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8th International Conference on Communications, Signal Processing, and systems, CSPS 2019

作者： Zhang, Zhihong He, Hong Tianjin City Electrical Engineering Technology Research Institute Tianjin300232 China Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9789811394089

Aiming at the problem that it is difficult to realize zero voltage and zero current switching (ZVZCS) in the current switching power supply, the resonance energy of the lagging arm is insufficient. In this paper, with TMS320F2812 as the control core, the DC/DC part of the switching power supply is designed by using the PWM phase shift control full-bridge ZVZCS technology in the series diode of the hysteresis arm of the converter circuit. The soft switch is well implemented in the case of load change. The MATLAB simulation results show that the soft switching power supply has the advantages of high output precision, fast dynamic response and small overshoot. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Three term control systems

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Study on the Active Movement Capsule Robot for Biopsy 17

Study on the Active Movement Capsule Robot for Biopsy

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

作者： Guo, Shuxiang Huang, Fang Guo, Jian Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory Application in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extention 391 Tianjin China

ISBN: (纸本)9781728164151

In this paper, a novel biopsy robot is proposed. In order to solve the problem of the single function of the commercial capsule endoscope, this paper proposes a novel biopsy capsule robot driven by an external magnetic field. The module includes two radial magnetized magnetic rings and a biopsy mechanism. Without considering the addition energy consumption, using the coupling effect of the three-axis Helmholtz coil and the robot's built-in magnet, the crank slider mechanism converts the torque acting on the magnet by a uniform rotating magnetic field into the cutting force during biopsy. The magnetic switch used to control the switching between the motion function of the anchor biopsy robot and the anchor biopsy function. Finally, the functional modules in the pipeline of anchored biopsy robot is verified by experiments. The results show that the biopsy robot can realize the robot's anchoring in the intestine while performing the biopsy function. The realization of the biopsy capsule robot has important medical diagnostic significance. © 2020 IEEE.

关键词： Biopsy

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Model Reference Scheduling and Robust Resilient H-infinity control Co-design

Model Reference Scheduling and Robust Resilient H-infinity C...

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第33届中国控制与决策会议

作者： Shunli Zhao Tianjin Key Laboratory for Control Theory & Applications in Complicated System Tianjin University of Technology School of Electrical and Electronic Engineering Tianjin University of Technology

A representative bandwidth limitation,medium access constraint,has been a research focus in the field of networked control systems until *** this paper,an improved model reference scheduling is ***,the co-design of the improved model reference scheduling and roust resilient H-infinity control is proposed to cope with the system disturbance and controller ***,the effectivity of the co-design scheme proposed is verified by a numerical example.

关键词： Networked control systems Medium Access Constraint Resilient control Robust H-infinity control

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Study on a Two-layer Path Planning Method of Spherical Multi-robot

Study on a Two-layer Path Planning Method of Spherical Multi...

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IEEE International Conference on Mechatronics and Automation

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

A path planning method based on a two-layer coordination system is proposed for the compatibility requirement of path planning global optimum and local coordination in a spherical multi-robot system. In the first layer of the algorithm, the global path quality is improved by proposing a nonlinear sine factor and a sparrow search algorithm with improved levy flight strategy to plan the global collision-free optimal path for each robot. In the second layer, a rolling window method is used to determine the possible collision positions of each robot in the system, and a priority-based conflict resolution strategy is proposed to complete the local coordination of the path near the corresponding position. The experimental results show that the path planning method enables the robots to drive along the global optimal path, but still can carry out flexible and orderly local path coordination, which effectively improves the path planning performance of the system.

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Research on ECG Signal Denoising by Combination of EEMD and NLM

Research on ECG Signal Denoising by Combination of EEMD and ...

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第32届中国控制与决策会议

作者： Jiafan Yin Xiaoqi Chen Pengyuan Zhang Lei Shao Ji Li Hongli Liu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

In modern medicine,it is necessary to collect signals to determine human’s health,such ECG signal,a fluorescent signal obtained by Polymerase Chain Reaction(PCR) in medicine,and the *** this article,in allusion to the myoelectric interference,baseline drift and common interference caused by machine power and external environment,A new signal denoising method based on the combination of Ensemble Empirical Mode Decomposition and Non-Local Mean is put *** method decomposed the ECG signal by EEMD to obtain a set of IMFS,then calculate the sample entropy of each component,and distinguish the signal dominant component between noise dominant component,and then denoise the noise dominant *** Non-Local Mean to obtain a new component,and finally reconstructs the new component and the signal dominant component to gain a denoised *** experimental verification,the new algorithm is compared with wavelet threshold denoising,EEMD-wavelet threshold denoising and normal Non-Local Mean *** to the experimental results we draw the conclusion that the new method can remove the noise influence effectively on the Signa Noise Ratio and Mean Square *** are better than several other algorithms.

关键词： ECG denoising Adaptive EEMD Non-Local Means

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PCR Instrument Temperature control System Based on Multimodal control

PCR Instrument Temperature Control System Based on Multimoda...

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第32届中国控制与决策会议

作者： Ji Li Shihao Liu Shilin li Pengyuan Zhang Hongli Liu Lei Shao Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

The core component of the PCR（Polymerase Chain Reaction）instrument is the temperature control system. The PCR reaction process also has high requirements for temperature control. At present, the most widely used PID temperature control system has been difficult to adapt to the high efficiency and high precision requirements of the PCR instrument. In this paper, the mathematical model of TEC（Thermo Electric Cooler） based PCR instrument is deduced, and the multi-modal control system of PCR instrument is designed by using multi-modal control idea combined with fuzzy control and fuzzy PID control. Compared with the traditional PID temperature control, the system has a short steady-state time, a small overshoot and a strong robustness. Based on the temperature control system, the PCR reaction cycle can be shortened and the system accuracy can be increased.

