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International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： Toshan Wickramanayake Kamyar Mehran Real-Time Power and Control Systems Laboratory Queen Mary University of London London United Kingdom

ISBN: (数字)9798350387599

ISBN: (纸本)9798350387605

Lithium-ion batteries (LiBs) have seen wide adoption for several applications, and in turn, the implementation of accurate battery models in battery management systems (BMSs) has seen growing research interest. The Single Particle Model (SPM) is a high-fidelity battery model, that while robust and accurate, is challenging to parameterise for BMS platforms. Hence, in this work, we propose a novel application of the adaptive gradient descent (Adagrad) optimisation algorithm for parameter estimation (PE) of the Single Particle Model. The proposed algorithm is the first implementation of Adagrad optimisation for a physics model of a LiB and requires only a single voltage discharge curve as experimental data. Using a novel multi-objective optimisation criterion, the PE algorithm generates parameter sets of reasonable accuracy with fast estimation speeds, enabling online parameter estimation on BMS platforms.

关键词： Lithium-ion batteries Adaptation models Parameter estimation Accuracy Sensitivity Estimation Voltage

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic systems over a Lossy Communication Channel

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Journal of systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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E-3DGS: Gaussian Splatting with Exposure and Motion Events

arXiv

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arXiv 2024年

作者： Yin, Xiaoting Shi, Hao Bao, Yuhan Bing, Zhenshan Liao, Yiyi Yang, Kailun Wang, Kaiwei State Key Laboratory of Modern Optical Instrumentation Zhejiang University China School of Robotics National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China College of Information Science and Electronic Engineering Zhejiang University China The Chair of Robotics AI and Real-Time Systems Technical University of Munich Germany

Estimating Neural Radiance Fields (NeRFs) from images captured under optimal conditions has been extensively explored in the vision community. However, robotic applications often face challenges such as motion blur, insufficient illumination, and high computational overhead, which adversely affect downstream tasks like navigation, inspection, and scene visualization. To address these challenges, we propose E-3DGS, a novel event-based approach that partitions events into motion (from camera or object movement) and exposure (from camera exposure), using the former to handle fast-motion scenes and using the latter to reconstruct grayscale images for high-quality training and optimization of event-based 3D Gaussian Splatting (3DGS). We introduce a novel integration of 3DGS with exposure events for high-quality reconstruction of explicit scene representations. Our versatile framework can operate on motion events alone for 3D reconstruction, enhance quality using exposure events, or adopt a hybrid mode that balances quality and effectiveness by optimizing with initial exposure events followed by high-speed motion events. We also introduce EME-3D, a real-world 3D dataset with exposure events, motion events, camera calibration parameters, and sparse point clouds. Our method is faster and delivers better reconstruction quality than event-based NeRF while being more cost-effective than NeRF methods that combine event and RGB data by using a single event sensor. By combining motion and exposure events, E-3DGS sets a new benchmark for event-based 3D reconstruction with robust performance in challenging conditions and lower hardware demands. The source code and dataset will be available at https://***/MasterHow/E-3DGS. Copyright © 2024, The Authors. All rights reserved.

关键词： Gaussian distribution

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Cause Identification of Single-line-to-ground Fault in Distribution System

Cause Identification of Single-line-to-ground Fault in Distr...

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2021 International Conference on Power System Technology, POWERCON 2021

作者： Liu, Kun Ren, Xuan Wang, Bin Power Dispatch Control Center of Guangdong Power Grid Co. Ltd Key Lab for Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Co. Ltd. Guangzhou China Tsinghua University Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electric Engineering Beijing China

ISBN: (纸本)9781665407373

Cause identification of single-line-to-ground fault in the distribution system is of great significance to the electric workers for fault isolation and rapid maintenance. The key of fault cause identification is to accurately and quickly distinguish human electric shock faults from non-biological faults. In this paper, human electric shock faults and non-biological faults are modeled and fault characteristics are analyzed. Based on the differences between shape and rotation characteristic of the volt-ampere characteristic curves, a fault cause identification method which can distinguish human electric shock faults from non-biological faults is proposed. Simulations show the effectiveness of the method. © 2021 IEEE.

关键词： Electric grounding

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Automatic generation of realistic training data for learning parallel-jaw grasping from synthetic stereo images

Automatic generation of realistic training data for learning...

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International Conference on Advanced Robotics (ICAR)

作者： Justus Drögemüller Carlos X. Garcia Elena Gambaro Michael Suppa Jochen Steil Máximo A. Roa Technical University of Braunschweig Institute of Robotics and Process Control Technical University of Munich (TUM) Chair of Robotics Artificial Intelligence and Real-time Systems Roboception GmbH German Aerospace Center (DLR)

ISBN: (纸本)9781665436854

This paper proposes a novel approach to automatically generate labeled training data for predicting parallel-jaw grasps from stereo-matched depth images. We generate realistic depth images using Semi-Global Matching to compute disparity maps from synthetic data, which allows producing images that mimic the typical artifacts from real stereo matching in our data, thus reducing the gap from simulation to real execution. Our pipeline automatically generates grasp annotations for single or multiple objects on the synthetically rendered scenes, avoiding any manual image pre-processing steps such as inpainting or denoising. The labeled data is then used to train a CNN-model that predicts parallel-jaw grasps, even in scenarios with large amount of unknown depth values. We further show that scene properties such as the presence of obstacles (a bin, for instance) can be added to our pipeline, and the training process results in grasp prediction success rates of up to 90%.

