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42nd Chinese control Conference, CCC 2023

作者： Wang, YiFei Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

High temperature rise of permanent magnet linear synchronous motor can lead to irreversible demagnetization of the motor permanent magnet, which can negatively affect the motor performance. To address this problem, a thermal modeling analysis method based on Transfer learning-Deep neural network (TL-DNN) was proposed in this paper. Its specific implementation steps include (1) corresponding to different heat source inputs, the equivalent thermal circuit method and the finite element analysis was adopted based on the structure and main parameters of PMLSM including overall average temperature rise, coil temperature rise and permanent magnet temperature rise from the data sets of the motor;(2) TL-DNN was used to fit the functional relationship between the input source features and the output targets based on the characteristics of the sample data sets. In order to verify the accuracy of the prediction model with small sample data sets, this paper divided the proportion of the data set and compared the results with other classic nonparametric models (random forest, support vector machine, and deep neural network). The results show that the TL-DNN model outperforms other machine learning models and has better robustness and generalization ability when the training datasets are insufficient, and achieves an organic combination of physical field path model and data-driven model, which provides a feasible solution for PMLSM modeling in the case of small samples. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Finite element method

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Industrial Internet for intelligent manufacturing:past, present, and future

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Frontiers of Information Technology & Electronic Engineering 2024年第9期25卷 1173-1192页

作者： Chi XU Haibin YU Xi JIN Changqing XIA Dong LI Peng ZENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Industrial Internet, motivated by the deep integration of new-generation information and communication technology(ICT) and advanced manufacturing technology, will open up the production chain, value chain, and industry chain by establishing complete interconnections between humans, machines, and things. This will also help establish novel manufacturing and service modes, where personalized and customized production for differentiated services is a typical paradigm of future intelligent manufacturing. Thus, there is an urgent requirement to break through the existing chimney-like service mode provided by the hierarchical heterogeneous network architecture and establish a transparent channel for manufacturing and services using a flat network architecture. Starting from the basic concepts of process manufacturing and discrete manufacturing, we first analyze the basic requirements of typical manufacturing tasks. Then, with an overview on the developing process of industrial Internet, we systematically compare the current networking technologies and further analyze the problems of the present industrial *** this basis, we propose to establish a novel “thin waist” that integrates sensing, communication, computing, and control for the future industrial Internet. Furthermore, we perform a deep analysis and engage in a discussion on the key challenges and future research issues regarding the multi-dimensional collaborative sensing of task–resource, the end-to-end deterministic communication of heterogeneous networks, and virtual computing and operation control of industrial Internet.

关键词： intelligent manufacturing Industrial Internet Thin waist Transparent service Manufacturing as a service

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A new SPICE modeling approach of annular MOSFET in 350 nm commercial CMOS process 3

A new SPICE modeling approach of annular MOSFET in 350 nm co...

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3rd International Conference on Electronic Information Engineering and Computer, EIECT 2023

作者： Cheng, He Yang, Zhijia Zhang, Chao Zhang, Zhipeng Key Laboratory of Networked Control Systems Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350357707

Annular gate MOSFETs have emerged as potential solutions for radiation-hardened electronics, demonstrating exceptional total ionizing dose tolerance. However, accurate modeling of annular MOSFETs is crucial when designing analog integrated circuits for use in radiation environments, especially when implementing commercial CMOS processes. To enable circuit simulation using tools like SPECTRE/SPICE, foundry-provided PDKs must incorporate a rigorously verified compact model of annular MOSFET behavior. TCAD simulation can then be used to numerically evaluate the current characteristics of the annular MOSFET against the refined compact model constructed from the foundry-provided PDK. In this paper, by aligning the current characteristics of a standard NMOS between TCAD and SPICE simulations, we can verify the material process conditions. Then, based on the material process parameters, the model of the annular gate MOSFET is established using the TCAD simulator. Finally, reasonable agreements are obtained between the TCAD and SPICE simulation results for the IDS-VGS and IDS-VDS characteristics. © 2023 IEEE.

