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作者： Jain, Deepak Kumar Jacob, Sunil Alzubi, Jafar Menon, Varun Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of Automation Chongqing University of Posts and Telecommunications Chongqing400065 China Center for Robotics SCMS School of Engineering and Technology Kerala683576 India School of Engineering Al-Balqa Applied University Salt19117 Jordan Department of Computer Science and Engineering SCMS School of Engineering and Technology Kerala683576 India

Real-time video processing has found its range of applications from defense to consumer electronics for surveillance, video conferencing, etc. With the advent of Field Programmable Gate Arrays (FPGAs), flexible real-time video processing systems which can meet hard real-time constraints are easily realized with short development time. Most of the existing solutions have high utilization of system resources and are not quite flexible with many applications. Here we propose a hardware–software co-design for an FPGA-based real-time video processing system to convert video in standard Phase Alternating Line (PAL) 576i format to standard video of Video Graphics Array (VGA)/Super Video Graphics Array (SVGA) format with little utilization of resources. Switching between multiple video streams, character/text overlaying, and skin color detection are also incorporated with the system. The system is also adaptable for rugged applications. VHSIC Hardware Description Language (VHDL) codes for the architecture were synthesized using Altera Quartus II and targeted for Altera Stratix I FPGA. Results achieved confirm that the proposed system performs efficient conversion with very less resource utilization compared to the existing solutions. Since the proposed system is also flexible, many other applications can be incorporated in the future. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Field programmable gate arrays (FPGA)

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Accelerometer-based Stroke Length Estimation of Sucker-Rod Pumping System in Smart Field

Accelerometer-based Stroke Length Estimation of Sucker-Rod P...

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Chinese Automation Congress (CAC)

作者： Haibo Cheng Haibin Yu Peng Zeng Chunhe Song 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 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In smart field, innovative technologies and advanced equipment are used to reduce operating costs, monitor wells conditions, optimize the production and improve economic performance. Stroke length is an important parameter in oilfield. It reflects the working condition of production wells. Accurate and effective measurement of stroke length imposes great impacts on oil production. In this paper, a novel method to efficiently perform drift-free stroke length estimation of sucker-rod pumping system with acceleration sensors is proposed. This method includes two stages of integration and two stages of filtering. First, an band-pass infinite impulse response filter is applied to eliminate the drift and sensing errors of acceleration data collected by accelerometer. Then, an integration is calculated to derive velocity signal with the filtered data. After that, a high-pass filter is performed to remove the DC offset of the velocity. Finally, a periodic velocity signal is selected to perform integration operation to compute the stroke length. The proposed method is validated against a real dataset from an oilfield. The experimental results illustrate that the proposed method can reduce sensing errors, suppress interference, and improve estimation accuracy.

关键词： Acceleration Estimation Band-pass filters Sensors IIR filters Accelerometers Production

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Event-Triggered Consensus for Multiple Nonholonomic Systems

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Journal of Systems Science & Complexity 2018年第5期31卷 1227-1243页

作者： LI Miao LIU Zhongxin CHEN Zengqiang College of Computer and Control Engineering Nankai University Tianjin 300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300350 China.

The paper investigates the consensus problem of multiple nonholonomic systems. Two event-triggered control strategies, one centralized and the other distributed, are developed, which can reduce the frequency of control updating. Under the proposed protocols, the multiple nonholonomic systems can achieve consensus, and the bound of inter-event time intervals is provided to illustrate that no Zeno behavior exists. Finally, numerical simulations are also provided to demonstrate the effectiveness of the proposed control strategies.

关键词： Consensus event-triggered control multiple nonholonomic systems.

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Dense r-robust formations on lattices

Dense r-robust formations on lattices

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IEEE International Conference on robotics and Automation (ICRA)

作者： Luis Guerrero-Bonilla David Saldaña Vijay Kumar Division of Decision and Control Systems in the School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Autonomous and Intelligent Robotics Laboratory (AIRLab) Lehigh University Bethlehem PA USA GRASP Laboratory University of Pennsylvania

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Robot networks are susceptible to fail under the presence of malicious or defective robots. Resilient networks in the literature require high connectivity and large communication ranges, leading to high energy consumption in the communication network. This paper presents robot formations with guaranteed resiliency that use smaller communication ranges than previous results in the literature. The formations can be built on triangular and square lattices in the plane, and cubic lattices in the three-dimensional space. We support our theoretical framework with simulations.

