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Chinese Automation Congress (CAC)

作者： Ronghan Qin Qiu Fang Yaonan Wang National Engineering Laboratory for Robot Visual Perception and Control Technology Hunan University Changsha China

ISBN: (纸本)9781665426480

Data centers are the key infrastructure for information services. The monitoring of the thermal environment of the data center computer room is an important work for its safe operation. This paper proposed a mobile robotic system for data center thermal environment measurement, which can freely sample the temperature and humidity data around the facilities within the computer room. On one hand, measuring the temperature and humidity in a mobile way can obtain far more environmental data than fixed-point sensors. On the other hand, the mobile robot can be used instead of manual inspection. In addition, a temperature field reconstruction method is provided based on the sampled temperature data. Theoretically, the temperature of locations that have not been measured can be evaluated by interpolating sample temperature around them. The reconstruction of the temperature field can present the variation of the temperature more clearly and help find the hot spots or locations with low cooling efficiency during the operation. Lastly, experiments are carried out to study the measurement error of the mobile robotic system and an error correction method is proposed. After that, the relationship between the temperature reconstruction error and the layout of sampling points is investigated.

关键词： Temperature measurement Temperature sensors Temperature distribution Data centers Interpolation robot kinematics Reconstruction algorithms

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Machine learning–based robust trajectory tracking control for FSGR

Machine learning–based robust trajectory tracking control f...

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7th International Symposium on Test Automation and Instrumentation, ISTAI 2018

作者： Jia, Lin Wang, Yaonan Zhang, Changfan Zhao, Kaihui Zhou, Langming College of Electrical and Information Engineering Hunan University Changsha China National Engineering Laboratory for Robot Visual Perception and Control Hunan University Changsha China College of Electrical and Information Engineering Hunan University of technology Zhuzhou China

Here, a robust adaptive trajectory tracking algorithm is proposed for free-form surface grinding robot (FSGR) in metal surface production line. Machine-learning method is used for robot dynamic approximation which is hard to obtain directly. Adaptive law is proposed to adjust the neural network parameters. Sliding-mode control is employed to deal with the disturbance, joint friction, and approximation error of the adaptive machine learning. The scheme based on machine-learning feedforward compensation can significantly reduce the chattering of sliding mode. The performance of the proposed control scheme is illustrated through simulations. © 2019 Institution of engineering and technology. All rights reserved.

关键词： Machine learning

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Dynamic Update Siamese Networks with Deeper Features

Dynamic Update Siamese Networks with Deeper Features

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作者： Jianhao Tan Shanshan Tan Wang Yin Liming Liu Siyuan Zhang Yaonan Wang College of Electrical and Information Engineering Hunan University National Engineering Laboratory for Robot Visual Perception and Control Technology

Visual object tracking has been a concern topic these years,and many trackers have achieved good results in various *** researches and breakthroughs have made many improvements to solve problems such as drift,lighting,deformation and *** this paper,we improve the structure of the AlexNet[1] network by designing the three important influencing factors of the receptive field size,total network step size,and feature filling of the twin *** from this,we add a smoothing matrices and a background suppression matrices to effectively learn the features of the first few frames as much as *** multilayer feature elements can learn online about target appearance changes and background suppression,and we train them by using continuous video sequences.

关键词： Target tracking Siamese network Residual network Dynamic update

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Adaptive finite-time synchronized control of multi-robotic fiber placement system with model uncertainties and disturbances

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ISA Transactions 2025年

作者： Ronghua Zhang Yaonan Wang Wenfang Xie Pengcheng Li Haoran Tan Yiming Jiang College of Electrical and Information Engineering Hunan University Changsha 410082 Hunan China National Engineering Laboratory of Robot Visual Perception and Control Technology Hunan University Changsha 410082 Hunan China Department of Mechanical Industrial and Aerospace Concordia University Montreal H3G2W1 Quebec Canada College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 Jiangsu China School of Robotics Hunan University Changsha 410082 Hunan China

The use of multiple robots to manufacture composite components represents a critical development direction for fiber placement systems (FPSs). In multi-robotic fiber placement systems (MRFPSs) with heterogeneous mechanical structures, robots collaborate to perform fiber placement tasks. Consequently, robot synchronization emerges as a primary factor in determining the performance of the fiber placement process. However, the difficulty in establishing accurate system models and the presence of disturbances are two significant challenges to achieving precise robot synchronization. Additionally, the system is expected to exhibit desirable dynamic characteristics, such as finite-time error convergence. To address these issues and requirements, we propose a novel adaptive finite-time synchronization control (AFSC) algorithm for the system. Specifically, a finite-time sliding mode observer is developed to handle kinematic uncertainty. A novel fast non-singular terminal sliding mode (FNTSM) manifold is constructed in the AFSC algorithm. Moreover, the control algorithm integrates an adaptive law to handle dynamic uncertainty and an adaptive term to counteract disturbances. Performance analysis demonstrates that the AFSC ensures that the coupled, synchronization, and tracking errors converge to zero within finite time. Furthermore, simulations and experiments are conducted to validate the effectiveness of the AFSC algorithm.

