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42nd Chinese control Conference, CCC 2023

作者： Huang, Zhihui Tang, Yifeng Tang, Chuancong Xu, Yifan Luo, Chuanshang Liu, Bin Zhang, Hai-Tao School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9789887581543

Deep perception of the unmanned surface vehicle's surroundings is an inaccessible part of its fully autonomous navigation mission. The existing methods, whether based on traditional stereo matching or deep learning, do not fully consider the characteristics of water environment, resulting in severe error depths in weak textures (sky, calm lake) and water reflections regions, that increases the risk of running aground or collision. What is worse that there is not a public dataset for depth estimation in the water environment. Therefore, this work proposes a self-supervised model for depth estimation named Water Depth Perception Network (WDNet) to address these problems. The decoder of this network has a wider receptive field and can effectively handle the depth error in the weak texture region. Besides, the WDNet is trained with a novel and effective loss function which assist the network to reduce errors in sky and water region, and some indexes are proposed to evaluate the model's performances in sky and water region. Finally, our proposed WDNet achieves a 0.1056 absolute relative error in ranging, the average number of error pixels in the sky area drops from 15803.87 to 580.91, which only accounted for 0.29% of the image, and the error in water region drops from 51.04 to 6.75, all of them are superior to the performance of baseline model. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Errors

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An Enhanced Model-Free Predictive Current control for PMSMs Incorporating Discrete Space Vector Modulation 19th

An Enhanced Model-Free Predictive Current Control for PMSMs ...

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19th Annual Conference of China Electrotechnical Society, ACCES 2024

作者： Yang, Yuhui Qin, Qing Qin, Yingmei Che, Yanqiu School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin300222 China Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin University of Technology and Education Tianjin300222 China

ISBN: (纸本)9789819613823

Model-free predictive current control (MFPCC) has excellent parameter robustness owing to unused parameters of the controller. However, the method has the current gradient update stagnation problem due to the limited availability of only 7 voltage vectors, which results in a high current/torque ripple. To address this shortcoming, an enhanced MFPCC for permanent magnet synchronous machines (PMSMs) incorporating discrete space vector modulation (DSVM) is proposed in this paper. First, the basic voltage vectors are expanded from 7 to 37 by DSVM. Then, a novel current gradient updating method is developed to effectively reduce the current/torque ripple caused by current gradient updating stagnation. Finally, a candidate vector preselection method is designed to simplify the calculation process of current gradient updating. The effectiveness of the proposed method is verified on a 2 kW PMSM driving experimental platform. The experimental results show that the THD is reduced from 25.5% to 7.8% while the dq-axes current ripple is respectively reduced from 5.1 A and 5.8 A to 2.2A and 1.5 A. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Permanent magnets

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Research on Adaptive Fault-Tolerant control for Manned Lunar Rover 43

Research on Adaptive Fault-Tolerant Control for Manned Lunar...

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43rd Chinese control Conference, CCC 2024

作者： Qian, Zhouyuan Cao, Tao Hu, Tao Cheng, Hao Zheng, Bo Shanghai Aerospace Control Technology Institute Shanghai201109 China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai201109 China Shanghai Manned Lunar Exploration Integration Innovation Center Shanghai201109 China

ISBN: (纸本)9789887581581

Since the lunar terrain conditions are very hummocky, there is a risk of simultaneous failure of multiple drive motors and steering motors for manned lunar rover throughout the maneuver. An adaptive fault-tolerant control method based on direct yaw-moment control is proposed to ensure that the rover can still drive stably and accomplish the detection mission despite multi-motor failures. The method adopts a hierarchical control architecture, where the upper layer solves the vehicle's yaw moment demand based on the astronaut's driving intention and vehicle condition, and the lower layer carries out torque allocation by introducing failure factor to represent the motor failure situation. Meanwhile, the objective function is designed by combining longitudinal drive control, yaw moment control and tire load rate control, and is adjusted by slip rate to restrain tire slip. Through the joint simulation experiments, the effectiveness of the proposed method is verified. The results show that the driving stability and vehicle maneuverability are guaranteed even in the event of multi-motor failures. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Maneuverability

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Improved Kalman Filtering Algorithm Based Multi-Sensor Integration for Silicon Single Crystal Growth Process 7

Improved Kalman Filtering Algorithm Based Multi-Sensor Integ...

