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arXiv 2020年

作者： Liu, Jianbang Gnanasekar, Aristarchus Zhang, Yi Bo, Song Liu, Jinfeng Hu, Jingtao Zou, Tao Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institute for Robotics & Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Department of Chemical & Materials Engineering University of Alberta EdmontonABT6G 1H9 Canada Key Laboratory of Energy Thermal Conversion & Control Southeast University Nanjing210096 China School of Mechanical and Electrical Engineering Guangzhou University Guangzhou510006 China

State and parameter estimation is essential for process monitoring and control. Observability plays an important role in both state and parameter estimation. In simultaneous state and parameter estimation, the parameters are often augmented as extra states of the original system. When the augmented system is observable, various existing state estimation approaches may be used to estimate the states and parameters simultaneously. However, when the augmented system is not observable, how we should proceed to maximally extract the information contained in the measured outputs is not clear. This paper concerns about simultaneous state and parameter estimation when the augmented system is not fully observable. Specifically, we first show how sensitivity analysis is related to observability of a dynamical system, and then illustrate how it may be used to select variables for simultaneous estimation. We also propose a moving horizon state estimation (MHE) design that can use the variable selection results in a natural way. Extensive simulations are carried out to show the efficiency of the proposed approach. Copyright © 2020, The Authors. All rights reserved.

关键词： Sensitivity analysis

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Research on Collaboration Method of Edge IoT Agent Based on Actor Model

Research on Collaboration Method of Edge IoT Agent Based on ...

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Power and Energy Engineering (ICPEE), International Conference on

作者： Bowen Zhang Weiwei Miao Lei Wei 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 Information & Telecommunication Branch State Grid Jiangsu Electric Power Co. Ltd. Nanjing China State Grid Jiangsu Electric Power Co. Ltd. Nanjing China

ISBN: (纸本)9781665420471

Focusing on the resource constrained IoT agent collaboration requirements at the edge of the power Internet of things, this paper proposes an edge agent collaborative computation method based on Actor model to satisfy the rapid processing and response requirements of large-scale data in the perception layer of the power Internet of things. Through a unified programming model, this paper can divide the collection and analysis of sensing data in the sensing layer of the power Internet of things into functional components, which can be deployed in different edge IoT agents, to improve the rapid processing ability of edge-side data. At the same time, the components achieve the function cooperation through the message passing mechanism. Finally, this paper implements the proposed scheme based on Akka framework, and designs the edge IoT agent collaborative computing prototype. The prototype system experiments show that the proposed scheme can split the complex services with high resource requirements into different components and deploy them in different edge IoT agents. The proposed method can improve the resource utilization and data processing capacity of the edge IoT agent of the power Internet of things, while ensuring the real-time requirements of edge service analysis.

关键词： Computational modeling Message passing Collaboration Prototypes Programming Data models Real-time systems

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Automatic Model Creation Method of Hierarchical Parallel Network Model for Transfer Diagnosis of Rotating Machinery

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2022年第22期58卷 115-128页

作者： Zhou, Jian Zheng, Lianyu Wang, Yiwei Wang, Yichuan School of Mechanical Engineering and Automation Beihang University Beijing100191 China MIIT Key Laboratory of Intelligent Manufacturing Technology for Aeronautics Advanced Equipments Ministry of Industry and Information Technology Beijing100191 China Beijing Institute of Precision Mechatronics Control Equipment Beijing100076 China Aerospace Servo Drive and Transmission Technology Laboratory Beijing100076 China

