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检索条件"机构=Larics-Laboratory for Robotics and Intelligent Control Systems"

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intelligent Leakage Inspection Method of Magnetic Mill Workshop based on Lightweight Yolov5

Intelligent Leakage Inspection Method of Magnetic Mill Works...

引用

Image Processing, Computer Vision and Machine Learning (ICICML), International Conference on

作者： Shimao Yu Chunhe Song Yong Sun Pengpei Gao Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350355413

ISBN: (纸本)9798350355420

In the process of mining company beneficiation, large rotating equipment, pipelines and electrical equipment have many complex inspection areas and diverse inspection contents. The lack of intelligent solutions to the problem of pipeline leakage will cause serious consequences such as equipment shutdown if it is not found in time. This paper proposes a lightweight yolov5 intelligent leakage inspection method for the magnetic mill workshop. The inspection robot is used to continuously collect images of possible leakage points and transmit them to the background server. The improved yolov5 algorithm simplifies the model structure and realizes rapid and accurate identification of leakage targets with limited computing resources. The computational efficiency is increased by 44.98% with almost no loss of model accuracy. The mAP_0.5 of identifying large targets at leakage points reaches 97.96%.

关键词： YOLO Training Accuracy Conferences Magnetic resonance imaging Computational modeling Pipelines Inspection Servers Monitoring

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

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

引用

Electronic Information Engineering and Computer Technology (EIECT), International Conference on

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

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 I DS -V GS and I DS -V DS characteristics.

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

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

引用

Computer Science, Electronic Information Engineering and intelligent control Technology (CEI), IEEE International Conference on

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

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

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

关键词： Protocols Industrial control Computer network reliability Redundancy Ethernet Complex networks Reliability engineering

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A Battery control Strategy for Sequential Utilization of Energy Storage systems in Power Batteries

A Battery Control Strategy for Sequential Utilization of Ene...

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IEEE Advanced Information Technology, Electronic and Automation control Conference (IAEAC)

作者： Bowen Li Shijie Cui Lizhong Zhu College of Automation and Electrical Engineering Shenyang Ligong University Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

With the widespread adoption of energy storage systems utilizing power batteries, battery lifespan degradation has become a primary constraint on system performance. To address this issue, this study proposes a lifespan-optimized battery control strategy. Firstly, a battery lifespan calculation model for the energy storage system is established, taking into detailed consideration key parameters such as battery State of Charge (SOC). Secondly, a control strategy based on SOC for charging and discharging is designed, aiming to minimize battery lifespan consumption to the greatest extent possible. Finally, experimental results demonstrate that the proposed control strategy significantly improves the lifespan of the energy storage system compared to existing strategies. This research provides an effective means of control for the long-term stable operation of power battery systems.

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

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

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IEEE Advanced Information Management,Communicates,Electronic and Automation control Conference (IMCEC)

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

ISBN: (数字)9798350316537

ISBN: (纸本)9798350316544

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.

关键词： Greedy algorithms Sequential analysis Job shop scheduling Remotely guided vehicles Transportation Production Benchmark testing

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Research on prefabricated component production line mold platform combination method

Research on prefabricated component production line mold pla...

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2021 International Conference on Advanced Manufacturing Technology and Electronic Information, AMTEI 2021

作者： Han, Zhonghua Yu, Lingfeng Li, Bo Qi, Yuanwei School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China 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

In traditional prefabricated component manufacturing enterprises, there are often problems such as low utilization rate of the platform surface due to poor production plans of the enterprise, resulting in waste of production resources and low production capacity of the enterprise. In order to solve the problem of mold platform combination allocation in the production process of prefabricated component manufacturers, a mold platform combination allocation method based on the combination of machine learning and backtracking is proposed. The backtracking method is used to search for the theoretical best fit combination result, and the improved BL is used. The positioning algorithm simulates the placement process of the mold on the platform, and uses the Apriori algorithm to train the obtained data set to obtain the association rules contained in the frequent item set. When the enterprise re-produces, the prefabricated components are combined according to the association rules for production, and the utilization rate of the platform is improved. The simulation test is carried out with the example data of the prefabricated component manufacturing enterprise, which verifies the effectiveness of the combination allocation method of mold and platform combined with the backtracking method and the Apriori algorithm to solve the problem. © Published under licence by IOP Publishing Ltd.

