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arXiv 2021年

作者： Tran, Tri Duc Luu, Anh Khoa Lanh Duong, Van Tu Nguyen, Huy Hung Nguyen, Tan Tien National Key Laboratory of Digital Control and System Engineering Ho Chi Minh City University of Technology VNU-HCM Hochiminh city Viet Nam The Department of Mechatronics Ho Chi Minh City University of Technology VNU-HCM Hochiminh city Viet Nam Faculty of Electronics and Telecommunication Saigon University Viet Nam

The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid robot with balance mechanism and its simplified model are introduced. Secondly, a backstepping-based control method is utilized to split the system into two sub-systems. Then, a minimum observer-based controller is used to control the first sub-system. Since the second sub-system has unknown parameters, a model reference adaptive controller (MRAC) is used to control it. The proposed design divides the walking and balancing into two separated tasks, allowing the walking control can be executed independently of the balancing control. Furthermore, the use of the balance mechanism ensures the humanoid robot's hip movement does not exceed the threshold of a human when walking. Thus, making the overall pose of the humanoid robot looks more natural. An experiment is carried out on a commercial humanoid robot known as UXA-90 to evaluate the effectiveness of the proposed method. Copyright © 2021, The Authors. All rights reserved.

关键词： Anthropomorphic robots

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Design of robust controller applied for series elastic actuators in controlling Humanoid's joint

arXiv

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arXiv 2021年

作者： Luu, Anh Khoa Lanh Duong, Van Tu Nguyen, Huy Hung Kim, Sang Bong Nguyen, Tan Tien National Key Laboratory of Digital Control and System Engineering Ho Chi Minh City University of Technology VNU-HCM Hochiminh city Viet Nam Department of Mechatronics Ho Chi Minh City University of Technology VNU-HCM Hochiminh city Viet Nam Faculty of Electronics and Telecommunication Saigon University Viet Nam Pukyong National University Busan Korea Republic of

Although the application of Series elastic actuators (SEAs) in the biomechatronic field has proved its appropriation in many aspects so far, the problems of maintaining the stability for the SEAs still remains. This paper proposes a robust controller so that to overcome the drawbacks of the previous researches. Firstly, a mathematical model considering both the SEAs and the hip joint of humanoid UXA-90 is obtained. Secondly, a reference input of the proposed controller that is achieved from desired hip joint's angle in a walking cycle is utilized. Then, a backstepping based sliding mode force control approach is employed to ensure the precise movement of robot's link as well as meeting the requirement of robustness for the whole system, which is significant for the task of walking of a humanoid. Finally, some simulations are carried out to verify the quality and effectiveness of the proposed controller. © 2021, CC BY.

关键词： Sliding mode control

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Detection and localization of the hemoglobin and collagen distribution of the uterine cervix

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Journal of Innovative Optical Health Sciences 2019年第4期12卷 116-126页

作者： Tran Van Tien Nguyen Ngoc Quynh Le Huynh Duc Phan Ngoc Khuong Cat Huynh Quang Linh Department of Applied Physics Faculty of Applied Science Ho Chi Minh City University of Technology700000 Vietnam DCSELAB—National key Laboratory of Digital Control and System Engineering 700000 Vietnam Department of Biomedical Engineering Faculty of Medicine Nguyen Tat Thanh University700000 Vietnam Department of Engineering Physics Faculty of Applied Science Ho Chi Minh City University of Technology700000 Vietnam

Changes of the blood vessels and collagen are associated with the development of abnormal cervical ***,optical coberence tomography and Mueller polarization images were 1used to provide information regarding the presence of collagen fibers in the cervical ***,most of these methods need a lot of time for image recording and are *** addition,the general survey on the absorption and distribution characteristics of collagen and blood in the cervical is still *** this study,we developed a colposcopy combining cross-polarized inage and image procssing algorithm with an fficient analytical model to map the distribution of blood and collagen in the *** this system's proof of concept,we captured and processed the case of cervical ectopy and Nabothian *** results show that the distribution of blood and collagen maps matched with anatomical and physiological when compared with Lugol's iodline *** technology has some advantages,such as low cost,real time,and can replace the 11se of acetic acid or Lugol's iodine in the future.

