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第35届中国控制与决策会议

作者： Haonan Yang Ding Liu Jun-Chao Ren Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

In the actual production of slot die coating,the minimum coating thickness and the maximum substrate moving speed could only be judged by production experience,and there was no accurate prediction model due to the nonlinear characteristics of fluid ***,building a reasonable and efficient prediction model for slot die coating is now an urgent and challenging *** this paper,an optimized extreme learning machine(ELM) based on improved beetle antennae search(IBAS) algorithm is proposed for slot die coating *** optimized ELM model can well learn the nonlinear characteristics of the system and make accurate predictions,thus solving the traditional inaccurate empirical *** the prediction accuracy of ELM depends on the selection of weights and biases,the IBAS optimization algorithm is used to quickly search for the optimal value of weights and biases in the ELM *** algorithm improves the generation mechanism of antennae on the basis of the original algorithm,so that the algorithm can converge *** the same time,the search strategy of the algorithm is improved to avoid falling into the local optimal *** predicting the production data of slit coating,the feasibility and effectiveness of IBAS-ELM model are proved.

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Human-Robot Collaborative Decision Method of Hexapod Robot Based on Prior Knowledge and Negotiation Strategy

SSRN

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SSRN 2024年

作者： You, Bo Chen, Xiaolei Li, Jiayu Ding, Liang Dong, Zheng The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education Harbin University of Science and Technology Harbin150080 China The Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and Technology Harbin150080 China The Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Against the unstructured terrain environment, human drivers often rely on remote operating patterns to accomplish tasks with robots. With the gradual improvement in robot intelligence, a key problem that urgently requires attention is how to bridge cognitive and perceptual differences between human and robot in collaborative decision-making processes. Particularly effective resolution of differences in decision outcomes is crucial. Therefore, this paper utilizes the decision logic process and prior knowledge model of human drivers to form robot’s decision framework, narrowing the cognitive differences between human and robot. Besides, embedding the human-robot-environment features that affect the decision-making process as prior knowledge into the robot’s decision-making system can effectively reduce perceptual gaps. Under the same decision framework, a negotiation strategy is proposed for forming a unified decision outcome between human and robot by finding an optimal concession rate. This study utilizes a hexapod robot simulated driving platform to gather experimental data and develop prior knowledge for robots. It also leverages virtual reality equipment and visual augmentation technologies to establish a remote human-robot collaborative decision-making experimental system. The experimental results conducted in complex obstacle terrain demonstrate the effectiveness of adopting the negotiation strategy for human-robot collaborative decision-making. Compared with the individual human or robot decision, the human-robot collaborative decision method significantly enhances robot stability, reduces energy consumption, and minimizes collisions. © 2024, The Authors. All rights reserved.

关键词： Decision making

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Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Optimization of Extreme Learning Machine Based on Improved Beetle Antennae Search for Slot Die Coating Prediction

Optimization of Extreme Learning Machine Based on Improved B...

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Chinese Control and Decision Conference, CCDC

In the actual production of slot die coating, the minimum coating thickness and the maximum substrate moving speed could only be judged by production experience, and there was no accurate prediction model due to the nonlinear characteristics of fluid motion. Therefore, building a reasonable and efficient prediction model for slot die coating is now an urgent and challenging task. In this paper, an optimized extreme learning machine (ELM) based on improved beetle antennae search (IBAS) algorithm is proposed for slot die coating prediction. The optimized ELM model can well learn the nonlinear characteristics of the system and make accurate predictions, thus solving the traditional inaccurate empirical judgment. As the prediction accuracy of ELM depends on the selection of weights and biases, the IBAS optimization algorithm is used to quickly search for the optimal value of weights and biases in the ELM network. IBAS algorithm improves the generation mechanism of antennae on the basis of the original algorithm, so that the algorithm can converge quickly. At the same time, the search strategy of the algorithm is improved to avoid falling into the local optimal solution. By predicting the production data of slit coating, the feasibility and effectiveness of IBAS-ELM model are proved.

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A NOVEL ARTIFICIAL POTENTIAL FIELD APPROACH CONSIDERING ANGULAR ACCELERATION CONSTRAINT

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International Journal of Robotics and Automation 2024年第1期39卷 24-30页

作者： Sun, Mingxiao Yuan, Zhangjie Zhang, Yongde Zhen, Liqiang Luan, Tiantian Yuan, Xiaoliang Li, Xiaogang School of Automation Harbin University of Science and Technology No. 52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and Technology No. 52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology No. 52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Wuxi CREG Urban Rail Transit Equipment Co. Ltd. No. 1061 Jiaoshan Road Xishan Development Zone Jiangsu Province Wuxi City214000 China

An improved artificial potential field approach (APFA) is proposed for unmanned surface vehicle (USV) in path planning. The proposed approach can effectively avoid easily falling into local minima, also, plan the optimal path. Firstly, a map of the Marine environment is established, and the obstacle is treated with circular expansion. Especially, the expansion coefficient is introduced to ensure the safety of navigation. Secondly, aiming at the local minimum problem, a rotation angle formula satisfying its own maximum rotation angle and angular acceleration constraints is constructed, so that a path to avoid local minimum is planned. Moreover, the local minimum of the complex environment is considered, the virtual repulsive force potential field is constructed to generate virtual repulsive force on USV to avoid local minimum. Numerical simulation results show that the proposed approach can complete path planning under different complex and special environments. © 2024 Acta Press. All rights reserved.

