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A method of laser focusing control in microlaser-induced breakdown spectroscopy

Plasma Science and Technology 2019年第3期21卷 31-39页

作者： Wei WANG Lanxiang SUN Peng ZHANG Liming ZHENG Lifeng QI Wei DONG Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Key Laboratory of Networked Control System Chinese Academy of Sciences

This paper presents a method for the automatic adjustment of the laser defocusing amount in micro-laser-induced breakdown spectroscopy. A microscopic optical imaging system consisting of a CCD camera and a 20× objective lens was adopted to realize the method. The real-time auto-focusing of the system was achieved by detecting the effective pixels of the light spot generated by the laser pointer. The focusing accuracy of the method could achieve 3 μm. The element concentrations of Mn and Ni in low-alloy steels were analyzed at a crater diameter of about 35 μm using the presented method. After using the presented method, the determination coefficients of Mn and Ni both exceeded 0.997, with the root-mean-square errors being 0.0133 and 0.0395, respectively. Scanning analysis was performed on the inclined plane and the curved surface by means of focusing control and non-focusing control. Ten characteristic spectral lines of Fe were selected as the analysis lines. With the focusing control, the average relative standard deviations obtained on the inclined plane and curved surface were both less than 5%, and much less than the values without focusing control, 14.6% and 40.39%.

关键词： LIBS microanalysis ablation crater focusing control

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Online fault prediction for nonlinear system based on sliding ARMA combined with online LS-SVR 33

Online fault prediction for nonlinear system based on slidin...

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第三十三届中国控制会议

作者： SU Shengchao ZHANG Wei ZHAO Shuguang College of Information Science and Technology Donghua University Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science

ISBN: (纸本)9781479947249

In this paper, a robust online fault prediction method which combines sliding autoregressive moving average(ARMA) modeling with online least squares support vector regression(LS-SVR) compensation is presented for unknown nonlinear system. At first, we design an online LS-SVR algorithm for nonlinear time series prediction. A combined time series prediction method is then developed for nonlinear system prediction. The sliding ARMA model is used to approximate the nonlinear time series, meanwhile, the online LS-SVR is added to compensate for the nonlinear modeling error with external disturbance. The one-step-ahead prediction of the nonlinear time series is so achieved. Finally, the online method is applied into motor time series polluted by noise, and a fault decision function is defined to judge the fault information manifested by the predicted error. The experimental results show the effectiveness of the proposed method.

关键词： Fault prediction,nonlinear system,time series prediction,least squares support vector regression,autoregressive moving average

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Trust Consensus Protocol for Heterogeneous Underwater Robotic Systems

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IFAC-PapersOnLine 2016年第23期49卷 341-346页

作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems MATLAB Robots Topology Communication graphs Communication topologies Direct communications Environmental property Heterogeneous multi agent systems Limited communication range Switching topology trust consensus

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On Simulation for Fuzzy control on Oxygen Concentration of the Mixed Air Supplied by Breathing Adjuster 34

On Simulation for Fuzzy Control on Oxygen Concentration of t...

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第三十四届中国控制会议

作者： SUN Hao WANG Shou-jun SUN Qing-lin Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System The College of Mechanical Engineering Tianjin University of Technology The College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781467374439

The breathing adjuster is the core component of life support system of an aircraft and it is very important to control the valve to make the breathing adjuster supply the pilot the mixed air with the suitable oxygen concentration. In this paper the mathematical model, which describes the relation between the opening degree of the valve of the breathing adjuster and the flight altitude of the aircraft, is set up through analyzing requirement of aviation physiology and working principles of the breathing adjuster. Then a fuzzy controller is designed to control the opening degree of the valve in order to make the breathing adjuster supply to the pilot the mixed air with suitable oxygen concentration. Finally MATLAB Simulink is employed to verify the feasibility and validity of the fuzzy controlling approach. The results of simulating experiments show that the fuzzy control approach proposed in this paper can make the breathing adjuster supply the mixed air with suitable oxygen concentration to the pilot boarded on an aircraft.

关键词： Breathing adjuster,Oxygen concentration,the opening degree of the valve,Fuzzy control,Simulation

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Further Result on the Observer Design for One-Sided Lipschitz Systems

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Journal of Shanghai Jiaotong university(Science) 2022年第6期27卷 817-822页

作者： YANG MING HUANG JUN ZHANG WEI School of Mechanical and Electrical Engineering Soochow UniversitySuzhou 215131China Laboratory of Intelligent Control and Robotics Shanghai University of Engineering ScienceShanghai 201620China

This paper investigates the problem of observer design for a class of control *** from current works,the nonlinear functions in the system only satisfy the property of the one-sided Lipschitz(OSL)condition but not quadratic inner-boundedness(QIB).Moreover,the case where the OSL constant is negative is specially ***,a full-order observer is constructed for the original ***,a reduced-order observer is also designed by using the decomposition *** advantage and effectiveness of the proposed design scheme are shown in a numerical simulation.