In view of the current deep learning-based fault diagnosis methods of rotating machinery relying on manual modeling experience, requiring manual parameter adjustment and continuous trial-and-error iteration, re-creation of diagnosis models for different diagnostic tasks, an automatic creation method of hierarchical parallel network model for transfer diagnosis of rotating machinery is proposed, which can quickly and automatically search high precision diagnosis models with heterogeneous transfer performance according to different diagnosis tasks. Based on neural architecture search (NAS) and modular design ideas, two types of foundation blocks of parallel structure containing multiple layers are designed, which is different from the traditional NAS method to search layer by layer, but searches based on the foundation blocks. The controller outputs decision sequence to determine the foundation blocks’ structure and stacks them to form a hierarchical parallel candidate model. Then according to the verification results of the candidate model on the diagnosis task, the controller is optimized using the strategy gradient algorithm, and the diagnosis accuracy of the candidate model is continuously improved by iterating the above process. The hierarchical parallel structure of the candidate model supports its good heterogeneous transfer performance. In addition, in order to solve the time-consuming bottleneck problem of NAS method, the weight sharing mechanism is set in the candidate model training process to improve the efficiency of automatic modeling. The proposed method is used to conduct automatic modeling and heterogeneous transfer diagnosis experiments for four different rotating machinery fault datasets, and the results show that the proposed method can efficiently create 100% accuracy diagnosis models for four different diagnosis tasks, consuming 313 s to 1 601 s, and the candidate model can achieve a transfer diagnosis accuracy of more than 95% for the target dia

关键词： Rotating machinery

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Application of Iterative Learning control in X-Y Precision Planar Motion Platform

Application of Iterative Learning Control in X-Y Precision P...

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Chinese automation Congress (CAC)

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

ISBN: (纸本)9781665426480

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.

关键词： Tracking loops Tracking Low-pass filters control systems Size measurement Stability analysis Real-time systems

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Corrigendum to a Low-Cost, Light-Weight Climbing Robot for Inspection of Glass Curtains

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International Journal of Advanced Robotic Systems 2015年第3期12卷 20-20页

作者： Ran Liang Meteb Altaf Eball Ahmad Rong Liu Ke Wang Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China National Robotics & Intelligent Systems center King AbdulAziz City for Science and Technology Saudi Arabia Riyadh Saudi Arabia Arts et Métiers ParisTech Design Manufacturing and Control Laboratory (LCFC) Paris France

Corrigendum, corrigendum

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Analytic Compact Model of Short-channel Cylindrical ballistic GAA MOSFET Including SDT effect

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Journal of Physics: Conference Series 2020年第1期1570卷

作者： He Cheng Chao Zhang Tiefeng Liu Zhijia Yang Zhipeng Zhang Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang 110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China

We have proposed an analytic compact model describing the drain current characteristics valid in all operating regions, for ultra-short channel cylindrical gate-all-around metal-oxide-semiconductor field-effect transistors considering source-to-drain tunnelling effect. The drain-induced barrier lowering had been incorporated from one two-dimensional analysis in our previous compact model. In this study, to represent the energy level profile along the device channel direction into the Wentzel-Kramers-Brillouin approximation by substituting a parabolic function, we can analytically derive the expressions of the transmission coefficients for source-to-drain tunneling. In the subthreshold region, the source-to-drain tunneling current then can be evaluated using the Landauer formula. Finally, a fully analytic compact model is proposed for representing the drain current in all operating regions. The results compared with non-equilibrium Green's function transport simulations can be obtained in a good agreement.

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Holographic MIMO Communications with Arbitrary Surface Placements: Near-Field LoS Channel Model and Capacity Limit

arXiv

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arXiv 2023年

作者： Gong, Tierui Wei, Li Huang, Chongwen Yang, Zhijia He, Jiguang Debbah, Mérouane Yuen, Chau School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 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 Technology Innovation Institute Masdar City Abu Dhabi9639 United Arab Emirates KU 6G Research Center Khalifa University of Science and Technology P O Box 127788 Abu Dhabi United Arab Emirates CentraleSupelec University Paris-Saclay Gif-sur-Yvette91192 France

