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Chinese Automation Congress (CAC)

作者： Fuchun Liu Yonghao Long Hongbo Zhou School of Automation Science & Engineering The Key Laboratory of Autonomous Systems and Networked Control(ASNC) Ministry of Education South China University of Technology Guangzhou China School of Mechanical Engineering Hunan Institute of Science and Technology Yueyang China

The automation and coordination of vehicle has provided novel development opportunities for both the improvement of traffic efficiency and the efficiency and safety of vehicles within the platoon so that the research of related technology had becoming more and more popular. In this paper, we evaluate five traditional vehicle platoon auto-driving control algorithms in the sinusoidal scenario with disturbance. The simulation is realized in the PLEXE, which is an extension of the widespread vehicle network simulator Veins that allows the visually realistic simulation of platooning systems(i.e., automated car-following) and the analysis of mixed scenarios. For disturbance model in sinusoidal scenario, Gaussian noise is leveraged, which is a common disturbance of all kinds of system. Simulations' results indicate that, when the leader in the platoon driving with sinusoidal velocity with disturbance, Flatbed algorithm proposed by A. Ali, G. Garcia, and P. Martinet has higher stability and Anti-interference ability than the other four control algorithms. In addition, even under violent interference, this control law can maintain string stability (significant for platoon automation)and consistency of the platoon operations, such as consistent velocity and constant inter-vehicle gaps.

关键词： Automobiles Acceleration Stability analysis autonomous vehicles Cruise control Safety

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Simultaneous dynamic controller and anti-windup synthesis for systems with sector-bounded and slope restrictions

Simultaneous dynamic controller and anti-windup synthesis fo...

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Chinese control Conference (CCC)

作者： Naizhou Wang Hailong Pei Lianwen Jin Tiancai Liang School of Electronic and Information Engineering South China University of Technology Guangzhou P. R. China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou P. R. China GRG Banking Intelligent Security Research Institute Guangzhou P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

This paper presents new techniques for construction of dynamic output feedback controllers with a static anti-windup compensator for a class of saturated systems with sector-bounded and slope-restricted nonlinearities. To handle the slope restriction, a so-called differential compensator is incorporated into the traditional nonlinear controller. Considering its sector-bounded property and convex-hull representation, respectively, two LMI-based synthesis methods are proposed to address the problems of the estimates of the region of attraction (ROA) and £ 2 performance analysis of the closed-loop system. A numerical example illustrates the effectiveness of the proposed approaches.

关键词： Linear matrix inequalities Closed loop systems Electronic mail Output feedback Actuators Nonlinear systems Vehicle dynamics

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Optimal Feature Selection for EMG-Based Finger Force Estimation Using LightGBM Model

Optimal Feature Selection for EMG-Based Finger Force Estimat...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Yuhang Ye Chao Liu Nabil Zemiti Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Department of Robotics LIRMM CNRS-University of Montpellier Montpellier France Bristol Robotics Laboratory University of the West of England Bristol UK

Electromyogram (EMG) signal has been long used in human-robot interface in literature, especially in the area of rehabilitation. Recent rapid development in artificial intelligence (AI) has provided powerful machine learning tools to better explore the rich information embedded in EMG signals. For our specific application task in this work, i.e. estimate human finger force based on EMG signal, a LightGBM (Gradient Boosting Machine) model has been used. The main contribution of this study is the development of an objective and automatic optimal feature selection algorithm that can minimize the number of features used in the LightGBM model in order to simplify implementation complexity, reduce computation burden and maintain comparable estimation performance to the one with full features. The performance of the LightGBM model with selected optimal features is compared with 4 other popular machine learning models based on a dataset including 45 subjects in order to show the effectiveness of the developed feature selection method.

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Design of a control Platform for Mobile Robot with SSVEP-BCI system

Design of a Control Platform for Mobile Robot with SSVEP-BCI...