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7th International Symposium on Autonomous Systems, ISAS 2024

作者： Xie, Ruidong Zhu, Pei Ma, Wenle Zhang, Zheqi Yi, Yingmin Guo, Zheng Xi'an University of Technology Key Lab of Manufacturing Equipment of Shaanxi Province Xi'an710048 China Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China

ISBN: (纸本)9798350363173

The study primarily delves into addressing the data filtering challenge inherent in the silicon single crystal growth process by proposing a multi-sensor integrated detection approach. This approach is designed to alleviate the diminished filtering accuracy resulting from the reliance on a single sensor and the conventional Kalman filtering algorithm. By utilizing an enhanced adaptive Kalman filtering algorithm and the maximum likelihood estimation criterion to incorporate the innovation variance directly into the gain calculation of the Kalman filter, dynamic adjustment of the estimation model is achieved while interference from system noise and measurement noise is reduced. Finally, simulation-based comparative experiments between the adaptive and conventional Kalman filtering algorithms are performed. The results show that the performance of the adaptive Kalman filtering algorithm is superior to that of the conventional Kalman filtering algorithm in terms of accuracy and stability when detecting signals from multiple sensors. The research findings furnish dependable data support for refining the decision-making process in crystal growth technology, augmenting the precision and scientific integrity of crystal safety production scheduling and decision-making endeavors. © 2024 IEEE.

关键词： Kalman filters

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Indoor object segmentation based on YOLACT++

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International Journal of Wireless and Mobile Computing 2023年第2期24卷 127-133页

作者： Sun, Ying Zhao, Zichen Tao, Bo Liu, Xin Yun, Juntong Liu, Ying Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of science and Technology Hubei Wuhan China Precision Manufacturing Research Institute Wuhan University of Science and Technology Hubei Wuhan China

intelligent Manufacturing originates from the research of artificial intelligence, which can not only reduce operating costs, but also improve product quality, and has become the way to cultivate new advantages in forging international competition in manufacturing. With the transformation of traditional manufacturing to intelligent manufacturing, the course of intelligent manufacturing should also be different from the traditional teaching mode, but through the survey, it has been found that the course of intelligent manufacturing still has a single teaching mode, insufficient innovative guidance for students and insufficient combination of theory and practice. In order to solve the issues mentioned above, the Project-Analysis-Evaluation (PAE) structure is proposed in this paper, and it is combined with constructivist theory and analysed through the study of indoor object instance segmentation detection. The YOLACT++ algorithm is pre-trained on SUNRGBD dataset and applied to indoor environment detection in this paper. © 2023 Inderscience Enterprises Ltd.

关键词： Operating costs

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PCEB-YOLOV8: An Improved PCB Defect Detection Method Based on YOLOV8 8

PCEB-YOLOV8: An Improved PCB Defect Detection Method Based o...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Li, Meihui Song, Chunhe Yu, Xia Chu, Mengmeng Li, Rui Shenyang University of Technology State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China Shenyang University of Technology Shenyang China

ISBN: (纸本)9798331506230

Printed circuit board defect recognition is of great significance to ensuring the quality of electronic products. This paper proposes an improved PCB defect detection method based on YOLOV8. Firstly, the data augmentation method PredMix (prediction mix) is adopted to simulate scenarios such as overlapping and occlusion in images, where the displays are incomplete or blurred, thereby enhancing the robustness of the network model. Secondly, BiFPN is used to replace PAN-FPN in the fusion layer to strengthen the feature fusion capability. Finally, the CESE_C2f module is employed in the Backbone part, leveraging a lightweight attention mechanism to improve the detection effect while reducing the number of parameters. Experimental results show that compared with the original YOLOV8, the MAP value of this improved algorithm reaches 92.6%, with a 2.3% increase in accuracy. © 2024 IEEE.

关键词： Deep learning

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Research on Automatic Identification Algorithm of Corn Diseases and Pests Based on Residual Network 3

Research on Automatic Identification Algorithm of Corn Disea...

