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Chinese control Conference (CCC)

作者： Jinglan Bai Liping Yan Yuanqing Xia Bo Xiao Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing P. R. China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Infrared and visible image fusion technology helps to improve the spatial resolution. It mainly preserves the features and details of the source images and generates a fusion image with visual enhancement. In this paper, based on the gradient features and intensity information of the source images, an optimization model for image fusion is built. Firstly, the pre-fused gradient of the source images is obtained by combining the structure tensor and the proposed local gradient similarity, where local gradient similarity is used to make the fused gradient direction more accurately. Secondly, the source images are reconstructed into salient and non-salient images according to the comparison of the pixel intensity. A weight map before the non-salient image in the optimization model makes the effective details preserved, so that the pre-fused images consist of the salient image and the non-salient image with a weight map. Finally, an optimization model is constructed to constrain the gradient and intensity of the final fused image close to the pre-fused gradient and the pre-fused images. The final fused image is obtained from solving the optimization model by use of the variational method. The experimental results are evaluated from subjective and objective assessments, which show the effectiveness of the proposed algorithm.

关键词： Optimization Tensile stress Image fusion Mathematical model Matrix decomposition Eigenvalues and eigenfunctions Visualization

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Fuzzy Rate Analysis of Operators and its Applications in Linear Spaces

Research Square

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Research Square 2021年

作者： Zhang, Yijin Li, Honggang Jin, Maoming Lin, Zongbing Nanjing Changjiang Waterway Engineering Bureau China Key Lab of Intelligent Analysis and Decision on Complex Systems Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Pass College Chongqing Technology and Business University Chongqing401520 China Institute of Nonlinear Analysis Research Changjiang Normal University Chongqing400803 China School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

In this paper, a new concept, the fuzzy rate of an operator in linear spaces is proposed for the very first time. Some properties and basic principles of it are studied. Fuzzy rate of an operator B which is specific i... 详细信息

关键词： Membership functions

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Research method of identifying transformer inrush current and fault current based on VMD-HHT

Research method of identifying transformer inrush current an...

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第三十八届中国控制会议

作者： Shangbin Jiao Yuan Chang Qing Zhang Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing(Xi'an University of Technology)

To settle the problem that identifying inrush current and fault current of large transformer is difficult,a new identification method which is a combination of variational mode decomposition(VMD)and Hilbert-Huang transform(HHT)is come up ***,the inrush current and fault current signals are decomposed into multi-band intrinsic mode function(IMF)by using ***,the instantaneous frequencies of each intrinsic mode function(IMF)of inrush current and fault current are calculated respectively by Hilbert-Huang transform,so that the corresponding Hilbert spectrum is ***,the Hilbert spectra of inrush current and fault current are filtered by band-pass filter to remove the similar main lobes and some *** is concluded that the Hilbert spectra of inrush current and fault current are significantly different from each *** order to facilitate engineering application,the energy values of the first 16 sites in the Hilbert spectra of the two are taken to identify the inrush current and fault current,and the protection criteria are obtained.

关键词： inrush current fault current variational mode decomposition Hilbert-Huang transform

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Temperature prediction of generator carbon brush based on LSTM neural network

Temperature prediction of generator carbon brush based on LS...

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Chinese Automation Congress (CAC)

作者： Qing Zhang Tingyang Jiao Yinxing Ma Youmin Zhang Xiaohui Wu Pengyue Wu Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China The Faculty of Computing Science The University of Alberta Edmonton Alberta Canada Concordia University Montreal Canada Huaneng Weihai Power Generation Co. Ltd Wei’hai China Xi’an Thermal Power Research Institute Co. Ltd Xi’an China

