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Vision-based and real-time calibration of industrial robot by using deep learning and dimension-reduced models

Precision engineering 2025年 96卷 192-211页

作者： Zhouxiang Jiang Ruoheng Ding Yuxuan Liu Zhongjie Long Bao Song College of Mechanical and Electrical Engineering Beijing Information Science & Technology University 12 Xiaoying East Road Qinghe Haidian District Beijing 100192 China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science & Technology University 12 Xiaoying East Road Qinghe Haidian District Beijing 100192 China National NC System Engineering Research Center Huazhong University of Science & Technology 1037 Luoyu Road Wuhan 430074 China

A real-time calibration method for six-DoF industrial robot is presented. It aims to address the issue that calibration always suspends the work of robot and is quite costly due to repeated utilization of expensive measurement instrument. For this, a pose measurement strategy with cost-effective cameras is proposed where the work trajectory of robot is considered as a strict constraint on configurations to meet the requirement of real time. However, such efficiency improvement is accompanied by the accuracy decrease because the camera brings large measurement error and the trajectory constraint results in the reduced parameter identifiability. Firstly, to pull up the camera performance to the same level of precise instrument like the laser tracker, a set of neural networks are designed to map the inaccurately measured poses by camera to the accurate poses of concerned joints. Secondly, a dimension-reducing method is proposed to truncate the constrained kinematic-error model into two, which commonly achieve high parameter identifiability. Simulation shows that the prediction accuracy of joint pose with the well-trained networks is much higher than the measurement accuracy of laser tracker. Besides, the calibration accuracy with the dimension-reduced models is validated to be higher than that with the single high-dimension model of typical calibration. Finally, a generation strategy of training data with deeper regularity is proposed to meet the accuracy requirement in real scene, and the comparative results in the experiment validate a good potential of the real-time calibration method in manufacturing that requires high accuracy of robot and no suspension of work.

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Sensing With Random Communication Signals

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IEEE Network 2025年

作者： Lu, Shihang Liu, Fan Xiong, Yifeng Du, Zhen Cui, Yuanhao Li, Shuangyang Yuan, Weijie Yang, Jie Jin, Shi Southeast University National Mobile Communications Research Laboratory Nanjing210096 China Beijing University of Posts and Telecommunications School of Information and Communication Engineering Beijing100876 China Nanjing University of Information Science and Technology School of Electronic and Information Engineering Nanjing210044 China Technical University of Berlin Faculty of Electrical Engineering and Computer Science Berlin10587 Germany Shenzhen518055 China Frontiers Science Center for Mobile Information Communication and Security China Southeast University MOE Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing211189 China

Communication-centric Integrated Sensing and Communication (ISAC) has been recognized as a promising methodology to implement wireless sensing functionality over existing network architectures, due to its cost-effectiveness and backward compatibility to legacy cellular systems. However, the inherent randomness of the communication signal may incur huge fluctuations in sensing capabilities, leading to unfavorable detection and estimation performance. To address this issue, we elaborate on random ISAC signal processing methods in this article, aiming at improving the sensing performance without unduly deteriorating the communication functionality. Specifically, we commence by discussing the fundamentals of sensing with random communication signals, including the performance metrics and optimal ranging waveforms. Building on these concepts, we then present a general framework for random ISAC signal transmission, followed by an in-depth exploration of time-domain pulse shaping, frequency-domain constellation shaping, and spatial-domain precoding methods. We provide a comprehensive overview of each of these topics, including models, results, and design guidelines. Finally, we conclude this article by identifying several promising research directions for random ISAC signal transmission. © 2025 IEEE.

