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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Wang, Xin Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798350300178

The current time-optimal trajectory planning based on dynamics does not take into account the continuity of joint torque. Although the time obtained by the solution of the original time-optimal path parameterization (TOPP) algorithm is optimal, the joint torque obtained by the solution is not continuous, and the discontinuous joint torque will cause the manipulator to resonate, which will reduce the accuracy of the trajectory, making the obtained trajectory in practical engineering applications cannot be effectively applied. Therefore, this paper improves the problem of discontinuous torque on the basis of the TOPP algorithm, and proposes to use a quadratic polynomial curve to deal with the discontinuous part of the pseudo-acceleration in the phase plane composed of position and pseudo-acceleration, which not only ensures the integrity of the path, but also makes the joint torque continuous and smoothes the joint torque trajectory to some extent. This method is verified by the simulation experiment of the two-link manipulator. © 2023 IEEE.

关键词： Trajectories

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Autonomous Path Planning and Realization for Dual Robot Cooperation Based on ROS Framework 8

Autonomous Path Planning and Realization for Dual Robot Coop...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Shao, Jiawei Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education NanJing China

ISBN: (纸本)9798350300178

To realize dual-robot autonomous path planning and realization, the trajectory planning research of dual-robot is carried out using the open-source robot operating system ROS as the simulation platform. The motion planning-related file configuration is completed by using MoveIt! In trajectory planning, cubic spline interpolation is performed on the trajectory points generated by the RRT-Connect path planning algorithm to complete the planning of the dual-arm assembly task. The communication between ROS nodes and ROS is established in the controller, and the processed trajectory points are communicated with the controller through ROS-Industrial. The experimental results show that the trajectory of the dual robot movement process is smooth and continuous, the stability is strong, and the error is small, which can ensure the completion of basic assembly tasks. © 2023 IEEE.

关键词： Motion planning

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PMSM System Identification by Knowledge-informed Machine Learning 22

PMSM System Identification by Knowledge-informed Machine Lea...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Yu, Yue Tong, Jiageng Xia, Jinhui Su, Jinya Li, Shihua School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9798331527471

Because of its excellent efficiency, compact dimensions, and accurate control features, Permanent Magnet Synchronous Motor (PMSM) are experiencing widespread applications across various industries. By accurately characterizing the dynamic behavior of PMSM systems through system identification, engineers can ensure that PMSM motors reach their maximum potentials and meet the stringent requirements of modern industrial and technical systems while reducing energy consumption and maintenance costs. The traditional recursive least squares method is sensitive to noises, and unable to accurately identify parameters in complex environments. Pure data-driven models lack interpretability and require complex model architecture and computational costs. To this end, this work draws knowledge-informed neural ordinary differential equations (NODEs) for system identification, which embeds system prior knowledge into the NODEs for more efficient and accurate model learning. Comparative simulations show that this method not only obtains a higher-precision system model, but also significantly reduces the amount of training data and computation costs. © 2024 IEEE.

关键词： Cost reduction

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PWM Wave-Based Cooperative Vector control of Multiple Stepper Motors for Unmanned Surface Vehicles 7

PWM Wave-Based Cooperative Vector Control of Multiple Steppe...

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7th Asian Conference on Artificial Intelligence Technology, ACAIT 2023

作者： Xu, Ruizhe Xu, Yihang Wu, Yongbao Liu, Jian Xue, Lei Southeast University Key Laboratory of Measurement And Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9798350359145

This paper studies the control system of multiple stepper motors. Four stepper motors are selected to design the vector control system for the actual application scenario of the unmanned surface vehicles. This paper designs a PWM wave-based motor control algorithm taking into account the characteristics of stepper motors. We proposes a closed-loop control algorithm incorporating magnetic encoders. The system applies CAN bus to realize the communication among stepper motors, enabling distributed cooperative control four stepper motors of the unmanned surface vehicles. In this paper, the multiple stepper motor system is modeled and finally simulated and experimentally verified to achieve cooperative vector control of multiple stepper motors for surface vehicles. © 2023 IEEE.

