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2020 3rd International Conference on Advanced Algorithms and control Engineering, ICAACE 2020

作者： Cheng, He Zhang, Chao Liu, Tiefeng Yang, Zhijia Zhang, Zhipeng 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

We have proposed an analytic compact model describing the drain current characteristics valid in all operating regions, for ultra-short channel cylindrical gate-all-around metal-oxide-semiconductor field-effect transistors considering source-to-drain tunnelling effect. The drain-induced barrier lowering had been incorporated from one two-dimensional analysis in our previous compact model. In this study, to represent the energy level profile along the device channel direction into the Wentzel-Kramers-Brillouin approximation by substituting a parabolic function, we can analytically derive the expressions of the transmission coefficients for source-to-drain tunneling. In the subthreshold region, the source-to-drain tunneling current then can be evaluated using the Landauer formula. Finally, a fully analytic compact model is proposed for representing the drain current in all operating regions. The results compared with non-equilibrium Green's function transport simulations can be obtained in a good agreement. © Published under licence by IOP Publishing Ltd.

关键词： Drain current

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Path planning for localization of an RF source by multiple UAVs on the Crammer-Rao Lower Bound

Path planning for localization of an RF source by multiple U...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyyed M. Mehdi Dehghan Mohammad Saberi Tavakkoli Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran

This paper presents a path planning approach of several UAVs for Radio Frequency (RF) source localization in None Line Of Sight (NLOS) propagation condition using the Received Signal Strength Indication (RSSI). The paths are planned such that the lower bound of standard deviation of localization error, which is equivalent to the Cramer-Rao Lower Bound (CRLB) of the estimation, minimized at any time. Due to the complexity of Jacobin calculation to perform global CRLB optimization, the local values of CRLBs in the current waypoint and next probable waypoints are used in the steepest decent approach to determine the best path. Furthermore, the complexity is reduced by discretizing the space for UAVs to make the computation feasible. The effect of NLOS propagation on the RSSI measurements is simulated by a log-normal distribution and the last estimation of radio source location is used to calculate the local CRLBs. The proposed approach has been simulated and compared with the basic bio-inspired approach of going toward the sensed direction of the source. The result shows better performance than the basic approach.

关键词： Jacobian matrices Noise

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A multi-step Gaussian filtering approach to reduce the effect of non-Gaussian distribution in aerial localization of an RF source in NLOS condition

A multi-step Gaussian filtering approach to reduce the effec...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyyed M. Mehdi Dehghan Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran

The hybrid localization using Angle of Arrival (AOA) and Received Strength Signal Indicator (RSSI) of an RF source, such as a cell phone in a search and rescue mission, with unknown power and None Line Of Sight (NLOS) condition have been proven to be advantageous compared to using each method separately. The hybrid approach has been proposed to benefit from both RSSI and AOA measurements. In this paper, the initial hybrid method, which was implemented using particle filters due to the multi-modal/non-Gaussian nature of localization in NLOS condition, has been replaced by a multi-step Gaussian filtering approach which provides nearly similar accuracy with better performance. The proposed method has been implemented using extended Kalman filter and Unscented Kalman filter. The simulation results show that the multi-step Gaussian filtering is comparable to particle filter in all cases with better performance. For further evaluation, the effects of uncertainty in the propagation parameters have been studied to show the robustness of each filter to these uncertainties.

关键词： Shadow mapping Atmospheric measurements Particle measurements Scattering Measurement uncertainty Particle filters Equations

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Research on Multiple Automated Guided Vehicles Path Planning to Reduce Default Time 2

Research on Multiple Automated Guided Vehicles Path Planning...