关键词： Mobile telecommunication systems

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Rotating machinery fault diagnosis based on convolutional neural network and infrared thermal imaging

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Chinese Journal of Aeronautics 2020年第2期33卷 427-438页

作者： Yongbo LI Xiaoqiang DU Fangyi WAN Xianzhi WANG Huangchao YU MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical UniversityXi’an 710072China School of Mechanical Engineering Northwestern Polytechnical UniversityXi’an 710072China Institute of Unmanned System National University of Defense TechnologyChangsha 410073China

Rotating machinery is widely applied in industrial *** diagnosis of rotating machinery is vital in manufacturing system,which can prevent catastrophic failure and reduce financial ***,Deep Learning(DL)-based fault diagnosis method becomes a hot *** Neural Network(CNN)is an effective DL method to extract the features of raw data *** paper develops a fault diagnosis method using CNN for InfRared Thermal(IRT)***,IRT technique is utilized to capture the IRT images of rotating ***,the CNN is applied to extract fault features from the IRT *** the end,the obtained features are fed into the Softmax Regression(SR)classifier for fault pattern *** effectiveness of the proposed method is validated using two different experimental *** show that the proposed method has a superior performance in identification various faults on rotor and bearings comparing with other deep learning models and traditional vibration-based method.

关键词： Convolutional neural network Feature extraction Infrared thermography(IRT) Intelligent fault diagnosis Rotating machinery

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A New Method to Estimate the Severity of Interturn Short-Circuit Fault for PMSM

A New Method to Estimate the Severity of Interturn Short-Cir...

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2022 IEEE International Conference on Power systems and Electrical Technology, PSET 2022

作者： Zeng, Zhaofei Zhang, Man Chen, Luan Huang, Qi Sun, Ding University of Electron Ic Science and Technology of China Key Laboratory of Wi De-area Measurement and Control on Power System of Sichuan Province Chengdu611731 China University of Electronic Science and Technology of China Chengdu611731 China Institute of Electronic and Information Engineering of Uestc in Guangdong Uestc in Guangdong Dongguan523808 China Chengdu Univer Sity of Technology Chengdu610095 China

ISBN: (纸本)9781665489157

This paper proposes a new method to determine the number of shorted turns for permanent magnet synchronous motor (PMSM). At first, the equivalent circuit model of PMSM under both normal condition and inter-turn short-circuit (ITSC) fault are presented. Then, the procedure to estimate the severity of ITSC in PMSM is introduced. In detailed, the stator winding of PMSM at standstill is excited by a low AC voltage, the corresponding current can be measured including its amplitude and phase, finally, the severity estimation indicator is established based on the electromagnetic parameters, including amplitude and phase of voltage and current, phase inductance and resistance. The effectiveness of the proposed method is verified by some simulations, which illustrates that the proposed method have good accuracy in the number of shorted turns detection in the range from the fault-free state to the full-winding fault state. The method proposed in this paper can be directly implemented without installing complex equipment and additional sensors on the motor, and it has utility value in the maintenance of PMSM. © 2022 IEEE.

关键词： Permanent magnets

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Hybrid Beamforming Design for Bistatic Integrated Sensing and Communication systems

arXiv

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arXiv 2025年

作者： Mao, Tianhao Yang, Jie Liang, Le Jin, Shi National Mobile Communications Research Laboratory Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing210096 China Purple Mountain Laboratories Nanjing211111 China Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

Integrated sensing and communication (ISAC) in millimeter wave is a key enabler for next-generation networks, which leverages large bandwidth and extensive antenna arrays, benefiting both communication and sensing functionalities. The associated high costs can be mitigated by adopting a hybrid beamforming structure. However, the well-studied monostatic ISAC systems face challenges related to full-duplex operation. To address this issue, this paper focuses on a three-dimensional bistatic configuration that requires only half-duplex base stations. To intuitively evaluate the error bound of bistatic sensing using orthogonal frequency division multiplexing waveforms, we propose a positioning scheme that combines angle-of-arrival and time-of-arrival estimation, deriving the closed-form expression of the position error bound (PEB). Using this PEB, we develop two hybrid beamforming algorithms for joint waveform design, aimed at maximizing achievable spectral efficiency (SE) while ensuring a predefined PEB threshold. The first algorithm leverages a Riemannian trust-region approach, achieving superior performance in terms of global optima and convergence speed compared to conventional gradient-based methods, but with higher complexity. In contrast, the second algorithm, which employs orthogonal matching pursuit, offers a more computationally efficient solution, delivering reasonable SE while maintaining the PEB constraint. Numerical results are provided to validate the effectiveness of the proposed designs. Copyright © 2025, The Authors. All rights reserved.

