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2nd IEEE International Conference on Data Science and Computer Application, ICDSCA 2022

作者： Liu, Yiyang Yan, Shuaihua Hou, Zheng Zhao, Yang Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China Kunshan Intelligent Equipment Research Institute Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China University of Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China College of Information Science and Engineering Northeastern University Shenyang China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China

ISBN: (数字)9781665472005

ISBN: (纸本)9781665472005

This paper studies the path planning problem of multiple automated guided vehicles (multi-AGV) in a matrix manufacturing workshop. We proposed the multi-AGV path planning problem with default time, which is a variant of the classic path planning problem. In order to ensure the timely completion of each task, the default time of the task is explicitly considered. The goal is to obtain a conflict-free path with the minimum total default time, total time, and total path length. For these three goals, this problem is NP-hard. In order to solve this problem better, we established a multi-objective optimization model of total default time, total time and total path length of multi-AGV in flexible manufacturing environment. This paper proposes a multi-AGV path planning method that integrates game theory and A∗ algorithm. This method regards each AGV as a participant in the game model, through the default time obtained from each game dynamically adjusts the probability of each AGV planning the next path, and uses game theory to help the system dynamically select the most suitable AGV to plan the next path to improve the on-time delivery rate of tasks. Finally, the simulation results show that the multi-AGV path planning method integrating game theory and A∗ algorithm further reduces the total default time, total time and total path length of all AGVs. © 2022 IEEE.

关键词： Motion planning

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Three Dimensional Path Planning of Snake-Arm Robot Based on Improved Ant Colony Algorithm 12

Three Dimensional Path Planning of Snake-Arm Robot Based on ...

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12th International Conference on CYBER Technology in Automation, control, and intelligent Systems, CYBER 2022

作者： Chen, Xu Jiang, Yong Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

A path planning algorithm based on an improved ant colony algorithm was proposed to solve the path planning problem of snake-arm robots in a structured environment. The heuristic function of the ant colony algorithm is combined with an artificial potential field. Setting up a repulsive force field around the obstacle and an attractive field at the target point, the snake-arm robot is guided to advance from the starting point to the target point while avoiding the obstacle. Chaos disturbance is added to the pheromone update to improve the global search capability of the algorithm. In path optimization, the linear generation algorithm and cubic uniform B-spline curve interpolation algorithm are used to optimize the path globally. © 2022 IEEE.

关键词： Motion planning

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An edge-aware-oriented semantic association retrieval method for industrial data 6

An edge-aware-oriented semantic association retrieval method...

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6th International Workshop on Advanced Algorithms and control Engineering, IWAACE 2022

作者： Liu, Yang Zhang, Tianshi Xiao, Jinchao Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110000 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781510657755

The development of the Industrial Internet has caused a change that traditional Internet technologies gradually sink into the field of industrial manufacturing. Due to the high degree of business coupling at the edge of industrial production, the relationships between the data are complex and difficult to comprehensively analyze and apply. This paper proposes a data semantic association retrieval method for industrial data at the industrial edge. Firstly, the framework of semantic association retrieval of industrial data is established, and then the construction method of inverted table in association retrieval is explained, including the formation method of keyword set and concept set, and the algorithm for realizing semantic association retrieval is given. The algorithm is verified in the actual scene of the test production line, and the results show that the algorithm in this paper is feasible and effective in relational retrieval. © 2022 SPIE.

关键词： Edge computing

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On Networked Dynamical Systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Deployment Schemes of In-Band Management Mode Based on Industrial SDN Network

Deployment Schemes of In-Band Management Mode Based on Indus...

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2022 International Conference on 6G Communications and IoT Technologies, 6GIoTT 2022

作者： Piao, Jinnan Li, Dong Yang, Ming Liu, Jindi Yu, Xueting Li, Zhibo Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781665454841

When software defined network (SDN) is used to deploy the industrial control network, the deployment schemes are different in actual according to the different industrial production business, environment and capital cost. In this paper, we use the in-band management mode to deploy the SDN network in an industrial environment. We design four deployment schemes of the in-band management mode for the industrial SDN network according to the specific requirements of industrial environment and propose an algorithm for controller location selection in the in-band management network For the four schemes and the algorithm, we use the controller and switches to build a simulation environment according to different schemes and compare the performance between the in-band management and out-of-band management, which shows that the in-band management mode can set up a normal SDN industrial network with applicable network scale and throughput. © 2022 IEEE.

关键词： Internet of things

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Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

Autonomous Exploration of Unknown 3D Environments Using a Fr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Iván D. Changoluisa Caiza Ana Milas Marco A. Montes Grova Francisco Javier Pérez-Grau Tamara Petrovic University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Advanced Center for Aerospace Technologies (CATEC) Aerospace Technology Park of Andalusia Seville Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment.

关键词： Three-dimensional displays Video on demand Navigation Warehousing Buildings Inspection Web sites

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A Task Offloading Method for Smart Instruments Based on Edge Computing 7

A Task Offloading Method for Smart Instruments Based on Edge...