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2nd IEEE International Conference on Data Science and Computer Application, ICDSCA 2022

作者： Liu, Yiyang Yan, Shuaihua Hou, Zheng Zhao, Yang Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China Kunshan Intelligent Equipment Research Institute Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China University of Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China College of Information Science and Engineering Northeastern University Shenyang China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China

ISBN: (数字)9781665472005

ISBN: (纸本)9781665472005

This paper studies the path planning problem of multiple automated guided vehicles (multi-AGV) in a matrix manufacturing workshop. We proposed the multi-AGV path planning problem with default time, which is a variant of the classic path planning problem. In order to ensure the timely completion of each task, the default time of the task is explicitly considered. The goal is to obtain a conflict-free path with the minimum total default time, total time, and total path length. For these three goals, this problem is NP-hard. In order to solve this problem better, we established a multi-objective optimization model of total default time, total time and total path length of multi-AGV in flexible manufacturing environment. This paper proposes a multi-AGV path planning method that integrates game theory and A∗ algorithm. This method regards each AGV as a participant in the game model, through the default time obtained from each game dynamically adjusts the probability of each AGV planning the next path, and uses game theory to help the system dynamically select the most suitable AGV to plan the next path to improve the on-time delivery rate of tasks. Finally, the simulation results show that the multi-AGV path planning method integrating game theory and A∗ algorithm further reduces the total default time, total time and total path length of all AGVs. © 2022 IEEE.

关键词： Motion planning

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Fuzzy Arithmetic-based Stability Analysis and Design of Fuzzy controller

Fuzzy Arithmetic-based Stability Analysis and Design of Fuzz...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： S. Bogdan Z. Kovacic I. Fazinic I. Draganjac Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

Initially introduced as a model-free control design method, in today practice fuzzy control is dominantly used as yet another nonlinear control technique based either on a linear or nonlinear model of a process. This paper addresses the stability assessment of a fuzzy logic control system based only on the partial knowledge of a controlled process. Lyapunov stability conditions are derived and analyzed by using fuzzy numbers and fuzzy arithmetic. The experimental results obtained for a non-stable second-order system confirmed that this approach could be successfully implemented. Some questions, addressed in the paper, remained open for further investigation.

关键词： Fuzzy control Stability analysis control systems Fuzzy systems Lyapunov method Sliding mode control Fuzzy logic Fuzzy sets Nonlinear control systems Arithmetic

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control of induction motors for high dynamic performance and maximal power efficiency via feedback linearization with input-output decoupling

Control of induction motors for high dynamic performance and...

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Annual Conference of Industrial Electronics Society

作者： Dong-Il Kim In-Joong Ha Myoung-Sam Ko Jae-Wha Park Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Eng. Seoul National University South Korea

The authors attempt to achieve both high dynamic performance and maximal power efficiency for induction motors by means of linear decoupling of rotor speed (or motor torque) and rotor flux. The induction motor with the proposed controller possesses the input-output dynamic characteristics of a linear system such that the rotor speed (or motor torque) and the rotor flux are decoupled. The rotor speed (or motor torque) responses are not affected by abrupt changes in the rotor flux, and vice versa. The rotor flux need not be measured but is estimated by the well-known flux simulator. The effect of large variation in the rotor resistance on the control performances is minimized by using a parameter adaptation method. The authors present simulation and experimental results as well as mathematical performance analyses.< >

关键词： Induction motors Feedback Rotors DC motors Linear systems Equations control systems Torque Electrical resistance measurement Performance analysis

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Remote control library and GUI development for Russian crawler robot Servosila Engineer 13

Remote control library and GUI development for Russian crawl...

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13th International Conference on Electromechanics and robotics "Zavalishin's Readings", ER(ZR) 2018

作者： Mavrin, Ilya Lavrenov, Roman Svinin, Mikhail Sorokin, Sergey Magid, Evgeni Intelligent Robotics Department Higher School of Information Technology and Information Systems Kazan Federal University Russia Robot Dynamics and Control Laboratory College of Information Science and Engineering Ritsumeikan University Japan Mechanical Engineering Department Chuvash State University Russia

Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot may have a number of drawbacks or lacks some important features, which are required for a particular application of the robot. In such cases a user may decide to implement new libraries and functionalities using a provided by a manufacturer application programming interfaces as in most cases code of a commercial robot system is not an open-source. A number of our ongoing research projects concentrate on applications of various robots in urban search and rescue operations, and in most of these projects utilize Russian crawler robot Servosila Engineer. This paper describes the development of a new ROS-based control software and graphical user interface for Servosila Engineer robot. © The Authors, published by EDP Sciences.