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IEEE Conference on Cybernetics and Intelligent systems

作者： Yang Liu Xinyang Li Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Hammersmith Campus Imperial College London National Heart and Lung Institute London Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728134581

ISBN: (纸本)9781728134598

This paper introduces a control platform based on brain-computer interface(BCI) for the mobile robot. The proposed platform consists of three parts: Path Planning, SSVEP-BCI and Mobile Robot control. The path planning part aims to seek an optimal path out from the starting point to the target point, which is denoted as A* algorithm in this work. The found path is shown to the user who determines the actual movement direction using SSVEP-BCI. The signal is sent to the mobile robot to control the movement of the robot. In the BCI part, the collected EEG signals are analyzed with the CCA method to obtain the homologous control signals. The mobile robot is required to complete the movement from the initial point to the destination without collision. The platform is evaluated with an off-line experiment with 4 subjects and the off-line analysis shows the feasibility of the proposed platform.

关键词： Mobile robots Visualization Electroencephalography Path planning Heuristic algorithms Frequency modulation

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Monitoring of Ash Deposition on the Heated Surface of the Economizer of Boiler in Coal-Fired Power Station

Monitoring of Ash Deposition on the Heated Surface of the Ec...

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第30届中国过程控制会议（CPCC 2019）

作者： CAO-Chao CHEN-Xin WANG-Jingcheng SHI-Yuanhao Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University School of Electrical and Control Engineering North University of China

The problem of ash and slagging on the heating surface of coal-fired power station boilers has always existed in the production and operation process of modern coal-fired power *** smog and slagging on the heated surface will not only cause the heat exchange efficiency to deteriorate, but also cause safety accidents such as corrosion of the heated surface and tube *** order to solve this problem, it is necessary to monitor the ash deposition of the boiler heating surface and develop a pollution degree standard for the soot blowing *** paper presents a monitoring model based on the ash deposition of the economizer heating surface of a coal-fired power station *** the boiler of 600 MW generator set of a power plant in Jiaxing, Zhejiang as the research object, the measured data obtained by the on-site DCS, then the wavelet denoising process, and then the thermodynamic formula is used to calculate the ash pollution factor which can characterize the degree of ash deposition on the heated surface of the *** experimental results prove the validity of the above model and have important significance for the later research on intelligent soot blowing operation

关键词： Coal-fired power plant boiler Economizer Ash deposition Monitoring model,Cleanliness factor

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Multi-Object Selective Assembly Based on Hybrid Particle Swarm Algorithm

Multi-Object Selective Assembly Based on Hybrid Particle Swa...

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第37届中国控制会议

作者： Liu Weidong Liu Haiming Guo Jinhui Key laboratory of autonomous systems and networked control Ministry of education South China university of technology

Considering the batch assembly with multiple function requirements（FR）, the multi-object selective assembly（SA） technology based on the hybrid particle swarm algorithm is introduced in this paper. Firstly, the SA model is discussed, and a multi-object optimization problem is illustrated based on the assembly chains;additionally, the hybrid particle swarm algorithm is used to solve the multi-object selective assembly problem. The matching matrix of batch parts is designed as the particle. The local non-inferior particles and the global non-inferior particles of each iteration population are calculated. The particle population is update by crossover and mutation operations. After all the iterations, the final global non-inferior particles are selected as the matching strategy of batch parts. Based on the optimized matching strategy, the assembly success rate is calculated, and each assembly accuracy and its precision is guaranteed. The process of multi-object SA based on hybrid particle swarm algorithm is introduced, and an example of batch cabin sections are illustrated to obtain the optimized matching strategy of batch parts. Contrasted to the sequential strategy and the random strategy, it can find that the multi-object SA method based on hybrid particle swarm algorithm has advantage in guaranteeing the assembly success rate, and comprehensively decreasing each assembly accuracy.

关键词： multi-object selective assembly hybrid particle swarm algorithm assembly chain non-inferior particles matching strategy of batch parts

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Hand Tracking Accuracy Enhancement by Data Fusion Using Leap Motion and Myo Armband

Hand Tracking Accuracy Enhancement by Data Fusion Using Leap...

