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19th IEEE International Conference on Communication Technology, ICCT 2019

作者： Gong, Tierui Liu, Zhifeng Yang, Zhijia Wang, Gengshan Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781728105352

To address the performance degradation of wide-band spectrum sensing by sub-Nyquist sampling (SNS) in wireless fading channels, two compressive subspace learning (CSL) algorithms are proposed for signal subspace learning based on antenna cross-correlations for further improving the sensing performance. Both algorithms are developed based on different organizations of SNS samples, and both exploit space diversity and noise uncorrelations between antennas. We further establish the expressions for statistical covariance matrices (SCMs) obtained by SNS samples in the multi-antenna SNS cognitive radio system. Based on the derived SCM expressions, conditions to ensure SCMs without noise contamination are given. Simulations validate the derived conditions and show the improvement on sensing performance over related works. © 2019 IEEE.

关键词： Covariance matrix

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Representing Objects in Map Building Using A Semantic SLAM Scheme

Representing Objects in Map Building Using A Semantic SLAM S...

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Chinese automation Congress (CAC)

作者： Yu Yang Di Wang Weiqi Zheng School of Mechatronics Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai

In order to make the robot understand the scene better and the human-robot interaction more friendly, a lightweight semantic SLAM system is proposed in this paper. Our system uses a LIDAR combined with a camera to obtain object location in SLAM and determines object information such as category with a CNN-based object detector. The object identities are represented in the form of joint probability distributions that are updated by Bayes’ theorem. The FPA algorithm is used to obtain parameter valuation with maximum posterior probability so as to determine the modeling feature parameters of objects on the map. The similarity between objects is measured with the Bhattacharyya coefficient to avoid duplicate modeling of identified objects in map updating. The proposed system is simulated in Gazebo and an effective scheme balancing accuracy and computation cost is obtained. Finally, experiments on a small indoor robot demonstrate the effectiveness of our method.

关键词： Simultaneous localization and mapping Navigation Computational modeling Semantics Robot vision systems Human-robot interaction Probability distribution

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OPTIMIZING THE SUBDIVISION OF ELEMENTS IN DISCONTINUITY MESHING FOR HIERARCHICAL RADIOSITY

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International Journal on Artificial Intelligence Tools 2003年第4期12卷 395-411页

作者： IOANNIS A. PANTAZOPOULOS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Electrical and Computer Engineering Department National Technical University of Athens Zographou Athens Greece

This paper presents a new topological structure for use in the context of hierarchical radiosity combined with discontinuity meshing. This is most useful for a new strategy adopted for subdividing the elements of a scene consisting of convex polygons. The subdivision is done in a local optimization manner keeping the aspect ratios of produced polygons low. The generated meshes give high visual accuracy.

关键词： Hierarchical radiosity discontinuity meshing mesh pre(post)-processing multigriding aspect-ratio

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Anomaly Detection of Marine Diesel Engine Valve System based on Mahalanobis Distance

Anomaly Detection of Marine Diesel Engine Valve System based...

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2020 Global Reliability and Prognostics and Health Management, PHM-Shanghai 2020

作者： Sun, Yue Xu, Aidong Wang, Kai Jia, Shuli Guo, Haifeng Han, Xiaojia Laboratory of Industrial Control Network and System State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Shenyang China Automation Engineering Department Shanghai Marine Diesel Engine Research Institute Shanghai China

ISBN: (纸本)9781728159454

Diesel engine is an important energy equipment. The valve system is the core component of diesel engine with high failure rate. It is of great significance to study the abnormal detection method of the diesel engine valve system and realize the failure warning before the failure occurs for avoiding the unexpected shutdown of the diesel engine. In this paper, an anomaly detection method of marine diesel engine valve system based on Mahalanobis distance (MD) is proposed. The failure mode of diesel engine system is analyzed. Three thermal parameters are selected as monitoring parameters for the failure mode of roller fragmentation. Fault features are extracted by MD method and the failure threshold is determined by Box-Cox transformation. Finally, the effectiveness of the proposed method is verified by the durability test of diesel engine. © 2020 IEEE.

关键词： Diesel engines

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A Battery control Strategy for Sequential Utilization of Energy Storage Systems in Power Batteries 7

A Battery Control Strategy for Sequential Utilization of Ene...