关键词： Disturbances Fiber placement Finite-time control Model uncertainties Multi-robots Synchronization control

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Admittance Based robot Force control Framework for Server Board Assembly 25

Admittance Based Robot Force Control Framework for Server Bo...

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25th IEEE International Conference on Industrial technology, ICIT 2024

作者： Ma, Yunlong Wang, Yaonan Jiang, Yiming Zhou, Xianen Zhu, Ge Zhu, Qing Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China Xiangjiang Laboratory Hunan China College of Electrical and Information Engineering Hunan University Changsha China School of Robotics Hunan University Changsha China National Engineering Research Center for Robot Vision Perception and Control Technology Hunan University Changsha China ZTE Corporation Shenzhen China

In server board assembly tasks, the effect of vision-based robot assembly schemes is not ideal due to the small installation gap and the blocking of vision. Adding force sensors and force controllers can be a good solution to the above problems and increase the flexibility in the assembly process. In this paper, we propose a force control strategy applied to a server board assembly task. The method is divided into two main parts. In the first part, the zero offset of the force sensor and the load gravity are calibrated and compensated, so that the external force on the load is accurately obtained. In the second part, the admittance controller is designed to achieve compliant behavior between the robot and the environment. Finally, the experimental verification of the board insertion is carried out on the experimental platform. Experimental results verify the effectiveness and practicability of the proposed method. © 2024 IEEE.

关键词： controllers

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A fast and robust visual detection method with binary template matching for glass bottle body

A fast and robust visual detection method with binary templa...

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第三十八届中国控制会议

作者： Xianen Zhou Yaonan Wang Qing Zhu The College of Electrical and Information Engineering Hunan University The National Engineering Laboratory for Robot Visual Perception and Control Technology

As multiple glass bottle bodies appear in the same one image from a view, the high precision and speed localization of the bottle body is difficult for the traditional visual detection methods. To overcome the problem, the imaging system is first briefly presented. And a new visual detection framework, named BTMfast, for glass bottle body with binary template matching is proposed. First, the input image is down-sampled to reduce the computational complexity. The subimages containing body region are obtained according to the position priors. Then, the neck or body of a bottle is taken as the template, and the template image and each sumimage is segmented with OTSU segmentation algorithm. Thirdly, the central line of the body in the original image can be obtained by the binary template matching. Finally, the top boundary of the bottle mouth is enhanced by a filtering operation with a new kernel. And the mouth position is obtained by segmenting the filtered image and column scanning. Two datasets are created for evaluating the performance of the proposed method. Compared with many conventional approaches on the two datasets, our method can achieve the optimal result. The localization error is about 1.5, the consumed time is about 4.3 ms.

关键词： Visual detection template matching localization glass bottle body

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Target Tracking Based on Correlation Filter for Scale Offset

Target Tracking Based on Correlation Filter for Scale Offset

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作者： Jianhao Tan Xiaoping Ma Yaonan Wang College of Electrical and Information Engineering Hunan University National Engineering Laboratory for Robot Visual Perception and Control Technology

Existing scale estimation methods mainly use fixed-size tracking box for target ***,when the moving direction of the target changes from near to far or from far to near,the size of the current tracking box cannot adapt to the scale *** order to overcome the disadvantage of invariant size of tracking box in the scale change,this paper proposes a scale offset estimation method based on correlation filter by combining the state of previous frame and current frame of the *** the scale proposal box in the scale layer,and adjust the position and size of the actual tracking box in real time according to the size of the proposal box,target position and scale *** this paper,OTB-100 is used as the *** obtained tracking results show that our algorithm Ours has better tracking performance than the existing others tracking algorithm in scale variation,and it has better tracking effect and stronger robustness in drift and occlusion events.

