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IEEE International Conference on Industrial Informatics (INDIN)

作者： Jiaxin Xu Cheng Ren Cailian Chen Yehan Ma Xinping Guan Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai P. R. China

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

During the flight control system testing (FCST), it is crucial to accurately measure the deflection angles of flight control surfaces to determine whether they respond precisely to commands. However, the traditional measurement method, which relies on the manual use of angle measuring rulers for inspections, is inefficient, prone to wear, and lacks precision. To address this issue, we introduce a vision-based angle measurement method for FCST that replaces manual measurements, thereby significantly enhancing testing efficiency and accuracy. Our proposed triangular mesh alignment based angle measurement algorithm (TMA-AM) is a non-contact measurement method that involves two key procedures, capturing 3D coordinates from images and calculating deflection angles. The TMA-AM algorithm converts deflected angles into angular differences between two coordinate systems, while accounting for the curved characteristics of control surfaces. We evaluate TMA-AM algorithm on a 3D-printed wing test platform and an aircraft wing test platform. Experimental results demonstrate that our method achieves high accuracy, with an average angular measurement error below 0.05 ○ .

关键词： Measurement errors system testing Three-dimensional displays Coordinate measuring machines Accuracy Heuristic algorithms Process control Aircraft Surface treatment Aerospace control

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Distributed Optimization of Heterogeneous Linear Multi-Agent systems with Unknown Disturbances

Distributed Optimization of Heterogeneous Linear Multi-Agent...

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IEEE Conference on Decision and control

作者： Mengmeng Duan Shanying Zhu Ziwen Yang Cailian Chen Xinping Guan Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we investigate the distributed optimization problem for heterogeneous linear multi-agent systems with unknown disturbances. By applying the primal-dual method and the time-scale separation technique, a distributed dynamic controller without using any disturbance information is proposed. Based on the optimal condition, the relationship between the optimal solution and the equilibrium point of the system is established, and it is shown that the distributed optimization problem is solved provided that the closed-loop system is stable. Then, inspired by the nonsingular perturbation analysis, it is proved that the closed-loop system is exponentially input-to-state stable with respect to the derivative of the disturbance. Numerical examples are provided to illustrate the theoretical results.

关键词： Perturbation methods Trajectory Closed loop systems Optimization Multi-agent systems

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Unilateral Payoff control is Infeasible in Network Attack-Defense Interactions

Unilateral Payoff Control is Infeasible in Network Attack-De...

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Chinese Automation Congress (CAC)

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

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Network resilience generally refers to the ability of a network to maintain normal operation in the face of various failures and disturbances, which has many applications in social, financial, communication, and transportation systems. There is a large amount of research on designing strategies to disrupt the network from the perspective of attack and to protect the network from the defense standpoint. However, attacks and defenses in the real world often occur simultaneously and repeatedly. The study of network resilience should not be limited to the structural characteristics but should consider the functional characteristics of the network. We develop a general game-theoretic framework to study attack-defense repeated interactions on complex net-works and examine the possibility of achieving precise control over the payoffs of attackers and defenders. Our findings reveal that neither the attacker nor the defender can unilaterally control their own payoff, the opponent's payoff, or any linear combination thereof. This work highlights the limitations of unilateral payoff control in real-world interaction scenarios, a consideration often overlooked in numerous theoretical studies.

关键词： Presses Interactive systems Stability criteria Transportation Games Power system stability Protection Game theory Faces Resilience

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Energy-Efficient Safety-Aware Scheduling of Real-Time control systems with Burst Tasks

Energy-Efficient Safety-Aware Scheduling of Real-Time Contro...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Ting Cheng Yonghui Liang Qimin Xu Shanying Zhu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

In industrial sites, multiple real-time control systems often share computing resources. However, burst computing tasks may lead to the random dropping of control computing subtasks, resulting in control failures and potential hazards. To address this issue, we propose an energy-efficient safety-aware task scheduling scheme based on mixed-integer programming. When burst computing tasks are triggered, this scheduling scheme adaptively releases resources from low-criticality control computing sub tasks and adjusts the processor speed based on the dynamic voltage and frequency scaling technology (DVFS), ensuring the timely completion of burst computing tasks and keeping the control system state deviation within a safe threshold. To achieve the scheduling scheme, we propose an efficient algorithm called EESASA. Simulation results show that EESASA can minimize the overall cost of control and processor energy while ensuring the safety of the control system and the timely completion of burst computing tasks.

