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Joint Algorithm of Message Fragmentation and No-Wait Scheduling for Time-Sensitive Networks

IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 478-490页

作者： Xi Jin Changqing Xia Nan Guan Peng Zeng Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016 Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Department of Computing Hong Kong Polytechnic UniversityHong KongChina

Time-sensitive networks(TSNs)support not only traditional best-effort communications but also deterministic communications,which send each packet at a deterministic time so that the data transmissions of networked control systems can be precisely scheduled to guarantee hard real-time ***-wait scheduling is suitable for such TSNs and generates the schedules of deterministic communications with the minimal network resources so that all of the remaining resources can be used to improve the throughput of best-effort ***,due to inappropriate message fragmentation,the realtime performance of no-wait scheduling algorithms is ***,in this paper,joint algorithms of message fragmentation and no-wait scheduling are ***,a specification for the joint problem based on optimization modulo theories is proposed so that off-the-shelf solvers can be used to find optimal ***,to improve the scalability of our algorithm,the worst-case delay of messages is analyzed,and then,based on the analysis,a heuristic algorithm is proposed to construct low-delay ***,we conduct extensive test cases to evaluate our proposed *** evaluation results indicate that,compared to existing algorithms,the proposed joint algorithm improves schedulability by up to 50%.

关键词： Message fragmentation networked control system real-time scheduling time sensitive network

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Smart Plant Application of Autonomous Decentralized systems with the Introduction of Edge Nodes 15

Smart Plant Application of Autonomous Decentralized Systems ...

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15th International Conference on Advanced Computer Theory and Engineering, ICACTE 2022

作者： Wang, Jingyang Zou, Tao Yang, Zhijia Wang, Hongrui Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China Guangzhou University College Of Mechanical And Electrical Engineering Guangzhou China State Key Laboratory Of Robotics Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China University Of Chinese Academy Of Sciences Beijing China

ISBN: (数字)9781665481809

ISBN: (纸本)9781665481809

This paper illustrates the application of an autonomous decentralized system introducing edge nodes in a smart factory. The nodes include atomic nodes, the most fundamental autonomic units constituting an autonomous decentralized system that are capable of independently extracting information from the data field and processing that information internally and simultaneously transmitting the processing results and other internal information to the data field proactively in a broadcast mode, where the transmitted information circulates in the data field. The group-based data field enables the sharing of information by atomic nodes. Grouped management nodes are the managers of the whole group, and edge nodes are the terminal intelligent control units of an intelligent autonomous decentralized system. Improvements in system decentralization, fault tolerance characteristics and flexibility of the system can lead to homogenization, autonomous control and autonomous coordination in complex manufacturing environments, as well as excellent online fault tolerance, online expansion and online maintenance of the system. In addition, it enhances the ever-changing and evolving control requirements by deconstructing the complexity in the system. © 2022 IEEE.

关键词： Fault tolerance

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Imitation Learning of Human Operation Based on Visual Demonstration 3

Imitation Learning of Human Operation Based on Visual Demons...

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3rd International Conference on control and Computer Vision, ICCCV 2020

作者： Tong, Xunwei Li, Ruifeng Ge, Lianzheng Zhao, Lijun Wang, Ke State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781450388023

In this paper, we propose an imitation learning method based on the optimization of the dynamic movement primitives (DMPs). The DMPs framework is one of the common methods of imitation learning because of its adaptability in time and space. On the basis of the traditional framework, we add the consideration of the dynamic performance of the robot during the reproduction process. We optimize the learned parameters (via DMPs) to reduce the average torque of robot joints while keeping the trajectory error small. The proposed method is evaluated with an experiment where a 6-degrees of freedom (6-DOF) robot learned a pick-place task from the visual demonstration of a human teacher. The experimental results show that our method reduced the average torque of robot joints by 73.4 N.m, which proves the effectiveness of the proposed method. © 2020 ACM.