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International Conference on Unmanned systems and Artificial Intelligence

作者： Jingxiang Chen Chao Liu Rongxin Cui Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China LIRMM CNRS-University of Montpellier France School of Marine Engineering Northwestern Polytechnical University Xi'an China Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

In this paper, by using the combination of Leap Motion and Myo armband, two methods for hand tracking and online hand gesture identification are proposed. With the proposed methods, We have improved the measurement accuracy of the palm direction and solved the problem of insufficient accuracy when the palm is at the limit of the measurement range. We use the Kalman filter algorithm and the neural network classification method to process the data measured by Leap Motion and Myo, so that the tracking of the operator's hand gesture is more accurate and robust even when the hand is at positions close to the measurement limit of one single sensor. The methods, which improve the hand tracking accuracy, can be used for robotic control, demonstration or teleoperation. The effectiveness of the proposed methods has been demonstrated through comparative experiments.

关键词： Leap Motion Myo sensor fusion hand tracking hand guesture identification Sensor fusion Hand arm band Data fusion tracking accuracy distance measurement improving precision accuracy of measurement Classification Methods Gestures data integration

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Simultaneous identification of velocity and water depth of linear water waves

Simultaneous identification of velocity and water depth of l...

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第三十八届中国控制会议

作者： Yang Yu Hai-Long Pei Cheng-Zhong Xu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong College of Automation Science and Engineering South China University of Technology LAGEP Batiment CPE University Claude Bernard-Lyon 1

In this paper, we propose an algorithm of identification in order to simultaneously estimate the velocity of water waves and the water depth in coastal region. We assume that the motion of water waves is described by linearized water wave equation(LWWE) and the surface wave elevation is measurable. Based on the gradient descent method, we design an algorithm of identification to recover simultaneously both the velocity of water waves and the water depth. Numerical simulations are carried out to show the effectiveness of the algorithm.

关键词： LWWE infinite dimensional system water depth velocity gradient descent method

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Water supply prediction based on initialized attention residual network

arXiv

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arXiv 2019年

作者： Long, Yuhao Wang, Jingcheng Wang, Jingyi Automation Department Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University Xi'an Shaanxi710021 China

Real-time and accurate water supply forecast is crucial for water plant. However, most existing methods are likely affected by factors such as weather and holidays, which lead to a decline in the reliability of water supply prediction. In this paper, we address a generic artificial neural network, called Initialized Attention Residual Network (IARN), which is combined with an attention module and residual modules. Specifically, instead of continuing to use the recurrent neural network (RNN) in time-series tasks, we try to build a convolution neural network (CNN) to recede the disturb from other factors, relieve the limitation of memory size and get a more credible results. Our method achieves state-of-the-art performance on several datasets, in terms of accuracy, robustness and generalization ability. Copyright © 2019, The Authors. All rights reserved.

关键词： Water supply

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Joint Beam Guardrail Detection and Tracking by Lidar for Real-Time Applications

Joint Beam Guardrail Detection and Tracking by Lidar for Rea...

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Chinese Automation Congress (CAC)

作者： Hao Zhu Fangrong Chen Bin Guo Automotive Electronics and Embedded System Engineering Research Center Chongqing University of Posts and Telecommunications Chongqing China Automotive Electronics and Embedded System Engineering Research Center and Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education College of Automation Chongqing University of Posts and Telecommunications Chongqing P. R. China

This paper presents a robust and real-time guardrail detection and tracking algorithm, based on the three-dimensional information obtained from lidar sensor. Height feature and corner feature are used to extract guardrail feature points out in guardrail detection process, while a cluster method is used to filter the useless guardrail points. Furthermore, an adaptive region of interest (AROI) is proposed to improve the efficiency and accuracy of the detection algorithm. To determine the boundary of AROI, an improved Kalman filter algorithm is proposed to track the feature point set on both sides of the road at the same time in each frame. The whole system works in real-time and achieves detection accuracy above 96% on a test database.

关键词： Feature extraction Laser radar Clustering algorithms Radar tracking Roads Prediction algorithms Real-time systems

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