关键词： Lattices Robot kinematics Communication networks Robustness Robot sensing systems Energy consumption

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Information Modeling and Verification Method for Edge Computing of Power Internet of Things

Information Modeling and Verification Method for Edge Comput...

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IEEE Joint International Information Technology and Artificial Intelligence Conference (ITAIC)

作者： Dawei Li Xiaolu Chen Chunhe Song Shimao Yu Start Grid Shanghai Information & Telecommunication Company Shanghai China 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 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9781728152448

ISBN: (纸本)9781728152455

There are various types of power Internet of Things terminals, and a unified edge-side information fusion model is the basis of data unification. This article describes the unified modeling method of power Internet of Things terminal information, and describes the construction method of the Internet of Things terminal information model from three aspects: attribute, message and service. Combined with the characteristics of the electric power Internet of Things information model, a model verification method is given. Finally, through the terminal data on the edge side of the power Internet of Things, the feasibility and effectiveness of the model verification method are verified.

关键词： Analytical models Computational modeling Data models Power systems Internet of Things Information technology Edge computing

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Distributed computing framework of intelligent sensor network for electric power internet of things

Distributed computing framework of intelligent sensor networ...

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IEEE Joint International Information Technology and Artificial Intelligence Conference (ITAIC)

作者： Dawei Li Ruimo Yu Chunhe Song Shu Li Gengtao Jia Xiaoli Zhou Start Grid Shanghai Information & Telecommunication Company Shanghai China 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 Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (数字)9781728152448

ISBN: (纸本)9781728152455

The power IoT terminal environment is complex, and current smart sensor sensors have problems such as poor networking capabilities and large processing delays, and few specific edge-side automatic networking capabilities. This paper analyzes and elaborates the distributed intelligent sensor computing framework from the perspective of edge intelligent networking, designs a computing model for intelligent sensors of power Internet of Things terminals, and gives the edge-based deployment of convolutional neural network architecture, data aggregation, model training, and intelligent reasoning. Finally, the validity of the proposed framework model is verified by public sample data.

关键词： Training Analytical models Computational modeling Data aggregation Data models Internet of Things intelligent sensors

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Bayesian-based anomaly detection in the industrial processes ⁎

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IFAC-PapersOnLine 2020年第2期53卷 11729-11734页

作者： Yijun Pan Zeyu Zheng Dianzheng Fu Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110016 Liaoning China Key Laboratory of Network Control System Chinese Academy of Sciences Shenyang 110016 Liaoning China

In general, the industrial processes are semi-automatic, and are controlled by the operators. Since the operation principles of the industrial processes are complicated, it is difficult to label observations. The disturbances may be contained in the observations. Therefore, the unsupervised anomaly detection method is promising for research in the industrial processes. In the paper, a multivariate anomaly detection method is proposed, which is unsupervised and online. The priori probability of anomaly occurrence is necessary, and a hazard function selection method is defined at first. Secondly, Bayesian-based method is adopted for anomaly detection. In final, the Dempster-Shafer theory is introduced for fusing the univariate anomaly detection results. The numerical simulation is used for illustrating the anomaly detection power of the proposed method, and the TE process is implemented for testing the fault detection effectiveness. A real data set collected from a bathyscaphe is applied for demonstrating the power of leakage detection.

关键词： Anomaly detection Bayesian Dempster-Shafer theory Bathyscaphe TE process Change point detection Leakage detection

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Position control of XY precision planar motion table based on input shaping filter

Position control of XY precision planar motion table based o...