关键词： Graphical user interfaces

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Flexible job shop machines and AGVs cooperative scheduling on the basis of DQN algorithm 6

Flexible job shop machines and AGVs cooperative scheduling o...

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

作者： Xiaoting, Dong Guangxi, Wan Peng, Zeng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9798350316520

In flexible job shop, the transportation time and path of Automated Guided Vehicles (AGVs) greatly impact the production cycle time. However, traditional flexible job shop scheduling problems (FJSSP) mainly focus on job sequencing and machine selection, neglecting the effect of AGVs transportation on the production process. This often leads to suboptimal scheduling solutions that are difficult to guide the shop floor operation effectively. To address this issue, this paper formulates a cooperative scheduling model that integrates the AGVs scheduling into traditional flexible job shop scheduling problem, abbreviated as the FJSMAS problem, with the objective of makespan minimization. Furthermore, by designing state features, action space, and reward function, the FJSMAS problem is transformed into a Markov decision process, a deep reinforcement learning algorithm (DRL) is then adopted to solve it. The feasibility of the proposed FJSMAS model and the effectiveness of DRL algorithm in solving the FJSMAS problem are verified through benchmark's instances. © 2024 IEEE.

关键词： Reinforcement learning

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Design and Implementation of OpenWSN Hardware Platform 2

Design and Implementation of OpenWSN Hardware Platform

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2nd International Conference on Algorithms, High Performance Computing and Artificial Intelligence, AHPCAI 2022

作者： Zhang, Shusheng Xie, Chuang Liu, Jun Zhao, Chun Yang, Zhijia Mao, Jizhi College of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350334784

This paper proposes a new wireless sensor network hardware platform based on OpenWSN project launched by the University of California, Berkeley. The hardware platform's processor uses a 32-bit microcontroller (STM32F103RCT6) produced by STMicroelectronics (ST), and the wireless module uses the WISA470 chip. The final experimental results show that this platform can support the Open WSN project very well. © 2022 IEEE.

关键词： Wireless sensor networks

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A new active rehabilitation training mode for upper limbs based on Tai Chi Pushing Hands

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Biomimetic Intelligence & robotics 2024年第3期4卷 82-92页

作者： Xiangpan Li Liaoyuan Li Jianhai Han Bingjing Guo Ganqin Du School of Mechatronics Engineering Henan University of Science and TechnologyLuoyang 471003China Henan Provincial Key Laboratory of Robotics and Intelligent Systems Luoyang 471003China School of Automotive Engineering Hubei University of Automotive TechnologyShiyan 442002China Hubei Key Laboratory of Automotive Power Train and Electronic Control Shiyan 442002China The First Affiliated Hospital of Henan University of Science and Technology Luoyang 471003China

Robot-assisted rehabilitation is a crucial approach to restoring motor function in the ***,the current training trajectory lacks sufficient theoretical or practical support,and the monotony of single-mode training is a *** Chi Pushing Hands,a beneficial and effective daily exercise,has been shown to improve balance function,psychological state,and motor function of the upper extremities in patients recovering from *** address these issues,we propose a new active rehabilitation training that incorporates Tai Chi Pushing Hands movements and yin-yang balance *** training trajectory and direction are encoded by the velocity field and consist of two processes:yang(push)and yin(return).During yang,the limb actively pushes the robot to move,while during yin,the limb actively follows the robot’s *** provide necessary assistance,an admittance controller with self-adaptive parameters is *** addition,we introduce two indexes,the‘Intention Angle’(ϖ)and the time ratio(Γ),to evaluate motion perception *** experiment was conducted on a 4-degree-of-freedom upper limb rehabilitation robot platform,and the subjects were separated into a familiar group and an unfamiliar *** experiment results show that the training could be completed well no matter whether the subject is familiar with Tai Chi Pushing Hands or *** parameters and the movement of the robot can be adjusted based on the interactive force to adapt to the ability of the subject.

关键词： Tai Chi Push Hands Velocity field Self-adaptive admittance Upper limb rehabilitation Active training

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