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3rd International Symposium on Computer Engineering and intelligent Communications, ISCEIC 2022

作者： Liu, Yang Zhang, Tianshi Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781510660298

Industrial digital twin is the key support for the transformation of industry to intelligence. The realization of digital twin relies on the integration of whole-process data, which can provide real-time and intelligent decision-making optimization for production management. This paper proposes a digital twin data fusion method based on semantic data dictionary. Firstly, a modeling method of domain data dictionary is designed, and a semantic method is introduced to realize the construction of semantic data dictionary. Then, based on the semantic data dictionary, a semantic similarity calculation method based on multivariate distance weighting is proposed. Finally, the algorithm is tested and verified. The experimental results show that the method in this paper has a significant effect on automatic data fusion in the construction of industrial digital twins. © The Authors. Published under a Creative Commons Attribution CC-BY 3.0 License.

关键词： Data fusion

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Design and Implementation of High Precision Clock Synchronization System Based on RT1064 6

Design and Implementation of High Precision Clock Synchroniz...

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6th International Conference on Communications, Information System and Computer Engineering, CISCE 2024

作者： Gang, Mingxu Yan, Bingjun Hu, Bo Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350353174

To realize the high-precision clock synchronization of various types of control equipment in the industrial process control network, a high-precision clock synchronizing system is designed and implemented. The system uses RT1064 microprocessor as the core, combined with ieee1588v2 high-accuracy clock synchronization protocol, and uses the MAC kernel integrated in rt1064 to support hardware timestamp function to achieve high-precision time synchronization between devices;Finally, the test verification platform is built to test and verify the accuracy. The test results show that the clock synchronization accuracy is within ± 400ns after the system runs stably, which meets the design requirements. © 2024 IEEE.

关键词： Mechanical clocks

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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Region-based Q-learning for intelligent robot systems

Region-based Q-learning for intelligent robot systems

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： I.H. Suh J.H. Kim S.R. Oh Intelligent Control and Robotics Laboratory Department of Electronics Eng Hanyang University Kyunggi South Korea

It is desirable for autonomous robot systems to possess the ability to behave in a smooth and continuous fashion when interacting with an unknown environment. Since Q-learning requires a lot of memory and time to optimize a series of actions in a continuous state space, it may not be easy to apply the method to such a real environment. In this paper, for a continuous state space application, we propose a new method of Q-learning that incorporates a region-based reward assignment being used to solve a structural credit assignment problem and a triangular type Q-value model. Our learning method can estimate a current Q-value by a relationship with its neighboring states and has the ability to learn its actions similar to that of Q-learning. Thus, our method can enable robots to move smoothly in a real environment. To show the validity of our method, navigation comparison with Q-learning is given and visual tracking simulation results involving a 2-DOF SCARA robot are also presented.

关键词： intelligent robots State-space methods Learning systems Navigation intelligent control Orbital robotics Optimization methods State estimation control systems Fuzzy sets

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A novel concept of attitude control for large multirotor-UAVs based on moving mass control

A novel concept of attitude control for large multirotor-UAV...

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Mediterranean Conference on control and Automation

作者： Tomislav Haus Nikola Prkut Katarina Borovina Bruno Maric Matko Orsag Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems

ISBN: (纸本)9781467383479

In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with moving masses within each rotor arm. In this paper we show the mathematical equations describing the dynamics of the proposed system, propose a classical PID based control approach and analyze and confirm its stability. Furthermore, we analyze the effectiveness of the proposed controller in a Gazebo based simulation environment. Finally, we build a laboratory testbed that emulates the dynamics of the system and test our proposed control strategy.

关键词： Mathematical model Unmanned aerial vehicles Gravity Attitude control Robots

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Effect of additional cylinders on power-extraction performance of a Savonius vertical-axis wind turbine

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2023年第6期24卷 531-542页

作者： Yangyang YAN Jintao ZHANG Junao SHE Wenhao LIU Jianghong DENG Jianyang ZHU Institute of Robotics and Intelligent Systems Wuhan University of Science and TechnologyWuhan 430081China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan 430081China

To improve the power-extraction performance of the Savonius vertical-axis wind turbine(S-VAWT),additional cylinders,which are used to control the fluid flow around the wind turbine blade,were introduced into the blade *** contrast to the traditional numerical method,a mathematical model in the form of a dynamical system was used in this study.A numerical calculation program that could effectively solve the equations of wind-induced rotation of S-VAWT was developed,and combined with the Taguchi experimental method to investigate the influence of additional cylinders on the power-extraction characteristics of the *** results showed that the additional cylinders have a significant impact on the power-extraction performance of the *** 4-m/s wind speed,the average power coefficient of the S-VAWT with additional cylinders is 15%higher than that of the conventional *** construction of the wind turbine prototype and power-extraction tests,the results showed that compared with a conventional S-VAWT,the output power was 29%higher for the S-VAWT with additional cylinders under the same particular conditions.