关键词： Production control

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Research on optimization method of routing buffer linkage based on Q-learning

Research on optimization method of routing buffer linkage ba...

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2021 International Conference on Advanced Manufacturing Technology and Electronic Information, AMTEI 2021

作者： Han, Zhonghua Qi, Hongfeng Chang, Daliang Gong, Wei Dai, Shilong School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China 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

According to the characteristics of the painting process of passenger car manufacturing enterprises, by formulating the routing buffer linkage rules based on the total renewal cost, the linkage process of the bus in the routing buffer is controlled, and an improved Q-learning (Q- The routing buffer of learning) algorithm quickly finds the optimal path method. According to the actual production situation, this method improves the dynamic parameters of the algorithm on the basis of the traditional Q-learning algorithm, and improves the optimization speed and accuracy of the algorithm by establishing the correlation between the work-in-process and its neighboring work-in-process in the current state. Through multiple sets of example simulation tests, the effectiveness of the Q-learning algorithm in solving the optimization problem of routing buffer linkage is verified. © Published under licence by IOP Publishing Ltd.

关键词： Learning algorithms

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AGV State Monitoring Based on Global and First-person View Fusion in Digital Workshops 12

AGV State Monitoring Based on Global and First-person View F...

引用

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

作者： Zhang, Sichao Liang, Wei Li, Gengyu Yuan, Xudong An, Haibo Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Science Beijing100049 China School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China Science and Technology on Information Systems Engineering Laboratory The 28th Research Institute of Cetc Jiangsu Nanjing210007 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

AGV state monitoring is becoming increasingly important for production system safety in digital workshops. This paper develops a global and first-person view fusion to monitor the AGV (Automated Guided Vehicle) running state in the complex digital workshops. Based on the affine transformation model, the AGV running states, i.e., position, velocity and orientation are estimated by the global camera with the assistance of ArUco markers, which are pasted on the front side of the AGV. Besides, the first-person view camera is used to implement pedestrian detection and distance measurement based on the YOLOv3 model. It is noticeable that the pitch angle is considered for distance measurement, and an improved triangular model for distance measurement is proposed. The effectiveness of the proposed method has been verified in our built platform. © 2022 IEEE.

关键词： Cameras

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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Development of Method of Generating a Reference Movement Speed of a Group of UAVs

Development of Method of Generating a Reference Movement Spe...

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Ocean Studies (ICOS), International Conference on

作者： Anton Gubankov Igor Gornostaev Robotics Laboratory Laboratory of intelligent information systems for marine robots Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems FEB RAS Admiral G.I. Nevelskoy Maritime State University Vladivostok Russia Robotics Laboratory Laboratory of Robotic Systems Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems FEB RAS Admiral G.I. Nevelskoy Maritime State University Vladivostok Russia

ISBN: (数字)9798331532307

ISBN: (纸本)9798331532314

The article presents the results of the development of a method for the automatic formation of reference speeds for autonomous unmanned aerial vehicles of multirotor type, performing specified missions (such as monitoring of the sea and coastal territory in order to track populations of rare and endangered species, as well as evaluating the potential volumes of biological resources) singly or as part of a group (in formation). At the same time, the trajectories of these aircraft are set by smooth spatial curves - parametric splines of the third order, which makes it easy to adjust the specified trajectories during the mission. In order to maintain a high speed of movement of vehicles along trajectories with high accuracy of movement and saving formation, it is proposed to adjust the specified speed directly during the mission in such a way that the thrusters can ensure their required movements, taking into account the restrictions on the thrust vectors. At the same time, a simplified model of the dynamics of a quadcopter was used to calculate the values of reference speeds, taking into account the influence of wind force, environmental resistance, gravity and the total thrust vector of the propellers. The systems synthesized on the basis of this method can be implemented even on low-power onboard computing devices of unmanned aerial vehicles.

关键词： Accuracy Sea measurements Autonomous aerial vehicles Vectors Real-time systems Trajectory Aircraft Vehicle dynamics Splines (mathematics) Standards

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