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检索条件"机构=Laboratory of Robotics and Intelligent Control"

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RESIDUAL LIFE PREDICTION OF LITHIUM BATTERY BASED ON IMPROVED MULTI-OPTIMIZATION ALGORITHM AND SUPPORT VECTOR REGRESSION 14

RESIDUAL LIFE PREDICTION OF LITHIUM BATTERY BASED ON IMPROVE...

引用

14th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2024

作者： Tao, Yulong Wang, Jun Wang, Kai School of Computer Science and Technology Shenyang University of Chemical Technology Shenyang China Key Laboratory of Intelligent Technology for Chemical Process Industry Liaoning Province Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Robotics and Artificial Intelligence Manufacturing Innovation Institute Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781837242672

The lithium-ion battery is increasingly critical in the fields of electric vehicles and sustainable energy. Accurate prediction of the Remaining Useful Life (RUL) of lithium-ion batteries is essential to mitigate risks and minimize potential losses. This paper introduces a novel fusion algorithm, FPSOGWO, which combines Particle Swarm Optimization (PSO) and Grey Wolf Optimization (GWO) with an enhanced Circle chaos strategy and a random adaptive weighting strategy. The FPSOGWO algorithm, integrated with Support Vector Regression (FPSOGWO-SVR), was utilized to predict the RUL of health factors in lithium batteries. Compared to other optimization algorithms, FPSOGWO exhibits superior optimization speed and value, effectively overcoming issues of local optimality. Specifically, when benchmarked against the Whale Optimization Algorithm-SVR (WOA-SVR), the R-Square values of FPSOGWO-SVR showed improvements of 15.62%, 1.28%, 5.67%, and 10.65% across four different types of batteries. Experimental results demonstrate that FPSOGWO-SVR provides more accurate RUL predictions for lithium batteries, highlighting its potential for broader application in battery health management systems. © The Institution of Engineering & Technology 2024.

关键词： Support vector regression

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SLAM-Based Joint Calibration of Differential RSS Sensor Array and Source Localization 49

SLAM-Based Joint Calibration of Differential RSS Sensor Arra...

引用

49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Fu, Linya Qiao, Xu Huang, Shoudong Mao, Guoqiang Lin, Zhiyun Li, Youfu Kong, He Robotics Institute Uni. of Technology Sydney Sydney Australia Xidian University State Key Laboratory of Integrated Services Networks China City University of Hong Kong Department of Mechanical Engineering China Southern Uni. of Sci. and Tech. Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen China Southern Uni. of Sci. and Tech. Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China

ISBN: (纸本)9798350331820

Sensor arrays generating differential received signal strength (DRSS) measurements have found many applications in robotics. However, accurate calibration of these sensor arrays remains a challenge. Most existing methods are impractical in that they assume to know signal source positions or certain parameters (i.e., path loss exponent), and try to estimate the others. In this paper, we adopt graph simultaneous localization and mapping (SLAM) as a general framework for jointly estimating the source positions and parameters of the DRSS sensor array. Our contributions are twofold. On the one hand, by using a Fisher information matrix approach, we conduct a systematic observability analysis of the corresponding SLAM setup for the calibration problem. On the other hand, we propose an effective procedure to select the initial value which is fed to Levenberg-Marquardt iterations for further improving optimization accuracy and convergence. Extensive simulation and hardware experiments show that the proposed method renders high-quality calibration results. All the codes and data are publicly available at https://***/SUSTech2022/DRSS-sensor-array-calibration. © 2023 IEEE.

关键词： Calibration

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A Novel Semantic-Web Based Technology for control Logic Rapid Reconfiguration of CPPS 7

A Novel Semantic-Web Based Technology for Control Logic Rapi...

引用

7th International Conference on intelligent Computing and Signal Processing, ICSP 2022

作者： Wang, Peng Wang, Zhongfeng Wang, Chu Hu, Kunyuan Li, Ligang Song, Chunhe 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