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3rd International Conference on Electronic Informationtechnology and Smart Agriculture, ICEITSA 2023

作者： Zhou, Lingfang Xiang, Weiwei Wen, Shasha Shi, Caiyun Chen, Leiping Zhang, Shunru School of Physics Electronics and Intelligent Manufacturing Huaihua University Hunan China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture in Hunan Province Hunan China Huaihua Key Laboratory of Agricultural Ecology Prevention and Control Huaihua University Hunan China

ISBN: (纸本)9798400716775

This study focuses on the development needs of smart ecological agriculture and proposes an improved network model based on ResNet50. The research aims to improve the accuracy and efficiency of automatic identification of corn pests and diseases. Firstly, the collected leaf data of corn pests and diseases were enhanced. The purpose of doing so is to expand the amount of data and achieve a balance between various types of data. Secondly, the size of the network convolution kernel was adjusted. And introduce SE attention mechanism to the backend of the network to optimize the effect of network detail feature extraction. Finally, through experimental verification, the results show that the network model has high accuracy and robustness in identifying corn pests and diseases, and can effectively improve the efficiency of corn pest control. © 2023 ACM.

关键词： Efficiency

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Cross-border Data Security Risk Analysis and Development Suggestions of the Protection Technologies for intelligent Connected Vehicles 5

Cross-border Data Security Risk Analysis and Development Sug...

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5th International Conference on Information Science, Parallel and Distributed Systems, ISPDS 2024

作者： Huang, Xiaolong Xin, Chongshi Ji, Haojie Lu, Wangdong He, Peng Chen, Yupeng State Key Laboratory of Intelligent Vehicle Safety Technology Chongqing China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science & Technology University Beijing China China Automotive Engineering Research Institute Co. Ltd Chongqing China

ISBN: (纸本)9798350352719

In recent years, intelligent connected vehicles (ICVs) have developed quickly and have been progressively introduced into the international market. Nevertheless, the operation of ICVs produces a large amount of important data coming from driving vehicle and necessitating cross-border transit. As the imperfections of the regulatory framework and the infancy of protective solutions for the ICV data, these data are vulnerable to the threats like eavesdropping and tampering during cross-border transmission. The private information, especially the data barred from leaving the country, will be probably leaked to other nations, endangering individual privacy and national security. Thus, the purpose of this manuscript is to analyze the security risks of cross-border data in ICVs and provide risk mitigation strategies. The legal requirements and pertinent cross-border materials need to be sorted out firstly to establish a thorough technical process for cross-border compliance of ICV data. Additionally, the ICV data risk analyses will be performed at every stage of the cross-border process. Furthermore, some efficient risk mitigation methods need to be offered to improve the security and dependability of the across-border data of ICVs. To address the problems associated with cross-border data pertaining to ICVs, a classification method for the cross-border data of ICVs will be presented according to current rules and data categorization schemes. Finally, this manuscript provides theoretical underpinnings and useful references for building a cross-border data security protection system, as well as a thorough analysis of the development patterns of cutting-edge technologies for cross-border data. © 2024 IEEE.

关键词： cross-border data data security protection technology risk analysis

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A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

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Journal of Systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

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Simulation and optimization of inchworm-like pneumatic crawling actuator based on ABAQUS software 7

Simulation and optimization of inchworm-like pneumatic crawl...

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7th International Conference on Robotics, control and Automation Engineering, RCAE 2024

作者： Mu, Junqi Zong, Xiaofeng Wei, Yiyang Hou, Xuping China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation Wuhan430074 China

ISBN: (纸本)9798350355642

The actuator, serving as the fundamental power source of a soft robot, functions as its central component. The field of soft robotics has garnered increasing research attention since its inception. Pneumatic crawling robots, being an essential branch within the realm of soft robotics, possess notable characteristics such as rapid response time, cost-effectiveness, and human-computer interaction safety. Consequently, they hold significant research value. Among various types of crawling robots that have garnered considerable interest from researchers is the inchworm crawling robot. This paper aims to address the design and development aspects pertaining to inchworm actuators. By utilizing ABAQUS simulation software and taking displacement as the reference parameter, an analysis was conducted to investigate the impact of various geometric parameters on actuator displacement. Additionally, optimization of these geometric parameters was performed. The values of aspect ratio, length-to-width ratio, vertex angle and gap depth suitable for inchworm-like actuator are obtained. These findings are presented for the first time in the field of crawling soft robots and provide a theoretical basis for the development of pneumatic inchworm-like actuators. © 2024 IEEE.

关键词： Aspect ratio

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