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Chinese Automation Congress (CAC)

作者： De Tang Ziying Zhang Xin Chen Zhe Xiao Mengxi Qin School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration School of Arts and Communication China University of Geosciences Wuhan China

ISBN: (纸本)9781665426480

It is important for the dulcimer robot to obtain the spatial coordinates of the dulcimer phonemes. However, the traditional manual positioning method is both inefficient and does not meet the intelligence requirements of modern robot. A visual positioning method based on improved Roberts operator is proposed in this paper on account of solving these problems, which can obtain the 3D coordinates of the dulcimer keys in a short time. First, an improved Roberts edge detection operator is designed, which fully detects the edge information of the target by transforming the scale. Further, this paper proposes a dulcimer keys positioning method by fusing RGB and depth image information. This method has a better positioning effect for dulcimer keys with complex background and small size. The experimental results show that the visual positioning method proposed in this paper can effectively identify and locate the dulcimer keys, and it has better robustness to the lighting environment.

关键词： Visualization Three-dimensional displays Robot kinematics Image edge detection measurement uncertainty Lighting Manuals

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Kinetic modelling and steady-state optimization of cooling crystallization by continuous oscillatory baffled crystallizer

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Chemical engineering Journal 2025年 519卷

作者： Mingyan Zhao Tao Liu Bo Song Ji Fan Xiongwei Ni Zoltan K. Nagy Rolf Findeisen Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian 116024 China Institute of Advanced Measurement & Control Technology Dalian University of Technology Dalian 116024 China School of Engineering and Physical Science Heriot-Watt University Edinburgh UK Davidson School of Chemical Engineering Purdue University West Lafayette IN 47907 United States Control and Cyber-physical Systems Laboratory Technical University of Darmstadt Darmstadt 64283 Germany

To address an open issue of sufficiently describing crystallization kinetics in a continuous oscillatory baffled crystallizer (COBC), a comprehensive kinetic modelling method is proposed in this paper, along with a steady-state optimization approach (SOA) for operating the COBC. Taking into account the axial dispersion of crystal quantity (ADCQ), velocity dispersion of crystal population (VDCP), and growth rate dispersion (GRD), a non-ideal plug flow micro-distribution model (NPF-MDM) is firstly established, which could be used to predict the crystal size distribution (CSD) and mean crystal size (MCS) in each zone of COBC. The model parameters are estimated by heterogeneous tracer experiments and continuous cooling crystallization (CCC) experiments in a real COBC named DN15. Based on the established NPF-MDM, an SOA is provided for operating the COBC. The tube length distribution across different temperature zones of COBC is optimized to determine the maximum attainable region of product MCS. By introducing an objective function related to the target crystal size and the CSD width of product crystals, a sensitivity analysis (SA) is presented to identify the critical operating conditions (COCs), including the seed recipe and net flow rate. Subsequently, the SA-based SOA is carried out. A growth optimizer algorithm is offered to solve the related nonconvex optimization problems. Experiments on the CCC of L-glutamic acid (LGA) via DN15 are performed to validate the proposed modelling and SOA.

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Optimizing hydrogen direct injection strategy in a passive pre-chamber turbulent jet ignition NH 3 /H 2 Miller-cycle engine: Analysis of flow, combustion and emission characteristics

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Energy 2025年 332卷

作者： Yanfei Qiang Yifan Zhai Jiankun Xiang Jinxin Yang Shuofeng Wang Changwei Ji College of Mechanical and Energy Engineering Beijing Lab of New Energy Vehicles and Key Lab of Regional Air Pollution Control Beijing University of Technology Beijing 100124 China Beijing Orient Institute of Measurement & TCest Beijing 100124 China National Key Laboratory of Multi-perch Vehicle Driving Systems Beijing 100086 China

Hydrogen and ammonia, as promising zero-carbon fuels, are gaining increasing attention in transportation applications. The passive pre-chamber (PC) can effectively enhance combustion efficiency. This study investigates the impact of hydrogen direct injection strategies on passive PC turbulent jet ignition (TJI) Miller-cycle NH 3 /H 2 engine performance. The flow field and mixture distribution are explored through numerical simulation, while the engine performance is evaluated through experiments. Experiments were conducted at 1600 rpm engine speed with 60 kPa intake manifold pressure under stoichiometric conditions. The research findings that as the start of injection (SOI) timing is delayed, the distribution of the mixture gradually transitions from uniform to stratified. Maximum BMEP and BTE were achieved at 60°CA BTDC SOI. The TJI technology can effectively mitigate the combustion instability induced by the late injection strategy. However, the late injection strategy will lead to an increase in N 2 O emissions from combustion and unburned NH 3 emissions. In addition, an overly early injection timing causes a decrease in the mixture quality, deteriorating the engine power. Adopting a secondary injection strategy counteracts performance degradation from early injection while maintaining mixture homogeneity. The findings suggest that appropriately delaying the SOI represents a viable approach to improve the working performance of the TJI NH 3 /H 2 engine.

