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2022 International Conference on control, Automation and Diagnosis, ICCAD 2022

作者： Kabanov, Aleksey A. Zuev, Aleksandr V. Zhirabok, Aleksey N. Filaretov, Vladimir F. Department of Informatics and Control in Technical Systems Sevastopol State University Russia Laboratory of Intelligent Information Systems for Marine Robots Institute of Marine Technology Problems FEB RAS Russia Department of Automation and Robotics Far Eastern Federal University Russia Robotics Laboratory Institute of Automation and Control Processes FEB RAS Russia

ISBN: (数字)9781665497947

ISBN: (纸本)9781665497947

The paper considers the problem of fault identification in dynamic systems described by linear differential equations. To solve this problem, diagnostic observers constructed on the basis of optimal control methods are used. The proposed new method for the synthesis of such observers is based on the idea of introducing a new system with some auxiliary control which plays a role of an unknown vector function describing emerging faults. This control is proposed to be formed in such a way that it provides a minimum for the residual functional. Unlike popular approaches to solving the problem of fault identification based on observers operating in a sliding mode, the proposed method allows us to expand the class of systems for which the identification problem can be solved. It is known that the methods of sliding mode observers design impose certain restrictions on the systems under consideration. The suggested theory is illustrated by an example. The simulation results confirmed the operability of the diagnostic observers synthesized using the method proposed in the work. © 2022 IEEE.

关键词： Linear systems

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Towards Disturbance Rejection in Feature Pyramid Network

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2023年第4期4卷 946-958页

作者： Hu, Xiaobo Xu, Wei Gan, Yi Su, Jianbo Zhang, Jun Shanghai Jiao Tong University Joint Institute of UM-SJTU Shanghai200240 China Shanghai Jiao Tong University Research Center of Intelligent Robotics Key Laboratory of System Control and Information Processing Ministry of Education Department of Automation Shanghai200240 China

The multiscale problem is one of the challenging topics in the object detection field. Among the current studies toward this problem, feature pyramid network (FPN) has been shown a superior performance. The core principle of FPN is a mapping for the detectable objects into hierarchy features. These features are designed with different size of receptive fields, which brings good scale invariance in the classification and localization subtasks. However, a disturbance of information dilution is generated by the assignment for the detectable objects into different features. This dilution disturbance is associated with the convolution or pooling operation during the hierarchy feature extraction process. Both of the imprecise localization information in the top features and the fuzzy classification information in the bottom ones limit the performance of FPN. Aiming at the disturbance rejection problem of information dilution, this article presents a feature compensation method. A cross compensation between the semantic information and the localization information in hierarchy features is used to enhance the vanilla FPN. Then, the evaluation metrics in an object detection task are examined. Not only the overall performance, but also the respective metrics for multiscale objects validate a considerable improvement of the FPN with a disturbance compensation mechanism. The experimental results demonstrate an effectiveness of the proposed method in this article. © 2020 IEEE.

关键词： Object detection

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Fault Detection and Isolation Based on Unknown Input Set-membership Observer

Fault Detection and Isolation Based on Unknown Input Set-mem...

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第三十九届中国控制会议

作者： Xiaomin Fan Wei Zhang Xiaohang Li Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science

This paper proposes an actuator fault diagnosis method for a class of discrete-time linear dynamic systems subject to unknown but bounded disturbances and noises. The proposed unknown input observer has a new structure and the actuator faults of the system are taken as unknown inputs that provides more robust and more design degrees of freedom. A direct method based on zonotopes is used to estimate the threshold of residual generated by the unknown input observer. Based on the proposed method, a fault detection and isolation strategy using a set of unknown input set-membership observers are presented. The effectiveness of the proposed method is verified by numerical simulation of a flight control system.

关键词： unknown input observer set-membership estimation zonotope fault estimation and isolation

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera 42

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

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42nd Chinese control Conference, CCC 2023

作者： Zhou, Yanling Zhang, Xuebo Wang, Runhua Zhang, Shiyong Yuan, Mingxing Yuan, Jing Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education China

ISBN: (纸本)9789887581543

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms) © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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RESEARCH ON THE PID PARAMETER SELF-TUNING OF THE PRESSURIZER control SYSTEM OF NUCLEAR POWER PLANT 29

RESEARCH ON THE PID PARAMETER SELF-TUNING OF THE PRESSURIZER...

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2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Wang, Hongrui Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Zhang, Pengbin State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886373

The pressurizer is an essential part of the safe operation of the nuclear power plant. It contains both the steam phase and the liquid phase, which requires simultaneous control of the pressure and water level, and the control system is strongly coupled. When using the PID control method, it is difficult to tune the parameters, and the difficulty is exacerbated when the set value fluctuates. This paper aims at the multi-input and multioutput pressurizer control system, based on the particle swarm optimization to realize the PID controller parameters self-tuning, adopting the time and absolute error integral as the fitness function to evaluate the merits of the PID parameters, and constantly iterating to update and obtain the PID parameters that better satisfy the current working conditions. For coupled pressurizer control systems, the PID parameter tuning method using particle swarm optimization algorithms can give a group of PID controller parameters that make the system operation stable despite the frequent fluctuation of the set value, and compared with the traditional PID controller parameter tuning method, this method can realize the PID parameter self-tuning, eliminating the trouble of manual tuning. Copyright © 2022 by ASME.

关键词： Nuclear power plants

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Observer-Based Positive Edge Consensus for Undirected Nodal Networks

Observer-Based Positive Edge Consensus for Undirected Nodal ...

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第三十八届中国控制会议

作者： Yuchen Qian Wei Zhang Mingming Ji Chenhang Yan Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science

In this paper, the problem positive edge consensus of systems described by linear dynamics on undirected nodal networks is studied. A new observer-based distributed positive edge consensus control protocol is first proposed, which includes the classical Luenberger observer-based protocol as a special case. Moreover, in virtue of line graph theory and topological transformation, we can map the edge topology to the line topology such that the states of each edge in the connected networks can be demonstrated to be consistent. Finally, theoretical analysis and a simulation example are given to verify the effectiveness of the proposed positive edge consensus protocol.

关键词： positive edge consensus line graph observer-based protocol

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A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFICATION USED IN NUCLEAR POWER PLANTS 29

A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFI...

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2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Zhang, Pengbin Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Wang, Hongrui State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886472

Nuclear power is one of several significant clean energy and its production capacity is increasing rapidly. This paper proposed a novel PID self-tuning method based on closed-loop identification used in nuclear power plants to deal with the turbine's load tracking problem. A setpoint-shifting method is adopted to achieve the informativity of the closed-loop system, and the PID parameters are designed through an optimization method. For validating the proposed method, this paper modeled a pressurized-water reactor (PWR) nuclear power plant, a complex system consisting of three circuits, through the first principle. The primary circuit contains three main devices: a nuclear reactor, a pressurizer, and a steam generator. The models of these three devices are provided by previous literature separately. The whole model is generated through mass and energy balance. This mechanism model is used as the plant model, while the identified model is used as the control model. The initial PID parameters are set through open-loop identification using an external excitation. Then the proposed method works online to track the turbine's load in time. The effectiveness of the proposed method is illustrated by simulations. Copyright © 2022 by ASME.

关键词： Nuclear power plants

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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