关键词： Robots

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic Engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Characterizing permeability-porosity relationships of porous rocks using a stress sensitivity model in consideration of elastic-structural deformation and tortuosity sensitivity

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第9期16卷 3437-3451页

作者： Ronghe Xu Liqin Wang Xiaoli Zhao Yuze Mao MIIT Key Laboratory of Aerospace Bearing Technology and Equipment Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China Shanghai Aerospace Control Technology Institute Shanghai201100China

Clarifying the relationship between stress sensitivities of permeability and porosity is of great significance in guiding underground resource *** and more studies focus on how to construct stress sensitivity models to describe the relationship and obtain a comprehensive stress sensitivity of porous ***,the limitations of elastic deformation calculation and incompleteness of considered tortuosity sensitivity lead to the fact that the existing stress sensitivity models are still unsatisfactory in terms of accuracy and ***,a more accurate and generic stress sensitivity model considering elastic-structural deformation of capillary cross-section and tortuosity sensitivity is proposed in this *** elastic deformation is derived from the fractal scaling model and Hooke's *** the effects of elastic-structural deformation on tortuosity sensitivity,an empirical formula is proposed,and the conditions for its applicability are *** predictive performance of the proposed model for the permeability-porosity relationships is validated in several sets of publicly available experimental *** experimental data are from different rocks under different pressure *** mean and standard deviation of relative errors of predicted stress sensitivity with respect to experimental data are 2.63%and 1.91%.Compared with other models,the proposed model has higher accuracy and better predictive generalization *** is also found that the porosity sensitivity exponent a,which can describe permeability-porosity relationships,is 2 when only elastic deformation is considered.a decreases from 2 when structural deformation is also *** addition,a may be greater than 3 due to the increase in tortuosity sensitivity when tortuosity sensitivity is considered even if the rock is not fractured.

关键词： Stress sensitivity model Permeability-porosity relationships Elastic-structural deformation Tortuosity stress sensitivity

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Ageing characteristics and lifetime model of oil-paper insulation for oil-immersed paper condenser bushing

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High Voltage 2021年第2期6卷 278-290页

作者： Sihang Gao Lijun Yang Tingjing Ke Key Laboratory of Industrial Internet of Things and Networked Control Ministry of EducationChongqing University of Posts and TelecommunicationsChongqingChina State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing UniversityChongqingChina State Grid Chongqing Electric Power Company Chongqing ChongqingChina

This study extensively investigated the ageing characteristics and lifetime model of oil-paper insulation for oil-immersed paper condenser *** accelerated thermal and electrothermal ageing experiments of oil-immersed paper condenser bushing were con-ducted *** properties of oil-paper insulation during the ageing process were *** showed that descending speed of degree of polymerization of the innermost and the outermost layer paper was higher than that of middle layer paper,the difference in water content on different paper layers caused varying deterioration *** aluminium foil contributed to a surge in aluminium dissolution in oil,further accelerating the ageing of *** on the obtained degree of polymerization data under thermal ageing at 90°C,100°C and 130°C,the lifetime model of oil-paper insu-lation for condenser bushing model was *** addition,the surface breakdown of the scale model of bushing occurred after 133 days ageing,the properties of bushing decreased gradually during the ageing process and sharply after the *** of polymerization deviation of different paper layers in bushing between calculated value according to the above lifetime model and actual value of bushing after the breakdown was less than 6%,further verifying the validity of lifetime model.

