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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Pengbin Zhang Hongrui Wang Kunpeng Xing Mingzhe Yuan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China GUANGZHOU INSTITUTE OF INDUSTRIAL INTELLIGENCE Guangzhou China China Nuclear Power Engineering Co. Ltd. Shenzhen China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

Natural gas load forecasting is crucial for the safe operation of urban natural gas. Based on the system identification method, the short-term natural gas load forecasting is studied in the paper. Employing a multi-stage identification framework, the initial values of the model parameters using the least squares and the instrumental variables method, while the model parameters are further optimized by the prediction error method to improve the accuracy of the model identification. The proposed method is validated by the simulation based on the public natural gas data in the U.S., demonstrating the algorithm's effectiveness in forecasting the daily natural gas load effectively.

关键词： Load forecasting Simulation Load shedding Predictive models Prediction algorithms System identification Reliability Forecasting Natural gas Load modeling

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

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Chinese control Conference (CCC)

作者： Yanling Zhou Xuebo Zhang Runhua Wang Shiyong Zhang Mingxing Yuan Jing Yuan Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin P. R. China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin P. R. China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms)

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Data-Driven Based Cross-Coupling Compensation Method for the Piezoelectric Tube Scanner of Atomic Force Microscopes

SSRN

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SSRN 2023年

作者： Meng, Yixuan Li, Linlin Wang, Xiangyuan Zhang, XinQuan Zhu, LiMin State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou310027 China The Shanghai Key Laboratory of Networked Manufacturing and Enterprise Information Shanghai200240 China

In this work, a data-driven based cross-coupling compensation (DD-CCC) method is proposed to suppress the cross-coupling effect of the scanner in atomic force microscopy (AFM). Firstly, the phase difference method is employed to accurately estimate the frequencies, amplitudes and phases of the harmonic components of the periodic compensation signal obtained from the fractional model-free repetitive control with the nonsynchronized sampling. Afterwards, the compensation signal is constructed analytically via summing the harmonic components, which requires very little memory units. In AFM scanning, the constructed compensation signal is applied in a feedforward manner, which is combined with a baseline tracking controller to follow the desired staircase trajectories. A series of scanning and imaging tests are conducted on an AFM with a fixed sampling frequency and different scanning rates. The results demonstrate that high performance AFM scanning and imaging can be achieved under the scanning rate of 120 Hz with the DD-CCC method. © 2023, The Authors. All rights reserved.

关键词： Chemical reactions

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Optimal scheduling of islanded microgrid based on improved MOSSA 43

Optimal scheduling of islanded microgrid based on improved M...

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43rd Chinese control Conference, CCC 2024

作者： Huanhuan, Lai Qingqi, Pei Meiqin, Liu Shanling, Dong Zhiyun, Xie Jian, Zheng Hezuo, Qu Senlin, Zhang Wenzhou Branch of State Grid Wenzhou325028 China Zhejiang University College of Electrical Engineering Hangzhou310027 China Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China Xi'an Jiaotong University Institute of Artificial Intelligence and Robotics Xi'an710049 China Jinhua Research Institute of Zhejiang University Jinhua321036 China

ISBN: (纸本)9789887581581

Microgrid systems are widely used in various scenarios. However, there is great uncertainty in the output of wind and solar units. How to maximize both the economic and environmental benefits of microgrid is an important issue. To achieve this, considering consumption of renewable energy and total cost, a multi-objective optimization model for islanded microgrid is established. The classical optimization algorithm has insufficient ability to approach the optimal solution in each dimension when facing multi-objective optimization. Thus, this paper introduces the fuzzy clustering mechanism and the non-dominated sorting method to obtain the improved multi-objective sparrow search algorithm (MOSSA). Taking data of renewable energy units and loads from a certain microgrid as test case, the Pareto frontier is searched by improved MOSSA. The experimental results show that the proposed method can effectively reduce the economic cost and improve the absorption capacity of wind power and photovoltaic energy. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： improved MOSSA microgrid multi-objective optimization Pareto frontier

