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International Conference on High Voltage Engineering and Application, ICHVE

作者： Sihang Gao Jiajun Li Tingjing Ke Yang Liu Dong Ding Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing China State Grid Chongqing Electric Power Company Chongqing Chongqing China Baoding Electric Power Corporation Baoding China State Key Laboratory of Transmission & Distribution Equipment and Power System Safety and New technology Chongqing University Chongqing China

ISBN: (数字)9781728155111

ISBN: (纸本)9781728155128

Insulation failures of oil-immersed power transformer induced by sulfur corrosion can be controlled by adding the metal passivator into insulating oil. However, it has been reported that the addition of benzotriazole and its derivative passivators into insulating oil would cause abnormal generation of dissolved gases in the oil during the operation of oil-immersed transformer. Therefore, this paper investigated on the effect of passivator on the characteristics of dissolved gas in the oil under the action of thermal field. Benzotriazole (BTA) that widely used in the oil-immersed transformer was selected as the research object, the thermogravimetric analysis of BTA was conducted, and a series of accelerate thermal ageing experiments of oil-paper insulation with and without BTA were also conducted, the composition and content of dissolved gases in oil were measured and analyzed. The results show that BTA was pyrolyzed continuously as the temperature increase. The addition of BTA in oil accelerated the contents of H2, CO and CO2 and decelerated the content of hydrocarbon gases, which lead to abnormal generation of dissolved gases in oil. All of these may interfere the operation condition evaluation of oil-immersed transformer based on DGA technology.

关键词： Oils Gases Aging Power transformer insulation Oil insulation Thermal conductivity Partial discharges

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Heun-Thought Aided ZD4NgS Method Solving Ordinary Differential Equation (ODE) Including Nonlinear ODE system

Heun-Thought Aided ZD4NgS Method Solving Ordinary Differenti...

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International Symposium on Computational Science and Computing, ISCSC 2018

作者： Zhang, Yunong Huang, Huanchang Li, Jian Yang, Min Wu, Sheng School of Information Science and Technology Sun Yat-sen University Guangzhou510006 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China SYSU-CMU Shunde International Joint Research Institute Shunde Foshan528300 China Ministry of Education Guangzhou China

ISBN: (纸本)9783030021153

In this paper, a Zhang discretization (ZD) formula with high accuracy, termed ZD 4-node g-square (ZD4NgS) formula, is presented. Resorted to this formula, a numerical method for solving the initial value problem (IVP) of ordinary differential equation (ODE) is firstly presented. Such a method is thus considered as ZD4NgS method. Then, to improve accuracy, a Heun-thought aided modification of ZD4NgS method is proposed and investigated. For comparison, the conventional Euler method is also presented. In addition, numerical experiments are carried out, and numeric results show that the modified ZD4NgS method has a best final global error (FGE) among the three methods, substantiating that the accuracy of ZD4NgS method can indeed be improved after modification. © 2019, Springer Nature Switzerland AG.

关键词： Numerical methods

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Hover-to-Cruise Transition control for High-Speed Level Flight of Ducted Fan UAV

Hover-to-Cruise Transition Control for High-Speed Level Flig...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Zihuan Cheng Hailong Pei College of Automation Science and Engineering South China University of Technology Guangzhou China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong College of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

In this paper, we address the hover-to-cruise transition control problem for high-speed level flight of a ducted fan UAV. Firstly, the nonlinear aircraft dynamic system is derived and relevant key aerodynamic characteristics are presented. Then, we divide the dynamic system into known parts and uncertain parts. In order to track a reference system formed by the known parts, we propose a neural-network-based control strategy to learn the error dynamics and cancel the tracking error with proved stability. Finally, simulations and experiments are conducted to perform the transition process at fixed altitude and constant horizontal acceleration, with satisfactory results accomplishing the designed flight course.

