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Displacement measurement method based on laser self-mixing interference in the presence of speckle

Chinese Optics Letters 2020年第5期18卷 11-15页

作者： Yan Zhao Haiwei Zhang School of Electrical and Electronic Engineering Tianjin University of TechnologyTianjin 300384China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin 300384China Tianjin Key Laboratory of Film Electronic and Comm unication Device Tianjin 300384China

In order to achieve the accurate measurement of displacement, this Letter presents a self-mixing interference displacement measurement method suitable for the speckle effect. Because of the speckle effect, the amplitude of the self-mixing interference signal fluctuates greatly, which will affect the measurement accuracy of displacement. The ensemble empirical mode decomposition is used to process the interference signal, which can filter out high-frequency noise and low-frequency noise at the same time. The envelope of the self-mixing interference signal is extracted by Hilbert transform, and it is used to realize the normalization of the signal. Through a series of signal processing, the influence of speckle can be effectively reduced, and the self-mixing interference signal can be transformed into standard form. The displacement can be reconstructed by fringe counting and the interpolation method. The experimental results show that the method is successfully applied to the displacement measurement in the presence of speckle, which verifies the effectiveness and feasibility of the method.

关键词： measurement displacement laser self-mixing interference

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Design of a portable toxic gas monitor

Design of a portable toxic gas monitor

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2020 IEEE International Conference on Advances in Electrical Engineering and Computer applications, AEECA 2020

作者： Cong, Yu Zhang, Baofeng Xing, Yunlong Zhu, Junchao Ministry of Education Engineering Research Center of Optoelectronic Devices and Communicatioon Technology Tianjin300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated System Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728165202

To solve the problem of real-time monitoring of the distribution of toxic gases in high-risk pollution areas and ensure the safety of field workers, a portable toxic gas monitoring system based on u/COS-II is designed by combining embedded system and Internet of things technology. The system can collect six kinds of toxic gases such as carbon monoxide and sulfur dioxide in the environment in real-time;display the gas concentration through the human-computer interface, set the gas alarm threshold;and use the wireless transmission unit to upload the data to the cloud server. The experimental data show that the system has stable performance and small error, which can meet the requirements of real-time, accurate and comprehensive monitoring of gas distribution in high-risk pollution sites, and remind the site staff to evacuate in time. © 2020 IEEE.

关键词： Internet of things

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Design of a Novel Micro Robot In-pipe 17

Design of a Novel Micro Robot In-pipe

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

作者： Guo, Shuxiang Hu, Yaqi Guo, Jian Fu, Qiang Tianjin University of Technology Tianjin University of Technology Binshui Xidao Tianjin Key Lab. for Control Theory Application Complicated Systems and Biomedical Robot Laboratory Tianjin391 China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

A novel micro in-pipe robot with a propeller is proposed in this paper, it is a robot that can actively move. The dynamic model of the robot in the liquid pipeline is established, and the computational fluid dynamics method is used to solve the influence of some parameters on the robotic performance. By the simulation of different propellers in liquid, the optimal parameters are obtained. According to the working principle of the propeller, a propeller driving device is designed and fabricated, and the running experiment in the pipeline full of water verifies the feasibility of the proposed robot. © 2020 IEEE.

关键词： Computational fluid dynamics

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Output Regulation for Quadrotor UAV by Event-Triggered Mechanism

Output Regulation for Quadrotor UAV by Event-Triggered Mecha...

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Chinese control Conference (CCC)

作者： Shixing Che Qiang Gao Yuehui Ji Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical and Electronic Engineering Tianjin University of Technology

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

To accomplish the stable tracking of the quadrotor, an attitude controller based on output regulation and event triggered control (ETC) is proposed to save communication and computing resources effectively. Aiming at the problems of asymptotically tracking and rejecting disturbances, a dynamic compensator, i.e., an internal model is designed to convert the output regulation problem of the quadrotor system into the robust stabilization problem of the augmented system. The state-based event triggered control law (ETCL) and the event triggered mechanism (ETM) that exclude the Zeno phenomenon are adopted to solve the stabilization problem. The stability and boundedness of all signals in the control system are proved by Lyapunov method. Finally, simulation results verify the effectiveness of the controller in providing satisfactory tracking performance and saving communication resources.

关键词： Attitude control Unmanned aerial vehicles Mathematical model Computational modeling Observers Vehicle dynamics Stability analysis

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Output Regulation for Quadrotor UAV by Event-Triggered Mechanism

Output Regulation for Quadrotor UAV by Event-Triggered Mecha...

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第三十九届中国控制会议

作者： Shixing Che Qiang Gao Yuehui Ji Tianjin Key Laboratory for Control Theory ＆ Applications in Complicated Systems School of Electrical and Electronic EngineeringTianjin University of Technology

To accomplish the stable tracking of the quadrotor, an attitude controller based on output regulation and event triggered control（ETC） is proposed to save communication and computing resources effectively. Aiming at the problems of asymptotically tracking and rejecting disturbances, a dynamic compensator, i.e., an internal model is designed to convert the output regulation problem of the quadrotor system into the robust stabilization problem of the augmented system. The state-based event triggered control law（ETCL） and the event triggered mechanism（ETM） that exclude the Zeno phenomenon are adopted to solve the stabilization problem. The stability and boundedness of all signals in the control system are proved by Lyapunov method. Finally, simulation results verify the effectiveness of the controller in providing satisfactory tracking performance and saving communication resources.

