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arXiv 2024年

作者： Yin, Zhong Pei, Hailong Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems South China University of Technology Guangzhou510640 China

In recent years, research on aerial grasping, manipulation, and transportation of objects has garnered significant attention. These tasks often require UAVs to operate safely close to environments or objects and to efficiently grasp payloads. However, current widely adopted flying platforms pose safety hazards: unprotected high-speed rotating propellers can cause harm to the surroundings. Additionally, the space for carrying payloads on the fuselage is limited, and the restricted position of the payload also hinders efficient grasping. To address these issues, this paper presents a coaxial ducted fan UAV which is equipped with electromagnets mounted externally on the fuselage, enabling safe grasping and transfer of multiple loads in midair without complex additional actuators. It also has the capability to achieve direct human-UAV cargo transfer in the air. The forces acting on the loads during magnetic attachment and their influencing factors were analyzed. An ADRC controller is utilized to counteract disturbances during grasping and achieve attitude control. Finally, flight tests are conducted to verify the UAV’s ability to directly grasp multiple loads from human hands in flight while maintaining attitude tracking. © 2024, CC BY.

关键词： Unmanned aerial vehicles (UAV)

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A Semisupervised Soft-Sensor of Just-in-Time Learning With Structure Entropy Clustering and Applications for Industrial Processes Monitoring

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2023年第4期4卷 722-733页

作者： Li, Dong Liu, Yiqi Huang, Daoping Xu, Chong South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering Guangzhou510640 China Technical University of Denmark Process and Systems Engineering Center Department of Chemical and Biochemical Engineering Lyngby2800 Denmark South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Gannan Normal University School of Physics and Electronic Information Ganzhou341000 China

To monitor industrial processes properly, soft-sensors are widely used to predict significant but difficult-to-measure quality variables. However, the prediction performances of traditional data-driven soft-sensors are usually unacceptable once suffering from high-nonlinear, high-dimension, and imblance data issues. Therefore, a semisupervised soft-sensor, which is learned by a just-in-time method with structure entropy clustering (SS-JITL-SEC), is proposed aiming to improve prediction performance with a simpler way. Inspired by a divide and conquer strategy, a novel SEC method is proposed to achieve several clusters and then to translate the highly complex and nonlinear modeling problems into simple and linear ones. Moreover, the training dataset is extended through a mixed SS labeling approach. Finally, dissimilarity-based JITL works together with the resulting clustering subdatasets to formulate a local adaptive prediction model. Two datasets from different types of wastewater treatment plants are used to verify the effectiveness of the proposed soft-sensor. The results show that the SS-JITL-SEC soft-sensor can achieve better prediction performance than other standard counterparts, and even for effective process monitoring with the resulted residuals. © 2020 IEEE.

关键词： Entropy

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Predefined Time Attitude control for Quadrotor UAV with Output Constraints and Input Saturation

Predefined Time Attitude Control for Quadrotor UAV with Outp...

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Chinese Automation Congress (CAC)

作者： Shuo Li Hailong Pei Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems College of Automation Science and Enginneering South China University of Technology Guangzhou China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems School of Automation Science and Enginneering South China University of Technology Guangzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

In this paper, we examine the predefined time flight control of a quadrotor UAV with output constraints and input saturation. The attitude tracking error of UAV is constrained by the tan-type barrier Lyapunov function. The undesirable effects of the saturated input limitations are addressed by introducing an auxiliary system. Then a predefined time tracking control strategy is designed and the stability of the scheme is analyzed. Eventually, the simulation results show the method allows the angular tracking error to converge to the specified range in a predefined time.

关键词： Backstepping Automation Attitude control Simulation autonomous aerial vehicles Stability analysis Quadrotors Lyapunov methods

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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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Multi-Objective Hybrid Energy Storage Optimization Configuration Model for Reducing Thermal Power Frequency Modulation Loss

Multi-Objective Hybrid Energy Storage Optimization Configura...

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2023 International Conference on Power system Technology, PowerCon 2023

作者： Li, JunHui Zhao, ZhenZhuo Zhao, ZhiQiang Liu, HaoJun Li, CuiPing Li, Zhi Jia, CaiQi Zhu, XingXu Northeast Electric Power University Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education Jilin132012 China State Grid Hami Power Supply Company Xinjiang Uygur Autonomous Region HaMi Hami839000 China