关键词： Fans Aerodynamics Aircraft Vehicle dynamics Aerospace control Unmanned aerial vehicles Neural networks

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A New Anomaly Detector of Flare Pilot Based on Siamese Network

A New Anomaly Detector of Flare Pilot Based on Siamese Netwo...

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Chinese Automation Congress (CAC)

作者： Xiaotian Xie Ke Gu Junfei Qiao Faculty of Information Technology Beijing University of Technology Beijing China Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China Beijing Artificial Intelligence Institute Beijing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The flare pilot is the key to ensure that the flare system is ignited at any time. At present, domestic and foreign companies mainly use thermocouples, flame ionization detectors and other sensors to detect the working condition of the flare pilot. These electronic components have the hysteretic and vulnerable problems due to extreme heat, thermal shock and vibration, which may well further lead to the failure to ignite the flare gas with flare pilot in time and cause production accidents. In view of the above problems, this paper proposes an anomaly detector of flare pilot based on deep learning technology. First of all, we made an anomaly detection database for flare pilot, which was shot in a domestic petrochemical company. Then, we designed a specific siamese network based on the triplet loss function for learning the similarity between the samples, in order to apply to the curing scene of the flare pilot. Finally, it is determined whether the flare pilot is abnormal according to the similarity between the input picture and the positive and negative samples. Experimental results demonstrate that the proposed method can be effectively used for the anomaly detection of flare pilot.

关键词： Databases Anomaly detection Petrochemicals Feature extraction Employee welfare Detectors Combustion

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Hand tracking accuracy enhancement by data fusion using leap motion and myo armband

Hand tracking accuracy enhancement by data fusion using leap...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Chen, Jingxiang Liu, Chao Cui, Rongxin Yang, Chenguang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China LIRMM CNRS-University of Montpellier France School of Marine Engineering Northwestern Polytechnical University Xi'an China Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

ISBN: (纸本)9781728158594

In this paper, by using the combination of Leap Motion and Myo armband, two methods for hand tracking and online hand gesture identification are proposed. With the proposed methods, We have improved the measurement accuracy of the palm direction and solved the problem of insufficient accuracy when the palm is at the limit of the measurement range. We use the Kalman filter algorithm and the neural network classification method to process the data measured by Leap Motion and Myo, so that the tracking of the operator's hand gesture is more accurate and robust even when the hand is at positions close to the measurement limit of one single sensor. The methods, which improve the hand tracking accuracy, can be used for robotic control, demonstration or teleoperation. The effectiveness of the proposed methods has been demonstrated through comparative experiments. © 2019 IEEE.

关键词： Palmprint recognition

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Clustering-Based Self-learning Approach for Security Rules in Industrial Communication Protocol

Clustering-Based Self-learning Approach for Security Rules i...

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International Conference on Mechatronics and Intelligent Robotics, ICMIR 2017

作者： Wan, Ming Shang, Wenli Zeng, Peng Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9783319659770

Modbus/TCP, which is a widely used industrial communication protocol, has serious security flaws because of its openness and simplicity, and developing security mechanisms based on Modbus/TCP is very hot topic. However, it is an onerous task to set rules manually for these security mechanisms. In this paper, we propose a clustering-based self-learning approach for security rules to facilitate the rule setting when carrying out the Modbus/TCP defense. Furthermore, our approach analyzes the address information from Modbus/TCP packets in depth, and automatically learns the address range setting in the white-listing rules by using the K-means algorithm. Our experimental results show that, the proposed approach is very available and effective to generate the white-listing rules for Modbus/TCP. © 2018, Springer International Publishing AG.

