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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Li, Xiaoxiao Xu, Zhihao Li, Shuai Jiang, Kanyang Zhou, Xuefeng Jiang, Li Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangdong Key Laboratory of Modern Control Technology Guangdong Guangzhou510070 China School of Engineering Swansea University Swansea United Kingdom Foshan Tri-Co Intelligent Robot Technology Co. Ltd. School of Intelligent Manufacturing Wuyi University Guangdong China

ISBN: (纸本)9781665436786

This paper focuses on the kinematic control of wheeled mobile manipulator with physical limits and external noise disturbances. Based on the quadratic program, a hybrid multi-objective control (HMOC) scheme incorporating path following and physical constraints' compliance is proposed, where the path following task is formulated as an equality constraint. With the velocity escape method, physical limits are incorporated and totally described as an inequality constraint. An integration-enhanced state feedback strategy considering derivation between the robot's real position and the desired position is designed with an aim at achieving anti-noise capability for HMOC scheme, which is shown to improve the tracking performance of the robot in following the desired trajectory under noise disturbances. Lagrangian-based controller is constructed as an online solver of the resultant HMOC scheme to output and update control variables iteratively. With numerical simulation, efficiency of the HMOC scheme and Lagrangian-based controller are validated. © 2021 IEEE.

关键词： Controllers

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Application of Sensors in Flexible Process Control of intelligent manufacturing

Application of Sensors in Flexible Process Control of Intell...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Jianxiong Qiu Zhaoshui He Cheng Yan Hailong Zhou Guangdong University of Technology Guangzhou China School of Automation Guangdong University of Technology Key Laboratory of Information Processing and System Integration of IoT Ministry of Education Guangzhou China Huizhou Metal Cutting Processing Unit Intelligent Manufacturing Engineering Technology Research Center Huizhou China Tianjin Bonuo Intelligent Robot Technology Co. Ltd. Tianjin China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

In order to carry out the intelligent production of typical chemical products for the application of order-based flexible production system, based on intelligent measurement and control technology, a new generation of information technology such as industrial Internet, intelligent management and control, data visualization, and informatization is integrated. In this paper, we study the establishment of an order-based flexible production process with definable configuration according to the intelligent processing mode of process automation. After selecting the sensor reasonably, Configuration of the industrial intelligent detection system, System signal processing and digitalization, Industrial information network construction and debugging, Programming operation and debugging of intelligent measurement and control systems, Production tasks such as visualization and remote monitoring of the production process. The study found,The sensor plays a vital role in the control system control of the DCS -based controller, Liquid level sensors and flow/weight sensors and other key sensors can monitor various parameters in the production process in real time, provide accurate data support for the control system to ensure the accuracy and stability of the ingredient system. And realize the flexible ingredients controlled by program control, and then make the feeding at the same time to improve production efficiency. This research provides a strong technical guarantee for actual production, and provides a feasible implementation method for our intelligent manufacturing process industrial control.

关键词： Temperature measurement Temperature sensors Accuracy Data visualization Process control Production Control systems

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Shifting Technique for Cogging Torque Suppression in Yokeless and Segmented Armature Machines

Shifting Technique for Cogging Torque Suppression in Yokeles...

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Power Systems and Electrical technology (PSET), IEEE International Conference on

作者： Feng Yi Chi Zhang Shuheng Qiu Jinhua Chen Wei Liu Xindong Shu Chinese Academy of Sciences College of Materials Science and Opto-Electronic Technology Ningbo Institute of Materials & Technology and Engineering Ningbo China Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Materials & Technology and Engineering Ningbo China

ISBN: (数字)9798350353204

ISBN: (纸本)9798350353211

This paper proposed the shifting technique for cogging torque suppression in yokeless and segmented armature (YASA) machines. This shifting technique includes the rotor, stator, and hybrid shifting. The bilateral cogging torques produced from the lower and upper air gaps can be compensated by regulating the rotor and stator shifting values. Subsequently, an analytical model is formulated based on the superstition principle, which yields the optimal shifting value for cogging torque minimization. The impact of the rotor, stator, and hybrid shifting techniques on cogging torque suppression is analyzed, respectively. In addition, comprehensive comparisons of electromagnetic performance are conducted, in terms of the air-gap flux density, back-EMF, cogging torque, and electromagnetic torque. The comparative results demonstrate a reduction in cogging torque by 15.8%, 17.1%, and 11.1% with the rotor, stator, and hybrid shifting, respectively, without compromising output performance.

