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43rd Chinese Control Conference, CCC 2024

作者： Li, Xu Peng, Chen Li, Xiaoyu Zhang, Penghui Shanghai University College of Mechatronics Engineering and Automation Department of Automation Shanghai200444 China

ISBN: (纸本)9789887581581

Given the complex and diverse textures of tire X-ray images, traditional manual inspections fall short of meeting production needs, making intelligent vision inspection a highly sought-after solution. This paper proposes an improved hyper-network semantic segmentation network for detecting internal tire defects. In this network, a nested U-Net within the hyper-network is designed to extract high-level contextual features. Furthermore, the decoder, composed of multiple dynamic blocks, effectively combines low-level and high-level information to enhance segmentation accuracy for defects of various shapes and sizes. Experimental results show that our proposed network achieves effective detection of different tire defects, particularly complex wrinkle defects in the belt layer. The final model achieved a mIoU score of 82.32%, representing a significant improvement of 13.18% compared to U-Net. © 2024 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Semantic Segmentation

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Data-driven iterative learning trajectory tracking control for wheeled mobile robot under constraint of velocity saturation

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IET Cyber-Systems and Robotics 2023年第2期5卷 37-47页

作者： Xiaodong Bu Xisheng Dai Rui Hou The School of Automation Guangxi University of Science and TechnologyLiuzhouChina The Department of Automation College of Mechatronics Engineering and AutomationShanghai UniversityShanghaiChina The School of Electrical Engineering&Automation Henan Polytechnic UniversityJiaozuoChina

Considering the wheeled mobile robot(WMR)tracking problem with velocity saturation,we developed a data‐driven iterative learning double loop control method with ***,the authors designed an outer loop controller to provide virtual velocity for the inner loop according to the position and pose tracking error of the WMR kinematic ***,the authors employed dynamic linearisation to transform the dynamic model into an online data‐driven model along the iterative *** on the measured input and output data of the dynamic model,the authors identified the parameters of the inner loop *** authors considered the velocity saturation constraints;we adjusted the output velocity of the WMR online,providing effective solutions to the problem of velocity saltation and the saturation constraint in the tracking ***,the inner loop controller only uses the output data and input of the dynamic model,which not only enables the reliable control of WMR trajectory tracking,but also avoids the influence of inaccurate model identification processes on the tracking *** authors analysed the algorithm's convergence in theory,and the results show that the tracking errors of position,angle and velocity can converge to zero in the iterative ***,the authors used a simulation to demonstrate the effectiveness of the algorithm.

关键词： data-driven control dynamic model iterative learning control trajectory tracking velocity saturation wheeled mobile robot

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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

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Adaptive Contribution with Genetic Algorithm in RSSI and AoA Indoor Localization Technology 9

Adaptive Contribution with Genetic Algorithm in RSSI and AoA...

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9th Annual International Conference on Network and Information Systems for Computers, ICNISC 2023

作者： Wu, Zetai Wang, Yiting Fu, Jingqi Shanghai University College of Mechatronics Engineering and Automation Shanghai China

ISBN: (纸本)9798350306682

This article mainly focuses on the RSSI and AoA localization method in the wireless sensor network. In many simulation experiments, while applying hybrid RSSI and AoA localization method, it is found that the accuracy of two methods is different. The key to improve the positioning accuracy is to ensure the weight of such two methods in order that the localization algorithm can rely more on the more accurate method. Based on the error propagation theory, an adaptive contribution is designed as the weight to adjust the contribution of two methods. To solve the MLE model of RSSI and AoA, Genetic algorithm is applied to calculate the coordinate of the unknown target. The simulations show that the performance of this proposed algorithm (ACGA) is better than other algorithms. © 2023 IEEE.

