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2020 Global Reliability and Prognostics and Health Management, PHM-Shanghai 2020

作者： Sun, Yue Xu, Aidong Wang, Kai Jia, Shuli Guo, Haifeng Han, Xiaojia Laboratory of Industrial Control Network and System State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Shenyang China Automation Engineering Department Shanghai Marine Diesel Engine Research Institute Shanghai China

ISBN: (纸本)9781728159454

Diesel engine is an important energy equipment. The valve system is the core component of diesel engine with high failure rate. It is of great significance to study the abnormal detection method of the diesel engine valve system and realize the failure warning before the failure occurs for avoiding the unexpected shutdown of the diesel engine. In this paper, an anomaly detection method of marine diesel engine valve system based on Mahalanobis distance (MD) is proposed. The failure mode of diesel engine system is analyzed. Three thermal parameters are selected as monitoring parameters for the failure mode of roller fragmentation. Fault features are extracted by MD method and the failure threshold is determined by Box-Cox transformation. Finally, the effectiveness of the proposed method is verified by the durability test of diesel engine. © 2020 IEEE.

关键词： Diesel engines

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Modeling of Shape Memory Alloy Actuated System Using a Modified Rate-dependent Prandtl-Ishlinskii Hysteresis Model

Modeling of Shape Memory Alloy Actuated System Using a Modif...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Mingwei Liang Ying Feng School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Shape memory alloys (SMAs) are widely used as actuators to construct various robotics systems, such as, minimally invasive surgery robots, micro in-pipe robots and biomimetic micro robots. However, the nonlinear hysteresis behaviors in SMA actuators seriously degrade the control accuracy and desired performances of SMA-actuated control systems. In this paper, an experimental platform based on SMA actuator is conducted. To make the platform capable of achieving precise control, the complex hysteresis characteristics of the SMA actuators are studied. The SMA actuator in this study exhibits complicated nonlinear properties with saturation nonlinearity and asymmetric hysteresis influenced by both the duty cycle of the input voltage and the load mass, which are different from the classical rate-dependent hysteresis behaviors. To explore the nonlinear properties of the SMA actuated system, open-loop experiments under different duty cycles and loads are testified, and a modified Rate-dependent Prandtl-Ishlinskii (RDPI) model is developed to enhance modeling abilities. Fitting effects of the modified RDPI model is validated by the comparison between the modeling output and experimental data.

关键词： Hysteresis Load modeling Robots Actuators Wires Parameter estimation Heat transfer

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Development and initial experiments of an intelligent dual-arm mobile robot - Baymax-I

Development and initial experiments of an intelligent dual-a...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Liu, Wei Wang, Haitao Wang, Rui Wen, Dayong Lu, Tao Wang, Shuo Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China University of Chinese Academy of Sciences Beijing100049 China CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai200031 China

ISBN: (纸本)9781665436786

This paper addresses the design and control of an intelligent dual-arm mobile robot named Baymax-I. The mechanism design of Baymax-I is based on modular concepts, which is mainly composed of three parts, including main body, dual-arms and a mobile chassis. The main body is designed as human-like structure, carrying multiple sensors. UR3 manipulators are adopted as two arms. Each manipulator has six degrees of freedom. A two-finger grip pawl is mounted on the end of each manipulator. A MIR mobile chassis drives the Baymax-I motion with high maneuverability. As for software systems, the robot is designed based on hierarchical structure. The bottom driving layer is used to perform specific movements. The middle layer is responsible for processing sensor data. The top layer is algorithm execution layer. In the end, three experiments including SLAM, pressing the elevator and opening the fridge are presented to verify the feasibility and effectiveness of the proposed system design and control methods of the Baymax-I robot. © 2021 IEEE.

关键词： Mobile robots

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An Accelerated Iterative Learning control Approach for X-Y precision plane motion stage

An Accelerated Iterative Learning Control Approach for X-Y p...

