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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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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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YOLO-MSP: Effective Cigarette Detection YOLO Network for Surveillance Scenario 10

YOLO-MSP: Effective Cigarette Detection YOLO Network for Sur...

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10th International Conference on systems and Informatics, ICSAI 2024

作者： Zhang, Zhiwei Lu, Xiaobo School of Automation Southeast University Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China

ISBN: (纸本)9798331510138

This paper presents an new approach to enhance the detection of smoking behavior using object detection neural networks, focusing on the challenge of small object detection, namely cigarettes in video frames. We introduce a Multi-Spatial Pooling (MSP) bottleneck mechanism integrated into a YOLOv8 backbone, which significantly improves the network's ability to discern smaller objects without compromising real-time inference capabilities. This enhancement facilitates the extraction of relevant features across various scales and efficiently handles the computational overhead, thereby boosting the detection accuracy and operational efficiency. Our results demonstrate a substantial improvement in performance metrics over traditional and existing neural network approaches, making this method highly suitable for real-time applications in diverse scenarios. © 2024 IEEE.

关键词： Deep learning

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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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Novel traveling quantum anonymous voting scheme via GHZ states

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Chinese Physics B 2023年第2期32卷 97-102页

作者：赵文浩姜敏 School of Electronics&Information Engineering Soochow UniversitySuzhou 215006China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

Based on traveling ballot mode,we propose a secure quantum anonymous voting via Greenberger–Horne–Zeilinger(GHZ)*** this scheme,each legal voter performs unitary operation on corresponding position of particle sequence to encode his/her voting *** voters have multiple ballot items to choose rather than just binary options“yes”or“no”.After counting votes phase,any participant who is interested in voting results can obtain the voting *** improve the efficiency of the traveling quantum anonymous voting scheme,an optimization method based on grouping strategy is also *** with the most existing traveling quantum voting schemes,the proposed scheme is more practical because of its privacy,verifiability and ***,the security analysis shows that the proposed traveling quantum anonymous voting scheme can prevent various attacks and ensure high security.

关键词： quantum anonymous voting quantum secure communication GHZ states verifiability privacy

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Effect of planet pin position errors on the fatigue reliability of large aviation planetary systems

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Frontiers of Mechanical engineering 2024年第5期19卷 129-152页

作者： Ming LI Zhixuan YANG Liyang XIE School of Mechatronics Engineering Shenyang Aerospace UniversityShenyang 110136China Key Laboratory of Vibration and Control of Aero-Propulsion System(Ministry of Education) Northeastern UniversityShenyang 110819China

Planet pin position errors significantly affect the mechanical behavior of planetary transmissions at both the power-sharing level and the gear tooth meshing level,and its tolerance properties are one of the key design elements that determine the fatigue reliability of large aviation planetary *** dangerous stress response of planetary systems with error excitation is analyzed according to the hybrid finite element method,and the weakening mechanism of large-size carrier flexibility to this error excitation is also *** the simulation and analysis process,the Monte Carlo method was combined to take into account the randomness of planet pin position errors and the coupling mechanism among the error individuals,which provides effective load input information for the fatigue reliability evaluation model of planetary *** addition,a simulation test of gear teeth bending fatigue intensity was conducted using a power flow enclosed gear rotational tester,providing the corresponding intensity input information for the reliability ***,under the framework of stress-intensity interference theory,the computational logic of total formula is extended to establish a fatigue reliability evaluation model of planetary systems that can simultaneously consider the failure correlation and load bearing time-sequence properties of potential failure units,and the mathematical mapping of planet pin positional tolerance to planetary systems fatigue reliability was developed based on this ***,the upper limit of planet pin positional tolerance zone can be determined at the early design stage according to the specific reliability index requirements,thus maximizing the balance between reliability and economy.

关键词： planetary transmission manufacturing error system reliability tooth-root stress hybrid finite element gear test

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Hybrid Dynamic Variables-Dependent Event-Triggered Fuzzy Model Predictive control

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 723-733页

作者： Xiongbo Wan Chaoling Zhang Fan Wei Chuan-Ke Zhang Min Wu IEEE the School of Automation China University of Geosciencesthe Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systemsand the Engineering Research Center of Intelligent Technology for Geo-ExplorationMinistry of EducationWuhan 430074China

This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic *** addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI *** the designed controller,the involved fuzzy system is ensured to be asymptotically *** examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.

