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Design of a High Speed 360-degree Panoramic Video Acquisition system Based on FPGA and USB 3.0

IEEE Sensors Journal 2023年 1-1页

作者： Lyu, Congyi Peng, Jianqing Zhou, Weiguo Yang, Shanshan Liu, Yunhui Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology Beijing China

This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) features. First, the system transfers the images captured by five CMOS sensors to the designed FPGA board through the FMC adapter plate. Then, the system employs the FPGA-based parallel computing to extract the SIFT features and detect the best matching region and points for image registration. Finally, in order to obtain the panoramic image with smooth changes at the junctions, images of the adjacent images are fused. Using the designed FPGA platform makes it possible to extract the SIFT and stitch the images in real-time, which is not realized in most panoramic imaging systems. The panoramic system, developed using the Xilinx Zynq®-7000 all programmable SOC, can capture video of 5*640*480 images at the speed of 60 fps. To enable high-speed image transfer from the imaging system to the host computer, the USB3.0 interface with the transmission speed of 359MB/s has been developed. The real-time efficiency of the parallel system will be demonstrated by the simulations and experiments. IEEE

关键词： Real time systems

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Emergency Direct Current Power Support for High-Percentage Renewable Energy systems Based on Deep Reinforcement Learning

SSRN

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SSRN 2024年

作者： Sun, Zhenglong Zhuang, Junzhi Chao, Pan Chao, Jiang Cai, Guowei The Department of Electrical Engineering Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education Northeast Electric Power University Jilin China

As a low-cost emergency frequency control method, emergency direct current power support (EPS) is crucial for frequency stabilization of alternating current (AC)–direct current (DC) hybrid systems. In the context of highly integrated renewable energy sources, the uncertainty of AC-DC hybrid systems increases and the inertia decreases during the transition process, and the existing EPS methods face prominent adaptation and mismatch problems in meeting the frequency restoration requirements. To fill this gap, this study proposes a deep reinforcement learning (DRL)-based EPS frequency control method. The EPS decision is transformed into a Markov decision process (MDP) and solved using the proximal policy optimization (PPO) algorithm. This paper designs a DRL reward function for EPS while taking into account the EPS line overload and phase change failure problems. In order to solve the contradiction between limited observation and global safety, this paper designs a data characterization method based on mechanism fusion. Meanwhile, this paper develops an open-source power system simulation platform with DRL control function by using Python and the power system simulation software DIgSILENT/PowerFactory to realize the EPS frequency stabilization decision based on DRL control. Through a case study of the IEEE 39-bus system and a real power system in Northwest China, it is verified that the proposed DRL-based EPS agent is able to quickly, accurately, and securely restore the frequency and reduce the frequency oscillations while considering the security constraints. © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Evolutionary Dynamics of Cooperation on Coupled Networks

Evolutionary Dynamics of Cooperation on Coupled Networks

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control Theory and Applications (ICoCTA), International Conference on

作者： Zhenyu Shi Qi Su Department of Automation Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331506155

ISBN: (纸本)9798331506162

Network reciprocity has been recognized as a crucial mechanism for promoting the evolution of cooperation. However, prior studies on network reciprocity have predominantly focused on isolated networks, neglecting the interconnected nature of real-world systems. In reality, many large-scale systems are closely coupled, where the interaction patterns between systems differ significantly from those within individual networks. Motivated by this observation, we construct a strategy evolution model on coupled networks to explore the effects of such interconnections. Our findings reveal that coupled networks foster cooperation more effectively than isolated networks. This advantage persists across various network structures, suggesting the universality of this phenomenon. Interestingly, we discover that the strength of the coupling plays a pivotal role: weaker coupling between networks is more conducive to the emergence and stability of cooperation compared to stronger coupling. These results high-light the importance of considering cross-system interactions in understanding and designing mechanisms to enhance cooperative behavior.