关键词： control systems one-sided Lipschitz(OSL)systems full-order observers reduced-order observers

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Mobile robot modeling using local model networks

Mobile robot modeling using local model networks

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2003 European control Conference, ECC 2003

作者： Skoundrianos, E.N. Tzafestas, S.G. Intelligent Robotics and Automation Laboratory Division of Signals Control and Robotics National Technical University of Athens Zographou Athens15773 Greece

ISBN: (纸本)9783952417379

This article deals with the modeling issue of plants with unknown description. The modeling approach is based on the Local Model Network structure. Local Models perform local linearization and their structure is quite similar to the Takagi-Sugeno fuzzy models. Local Neural Models (LNM) function as linear filters, giving a satisfying estimation for the plant's output within parts of the operating regime. Their training is performed off-line, which ensures a reliable method. The method is applied on the RobuterTM mobile robot. © 2003 EUCA.

关键词： Mobile robots

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A hierarchical hybrid of genetic algorithm and particle swarm optimization for distributed clustering in large-scale wireless sensor networks

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Journal of Ambient Intelligence and Humanized Computing 2017年 1-11页

作者： Su, Shengchao Zhao, Shuguang College of Information Science and Technology Donghua University Shanghai201620 China Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai201620 China

In clustering wireless sensor networks (WSNs), the collected data from sensor nodes can be aggregated by cluster head instead of being sent directly to the base station. So distributed clustering in WSNs can eliminate the redundant data generated by nodes, and thus save the energy consumption by avoiding the unnecessary redundant data transmission. In this paper, a hierarchical hybrid of genetic algorithm (GA) and particle swarm optimization (PSO) is proposed for distributed clustering in large-scale WSNs. All sensor nodes can be organized into two levels of logic architecture. The bottom layer is made up of independent subgroups, and GA is used for global search. The optimum individuals of all sub groups constitute the elite group at the upper level, and the evolution of the PSO algorithm is mainly responsible for the local search of the elite individual. Then the design solution of distributed clustering can be obtained and the convergence speed of the algorithm will be accelerated effectively. Simulation results demonstrate that the proposed approach effectively reduces the energy consumed and it helps to increase the network lifetime. © 2017 Springer-Verlag GmbH Germany, part of Springer Nature

关键词： Genetic algorithms

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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic Systems

Decentralized Energy Sharing Protocol using TÆMS Framework ...

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作者： Arbanas, Barbara Boljuncic, Sara Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： Energy management systems

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A new approach to robust fault detection of model-unknown nonlinear systems

International Journal of Control and Automation

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International Journal of control and Automation 2014年第8期7卷 181-192页

作者： Su, Shengchao Zhang, Wei Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai 201620 China College of Information Science and Technology Donghua University Shanghai 201620 China

Most of actual engineering systems have the characteristics such as nonlinearity, difficult modeling, and high cost to experiment with fault. So fault detection in these systems is difficult. In this paper, a new approach to robust fault detection is proposed for model-unknown nonlinear systems. Firstly, a general framework for fault detection is discussed. This framework is capable of associating each detection result with a confidence level. An online learning least squares support vector regression algorithm is then used to design the framework. Meanwhile, robust strategy and forgetting strategy are added to the algorithm. Accordingly, a robust online fault detection method is developed with less amount of calculation. Finally, the proposed method is applied to fault detection of model-unknown fighter F-16. The simulation results show that the proposed method can detect fault quickly without the model of system or any prior knowledge of fault. © 2014 SERSC.

关键词： Nonlinear systems

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Evolutionary Dynamics and Individual Heterogeneity in Multi-agent networking systems 35

Evolutionary Dynamics and Individual Heterogeneity in Multi-...

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第35届中国控制会议

作者： ZHANG Jianlei CHEN Zengqiang LIU Zhongxin ZHANG Chunyan Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control EngineeringNankai University

ISBN: (纸本)9781509009107

Cooperative behaviors lie at the basis of human societies,yet its evolutionary origin still remains a perplexing *** exists a large evolutionary game literature exploring effects of population structures on evolutionary outcomes,but in most cases structured population models only employ one game alone.A relevant question is covered in this study thus concerns the effect of game diversity occurring along the edges linking two players situated on the *** basic structure of our mechanism provides more than one type of games available for the *** our game setting,the game model is assumed as a fixed property of each edge and will remain unaltered through game *** preliminary initiatives,we only consider two typical games（Prisoner’s dilemma game and Snowdrift game）,and all possible mixtures between them controlled by a *** performed simulations and theoretical analysis help us observe the remarkable improvement on cooperation levels in suitable parameter regions when the population are simultaneously provided with more than one type of ***,network heterogeneity helps to bring into existence of cooperator clusters and thus favors the survival of cooperators.

关键词： Collective Cooperation Evolutionary Game Theory Heterogeneity

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