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7th International Conference on Computer and Information Processing Technology, ISCIPT 2022

作者： Liu, Yang Zhang, Tianshi Xiao, Jinchao Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110000 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

The development of edge computing technology has enabled the promotion of traditional industrial instruments to smart instruments with collaborative working capabilities. Smart instruments are widely distributed in industrial production sites and can monitor working conditions in real time. Implementing multi-instruments collaborative computing on the edge side will help improve the responsiveness of industrial systems and reduce instrument maintenance costs. This paper proposes a task offloading method for smart instruments based on edge computing. Firstly, the instrument capability is evaluated based on the characteristics of the smart instrument. Then, the task scheduling of smart instruments is optimized based on Lyapunov algorithm. Finally the simulation verification is carried out. The experimental results show that the algorithm in this paper has a significant effect on improving computing power and reducing resource occupancy. © 2022 Copyright for this paper by its authors.

关键词： Edge computing

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Gait-based Emotion Recognition Using Spatial Temporal Graph Convolutional Networks 4

Gait-based Emotion Recognition Using Spatial Temporal Graph ...

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4th International Conference on Computer Information Science and Artificial Intelligence, CISAI 2021

作者： Yu, Shiyi Li, Xinde Southeast University Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Nanjing China Guangdong Intelligent Robotics Institute Dongguan China

ISBN: (纸本)9781665406925

Most of the existing gait emotion recognition methods use spatial convolution or temporal convolution separately. Without integrating these two dimensions, it is easy to loss valid information for emotion analysis. In order to solve this problem, we propose a supervised learning method using Spatial Temporal Graph Convolutional Networks (ST-GCN) to classify emotions into positive, neutral and negative patterns. In addition, we made a new gait dataset called EmoGait3d including 742 real gait skeleton sequences extracted from videos, also annotated with emotion labels. According to the experiment results, our method achieves the accuracy of 92.2% which outperforms current state-of-art algorithms for gait emotion recognition. © 2021 IEEE.

关键词： Speech recognition

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A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models

A Point-to-distribution Degeneracy Detection Factor for LiDA...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sehua Ji Weinan Chen Zerong Su Yisheng Guan Jiehao Li Hong Zhang Haifei Zhu Biomimetic and Intelligent Robotics Lab (BIRL) School of Electromechanical Engineer Guangdong University of Technology Guangzhou China JT-Innovation (Guangdong) Intelligent Technology Co. Ltd. Guangdong Key Laboratory of Modern Control Technology Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou China College of Engineering South China Agricultural University China Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Limited by the working principles, LiDAR-SLAM systems suffer from the degeneration phenomenon in environments such as long corridors and tunnels, due to the lack of sufficient geometric features for frame-to-frame matching. The accuracy and sensitivity of existing degeneracy detection methods need to be further improved. In this paper, we propose a novel method for degeneracy detection using local geometric models based on point-to-distribution matching. To obtain an accurate description of local geometric models, an adaptive adjustment of voxel segmentation according to the point cloud distribution and density is designed. The codes of the proposed method is open-source and available at https://***/jisehua/***. Experiments with public datasets and self-build robots were conducted to evaluate the methods. The results exhibit that our proposed method achieves higher accuracy than the other existing approaches. Applying our proposed method is beneficial for improving the robustness of the LiDAR-SLAM systems.

关键词： Point cloud compression Accuracy Simultaneous localization and mapping Sensitivity Laser radar Geometric modeling Noise

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Robust Finite-Time Containment of Networked Heterogeneous Nonlinear Systems with Intermittent Measurement Only

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IEEE Transactions on Network Science and Engineering 2025年

作者： Tian, Biao Zhang, Hao Cui, Peiyu Wang, Zhuping Yan, Huaicheng Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Tongji University College of Electronic and Information Engineering Department of Control Science and Engineering Shanghai201804 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems China East China University of Science and Technology School of Information Science and Engineering Shanghai200237 China

The robust finite-time containment problem of fully heterogeneous multiagent systems with uncertainties is often challenging, especially when only intermittent output measurement is used. To address the issue posed by the nonidentical system dynamics of multiple leaders, which makes the traditional distributed estimator form for the convex hull inapplicable, a distributed finite-time estimator is constructed for each follower to extract the system matrices and states of leaders. Then, in the output-triggering setting, a finite-time extended state observer driven by intermittent output measurement is developed to reconstruct the uncertainties and unmeasurable states of followers. Meanwhile, the non-continuous output measurement will lead to the differentiation of virtual control laws undefined. To solve this issue, a filtering compensation scheme-based finitetime controller via the backstepping technique is developed for nonlinear followers, ensuring practical finite-time stability (PFTS) of the closed-loop system. It is shown that the proposed algorithm steers each follower into the preset convex combination spanned by the positions of multiple leaders. The capability of the exploited control protocol is verified through simulations and experiments. 2013 IEEE.

关键词： Backstepping

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