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Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields

arXiv

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arXiv 2024年

作者： Chi, Xuemin Li, Yiming Huang, Jihao Dai, Bolun Liu, Zhitao Calinon, Sylvain State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Idiap Research Institute Martigny1920 Switzerland Lausanne1015 Switzerland Fauna Robotics New YorkNY United States

Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. control Barrier Functions (CBFs), widely utilized in safety-critical control, have shown significant potential for motion generation. However, for high-dimensional robot manipulators, existing QP formulations and CBF-based methods rely on positional information, overlooking higher-order derivatives such as velocities. This limitation may lead to reduced success rates, decreased performance, and inadequate safety constraints. To address this, we construct time-varying CBFs (TVCBFs) that consider velocity conditions for obstacles. Our approach leverages recent developments on distance fields for articulated manipulators, a differentiable representation that enables the mapping of objects’ position and velocity into the robot’s joint space, offering a comprehensive understanding of the system’s interactions. This allows the manipulator to be treated as a point-mass system thus simplifying motion generation tasks. Additionally, we introduce a time-varying control Lyapunov function (TVCLF) to enable whole-body contact motions. Our approach integrates the TVCBF, TVCLF, and manipulator physical constraints within a unified QP framework. We validate our method through simulations and comparisons with state-of-the-art approaches, demonstrating its effectiveness on a 7-axis Franka robot in real-world experiments. © 2024, CC BY.

关键词： Lyapunov functions

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Trajectory Tracking Error Optimization based on Iterative Learning 4

Trajectory Tracking Error Optimization based on Iterative Le...

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4th IEEE International Conference on Power, Intelligent Computing and systems, ICPICS 2022

作者： Huang, Haoran Zhang, Tao Jia, Danping Zhang, Hualiang Yan, Hongyu Pei, Quanshen Ding, Fan Shenyang University of Technology School of Information Science and Engineering Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China

ISBN: (数字)9781665467735

ISBN: (纸本)9781665467735

The X-Y precision plane motion platform is widely used in various precision motion control fields. In this paper, to improve the tracking accuracy of the X-Y precision plane motion table, a high-level iterative learning control with forgetting factor is proposed, and it is combined with a kind of PD-type iterative learning control with low-pass filter, and the method is applied to the Simulink model of the linear motor of the X-Y precision plane platform, thereby improving the trajectory accuracy of the X-Y precision plane motion platform. The traditional ILC has the disadvantage that the more number of iterations, the more divergent tracking error is. The new ILC proposed in this paper can not only effectively reduce the noise, reduce the tracking error, but also eliminate the problem of error divergence caused by too many iterations. At last, the experimental results of high-order PD iterative learning with forgetting factor and low-pass filter, PD iterative learning with low-pass filter, ordinary PD iterative learning are compared. The results show that the high-order PD iterative learning with forgetting factor and low-pass filter has better tracking effect than the first-order iterative learning and other several algorithms. It can make the movement trajectory of the X-Y precision plane motion platform more stable and improve the accuracy. © 2022 IEEE.

关键词： Low pass filters

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Improved Cascade Mask RCNN Single Character Detection Algorithm for Cast Pipe 4

Improved Cascade Mask RCNN Single Character Detection Algori...

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4th International Conference on Big Data and Artificial Intelligence and Software Engineering, ICBASE 2023

作者： Xu, Fuli Wang, Yu Jiang, Yan Wang, Huaizhen Cui, Yong Tao, Ye Wang, Yisheng Zhang, Qi Shenyang University of Technology School of Software Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China Shanghai Ballsnow Intelligent Technology Co. Ltd Shanghai China Shenyang Zhongke Microcyber Technology Co. Ltd Shenyang China

