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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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The System of Coordinated Operation of Two Underwater Vehicles in a Complex Environment

The System of Coordinated Operation of Two Underwater Vehicl...

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Ocean Studies (ICOS), International Conference on

作者： Vladimir Filaretov Alexey Katsurin Laboratory of Robotic Systems Laboratory of Automation and Robotics Institute of Automation and Control Processes FEB RAS Vladivostok State University Vladivostok Russia Department of Automation and Robotics Laboratory of Intelligent Information Systems for Marine Robots Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems FEB RAS Vladivostok Russia

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods.

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Performance Analysis for Polar Codes under Successive Cancellation List Decoding with Fixed List Size

arXiv

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arXiv 2023年

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

In this paper, we first indicate that the block error event of polar codes under successive cancellation list (SCL) decoding is composed of path loss (PL) error event and path selection (PS) error event, where the PL error event is that correct codeword is lost during the SCL decoding and the PS error event is that correct codeword is reserved in the decoded list but not selected as the decoded codeword. Then, we simplify the PL error event by assuming the all-zero codeword is transmitted and derive the probability lower bound via the joint probability density of the log-likelihood ratios of information bits. Meanwhile, the union bound calculated by the minimum weight distribution is used to evaluate the probability of the PS error event. With the performance analysis, we design a greedy bit-swapping (BS) algorithm to construct polar codes by gradually swapping information bit and frozen bit to reduce the performance lower bound of SCL decoding. The simulation results show that the BLER performance of SCL decoding is close to the lower bound in the medium to high signal-to-noise ratio region and we can optimize the lower bound to improve the BLER performance of SCL decoding by the BS algorithm. Copyright © 2023, The Authors. All rights reserved.

关键词： Decoding

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A Biofuel Risk Management Model for Biomass-Based Heat Sources Considering Supply-Demand-Side Uncertainties 12

A Biofuel Risk Management Model for Biomass-Based Heat Sourc...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2022

作者： Fu, Dianzheng Zhou, Tingting Yang, Tianji Zhang, Tao Dong, Jingya Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Digital Factory Department Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Technical Management Division Guodian Technology & Environment Group Co Ltd Beijing China Digital Factory Department Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781839538360

Biofuel-based heat sources are gradually penetrated into heating systems in Northern China in the background of carbon neutrality. It is essential to conduct biofuel risk management study, not only for enhancing the ability of continuous heat supply for heating systems, but also improving the ability of effective cost control. A biofuel risk management model is thus proposed innovatively for biomass-based heat sources considering supply-demand-side uncertainties. The developed model integrates Chance-constrained programming, Two-stage stochastic programming and the traditional linear programming into a general framework. After that, the developed model is applied in to a real heat-source case of biofuel risk management under uncertainties and the corresponding solutions on biofuel risk management are generated. The beneficial results of biofuel allocation pattern can be obtained for decision-makers to provide the fuel management support under different risk levels. Besides, a trade-off analysis between the constraint-violation risk and the system cost can also be provided to conduct in-depth analysis. © 2022 IEEE.

关键词： Risk management

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Application of Fuzzy Sliding Mode control in Voice Coil Motor control System 6

Application of Fuzzy Sliding Mode Control in Voice Coil Moto...

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2022 6th International Conference on Artificial Intelligence, Automation and control Technologies, AIACT 2022

作者： Zhao, Bingjie Liu, Yang Jia, Danping Zhang, Tao Zhang, Hualiang Yan, Hongyu Lu, Xu School Of Artificial Intelligence Shenyang University Of Technology Shenyang China 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

The requirements of modern industry on the response speed and accuracy of voice coil motors has been the gradual growth, and PID control algorithms have become increasingly unable to meet their requirements. The use of sliding mode control can speed up the response time of the motor, and it also can improve the response speed, overshoot and instability problems in some degree. However, the sliding mode control algorithm will bring jitter to the entire system. This paper combines fuzzy control and sliding mode control to adjust the parameters of the sliding mode control algorithm in real time, which greatly reduces the jitter problem caused by the sliding mode. According to the actual parameters of the voice coil motor, the transfer function of the voice coil motor is deduced, a simulation model of fuzzy sliding mode control is built, and the sliding mode control and fuzzy sliding mode control algorithms are compared. Finally, two signals of step and sine are used as inputs for simulation model. It can be seen through the simulation waveform that the fuzzy sliding mode control algorithm can improve the response speed of the control system and reduce the tracking error. © Published under licence by IOP Publishing Ltd.

关键词： Sliding mode control

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Semantic-Based Reasoning Engine for Service Orchestration in Mass Customization Manufacturing 4

Semantic-Based Reasoning Engine for Service Orchestration in...