关键词： Vectors

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The First Five Years of a Phase Theory for complex systems and Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1728-1743页

作者： Dan Wang Wei Chen Li Qiu Division of Decision and Control Systems KTH Royal Institute of TechnologyStockholm 10044Sweden Department of Mechanics and Engineering Science&the State Key Laboratory for Turbulence and Complex Systems Peking UniversityBeijing 100871China Hong Kong University of Science and Technology Hong KongChinaand also with the Southern University of Science and TechnologyShenzhen 518055China

In this paper,we review the development of a phase theory for systems and networks in its first five years,represented by a trilogy:Matrix phases and their properties;The MIMO LTI system phase response,its physical interpretations,the small phase theorem,and the sectored real lemma;The synchronization of a multi-agent network using phase *** the end,we also summarize a list of ongoing research on the phase theory and speculate what will happen in the next five years.

关键词： Consensus and synchronization matrix phases multi-agent systems phase theory sectored real lemma small phase theorem.

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Group Hybrid Coordination control of Multi-Agent systems With Time-Delays and Additive Noises

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 737-748页

作者： Chuanjian Li Xiaofeng Zong School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China IEEE

A new kind of group coordination control problemgroup hybrid coordination control is investigated in this *** group hybrid coordination control means that in a whole multi-agent system(MAS)that consists of two subgroups with communications between them,agents in the two subgroups achieve consensus and containment,*** MASs with both time-delays and additive noises,two group control protocols are proposed to solve this problem for the containment-oriented case and consensus-oriented case,*** developing a new analysis idea,some sufficient conditions and necessary conditions related to the communication intensity betw een the two subgroups are obtained for the following two types of group hybrid coordination behavior:1)Agents in one subgroup and in another subgroup achieve weak consensus and containment,respectively;2)Agents in one subgroup and in another subgroup achieve strong consensus and containment,*** is revealed that the decay of the communication impact betw een the two subgroups is necessary for the consensus-oriented ***,the validity of the group control results is verified by several simulation examples.

关键词： Additive noises consensus control containment control group hybrid coordination control multi-agent systems(MASs) time-delays

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The Metaverse of Mind:Perspectives on DeSci for DeEco and DeSoc

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2043-2046页

作者： Fei-Yue Wang IEEE The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing100190China Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao999078China

First of all, I would like to take this opportunity to express my sincere and deep thanks to our Editor-in-Chief, Professor Meng Chu Zhou, who took over my position after I was drafted for rejuvenating IEEE Transactions on Computational Social systems in 2017. During the past five years, Meng Chu’s professional leadership and dedication has transformed IEEE/CAA Journal of Automatica Sinica(JAS) from its infancy to a young and high-impact publication in the world that is full of vitality and actively engaged by a group of talented and charged associate Ei Cs and editors, which is clearly demonstrated in Meng Chu’s farewell editorial [1]. I am very glad that Professor Qing-Long Han, an influential and leading scientist of the world-class in AI, control, automation, and intelligent science and technology from Australia, as well as a staunch supporter and great leader of this journal from its beginning, will take over the Ei C torch from Meng Chu next year, since I am extremely confident that our journal will reach a new high for its service and quality under his new leadership.

关键词： journal leadership Australia

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Short-Term Wind Power Prediction Based on KNN-BiGRU 5

Short-Term Wind Power Prediction Based on KNN-BiGRU

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5th International Conference on Power engineering, ICPE 2024

作者： Fan, Xinyu Wu, Zhenlong Bian, Guibin Liu, Yanhong Zhengzhou University School of Electrical and Information Engineering Zhengzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798331531140

Wind power generations have received widespread concern recently, however, due to the continuity of time series, ordinary machine learning models cannot learn the dependencies of continuous time series data well. To better predict the time series and improve the prediction effect of wind power, a shortterm wind power prediction method based on K-Nearest Neighbor(KNN) and Bidirectional Gated Recurrent Unit(BiGRU) is proposed. Firstly, KNN is used to detect outliers in the wind speed-power sequence in the field collected data, and then the wind speed value of all abnormal data is modified to the mean value of wind speed. Then the modified data is input to the bidirectional gated recurrent unit for prediction. The bidirectional gated recurrent unit can efficiently learn the context information of the data and improve the prediction effect. The experimental results show that the proposed prediction method based on KNN-BiGRU obtains a good prediction effect on a single unit. Compared with other methods, it has the best prediction effect on multi-unit where the accuracy rate is 8 4. 3 0 4 %. © 2024 IEEE.

