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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Hu, Xiaoyu Liang, Yonghui Zhu, Shibo Li, Hui Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798331527471

As very important controllers in automated factories, the correctness and safety of Programmable Logic controller (PLC) and their programs determine the stability of the production process. Structured Text (ST) is one of the most widely used PLC programming languages. However, there are not enough formal semantics and different venders may have their own implementations. In this work, a visual executable semantic model ST-Petri for ST has been proposed. The model uses Petri nets to formally represent ST semantics while using graphs to visualise program control flow. To validate the correctness of the semantic model, we use programs from Github and mutations of existing source programs as a test set to execute and compare the results with the open source OpenPLC platform. Experimental results show that ST-Petri has significant advantages in terms of compilation pass rate and error indication as a semantic model and a ST program compiler. © 2024 IEEE.

关键词： Petri nets

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A Lightweight Object Detection Network for Industrial Robot Based YOLOv5

A Lightweight Object Detection Network for Industrial Robot ...

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2023 China Automation Congress, CAC 2023

作者： Zhong, Tao Gan, Yahui Han, Zao Gao, Huan Li, Ang School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Ministry of Education NanJing China Nanjing YingQi Intelligent Technology Co. Ltd. Intel Joint Research Institute on Intelligent Edge Computing NanJing China

ISBN: (纸本)9798350303759

With the rapid development of deep learning, it has been widely applied in fields such as computer vision, natural language processing, and robotics. Despite the superior performance of deep learning in object detection, most industrial vision robots still rely on traditional object detection methods due to computational constraints of robot controllers. In order to improve the performance of object detection for vision robots, a lightweight 3D object detection network based on You Only Look Once version 5 (YOLOv5) is proposed for satisfying industrial production. YOLOv5 work to efficiently object detection using deep convolutional networks. In terms of model deployment, we adopt a novel OpenVINO-based model deployment approach. The OpenVINO framework significantly enhances the inference speed of models by model optimization and compression. Our model achieves a 70% reduction in inference time compared to the baseline model on CPU. The effectiveness of the proposed method is demonstrated through experiments. © 2023 IEEE.

关键词： Object detection

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Bearing-Based Containment control of Multi-agent systems with Disturbances 7th

Bearing-Based Containment Control of Multi-agent Systems wi...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Duan, Mengmeng Yang, Ziwen Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789819733392

In this paper, a bearing-based containment control problem of multi-agent systems with disturbances is studied. The nonlinearity of the bearing results in the existence of nonlinear time-varying parameters in the closed-loop system. When the leaders are stationary, under the sufficient conditions on the disturbances and the connectivity of the directed sensing graph, the boundedness of the nonlinear time-varying parameters is rigorously proved, with which it is shown that the containment error converges to zero asymptotically. When the leaders are moving, by using the properties of the bearing and the projection, it is proved that the containment error is uniformly ultimately bounded and can be reduced by adjusting the edge weight. Numerical examples illustrate the effectiveness of the proposed controller. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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Energy-Efficient Safety-Aware Scheduling of Real-Time control systems with Burst Tasks 22

Energy-Efficient Safety-Aware Scheduling of Real-Time Contro...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Cheng, Ting Liang, Yonghui Xu, Qimin Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798331527471

In industrial sites, multiple real-time control systems often share computing resources. However, burst computing tasks may lead to the random dropping of control computing subtasks, resulting in control failures and potential hazards. To address this issue, we propose an energy-efficient safety-aware task scheduling scheme based on mixed-integer programming. When burst computing tasks are triggered, this scheduling scheme adaptively releases resources from low-criticality control computing subtasks and adjusts the processor speed based on the dynamic voltage and frequency scaling technology (DVFS), ensuring the timely completion of burst computing tasks and keeping the control system state deviation within a safe threshold. To achieve the scheduling scheme, we propose an efficient algorithm called EESASA. Simulation results show that EESASA can minimize the overall cost of control and processor energy while ensuring the safety of the control system and the timely completion of burst computing tasks. © 2024 IEEE.

关键词： Dynamic frequency scaling

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Ensuring Port Safety: Improved YOLOX and DeepSORT for Accurate Detection and Tracking of Trucks and Truck Drivers

Ensuring Port Safety: Improved YOLOX and DeepSORT for Accura...

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第42届中国控制会议

作者： Xueqin Zheng Jinya Su Jun Yang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University

An optimized YOLOX+DeepSORT method is proposed to accurately detect and track container trucks and truck drivers at the working position of automated rubber tire gantries in ports, while ensuring their safety during the whole working *** the proposed method, the improved YOLOX performs object detection and its output is used as the input for multi-object tracking using DeepSORT. The improved YOLOX model is developed through replacing standard convolution with depthwise separable convolution, adding the convolutional block attention module to enhance feature extraction, and using Focal Loss in the loss function to address sample imbalances. Comparative experiments were carried out on a self-built dataset, showing a4.32% increase in mAP and improved reasoning speed for improved YOLOX compared to the original YOLOX. Furthermore,the optimized method shows a 3.57% increase in Multi-Object Tracking Accuracy and a 1.73% increase in Multi-Object Tracking Precision compared to the benchmark YOLOX+DeepSORT.

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Adaptive Augmented Kalman Filter-Based control for Electronic Throttle systems with Disturbances and Noises

Adaptive Augmented Kalman Filter-Based Control for Electroni...

