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International Conference on control and automation (ICCA)

作者： Yulong Zhang Zhongxian Zhou Lingxia Mu Xianghong Xue Jing Xin Youmin Zhang School of Automation and Information Engineering Xi'an University of Technology Xi'an Shaanxi China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal Quebec Canada

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

In this paper, an insulator missing defect detection method is proposed based on unmanned aerial vehicles to solve the problem of glass insulator burst fault detection in high-voltage transmission lines. Firstly, the proposed method utilizes the improved Mask R-CNN (region-based convolutional neural network) algorithm to segment insulator strings in aerial images. Then, the constructed encoder-decoder network is used to extract and reconstruct features of the insulators, resulting in residual images. Finally, the residual images preserve the location information of the fault and obtains the result of missing insulators. The experiment shows that the proposed algorithm has high segmentation accuracy for insulators and high recognition accuracy for insulator missing faults.

关键词： Image segmentation Accuracy Power transmission lines Fault detection High-voltage techniques Insulators Feature extraction

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Asynchronous distributed charging protocol for plug-in electric vehicles

Journal of Economy and Technology

引用

Journal of Economy and Technology 2023年 1卷 29-47页

作者： Yunfan Zhang Yifan Su Yue Chen Feng Liu State Key Laboratory of Power System Operation and Control Department of Electrical Engineering Tsinghua University Beijing China China Electric Power Planning & Engineering Institue Beijing China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Special Administrative Region China

The proliferation of plug-in electric vehicles (PEVs) advocates a distributed paradigm for coordinating PEV charging. Unlike existing primal-dual decomposition or consensus methods, this paper proposes a cutting-plane-based distributed algorithm considering a peer-to-peer (P2P) communication network, which enables asynchronous coordination among PEVs. First, an equivalent surrogate model is established by exploiting the duality of the original optimization problem, which masks the private information of individual users by equivalent transformation. Then, a cutting-plane based algorithm is derived to solve the surrogate problem in a distributed manner with intrinsic superiority to cope with various asynchrony. Critical implementation issues, including distributed initialization, distributed cutting-plane generation, and localized stopping criteria, are discussed in detail. Numerical tests on IEEE 37- and 123-node feeders with actual data illustrate that the proposed method is resilient to several asynchronies and admits the plug-and-play operation mode. The proposed methodology is expected to provide an alternative path toward the robust protocol for PEV charging.

关键词： Asynchronous algorithm Charging protocol Distributed optimization Plug-in electrical vehicles

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Smooth quadrotor trajectory generation for tracking a moving target in cluttered environments

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Science China(Information Sciences) 2021年第7期64卷 132-147页

作者： Lele XI Zhihong PENG Lei JIAO Ben M.CHEN School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Peng Cheng Laboratory Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we present a trajectory generation method of a quadrotor, based on the optimal smoothing B-spline, for tracking a moving target with consideration of relative tracking pattern or limited field of view of the onboard sensor in cluttered environments. Compared to existing methods, safe flying zone,vehicle physical limits, and smoothness are fully considered to guarantee flight safety, kinodynamic feasibility, and tracking performance. To tackle the cluttered environments, a parallel particle swarm optimization algorithm is applied to find the feasible waypoints that the generated trajectory should be as close to as possible, with consideration of the target's future state as well as obstacles to trade off the tracking performance and flight safety. Then, a sequential motion planning method, considering the above constraints, is applied and embedded into a cost function for solving the problem of robust tracking trajectory generation for the quadrotor via a convex optimization approach. The feasibility and effectiveness of the proposed method are verified by numerical simulations.

关键词： quadrotor target tracking trajectory generation B-spline convex optimization

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Open-/Closed-loop Active Learning for Data-driven Predictive control

arXiv

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arXiv 2024年

作者： Feng, Shilun Shi, Dawei Shi, Yang Zheng, Kaikai The State Key Laboratory of Intelligent Control and Decision of Complex Systems MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing100081 China The Department of Mechanical Engineering Faculty of Engineering University of Victoria VictoriaBCV8N 3P6 Canada

An important question in data-driven control is how to obtain an informative dataset. In this work, we consider the problem of effective data acquisition of an unknown linear system with bounded disturbance for both open-loop and closed-loop stages. The learning objective is to minimize the volume of the set of admissible systems. First, a performance measure based on historical data and the input sequence is introduced to characterize the upper bound of the volume of the set of admissible systems. On the basis of this performance measure, an open-loop active learning strategy is proposed to minimize the volume by actively designing inputs during the open-loop stage. For the closed-loop stage, an closed-loop active learning strategy is designed to select and learn from informative closed-loop data. The efficiency of the proposed closed-loop active learning strategy is proved by showing that the unselected data cannot benefit the learning performance. Furthermore, an adaptive predictive controller is designed in accordance with the proposed data acquisition approach. The recursive feasibility and the stability of the controller are proved by analyzing the effect of the closed-loop active learning strategy. Finally, numerical examples and comparisons illustrate the effectiveness of the proposed data acquisition strategy. Copyright © 2024, The Authors. All rights reserved.