关键词： K-means clustering

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Dynamic surface control of shape memory alloy actuating systems with inverse Duhem hysteresis compensation 15

Dynamic surface control of shape memory alloy actuating syst...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, Rui Feng, Ying Hu, Zedong School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou510640 China

ISBN: (纸本)9781538660720

Shape Memory Alloys actuators are a class of smart materials-based actuators, and show a good output performance with high force to mass ratio, biocompatibility and small size. However, the internal hysteresis nonlinearities between the input temperature and output displacement adversely affect the output accuracy and they cannot be mitigated directly because of the strong non-smooth feature of SMA materials. To improve the actuating ability of SMA system, an estimated hysteresis inverse is employed based on Duhem model as the compensation of SMA actuator in this paper. Considering the dynamics of the SMA actuating system and the compensation error, a dynamic surface controller (DSC) is designed. The simulation results validate the effectiveness of the proposed approach. © 2018 IEEE.

关键词： Hysteresis

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Correction to: Novel neural adaptive terminal sliding mode control for TCP network systems with arbitrary convergence time

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Neural Computing and Applications 2023年第1期36卷 519-519页

作者： Qi, Xuelei Li, Chen Chen, Bao Ni, Wei Ma, Hongjun College of Information Science and Engineering Northeastern University Shenyang People’s Republic of China Commonwealth Scientific and Industrial Research Organisation (CSIRO) Sydney Australia School of Automation Science and Engineering South China University of Technology Guangzhou People’s Republic of China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong Guangzhou People’s Republic of China

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Globally optimal consensus maximization for robust visual inertial localization in point and line map

Globally optimal consensus maximization for robust visual in...

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2020 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yanmei Jiao Yue Wang Bo Fu Qimeng Tan Lei Chen Minhang Wang Shoudong Huang Rong Xiong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing P.R. China Minhang Wang is with the Application Lab Huawei Incorporated Company P.R. China Shoudong Huang is with the Center for Autonomous Systems (CAS) the University of Technology Sydney Australia

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the main challenge is the presence of outliers, especially in changing environment. In this paper, we propose a robust solution based on efficient global optimization of the consensus maximization problem, which is insensitive to high percentage of outliers. We first introduce translation invariant measurements (TIMs) for both points and lines to decouple the consensus maximization problem into rotation and translation subproblems, allowing for a two-stage solver with reduced search space. Then we show that (i) the rotation can be estimated by minimizing TIMs using only 1-dimensional branch-and-bound (BnB), (ii) the translation can be estimated by running 1-dimensional search for each of the three axes with prioritized progressive voting. Compared with the popular randomized solver, our solver achieves deterministic global convergence without requiring an initial value. Furthermore, ours is exponentially faster compared with existing BnB based methods. Finally, our experiments on both simulation and real-world datasets demonstrate that the proposed method gives accurate pose estimation even in the presence of 90% outliers (only 2 inliers).

关键词： Location awareness Visualization Pose estimation Search problems State estimation Optimization Rotation measurement

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Position tracking for continuum robots with joint limit constraints

Position tracking for continuum robots with joint limit cons...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Lin, Dengliang Dong, Xin Yang, Chenguang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Nottingham University Department of Mechanical Materials and Manufacturing Engineering NottinghamNG7 2RD United Kingdom Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

ISBN: (纸本)9781728158594

This paper presents a novel tip-following approach for real-time position tracking and avoiding obstacle of continuum robots with joint limit constraints. This type of hyper-redundant robot, which is more flexible and compliant to explore in complex and constrained environments, such as in pipeline or narrow entrance. However, tradictional method based on inverse kinematic model is difficult to control the end-effector of continuum robot to avoid abstcales in the constrained circumstance. Therefore a new tip-following method based on forward kinematic model is proposed to control the robot and make it inspect the environment. For the method, we use nonliner progamming approach to solve the optimization problem, which is used to find minimum of constrained nonlinear objective function to ensure that the end-effector of the robot follow the desired position with minimal error. In this paper, we employ a 24 DoF continuum robot with continuous backbone and compliant joint to the simulation, and it is testified that the proposed approch can ensure joint limit avoidance, track the end postion in real time and minimize the tracking errors. © 2019 IEEE.

关键词： End effectors

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