关键词： PCR instrument multimodal control fuzzy control fuzzy PID temperature control

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PID control for Aeroengine Based on Sparrow Search Algorithm

PID Control for Aeroengine Based on Sparrow Search Algorithm

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Chinese Automation Congress (CAC)

作者： Liang Xu Hao Wang Ying Liu Wei Xue Ningning Li Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China National Key Laboratory for Complex Systems Simulation Beijing China Beijing Aerospace Propulsion Institute Beijing China

ISBN: (纸本)9781665426480

To address the problem of aeroengine PID parameter optimization and tuning, this work employs the excellent performance of the sparrow search algorithm (SSA) with high convergence accuracy and fast convergence speed to propose a self-tuning PID control method (SSA-PID) for aeroengine parameters. Considering that the oil supply output by the actuator may have a substantial overshoot, the proposed technique adds a penalty mechanism for the overshoot at the output, designs and improves the fitness function weighted by performance indicators, and effectively avoids the possible excessive overshoot and sharp oil supply phenomenon of the engine oil supply. The SSA-PID simulates and verifies the mathematical models of the turbofan engine’ s steady-state operating points on the ground and at high altitudes. The results show that the SSA-PID control method has better parameter tuning and optimization effects, a faster speed step response, and generates a fuel supply that does not have a targe overshoot, thereby proving its effectiveness and feasibility.

关键词： PI control Oils Search problems Mathematical models Steady-state PD control Fuels

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Malodorous Gas Sensor Array System for the Olfactory Robot 2

Malodorous Gas Sensor Array System for the Olfactory Robot

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2nd International Seminar on Computer Science and Engineering Technology, SCSET 2020

作者： Zhang, Xu Zhang, Sixiang Ma, Xu School of Mechanical Engineering Tianjin University of Technology and Education Tianjin300222 China School of Mechanical Engineering Hebei University of Technology Tianjin300100 China The School of Electrical Engineering Tianjin Key Laboratory for Control Theory and Application in Complicated Systems Tianjin University of Technology Tianjin China

Malodorous gas sensor array system for the olfaction robot is developed with four sensors including two semiconductor metal oxide sensors, a electrochemical sensor and a photoionization detector (PID). The system structure and experiments analysis are introduced in this paper. Result of experiments show that the steady system can keep ±0.03V fluctuation limited from 0 to 5 V after it stabilized and the maximum difference of response less than 0.02V. It means that the developed system can be satisfied for the olfaction application of robots in malodorous environment. © Published under licence by IOP Publishing Ltd.

关键词： Robots

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A New Locally Active Memristive Synapse Coupled Neuron Model

Research Square

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Research Square 2021年

作者： Li, Ronghao Wang, Zenghui Dong, Enzeng Tianjin Key Laboratory For Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin300384 China Department of Electrical and Mining Engineering University of South Africa Florida1710 South Africa

In this paper, a new type of non-volatile locally active memristor with bi-stability is proposed by injecting appropriate voltage pulses to realize a switching mechanism between two stable states. It is found that the memristive parameters of the new memristor can affect the local activity, which has been rarely reported, and this phenomenon is explained based on mathematical analyses and numerical simulations. Then, a locally active memristive coupled neuron model is constructed using the proposed memristor as a connecting synapse. The parameter-associated dynamical behaviors are revealed by bifurcation plots, phase plane portraits and dynamical evolution maps. Moreover, the bi-stability phenomenon of the new coupled neuron model is disclosed by local attraction basins, and the periodic burster and multi-scroll chaotic burster are found if a multi-level pulse current is used to imitate a periodical external stimulus on the neurons. The Hamiltonian energy function is calculated and analyzed with or without external excitation. Finally, the neuronal circuit is designed and implemented, which can mimic electrical activity of the neurons and is useful for physical applications. The experimental results captured from the analog circuit are consistent well with the numerical simulation results. © 2021, CC BY.

关键词： Memristors

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Path Planning of the Spherical Robot based on Improved Ant Colony Algorithm 17

Path Planning of the Spherical Robot based on Improved Ant C...

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

作者： Guo, Jian Huo, Xiaojie Guo, Shuxiang Xu, Jigang Tianjin University of Technology Binshui Xidao Extension 391 Tianjin Key Laboratory for Control Theory Applications In Complicated Systems and Intelligent Robot Laboratory Faculty of Engineering Tianjin300384 China Unit68709 Qinghai Haidong810700 China

ISBN: (纸本)9781728164151

With the development and progress of science and technology, the requirement of intelligent algorithm performance in the field of path planning is constantly improved. It is very important to improve the performance of intelligent algorithm and apply it in the field of path planning. In order to overcome the problem that ant colony algorithm tends to fall into local optimal in the early stage and converge slowly in the late stage. This paper proposed an ant colony algorithm based on adaptive pheromone updating strategy and enhanced negative feedback mechanism. The simulation results show that the improved ant colony algorithm is superior to the traditional ant colony algorithm and solves the problem of insufficient convergence in the early stage and low convergence in the late stage. Finally, the algorithm is tested by spherical robot. The experimental results show that the improved ant colony algorithm overcomes the shortcomings of traditional algorithms and verifies the effectiveness and convergence of the algorithm. © 2020 IEEE.

关键词： Motion planning

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