关键词： Additional cylinders Taguchi experimental method Savonius vertical-axis wind turbine(S-VAWT) Average power coefficient Wind-induced rotation

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Fuzzy clustering involving convex polytopes

Fuzzy clustering involving convex polytopes

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Il Hong Suh Jae-Hyun Kim F. Chung-Hoon Rhee Intelligent Control and Robotics Laboratory Department of Electronic Engineering Hanyang University Ansan South Korea

Prototype based methods are commonly used in cluster analysis and the results may be highly dependent on the prototype used. In this paper, we propose a fuzzy clustering method that involves adaptively expanding convex polytopes. Thus, the dependency on the use of prototypes can be eliminated. Also, the proposed method makes it possible to effectively represent an arbitrarily distributed data set without a priori knowledge of the number of clusters in the data set. Specifically, nonlinear membership functions are utilized to determine whether a new cluster is created or which vertex of the cluster should be expanded. For this, the membership function of a new vertex is assigned according to not only a distance measure between an incoming pattern vector and a current vertex, but also the amount of how much the current vertex has been modified. Therefore, cluster expansion can be only allowed for one cluster per incoming pattern. Several experimental results are given to show the validity of our method.

关键词： Prototypes Clustering algorithms Phase change materials Shape Amorphous materials Fuzzy neural networks intelligent control intelligent robots Laboratories Design engineering

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Anomaly Detection of Marine Diesel Engine Valve System based on Mahalanobis Distance

Anomaly Detection of Marine Diesel Engine Valve System based...

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2020 Global Reliability and Prognostics and Health Management, PHM-Shanghai 2020

作者： Sun, Yue Xu, Aidong Wang, Kai Jia, Shuli Guo, Haifeng Han, Xiaojia Laboratory of Industrial Control Network and System State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Shenyang China Automation Engineering Department Shanghai Marine Diesel Engine Research Institute Shanghai China

ISBN: (纸本)9781728159454

Diesel engine is an important energy equipment. The valve system is the core component of diesel engine with high failure rate. It is of great significance to study the abnormal detection method of the diesel engine valve system and realize the failure warning before the failure occurs for avoiding the unexpected shutdown of the diesel engine. In this paper, an anomaly detection method of marine diesel engine valve system based on Mahalanobis distance (MD) is proposed. The failure mode of diesel engine system is analyzed. Three thermal parameters are selected as monitoring parameters for the failure mode of roller fragmentation. Fault features are extracted by MD method and the failure threshold is determined by Box-Cox transformation. Finally, the effectiveness of the proposed method is verified by the durability test of diesel engine. © 2020 IEEE.

关键词： Diesel engines

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Sound Generation for the Haptic Perception using an Irregular Primitive Function

Sound Generation for the Haptic Perception using an Irregula...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Seung-Chan Kim Sung-Chul Kang Dong-Soo Kwon Telerobotics and Control Laboratory KAIST South Korea Intelligent Robotics Research Center South Korea

In this paper, a sound synthetic technique (SST) based on sinusoidal frequency modulations with irregular primitive function algorithms for tactile perception is suggested. Investigations of the benefits of real-time SST for haptic interaction were referenced. Performance was evaluated in two ways; 1) a unimodal analysis of synthesized sounds in terms of whether they can induce tactile perception, and 2) multimodal analysis of the relationship between tactile perception and the generated sound. The unimodal analysis of sound suggested that meaningful spectrum contents can be generated using the proposed SST. The result of the multimodal analysis showed that auditory-haptic multimodal perception increases human sensitivity of texture perception.

关键词： Haptic interfaces Rough surfaces Surface roughness Surface texture intelligent robots Electronic mail Performance analysis Psychology Human robot interaction Visual perception

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Edge computing-based defect identification model of power IoT edge side devices

Edge computing-based defect identification model of power Io...

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2020 IEEE International Conference on Information Technology, Big Data and Artificial Intelligence, ICIBA 2020

作者： Li, Dawei Jia, Gengtao Song, Chunhe Yu, Shimao Start Grid Shanghai Information Telecommunication Company Shanghai200122 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 Shenyang11016 China

ISBN: (纸本)9781728152240

There are various types of devices on the terminal side of the power Internet of Things, and the data collected through various sensors shows an exponential growth. The current in-depth application of edge computing technology can not only ease the pressure of network transmission, but also improve the timeliness of fault diagnosis. Edge computing technology is A new way to solve the fault diagnosis of equipment on the edge of the power grid. From the perspective of edge fault diagnosis, this paper expounds the fault diagnosis model of power IoT edge devices based on edge computing, and combines the isolated forest algorithm to design smart sensor data-based power IoT edge device fault diagnosis algorithms. Finally, the validity of the proposed framework model is verified by public sample data. © 2020 IEEE.

关键词： Failure analysis

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