关键词： frame Target Tracking Based on Correlation Filter for Scale Offset Filter

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NCV-PWM Method for the Phase Current Reconstruction With DC Link Single Sensor

NCV-PWM Method for the Phase Current Reconstruction With DC ...

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作者： Shen, Yongpeng Wu, Kexuan Yuan, Xiaofang Wu, Chengzhong Liang, Weihua Chen, Zhiwei The College of Electric and Information Engineering Zhengzhou University of Light Industry Zhengzhou450002 China The Department of Electric and Information Engineering Hunan University Changsha410082 China The National Engineering Laboratory for Robot Visual Perception and Control Technology Hunan University Changsha410082 China

The DC link current sampling with a single sensor is a promising solution in the electric drive field due to its low cost and small volume. However, limited by the minimum sampling time, the current reconstruction unobservable area is the most intractable challenge in the traditional single sensor reconstruction method, especially in sector boundary areas, where the phase current cannot be reconstructed completely. In this article, a new non-zero compensation vector pulse width modulation (NCV-PWM) method is proposed to eliminate the current unobservable area. Firstly, by introducing the definition of minimum sampling time, the voltage space vector plane is accurately divided into different modulation areas. Then, by applying non-zero compensation vector in the sector boundary, the current sampling window is extended, and the sampling time requirement for the DC link current is satisfied. Finally, the practicability and accuracy of the NCV-PWM method are verified by experiments, and results show that the current reconstruction error is less than 2.86%, which provides accurate current feedback for high-performance motor control. © 2023 IEEE.

关键词： Electric drives

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Binocular vision System for Measuring the Height of control Rod Drive Rod in Nuclear Reactor 42

Binocular Vision System for Measuring the Height of Control ...

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42nd Chinese control Conference, CCC 2023

作者： Zhou, Xianen Wen, Yingjian Zhu, Qing Wang, Yaonan Sun, Feixiang Chen, Shaonan Hunan University National Engineering Research Center for Robot Vision Perception and Control Technology China Jiangxi Communication Terminal Industry Technology Research Institute Co. Ltd. China University of Electronic Science and Technology of China China China Nuclear Power Technology Research Institute Co. Ltd. China

ISBN: (纸本)9789887581543

Nuclear energy is widely recognized as an important source to meet the increasing energy demand in the future. However, since the occurrence of the Fukushima accident, its potential safety hazards have been strongly concerned by the public, and has become one of the most significant problems to be solved at this stage. In this paper, a vision inspection system with support detection scheme based on RGB-D fusion is proposed to achieve accurate detection of the control rod position for the potential danger in the decoupling process of the control rod drive mechanism. In order to separate the depth region containing the relevant information of the driving rod head, the ellipse region of the top ring of the driving rod is detected from the color image by the method based on line segment extraction and region of interest detection. Due to the smoothness and reflection of the surface of the control rod, part of the depth of the head of the control rod is lost. In order to predict the reference distance between the top value of the control rod and the camera, a center point filling method based on multi-direction linear regression in gradient stage is designed. In order to evaluate the effectiveness of the proposed method, a series of experiments are carried out on the head location and depth calculation of the drive rod. The results show that the vision inspection system in this paper can achieve high-precision positioning of the control rod. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Template matching

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Adaptive robust RBFNNs-based model estimator for a small quadrotor aircraft robot

Adaptive robust RBFNNs-based model estimator for a small qua...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Hang Zhong Shushuai Li Yaonan Wang Hongjian Liu College of Electrical and Information Engineering Hunan University China National Engineering Laboratory for Robot Visual Perception and Control Technology

ISBN: (纸本)9781509061914

This paper presents an on-line estimator that incorporates adaptive MIMO radical basis function neural networks (RBFNNs) for model identification of quadrotor unmanned aerial vehicles (UAVs). The inputs and outputs of quadrotor aircrafts can be obtained from dynamic models or real attitude and position sensors. The adaptive learning rate is employed in the gradient descent method for the update of the weights of RBFNNs, and Lyapunov approach guarantees the stability of the global convergence of the modeling errors. The Welsch functions are also employed as the error functions to get rid of the influence from the noise due to disturbances like wind gusts. Simulation results using robotics Toolbox for Matlab verify the effectiveness and robustness of the proposed estimator compared with results of traditional RBFNNs. Experiment results from real aircraft platform show that RBFNNs combining adaptive learning rate and Welsch error functions can approximate the overall system with high accuracy and robustness to disturbances.

关键词： Atmospheric modeling Aircraft Mathematical model Adaptation models Robustness robots MIMO

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