关键词： Time-frequency analysis Job shop scheduling Costs Processor scheduling Process control control systems Dynamic scheduling Real-time systems Energy efficiency Voltage control

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H∞ Consensus control for High-Order Fully Actuated Multi-Agent systems with External Disturbances

H∞ Consensus Control for High-Order Fully Actuated Multi-Ag...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Qing-Hao Zhang Jun-Guo Lu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper investigates the problems of H ∞ consensus control for high-order fully actuated multi-agent systems (HOFAMASs) with external disturbances. By utilizing the characteristics of high-order fully actuated systems (HOFASs), the distributed control protocols are designed, eliminating all nonlinear characteristics of open loop systems while establishing new closed-loop dynamic characteristics. Then, the H ∞ consensus problems of HOFAMASs are addressed. The corresponding parameters to be designed in the distributed control protocols are given by using linear matrix inequalities (LMIs). A novel multi-spacecraft attitude model is proposed based on HOFASs. An illustrative example of the multi-spacecraft attitude model is given, in order to demonstrate the effectiveness and application of the results proposed in this paper.

关键词： Sufficient conditions Protocols Attitude control Open loop systems Consensus control Numerical models Linear matrix inequalities

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Modeling of All-Vanadium Redox Battery Based on Dual Stream Network with Attention Mechanism

Modeling of All-Vanadium Redox Battery Based on Dual Stream ...

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International Conference on Computer and Communications (ICCC)

作者： Jiajie Zhu Bo Yang Mingxuan Cai Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798331507077

ISBN: (纸本)9798331507084

Accurate voltage prediction for all-vanadium redox batteries (VRBs) affects the efficiency and safety of battery. In this paper, we propose a self-attention-based dual-stream neural network (SA-DSNN) model for voltage prediction under various working conditions. This approach independently processes temporal and condition data streams to reduce the noise interference. Using neural networks tailored to each of stream can more effectively extract intrinsic features. In particular, self-attention mechanisms are employed to enhance critical information. The features from both streams are fully integrated in output layer to generate final predictions. Experimental results indicate that the proposed method enhances the generalization and accuracy of VRBs model across different time scale.

关键词： Accuracy Neural networks Noise Voltage Interference Predictive models Redox Feature extraction Batteries Streams

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Digital Twin Enabled Flight control system Testing: A Physical-Virtual Mapping Experiment

Digital Twin Enabled Flight Control System Testing: A Physic...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Cheng Ren Cailian Chen Shanying Zhu Yehan Ma Xinping Guan Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai P. R. China

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

Flight control system testing (FCST) is one of the most important testing during aircraft final assembly, however, traditional testing method highly rely on manual labor, resulting in low testing quality and efficiency. Targeting at improving the testing quality and efficiency, in this paper, we apply digtial twin (DT) technology in the FCST process for the first time. A virtual experimental platform named DT-FCST is constructed which is identical to a real wing experimental platform, supporting testing elements management and physical-virtual mapping experiments. The development process of the DT-FCST platform is detailed. Several experiments are conducted to demonstrate the effectiveness of DT technology. Based on motion scripts integrating real-time data from the cockpit, the cockpit control sticks and flight control surfaces are driven to achieve consistency between physical and virtual motions. With the help of DT technology, the entire movement process of control sticks and flight control surfaces are mapped with high fidelity in the DT-FCST platform, greatly enhancing the testing efficiency and monitoring quality.

