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Chinese Control Conference (CCC)

作者： Yan Yao Liping Yan Yuanqing Xia Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

In the field of radar data processing, track interruption seriously affects target tracking, track fusion, and other tasks. The existing track segment association algorithms have low correlation accuracy in dense distributed or long-time interruption situations. To this purpose, a dense multi-target track segment association (DMTTSA) algorithm is proposed. Firstly, two identical networks based on the multi-head probability sparse (ProbSparse) self-attention are used to capture the long-term dependencies of the tracks. Then, the bidirectional quadruplet hard sample loss (BiQuaHard loss) is constructed to make the tracks belonging to the same targets closer and the tracks belonging to the different targets farther. Finally, DMTTSA takes the closest track pairs in the feature space as the associated tracks and divides the unassociated tracks into the birth and dead tracks in chronological order. Some comparative experiments are carried out to show the anti-noise performance of the DMTTSA, as well as the effectiveness of solving the problem of dense multi-target track interruption.

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A Pipeline Leak Detection Method Based on MGD-KLD and On-delay Timer

A Pipeline Leak Detection Method Based on MGD-KLD and On-del...

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第42届中国控制会议

作者： Jiaqi He Yan Yuan Wenkai Hu Weihua Cao School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Leaks in natural gas pipelines can cause very serious safety accidents, and timely detection and remedial action can greatly reduce the losses. In recent years, pipeline leak detection has received extensive studies. Most methods use pressure sensors or acoustic sensors to detect pipelines, but there are certain limitations on the usage scenarios and detection time *** this basis, this paper selects maglev vibration detector to detect the vibration signal of pipelines. The difficulty lies in that,sudden changes in vibration signals due to external disturbances, may lead to false alarms. Therefore, this paper proposes a pipeline leak detection method using Multivariate Gaussian Distribution based Kullback-Leibler Divergence(MGD-KLD) and on-delay timer to reduce false alarms during the detection process. In this paper, by constructing a simulated pipeline platform for leak experiments and applying the above method to process the experimental data, the false alarm rate of pipeline leak detection can be effectively reduced.

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Fish Lateral Line Inspired Flow Sensors and Flow-aided Control: A Review

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Journal of Bionic Engineering 2021年第2期18卷 264-291页

作者： Yufan Zhai Xingwen Zheng Guangming Xie State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design LabCollege of EngineeringPeking UniversityBeijing 100871China Institute of Ocean Research Peking UniversityBeijing 100871China Peng Cheng Laboratory Shenzhen 518055China

Any phenomenon in nature is potential to be an inspiration for us to propose new *** line is a typical example which has attracted more interest in recent *** the aid of lateral line,fish is capable of acquiring fluid information around,which is of great significance for them to survive,communicate and hunt *** this paper,we briefly introduce the morphology and mechanism of the lateral line *** we focus on the development of artificial lateral line which typically consists of an array of sensors and can be installed on underwater robots.A series of sensors inspired by the lateral line with different sensing principles have been *** then the applications of artificial lateral line systems in hydrodynamic environment sensing and vortices detection,dipole oscillation source detection,and autonomous control of underwater robots have been *** addition,the existing problems and future foci in this field have been further discussed in *** current works and future foci have demonstrated that artificial lateral line has great potentials of applications and contributes to the development of underwater robots.

关键词： lateral line artificial lateral line bio-inspired flow sensor flow-aided control underwater robot

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An Improved PI Controller for Stiction Compensation of Control Valves in Process Industry

An Improved PI Controller for Stiction Compensation of Contr...

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第43届中国控制会议

作者： Dong Yang Xun Lang Jiande Wu Yumin Lang Lei Xie Hongye Su Department of Electronic Engineering School of Information Yunnan University Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University State Key Laboratory of Industrial Control Technology Zhejiang University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In the process industry, limit cycles are mostly induced by stiction-related nonlinearity in control valves, severely deteriorating control loop performance. Such problem highlights the importance of compensating for oscillations due to valve stiction. To this end, this work introduces an improved PI controller(IPIC) for stiction compensation, which retains the advantages of the traditional PI controller with fewer adjustment parameters. The enhancement involves nonlinear variation of the integral gain based on instantaneous error. Additionally, a differential evolution algorithm is utilized for controller *** to state-of-the-art methods in setpoint tracking, disturbance rejection, and robustness to parameter uncertainties, the proposed approach exhibits superior performance.

关键词： Stiction Limit Cycle Nonlinear PI controller Differential Evolution Algorithm

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General theory for designing phonon transport in alloyed/doped materials

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Science China(Physics,Mechanics & Astronomy) 2024年第12期67卷 133-140页

作者： Chenhan Liu Chao Wu Wei Liu Yunshan Zhao Gang Zhang Hongmin Yang Yunfei Chen Micro-and Nano-scale Thermal Measurement and Thermal Management Laboratory Key Laboratory of Numerical Simulation for Large Complex SystemsMinistry of EducationSchool of Energy and Mechanical EngineeringNanjing Normal UniversityNanjing210023China School of Electrical and Automation Engineering Nanjing Normal UniversityNanjing210023China Phonon Engineering Research Center of Jiangsu Province Center for Quantum Transport and Thermal Energy ScienceInstitute of Physics Frontiers and Interdisciplinary SciencesSchool of Physics and TechnologyNanjing Normal UniversityNanjing210023China Agency for Science Technology and ResearchInstitute of High-Performance ComputingSingapore138632Singapore Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing211100China

