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2021 China automation Congress, CAC 2021

作者： Yan, Hongyu Jia, Danping Zhang, Tao Zhang, Hualiang Xiong, Yingjie Lu, Xu Liu, Yang School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China 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 School of Electrica l Engineering Dalian University of Technology Dalian China College Of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781665426473

The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through multiple iterations. However, it is found in experiments that the tracking error of the XY precision motion stage using ordinary PD-type iterative learning will eventually fluctuate in a relatively range, and some high-frequency Noise will seriously affect the stability of the system after many iterations. Aiming at the above problems, a PD-type variable gain open-closed loop ILC with a low-pass filter is proposed. This control scheme can effectively remove high-frequency noise and reduce tracking errors. Finally, a hardware-in-the-loop real-time simulator is used to conduct a comparative experiment. Through comparison with PID controller and ordinary PD-type ILC, the experimental consequence show that this arithmetic has a smaller tracking error than the other two algorithms. © 2021 IEEE

关键词： Low pass filters

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Position control of XY precision planar motion table based on input shaping filter

Position control of XY precision planar motion table based o...

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作者： HuaLiang Zhang Xu Lu DanPing Jia BingJie Zhao Tao Zhang Yang Liu HongYu Yan Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Artificial Intelligence Shenyang University of Technology School of Information Science and Engineering Shenyang University of Technology

In order to solve the vibration problem of mining equipment,a Simulink simulation model of current loop,speed loop and position loop of permanent magnet synchronous motor was established to track the input position signal of the motor system.[1] At the same time,the input shaper is introduced into the motor three loop control model to study the vibration suppression effect of the input shaper.[2] The essence of the input shaper is to filter the input ***,the parameters of the input shaper need to be accurately identified and the detailed parameters of the system need to be ***,the problem that the identification accuracy of the system is not enough often makes the parameters of the shaper *** view of the problem that the system identification is not accurate,a method of adjusting and setting input shaper parameters is designed,which is not very dependent on the *** results show that the optimal parameters of the shaper can be selected by the *** with the parameters of the shaper selected according to the identification model,the vibration suppression effect is better.

关键词： system identification input shaping oscillation suppression

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An Integral Sliding-Mode Parallel control Approach for General Nonlinear Systems via Piecewise Affine Linear Models

arXiv

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arXiv 2021年

作者： Zhang, Chunyang Gao, Qing Deng, Yue Qiu, Jianbin School of Automation Science and Electrical Engineering Beihang University Beijing China Zhongguancun Laboratory Beijing China School of Astraunotics Beihang University Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

The fundamental problem of stabilizing a general non-affine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this paper. A novel integral sliding-mode parallel control (ISMPC) approach is developed, where an uncertain piecewise affine system (PWA) is constructed to model a non-affine continuous-time nonlinear system equivalently on a compact region containing the origin. A piecewise sliding-mode parallel controller is designed to globally stabilize the PALM and, consequently, to semi-globally stabilize the original nonlinear system. The proposed scheme enjoys three favorable features: i) some restrictions on the system input channel are eliminated, thus the developed method is more relaxed compared with the published approaches;ii) it is convenient to be used to deal with both matched and unmatched uncertainties of the system;and (iii) the proposed piecewise parallel controller generates smooth control signals even around the boundaries between different subspaces, which makes the developed control strategy more implementable and reliable. Moreover, we provide discussions about the universality analysis of the developed control strategy for two kinds of typical nonlinear systems. Simulation results from two numerical examples further demonstrate the performance of the developed control approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Nonlinear systems

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Trajectory planning of mobile robot: A Lyapunov-based reinforcement learning approach with implicit policy

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Knowledge-Based Systems 2025年 325卷