关键词： Orthogonal frequency division multiplexing

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High-Order Disturbance Observer-Based Attitude control with Prescribed Performance for Hypersonic Vehicle

High-Order Disturbance Observer-Based Attitude Control with ...

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第40届中国控制会议

作者： GuangHui Yang Xinming Wang Beijing Aerospace Automatic Control Institute School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Eduaction

This paper presents a high-order disturbance observer-based attitude tracking controller design with prescribed performance for hypersonic vehicle. The lumped disturbances caused by parameters perturbations, external disturbances and unmodelled dynamics are estimated accurately by utilizing high-order disturbance observers. Based on the disturbances estimation,a composite attitude tracking controller with guaranteeing prescribed transient and steady performance is proposed and the stability analysis of the closed-loop system is rigorously analyzed using the Lyapunov technique. The proposed controller not only ensures the tracking errors are within the desired performance envelope but also considering the disturbance rejection. Finally,the effectiveness of the proposed method is verified by simulations.

关键词： Hypersonic Vehicle Disturbance Observer Prescribed Performance control Dynamics Surface control

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AI-aided power electronic converters automatic online real-time efficiency optimization method

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Fundamental Research 2025年第3期5卷 1111-1116页

作者： Tang, Yuanhong Cao, Di Xiao, Jian Jiang, Chenying Huang, Qi Li, Yunwei Chen, Zhe Blaabjerg, Frede Hu, Weihao Power System Wide-area Measurement and Control Sichuan Provincial Key Laboratory School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu 611731 China MORNSUN Guangzhou Science & Technology Co. Ltd. Guangzhou 510663 China School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu 611731 China Yangtze Delta Region Institute (Quzhou) University of Electronic Science and Technology of China Quzhou 324000 China Department of Chengdu State Grid Corporation of China Chengdu 610599 China Southwest University of Science and Technology Mianyang 621010 China Department of Electrical and Computer Engineering University of Alberta Edmonton AB T6G 2V4 Canada Department of Energy Technology Aalborg University Aalborg 9220 Denmark

Energy losses during the conversion and supply of electric power are considered a significant issue and cannot be estimated. Improvement in the efficiency of energy conversion systems is highly restricted because of their internal nonlinearity and complexity. Thus, inspired by the successful utilization of robotic chemists, we demonstrate a pioneering concept of artificial intelligence (AI)-aided automatic online real-time optimization of a power electronics converter using a dual active bridge (DAB) converter as an example. An optimal modulation strategy was obtained through repeated automatic exploration experiments on a practical DAB converter platform. Specifically, the DAB experimental platform operated autonomously around the clock for approximately 71 h. It performed 120,000 consecutive experiments (12,000 episodes) within a six-variable experimental space driven by a deep deterministic policy gradient (DDPG) algorithm. The proposed AI-aided automatic online real-time optimization method achieved significantly improved efficiency of power conversion and supply. Consequently, zero carbon emissions may be obtained in the future. © 2023

关键词： Artificial intelligence Automatic online real-time exploration DC-DC converter Dual active bridge converter Energy conversion system Power electronics

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New Sensing Technologies for Monitoring Machinery,Structures,and Manufacturing Processes

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Journal of Dynamics, Monitoring and Diagnostics 2023年第2期2卷 69-88页