关键词： Motion planning

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Parameter estimation of time fractional heat conduction equation for monocrystalline silicon

Parameter estimation of time fractional heat conduction equa...

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2021 China Automation Congress, CAC 2021

作者： Shi, Shuyan Liu, Ding Zhao, Zhongdan Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shananxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an710048 China

ISBN: (纸本)9781665426473

In this paper, a time-fractional heat conduction model is established to describe the heat transfer process of monocrystalline silicon in the Czochralski method. The numerical solution of the fractional-order model is obtained by using implicit difference scheme. In addition, an improved grey wolf algorithm is proposed to estimate the parameters of the fractional heat conduction model using the experimental temperature data. The numerical experiment results show that the time-fractional heat conduction model has a higher explanatory ability, compared with the classical heat conduction model. The Improved Grey Wolf algorithm proposed in this paper is effective in solving the parameter estimation problem of the time-fractional heat conduction equation. © 2021 IEEE

关键词： Heat conduction

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Model predictive control of event triggering in silicon single crystal growth processes

Model predictive control of event triggering in silicon sing...

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Chinese Automation Congress (CAC)

作者： Yankai Li Biao Ren Ding Liu Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

In this paper, the control issue of the semiconductor silicon monocrystalline growth process is studied through an event triggered model prediction approach. Firstly, a state-space model of silicon monocrystalline growth process is developed to describe the energy conversion and the dynamics and the geometry of the isodiametric stage silicon monocrystalline via the Czochralski method. Secondly, a small perturbation linearization is used to obtain a linear continuous model, which is translated into a linear discrete model under zero-order retainers. Finally, an event triggered model prediction controller is established to decrease the calculation of model prediction in the rolling optimization process. Based on experimental results, the event-triggered model prediction control algorithm is confirmed to be an effectively control scheme for the silicon monocrystalline growth process.

关键词： Crystal growth Semiconductor device modeling Computational modeling Photonic crystals Predictive models Prediction algorithms Silicon

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Scheduling optimization of silicon single crystal production process based on adaptive improved particle swarm optimization

Scheduling optimization of silicon single crystal production...

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2021 China Automation Congress, CAC 2021

作者： Kang, Lu Liu, Ding Wu, Yali Ping, Guozheng School of Automation and Information Engineering Xi'an University of Technology National and Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China School of Automation and Information Engineering Xi'an University of Technology National and Local Joint Engineering Research Center of Crystal Growth Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China School of Automation and Information Engineering Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China

ISBN: (纸本)9781665426473

Aiming at the potential safety hazards of silicon single crystal production enterprises in the process of multi-furnace silicon single crystal production, and considering the maximum power load requirements in actual enterprises, a silicon single crystal production process scheduling model with the goal of minimizing the maximum completion time was established. Based on this model, an adaptive improved particle swarm optimization algorithm (Adaptive GPSO) is proposed to solve it. The algorithm retains the individual optimal value and global optimal value of the particle swarm algorithm, and introduces the crossover operation and mutation operation in the genetic algorithm to improve the new individual generation mechanism. At the same time, it performs dynamic iterative calculations on the mutation probability and crossover probability to avoid the algorithm fall into the local optimum, and improve the diversity and convergence of the algorithm. By solving different scales scheduling problems of silicon single crystal production process, the experiments on real-world data shows that the feasibility and effectiveness of the proposed algorithm. © 2021 IEEE

关键词： Genetic algorithms

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Research on image processing application of improved adaptive filter based on LPSO algorithm

Research on image processing application of improved adaptiv...

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第40届中国控制会议

作者： Yuheng Yin Yangang Guo Liwei Deng Borong Chai Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration School of AutomationHarbin University of Science and Technology

The detection technology based on image processing is a kind of nondestructive detection technology,which has the advantages of fast,safe,and high *** is necessary to use a filter to extract features in the process of *** this context,this paper studies the adaptive Log-Gabor filter improved on Log-Gabor filter based on the LPSO *** main research contents are as follows:Aiming at the problem that traditional Log-Gabor filter needs to select parameters and obtain the optimal solution is relatively troublesome,an adaptive Log-Gabor filter is *** algorithm is used to improve it,but PSO algorithm is easy to fall into the local optimal solution,so Levy flight strategy is used to improve PSO algorithm,the improved algorithm is called LPSO algorithm,this method can make PSO algorithm successfully jump out of the local optimal *** LPSO algorithm is combined with a Log-Gabor filter to generate an adaptive Log-Gabor *** two adaptive filters are compared by simulation experiments.

关键词： Adaptive Log-Gabor Filter Levy Flight LPSO Algorithm

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Research on Tension Control system of Winding Machine Based on Fuzzy PID Algorithm

Research on Tension Control System of Winding Machine Based ...

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第40届中国控制会议

作者： Liwei Deng Hongfei Suo Haonan Ren Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration School of AutomationHarbin University of Science and Technology

With the development of society and the progress of science and technology,the demand for electricity in all walks of life is also *** is the core of power system,plays a decisive role in power transmission and distribution,and coil winding is the main core technology of transformer manufacturing,the quality of winding coil directly determines the stability and reliability of transformer *** this paper,under the background of low automation of transformer winding machine and higher and higher requirements for winding efficiency,the paper takes the winding system of insulation layer of transformer winding machine as the research object,improves the traditional fuzzy control algorithm,and designs a fuzzy PID control scheme combined with the tension control *** with the traditional PID control algorithm,the feasibility and advantages of the scheme are verified by the results of the Matlab simulation experiment.

关键词： Transformer Winding machine Tension control Fuzzy PID control

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