ISBN: (纸本)9798350329490

Due to the interference of blurry background, character occlusion, and low background contrast in the Cast Pipe character images, the detection accuracy and real-time performance cannot meet the requirements of industrial scenes. To address these issues, this paper presents an improvement based on the Cascade Mask RCNN. Firstly, the Channel Attention Mechanism Module (Squeeze-and-Excitation, SE) is embedded into the ResNet structure. By constructing a bottleneck structure with two fully connected layers, the normalized weights are applied to each channel feature to enhance the network representation ability. Secondly, a bottom-up structure is introduced after the Feature Pyramid Networks (FPN) to transmit the strong localization information from lower-level features to higher-level semantic features. Thirdly, an adaptive pooling layer is added to allocate the candidate regions generated by the Region Proposal Network (RPN) to different scale feature maps. Additionally, skip connections are introduced between the bottom-level features and the highest-level features of each stage to reduce model parameters while retaining global representation capabilities. The improved algorithm is tested on a cast pipe dataset, achieving an average detection accuracy (mAP) of 98.7%, which is 2.7% higher than that of Cascade Mask RCNN. The accuracy indicates that the improved performance is superior to the original algorithm. © 2023 IEEE.

关键词： Semantics

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Simulation of Liquid Level Cascade control System Based on Genetic Fuzzy PID 5

Simulation of Liquid Level Cascade Control System Based on G...

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5th International Conference on robotics, control and Automation Engineering, RCAE 2022

作者： Mao, Jizhi Yang, Zhijia Zhang, Shusheng College of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781665459419

The model design and basic principle of liquid level control system are described. In order to improve the dynamic response of liquid level control, the overshoot and steady-state error accuracy of the system are improved. In this paper, we apply the conventional PID controller to the single-loop system and the cascade system respectively, and introduce the fuzzy control algorithm based on the conventional PID control algorithm to design a cascade parameter self-adjusting fuzzy PID controller, Then use genetic algorithm to optimize fuzzy control rules to generate genetic fuzzy PID controller. The MATLAB/Simulink simulation results show that, compared with the traditional PID control, the genetic fuzzy PID control has better control effect and anti-interference ability, and has good control performance. © 2022 IEEE.

关键词： Three term control systems

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A Charge Density Model of Silicon-nanowire GAA MOSFET Incoroperating the Source-drian Tunneling Effect for IC Design

A Charge Density Model of Silicon-nanowire GAA MOSFET Incoro...

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2021 International Symposium on Computer Technology and Information Science, ISCTIS 2021

作者： Cheng, He Zhang, Chao Liu, Tiefeng Xie, Chuang Yang, Zhjia Zhang, Zhipeng Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665414418

One numerical compact model for one-dimensional electron charge density of n-Type silicon ballistic nanowire gate-All-Around metal-oxide-semiconductor field-effect transistors with ultra-short channel incorporating the source-drain tunneling is proposed. When establishing the AC model in practical device applications, compact models describing transient analysis of the carrier behaviors in the device channel are needed. When focusing on the charge density of carriers within GAA MOSFET devices, carriers transporting along the channel direction induced by the source-drain tunneling effect should also be taken into account in the subthreshold region. In this study, transmission coefficients of the source-drain tunneling effect are evaluated through expressing energy level of the lowest subband with bringing in the exact boundary conditions and using the Wentzel-Kramers-Brillouin approximation. Then, the carrier density can be derived from the charge profile in the channel using quantum statistics theory. Finally, comparisons of the calculations of the carrier densities between the source-drain tunneling and the thermionic modes in ballistic transport are demonstrated. © 2021 IEEE.

关键词： MOSFET devices

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Service Encapsulation Method Based on Industrial Internet

Service Encapsulation Method Based on Industrial Internet

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作者： Li, Kai Pan, Hao Tong, Xing Li, Dong Wang, Ting Shenyang University of Chemical Technology Liaoning Shenyang110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110016 China

Based on the analysis of software and hardware integration and highly heterogeneous infrastructure in the traditional industrial field, this paper puts forward the concept of service packaging engine, puts forward a unified service packaging model for Industry by using the Internet thinking design mode, and can complete the control of complex industrial field equipment by editing only simple logic in the programming interface. This article focuses on basic service encapsulation. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Computer programming

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