关键词： Foundries

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Power Line Following Based on Measurements of the Magnetic Field

Power Line Following Based on Measurements of the Magnetic F...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Goran Vasiljević Dean Martinović Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Unska 3 University of Zagreb Zagreb Croatia

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

In this paper, we present a method to control the UAV to follow the power line with a specific position and orientation based only on the measurement of the magnetic field generated by the current flow in the power line. In this way, it is possible to localize the UAV with respect to the power line without the need for additional sensors, even in poor visibility conditions. The measurements from four magnetometers attached to the UAV are used to solve an optimization problem that involves determining the relative pose of the UAV with respect to the power line. Based on the relative pose, the UAV is controlled to follow the power line in a predefined position and orientation. Experiments in a test setup have confirmed that the method is applicable in a realistic environment.

关键词： Location awareness Visualization Power measurement Magnetic field measurement Magnetometers Current measurement Position measurement Autonomous aerial vehicles Magnetic fields Optimization

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Design and Implementation of Industrial Real-Time Ethernet Redundant Network Based on Parallel Redundancy Protocol 3

Design and Implementation of Industrial Real-Time Ethernet R...

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3rd International Conference on Computer Science, Electronic Information Engineering and intelligent control Technology, CEI 2023

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

ISBN: (纸本)9798350372052

Industrial real-time Ethernet technology is widely used in modern industrial control systems due to its high communication rate and low application cost. However, in complex network environments, industrial real-time Ethernet may encounter data collisions, data loss, and other issues, which reduce the overall reliability of industrial control systems. To address these issues, a method for designing and implementing industrial real-time Ethernet redundancy networks based on parallel redundancy protocols is proposed. The method first analyzes the redundant data frame structure, dual-connected node (DANP) structure, and redundancy implementation principle of parallel redundancy protocols (PRP). Then, aiming at the standard redundancy discard algorithm principle and its shortcomings, an improved sliding window redundancy discard algorithm is proposed to adapt to complex network environments. Based on the discard algorithm, dual-connected redundancy nodes are designed and implemented. Finally, the dual-connected redundancy nodes are used as the core to construct industrial real-time Ethernet redundancy networks. The test results show that in a PRP-based industrial real-time Ethernet redundant network, when a single redundant network fails, the system can switch without delay, greatly improving the reliability of the industrial control system communication network © 2023 IEEE.

关键词： Redundancy

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control Aspects in Programming by Demonstation for Robotic Deep- Micro- Hole Drilling

Control Aspects in Programming by Demonstation for Robotic D...

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Mediterranean Conference on control and Automation (MED)

作者： Bruno Maric Frano Petric Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicate human performance, we develop a single-DOF Impedance-based drill controller for a standard industrial position-controlled robot, enhancing safe and smooth interactions between the drill bit and the mould. To address high feed rates observed in worker demonstrations and prevent bit breaks, we focus on minimizing non-axial motion during drilling on an off-the-shelf available industrial manipulator KUKA KR 10. This involves analyzing the impact of joint dynamics on drill motion and designing a control system for the robot's low-level control to achieve axial drill motion. We show that the proposed joint control system that takes into account relationship between joint and tool dynamics outperforms available robot low-level control in minimizing non-axial motion, leading to the robot being able to outperform the human in deep- micro- hole drilling.

关键词： Drilling Service robots Dynamics Robot control Time factors Synchronization Task analysis

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AI-Enhanced Structural Health Monitoring with a Multi-Rotor Aerial Vehicle

AI-Enhanced Structural Health Monitoring with a Multi-Rotor ...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Filip Zorić Ana Milas Tamara Petrović Zdenko Kovačić Matko Orsag Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

Roads, bridges, tunnels, railways and canals are crucial for the transportation of goods and people in modern society. Modern infrastructure is subject to damage and requires therefore regular inspection and maintenance to remain safe and functional. While this can be done manually, large parts of the mentioned infrastructure are hardly accessible, which is a main motivational factor for the use of multi-rotor aerial vehicles (MAV s) for inspection and maintenance tasks. MAV s, paired with novel deep learning computer vision techniques, such as instance segmentation, are emerging as an obvious choice for automating certain parts of structural health monitoring (SHM). In this manuscript, we provide an overview of available SHM datasets and how they can be utilized for the task of autonomous crack detection. We use available datasets to train and compare two neural network architectures for instance segmentation. The segmented crack instances are then localized in a global coordinate frame to perform autonomous mapping of the potentially dangerous infrastructure defects. Experimental studies demonstrate the effectiveness of the proposed SHM approach, which results in precisely localized infrastructure defects marked on the global map.