作者： JDMD Editorial Office Zhaoyan Fan Robert X.Gao Qingbo He Yi Huang Tianxi Jiang Zhike Peng Luc Thévenaz Yuyong Xiong Shuncong Zhong Editorial Office of JDMD Chongqing University of TechnologyChongqingPeople’s Republic of China Department of Mechanical Industrialand Manufacturing EngineeringOregon State UniversityCorvallisORUSA Department of Mechanical and Aerospace Engineering Case Western Reserve UniversityClevelandOHUSA State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghaiPeople’s Republic of China Fujian Provincial Key Laboratory of Terahertz Functional Devices and Intelligent Sensing School of Mechanical Engineering and AutomationFuzhou UniversityFuzhouPeople’s Republic of China Institute of Precision Instrument and Intelligent Measurement&Control Fuzhou UniversityFuzhouPeople’s Republic of China School of Mechanical Engineering Ningxia UniversityYinchuanPeople’s Republic of China EPFL Ecole Polytechnique Fédérale de Lausanne Group for Fibre OpticsSCI-STI-LT Station 111015 LausanneSwitzerland

Sensing is the fundamental technique for sensor data acquisition in monitoring the operation condition of the machinery,structures,and manufacturing *** this paper,we briefly discuss the general idea and advances of various new sensing technologies,including multiphysics sensing,smart materials and metamaterials sensing,microwave sensing,fiber optic sensors,and terahertz sensing,for measuring vibration,deformation,strain,acoustics,temperature,spectroscopic,*** on the observations from the state of the art,we provide comprehensive discussions on the possible opportunities and challenges of these new sensing technologies so as to steer future development.

关键词： fiber optic sensor metamaterials sensing microwave sensing multiphysics sensing terahertz sensing

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An adaptive fault detection strategy for Cz crystal growth process

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IEEE Transactions on Instrumentation and measurement 2025年 74卷

作者： Mu, Lingxia Feng, Nan Zhang, Zhenhua Zhang, Youmin Zhang, Jian Xian University of Technology Crystal Growth Equipment and Systems Integration National Engineering Research Center Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xian710048 China University of Science and Technology Beijing School of Intelligence Science and Technology Beijing100083 China Concordia University Department of Mechanical Industrial and Aerospace Engineering MontrealQCH3G 1M8 Canada

The monitoring and fault detection for the Czochralski (Cz) crystal growth process is important to ensure the quality of the produced mono-crystalline silicon. The Cz process is a typical multi-modes industrial process, which makes the detection difficult in distinguish the change caused by the fault or mode switching. In this paper, an adaptive fault detection strategy for Cz crystal growth process is proposed. Firstly, quality-related variables are selected from numerous process variables, based on which the training dataset is constructed. Then, a fault detection model is built based on slowly-varying feature and statics indicator. A model switching strategy and updating algorithm are designed to handle the abnormal situation caused by the mode switching or fault occurrence. Three representative experiments are conducted to verify the performance of the proposed strategy, including numerical cases, a publicly available dataset, and Cz crystal growth process from our laboratory. © 1963-2012 IEEE.

关键词： Crystal growth from melt

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Stochastic DoS Attack Allocation Against Collaborative Estimation in Sensor Networks

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IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1225-1234页

作者： Ya Zhang Lishuang Du Frank L.Lewis School of Automation Southeast Universityand also with the Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of EducationNanjing 210096China University of Texas at Arlington Research Institute Fort WorthTX 76118 USA IEEE

In this paper,denial of service(DoS)attack management for destroying the collaborative estimation in sensor networks and minimizing attack energy from the attacker perspective is *** the communication channels between sensors and a remote estimator,the attacker chooses some channels to randomly jam DoS attacks to make their packets randomly dropped.A stochastic power allocation approach composed of three steps is ***,the minimum number of channels and the channel set to be attacked are ***,a necessary condition and a sufficient condition on the packet loss probabilities of the channels in the attack set are provided for general and special systems,***,by converting the original coupling nonlinear programming problem to a linear programming problem,a method of searching attack probabilities and power to minimize the attack energy is *** effectiveness of the proposed scheme is verified by simulation examples.

关键词： Attack allocation denial of service(DoS)attack packet loss remote estimation sensor networks

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