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作者： Tao Zhang Hongyu Yan Danping Jia Hualiang Zhang Bingjie Zhao Xu Lu Yang Liu 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 School of Electrical Engineering Dalian University of Technology School of Artificial Intelligence Shenyang University of Technology School of Information Science and Engineering Shenyang University of Technology

X-Y precision plane motion stage is widely used in precision motion control fields such as lithography machine workpiece stage,CNC machine tool,Laser measuring system,etc.,which requires high accuracy of the position *** X-Y precision plane motion stage uses two permanent magnet linear synchronous motors(PMLSM) as drivers to drive the motion table to perform XY two-degree-of-freedom *** open-closedloop PD-type iterative learning controller(ILC) approach based on accelerated convergence was proposed to improve trajectory tracking performance of *** interval was changed by real-time correction of the exponential gain matrix in the interval to accelerate the convergence *** to the λ norm,the monotone convergence of the proportion differentiation(PD) was developed for the *** controller consists of two terms:a PID controller which enhances robustness to disturbances and system parameter variability and an ILC which generally improves the performance in the repetitive tasks by using the information from previous *** experimental results show that tracking precision and convergence speed of PMLSM can be effectively improved by the scheme.

关键词： X-Y precision plane motion stage Iterative learning control tracking precision convergence rate

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Fault Diagnosis Based on RseNet-LSTM for Industrial Process

Fault Diagnosis Based on RseNet-LSTM for Industrial Process

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IEEE Advanced Information Technology, Electronic and Automation control Conference (IAEAC)

作者： Peifu Yao Shaojie Yang Peng Li China Copper Co.LTD Kunming China 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 University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728180281

ISBN: (纸本)9781728180298

Aiming at the problems that conventional data-driven diagnosis methods are difficult to adaptively extract effective features from industrial process data, and do not make full use of the time series characteristics of process data, in this paper, a fault diagnosis method based on residual convolutional neural networks and long short-term memory networks (ResNet-LSTM) is developed. Firstly, the local spatial features of process data are captured by the deep residual convolution network. Then, the time series characteristics of process data are extracted by LSTM. Finally, the output of the fault category is performed through the softmax classifier. This method can extract features adaptively, more fully extract features in time series fault data, and effectively reduce the difficulty of deep neural network training. The benchmark Tennessee-Eastman (TE) process is used to validate performance of the proposed method. The ResNet-LSTM model is compared with the CNN, LSTM, ResNets, CNN-LSTM models, and the experiment results show that the ResNet-LSTM method achieves better performance.

关键词： Fault diagnosis Training Time series analysis Neural networks Process control Feature extraction Data mining

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Fault Diagnosis Based on Multi-scale LSTM-FCNs for Industrial Process

Fault Diagnosis Based on Multi-scale LSTM-FCNs for Industria...

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Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), CAA Symposium on

作者： Shaojie Yang Peng Li Shuai Li Xiaofeng Zhou Shanghong Jiang Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Information Center of Ansteel Mining Limited Company Anshan China

ISBN: (纸本)9781665401166

Aiming at the characteristics of multi-scale, time series and nonlinear of the complex industrial process data, in order to extract process information more efficiently for improving the diagnosibility, a novel fault diagnosis method based on multi-scale long short term memory- fully convolutional networks (LSTM-FCNs) for industrial process is proposed. Firstly, variational mode decomposition (VMD) is used to obtain the multi-scale components of the process data. Then a parallel LSTM and FCNs optimized by batch normalization and random inactivation is built to extract features for each component. Finally, based on the fusion of multi-scale features, a fully connected layer is used for diagnosis. The LSTM-FCNs method is evaluated by the Tennessee Eastman (TE) benchmark industrial process, and compared with other methods, its effectiveness and superiority are verified.

