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第41届中国控制会议

作者： Shuai Li Xiaofeng Zhou Haibo Shi 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 University of Chinese Academy of Sciences

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

For the problem of fault detection in non-Gaussian and nonlinear multimode processes,a fault detection method based on hierarchical mode analysis with independent component analysis(ICA)-kernel independent component analysis(KICA) is *** stable and transition modes coexist in multimode processes and the mode information has uncertainty,hierarchical mode analysis is used for obtaining the hierarchical mode ***,the ICA-KICA is presented for modeling the stable and transition modes obtained from the hierarchical mode ***,a mode identification method based on discriminant function is given for fault *** penicillin fermentation process is used for the experiments of fault detection and the analyses indicate the performance of the fault detection based on hierarchical mode analysis with ICA-KICA.

关键词： Fault detection multimode process hierarchical mode analysis ICA-KICA

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Analysis of coupled axial-torsional vibration of drill-string with an inclination angle 41

Analysis of coupled axial-torsional vibration of drill-strin...

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第41届中国控制会议

作者： Jiahao Zhang Chengda Lu Hengyu Huang Jun Gao Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education CCTEG Xi'an Research Institute

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Drill-string vibration has a great negative influence on the safety and efficiency of geological *** that the influence of drill-string inclination is not well considered in the literature,this paper develops a novel drill-string vibration model for geological drilling with inclined ***,the correlation between the inclination angle of borehole and the axial and torsional forces on the drill-string is *** on this,a drill-string motion model with the parameters of inclination angle is ***,the bit-rock interaction is considered as two processes,axial cutting and torsional friction,and an axial-torsional coupled bit-rock interaction model with state-dependent time delay is *** combining the established drill-string motion model and bit-rock interaction model,a coupled axial-torsional vibration model of drill-string in inclined borehole is obtained with the effect of borehole wall friction taken into *** drill-string vibration model proposed in this paper is more general,and includes the existing coupled drill-string vibration model of vertical borehole,which is closer to the actual situation.

关键词： drill-string vibration drill-string inclination bit-rock interaction

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Joint Local Contrast and First-Order Directional Derivative Methods for Detecting Infrared Small Targets in Complex Backgrounds

IEEE Journal on Miniaturization for Air and Space Systems

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IEEE Journal on Miniaturization for Air and Space systems 2025年

作者： Zheng, Hanjia Zong, Xiaofeng China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Infrared target detection technology is one of the most key technologies of current detection systems, which is not only applied to automatic navigation, security protection and surveillance devices in daily life, but also widely used in the military. However, due to the influence of complex background, infrared detection system is often difficult to achieve accurate and fast detection of small targets, so the current small target detection methods still need to be improved. In this paper, an effective algorithm is proposed by complementally combining local contrast and first-order directional derivative algorithms, incorporating human visual characteristics for enhancement. Then according to the different characteristics of the background and small targets in infrared images, for the problem of excessive redundant information in infrared weak small target images, the high real-time and low leakage rate of LCM is used to find out the information-rich suspicious blocks, and then the low false alarm rate of FODD is used to find out the targets in the suspicious area. Through a lot number of experiments, and comparing with a variety of other algorithms. The results show that the detection algorithm proposed in this paper is significantly better than other algorithms in terms of low false alarm rate and can maintain good real-time performance. © 2019 IEEE.

关键词： Infrared imaging

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IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using Wheel-Encoder and Inertial-RGB-Depth Measurements 30

IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using ...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Liu, Yuanhao Liang, Wei Wang, Chu Zhang, Xin Gao, Huanbing Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China School of Information and Electrical Engineering Shandong Jianzhu University Jinan China Shandong Key Laboratory of Intelligent Buildings Technology Jinan China

ISBN: (纸本)9798350391916

Safe & smart move (SSM) aims to help industrial vehicular robot (IVR), such as warehousing robots, running safely and smartly by detecting the obstacles in front and maintaining a safe distance & attitude. However, the traditional SSM methods suffer the drawbacks of limited ranges, inaccurate regression of safety distance & orientation between the robot and the forward unexpected obstacles, and the inappropriate IVR control strategies. To solve these issues, this paper designs an innovative real-time safety-aware framework using the complementary Wheel-Encoder and Inertial-RGB-Depth measurements to ensure the IVR running safely, reasonably and reliably. To estimate the robot running states, we take advantages of the complementary wheel encoder, monocular RGB images and inertial measurements to obtain the robot positions, orientations, angular and linear velocities in a tightly-coupled manner. To improve the safety relative distance & attitude estimation accuracy, we exploit the RGB and depth measurements in a task-oriented fashion. The forward obstacles with the specific contours are detected using the Mask-RCNN model, followed by the Gaussian Mixture Model to obtain the forward obstacle depth. Eventually, an IVR control strategy is designed to maintain the robot safety distance and orientation, and to keep the minimum damage to the robot mechanical system. The presented method has been evaluated on the developed industrial vehicular robot safety perception platform. The experimental results prove the competitiveness against the state-of-the-art methods. © 2024 IEEE.