关键词： lifetime immersed insulation

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Research on Multi-objective Active Power Optimization Simulation of Novel Improved Water Cycle Algorithm

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IAENG International Journal of Applied Mathematics 2021年第1期51卷 1页

作者： Chen, Gonggui Han, Ying Zhang, Zhizhong Zeng, Xianjun Li, Shuaiyong Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Communication Network and Testing Technology Chongqing University of Posts and Telecommunications Chongqing400065 China State Grid Chongqing Electric Power Company Chongqing400015 China

Water cycle algorithm (WCA) is a heuristic algorithm proposed in recent years. To overcome the insufficiency of standard WCA algorithm in solving the non-convex optimal power flow (OPF) problems, the multi-objective novel improved water cycle algorithm (MONIWCA) is proposed in this paper. The evaporation process is improved in WCA by introducing evaporation rate and the normal distribution optimization mechanism is used to mutate the individual position. The modified WCA also adopts a constraint-based strategy to ensure zero constraint violations. In order to obtain a high-quality Pareto optimal solution set (POS) and select the best compromise solution (BCs), a global ranking strategy is proposed. The global ranking strategy includes the novel constraint handling method, the rank index calculation and the BCs on fuzzy satisfaction theory to deal with the complex constraints of the optimization problem. The MONIWCA has been simulated under the constraints of zero violations on IEEE 30, IEEE 57 and IEEE 118 standard test systems, including six dual-objective cases and one tri- objective case. The simulation results are compared with the multi-objective particle swarm optimization (MOPSO). The results show that the improved method can effectively solve the MOOPF problem, not only to obtain a uniform continuous Pareto solution set but also to achieve a better compromise solution. In addition, the two performance indicators of the generational distance (GD) and the spacing (SP) also show that the MONIWCA algorithm has uniform distribution, high convergence and strong stability. © 2021, IAENG International Journal of Applied Mathematics. All Rights Reserved.

关键词： Particle swarm optimization (PSO)

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Active knee joint exoskeleton for stair ascent augmentation

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Science China(Information Sciences) 2021年第3期64卷 243-245页

作者： Zongwei ZHANG Jizhuang FAN Hongzhe JIN Tianjiao ZHENG Sikai ZHAO Shun MA Jie ZHAO Yanhe ZHU State Key Laboratory of Robotics and Systems

Dear editor,Stair climbing is a strenuous daily movement that is challenging for older adults and those with lower limb *** this study, we describe a novel stairclimbing exoskeleton that was designed to help weak-knee... 详细信息

关键词： exoskeleton stair climbing hybrid control zero-force tracking switching controller

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Research on Indoor Robot SLAM of RBPF Improved with Geometrical Characteristic Localization 29

Research on Indoor Robot SLAM of RBPF Improved with Geometri...

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第29届中国控制与决策会议

作者： Liu Fuchun Chen Yifeng Li Yunze College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control(ASNC)Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509046584

LIDAR and odometer are used as the main sensors in this paper, with the two-wheeled self-balancing robot as the research and experiment platform, this topic has researched the way to SLAM when the robot is in unfamiliar environment with uncertain position and orientation. On the issue of setting the dynamic threshold value to zone the LIDAR scanning points in the process of constructing the geometry map, with the consideration of the character of RPLIDAR which is used in our research, this paper has analyzed and proposed the specific dynamic threshold values, which make the zoning of LIDAR scanning points more reasonable. In order to improve the robustness of SLAM, we have used regular particle filter(RPF) as the location algorithm. In order to solve the problem of unable to add auxiliary information under the traditional MCL framework, we have taken full use of the high accuracy character of the geometry matching and locating, and have used the result of it to improve the importance density function of RPF. Based on the idea of Rao-Blackwellization, the improved RBPF-SLAM has been proposed. The validity and feasibility of the improved RBPF-SLAM have been proved with simulations and experiments.

关键词： Simultaneous Localization and Mapping LIDAR robot particle filter

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Secure resource allocation for green and cognitive device-to-device communication

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Science China(Information Sciences) 2018年第2期61卷 296-298页

作者： Chi XU Peng ZENG Wei LIANG Haibin YU Key Laboratory of Networked Control Systems Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Dear editor,Spectrum efficiency,energy efficiency and communication security are the most significant concerns in the 5G era[1].Cognitive radio which employs dynamic spectrum sharing,energy harvest-

关键词： CDR CDT

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