关键词： Dynamic event-triggered mechanism(DETM) hybrid dynamic variables model predictive control(MPC) robust positive invariant(RPI)set T-S fuzzy systems

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Multi-solution pipe-routing method for the aeroengine with route constraints based on multi-objective optimization

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Frontiers of Mechanical engineering 2024年第6期19卷 1-14页

作者： Feiyang FANG Jiapeng YU Jikuan XIONG Binjun GE Jiaqi ZHU Hui MA School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion System(Ministry of Education) Northeastern UniversityShenyang 110819China

The complexity of aeroengine external piping systems necessitates the implementation of automated design processes to reduce the duration of the design ***,existing routing algorithms often fail to meet designer requirements because of the limitations in providing a single solution and the inadequate consideration for route *** this study,we propose the multi-solution pipe-routing method for *** method utilizes a hybrid encoding approach by incorporating fixed-length encoding to represent route constraints and variable-length encoding and indicate free-exploration *** approach enables designers to specify route constraints and iterate over the appropriate number of control points by employing a modified genetic iteration mechanism for variable-length ***,we employ a pipe-shaped clustering niche method to enhance result *** practicability of the newly proposed method is confirmed through comparative experiments and simulations based on the“AeroPiping”system developed on Siemens *** solutions demonstrate significant differences in circumferential and axial orientations while still satisfying engineering constraints.

关键词： aeroengine multi-solution pipe-routing niche method hybrid swarm optimization multi-objective optimization particle swarm optimization

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Energy-based Swing-up control of the Soft Inverted Pendulum with Affine Curvature

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Nonlinear Dynamics 2025年 1-20页

作者： Wang, Yongjia Xin, Xin School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Institute of Intelligent Unmanned Systems Southeast University Nanjing210096 China

This paper studies the energy-based swing-up control of an underactuated soft inverted pendulum, a template model of soft robots with its base attached to the ground and its curvature described by an affine function. First, this paper presents a necessary and sufficient condition for the linear controllability of the robot around its upright equilibrium point (UEP). Next, without any constraint on its stiffness, this paper derives an energy-based controller to swing up the robot to its UEP, where the pendulum is in its upright position, and provides a necessary and sufficient condition such that the controller is free of singular points. Then, this paper characterizes the patterns of closed-loop equilibrium points with respect to the physical parameters of the pendulum and the gains of the derived controller, and analyzes the closed-loop motion corresponding to the special case in which desired convergence of the total mechanical energy is achieved. In such case, this paper reveals that the UEP is generically the unique closed-loop equilibrium point, and provides clarification regarding its stability. These results serve as guidelines of the design of soft robots and the tuning of control gains to achieve the desired performance of the swing-up control. Finally, this paper conducts numerical simulations to validate the theoretical results and to demonstrate the effectiveness and performance of the derived controller in swinging up the robot to its UEP from initial states far from the UEP, even under the challenging condition of very low stiffness. © The Author(s), under exclusive licence to Springer Nature B.V. 2025.

关键词： Affine transforms

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Vision-Based Quadrotor Rapid Landing control with An Uncooperative Platform: An Alternating Predictive Observer Approach

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Shao, Liren Guo, Zeyu Yang, Jun Li, Shihua School of Automation Key Laboratory of Measurement and Control of CSE Ministry of Education Southeast University China Department of Aeronautical and Automotive Engineering Loughborough University Loughborough U.K

The challenge of allowing a quadrotor to land quickly on an unknown moving platform using visual cues is addressed. A position-based visual servoing (PBVS) framework is designed that utilises the relative position data captured by the onboard camera to ensure a successful landing. The inherent limitation imposed by the camera's low sampling rate, which hampers the update and transfer rate of control commands, is mitigated by introducing an alternating predictive observer (APO). This observer inputs rapid actual or virtual position information into the control system. Actual relative positions are used for observer design when available from the camera, whereas virtual relative positions, predicted by the quadrotor model, are used when direct sampling is unattainable. This approach enables a process that alternates between prediction and observation, allowing for the design of a sampled-data controller that updates at a fast rate, commensurate with the APO. The robustness of the proposed PBVS-APO controller is exhibited, requiring no prior knowledge of the platform's dynamics. Validation through numerical simulations and experiments confirms the high control bandwidth and the rapid landing efficacy of the control strategy. IEEE

关键词： Cameras

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