关键词： Industrial robots

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Design of Polar Coding in Filtered-OFDM

Design of Polar Coding in Filtered-OFDM

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International Conference on Internet of Things, Communication and intelligent Technology, IoTCIT 2022

作者： Piao, Jinnan Li, Dong Li, Zhibo Yang, Ming Liu, Jindi Yu, Xueting Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9789819904150

The filtered-orthogonal frequency division multiplexing (f-OFDM) is a new waveform configuration for the fifth generation wireless communication system, which satisfies different requirements and channel characteristics more flexibly. Polar codes are adopted as the channel coding scheme of enhance mobile broadband (eMBB) control channel scenario of 5G and is also the candidate coding scheme for ultra-reliable and low latency communications (URLLC) which is on services with strict delay constraints, such as industrial automation. In the paper, we introduce polar codes into f-OFDM system to increase the performance. The conception of channel polarization transformation is extended into the f-OFDM transmission system, where we divide the f-OFDM channels into binary-input channels with a two-stage channel polarization transformation. For the first stage of transformation, we divide a f-OFDM channel into a group of f-OFDM synthesized channels with the bit-interleaved modulation scheme. For the second stage of transformation, we decompose the f-OFDM synthesized channels into binary polarized channels with parallel channels polarization principle. The proposed scheme is evaluated via link simulation under AWGN and fading channels. The simulation results illustrate that the performance gain of polar codes is not affected by the f-OFDM compared with turbo coding scheme. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Orthogonal frequency division multiplexing

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State-of-Charge (SOC) Estimation of Lithium-Ion Battery Based on Unscented Kalman Filtering 6

State-of-Charge (SOC) Estimation of Lithium-Ion Battery Base...

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6th IEEE advanced Information Management, Communicates, Electronic and Automation control Conference, IMCEC 2024

作者： Miao, Mengfan Li, Ligang Wang, Zhongfeng Jiang, Jing Shenyang Ligong University College of Automation and Electrical Engineering Liaoning 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

ISBN: (纸本)9798350316520

Real-time estimation of State of Charge (SOC) for lithium-ion batteries is one of the core technologies in Battery Management systems (BMS). Accurate SOC estimation is fundamental for managing lithium-ion batteries. In this study, a second-order RC equivalent circuit model is established, and parameter identification methods are employed to determine the model parameters. The identified parameters are then incorporated back into the second-order RC model. The accuracy of these parameters and the model is validated through Hybrid Pulse Power Characteristic (HPPC) tests. Finally, the Unscented Kalman Filtering algorithm (UKF) is utilized to estimate battery SOC. Experimental results demonstrate that SOC estimation based on UKF exhibits high precision and stability. © 2024 IEEE.

关键词： Lithium-ion batteries

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Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

Autonomous Exploration of Unknown 3D Environments Using a Fr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Iván D. Changoluisa Caiza Ana Milas Marco A. Montes Grova Francisco Javier Pérez-Grau Tamara Petrovic University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Advanced Center for Aerospace Technologies (CATEC) Aerospace Technology Park of Andalusia Seville Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment.

关键词： Three-dimensional displays Video on demand Navigation Warehousing Buildings Inspection Web sites

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A Novel Feature Learning-based Bio-inspired Neural Network for Real-time Collision-free Rescue of Multi-Robot systems

arXiv

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arXiv 2024年

作者： Li, Junfei Yang, Simon X. Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada

Natural disasters and urban accidents drive the demand for rescue robots to provide safer, faster, and more efficient rescue trajectories. In this paper, a feature learning-based bio-inspired neural network (FLBBINN) is proposed to quickly generate a heuristic rescue path in complex and dynamic environments, as traditional approaches usually cannot provide a satisfactory solution to real-time responses to sudden environmental changes. The neurodynamic model is incorporated into the feature learning method that can use environmental information to improve path planning strategies. Task assignment and collision-free rescue trajectory are generated through robot poses and the dynamic landscape of neural activity. A dual-channel scale filter, a neural activity channel, and a secondary distance fusion are employed to extract and filter feature neurons. After completion of the feature learning process, a neurodynamics-based feature matrix is established to quickly generate the new heuristic rescue paths with parameter-driven topological adaptability. The proposed FLBBINN aims to reduce the computational complexity of the neural network-based approach and enable the feature learning method to achieve real-time responses to environmental changes. Several simulations and experiments have been conducted to evaluate the performance of the proposed FLBBINN. The results show that the proposed FLBBINN would significantly improve the speed, efficiency, and optimality for rescue operations. © 2024, CC BY.

关键词： Multipurpose robots

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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intelligent Collective Escape of Swarm Robots Based on a Novel Fish-inspired Self-adaptive Approach with Neurodynamic Models

arXiv

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arXiv 2024年

作者： Li, Junfei Yang, Simon X. The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada

Fish schools present high-efficiency group behaviors through simple individual interactions to collective migration and dynamic escape from the predator. The school behavior of fish is usually a good inspiration to design control architecture for swarm robots. In this paper, a novel fish-inspired self-adaptive approach is proposed for collective escape for the swarm robots. In addition, a bio-inspired neural network (BINN) is introduced to generate collision-free escape robot trajectories through the combination of attractive and repulsive forces. Furthermore, to cope with dynamic environments, a neurodynamics-based self-adaptive mechanism is proposed to improve the self-adaptive performance of the swarm robots in the changing environment. Similar to fish escape maneuvers, simulation and experimental results show that the swarm robots are capable of collectively leaving away from the threats. Several comparison studies demonstrated that the proposed approach can significantly improve the effectiveness and efficiency of system performance, and the flexibility and robustness in complex environments. © 2024, CC BY.

关键词： Fish

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