关键词： Active learning

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New Sensing Technologies for Monitoring Machinery,Structures,and Manufacturing Processes

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Journal of Dynamics, Monitoring and Diagnostics 2023年第2期2卷 69-88页

作者： JDMD Editorial Office Zhaoyan Fan Robert X.Gao Qingbo He Yi Huang Tianxi Jiang Zhike Peng Luc Thévenaz Yuyong Xiong Shuncong Zhong Editorial Office of JDMD Chongqing University of TechnologyChongqingPeople’s Republic of China Department of Mechanical Industrialand Manufacturing EngineeringOregon State UniversityCorvallisORUSA Department of Mechanical and Aerospace Engineering Case Western Reserve UniversityClevelandOHUSA State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghaiPeople’s Republic of China Fujian Provincial Key Laboratory of Terahertz Functional Devices and Intelligent Sensing School of Mechanical Engineering and AutomationFuzhou UniversityFuzhouPeople’s Republic of China Institute of Precision Instrument and Intelligent Measurement&Control Fuzhou UniversityFuzhouPeople’s Republic of China School of Mechanical Engineering Ningxia UniversityYinchuanPeople’s Republic of China EPFL Ecole Polytechnique Fédérale de Lausanne Group for Fibre OpticsSCI-STI-LT Station 111015 LausanneSwitzerland

Sensing is the fundamental technique for sensor data acquisition in monitoring the operation condition of the machinery,structures,and manufacturing *** this paper,we briefly discuss the general idea and advances of various new sensing technologies,including multiphysics sensing,smart materials and metamaterials sensing,microwave sensing,fiber optic sensors,and terahertz sensing,for measuring vibration,deformation,strain,acoustics,temperature,spectroscopic,*** on the observations from the state of the art,we provide comprehensive discussions on the possible opportunities and challenges of these new sensing technologies so as to steer future development.

关键词： fiber optic sensor metamaterials sensing microwave sensing multiphysics sensing terahertz sensing

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Data-driven Model Based Online Fault Detection Using OMP-ERR 4

Data-driven Model Based Online Fault Detection Using OMP-ERR

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4th International Conference on Industrial Artificial Intelligence, IAI 2022

作者： Zhou, Guangze Luo, Zhong Zhu, Yunpeng Gao, Yi Wang, Zhiao Northeastern University School of Mechanical Engineering and Automation Shenyang110819 China Northeastern University Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China Shenyang110819 China Dalian University of Technology State Key Laboratory of Structural Analysis for Industrial Equipment Dalian116024 China University of Sheffield Department of Automatic Control and System Engineering SheffieldS13JD United Kingdom

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

Model based online fault detection often conducted by extracting features from models driven by system input and output data under various working conditions. The efficiency of online system modelling is therefore significant to improve the performance of online fault detections. In this study, a novel fast data-driven modelling approach, known as the OMP (Orthogonal Matching Pursuit)- ERR (Error Reduction Ratio) method is proposed to improve the efficiency of online fault detections. The new system identification method is motivated by noticing that the traditional OMP algorithm is much faster but usually less accurate than the OLS (Orthogonal least squares) algorithm in the identification of system NARX (Nonlinear Auto-Regressive with Exogenous inputs) models. The problem is first illustrated by the identification of a Single Degree of Freedom (SDoF) system. After that, the OMP-ERR algorithm is developed to improve the NARX modelling efficiency for the purpose of system model-based online fault detections. A case study on the crack detection of a cantilever beam shows that the new approach is over 10 times faster than the traditional OLS modelling process, demonstrating the promising applications of the new approach in online fault detections in engineering practice. © 2022 IEEE.

关键词： Least squares approximations

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Constraint-Following Based Adaptive Robust control for Underactuated mechanical systems

Constraint-Following Based Adaptive Robust Control for Under...

引用

International Conference on control, automation, Robotics and Vision (ICARCV)

作者： Cui Wei Ye-Hwa Chen Yanling Wei Institute of Intelligent Manufacturing Nanjing Tech University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA Key Laboratory of Measurement and Control of Complex System of Engineering School of Automation Southeast University Nanjing China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This paper introduces an adaptive robust control approach tailored for underactuated mechanical systems encountering matched and mismatched uncertainty, employing a constraint-following methodology. The control strategy unfolds in two phases: initially, a nominal control scheme is devised neglecting uncertainty and deviations in initial conditions from constraints. Subsequently, uncertainty is categorized into matched and mismatched components, ensuring that mismatched uncertainties remain unobservable. Leveraging the structural characteristics of the uncertainty bound, a novel segmented adaptive law is proposed and seamlessly integrated into the adaptive robust control framework. By employing the Lyapunov minimax approach, the method ensures uniform boundedness and uniform ultimate boundedness simultaneously, thereby ensuring approximate adherence to constraints for underactuated mechanical systems facing both matched and mismatched uncertainties alongside initial condition deviations.