关键词： Genetic algorithms

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Tire Defect Detection Based on Improved DeepLabv3+ 42

Tire Defect Detection Based on Improved DeepLabv3+

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42nd Chinese Control Conference, CCC 2023

作者： Lil, Xiaoyu Peng, Chen College of Mechatronics Engineering and Automation Department of Automation Shanghai University Shanghai200444 China

ISBN: (纸本)9789887581543

Tire defect detection is an essential step to control product quality, and accurate segmentation is the key to product grading. However, due to the fact that the internal defects of tires need to be judged manually through X-ray imaging, as well as the complex background and various types of defects, the grading of defects is marked differently, and the accuracy is affected by subjective factors. An improved algorithm based on DeepLabv3+ is proposed in this paper to solve the above problems. Firstly, the high-level semantic and low-level position features of image is integrate by encoder-decoder structure, which can face any input size. Secondly, atrous spatial pyramid pooling module and lightweight mobilnetv2 backbone can be used to accurately segment defects of different shapes and sizes, and reduce edge calculation pressure. The experimental results show that the improved deeplabv 3+ can detect different defects, while the accuracy performance of model is improved to 81.42% MIoU. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Defects

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Investigation of a GER damper using the Cut submode for vibration suppression in rotor systems with transmission shafts

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Science China(Technological Sciences) 2025年第5期68卷 74-86页

作者： Xijun CAO Jinglei ZHAO Zhi SUN Huajun CAO Xiaoxu HUANG Jun LUO Huayan PU The State Key Laboratory of Mechanical Transmission for Advanced Equipments Chongqing UniversityChongqing 400044China College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China College of Materials Science and Engineering Chongqing UniversityChongqing 400044China School of Mechatronics Engineering and Automation Shanghai UniversityShanghai 200444China

Electrorheological(ER)and magnetorheological(MR)dampers,which are active damping devices,stand out for their exceptional performance in mitigating vibrations in mechanical systems and construction *** prowess lies in the inherent ability of ER/MR fluids to change their mechanical properties,particularly viscosity and shear stress,in response to the influence of electric or magnetic *** this study,a damper filled with Giant-ER(GER)fluid,a modified product of ER fluid,is employed in the rotor system for vibration *** damper operates in a Cut submode derived from the conventional working *** mode results in an effective enhancement of the damping performance by integrating the advantages of these modes,thereby achieving a damping force density of 1.2×10^(4) N/m^(2) and a modulation coefficient of 15 within a multilayered cylindrical ***,the dynamics of the rotor system are modeled and analyzed based on the Jeffcott rotor model,which incorporates a parallelogram-structured motion decoupling mechanism equipped with the proposed Cut submode dampers that are introduced to reduce the vibration of the transmission shaft in the rotor ***,to evaluate the damping effect,a vibration-damping performance validation testbed is *** results are noteworthy,demonstrating that by leveraging the superior properties of the GER fluid,the Cut submode damper effectively suppresses the vibrations of the transmission shaft,particularly at the resonant frequencies,achieving an impressive 88.9%reduction when subjected to an electric field of 3 kV/mm compared to the action of 0 kV/*** performance highlights the exceptional effectiveness of the proposed Cut submode,underscoring its vast potential for various engineering applications.

关键词： transmission shaft vibration suppression giant electrorheological fluid fluid damper Cut submode

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Terminal Configuration Principles for Achieving Various Electromagnetic Integration Units with Flexible Multilayer Foil Technique

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IEEE Electromagnetic Compatibility Magazine 2023年第2期12卷 47-61页

作者： Jiang, Shiqi Wang, Panbao Wang, Wei Liu, Yitao Xu, Dianguo School of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China

Owing to the greater integration capability, flexible multilayer foil (FMLF) technique has a great potential to promote the evolution of passive integration techniques. To understand the mechanism of this technique is essential for its applications and popularization. To this end, this paper reveals the fundamentals and terminal configuration principles to realize various functional electromagnetic integration units with FMLF technique. A regular FMLF winding is taken as the research object, from theoretical analyses on the associated distributed electromagnetic component (DEMC) circuits, the lumped electromagnetic component (LEMC) circuits with different terminal configuration modes are derived. Moreover, A FMLF winding prototype is built for experimental verifications. The LEMC circuits are demonstrated through the comparative analyses between practically measured and LTspice based simulated impedances or port characteristics. © 2021 IEEE.

关键词： Timing circuits

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Effect of Pneumatic Based Hybrid Robotic Gripper for Safer Handling of Complex Geometries 11

Effect of Pneumatic Based Hybrid Robotic Gripper for Safer H...

