training data Manipulators control systems Industrial robots Data models Trajectory

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Development of a Method for Robotic Sorting of Metal Objects

Development of a Method for Robotic Sorting of Metal Objects

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intelligent Technologies and Electronic Devices in Vehicle and Road Transport Complex (TIRVED)

作者： Nikita V. Belov Liliya I. Voronova Mariya V. Khokhlova Department of Intelligent Control Systems and Automation Moscow Technical University of Communications and Informatics Moscow Russia

ISBN: (数字)9798331518707

ISBN: (纸本)9798331518714

This paper presents a method for the robotic sorting of objects in automatic mode, which makes use of the Kuka industrial manipulator. The method proposed in this work performs the segmentation of objects using a neural network, the selection and the determination of the spatial coordinates of the picking object, and the movement of the manipulator and control of the picking device. The results of the tests demonstrated that the proposed method was able to accurately determine the spatial coordinates of the object with minimal error. Furthermore, the Euler angles of the object centre were calculated with an error of 1.73° on the X-axis and 1.77° on the Y-axis. The findings indicate the potential for extending the scope of applications for industrial manipulators. The results demonstrate the feasibility of employing these manipulators in intricate and congested environments, enabling the sorting of object.

关键词： Performance evaluation Accuracy Uncertainty Service robots Robot kinematics Roads Neural networks Metals Manipulators Sorting

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Analysis and State Feedback control Bifurcation of Fractional-Order Cyclic Gene Regulatory Networks with Time Delay 41

Analysis and State Feedback Control Bifurcation of Fractiona...

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第41届中国控制会议

作者： Feng Liu Shujiang Sun Juan Zhao Feiyue Zhuo Hua O Wang School of Automation China University of Geosciences Engineering Research Center of Ministry of education for intelligent technology of earth exploration Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Mechanical Engineering Boston University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,a fractional-order cyclic gene regulatory network model with time delay is ***,the total time delay of the system is selected as the bifurcation parameter,and the condition for the existence of Hopf bifurcation is derived by analyzing its characteristic *** is found that the time delay affects the stability of the system,and the order affects the position of the bifurcation *** the time delay is greater than the critical time delay,the system loses ***,a state feedback controller is designed for the unstable *** is proved that the control method has good control effect for the system instability caused by Hopf ***,the correctness of the theoretical derivation is verified by simulation.

关键词： Fractional-order cyclic gene regulatory network Hopf bifurcation feedback control time delay

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Adaptive control System for the Process of Sorting Objects Using a Robotic Arm

Adaptive Control System for the Process of Sorting Objects U...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Nikita V. Belov Andrey G. Vovik Department of Intelligent Control Systems and Automation Moscow Technical University of Communications and Informatics Moscow Russia

The paper describes the implementation of a software-hardware complex that implements the sorting of objects by colour using computer vision. The algorithm for determining the working area of the robot-manipulator is given. The control action on the executive mechanism is formed by an algorithm implemented in Python using the C3 Bridge Interface, OpenShowvar and OpenCV software libraries for interaction with the robot and computer vision. A Kuka KR4 6-axis industrial robot manipulator with pneumatic gripper is used as an actuator that performs direct object movement. The developed hardware and software system can serve as a basis for creating flexible robotised manufacturers.

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Optimal Linear Deception Attacks on Remote State Estimation with Constrained Alarm Rates: A Low-Dimensional Case 63

Optimal Linear Deception Attacks on Remote State Estimation ...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Shang, Jun Zhang, Hanwen Zhou, Jing Chen, Tongwen Tongji University Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Department of Control Science and Engineering Shanghai200092 China University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering Beijing100083 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

ISBN: (纸本)9798350316339

This study addresses linear attacks on remote state estimation within the context of a constrained alarm rate. Smart sensors, which are equipped with local Kalman filters, transmit innovations instead of raw measurements through a wireless communication network. This transmission is vulnerable to malicious data interception and manipulation by attackers. The aim of this research is to identify the optimal attack strategy that degrades the system performance while adhering to stealthiness constraints. A notable innovation of this paper is the direct association of the attack's stealthiness with the alarm rate, diverging from traditional approaches that rely on the covariance of the innovation or the Kullback-Leibler divergence, which are conventional metrics that have been extensively explored in previous studies. Our findings reveal that the optimal attack strategy exhibits some structural characteristics in systems of low dimensions. The performance of the proposed attack strategy is demonstrated through numerical examples. © 2024 IEEE.

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Creating a Simulation System of Orthopedic Insoles Based on Data from Three-Dimensional Scan of the Feet

Creating a Simulation System of Orthopedic Insoles Based on ...

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2021 IEEE International Conference "Quality Management, Transport and Information Security, Information Technologies", T and QM and IS 2021

作者： Voronov, Vyacheslav I. Dovgolevsky, Petr A. Voronova, Lilia I. MTUCI Intelligent Systems in Control and Automation Department Moscow Russia

ISBN: (纸本)9781665433020

The article describes a software package for creating a spatial model of orthopedic insoles for patients of specialized orthopedic clinics. Methods of artificial intelligence and methods of processing input data used in the basic algorithm of the software complex are considered in detail. The features of working with various categories of three-dimensional images used for modeling insoles are considered, conclusions about the requirements for the quality and quantity of initial data are given. A series of experiments on modeling insoles based on the clinical data set were carried out and analyzed. The algorithm is based on the generative adversarial network (GAN) of the Pix2Pix architecture, modified by the authors. The software modules that implement the main functions of the software complex are described: the module for loading the initial data, the module for preparing and processing input data, the module for the main modeling kernel, and the module for visualizing the results. A 3D point cloud is used as a display format for input and output files. The goals and objectives for expanding the basic functionality of the software package have been analyzed and formulated. © 2021 IEEE.

关键词： Generative adversarial networks

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Detection of Termite Nests in Dams Using Ground Penetrating Radar Based on Deep Learning 20

Detection of Termite Nests in Dams Using Ground Penetrating ...

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20th International Conference on Ground Penetrating Radar, GPR, 2024

作者： Peng, Jiao Xue, Wei Wang, Wenkai Song, Junlei Zhou, Feng Huang, Pengchun Zhang, Zhixuan Zhang, Feng Zhang, Xu Chen, Longjia Sun, Li School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China Dam Safety Monitoring and Termite Control Center of Hubei Provincial Department of Water Resources China Key Laboratory of Termite Control Ministry of Water Resources China School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan China

Termites have always been one of the major hidden dangers to the operational safety of dams. Traditional detection methods such as manual inspection and termite baiting have limitations in terms of efficiency and accuracy. To solve the problems, paper proposes a termite nest detection method based on ground penetrating radar (GPR) and deep learning. First, the simulated GPR data are generated using gprMax software, and the real data are collected using a GPR at several dams. Subsequently, the YOLOv8 deep neural network is employed for termite nest recognition in GPR images. The experimental results show that the proposed model can achieve the mean average precision (mAP) of 0.96 and a detection speed of 53.76 frames per second (FPS). © Published under licence by IOP Publishing Ltd.

关键词： Deep neural networks

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