关键词： Couplings Stability analysis Large-scale systems control theory Game theory

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On the Equilibrium of a Class of Leader-Follower Games with Decision-Dependent Chance Constraints

arXiv

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arXiv 2024年

作者： Wang, Jingxiang Wang, Zhaojian Yang, Bo Liu, Feng Guan, Xinping The Key Laboratory of System Control and Information Processing Ministry of Education of China The Department of Automation Shanghai Jiao Tong University Shanghai China The State Key Laboratory of Power System The Department of Electrical Engineering Tsinghua University Beijing100084 China

In this paper, we study the existence of equilibrium in a single-leader-multiple-follower game with decision-dependent chance constraints (DDCCs), where decision-dependent uncertainties (DDUs) exist in the constraints of followers. DDUs refer to the uncertainties impacted by the leader’s strategy, while the leader cannot capture their exact probability distributions. To address such problems, we first use decision-dependent ambiguity sets under moment information and Cantelli’s inequality to transform DDCCs into second-order cone constraints. This simplifies the game model by eliminating the probability distributions. We further prove that there exists at least one equilibrium point for this game by applying Kakutani’s fixed-point theorem. Finally, a numerical example is provided to show the impact of DDUs on the equilibrium of such game models. Copyright © 2024, The Authors. All rights reserved.

关键词： Game theory

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Load Characterization and Fatigue Reliability Prediction of Large Aerospace Planetary Gear

Load Characterization and Fatigue Reliability Prediction of ...

引用

Data-driven Optimization of complex systems (DOCS), International Conference on

作者： Ming Li Wanyu Jiang Bo Fan Liyang Xie School of Mechatronics Engineering Shenyang Aerospace University Shenyang China Key Laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education Northeastern University Shenyang China

ISBN: (数字)9798350377842

ISBN: (纸本)9798350377859

The reliability level of large aviation planetary mechanisms, serving as the cornerstone and essential component for various heavy aircraft transmission systems, significantly impacts aircraft affordability and service safety. Before predicting the fatigue performance of the gear transmission system, it is necessary to develop a comprehensive simulation model of the gear system and calculate the stress values for failure modes such as tooth contact fatigue and tooth root bending fatigue. In addition, By using hierarchical finite element technology, the coupling effect of the global elastic behavior of the system on the fatigue load history of the gear teeth is analyzed in depth, and accurate calculations are carried out based on this to fit the probability fatigue strength of the gear teeth. This provides both economical and efficient load and strength input variables for the construction of the system reliability prediction model, and innovatively establishes a new series system reliability model. Finally, the computational findings from the new model is contrasted with the traditional one to show the superiority of the proposed model.

关键词： Gears Computational modeling Interference Predictive models Fatigue Finite element analysis Software reliability Reliability Stress Load modeling

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Second harmonic generation of laser beams in transverse mode locking states

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Advanced Photonics 2022年第2期4卷 68-77页

作者： Zilong Zhang Yuan Gao Xiangjia Li Xin Wang Suyi Zhao Qiang Liu Changming Zhao Beijing Institute of Technology School of Optics and PhotonicsBeijingChina Ministry of Education Key Laboratory of Photoelectronic Imaging Technology and SystemBeijingChina Ministry of Industry and Information Technology Key Laboratory of Photonics Information TechnologyBeijingChina Arizona State University School for Engineering of MatterTransport and EnergyDepartment of Aerospace and Mechanical EngineeringTempeArizonaUnited States Ministry of Education Key Laboratory of Photonic Control Technology(Tsinghua University)BeijingChina Tsinghua University Department of Precision InstrumentState Key Laboratory of Precision Measurement Technology and InstrumentsBeijingChina

Nonlinear frequency conversion of structured beams has been of great interest *** present an intracavity second harmonic generation(SHG)of laser beams in transverse mode locking(TML)states with a specially designed sandwich such as a microchip *** intracavity nonlinear frequency conversion process of a laser beam in a TML state to its second harmonic is theoretically and experimentally investigated,considering different relative phase and weight parameters between the basic modes in the TML *** between the far-field SHG beam patterns of fundamental frequency transverse modes in coherently locked and incoherently superposed states demonstrates that the SHG of TML beams can carry more *** rarely observed far-field SHG beam patterns are obtained,and they are consistent with the theoretical analysis and numerical *** the obtained SHG beams,the characteristics of the structured fundamental frequency beams can also be conversely investigated or *** work may have important applications in optical 3D printing,optical trapping of particles,and free-space optical communication areas.