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Turning control of a Tuna-Like BAUV for a Minimum Turning Radius

Turning Control of a Tuna-Like BAUV for a Minimum Turning Ra...

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第40届中国控制会议

作者： Sheng Du Junzhi Yu Zhengxing Wu Di Chen Ming Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Dept.Adv.Manuf.Robot. BIC-ESAT College of Engineering Peking University School of Information and Electrical Engineering Shandong Jianzhu University

In order to break the bottleneck of conventional autonomous underwater vehicles(AUVs), biologically-inspired AUVs(BAUVs) have drawn great attention. This paper explores the turning control issue of a tuna-like BAUV with the purpose of seeking a minimum turning radius. Specifically, for better understanding of the turning motion, a dynamical model is established and the force acting on the tail fin is taken as the main source. Because of the complex nonlinear relationship and physical restrictions, it is hard to optimize the turning radius directly. To tackle with this problem, the input signals of joints are generated by sine function so as to satisfy physical constraints, and simulations under different parameter combinations are ***, a fixed tail joint method and a half-cycle flapping method are chosen and compared in an indoor pool. Finally,the experimental results verify the effectiveness of proposed methods, and a minimum turning radius of the tuna-like BAUV is achieved as small as 0.37 body lengths.

关键词： Turning control biologically-inspired autonomous underwater vehicles tuna-like robot

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A Safety Joint with Passive Compliant and Manual Override Mechanisms for Medical Robotics

A Safety Joint with Passive Compliant and Manual Override Me...

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IEEE International Conference on Intelligence and Safety for Robotics (ISR)

作者： Jia Zheng Shuangyi Wang James Housden Zeng-Guang Hou Davinder Singh Kawal Rhode School of General Engineering Beihang University Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Biomedical Engineering and Imaging Sciences King's College London London UK Xtronics Ltd. Gravesend UK

Force and collision control is a primary concern to guarantee the safe use of medical robots as such systems normally need to interact with clinicians and patients, while at the same time cooperate with other devices. Among different strategies, passive features working with intrinsically safety components are treated as one of the most effective approaches and therefore deserve in-depth study. In this study, we focus on the design of a novel back-drivable safety joint that incorporates a torque limiter with passive compliance and a manual override mechanism to disconnect the robotic joint from its drive train. The design and working principle of the proposed joint are explained, followed by the mathematical analysis of its performance and the impacts of parameters. An example of the design was manufactured and tested experimentally to validate the working concepts. It is concluded that the proposed multi-functional safety joint provides more versatility and customization to the design of bespoke medical robots and would limit the maximum torque that can be exserted onto the patient, allow the clinician to push the joint back, and enable the operator to switch back to manual override.

关键词： Torque Medical robotics Mathematical analysis Manuals Switches Drives Back

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A Novel Two-Stage Framework for 2D/3D Registration in Neurological Interventions

A Novel Two-Stage Framework for 2D/3D Registration in Neurol...

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IEEE International Conference on Robotics and Biomimetics

作者： De-Xing Huang Xiao-Hu Zhou Xiao-Liang Xie Shi-Qi Liu Zhen-Qiu Feng Jian-Long Hao Zeng-Guang Hou Ning Ma Long Yan The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China The School of Information Shanxi University of Finance and Economics Taiyuan China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing China The Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology Taipa Macau The Department of Interventional Neuroradiology Beijing Tiantan Hospital Capital Medical University Beijing China

ISBN: (纸本)9781665481106

2D/3D medical image registration of pre-operative volumes and intra-operative images plays an important role in neurological interventions. However, vast space of transformation parameters makes this task incredibly challenging. In this paper, a novel two-stage framework for 2D/3D registration is proposed. It consists of two basic modules: CNN regression for preliminarily estimating transformation parameters, and centroid alignment for further reducing estimation errors to get refined images. Experimental results on two patients show the proposed framework can achieve superior performances to baseline methods with an inference rate of 22 FPS, satisfying real-time requirements (6~12 FPS) in clinical practice. Extensive ablation studies prove the effectiveness of centroid alignment in significantly improving registration accuracies. These promising results indicate the framework has the potential to be integrated into navigation frameworks for neurological interventions, facilitating treatments of physicians.