Envisioned as one of the most promising technologies, holographic multiple-input multiple-output (H-MIMO) recently attracts notable research interests for its great potential in expanding wireless possibilities and achieving fundamental wireless limits. Empowered by the nearly continuous, large and energy-efficient surfaces with powerful electromagnetic (EM) wave control capabilities, H-MIMO opens up the opportunity for signal processing in a more fundamental EM-domain, paving the way for realizing holographic imaging level communications in supporting the extremely high spectral efficiency and energy efficiency in future networks. In this article, we propose a generalized EM-domain near-field channel modeling and study its capacity limit of point-to-point H-MIMO systems that equips arbitrarily placed surfaces in a line-of-sight (LoS) environment. Two effective and computational-efficient channel models are established from their integral counterpart, where one is with a sophisticated formula but showcases more accurate, and another is concise with a slight precision sacrifice. Furthermore, we unveil the capacity limit using our channel model, and derive a tight upper bound based upon an elaborately built analytical framework. Our result reveals that the capacity limit grows logarithmically with the product of transmit element area, receive element area, and the combined effects of 1/d2mn, 1/d4mn, and 1/d6mn over all transmit and receive antenna elements, where dmn indicates the distance between each transmit element n and receive element m. Particularly, 1/d6mn dominates in the near-field region whereas 1/d2mn dominates in the far-field region. Numerical evaluations validate the effectiveness of our channel models, and showcase the slight disparity between the upper bound and the exact capacity, which is beneficial for predicting practical system performance. Copyright © 2023, The Authors. All rights reserved.

关键词： MIMO systems

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Cover Image, Volume 40, Number 6, September 2023

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Journal of Field robotics 2023年第6期40卷

作者： Guoteng Zhang Shugen Ma Jinguo Liu Xianwu Zeng Lingyu Kong Yibin Li School of Control Science and Engineering Shandong University Jinan China Department of Robotics Ritsumeikan University Shiga Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Yibin Li School of Control Science and Engineering Shandong University Jinan China. Intelligent Robot Research Centre Zhejiang Lab Hangzhou China

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Kinematics and Error Analysis of Single Motor Driving Multi-Stage Metamorphic Mechanism

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IOP Conference Series: Materials Science and Engineering 2019年第5期677卷

作者： Zhuang Ge Leichao Xie Shangkui Yang Shuyun Zhu Yongzhan Cao Yuwang Liu School of Mechanical Engineering and Automation Northeastern University Shenyang Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Liaoning China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang Liaoning China Information and Control Engineering Faculty Shenyang Jianzhu University Shenyang Liaoning China

Traditional series robots have the disadvantages of complex structure and complicated control. Almost all of them have no adaptive ability. Although soft robots have good adaptive characteristics, they also have the limitations of poor bearing capacity and low stiffness. In addition, their motion trajectory and motion precision are difficult to achieve accurate control. In order to solve the above problems, based on a single motor-driving multi-stage metamorphic mechanism, this paper carries out kinematic analysis and error analysis to determine the motion trajectory and motion accuracy of the multi-stage metamorphic mechanism. And this paper uses ADAMS to carry out simulation calculation. Comparing the theoretical calculation results and simulation calculation results, and determining the errors between the multi-stage metamorphic mechanisms, so as to ensure the accurate position of the multi-stage metamorphic mechanism during work. The multi-stage metamorphic mechanism realizes stable and efficient work.

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Research on Stereo Vision Technology Based on Improved Region Growing Method

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Journal of Physics: Conference Series 2021年第1期2024卷

作者： Shilong Dai Xinghua Xia Hualiang Zhang School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China. Industrial Control Network and System Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. Institudes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China.

Image segmentation is the cornerstone of image analysis and image processing, its main difficulty is the ill-posedness of image segmentation. The region growing method is the most commonly used method in image segmentation. Its advantages are fast calculation speed, lower algorithm difficulty, and easy understanding. This article uses the area growing algorithm and TOF combined with binocular fusion technology. Discussed how to select the seed points in the region growing method. The algorithm proposed in this paper has high accuracy and high matching quality in the boundary area of the object and the area with large difference in depth. It has both matching time and reliability. It has good results and overcomes the limitations of the active and passive distance methods in the vision system.

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