ISBN: (纸本)9781665426480

In order to improve the prediction accuracy of the carbon brush temperature trend of the generator, analyzing the operating state of the generator more accurately, and reduce other accidents like the unplanned outage caused by carbon brush failure of the generator in the power plant. A multi-step temperature prediction model based on the LSTM (Long Short-Term Memory) neural network is proposed. The data comes from real operating carbon brush temperature of Weihai Power Plant in ten days. Then the temperature prediction model is established to achieve an accurate prediction of the carbon brush temperature in the future day. The prediction error is stable within 0.4 °C. By comparing the predicted results of the BP model and Elman model, the error between the predicted results of each model and the actual temperature data is analyzed. By comparing the indicators and analyzing the actual curves, the results show that LSTM neural network has higher accuracy in predicting the temperature of generator carbon brush. This method is of reference significance for the accurate analysis of the operation state of the generator and the load analysis of the excitation system.

关键词： Analytical models Temperature distribution Brushes Neural networks Predictive models Market research Generators

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A novel single-phase-to-earth fault line method in small current grounding systems

A novel single-phase-to-earth fault line method in small cur...

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第三十八届中国控制会议

作者： Jiao Shangbin Guo Jingwen Li Yunjun Xiao Ting Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing(Xi'an University of Technology)

Aiming at the problem that the fault characteristics of single-phase-to-ground fault in small current grounding system are not obvious,the fault situation is complex,and the single fault criterion is difficult to accurately select the *** this paper,a new method for small current single-phase ground fault line selection is proposed based on improved Empirical Wavelet Transform(EWT)and D-S evidence *** method firstly smoothes the transient zero-sequence current spectrum of each feeder,and then performs EWT decomposition to extract the natural modal function that best characterizes the original signal,and obtains the energy peak and the intrinsic modal energy value to determine the probability of each line fault,***,the results of the two methods are fused by D-S evidence theory,and the final line selection results are obtained.

关键词： Small current Single-phase grounding Fault line selection EWT D-S evidence theory

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Large-scale 3D Semantic Mapping Using Stereo Vision

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International Journal of Automation and computing 2018年第2期15卷 194-206页

作者： Yi Yang Fan Qiu Hao Li Lu Zhang Mei-Ling Wang Meng-Yin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Nanjing University of Science and Technology Nanjing 210094 China

In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.

关键词： Semantic map stereo vision motion segmentation visual odometry simultaneous localization and mapping （SLAM）.

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Impulse control of chaos in the exible shaft rotating-lifting system of the mono-silicon crystal puller

arXiv

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arXiv 2020年

作者： Zhou, Zi-Xuan Grebogi, Celso Ren, Hai-Peng Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an Shaanxi710048 China North Minzu University Library Yinchuan Ningxia750021 China Institute for Complex System and Mathematical Biology University of Aberdeen AB24 3UE United Kingdom

Chaos is shown to occur in the flexible shaft rotating-lifting (FSRL) system of the mono-silicon crystal puller. Chaos is, however, harmful for the quality of mono-silicon crystal production. Therefore, it should be suppressed. Many chaos control methods have been proposed theoretically and some have even been used in applications. For a practical plant displaying harmful chaos, engineers from a specified area usually face with the challenge to identifying chaos and to suppressing it by using a proper method. However, despite of the existing methods, chaos control method selection in the FSRL system is not a trivial task. For example, for the OGY method, if one cannot find a practical adjustable parameter, then the OGY method cannot be applied. An impulsive control method is being proposed which is efficiently able to suppress chaos in the FSRL system. The selection of the control parameters is obtained by using the Melnikov method. Simulation results show the correctness of our theoretical analysis and the effectiveness of the proposed chaos control method. Copyright © 2020, The Authors. All rights reserved.