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7th IEEE Advanced Information Technology, Electronic and automation control Conference, IAEAC 2024

作者： Li, Bowen Cui, Shijie Zhu, Lizhong Shenyang Ligong University College of Automation and Electrical Engineering Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350339161

With the widespread adoption of energy storage systems utilizing power batteries, battery lifespan degradation has become a primary constraint on system performance. To address this issue, this study proposes a lifespan-optimized battery control strategy. Firstly, a battery lifespan calculation model for the energy storage system is established, taking into detailed consideration key parameters such as battery State of Charge (SOC). Secondly, a control strategy based on SOC for charging and discharging is designed, aiming to minimize battery lifespan consumption to the greatest extent possible. Finally, experimental results demonstrate that the proposed control strategy significantly improves the lifespan of the energy storage system compared to existing strategies. This research provides an effective means of control for the long-term stable operation of power battery systems. © 2024 IEEE.

关键词： Charging (batteries)

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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Deploy Indoor 2D Laser SLAM on a Raspberry Pi-Based Mobile Robot

Deploy Indoor 2D Laser SLAM on a Raspberry Pi-Based Mobile R...

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International Conference on intelligent Human-Machine Systems and Cybernetics, IHMSC

作者： Maosheng Liao Di Wang Hao Yang School of Mechatronics Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China

In the past few decades, the autonomous navigation of mobile robots has been a research hotspot and SLAM technology has been widely used in mobile robots' autonomous navigation. This paper presents a low-cost hardware and software description of an indoor mobile robot platform based on a Raspberry Pi board. A 2D laser scanner and Gmapping SLAM based on RPBF is used for the map building. This system consists of multiple nodes distributed to several devices, mainly running on ROS within a Raspberry Pi board. An Experiment was carried out with the simulated environment in the laboratory. The result shows the robust navigation procedure of the robot and verifies the feasibility of deploying 2D indoor SLAM on embedded platforms.

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Design and Implementation of OpenWSN Hardware Platform 2

Design and Implementation of OpenWSN Hardware Platform

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2nd International Conference on Algorithms, High Performance Computing and Artificial Intelligence, AHPCAI 2022

作者： Zhang, Shusheng Xie, Chuang Liu, Jun Zhao, Chun Yang, Zhijia Mao, Jizhi College of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 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

ISBN: (纸本)9798350334784

This paper proposes a new wireless sensor network hardware platform based on OpenWSN project launched by the University of California, Berkeley. The hardware platform's processor uses a 32-bit microcontroller (STM32F103RCT6) produced by STMicroelectronics (ST), and the wireless module uses the WISA470 chip. The final experimental results show that this platform can support the Open WSN project very well. © 2022 IEEE.

关键词： Wireless sensor networks

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Robust synchronizing motion control of twin-servo systems based on network modeling

Robust synchronizing motion control of twin-servo systems ba...

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IEEE Conference on Decision and control

作者： Bong Keun Kim Wan Kyun Chung Il Hong Suh Robotics & Bio-Mechatronics Laboratory Pohang University of Science and Technology South Korea Intelligent Control & Robotics Laboratory Hanyang University South Korea

ISBN: (纸本)0780366387

In this paper, a robust control method for synchronizing motions of a twin-servo system is proposed. Using the correspondence between the mathematical modeling and the circuit representation, a network representation of twin-servo system is proposed. And a stabilizing control input is designed based on robust internal-loop compensator for the separate system in the presence of uncertainty and disturbance. Skew motion compensating control input is also designed to maintain the synchronizing motion during high speed motion. The stability of the whole closed-loop system is proved based on passivity theory. Through experiments using a semiconductor chip mounting device, the performance of the proposed method is evaluated.

关键词： Robust control Motion control Adaptive control control systems Uncertainty intelligent robots Stability analysis Damping Biomechatronics intelligent control

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A LiDAR-Camera Calibration and Sensor Fusion Method with Edge Effect Elimination

A LiDAR-Camera Calibration and Sensor Fusion Method with Edg...

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International Conference on control, automation, robotics and Vision (ICARCV)

作者： Yili Lin Yifan Fei Yunhan Gao Hang Shi Yangmin Xie School of Mechatronics Engineering and Automation Shanghai University China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics China

ISBN: (纸本)9781665476881

This article presents a multi-sensor calibration and fusion work for a dense reconstruction and colorization system. Unlike previous research, it explicitly addresses the edge effect in LiDAR measurements in both calibration and sensor fusion. The proposed calibration method can accomplish LiDAR-motor and LiDAR-camera calibration at a one-time experiment. The feature extraction algorithm for the point cloud automatically eliminates the edge-effect-induced noises in the calibration process. The experiment results show that it can achieve even better results than work without edge effect elimination in terms of calibration errors. As a result, it has achieved a calibration accuracy superior to previous researches. The system is testified by an indoor scene, which shows a desirable color point cloud generation with dense and clean data.

关键词： Point cloud compression Surface reconstruction Strips Laser radar Image color analysis Shape Sensor fusion

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