关键词： Forging Analytical models Torque Air gaps Rotors Stators Minimization Permanent magnets Power systems Electromagnetics

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Flexible strain sensors based on silver nanowires and UV-curable acrylate elastomers for wrist movement monitoring

RSC Applied Interfaces

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RSC Applied Interfaces 2024年第4期1卷 684-688页

作者： Li, Shuhao Wu, Wenjin Chang, Yu Chen, Weiquan Liu, Yijie He, Zifeng Pu, Yan Babichuk, Ivan S. Ye, Terry Tao Gao, Zhaoli Yang, Jian School of Mechanical and Automation Engineering Jiangmen Key Laboratory of Intelligent Manufacturing of Polymer Materials Wuyi University Guangdong Jiangmen 529020 China V. Lashkaryov Institute of Semiconductor Physics NAS of Ukraine Kyiv 03680 Ukraine Department of Electrical and Electronic Engineering University Key Laboratory of Advanced Wireless Communications of Guangdong Province Southern University of Science and Technology Shenzhen 518055 China Biomedical Engineering Department The Chinese University of Hong Kong New Territories Shatin 999077 Hong Kong CUHK Shenzhen Research Institute Nanshan Shenzhen 518060 China

Flexible strain sensors have a wide range of electronic skin and health monitoring applications. In this paper, flexible strain sensors with unique direction designs were prepared using silver nanowires (AgNWs) and UV-curable acrylate elastomer films. They show an extensive strain range (tensile strain >50%), sensitivity up to 97 of gauge factor, and good reproducibility of up to 10% strain under cyclic tensile tests. The parallel and perpendicular placement of the sensors to strain direction allows us to detect wrist movement in a 360-degree direction with high accuracy. © 2024 RSC.

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Research on the Interface Microstructure and Mechanical Properties of Incoloy825/X80 Composite Plate Controlled by Pulse Current Treatment

SSRN

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SSRN 2025年

作者： Dong, De Zhang, Yu Tang, Qingyao Li, Huaying Li, Juan Zhao, Guanghui China Academy of Machinery Ningbo Academy of Intelligent Machine Tool Co. Ltd. Ningbo315700 China Shanxi Provincial Key Laboratory of Metallurgical Device Design Theory and Technology Taiyuan030024 China School of Intelligent Manufacturing Industry Shanxi University of Electronic Science and Technology Linfen041000 China

To improve the comprehensive performance of Incoloy825/X80 composite plates, pulse current electroplastic experiments were carried out on Incoloy825/X80 hot-rolled composite plates at different current densities (22A/mm2, 26A/mm2, 30A/mm2) and various times (2min, 5min, 10min, 15min). The composite plate cross-section morphology, microstructure, and mechanical properties under different conditions were analyzed using a scanning electron microscope (SEM), electron backscatter diffraction (EBSD), transmission electron microscope (TEM), and tensile testing machine. The results showed that with the increase of current density and processing time, the tensile strength of the composite plate first increased and then decreased. The recovery and recrystallization degree of the matrix. Eventually, after pulse current treatment at 26A/mm2 and 10min, the intermetallic compounds were formed. It led the Incoloy825/X80 pipeline steel-clad plates to have excellent comprehensive performance, with an elongation of 43% and a tensile strength of 733 MPa. The hardness of the composite interface increased gradually from the Incoloy825 layer to the X80 layer, and the nanoindentation showed that the indentation recovery rates were 10.08%, 7.84% and 6.31% for the Incoloy825 layer, the composite interface and the X80 layer, respectively. This finding has the potential to significantly enhance the effectiveness of post-rolling procedures applied to composite plates, leading to reduced manufacturing expenses. © 2025, The Authors. All rights reserved.