关键词： Training Annotations Computational modeling Pipelines Noise reduction Training data Manuals

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Residual Squeeze-and-Excitation Network with Multi-scale Spatial Pyramid Module for Fast Robotic Grasping Detection

Residual Squeeze-and-Excitation Network with Multi-scale Spa...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hu Cao Guang Chen Zhijun Li Jianjie Lin Alois Knoll Chair of Robotics Artificial Intelligence and Real-Time Systems Technische Universität München München Germany State Key Laboratory of Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Tongji University Shanghai China University of Science and Technology of China China

This paper proposes an efficient, fully convolutional neural network to generate robotic grasps by using 300×300 depth images as input. Specifically, a residual squeeze-and-excitation network (RSEN) is introduced for deep feature extraction. Following the RSEN block, a multi-scale spatial pyramid module (MSSPM) is developed to obtain multi-scale contextual information. The outputs of each RSEN block and MSSPM are combined as inputs for hierarchical feature fusion. Then, the fused global features are upsampled to perform pixel-wise learning for grasping pose estimation. The experimental results on Cornell and Jacquard grasping datasets indicate that the proposed method has a fast inference speed of 5ms while achieving high grasp detection accuracy of 96.4% and 94.8% on Cornell and Jacquard, respectively, which strikes a balance between accuracy and running speed. Our method also gets a 90% physical grasp success rate with a UR5 robot arm.

关键词： Automation Conferences Pose estimation Grasping Manipulators Feature extraction Inference algorithms

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Cause Identification of Single-line-to-ground Fault in Distribution System

Cause Identification of Single-line-to-ground Fault in Distr...

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International Conference on Power System Technology (POWERCON)

作者： Kun Liu Xuan Ren Bin Wang Key Lab for Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Co. Ltd. Power Dispatch Control Center of Guangdong Power Grid Co. Ltd Guangzhou China Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Tsinghua University Beijing China

ISBN: (纸本)9781665407380

关键词： Fault diagnosis Analytical models Shape Electric shock Maintenance engineering Power systems

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Correction: Mechanisms of Mg carbonates precipitation and implications for CO2 capture and utilization/storage

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Inorganic Chemistry Frontiers 2023年第8期10卷 2493-2493页

作者： Hellen S. Santos Hoang Nguyen Fabricio Venâncio Durgaprasad Ramteke Ron Zevenhoven Paivo Kinnunen Fibre and Particle Engineering Research Unit University of Oulu Pentti Kaiteran katu 1 90570 Oulu Finland Development Center of Real Time Chemical Processes and Analyses (NQTR) Institute of Chemistry Federal University of Rio de Janeiro Rua Hélio de Almeida 40 Cidade Universitária da Universidade federal do Rio de Janeiro 21941-614 Rio de Janeiro-RJ Brazil Process and Systems Engineering Laboratory Åbo Akademi University Henrikinkatu 2 20500 Turku Finland

Correction for ‘Mechanisms of Mg carbonates precipitation and implications for CO2 capture and utilization/storage’ by Hellen S. Santos et al., Inorg. Chem. Front., 2023, https://***/10.1039/d2qi02482a.

Correction for ‘Mechanisms of Mg carbonates precipitation and implications for CO₂ capture and utilization/storage’ by Hellen S. Santos et al., Inorg. Chem. Front., 2023, https://***/10.1039/d2qi02482a.

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Duplicate checking Strategies for Selecting Topics for Graduation Thesis Based on Maximum Public Sequence

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IOP Conference Series: Earth and Environmental Science 2019年第3期267卷

作者： Guorui Yu Li Huang Jiewen Sun Shangchun Liao School of Computer Science and Technology Wuhan University of Science and Technology phone:*** Intelligent Information Processing and Hubei Real-time Industrial Systems Laboratory. Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology Ministry of Education.

The system is based on the undergraduate thesis management system as the practice platform, focusing on the realization of the thesis topic check function. The current check-up detection system is based on the entire contents of the query, and does not meet the requirements for an undergraduate thesis query. According to the characteristics of the thesis, the system first divides the keywords into the topic, selects the irrelevant parts, then removes the irrelevant words, and finally checks the keywords in the topic, and realizes the efficient and accurate check for inspection.

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Exploiting Job Response-time Information in the Co-Design of real-time control systems

Exploiting Job Response-Time Information in the Co-Design of...

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IEEE International Conference on Embedded and real-time Computing systems and Applications (RTCSA)

作者： Yang Xu Karl-Erik Årzén Anton Cervin Enrico Bini Bogdan Tanasa Department of Automatic Control Lund University Sweden Scuola Superiore Sant'Anna Real-Time Systems Laboratory Italy Department of Computer and Information Science Linköping University Sweden

We consider a real-time system of multiple tasks, each task having a plant to control. The overall quadratic control cost is to be optimized. We exploit the periodicity of the task response time, which corresponds to a periodic delay pattern in the feedback control loop. Perturbed periods are used as a tool to find a finite hyper period. We present an analytical procedure to design a periodic linear-quadratic-Gaussian (LQG) controller for tasks with fixed execution times as well as a numerical solution to the periodic -- stochastic LQG problem for tasks with variable execution times. The controllers are evaluated using simulations in real-time scheduling and control co-design examples.

关键词： Delays real-time systems control design time factors Mathematical model Numerical models Cost function

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