关键词： Image registration Estimation error Three-dimensional displays Navigation Biomimetics Medical services Real-time systems

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Stability analysis of delayed neural networks via novel delay-dependent LKF and integral inequality

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ISA Transactions 2025年

作者： Fei Long Chuan-Ke Zhang Yanjun Shen Qicheng Mei Qing Chen College of Electrical Engineering and New Energy China Three Gorges University Yichang 443002 China Hubei Provincial Key Laboratory for Operation and Control of Cascaded Hydropower Station Yichang 443002 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan 430074 China School of Automation China University of Geosciences Wuhan 430074 China

The current paper is concerned with the stability analysis of delayed neural networks. In the case that the delay derivative is restricted with an upper bound only, the augmented LKFs often contain high-degree terms of the time-varying delay, resulting in the non-convex derivatives of LKFs, which can be solved by introducing extra delay-multiplied state variables to transform the non-convex delay-dependent terms into convex ones. To make fuller use of the delay-multiplied state variables and the delay-derivative-dependent information, these delay-multiplied state variables are introduced into an LKF and the integral inequality through the proper augmentation in this paper. Meanwhile, some free-matrix-based zero equations are introduced into this delay-dependent inequality to provide more freedom. By applying the augmented LKF and the novel integral inequality, a delay-dependent stability criterion of delayed neural networks with less conservatism is established, whose advantages are verified by three examples.

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Cyber-Physical -Social systems for Smart Cities: An Overview

Cyber-Physical -Social Systems for Smart Cities: An Overview

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Noreen Anwar Gang Xiong Wanze Lu Peijun Ye Hongxia Zhao Qinglai Wei The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China The Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation and with The Cloud Computing Center Chinese Academy of Sciences China School of Artificial Intelligence and Automation Beijing University of Technology Beijing China

Cyber-physical social systems (CPSS) include cyberspace, physical space, and social space. Since the introduction of CPSS, human relationships with machinery and the physical world have altered as a new paradigm. Recent estimates indicate that approximately 60 percent of the world's population will live in cities by 2030. Large, dense cities can be highly productive, innovative, and very green per capita, hence ideal for our future. However, the huge influx of new people poses enormous challenges to their administrations. Smart cities are becoming a reality, therefore, to achieve higher efficiency, optimum use of resources, management and to strengthen several features of modern towns, several elements of modern cities are automated and integrated into Information and Communications Technology (ICT). Cities and infrastructure are growing all over the world, in providing end-users with increased performance, comfort, visibility and convenience, the Smart Cities concept is critical. This paper will discuss smart cities and the CPSS concept intensively with some of its key technologies, challenges, and further development by using CPSS.

关键词： Smart cities Digital twin Sociology Information and communication technology Security Resource management Statistics

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Stability Analysis and Bifurcation control For a Fractional Order SIR Epidemic Model with Delay

Stability Analysis and Bifurcation Control For a Fractional ...

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第三十九届中国控制会议

作者： Feng Liu Shuxian Huang Shiqi Zheng Hua O Wang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Mechanical Engineering Boston University

In this paper, a delayed fractional SIR epidemic model with incommensurate orders is considered. Firstly, the stability is investigated and the conditions of the existence for Hopf bifurcation are attained by analyzing its characteristic equation. When the delay exceeds the critical value, a Hopf bifurcation occurs, the system loses its stability. An fractional PD control method is proposed to control the bifurcation behaviors of the delayed fractional SIR epidemic model. Finally, some numerical simulations are given to illustrate the validity of theoretical analysis.

关键词： Fractional order stability bifurcation PD control SIR epidemic model

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Impulsive Synchronization of Fractional-order Delayed Gene Regulatory Network Based on Comparative System Method

Impulsive Synchronization of Fractional-order Delayed Gene R...

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第三十九届中国控制会议

作者： Feng Liu Shaoqiang Ye Shiqi Zheng Hua O Wang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Mechanical Engineering Boston University

In this paper, we study the fractional-order delayed gene regulatory network based on the comparative system ***, we introduced the concept of fractional differential. We use Lyapunov direct method to prove the impulsive synchronization. For the oscillation behavior of a fractional-order system with time delay, we apply the pulse to control its synchronization. Finally, we verify the correctness of our theory through experiment.

关键词： Comparison system impulsive synchronization time delay fractional order gene regulatory network

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