作者： Jialun Lai Zongze Wu Zhigang Ren Qi Tan Shengli Xie School of Low-Altitude Equipment and Intelligent Control Guangzhou Maritime University Guangzhou Guangdong 510006 China School of Automation Guangdong University of Technology Guangzhou Guangdong 510006 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen Guangdong 518052 China Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ) Shenzhen Guangdong 518123 China Key Laboratory of Intelligent Detection and The Internet of Things in Manufacturing (GDUT) Ministry of Education Guangzhou 510006 China

Trajectory planning for mobile robots is a crucial aspect of achieving intelligence in many industrial applications. Learning-based approaches are extremely useful for problems involving complex and difficult-to-define rule designs. However, these approaches frequently require a large amount of training data and lack convergence or interpretability. This work proposes a reinforcement learning paradigm that combines implicit policy with Lyapunov theory to solve the problem of mobile robot trajectory planning. Firstly, we develop a weighted asymmetric Lyapunov reward function and provide an analytical solution with modest dynamics as the implicit policy. Then, we propose event-triggered multi-objective policy optimization, an approach that dynamically adjusts optimization objectives based on event-triggered conditions, which organically fuse it into the modified soft Actor-Critic algorithm, thus shrinking the exploration space and enabling iterative improvement of RL policy. We demonstrate that in disturbed and random scenarios, the proposed fusion policy can achieve specialized policy learning and that its convergence, efficiency, and generalization are verifiable. This clearly demonstrates that our approach can be utilized as a foundational paradigm for the design of reinforcement learning reward and motion control in trajectory planning using an end-to-end approach, which has significant advantages in terms of convergence speed and interpretability.

关键词：

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Fabrication of translucent graded dental crown using zirconia-yttrium multi-slurry tape casting 3D printer

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Journal of the Mechanical Behavior of Biomedical Materials 2024年 152卷 106406页

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high-speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3–5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024

关键词： Zirconia

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Compressive Subspace Learning with Antenna Cross-correlations for Wideband Spectrum Sensing

arXiv

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arXiv 2020年

作者： Gong, Tierui Yang, Zhijia Zheng, Meng Liu, Zhifeng Wang, Gengshan Key Laboratory of Robotics the Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China University of Chinese Academy of Sciences Beijing 100049 China State Key Laboratory of Robotics Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China

Compressive subspace learning (CSL) with the exploitation of space diversity has found a potential performance improvement for wideband spectrum sensing (WBSS). However, previous works mainly focus on either exploiting antenna auto-correlations or adopting a multiple-input multiple-output (MIMO) channel without considering the spatial correlations, which will degrade their performances. In this paper, we consider a spatially correlated MIMO channel and propose two CSL algorithms (i.e., mCSLSACC and vCSLACC) which exploit antenna cross-correlations, where the mCSLSACC utilizes an antenna averaging temporal decomposition, and the vCSLACC uses a spatial-temporal joint decomposition. For both algorithms, the conditions of statistical covariance matrices (SCMs) without noise corruption are derived. Through establishing the singular value relation of SCMs in statistical sense between the proposed and traditional CSL algorithms, we show the superiority of the proposed CSL algorithms. By further depicting the receiving correlation matrix of MIMO channel with the exponential correlation model, we give important closed-form expressions for the proposed CSL algorithms in terms of the amplification of singular values over traditional CSL algorithms. Such expressions provide a possibility to determine optimal algorithm parameters for high system performances in an analytical way. Simulations validate the correctness of this work and its performance improvement over existing works in terms of WBSS performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Cognitive radio

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A visualization recommendation approach based on machine learning 10

A visualization recommendation approach based on machine lea...

