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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhao, Hui Wang, Lei Wang, Hongjun Yue, Youjun Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin300384 China

ISBN: (纸本)9781728164151

When wavelet transform and empirical mode decomposition(EMD) transform decompose the transient signal of line fault, the problem of missing some fault information will occur, which will affect the accuracy of fault location of distribution line. A new fault location method based on the relative entropy of variational mode decomposition (VMD) transformation energy is ***, the fault zero sequence current signal collected by the detection device is decomposed by VMD transformation, and the transient energy of different components of the signal is calculated. Then, according to the characteristics of energy relative entropy difference between the sections, the fault section of the line is determined. The experimental results show that the method is not affected by the distance of the fault, the initial phase angle of the fault and the transition resistance, and it can accurately locate the fault section of the line. © 2020 IEEE.

关键词： Variational mode decomposition

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A human-computer interaction scheme of lower-limb power-assist flexible robot

A human-computer interaction scheme of lower-limb power-assi...

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Zeng, Detian Sun, Lei Chen, Xin Li, Yunfei Zhu, Mu Gong, Xinxiang Tianjin University of Technology Tianjin300384 China Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Complicated Industry Systems Tianjin300384 China

ISBN: (纸本)9781665436786

Wearable flexible walking assist robot can be used to improve the walking state of the senior citizens. This paper proposes to develop an intelligent wearable flexible walking assist robot. It is a human mechanical and electrical system which is worn by subjects and provides walking assistance for users through computer control, perception system, information collection, human-computer interface and other technologies. The device can understand the movement intention of the subjects according to the hip joint angle collected by the gyroscope, which improves the universality of the device for different groups of people. With good human-computer coordination ability, it can effectively assist the senior citizens to walk and play an important role in rehabilitation training, maintain and restore the ability of the elderly to walk out independently, and improve the quality of life of the elderly. © 2021 IEEE.

关键词： Computer control systems

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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment 20

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Tian, Wei Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process. © 2023 IEEE.

关键词： Reinforcement learning

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Study on control Strategy of the Vascular Interventional Surgical Robot Based on LADRC 20

Study on Control Strategy of the Vascular Interventional Sur...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhang, Wenqiang Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications Complicated Systems and Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots. © 2023 IEEE.

关键词： Robotic surgery

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Study on Autonomous Surgical control System of The Vascular Interventional Surgical Robot Based on Catheter Tip Location Tracking 20

Study on Autonomous Surgical Control System of The Vascular ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Feng, Zhimin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

The control system of vascular interventional surgical robot is a complex nonlinear system. When the catheter is inserted into human blood vessels, due to the irregular and curved shape of human blood vessels, the catheter will undergo small deformation, which will affect the displacement of the catheter. In order to reduce the displacement tracking error, a BP neural network PID controller was designed to compensate the displacement error of the autonomous vascular interventional surgical robot. Firstly, the dynamic analysis is carried out according to the axial displacement motion of the vascular interventional surgical robot, and the catheter displacement tracking controller was designed. According to the displacement error, BP neural network PID control is used to output three parameters of PID. Finally, in the experiment and PID control simulation comparison, the results show that the BP neural network PID control has a small displacement tracking error and superior tracking performance, which can meet the requirements. © 2023 IEEE.

关键词： Three term control systems

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Multi-class MI-EEG Classification: Using FBCSP and Ensemble Learning Based on Majority Voting

Multi-class MI-EEG Classification: Using FBCSP and Ensemble ...

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2021 China Automation Congress, CAC 2021

作者： Wei, Xiaoying Dong, Enzeng Zhu, Lin Tianjin Key Laboratory For Control Theory & Application Complicated Systems Tianjin University of Technology Tianjin China China North Industries Group 210 Reseasrch Institute Beijing China

ISBN: (纸本)9781665426473

How to decode multi-class motor imagery EEG and decipher an individual's intents more accurately has always been a problem worthy of study in biomedical field. In the process of recognition and classification of 2-class motor imagery EEG, the Common Spatial Pattern (CSP) algorithm detects ERD/ERS by calculating the spatial filter and achieves great success. In this paper, we use self-frequency Segmented Filter Bank Common Spatial Patterns (FBCSP) with the one versus one (OVO) multi class extension on the classification of 4-class MI-EEG (BCI Competition IV Datasets 2a), and the Majority Voting strategy is adopted for the individual classifiers we select. We finally get a considerable classification result and the comparison of different methods shows that the performance of ensemble learning based on voting strategy is better than that of using individual classifier. © 2021 IEEE