关键词： Tensile strength

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Anomaly Detection for Stochastic Networked Cyber-Physical Systems: A Statistical Approach

Anomaly Detection for Stochastic Networked Cyber-Physical Sy...

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International Conference on Control and Automation (ICCA)

作者： Yamin Yan Minyue Fu Maria M. Seron School of Electrical and Electronic Engineering Nanyang Technological University Singapore Shenzhen Key Laboratory of Control Theory and Intelligent Systems and Centre for Control Science and Technology School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China School of Engineering The University of Newcastle Callaghan NSW Australia

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

In this paper, we investigate the anomaly detection problem within stochastic networked cyber-physical systems. We introduce an anomaly detection scheme centered on estimator design employing a statistical approach. Specifically, we extend the statistical method recently developed for single systems to networked control scenarios. Additionally, we analyse the detection of several representative anomalies through this statistical approach. We then apply our anomaly detection strategy to a power network system exposed to such anomalies. Our findings demonstrate that the proposed design effectively detects these anomalies, which simpler methods relying solely on residual assessment with a threshold fail to identify.

关键词： Analytical models Automation Statistical analysis Stochastic processes Cyber-physical systems Control systems Anomaly detection

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Collaborative Fall Detection and Response using Wi-Fi Sensing and Mobile Companion robot

arXiv

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arXiv 2024年

作者： Chen, Yunwang Kang, Yaozhong Zhao, Ziqi Hong, Yue Meng, Lingxiao Meng, Max Q.-H. The Shenzhen Key Laboratory of Robotics Perception and Intelligence Southern University of Science and Technology Shenzhen518055 China The Department of Electrical and Electronic Engineering SUSTech Shenzhen China The School of System Design and Intelligent Manufacturing SUSTech Shenzhen China

This paper presents a collaborative fall detection and response system integrating Wi-Fi sensing with robotic assistance. The proposed system leverages channel state information (CSI) disruptions caused by movements to detect falls in non-line-of-sight (NLOS) scenarios, offering non-intrusive monitoring. Besides, a companion robot is utilized to provide assistance capabilities to navigate and respond to incidents autonomously, improving efficiency in providing assistance in various environments. The experimental results demonstrate the effectiveness of the proposed system in detecting falls and responding effectively. Copyright © 2024, The Authors. All rights reserved.

关键词： Fall detection

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Heterogeneous optomechanical crystal cavity coupled by a wavelength-scale mechanical waveguide

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Photonics Research 2023年第9期11卷 1509-1516页

作者： YANG LUO HONGYI HUANG LEI WAN WEIPING LIU ZHAOHUI LI Department of Electronic Engineering College of Information Science and TechnologyJinan UniversityGuangzhou 510632China International Institute for Innovative Design and Intelligent Manufacturing Tianjin UniversityShaoxing 312000China Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Sun Yat-sen UniversityGuangzhou 510275China Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) Zhuhai 519000China

Integrated optomechanical crystal(OMC)cavities provide a vital device prototype for highly efficient microwave to optical conversion in quantum information *** this work,we propose a novel heterogeneous OMC cavity consisting of a thin-film lithium niobate(TFLN)slab and chalcogenide(ChG)photonic crystal nanobeam coupled by a wavelength-scale mechanical *** optomechanical coupling rate of the heterogeneous OMC cavity is optimized up to 340 kHz at 1.1197 *** with phononic band and power decomposition,17.38%energy from the loaded RF power is converted into dominant fundamental horizontal shear mode(SH0)in the narrow LN mechanical *** on this fraction,as a result,3.51%power relative to the loaded RF energy is scattered into the fundamental longitudinal mode(L0)facing the TFLN-ChG heterogeneous *** acoustic breathing mode of the heterogeneous OMC is successfully excited under the driving of the propagating L0 mode in the heterogeneous waveguide,demonstrating the great potentials of the heterogeneous piezo-optomechanical transducer in high-performance photon–phonon interaction fields.