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第42届中国控制会议

作者： Wen Li Jinya Su Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University

In this study, we investigate the control problem of electronic throttle systems in the presence of practical challenges such as disturbances and measurement noises. To address these challenges, we propose an adaptive augmented Kalman filter(AAKF)based control approach that combines the strengths of extended state observer in disturbance estimation and adaptive Kalman filter in adaptive noise filtering. The outputs of AAKF are integrated into the Backstepping control design, resulting in a composite control that concurrently achieves fast disturbance rejection and noise suppression. We conduct a comparative simulation study against conventional methods without adaptive filtering to validate the effectiveness of the proposed AAKF-based control strategy, which exhibits superior position control accuracy and disturbance attenuation performance. We envision that our proposed control strategy will contribute to improving vehicle power, fuel economy, and emission performance.

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H8 Consensus control for High-Order Fully Actuated Multi-Agent systems with External Disturbances 3

H8 Consensus Control for High-Order Fully Actuated Multi-Age...

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3rd Conference on Fully Actuated system Theory and Applications, FASTA 2024

作者： Zhang, Qing-Hao Lu, Jun-Guo Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350373691

This paper investigates the problems of H8 consensus control for high-order fully actuated multi-agent systems (HOFAMASs) with external disturbances. By utilizing the characteristics of high-order fully actuated systems (HOFASs), the distributed control protocols are designed, eliminating all nonlinear characteristics of open loop systems while establishing new closed-loop dynamic characteristics. Then, the H8 consensus problems of HOFAMASs are addressed. The corresponding parameters to be designed in the distributed control protocols are given by using linear matrix inequalities (LMIs). A novel multi-spacecraft attitude model is proposed based on HOFASs. An illustrative example of the multi-spacecraft attitude model is given, in order to demonstrate the effectiveness and application of the results proposed in this paper. © 2024 IEEE.

关键词： Multi agent systems

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An Effective Nuclear Magnetic Resonance Gyroscope control Method based on ESOPI-PLL

An Effective Nuclear Magnetic Resonance Gyroscope Control Me...

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2024 China Automation Congress, CAC 2024

作者： Hu, Pengjie Niu, Dan Yang, Yanlan Liu, Yuansheng Sun, Xiaojie Fu, Qi School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing210096 China Beijing Institute of Aerospace Control Devices Beijing100048 China Quantum Engineering Research Center of CASC Beijing100048 China

ISBN: (纸本)9798350368604

In the design of nuclear magnetic resonance gyroscopes, the closed-loop control of the excitation magnetic field is crucial. Among various control methods, the phase-locked loop (PLL) is widely used to enhance the dynamic characteristics and stability of the gyroscope. This research employs the Second-Order Generalized Integrator (SOGI) as the phase detector, with the loop filter utilizing PI control. However, the system, being of type 2, cannot track acceleration signals without a static error. To address this limitation, we propose a loop filter design based on an Extended State Observer (ESO) integrated with PI control, effectively transforming the system into ESOPI-PLL, which is a type of Type3-PLL. Compared to the traditional SOGI-PLL system, simulation results demonstrate that our proposed scheme extends the gyroscope range to 2000 °/s, with a bandwidth of 30Hz, and achieves zero static error tracking. This advancement presents significant application potential for nuclear magnetic resonance gyroscopes. © 2024 IEEE.

关键词： Phase locked loops

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Process Monitoring Based on Temporal Feature Agglomeration and Enhancement

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 825-827页

作者： Xiao Liang Weiwu Yan Yusun Fu Huihe Shao Department of Automation the School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Department of Automation the School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240 Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

Dear Editor,This letter proposes a process-monitoring method based on temporal feature agglomeration and enhancement,in which a novel feature extractor called contrastive feature extractor(CFE)extracts the temporal and relational features among process *** the feature representations are enhanced by maximizing the separation among different classes while minimizing the scatter within each class.

关键词： among while letter

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Research on Evolutionary Guiding Strategy for Self-organized Aggregates of Massive Flexible Resources 4

Research on Evolutionary Guiding Strategy for Self-organized...

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4th International Conference on Advanced Electrical and Energy systems, AEES 2023

作者： Mao, Tingfeng Zhang, Kaifeng Yin, Changwei Pan, Xiaohui Ma, Nan Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing210096 China Nanjing Power Supply Company of State Grid Jiangsu Electric Power Co. Ltd. Nanjing210019 China

ISBN: (纸本)9798350342659

With the improvement of communication technology and the management of demand-side, more and more researches focus on the aggregation technology of flexible resources on the demand side. This paper proposes to build a self-organizing response framework in the scenario of massive resources, and resources can independently choose to join or exit the aggregates to participate in the regulation of grid active power balance. However, self-organizing aggregates cannot generate aggregation scenarios that accurately match the dynamic needs of the power grid during autonomous operation, so the grid needs to further guide the evolution of the aggregates. Firstly, the process and principle of realizing self-organization and evolution of resources in cyberspace are outlined. Then, the evolutionary driving sources of the self-organizing aggregates are analyzed to construct the evolutionary dynamics model framework from both the steady and the dynamic dimensions, and the data-driven modeling is carried out through the back propagation neural network to obtain the evolution law of resource self-organization. Finally, an iterative evolutionary guiding strategy based on price feedback is designed. The optimal guiding value of the market price cap is obtained through iteration under the expected aggregation scale target of the power grid, and also the dynamic evolution time of the aggregates is predicted to determine the timing of the release of the guiding strategy. The proposed strategy is constructed and tested on the NETLOGO resource self-organization simulation platform. The results show that the self-organizing aggregates can evolve to the expected state of power grid demand with high accuracy. © 2023 IEEE.

关键词： Aggregates

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