关键词： Instance segmentation Irrigation Structural panels Neural networks Transportation Inspection Rail transportation

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Flexible job shop machines and AGVs cooperative scheduling on the basis of DQN algorithm 6

Flexible job shop machines and AGVs cooperative scheduling o...

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6th IEEE Advanced Information Management, Communicates, Electronic and Automation control Conference, IMCEC 2024

作者： Xiaoting, Dong Guangxi, Wan Peng, Zeng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9798350316520

In flexible job shop, the transportation time and path of Automated Guided Vehicles (AGVs) greatly impact the production cycle time. However, traditional flexible job shop scheduling problems (FJSSP) mainly focus on job sequencing and machine selection, neglecting the effect of AGVs transportation on the production process. This often leads to suboptimal scheduling solutions that are difficult to guide the shop floor operation effectively. To address this issue, this paper formulates a cooperative scheduling model that integrates the AGVs scheduling into traditional flexible job shop scheduling problem, abbreviated as the FJSMAS problem, with the objective of makespan minimization. Furthermore, by designing state features, action space, and reward function, the FJSMAS problem is transformed into a Markov decision process, a deep reinforcement learning algorithm (DRL) is then adopted to solve it. The feasibility of the proposed FJSMAS model and the effectiveness of DRL algorithm in solving the FJSMAS problem are verified through benchmark's instances. © 2024 IEEE.

关键词： Reinforcement learning

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A new active rehabilitation training mode for upper limbs based on Tai Chi Pushing Hands

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Biomimetic Intelligence & robotics 2024年第3期4卷 82-92页

作者： Xiangpan Li Liaoyuan Li Jianhai Han Bingjing Guo Ganqin Du School of Mechatronics Engineering Henan University of Science and TechnologyLuoyang 471003China Henan Provincial Key Laboratory of Robotics and Intelligent Systems Luoyang 471003China School of Automotive Engineering Hubei University of Automotive TechnologyShiyan 442002China Hubei Key Laboratory of Automotive Power Train and Electronic Control Shiyan 442002China The First Affiliated Hospital of Henan University of Science and Technology Luoyang 471003China

Robot-assisted rehabilitation is a crucial approach to restoring motor function in the ***,the current training trajectory lacks sufficient theoretical or practical support,and the monotony of single-mode training is a *** Chi Pushing Hands,a beneficial and effective daily exercise,has been shown to improve balance function,psychological state,and motor function of the upper extremities in patients recovering from *** address these issues,we propose a new active rehabilitation training that incorporates Tai Chi Pushing Hands movements and yin-yang balance *** training trajectory and direction are encoded by the velocity field and consist of two processes:yang(push)and yin(return).During yang,the limb actively pushes the robot to move,while during yin,the limb actively follows the robot’s *** provide necessary assistance,an admittance controller with self-adaptive parameters is *** addition,we introduce two indexes,the‘Intention Angle’(ϖ)and the time ratio(Γ),to evaluate motion perception *** experiment was conducted on a 4-degree-of-freedom upper limb rehabilitation robot platform,and the subjects were separated into a familiar group and an unfamiliar *** experiment results show that the training could be completed well no matter whether the subject is familiar with Tai Chi Pushing Hands or *** parameters and the movement of the robot can be adjusted based on the interactive force to adapt to the ability of the subject.

关键词： Tai Chi Push Hands Velocity field Self-adaptive admittance Upper limb rehabilitation Active training

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PID Based Path Following Algorithm for the MiddleAUV

PID Based Path Following Algorithm for the MiddleAUV

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

作者： Ivan Lipko Robotics and Intelligent Control Systems Laboratory Sevastopol State University Sevastopol Russian Federation

The baseline path following algorithm based on PID controller for horizontal movement of the MiddleAUV is constructed. The MiddleAUV is small autonomous underwater vehicle designed to study the control algorithms. This article discusses the one case of PID controllers design and results of numerical simulations. The path is constructed using waypoints. The movement of the AUV between waypoints is accomplished by controlling the distance and yaw between the current position of the AUV and the waypoint. When the AUV approaches a waypoint, a special unit generates a new waypoint and the AUV continues moving. The main difficulty was configuring the controllers for the non-linear version of the AUV model. To solve this problem, we tuned the PID controller for the linear model and chose the best one for the nonlinear model. Numerical experiments were performed on the nonlinear mathematical model, which showed that the resulting PID controllers could be used as the basis for the robot's motion along the waypoints.

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