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11th IEEE International Conference on Advances in Computing and Communications, ICACC 2024

作者： Sivaraj, Santhosh Ravi, Ajay Jose, Bibin Joe Kaliyannan, Gobinath Velu Sivakumar, Rajkamal Amalraj, Riya Catherine Easwari Engineering College Department of Robotics and Automation TamilNadu Chennai600089 India Kongu Engineering College Department of Mechatronics Engineering TamilNadu Perundurai638060 India

ISBN: (纸本)9798350379136

The present research work mainly concentrates on development of hybrid grippers with the integration of hard and soft components for achieving object manipulation. By combining pneumatic actuation with mechanical fingers, complex geometries can be handled effectively. Pneumatic hybrid gripper fabricated with PLA and silicone rubber offers adaptability and versatility. Resistive sensors over silicone surface of gripper lead to cost-effective force detection and tactile sensing. The proposed gripper was designed and analyzed using Fusion 360 and ANSYS. Inflatable silicone rubber and gripper body were fabricated using liquid casting and Fused Deposited Modelling 3D printing techniques. Real-time feedback sensors were employed with fabricated gripper to get better performance. Testing proves its capability to handle loads up to 500g with a force of 3.3N. Finally, the assembled hybrid gripper offers a versatile solution for robotic manipulation, ensuring stability and minimizing damage across various industries. © 2024 IEEE.

关键词： Silicones

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Type synthesis of a new class of 4-3T1R(y) parallel mechanisms for parallel machine tools design

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Discover Mechanical engineering 2024年第1期3卷 1-19页

作者： Wu, Shiyun Du, Jianjun Pan, Jianfei Lei, Jianguo School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518061 China

Unlike previous design procedures for parallel machine tools (PMTs), this paper first analyzes the path and posture requirements of the tools in universal processing, then proposes and constructs a new class of PMs that can provide the required path and posture. This opens up new ideas for the design of PMTs. Based on the reciprocal screw theory, a type synthesis process of asymmetrical lower-mobility PMs was proposed. Through this process, a novel class of four-limbed parallel mechanisms (PMs) providing three translations and one rotation around a horizontal axis (y-axis), denoted as 4-3T1R(y) PMs, was successfully proposed and constructed. Such PMs can be applied to the design of PMTs, especially the design of micro-electrical discharge machining (micro-EDM) PMTs. The structural design of a new 2RRC-2CRU PM, which was a member of 4-3T1R(y) PMs, was performed, and its mobility was analyzed in detail to demonstrate the efficiency of the proposed type synthesis process. The inverse, forward, and velocity kinematics problems of the 2RRC-2CRU PM were solved for further applications. © The Author(s) 2024.

关键词： Kinematics problem Parallel machine tools Parallel mechanisms Type synthesis

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Identification of nonlinear process described by neural fuzzy Hammerstein-Wiener model using multi-signal processing

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Advances in Manufacturing 2023年第4期11卷 694-707页

作者： Feng Li Li Jia Ya Gu College of Electrical and Information Engineering Jiangsu University of TechnologyChangzhou213001JiangsuPeople’s Republic of China School of Mechatronics Engineering and Automation Shanghai UniversityShanghai200444People’s Republic of China School of Electrical Engineering and Automation Changshu Institute of TechnologyChangshu215500JiangsuPeople’s Republic of China

In this study,a novel approach for nonlinear process identification via neural fuzzy-based Hammerstein-Wiener model with process disturbance by means of multi-signal processing is *** Hammerstein-Wiener model consists of three blocks where a dynamic linear block is sandwiched between two static nonlinear ***-signal sources are designed for achieving identification separation of the Hammerstein-Wiener *** correlation analysis theory is utilized for estimating unknown parameters of output nonlinearity and linear block using separable signals,thus the interference of process disturbance is ***,the immeasurable intermediate variable and immeasurable noise term in identification model is taken over by auxiliary model output and estimate residuals,and then auxiliary model-based recursive extended least squares parameter estimation algorithm is derived to calculate parameters of the input nonlinearity and noise ***,convergence analysis of the suggested identification scheme is derived using stochastic process *** simulation results indicate that proposed identification approach yields high identification accuracy and has good robustness.

关键词： Nonlinear process Parameter identification Hammerstein-Wiener model Neural fuzzy model Multiple signal processing

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