关键词： Classification (of information)

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Garlic Scale Teeth Image Recognition Based on Sobel algorithm 17

Garlic Scale Teeth Image Recognition Based on Sobel algorith...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Wang, Yunliang Wang, Liutao Wu, Yanjuan Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Applications I-n Complicated Systems Tianjin300384 China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

In order to solve the problem of intelligent seeding garlic which needs single seed and scale bud upward, this paper proposes a new method for garlic seed shape recognition based on Sobel edge recognition and sliding window algorithm to mark the position coordinate of the garlic seed bud. The method uses TMS320F28335 DSP as the main control chip, and compiles and debug the algorithm program on the CCS software simulation platform. The system uses OV7670 camera with FIFO to complete the data acquisition of garlic seed image. The main chip of DSP carries out the edge recognition of the garlic seed and the position coordinate recognition of the garlic seed bud, moreover, the position coordinate of the garlic bud is recorded also. Through the establishment of Matlab software interface experimental platform, 500 different images of garlic seeds are used as the experimental verification examples and the correct rate reached 96%. The proposed method provides an efficient method for the automatic and intelligent planting of garlic to identify the position of garlic seed bud, which is convenient for the vertical planting of garlic seed. © 2020 IEEE.

关键词： MATLAB

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Observer-based Realization of control systems

arXiv

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arXiv 2024年

作者： Cheng, Daizhan Li, Changxi Zhang, Xiao Ji, Zhengping Key Laboratory of Systems and Control Academy of Mathematics and Systems Sciences Chinese Academy of Sciences Beijing100190 China Research Center of Semi-tensor Product of Matrices: Theory and Applications Liaocheng Univ. Liaocheng China

Lebesgue-type of dynamic control systems and dimension-keeping semi-tensor product (DK-STP) of matrices are introduced. Using bridge matrices, the DK-STP is used to construct approximated observer-based realization (OR) of linear control systems, as Lebesgue-type control systems, are proposed. A necessary and sufficient condition for the OR-system to have exactly same observer dynamics is obtained. When the exact OR-system does not exist, the extended OR-system, which contains observers of the original system as part of its state variables, is presented. Moreover, the (minimum) feedback (extended) OR-system is also constructed, and its relationship with Kalman's minimum realization is revealed. Finally, the technique developed for linear control systems has been extended to affine nonlinear control systems. The purpose of OR-system is to provide a new technique to deal with large scale complex systems. © 2024, CC BY.

关键词： Linear control systems

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A minimum adequate set of multi-valued logic

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control theory and Technology 2021年第4期19卷 425-429页

作者： Daizhan Cheng Jun-e Feng Jianli Zhao Shihua Fu Research Center of Semi-tensor Product of Matrices:Theory and Applications Liaocheng UniversityLiaochengChina Key Laboratory of Systems and Control AMSSChinese Academy of SciencesBeijing 100190China School of Mathematics Shandong UniversityJinanChina

An adequate set of k-valued logic is provided,which contains only two *** is also proved that this adequate set is of minimum size。

关键词： k-valued logic Normal form Adequate set(ADS) Structure matrix of logical functions Semi-tensor product of matrices

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Model Reference Scheduling and control Co-design with Random Delay 17

Model Reference Scheduling and Control Co-design with Random...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhao, Shunli Tianjin University of Technology Tianjin Key Laboratory for Control Theory Applications in Complicated System Tianjin China

ISBN: (纸本)9781728164151

Networked control system is drawing more attention in the past few years. A study of model reference scheduling and control co-design with random time delay is proposed in the paper. For the model reference scheduling, the bigger errors between the system states and the ideal states should be firstly dealt with. However, the design of the ideal dynamics can be realized by the different ways. A pole placement method is used to design the controller gain for the ideal dynamics in the paper. Finally, the effectivity is demonstrated by a numerical example. © 2020 IEEE.

关键词： Scheduling

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