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International Conference on Electronics, Communications and Information Technology (CECIT)

作者： HuaLiang Zhang Xu Lu DanPing Jia BingJie Zhao Tao Zhang Yang Liu HongYu Yan Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China

ISBN: (纸本)9781665437585

In order to solve the vibration problem of mining equipment, a Simulink simulation model of current loop, speed loop and position loop of permanent magnet synchronous motor was established to track the input position signal of the motor system.[1] At the same time, the input shaper is introduced into the motor three loop control model to study the vibration suppression effect of the input shaper.[2] The essence of the input shaper is to filter the input signal. Usually, the parameters of the input shaper need to be accurately identified and the detailed parameters of the system need to be identified. However, the problem that the identification accuracy of the system is not enough often makes the parameters of the shaper uncertain. In view of the problem that the system identification is not accurate, a method of adjusting and setting input shaper parameters is designed, which is not very dependent on the system. The results show that the optimal parameters of the shaper can be selected by the method. Compared with the parameters of the shaper selected according to the identification model, the vibration suppression effect is better.

关键词： Vibrations Analytical models Tracking loops Software packages Magnetic separation Transfer functions Position control

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Construction of Multilayer Porous Scaffold Based on Magnetically Guided Assembly of Microfiber

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Journal of Systems Science & Complexity 2018年第3期31卷 581-595页

作者： LI Xingfu WANG Huaping SHI Qing SUN Tao HUANG Qiang FUKUDA Toshio Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing 100816 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper proposes a novel method of magnetically guided assembly to construct multi- layer porous scaffold for three-dimensional cell culture by apply magnetic microfibers. Microfibers are composed of biocompatible and biodegradable alginate solution with homogeneous magnetic nanopar- ticles, which are continuously spun from a microfluidic device by precise pressure control of the syringe pump. Magnetic nanoparticles enable the control of magnetic field on microfibers. Meanwhile, mag- netized device combining with a round permanent magnet are utilized to guide the distribution of spouted microfibers. The device is composed by pure iron wire arrays and wax, which stimulates pow- erful magnetic flux density and magnetic field gradients for the capture and assembly of microfibers. Thus, magnetic microfibers are spun on desired places of the magnetized device by motion control of the micromanipulation robot, and precise locations are adjusted by magnetic force couple with the assist of glass micropipette. Afterwards, microfibers are spatially organized by periodic magnetic force and crossed layer-by-layer to form micro-pore structure with both length and width of 650μm. Finally, the authors construct a multilayer microfiber-based scaffold with high porosity to provide a satisfactory environment for long-term cell culture. The experimental results demonstrate the effectiveness of the proposed method.

关键词： Magnetically guided assembly magnetic microfiber magnetized device periodic magneticforce multilayer porous scaffold.

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A Non-Intrusive Appliances Load Monitoring Method Based on Hourly Smart Meter Data

A Non-Intrusive Appliances Load Monitoring Method Based on H...

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作者： Chunhe Song Zhongfeng Wang Shuji Liu Libo Xu Dapeng Zhou Peng Zeng Key Laboratory of Networked Control Systems Shenyang Institute of automationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Grid Liaoning Electric Power Co. Ltd.

Peak load management is very important for the electric power *** paper analyzes the impact of residential swimming pool pumps(RSPPs) on the peak *** this paper analyzes the challenges of non-intrusive energy consumption estimation for ***,a novel reference based change-point(RCP) model is proposed for non-intrusive SPPs energy consumption *** advantages of the proposed RCP model are that it does not require high sampling rate data or prior information of the *** show that during pool season,under the assumption that the ratio of base loads(defined as the power consumption which is independent of the outdoor temperature) of houses with and with PPs remains the same during no pool season and pool season,6.3%of the total energy is consumed by PPs,while under the assumption that for houses with and without PPs,the ratio of base loads is equal to the ratio of the temperature-dependent power consumption during pool season,9.08% of the total energy is consumed by ***,we show that by shifting PPs activity period,under the first assumption,at least 1.27% of peak demand can be reduced,while under the second assumption,at least 4.53% of peak demand can be reduced.

关键词： Smart grid Non-intrusive Appliances Load Monitoring Peak Load

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