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2020 10th International Workshop on Computer Science and Engineering, WCSE 2020

作者： Wei, Shichao Li, Xin Song, Peiyin Zhou, Xiaofeng Zhang, Yichi Li, Shuai Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Network Control System Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Shenyang University of Technology China

ISBN: (纸本)9789811447877

As an important means of data analysis, data visualization is used by more and more people. For most people who don't have visualization technology expertise, data visualization has some Visualization recommendation aims to lower the barrier to exploring basic visualizations by automatically generating results for analysts to search and *** paper proposes a visual recommendation method based on machine learning, which can learn the most meaningful visualization results from many visualization practice datasets and mark ***, 22 data features and corresponding meaningful visualization types are extracted from 30 real visualization datasets. Then, binary classifiers are used to train the classification model, from which we can learn meaningful visualization and use crowdsourced testsets to test the ***, the results of multiple classifiers are fused to vote for multiple meaningful charts in the *** show that this method can effectively learn the meaningful visualization types in datasets, mark and recommend them to users. © WCSE 2020.

关键词： Visualization

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Multivariate time series forecast in industrial process based on XGBoost and GRU 9

Multivariate time series forecast in industrial process base...

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9th IEEE Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2020

作者： Zhai, Naiju Yao, Peifu Zhou, Xiaofeng Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China 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 Beijing China China Copper Co.LTD Kunming China

In this paper, a time series prediction model that merges eXtreme Gradient Boosting (XGBoost) and Gate Recurrent Unit (GRU), XGB-GRU model, is proposed for multivariate time series prediction in industry. The XGB-GRU model uses XGBoost's strong feature extraction capabilities to extract the hidden information of multiple control variables in industrial data. Next, the model uses GRU's unique gating unit to extract the timing information in the industrial data. Finally, the importance of XGBoost output variables to guide actual production and solve the problem of inexplicability of neural networks. Predicting the temperature of the heating furnace verifies that the proposed XGB-GRU is better than a single XGBoost and GRU model. And the model has a good fit to the predicted value. © 2020 IEEE.

关键词： Time series

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Research on modeling and compensation method for ground level error based on mobile manipulator

International Journal of Mechatronics and Applied Mechanics

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International Journal of mechatronics and Applied Mechanics 2019年第5期2019卷 179-186页

作者： Guo, Shuai Yue, Chengtao Song, Tao Jia, Qibo Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai University HC204 No. 99 Road Shangda Shanghai200444 China Shanghai Robot Industrial Technology Research Institute 509 Wuning Road Putuo District Shanghai China

In this paper, a modeling and compensation method for ground level error based on mobile manipulator is proposed. The ground level error is caused by the former civil construction and will affect the accuracy of baseline drawing and subsequent decoration engineering. This paper focuses on a mobile manipulator which can carry out decoration engineering automatically. The ground level error should be dealt with before baseline drawing. The entire method can be summed up into three steps. The first step is spatial kinematics modeling for mobile manipulator. The second one is step ground level error acquisition with tilt sensor mounted on the system. The last one is curve fitting and compensation based on the mobile manipulator. Two fitting methods are proposed: direct polynomial fitting and piecewise polynomial fitting which aims to common baseline and high-grade baseline respectively. The experiment was also carried out to verify the proposed method. © 2019, Cefin Publishing House. All rights reserved.

关键词： Curve fitting

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Effective Decoupled Planning for Continuous Multi-Agent Pickup and Delivery

Effective Decoupled Planning for Continuous Multi-Agent Pick...

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第32届中国控制与决策会议

作者： Zhenbang Nie Peng Zeng Haibin Yu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences University of Chinese Academy of Sciences

Continuous MAPD（Multi-Agent Pickup and Delivery） problem is widely encountered in material transportation ***（Token Passing） is a conflict-free,deadlock-free algorithm for continuous MAPD ***,when TP is used,the number of tasks simultaneously handled by agents is limited by the number of task endpoint *** solve this problem,ITP（Improved Token Passing） is proposed in this *** extra path planning procedure is introduced to improve agent utilization.A complete and optimal A*-based algorithm is designed to solve the low level single agent path planning *** increases system throughput by exploiting all available agents,and remains conflict-free and *** result shows that ITP outperforms TP in terms of system makespan under heavy workload in congested workspace.

关键词： Multi-Agent Pickup and Delivery Multi-Agent Path Finding Decoupled Path Planning

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