关键词： quadrotor UAV attitude control output regulation event triggered control

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Influence of vibration on mechanical polishing micro-structured surface using discrete element method

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International Journal of Machining and Machinability of Materials 2020年第1期22卷 24-46页

作者： Wang, Guilian Lv, Bingrui Liu, Li Liu, Bin Zhou, Haibo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Tianjin Laboratory of Control Theory and Applications in Complicated System Tianjin300384 China School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China

A model using discrete element method (DEM) was conducted to simulate vibration assisted mechanical polishing micro-structured surface process by particle flow code in three dimensions (PFC3D). The effect laws of vibration frequency and amplitude on abrasive grains and polishing force were researched in detail according to the simulation results. The effects of vibration on the particles average motion velocity in one fluid cell were researched, and the simulation results show that average velocity increases with increase of vibration frequency and amplitude on the whole. The effects of vibration on the unbalanced force acting on the workpiece surface were quantified at first. The changes of average unbalanced force obviously increase for low feed rate with increase of frequency and increase approximately linearly with increase of amplitude. It is concluded that vibration with high frequency and great amplitude can significantly increase machining efficiency and improve surface quality in micro-structured surface polishing. Copyright © 2019 Inderscience Enterprises Ltd.

关键词： Finite difference method

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Deep Feature Pyramid Network for Eeg Emotion Recognition

SSRN

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SSRN 2022年

作者： Hou, Fazheng Gao, Qiang Song, Yu Wang, Zhe Bai, Zhongli Yang, Yi Tian, Zekun School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin300384 China TUT Maritime College Tianjin University of Technology Tianjin300384 China School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai200093 China

In this work, the Feature Pyramid Network (FPN) is proposed for improving the performance of electroencephalography (EEG) emotion recognition. Specifically, the Differential Entropy (DE) is extracted as a basic feature, and we adopt bi-harmonic spline interpolation to interpolate the features maps according to real 3D electrode spatial information. The spatial information is obtained to avoid the loss of effective information. Next, the proposed FPN is applied to fuse multiscale EEG spatial information for obtaining the deeper semantic features, which avoid blind self-learning of deep convolutional neural networks. Finally, a Support Vector Machine (SVM) is utilized to predict the emotional state. The experiment results of our method has a state-of-the-art performance by 70-30 cross-validation with the mean accuracy of 96.97% for arousal and 94.29% for valence on the DEAP database. And the accuracy rate of 97.12% on the SEED database also proves the generalization of the proposed method. © 2022, The Authors. All rights reserved.

关键词： Speech recognition

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Grade quantification of Parkinson's disease based on principal component analysis

Grade quantification of Parkinson's disease based on princip...

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Chinese Automation Congress (CAC)

作者： Long Zhou Jigang Tong Enzeng Dong Lin Zhu Jiachen Zhang Tianjin Key Laboratory For Control Theory & Applicationsin Complicated Systems Tianjin University of Technology Tianjin China China North Industries Group 210 Reseasrch Institute Beijing China

ISBN: (纸本)9781665426480

Parkinson’s disease is a common neurodegenerative disease, which seriously affects the life of patients. Whether there is an objective and reliable method to classify and identify the disease grade is of great significance in the clinical diagnosis of Parkinson’s disease. In this paper, principal component analysis was used to comprehensively evaluate the degree of Parkinson’s disease of 28 randomly selected subjects, establish a comprehensive scoring model of Parkinson’s disease degree, and fit it according to HY grade, so as to realize the quantification of Parkinson’s disease grade. Based on the data of vertical ground reaction force, 12 gait features with strong correlation are calculated as the main features to establish the scoring model. The validity of the model is verified by predicting the HY grade of another 12 subjects in the randomly selected data set. The results show that the prediction accuracy is 83.3%, which can effectively predict the Parkinson’s disease level of subjects.

关键词： Correlation Parkinson's disease Force Predictive models Data models Reliability Object recognition

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Path Planning for Mobile Robots Based on Improved RRT Algorithm 17

Path Planning for Mobile Robots Based on Improved RRT Algori...

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

作者： Shao, Lei Liu, Hanze Chen, Chao Du, Dongdong Li, Ji Liu, Hongli Tianjin University of Technology Binshui Xidao 391 Tianjin Key Laboratory for Control Theory Applications in Complicated System Tianjin300384 China Institute of Data Management and Application China Academy of Industrial Internet Beijing100020 China

ISBN: (纸本)9781728164151

Aiming at the shortcomings of the basic RRT algorithm, such as the random search ability is relatively strong, and the calculation result is usually not the shortest path, etc., an improved RRT path optimization algorithm is proposed, which uses the ant colony algorithm to obtain the basic RRT algorithm. The path is iterated and optimized, and eventually converges to a shortest path, improving the efficiency of planning the shortest path in advance, and conducting in-depth research on this algorithm. A large number of simulation results show that the improved algorithm has certain feasibility and effectiveness. In multiple iterations, it can eventually converge to a path with a better distance. © 2020 IEEE.

关键词： Motion planning

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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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Chinese Automation Congress (CAC)

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

ISBN: (纸本)9781665426480

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.

关键词： Image segmentation Image recognition Automation Filter banks Feature extraction Spatial filters Electroencephalography

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