关键词： transverse mode locking optical vortex lattice structured beams second harmonic generation

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Simulation research on trajectory tracking control system of manipulator based on fuzzy PID control

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International Journal of Innovative Computing and Applications 2022年第5-6期13卷 269-277页

作者： Ma, Ruyi Li, Zeshen Jiang, Du Yun, Juntong Liu, Ying Liu, Yibo Bai, Dongxu Li, Gongfa Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Hubei Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan430081 China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Institute of Precision Manufacturing Wuhan University of Science and Technology Wuhan430081 China

In view of the influence of external environment interference, parameter changing and random noise in the process of manipulator trajectory tracking, as well as the problems of fuzzy PID control, such as fuzzy rules are not easy to set, quantisation interval and parameters are affected by subjective consciousness, which leads to the problem of insufficient performance of manipulator system. In this paper, firstly, in the MATLAB simulation environment, based on the D-H parameter model, the linkage model of the four degree of freedom manipulator is established, and the homogeneous transformation matrix of the manipulator is calculated. Then, through the application of fuzzy PID control in the Simulink toolbox, the optimal parameters of the controller are found by using the proportion factor self-adjusting strategy, and the corresponding trajectory tracking and forward inverse kinematics simulation are studied. The trajectory tracking curve of the manipulator is obtained. The research method and experimental results in the paper are of great significance for the simulation of articulated manipulator. Copyright © 2022 Inderscience Enterprises Ltd.

关键词： Simulink

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

引用

2022 Chinese Automation Congress, CAC 2022

作者： Zhang, Bin Jiang, Xiaowei Sun, Li Zhang, Xianhe School of Automation China University of Geosciences Wuhan430074 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan430074 China School of Electrical Engineering and Automation Hubei Normal University Huangshi435002 China

ISBN: (纸本)9781665465335

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions. © 2022 IEEE.

关键词： Networked control systems

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Semi-Supervised Learning for Low-Light Image Enhancement by Pseudo Low-Light Image

Semi-Supervised Learning for Low-Light Image Enhancement by ...

引用

International Congress on Image and Signal Processing, BioMedical engineering and Informatics (CISP-BMEI)

作者： Shuo Xie Yingjie Ma Wei Xu Song Qiu Yifei Sun School of Communication and Electronic Engineering East China Normal University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai

Building paired datasets in low-light enhancement entails significant cost and time, making such datasets precious commodities. Many researchers focus on how to enable models to learn more information from limited datasets. A prevalent strategy involves employing semi-supervised learning techniques to enhance model performance through additional unpaired images. However, one of the main challenges faced is the scarcity of a vast number of unpaired images from the same domain as the original low-light images. Consequently, we introduce a semi-supervised image enhancement method using pseudo-low-light images. Initially, we generate pseudo low-light images with less noise compared with the source domain image by the Signal-to-Noise Ratio prior and diffusion models. We then employ the Mean-Teacher network and the feature constraints of the pseudo-low-light images to realize low-light image enhancement. Comprehensive experimental results validate the efficacy of our approach on real-world datasets.

关键词：

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A nested constraints based anti-disturbance collision-free formation control scheme for multi-mobile robot systems

A nested constraints based anti-disturbance collision-free f...

引用

Chinese Automation Congress (CAC)

作者： Guodong Wang Xiangyu Wang Shihua Li Dan Niu School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing People’s Republic of China

This paper investigates distributed formation control of multi-mobile robot systems with collision avoidance. A novel nested constraints based anti-disturbance formation control scheme is established, which contains two parts. In the first part, a formation signal generator is constructed on the communication network by using proper distributed cooperative control approaches and artificial potential field-based methods, such that it "completes" the desired formation control task in its outputs. In the second part, by combining proper disturbance estimations, some nonlinear tracking controllers are designed for the robots to track the corresponding outputs of the generator asymptotically. A "nested constraint mechanism" is put forward accordingly and applied to limit the generator’s outputs and the robots’ tracking errors. In this way, the studied multi-mobile robot systems realize the formation control goal with collision avoidance. Compared with existing results, the proposed method has a better plug-and-play feature to deal with the tight encapsulations of the practical robot products, and has better convergence performances with the existence of disturbances. Some experiments are given to validate the effects of the proposed methods.

关键词： Feedback loop Estimation Signal generators Formation control Generators Real-time systems Trajectory

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