ISBN: (纸本)9798350300222

The TPU (Thermal Power Unit) equipped with HESS (Hybrid Energy Storage system) can effectively increase of FM (Frequency Modulation) performance of the unit and decrease the FM loss of the thermal power unit. The difficulty of rational allocation of ES (Energy Storage) is how to improve the FM performance of TPU and reduce the life cycle cost of ES. Therefore, the paper establishes a multi-objective hybrid energy storage optimization configuration model aimed at reducing the FM loss of thermal power. Firstly, a double-layer control policy of thermal power-hybrid energy storage is proposed. The first layer is the thermal power-hybrid energy storage AGC instruction allocation strategy based on EMD (Empirical Mode Decomposition). The second layer is a hybrid energy storage control strategy with flywheel ES priority action and lithium battery second response. Then, a multi-objective optimal configuration model considering the difference between life cycle cost and benefit and AGC comprehensive evaluation index Kp is established. It uses the multi-objective PSO (Particle Swarm Optimization) algorithm based on TOPSIS (Technique for Order Preference by Similarity to an Ideal Solution) to solve the model, which can avoid contingency of traditional multi-objective PSO in determining optimum solution in the Pareto solution set. Finally, based on the simulation analysis of power plant operation data in North China, the results verify the availability and feasibility of the established model. © 2023 IEEE.

关键词： Frequency modulation

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Line Feature Based Visual Servo control with TDE for Underwater Vehicle Manipulator systems Target Grasping

Line Feature Based Visual Servo Control with TDE for Underwa...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Yunfei Zhang Xinyu Bian Yize Sun Zongyu Zhang Hai Huang Xu Yang National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350384185

ISBN: (纸本)9798350384192

Underwater vehicle manipulator systems (UVMSs) is becoming a research hotspot in the field of marine intelligent equipment. Introducing visual feedback equipped with cameras in the loop to guide UVMS to complete the grasping has comprehensive advantages of response speed, work efficiency and intelligence. In this paper, mapping between the feature error and the motion of the UVMS generalized degrees of freedom is established to realize the suspended grasping under the coordinated motion of the vehicle body and the manipulator. Then, a UVMS motion control algorithm based on time delay estimation (TDE) is constructed for visual servo autonomous grasping process, the TDE of which is used to estimate and compensate the lumped interference in real time. The Lyapunov theory is applied to analyze its stability and its control performance is verified through simulation experiments. The simulation results shew the effectiveness of the proposed visual servo control with TED method based on line features.

关键词： Visualization Heuristic algorithms Dynamics Estimation Grasping Stability analysis Servomotors Vehicle dynamics Underwater vehicles Manipulator dynamics

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Heuristic Task Allocation Method for Heterogeneous Lunar Robots under Dynamic Resource Cost

Heuristic Task Allocation Method for Heterogeneous Lunar Rob...

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2024 IAF Space Operations Symposium at the 75th International Astronautical Congress, IAC 2024

作者： Xu, Rui Zhou, Junhui Li, Zhaoyu Zhu, Shengying Pan, Bo Zhao, Zhijun Yu, Dengyun School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China Beijing Institute of Spacecraft System Engineering Beijing100094 China China Aerospace Science and Technology Corporation Beijing100048 China

ISBN: (纸本)9798331312183

China, in collaboration with multiple countries, is preparing to construct a long-term, independently operated international lunar research station on the surface of the moon in the coming years. The construction of an unmanned lunar research station requires the collaboration of diverse and heterogeneous lunar robots to successfully carry out missions. Task allocation for heterogeneous lunar robots is a crucial technical requirement, focusing on constructing evaluation matrix, designing optimization objective functions, and developing algorithms for optimization matching. The state changes during the execution of tasks by robots result in different resource costs for completing other task goals compared to the initial resource costs. Therefore, one of the major challenges in task allocation for multi-robot systems is effectively managing dynamic resource costs during the construction of evaluation matrix (and subsequent optimization based on the matrix). However, the current approach tends to calculate static cost without considering cost changes during task execution, which deviates from standard engineering practices. Instead, the primary contribution of this paper lies in designing a heuristic algorithm capable of optimizing task allocation outcomes while accounting for the dynamic changes in resource costs incurred during goal achievement. In this paper, we propose a heuristic task allocation method for heterogeneous lunar robots under dynamic resource cost. Given a multi-robot cooperative task, our method firstly constructs a task allocation model based on robotic capability and task resource consumption. Next, based on relaxation planning graph, the resource cost for each lunar rover to complete all task goals is calculated, and the cost of transitioning between different goal states is estimated (to efficiently update the resource cost of completing each goal as the lunar rover's state changes). Subsequently, the evaluation matrix is constructed. Then, a heu

关键词： Multipurpose robots

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Design and Implementation of a Group control Communication system for Intelligent Rubber Tapping Robots 42

Design and Implementation of a Group Control Communication S...

