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arXiv 2020年

作者： Liu, Teng Xing, Yang Chen, Long Cao, Dongpu Wang, Fei-Yue Vehicle Intelligence Pioneers Inc Shandong Qingdao266109 China Qingdao Academy of Intelligent Industries QingdaoShandong266109 China Department of Mechanical and Mechatronics Engineering University of Waterloo N2L 3G1 Canada State Key Laboratory of Management and Control for Complex System Institute of Automation Beijing China

Parallel driving is a novel framework to synthesize the vehicle intelligence and transport automation. This article aims to define the digital quadruplets in parallel driving. In the cyber-physical-social systems (CPSS), based on the ACP method, the names of the digital quadruplets are first given, which are descriptive, predictive, prescriptive and real vehicles. The objectives of the three virtual digital vehicles are interacting, guiding, simulating and improving with the real vehicles. Then, the three virtual components of the digital quadruplets are introduced in detail and their applications are also illustrated. Finally, the real vehicles in parallel driving system and the research process of the digital quadruplets are depicted. The presented digital quadruplets in parallel driving are expected to make the future connected automated driving safety, efficiently and synergistically. Copyright © 2020, The Authors. All rights reserved.

关键词： Vehicles

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Automatic Cell Assembly by Two-fingered Microhand

Automatic Cell Assembly by Two-fingered Microhand

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2019 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Junnan Chen Xiaoming Liu Shengnan Dong Pengyun Li Xiaoqing Tang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CHINA Department of Systems Innovation Graduate school of Engineering Science Osaka University Toyonaka Osaka Japan Global Alliance Lab The University of Electro-Communications Tokyo Japan

We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis. Firstly, the most difficult problem we need to solve is the releasing problem caused by adhesion force. The viscosity on cell surface is much larger than the microbeads which makes cell releasing challenging. Secondly, the cell can generate its deformation, then contact area with end-effector will change during grasping process. This may influence the adhesion force and also bring problem to releasing. Thirdly, cell is much smaller, around 15μm in diameter, so we need to fabricate smaller end-effector to achieve successful manipulation and ensure the stability in the meantime. In this paper, we realize the manipulation by decreasing the adhesion forces and apply vibration to release a cell stably. We found the appropriate scale size for the end-effector is around 10μm diameter. It can not only grasp a 15μm cell but also bring little interference to the environment. As a demonstration of the proposed manipulation method, the repeated experiments were conducted to explore the dependence of adhesion force on the grasping distance, which can be helpful in the improvement of successful rate. Finally, we achieved automatic cell assembly using Hela cells.

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Multi-carrier Differential Chaos Shift keying Wireless Communication Based On Chaotic Shape-forming Filter

Multi-carrier Differential Chaos Shift Keying Wireless Commu...

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Chinese Automation Congress (CAC)

作者： Hai-Peng Ren Si-Long Guo Chao Bai Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China School of Mechatronic Engineering Xi’an Technological University Xi’an China

In recent years, chaotic communication has shown advantages, such as used the simplest matched filter to make signal-to-noise ratio (SNR) maximization and improve the resistance to multi-path interference. The chaotic shape-forming filter (CSF) has been proposed to generate the chaotic baseband signal in the wireless communication, the additional advantage of the chaotic shape-forming filter is able to generate the chaotic signal as spread sequence in Differential Chaotic Shift key (DCSK), which encodes information in the sequence. In this paper, the chaotic signal generated by CSF is used in DCSK and combined with multi-carrier frequency to improve the bit transmission rate. Because of CSF used, it helps to improve both Bit Error Rate (BER) performance and provide an additional information flow in the spread sequence itself. Simulation results indicate that the proposed method is superior to other methods over the Addition White Gaussian Noise (AWGN) channel and wireless channel.

关键词： Chaotic communication Signal to noise ratio Wireless communication Simulation Demodulation Data communication

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H ∞ finite time control for discrete time-varying system with interval time-varying delay

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Journal of the Franklin Institute 2018年第12期355卷 5037-5057页

作者： Menghua Chen Jian Sun School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing 100081 China

This paper discusses the problem of H ∞ finite time control for a discrete time-varying system with interval time-varying delay. By constructing a new augmented time-varying Lyapunov functional involving triple summation items and using discrete Wirtinger-type inequalities, delay-dependent conditions are derived, which guarantee that the closed-loop system is not only finite time bounded (FTB) but also satisfies an H ∞ performance. Furthermore, the time-varying feedback controller can be derived by solving a series of recursive linear matrix inequalities (RLMIs). Simulation results show the effectiveness and superiority of the proposed method.

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The Detection of Typical Targets under the Background of Land War 29

The Detection of Typical Targets under the Background of Lan...

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第29届中国控制与决策会议

作者： Xiaowen Wu Wenjie Chen Yingying Qin State Key Laboratory of Intelligent Control and Decision Complex System Beijing Institute of Technology

ISBN: (纸本)9781509046584

This paper investigates whether advanced neural network techniques can be applied to the detection and identification of typical targets in the context of land warfare. We collected 13 typical targets and built a detection data set. Based on the Faster R-CNN framework, we improve the detection accuracy by two ways. First, we design a neural network model with strong local modeling capabilities. Second, we combine middle layers and the last layer of feature maps as the detection features to enhance the detection ability and improve the detection accuracy.

关键词： Deep Learning Convolutional Neural Network Local Modeling Capability Object Detection

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Measurement Method of the Least Mean Square Adaptive Filtering Parameters for Gas-solid Flow

Measurement Method of the Least Mean Square Adaptive Filteri...