Alloying/doping is a widely used technique for improving the electrical,mechanical,and optical properties of ***,this technology induces significant distortions in the lattice structure,mass distribution,and potential field,greatly enhancing phonon ***,we introduce the concept of alloying/doping path and employ crystal symmetry,lattice deformation,and electron distribution to characterize *** on this new concept,the phonon thermal transport behavior in alloyed/doped materials can be well designed,and along different alloying/doping paths,the difference in thermal conductivity can be up to 45 *** one hand,strategic alloying/doping that combines high crystal symmetry,large lattice contraction,and the same electron distribution suppresses phonon-phonon scattering phase space,induces phonon stiffening,and bolsters electronic structure symmetry,*** synergistic effects significantly improve thermal *** the other hand,random alloying/doping has a low symmetry,leading to the typical“U”shape of alloying/doping level-dependent thermal *** theory is corroborated in three-dimensional(3D)Si,2D MoS_(2),and quasi-1D TiS_(3),affirming its efficacy and broad applicability in controlling phonon transport.

关键词： phonon transport alloyed/doped materials crystal symmetry lattice contraction electronic structure

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Control of Hybrid Energy Storage Based on Variable Droop Coefficient in DC Microgrid

Control of Hybrid Energy Storage Based on Variable Droop Coe...

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第42届中国控制会议

作者： Kun Song Danyun Li Dashuang Zhao School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

For hybrid energy storage systems in DC microgrids,a droop control consisting of virtual capacitors and virtual resistors can decompose power into high-frequency components and low-frequency components,then assign them to batteries and supercapacitors to respond ***,aiming at the service life of the energy storage system,this paper considers the characteristics and key parameters of the hybrid energy storage structure and proposes an adaptive drooping comprehensive control strategy considering the SOC of the energy storage unit given the shortcomings of power distribution within the current hybrid energy *** to the self-regulation capacity of each energy storage unit,it is sorted and constrained,and protected by using SOC,which ensures the economy and safety of the system while ensuring power *** traditional droop control and adaptive droop control are simulated to verify the effectiveness of the proposed control strategy.

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Large bandwidth and high efficiency silicon nitride grating coupler with bottom reflector 3

Large bandwidth and high efficiency silicon nitride grating ...

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3rd International Conference on Laser, Optics, and Optoelectronic Technology, LOPET 2023

作者： Chen, Haihong Zhang, Weilun Chen, Yang Ye, Mengyuan Yu, Yu Wuhan National Laboratory for Optoelectronics School of Optical and Electronic Information Huazhong University of Science and Technology Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

ISBN: (纸本)9781510667624

Grating coupler, one of the essential devices in silicon-based optical integrated chip, is still suffering with low coupling efficiency and small operation bandwidth. In this paper, we design and experimentally demonstrate a silicon nitride (Si3N4) grating coupler with high coupling efficiency and large bandwidth. Instead of using bottom distributed Bragg reflector, metal mirror or other complex designs, a bottom silicon grating reflector based on a 220 nm industrially standard silicon-on-insulator wafer is employed to improve coupling efficiency and simplify the fabrication processes. The interlayer coupler enables the light transmission between Si3N4 and Si waveguides. By optimizing structure parameters and apodizing the Si3N4 grating coupler, a high coupling efficiency of -2.37 dB and large 1-dB bandwidth of 53 nm are obtained. © 2023 SPIE.

关键词： Silicon nitride

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CPG-Inspired Gait Generation and Transition Control for Six Wheel-legged Robot

CPG-Inspired Gait Generation and Transition Control for Six ...

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2021 China Automation Congress, CAC 2021

作者： Deng, Chencheng Wang, Shoukun Chen, Zhihua Wang, Junzheng Ma, Liling Li, Jiehao State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665426473

Central pattern generator (CPG) model can form stable periodic signal through self-excited oscillation without high-level central control. Hopf oscillator is an implementation of CPG model, which has the characteristics of clear parameter meaning and easy adjustment. In this paper, a method of gait planning and dynamic gait switching based on Hopf oscillator model is introduced. Firstly, the model and three gait modes of the robot are introduced. Secondly, an improved Hopf oscillator based on CPG is designed, and the signal generated by the oscillator is used to control the robot's legs. Finally, the simulation results of the three basic walking gaits and gait switching verify the feasibility and effectiveness of the algorithm. © 2021 IEEE

关键词： Robots

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Distributed Alternating Direction Method of Multipliers for Multi-Objective Optimization

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Advances in Pure Mathematics 2022年第4期12卷 249-259页

作者： Hui Deng Yangdong Xu Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Chongqing China

In this paper, a distributed algorithm is proposed to solve a kind of multi-objective optimization problem based on the alternating direction method of multipliers. Compared with the centralized algorithms, this algorithm does not need a central node. Therefore, it has the characteristics of low communication burden and high privacy. In addition, numerical experiments are provided to validate the effectiveness of the proposed algorithm.

关键词： Alternating Direction Method of Multipliers Distributed Algorithm Multi-Objective Optimization Multi-Agent System

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