关键词： system testing Process control Manuals Real-time systems Aircraft Informatics Surface treatment Monitoring Testing Aerospace control

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Wireless/wired integrated transmission for industrial cyber-physical systems: risk-sensitive co-design of 5G and TSN protocols

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Science China(information Sciences) 2022年第1期65卷 56-71页

作者： Yajing ZHANG Qimin XU Xinping GUAN Cailian CHEN Mingyan LI Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management College of Computer Science Chongqing University

The growing popularity of intelligent manufacturing is driven by deterministic transmission demands of applications in industrial cyber-physical systems(ICPS). However, the ossified shortages of industrial wireless communication such as diverse quality of service(Qo S) and complex signaling processes incur a severe long tail of transmission delay distribution. As a solution, the 5 th generation(5 G) wireless communication technology provides ultra-reliable and low-latency communication(URLLC) for industry scenarios. Moreover, the newly proposed time-sensitive networking(TSN) standards guarantee the transmission determinacy by gate mechanism. In this paper, we propose a heterogeneous time-sensitive network(HTSN) co-designed by 5 G and TSN. We first develop a predictive multi-priority wireless scheduling mechanism based on semi-persistent scheduling(SPS) to reduce signaling delay by reserving resources in *** we propose an adaptive data injection mechanism for TSN based on per-stream filtering and policing(PSFP), which dynamically adjusts the priority of data for queue injection in TSN. To further reduce the long tail of delay, we employ a risk-sensitive learning method to improve the worst-case delay. Simulations on a hot rolling production scenario demonstrate that the proposed mechanisms under HTSN achieve great performance in terms of integrated delay and resource utilization.

关键词： industrial cyber-physical systems (ICPS) 5G-TSN co-design wireless/wired integrated network risk-sensitive reinforcement learning deterministic communication

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Skewed Pins Detection of Aviation Connectors Based on Multi-Modal Cooperative Perception

Skewed Pins Detection of Aviation Connectors Based on Multi-...

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Artificial Intelligence of Things and systems (AIoTSys), International Conference on

作者： Jiaming Li Cheng Ren Jiaxin Xu Yao Wang Hanlin Xu Xinping Guan Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai P. R. China

ISBN: (数字)9798331507886

ISBN: (纸本)9798331507893

Aviation electrical connectors are critically important components in electrical wiring interconnection systems. Currently, connector defect detection relies entirely on manual inspection, which is error-prone and time-consuming. Due to the unique structural characteristics of aviation connectors, single-modality sensors often struggle to simultaneously detect both pins and holes. To address this issue, we propose a 3D skewed pins detection (3D-SPD) algorithm that integrates both 2D and 3D modals features. Due to the low quality of the raw connector data, we propose a connector point cloud enhancement (CPCE) algorithm that combines multi-view point clouds for point cloud fusion enhancement. Based on enhanced data, we perform skewed pin detection. Experimental results indicate that CPCE and 3D-SPD are effective in detecting skewed pins, achieving an accuracy rate exceeding 99%. Our algorithm can be deployed as an AI assistant on the edge device for the skewed pin detection.

关键词： Connectors Point cloud compression Wiring Three-dimensional displays Accuracy Manuals Inspection Pins Artificial intelligence Defect detection

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GOGICP: A Real-time Gaussian Octree-based GICP Method for Faster Point Cloud Registration

GOGICP: A Real-time Gaussian Octree-based GICP Method for Fa...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Yu, Zhitao Yuan, Wei Zhao, Hengwang Zhuang, Hanyang Yang, Ming Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Jiao Tong University Global Institute of Future Technology Shanghai200240 China University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350372601

Point cloud registration algorithms are crucial for robot localization based on prior maps. Classical methods often struggle to achieve both high accuracy and real-time performance simultaneously, as these two goals can conflict. This limitation impedes the application of point cloud registration in high-speed scenarios, such as the LiDAR localization of fast-moving robots, where both precision and real-time capabilities are essential. This paper proposes a real-time Gaussian Octree-based Generalized Iterative Closest Point (GICP) method, which leverages the censoring properties of the Gaussian Octree to expedite the nearest neighbor search and incorporates an incremental calculation of the Gaussian distribution to hasten the tree-building process. Experimental results show that the proposed method can achieve a 61.8% improvement in speed over GICP while maintaining accuracy comparable to that of GICP. The average registration accuracy is up to 5 cm, with an angular error of less than 0.2°, and the average registration time for a single frame is 77 ms, which satisfies the demands of practical application scenarios. © 2024 IEEE.

关键词： Gaussian distribution

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