ISBN: (纸本)9781665478571

Aiming at solving the problem that the traditional production control system cannot support rapid logical reconfiguration of CPPS, a semantic-web based technology consisting of an overall research framework and three key methods are proposed. Within this overall research framework, product process can be first matched against production resource capabilities, then transformed into the production process of production system, and finally into the control logic of production control system. All the transformations can be done automatically by the help of the proposed semantic-web based methods, namely unified ontology model and related reasoning methods, so that when product process changes, control logic of production can be adjusted efficiently, which enables rapid logical reconfiguration of CPPS. In this paper, the overall framework is first introduced with emphasis on background and technical characteristics of CPPS, analysis of research gaps and overall methods. Then, the three key methods are introduced in detail, namely the unified ontological modelling method of product-process-resources, and the rule-based reasoning methods to automatically transform the production process and control logic, are described in detail. Furthermore, concerning the shortcoming of existing Product-Process-Resource ontological modeling, the description of production system's control behavior is extended within the resource domain, so that key information related to PLC programming such as action sequence and control variable can be integrated and leveraged during the transformation of control logic. Finally, a reconfigurable CPPS prototype is developed based on the proposed framework, and the advantages of the methods are tested and verified. © 2022 IEEE.

关键词： Production control

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A Position-Force control Approach for an Underwater Vehicle-Manipulator System

A Position-Force Control Approach for an Underwater Vehicle-...

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Ocean Studies (ICOS), International Conference on

作者： Aleksey A. Kabanov Kirill V. Dementiev Department of Informatics and Control in Technical Systems Sevastopol State University Sevastopol Russian Federation Robotics and Intelligent Control System Laboratory Sevastopol State University Sevastopol Russian Federation

The paper proposes an approach to position-force control in the underwater vehicle-manipulator systems. There are two different strategies to realize position-force control systems: through a decoupled or coupled controller. The first one is more flexible and is used in the present article as a PID-controllers array. The paper considers the generalized system design methodology applicable to control objects of any kinematic structure. Compensation blocks for manipulator disturbances and calculation of additional end-effector offset to maintain a constant force on the operating point are proposed. The system also utilizes the desired underwater vehicle position calculation based on the relativity of the vehicle position and operating point for a heading set point. The modeling results showed that the system is able to perform qualitatively force operations in a given point of the working space. In addition, the graphs revealed the compensator unit efficiency and confirmed the necessity of the additional offset calculation unit.

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PADRE - Propeller Anomaly Data REpository for UAVs various rotor fault configurations

PADRE - Propeller Anomaly Data REpository for UAVs various r...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Radosław Puchalski Marek Kołodziejczak Adam Bondyra Jinjun Rao Wojciech Giernacki Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznań Poland Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

The article presents a drone sensory database collected during flights with different types of propeller failures. Measurements from four accelerometers and four gyroscopes were collected during 20 flights with two types of faults occurring in different configurations in one, two, three or four rotors. The paper shows the architecture of the system and the procedure for acquiring and processing the data. Raw sensor outputs, pretreated data, and digitally processed signals were provided in a publicly available repository, the structure and purpose of which are discussed in the paper. The applicability and potential use of the shared data for other research are indicated. The provided repository should be helpful in developing methods for detecting and classifying faults in actuators of unmanned aerial vehicles (UAVs). It will be particularly useful for researchers working on data-driven methods. The default purpose of the dataset is to train artificial intelligence models that require large amounts of data.

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Design of a Highly Reliable Redundant Network Card Supporting the IEEE1588 Protocol 5

Design of a Highly Reliable Redundant Network Card Supportin...

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5th IEEE International Conference on Electronics Technology, ICET 2022

作者： Zhang, Bo Yan, Bingjun Liu, Mingzhe Xu, Aidong Wang, Kai Wang, Zhiping 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

ISBN: (纸本)9781665485081

To adapt to the digital and intelligent trend of ship management and meet the requirements of shipborne industrial Ethernet with high reliability and strong real-time performance, this paper develops a shipboard redundant network card with a Zynq7000 series SoC chip as the main controller, and designs the IEEE1588 IP core and PRP IP core on the FPGA side of SoC. The design of the IEEE1588 IPCore can avoid the impact of the jitter of the upper layer protocol stack on the time stamp accuracy;the PRP IPCore implements dual-network redundancy on the FPGA side, reducing the software overhead of the Ethernet protocol stack on the ARM side, and lowers the impact of network switching on synchronization accuracy. Through testing, the point-to-point synchronization accuracy of the network card is better than 50 ns, and the dual-network redundancy switch can be quickly completed when the network is disconnected. The design of the network card greatly improves the consistency and accuracy of the internal time of the ship system, and meets the requirements for high reliability, fast fault switching and recovery. © 2022 IEEE.