关键词： Wind forecasting

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Tailored energy absorption for a novel auxetic honeycomb structure under large deformation

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Science China(Physics,Mechanics & Astronomy) 2024年第5期67卷 63-80页

作者： Xiuhui Hou Bin Wang Zichen Deng School of Mechanics Civil Engineering and ArchitectureNorthwestern Polytechnical UniversityXi'an 710129China MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical UniversityXi'an 710072China School of Aeronautics Northwestern Polytechnical UniversityXi'an 710072China State Key Laboratory of Structural Analysis Optimization and CAE Software for Industrial EquipmentDalian University of TechnologyDalian 116024China

In comparison to conventional hexagonal honeycomb structures,auxetic metamaterials with re-entrant configurations have exhibited superior mechanical properties in terms of energy *** further enhance the energy absorption capacity of these materials,a novel re-entrant honeycomb configuration,named novel auxetic re-entrant honeycomb(NARH),is developed by incorporating“<>”-shaped cell walls into the conventional auxetic re-entrant honeycomb(ARH).Two analytical models for the plateau stress are formulated to consider the plastic deformation of NARH during quasi-static compression and the dynamic impact using the linear momentum ***-static compression tests on 3D printed NARH honeycomb specimens and finite element simulations are performed to verify the effectiveness of the theoretical *** exhibits higher plateau stresses compared with ARH during compression,which can be attributed to the presence of more plastic hinges formed in *** hinges,the embedded parts with inclined cell walls,not only improve stability by forming stable triangles during compression but also enhance the energy absorption capacity.A parametric study is conducted to analyze the effect of impact velocity,thickness,and incline angle of cell walls on *** simulations demonstrate higher sensitivity of the mechanical properties to impact velocity and cell wall *** ribs to the“<>”-shaped cell walls in NARH further reduces the initial peak force during dynamic crushing while maintaining high energy *** research provides valuable guidelines for the design of energy absorption metamaterials.

关键词： absorption walls shaped

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In-Plane Dynamic Crushing Behaviors of a Vertex-Based Hierarchical Auxetic Honeycomb

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Acta Mechanica Solida Sinica 2024年第1期37卷 53-62页

作者： Yichen Zan Xiuhui Hou Zichen Deng School of Mechanics Civil Engineering and ArchitectureNorthwestern Polytechnical UniversityXi'an 710072China MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical UniversityXi'an 710072China School of Aeronautics Northwestern Polytechnical UniversityXi'an 710072China State Key Laboratory of Structural Analysis Optimization and CAE Software for Industrial EquipmentDalian University of TechnologyDalian 116024China

Auxetic metamaterials,which exhibit the negative Poisson’s ratio(NPR)effect,have found wide applications in many engineering ***,their high porosity inevitably weakens their bearing capacity and impact *** improve the energy absorption efficiency of auxetic honeycombs,a novel vertex-based hierarchical star-shaped honeycomb(VSH)is designed by replacing each vertex in the classical star-shaped honeycomb(SSH)with a newly added self-similar *** analytical model is built to investigate the Young’s modulus of VSH,which shows good agreement with experimental results and numerical *** in-plane dynamic crushing behaviors of VSH at three different crushing velocities are investigated,and empirical formulas for the densification strain and plateau stress are *** results reveal more stable deformation modes for VSH,attributed to the addition of self-similar star-shaped ***,compared with SSH under the same relative densities,VSH exhibits better specific energy absorption and higher plateau ***,VSH is verified to be a better candidate for energy absorption while maintaining the auxetic *** study is expected to provide a new design strategy for auxetic honeycombs.

关键词： Vertex-based hierarchical star-shaped honeycomb Auxetic honeycomb Energy absorption Plateau stress Negative Poisson's ratio

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