关键词： Fault diagnosis Fault detection Time series analysis Benchmark testing Feature extraction Safety Data mining

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Fluid pumping by liquid metal droplet utilizing ac electric field

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Physical Review E 2022年第2期105卷 025102-025102页

作者： Chun-Lei Song Ye Tao Wei-Yu Liu Yi-Cheng Chen Rui Xue Tian-Yi Jiang Biao Li Hong-Yuan Jiang Yu-Kun Ren State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Engineering and Applied Sciences and Department of Physics Harvard University Cambridge Massachusetts 02138 USA School of Electronics and Control Engineering Chang'an University Xi'an 710000 China School of Energy Science and Engineering Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We report a unique phenomenon in which liquid metal droplets (LMDs) under a pure ac electric field pump fluid. Unlike the directional pumping that occurs upon reversing the electric field polarity under a dc signal, this phenomenon allows the direction of fluid motion to be switched by simply shifting the position of the LMD within the cylindrical chamber. The physical mechanism behind this phenomenon has been termed Marangoni flow, caused by nonlinear electrocapillary stress. Under the influence of a localized, asymmetric ac electric field, the polarizable surface of the position-offset LMD produces a net time-averaged interfacial tension gradient that scales with twice the field strength, and thus pumps fluid unidirectionally. However, the traditional linear RC circuit polarization model of the LMD/electrolyte interface fails to capture the correct pump-flow direction when the thickness of the LMD oxide skin is non-negligible compared to the Debye length. Therefore, we developed a physical description by treating the oxide layer as a distributed capacitance with variable thickness and connected with the electric double layer. The flow profile is visualized via microparticle imaging velocimetry, and excellent consistency is found with simulation results obtained from the proposed nonlinear model. Furthermore, we investigate the effects of relevant parameters on fluid pumping and discuss a special phenomenon that does not exist in dc control systems. To our knowledge, no previous work addresses LMDs in this manner and uses a zero-mean ac electric field to achieve stable, adjustable directional pumping of a low-conductivity solution.

关键词： Electrokinetic flows Interfacial flows Surface tension effects Lagrangian particle tracking

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Adaptive Backstepping control for Piezoelectric Micro Actuating System with Input Saturation

Adaptive Backstepping Control for Piezoelectric Micro Actuat...

引用

International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Ying Li Ying Feng School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Piezoelectric actuators have been attached more importance in the field of high-precision micro actuating due to their excellent performance. However, the presence of the hysteresis nonlinearity and input saturation problems in this smart material actuators have caused adverse effects on their performance, including reduced operational accuracy and damage to the actuators. To eliminate the negative effects of hysteresis and compensate for input saturation, an adaptive backstepping controller with an anti-windup auxiliary compensation system is developed in this paper. The proposed approach shows good tracking performance for the piezoelectric micro actuating system introducing, which also proves that the anti-windup technology can handle the input saturation effects well.

关键词： Hysteresis Piezoelectric actuators Adaptation models Backstepping Adaptive systems

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Practical fractional-order variable-gain super-twisting control with application to wafer stages of photolithography systems

arXiv

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arXiv 2021年

作者： Kuang, Zhian Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Mechanical Control System Lab Mechanical Engineering Department University of California BerkeleyCA94720 United States

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface (FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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Discernibility of topological variations for networked LTI systems based on observed output trajectories

arXiv

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arXiv 2022年

作者： Hao, Yuqing Wang, Qingyun Duan, Zhisheng Chen, Guanrong Department of Dynamics and Control Beihang University Beijing100191 China State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China Department of Electronic Engineering City University of Hong Kong Hong Kong

In this paper, the possibility of detecting topological variations by observing output trajectories from networked linear time-invariant systems is investigated, where the network topology can be general, but the nodes have identical higher-dimensional dynamics. A necessary and sufficient condition on the discernibility of topological variations is derived, in terms of the eigenspaces of the original and the modified network configuarations. By taking the specific network structures into consideration, some lower-dimensional conditions are derived, which reveal how the network topologies, sensor locations, node-system dynamics and output, as well as inner interactions altogether affect the discernibility. Furthermore, the output discernibility of topological changes for networked multi-agent systems is revisited, showing that some criterion reported in the literature does not hold. Consequently, a modified necessary and sufficient condition is established. The effectiveness of the results is demonstrated through several examples. © 2022, CC BY-NC-ND.

关键词： Network topology

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