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Chinese Automation Congress (CAC)

作者： A. Ruidong Xie B. Yingmin Yi C. Haichuan Yang Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

With regard to the unknown prior knowledge of signal noise in the parameter measurement of gas-solid flow, the present paper puts forward the AC signal processing method based on the least mean square (LMS) adaptive filtering. In addition, the floating processor DSP-TMS320F28335 is employed to collect AC signal of electrostatic sensors and the acquired signals are processed by the aid of LMS adaptive filtering algorithm which adjusts the filter weights according to the criterion of the least mean square error to achieve the optimal filtering. Drawing on the experimental platform, the solid-phase velocity is measured online in real time for the gas-solid flow. The results show that the method can improve the accuracy and stability for the velocity measurement of gas-solid flow.

关键词： Filtering Velocity measurement Filtering algorithms Adaptive filters Solids Atmospheric measurements Particle measurements

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Surface Defect Classification of Steels Based on Ensemble of Extreme Learning Machines

Surface Defect Classification of Steels Based on Ensemble of...

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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Yanan Liu Ying Jin Hongbin Ma Beijing Institute of Technology Beijing P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China

In recent years, iron and steel industry of China has developed rapidly, and steel surface defects recognition has attracted wide attention in the field of industrial inspection. Aiming at the problems of poor precision and low speed of traditional surface defect detection methods, we propose to use a fully learnable ensemble of Extreme Learning Machines (ELMs), which is ELM-IN-ELM, for defect classification. The Local Binary Pattern is adopted as the basic feature extraction method. The ELM-IN-ELM determines the final classification decision by automatically learning the output of M independent ELM sub-models. To further illustrate the superiority of the ELM-IN-ELM algorithm for classification, the Northeastern University (NEU) surface defect database is used to evaluate its classification effect. The experimental results demonstrate that this method works remarkably well for surface defects classification. Compared with other methods, the proposed method can identify the types of defects more accurately, which is of practical significance to steel surface defect detection.

关键词： Steel Neural networks Training Inspection Surface treatment Feature extraction Binary codes

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Distributed computation for solving the sylvester equation based on optimization

arXiv

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arXiv 2019年

作者： Deng, Wen Zeng, Xianlin Hong, Yiguang School of Mathematical Sciences University of Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

This paper solves the Sylvester equation in the form of AX + XB = C in a distributed way, and proposes three distributed continuous-time algorithms for three cases. We start with the basic algorithm for solving a least squares solution of the equation, and then give a simplified algorithm for the case when there is an exact solution to the equation, followed by an algorithm with regularization case. Based on local information and appropriate communication among neighbor agents, we solve the distributed computation problem of the Sylvester equation from the optimization viewpoint, and we prove the convergence of proposed algorithms to an optimal solution in three different cases, with help of the convex optimization and semi-stability. Copyright © 2019, The Authors. All rights reserved.

关键词： Convex optimization

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A distributed alternating direction method of multipliers algorithm for consensus optimization

A distributed alternating direction method of multipliers al...

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Chinese Automation Congress (CAC)

作者： Xia Zhang Ding Liu Fei Yu Duqiao Zhao National and Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xian University of Technology Xian China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xian China

The Alternating Directions Methods of Multipliers (ADMM) are widely used in many fields of scientific computing in recent years. This method applies iterative computation to the information exchange between individual agent and neighbor. However, despite the success of traditional centralized ADMM in some application environments, its applicability is limited in global convergence center by its communication requirements. In our paper, we provide the linear convergence rate for this distributed consensus optimization problem, which satisfies strongly convex local objective functions. Then, the properties of the local objective function and the parameters of the algorithm, the theoretical convergence rate is given according to the network topology.

关键词： Convergence Optimization Linear programming Convex functions Numerical models Signal processing algorithms Information processing

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Shaping Effect of Phase-locked Loop on Impedance Characteristics of PMSG Wind Turbines Connected to Weak-grid

Shaping Effect of Phase-locked Loop on Impedance Characteris...

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IEEE General Meeting Power& Energy Society

作者： Feiya Wan Zhen Li Bin Liu Guanghui Li Xiaoliang Dong Xi Chen Samson S. Yu Amanullah M. T. Oo Zhenyu Shan Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing China China Electric Power Research Institute Beijing China State Grid Corporation of China and North China Branch of State Grid Corporation of China Beijing China GEIRI North America USA School of Engineering Deakin University 75 Pigdon Rd Waurn Ponds Victoria Australia School of Electrical and Control Engineering North China University of Technology Beijing China

ISBN: (数字)9781728155081

ISBN: (纸本)9781728155098

With the booming installed capacity of permanent magnet synchronous generator (PMSG) for wind energy generation, the grid becomes weaker and the oscillation events are frequently observed in weak-grid-tied large-scale grid-connected PMSG wind farms. Although the impedance-based method is effective to analyze the stability of grid-connected systems, the mathematical relationship between external impedance characteristics and the internal controllers has not been quantitatively analyzed in depth, which is beneficial to the controller design. This paper studies the influence of phase-locked loop (PLL) on the impedance characteristics based on the analytical sequence impedance model of PMSG with typical topology and control structure. The shaping effect of PLL on the impedance characteristics is described so as to clearly describe the relationship between the external impedance characteristics of the wind turbines and the internal controller. Finally, the stability analysis of the grid-connected PMSG wind turbine system is provided in Matlab and simulation results are given to verify the oscillating mechanism caused by PLL.

关键词： Synchronous generators Stability analysis Wind turbines Topology Impedance Phase locked loops Oscillators

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