关键词： waveguide cavity crystal

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A robot Path Planning Approach Incorporating Dynamic Window and PPO Algorithms

SSRN

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SSRN 2024年

作者： Zhu, Qinxin Wang, Xu Zhu, Yonghong Miao, Liuyang School of Mechanical Engineering Suzhou University of Science and Technology Suzhou China Jiangsu Province Key Laboratory of Intelligent Building Energy Efficiency Suzhou China Jiangsu Intelligent Coexisting-Cooperative-Cognitive Robot Engineering Technology Center Suzhou China School of Electronic and Information Engineering Suzhou University of Science and Technology Suzhou China School of Mechanical and Electronic Engineering Jingdezhen Ceramic University Jingdezhen China

Aiming at the problem that the robot is limited by the state space when moving in complex environment, it cannot provide a reasonable speed model for practical planning. a new method combining Dynamic Window Approach (DWA) and Proximal Policy Optimization (PPO) is proposed. Firstly, the linear velocity and angular velocity of the robot are added to the dynamic window calculation by using the designed velocity sampling space. Secondly, the near-end search strategy in reinforcement learning is used to train fixed weight coefficients. In the simulation experiment, the traditional dynamic window algorithm is compared with the fusion algorithm proposed in this paper. Compared with the traditional dynamic window algorithm, the planning time of the fusion algorithm is reduced by 45.12%, the path is shortened by 23.04%, and the inflection point in the path is reduced by 47.37%. The experimental results show that the obstacle avoidance, smoothness and robustness of this method are much higher than those of the traditional methods in the complex and dynamic obstacle environment. At the same time, the fusion algorithm is also applicable to real robots and real environments. © 2024, The Authors. All rights reserved.

关键词： Motion planning

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A TDOA/AOA Hybrid Positioning Based on Improved Sparrow Search Algorithm for Mobile Position Estimation

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Wireless Communications and Mobile Computing 2023年第1期2023卷

作者： Hu, Zhongyi Lu, Dongwan Xu, Minghai Tong, Yinsheng Ma, Hanjie Yue, Yinggao School of Computer Science and Artificial Intelligence Wenzhou University Wenzhou325035 China Intelligent Information Systems Institute Wenzhou University Wenzhou325035 China Key Laboratory of Intelligent Image Processing and Analysis Wenzhou China School of Intelligent Manufacturing and Electronic Engineering Wenzhou University of Technology Wenzhou325035 China

To address the difficulty in calculating the nonlinear equation of time difference of arrival (TDOA) positioning, as well as the problem of measurement error in the hybrid time difference of arrival/angle of arrival (TDOA/AOA) positioning algorithm, an improved sparrow search algorithm is proposed to optimize positioning, and the optimization mechanism is retained on the basis of improving the performance of the original algorithm. The maximum likelihood estimation method is used to calculate the objective function, and then, the estimated function of the mobile station is used as the fitness function to generate the initial population of sparrows. Then, using particle swarm optimization, optimize the sparrow search algorithm and obtain the population's optimal solution in order to obtain the optimal position. The simulation results show that, when compared to the existing algorithm, increasing the number of base stations increases the average accuracy of the sparrow search algorithm (SSA) positioning method by 18.54% and 4.5%, respectively, and, when compared to the proposed particle swarm optimization (PSO) positioning method, by 13.79% and 11.6% as the radius increases. The SSA hybrid positioning algorithm performs better in terms of positioning accuracy, convergence speed, and robustness. © 2023 Zhongyi Hu et al.

关键词： Time difference of arrival

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