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42nd Chinese control Conference, CCC 2023

作者： Liu, Fuchun Jiang, Dong Chen, Xiaoyang Chen, Xujian Huang, Shengfeng School of Automation Science and Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong Guangzhou510640 China Beijing Normal University Hong Kong Baptist United International College ZhuHai519087 China

ISBN: (纸本)9789887581543

With the development and promotion of electric rubber tapping equipment, China has gradually mechanized rubber tapping, but the degree of automation could be higher. This paper designs an intelligent rubber tapping remote monitoring system based on Internet of Things(IoT) technology that is applied to single-motor driven rubber tapping robots and uploads the status data of robots in the rubber plantation to the cloud database for storage, data analysis, and display in the backend management system in order to realize the intelligent and digital upgrade of rubber tapping robots. It can achieve remote group control of the robots in the rubber plantation at the same time using a cloud-based human-machine interface. The system consists of a terminal electronic control subsystem, a communication subsystem, and a cloud-based backend management system. This system uses LoRa RF technology and Narrowband IoT(NBIoT) technology to design a star-shaped network to connect the robots to the cloud for unified management and provide data support for later tapping decisions. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Rubber

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A Novel Fractional-Order Model of Medium-Frequency Respiratory Impedance 17

A Novel Fractional-Order Model of Medium-Frequency Respirato...

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17th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, CISP-BMEI 2024

作者： Wang, Hongwei Li, Bin Mo, Hongqiang Xu, Yuanda Xu, Zhaoxiang Xie, Yanqing School of Automation Science and Engineering South China University of Technology Guangzhou510640 China South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China Guangzhou Medical University The First Affiliated Hospital Department of Critical Care Medicine Guangzhou510120 China Guangzhou Medical University The First Affiliated Hospital Guangzhou510080 China

ISBN: (纸本)9798331507398

Respiratory impedance in the medium-frequency range reflects the dynamic properties of airways and lung tissues, and plays an important role in the early diagnosis of pulmonary diseases. Fractional-order models can characterize complex dynamics with fewer parameters compared to integer-order models, and have been used to represent the medium-frequency characteristics of the respiratory impedance. There have been multiple fractional-order models, but there is no consensus on which model is most reasonable. This paper proposes a novel fractional-order model, which consists of a viscous resistance, an inertia resistance, and an elastic resistance. Unlike existing models, in the proposed model, the inertial resistance is represent with a fractional-order term, while the other two resistances are represent with integer-order terms. The proposed model was employed to represent the medium-frequency respiratory impedance determined by appling impulse oscillometry to 8 healthy subjects. The results in terms of fitting error and determination coefficient indicate that the proposed model fits the data well. Furthermore, when examining the variation of the parameters of the model over time, the results indicate that the parameters are highly correlated with tidal volume. However, the parameters of other existing fractional-order models did not exhibit this correlation. © 2024 IEEE.

关键词： Lung cancer

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Train Safety control Based on Deep Deterministic Policy Gradient with control Barrier Function 21

Train Safety Control Based on Deep Deterministic Policy Grad...

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21st International Conference on Networking, Sensing and control, ICNSC 2024

作者： Wang, Guoteng Lv, Jidong Liu, Hongjie Chai, Ming Tang, Tao Zhang, Wentao School of Automation and Intelligence Beijing Jiaotong University Beijing China Beijing Jiaotong University National Engineering Research Center of Rail Transportation Operation and Control System Beijing China Beijing Jiaotong University State Key Laboratory of Advanced Rail Autonomous Operation Beijing China Beijing Zhengshi Environmental Engneering Company Beijing China

ISBN: (纸本)9798350365221

Train Relative Distance Braking Mode (RDBM) has great potential to increase line capacity by enabling shorter following distances based on train-to-train communication in-formation. However, it is difficult for traditional train control methods to ensure avoidance of potential collision risks in RDBM while dealing with the nonlinearity and uncertainty of train dynamics. In this paper, a novel train safety control method combining Deep Deterministic Policy Gradient (DDPG) and control Barrier Function(Cbf)is proposed. Firstly, the safety constraint set for adjacent trains, considering their braking capabilities, is analyzed, and the uncertainty of train dynamics is modeled using a Gaussian process. Secondly, DDPG is used to explore the optimal control strategy under the action of uncertain train dynamics, and CBF provides compensation control input to ensure safety during the learning process. Then, a DDPG-CBF algorithm is presented to achieve efficient safety controller design and implementation. Finally, sufficient numerical simulations demonstrate that, compared with DDPG algorithm alone, the DDPG-CBF algorithm can not only ensure the safe and stable operation of trains, but also learn train control strategies expe-ditiously and accurately under different operating environments, with an average efficiency increase of 38.94 %. © 2024 IEEE.

关键词： Braking

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