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2022 4th International Conference on Electronic Engineering and Informatics, EEI 2022

作者： Liu, Yang Zhang, Tianshi Zhao, Yanling 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 Tsinghua University Beijing100084 China

ISBN: (纸本)9783800759231

In the mass customization manufacturing environment, manufacturing companies can connect to the customers directly via Internet and receive users manufacturing request to adjust the production resource and patterns. In this new situation, the allocation of manufacturing resources and the adjustment of production configuration should have the capability of timely responsing the demands from a large amount of customers. Therefore, efficient matching and processing of dynamic data from customer requirement and customized rules become increasingly important. This paper presents a semantic-based reasoning engine (hereinafter referred to as SBRE) in improving performance of rule engine. The paper uses a BP neural network to classify customer parameters from users requirements based on the semantic web interface. In this stage, for the customer parameters, in order to find a suitable rule engine, a semantic matching method is proposed, which can greatly mitigate complexity and improve the efficiency of matching compared with traditional matching process. The experiment results show that the method can be performed efficiently and flexibly with high data throughput. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Data handling

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AGV Semantic Attack Detection Based on Hidden Markov Model

AGV Semantic Attack Detection Based on Hidden Markov Model

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2022 IEEE International Conference on Industrial Technology, ICIT 2022

作者： Zhang, Sichao Liang, Wei Zhang, Yinlong Pang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 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 University of Chinese Academy of Sciences Beijing100049 China Technology Abb Corporate Research Sweden Department of Automation Vasteras72178 Sweden

ISBN: (纸本)9781728119489

Automatic Guided Vehicle (AGV) semantic attack is now becoming an important research topic in digital workshops. Unfortunately, the conventional attack detections could trigger the wrong attack detection alarms, because of the unexpected wireless radio frequency interference. This paper investigates a new method for AGV semantic attack detection based on Hidden Markov Model (HMM). Our method is able to discriminate the typical wireless retransmission in presence of environment interference or in the context of AGV semantic attack by comparing the hidden state transition probability with the predefined threshold. Our model has been evaluated on our developed platform. The extensive experimental results and analysis prove the effectiveness of our method. © 2022 IEEE.

关键词： Semantics

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Intention-Aware Planner for Robust and Safe Aerial Tracking

Intention-Aware Planner for Robust and Safe Aerial Tracking

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Qiuyu Ren Huan Yu Jiajun Dai Zhi Zheng Jun Meng Li Xu Chao Xu Fei Gao Yanjun Cao The State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China The Robotics Institute of Zhejiang University Yuyao China Huzhou Institute Zhejiang University Huzhou China Huzhou Laboratory of Autonomous Intelligent Systems Huzhou China College of Electrical Engineering Zhejiang University Hangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the widely used constant velocity or constant rotation assumption can not fully capture the dynamics of the target. The tracker may fail when the target happens to move aggressively, such as sudden turn or deceleration. In this paper, we propose an intention-aware planner by additionally considering the intention of the target to enhance safety and robustness in aerial tracking applications. Firstly, a designated intention prediction method is proposed, which combines a user-defined potential assessment function and a state observation function. A reachable region is generated to speci cally evaluate the turning intentions. Then we design an intention-driven hybrid A* method to predict the future possible positions for the target. Finally, an intention-aware optimization approach is designed to generate a spatial-temporal optimal trajectory, allowing the tracker to perceive unexpected situations from the target. Benchmark comparisons and real-world experiments are conducted to validate the performance of our method.

关键词： Target tracking Semantics Prediction methods Turning Prediction algorithms Robustness Safety Planning Trajectory optimization Quadrotors

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A New Recursive Composite Adaptive controller for Robot Manipulators

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Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

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Decentralized Strategy for Cooperative Multi-Robot Exploration and Mapping

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IFAC-PapersOnLine 2020年第2期53卷 9682-9687页

作者： Ana Batinović Juraj Oršulić Tamara Petrović Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) 10000 Zagreb Croatia

This work presents a novel approach to autonomous decentralized multi-robot frontier exploration and mapping of an unknown area. A mobile robot team simultaneously explores the environment, discovers frontier points (points on the border between explored and unexplored space), and shares information in order to become dispersed throughout the environment. During the exploration, information exchanged between the mobile robots is limited to data containing mobile robot positions and current mobile robot target points. The main goal of the approach is to allocate the mobile robots to target frontier points in a way which minimizes the overall exploration time. Moreover, a mobile robot team at the same time creates a common map of the environment. The proposed strategy has been implemented in a simulation environment and compared with a state-of-the-art exploration strategy. Simulation results demonstrate the advantages of the proposed decentralized multi-robot strategy.

关键词： Mobile Robot Multi-Robot System Frontier Points Target Point Decentralized Strategy Exploration Mapping

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