关键词： System-on-chip

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K-BMPC: Derivative-based Koopman Bilinear Model Predictive control For Tractor-trailer Trajectory Tracking With Unknown Parameters

K-BMPC: Derivative-based Koopman Bilinear Model Predictive C...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Zehao Wang Han Zhang Jingchuan Wang Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the original control-affine system. Further, we analyze the propagation and bounds of state prediction errors caused by the truncation in derivative order. The identified finite dimensional Koopman bilinear model would serve as predictive model in the next step. Koopman Bilinear Model Predictive control (K-BMPC) is proposed to solve the trajectory tracking problem. We linearize the bilinear model around the estimation of the lifted state and control input. Then the bilinear Model Predictive control problem is approximated by a quadratic programming problem. Further, the estimation is updated at each iteration until the convergence is reached. Moreover, we implement our algorithm on a tractor-trailer system, taking into account the longitudinal and side slip effects. The open-loop simulation shows the proposed Koopman bilinear model captures the dynamics with unknown parameters and has good prediction performance. Closed-loop tracking results show the proposed K-BMPC exhibits elevated tracking precision with the commendable computational efficiency. The experimental results demonstrate the feasibility of K-BMPC.

关键词： Trajectory tracking Computational modeling Estimation Predictive models control systems Data models Nonlinear dynamical systems

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A Fuzzy Fusion Approach for the Prediction of Position and Orientation in Robot-Assisted Cardiovascular Surgery

A Fuzzy Fusion Approach for the Prediction of Position and O...

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robotics and Computer Vision (ICRCV), International Conference on

作者： Zhi Hu Liyan Sun Aiguo Song School of Instrument Science and Engineering Southeast University Nanjing China Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai China

To assist doctors in cardiovascular intervention, the use of robots in surgery can effectively separate interventionalists from X-ray radiation, prevent the spread of respiratory diseases, perform remote operations to alleviate the regional imbalance of medical resources and address some procedural challenges. However, a lack of force feedback in human computer interaction of current surgical robots affects surgical efficiency and safety. In cardiovascular surgery, the catheter bends and twists as it is the dynamic multipoint line contact with the vessel. It is difficult to accurately model and register it. In addition, time delay affects system transparency. This paper proposes a multi-information fuzzy fusion approach that is based on medical experience in order to predict position and orientation online. More specifically, Fitts law is developed with a two-motion collaborative to estimate the surgical movement time. Experimental results reveal that the proposed method can result in high system transparency in robot-assisted cardiovascular surgery. It could further improve accuracy and security in surgical procedures.

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6-DOF AUV Identification with MIMO-NARX

6-DOF AUV Identification with MIMO-NARX

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Aleksey A. Kabanov Ivan Y. Lipko Kirill V. Dementiev Department of Informatics and Control in Technical Systems Sevastopol State University Sevastopol Russian Federation Robotics and Intelligent Control System Laboratory Sevastopol State University Sevastopol Russian Federation

This paper applies the MIMO NARX neural model to identify AUV with six degrees of freedom. Strongly nonlinear dependencies are modeled using a MIMO NARX model trained using «input-output» experimental data. This results in a grey box model with a partially known internal structure that can be supervised. This is achieved by specifying a certain regressors type, which is feedback to the model input. Obtained results show that the neural model trained by the Levenberg–Marquardt numerical algorithm provides acceptable performance and accuracy. Validation of the model was performed using data from full-scale experiments, which allowed to identify the weaknesses and advantages of the resulting system more accurately.

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A New Method for Automatic Planning of Cyber-Physical Production System's control Logic based on State Space Method and Semantic Web Technology 7

A New Method for Automatic Planning of Cyber-Physical Produc...

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7th International Conference on intelligent Computing and Signal Processing, ICSP 2022

作者： Wang, Peng Wang, Zhongfeng Li, Ligang Wang, Chu Hu, Kunyuan 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

ISBN: (纸本)9781665478571

Rapid reconfiguration is an important capability of flexible production system supporting personalized customization. When the product requirement change and the existing capacity configuration of the production system cannot meet the new requirement, the production system needs to be reconfigured. Aiming at automating the control logic planning process, this paper propose a new method based on state space and semantic web. Unified modelling concepts and relations between product, equipment and production system are built in an ontological model and different types of semantic queries are defined to process the ontology instance which will be leveraged by the process to construct the state space model. In addition, an linear programming method is used to drive the final control logic inside the generated space model. © 2022 IEEE.

关键词： State space methods

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