关键词： Robust control Uncertainty Adaptive systems Costs automation Nonlinear dynamical systems mechanical systems Closed loop systems Robots

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FTEKFNet: Hybridizing Physical and Data-driven Estimation Algorithms for Vehicle State

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-11页

作者： Wang, Yan Hu, Fengqing Tian, Cheng Li, Panshuo Huang, Hailong Yin, Guodong Huang, Chao Department of Industrial and System Engineering The Hong Kong Polytechnical University Hong Kong Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnical University Hong Kong School of Automation and the Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou China School of Mechanical Engineering Southeast University Nanjing China

Sideslip angle and vehicle velocity are crucial for both traditional and autonomous vehicles. They play essential roles in chassis stability control, as well as in tasks such as path planning and tracking control. However, these states cannot be directly measured by onboard sensors, therefore various vehicle state estimation algorithms have been developed. Most of these algorithms assume that the noise characteristics are known, ignoring the impact of missing measurement data, and cannot simultaneously handle the effects of colored noise and white noise. To address these issues, we propose a fault-tolerant extended Kalman filter network (FTEKFNet), which integrates both physics-based and data-driven methods for vehicle state estimation. Based on the Fault Tolerant Extended Kalman Filter (FTEKF) iterative framework, a pre-trained artificial neural network is utilized to directly predict the Kalman gain, and it is combined with FTEKF to form FTEKFNet. Experimental results under different conditions demonstrate that FTEKFNet can simultaneously deal with unknown noise and data loss problems and has good adaptability to color noise. The estimation performance of the proposed algorithm is better than the traditional FTEKF and EKF methods. IEEE

关键词： Extended Kalman filters

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Design, Fabrication, and Characterization of Soft Robotic Claw Inspired by Parrot Feet for Grasping

SSRN

引用

SSRN 2024年

作者： Hao, Tianze Feng, Jingjing Ma, Yue Liu, Songtao Wang, Jutao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology School of Mechanical Engineering Tianjin300384 China Automation Equipment Company Limited Tianjin301701 China Tianjin University of Technology China

Soft pneumatic actuators (SPAs) have demonstrated the ability to generate contraction, expansion, and bending strokes in three-dimensional space during pressurization. Gripper composed of SPAs are expected to serve as end effectors to improve the adaptability and lightweight of mobile robots in complex environments. In this study, a soft robotic claw inspired by the zygodactyl structure of parrot feet is developed featuring pneu-net actuators with oblique air chambers. These chambers enable bending and twisting movements, ensuring effective contact with the cylindrical landing objects. Integration of a thin steel sheet as the strain limiting layer not only improves static stability, but also augments the output force by approximately 57%, significantly ameliorating the claw’s gripping strength. Comparative gripping tests on diverse everyday items, indicate that while soft claw with vertical chambers adeptly handle centrosymmetric objects, whose with oblique chambers excel at at securing objects with large diameters, making them particularly suitable for perching applications on unmanned aerial vehicles. Moreover, enhancing the actuators with a uniformly soft surface texture, approximately 1.8 mm in height, notably increases friction force, thereby improving grip and stability. Comprehensive static stability assessments on birch logs confirmed its effective gripping and perching capabilities. The proposed soft claw has certain application prospects in situations that require flexible operation and complex grasping tasks due to its lightweight, flexibility, and strong adaptability. © 2024, The Authors. All rights reserved.

关键词： Pneumatic actuators

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Optimal Multi-Robot Path Planning for Cyclic Tasks using Petri Nets

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IFAC-PapersOnLine 2022年第28期55卷 9-15页

作者： Peng Lv Guangqing Luo Xiang Yin Ziyue Ma Shaoyuan Li Department of Automation and Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai 200240 China School of Electro-Mechanical Engineering Xidian University Xi'an 710071 China

In this paper, we investigate the problem of optimal multi-robot path planning for a cyclic task represented by a particular type of linear-temporal logic (LTL) formulae. Specifically, the team of robot needs to fulfill a given LTL formula and at the same time, accomplishes some particular tasks infinitely often. To avoid the state-space explosion when the number of robot increases, we use Petri nets to model the team of multi-robot. Our goal is to find an optimal infinite sequence in the prefix-suffix form for each robot such that the average cost per task is minimized. We propose an efficient planning method based on the notion of basis reachability graph (BRG), which is a compact representation of the reachability space of the PN. We demonstrate the computational efficiency of our method through illustrative examples.

关键词： Petri Nets Linear Temporal Logic Multi-Robot systems Task Planning

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