关键词： Silicon

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A Human-Robot Skill Transfer Framework of Mobile Medical Robots for Autonomous Motion with Teaching by Demonstration

A Human-Robot Skill Transfer Framework of Mobile Medical Rob...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Jiehao Li Junzheng Wang Shoukun Wang Hui Peng Qi Wen Longbin Zhang Meina Lin Politecnico di Milano Milan Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China BioMEx Center KTH Mechanics KTH Royal Institute of Technology Stockholm Sweden Guangdong Key Laboratory of IoT Information Technology Guangdong University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. This article mainly centers on the human-robot transmission of the mobile medical robot for narrow space autonomous motion. In order to enable mobile medical robots to autonomously and smoothly transport hospital casualties through narrow aisles, in this paper, we present a robot skill transfer technology, namely a human-robot skill transfer framework of mobile medical robots for autonomous motion with teaching by demonstration, which is that a smooth optimal path is planned through the human motion, and then the Kinect sensor is used to detect human bone movement to learn its motion trajectory so as to achieve trajectory tracking control. Meanwhile, using the Remote Center of Motion (RCM) constraint to minimize the error between the actual trajectory of the medical robot and the tracking reference path to control the motion trajectory accurately, human-computer interactive mobile medical robots can smoothly pass through narrow channels. Through research and analysis, it is demonstrated that the mobile medical robot proposed in this paper has great feasibility, which is of great reference value in the field of medical rescue.

关键词： Medical robotics Education Trajectory Mobile robots Tracking Hospitals

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Sequence impedance modeling of droop-controlled inverter

Sequence impedance modeling of droop-controlled inverter

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8th Renewable Power Generation Conference (RPG 2019)

作者： You Hu Jiajun Wang Bin Liu Zhen Li Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing 100081 China

ISBN: (数字)9781839531248

ISBN: (纸本)9781839531255

The grid-connected three-phase inverter is an indispensable part of the microgrid. The droop control is widely used in parallel inverters for high reliability and flexibility. The output impedance of droop controlled inverters plays an vital role in its stability. However, the sequence impedance model of grid-connected inverter is currently based on the grid side converter with a single current loop control exdluding the low-frequency dynamics similar in doubly fed induction generators. Both the droop control and voltage loop control greatly affect the stability of inverter, specifically in the low frequency response. This paper proposes a sequence impedance model of inverter, which considers the droop control and voltage and current dual closed-loop control using the harmonic linearization method in the frequency domain. The accuracy of the model is verified through comparing the measurement impedance value in simulation with the impedance value calculated in the sequence impedance model. The influence of control method on system impedance is verified by showing the difference between the single loop controlled inverter and droop control inverter.

关键词：

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Research on High Precision control of Joint Position Servo system for Hydraulic Quadruped Robot

Research on High Precision Control of Joint Position Servo S...

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第三十八届中国控制会议

作者： CHEN Zhihua WANG Shoukun XU Kang WANG Junzheng ZHAO Jiangbo NIU Shanshuai Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology

Electro-hydraulic servo valve-controlled cylinder(EHSVCC) is a highly integrated and high-performance electrohydraulic servo driving unit(EHSDU), which is the basic driving unit of the leg joint for hydraulic quadruped robot. The robot impedance control mostly adopts control methods based on position inner loop and impedance outer loop, the high precision control of position inner loop is the key to improve impedance control. Therefore, it is of great significance to study a high precision position control method. Firstly, the electro-hydraulic servo drive unit of the foot robot is taken as the research object. The model of the nonlinear system is established, and the feedback linearization of the system is carried out. Secondly, in order to improve the tracking performance and anti-jamming ability of the position inner loop input/output a sliding mode variable structure robust controller(SMVSRC) with switching function, variable structure control rate and improved boundary layer function is designed. Finally, the electro-hydraulic servo drive unit(EHSDU) and the hydraulic foot robot test platform are tested, the influence of the two control algorithms on the position response and tracking error for EHSDU is analyzed and compared under the control of sinusoidal signals with different amplitudes and frequencies and diagonal gait signals. The experimental results show that the improved SMVSRC algorithm is feasible and effective, which provides a theoretical basis for the later study of impedance control based on position inner loop.

关键词： Hydraulic quadruped robot Position control Feedback linearization Sliding mode controller

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