关键词： Hemoglobin collagen cross polarized image uterine cervix

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Fault Diagnosis of Railway Turnout Based on Random Forests 4th

Fault Diagnosis of Railway Turnout Based on Random Forests

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4th International Conference on Electrical and Information Technologies for Rail Transportation, EITRT 2019

作者： Zhang, Huiyue Wang, Zhipeng Wang, Ning Long, Jing Tao, Tao State Key Lab of Rail Traffic Control and Safety Beijing Jiaotong University Beijing China National Engineering Laboratory for System Safety and Operation Assurance of Urban Rail Transit Beijing Jiaotong University Guangdong China Beijing Research Center of Urban Traffic Information Sensing and Service Technologies Beijing Jiaotong University Beijing China

ISBN: (纸本)9789811528651

The turnout is a key component of the railway infrastructure systems and is considered as a critical issue about the train operation safety. Therefore, the fault diagnosis research of the turnout is important. However, the existing methods of the fault diagnosis for the railway turnout have the problems such as low efficiency, inability to meet timeliness, and insufficient accuracy. To solve these problems, this paper presents a fault diagnosis method based on random forests. The random forests algorithm builds many CART decision tree classifiers, and introduces two random procedures: i.e., random samples and random features, to enhance the diversity of each decision tree classifier. The final classification result is obtained by majority voting method, which improves the execution speed and classification accuracy. In this paper, a case study is also presented by using the electric power data of the S700K switch machine, and the random forests classification model is constructed. The result shows that the random forests algorithm can accurately and quickly give the diagnosis results for the status of the railway turnout. © Springer Nature Singapore Pte Ltd. 2020.

关键词： Failure analysis

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Study on High Impedance Grounding Fault Protection for Personal Safety Guard in Distribution Grid 8

Study on High Impedance Grounding Fault Protection for Perso...

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8th IEEE International Conference on Advanced Power system Automation and Protection, APAP 2019

作者： Liu, Kun Cui, Xin Wang, Bin Dong, Xinzhou Key Lab for Power System Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Dispatching and Controlling Center of Guangdong Power Grid Guangzhou China Tsinghua University Key Lab of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Beijing China

ISBN: (纸本)9781728117225

In recent years, human electric shock accident caused by line fault of distribution system has happened all over the world. This kind of problem of high resistance grounding fault safety is becoming more and more the attention of the researchers. In this paper, typical arc high resistance grounding fault model is established to simulate the human electric shock accident and the line fell to the ground condition. The transient- state and steady-state fault characteristics of high resistance grounding fault are analyzed in the neutral point grounded through a small resistance grounding system and the resonant grounding system. The above analysis has laid a good foundation for the establishment of an effective fault detection method for high resistance grounding and the realization of human electric shock protection. © 2019 IEEE.

关键词： Fault detection

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Experimental Research on Typical Single-Phase High Resistance Grounding Fault Detection Methods in Resonant Grounding Distribution system 8

Experimental Research on Typical Single-Phase High Resistanc...

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8th IEEE International Conference on Advanced Power system Automation and Protection, APAP 2019

作者： Cui, Xin Wang, Bin Dong, Xinzhou Liu, Kun Tsinghua University Key Lab of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Beijing China Key Lab for Power System Protective Relaying Real Time Digital Simulation of Guangdong Power Grid Dispatching and Controlling Center of Guangdong Power Grid Guangzhou China

ISBN: (纸本)9781728117225

The problem of high resistance grounding fault detection in resonant grounding system is always the pain point and difficulty in the field of power system research. To solve the problem, based on PSCAD software, this paper firstly establishes a typical distribution system model, and analyzes the relationship between the transient component, traveling wave component and the fault initial angle, transition resistance value and arc. Secondly, this paper analyzes the effect of the main fault detection methods such as transient methods and travelling wave method, and gives the effective domain of different detection methods. Above analysis establishes a complete systematic test scheme for the high resistance grounding fault detection, and provides an effective test support for the subsequent effectual fault detection method for high resistance grounding fault. © 2019 IEEE.

关键词： Fault detection

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Turnout Health Assessment Based on Dynamic Time Warping 4th

Turnout Health Assessment Based on Dynamic Time Warping

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4th International Conference on Electrical and Information Technologies for Rail Transportation, EITRT 2019

作者： Wang, Ning Wang, Hong Guang Jia, Limin Wang, Zhipeng Zhang, Huiyue State Key Lab of Rail Traffic Control and Safety Beijing Jiaotong University Beijing China National Engineering Laboratory for System Safety and Operation Assurance of Urban Rail Transit Beijing Jiaotong University Guangdong China Beijing Research Center of Urban Traffic Information Sensing and Service Technologies Beijing Jiaotong University Beijing China Operation Headquarters Guangzhou Metro Group Guangdong China

ISBN: (纸本)9789811528651

Turnouts are vital components in the rail system. Assessing the healthy state of turnout and ensuring normal operation is essential. However, the faults of rolling element bearings under running occur suddenly. Thus, it is essential to develop a practicable and real-time method to put forward the assess the turnouts’ running state, which could insure the normal operation. This paper presents a novel method based on the dynamic time warping (DTW) to assess the running status. DTW have two superiorities: (1) DTW could calculate the distance between the different state by using calculating the total cost (minimum distance) of two time series, it makes DTW algorithm fast and simply, so the state is assessed timely. (2) The total cost not only be used to diagnose the fault of turnout, but also could be used to transfer to CV (confident values) to assess the state of the turnout. Hence, this method uses DTW to calculate the distance between the different turnout’s states and CV to assess the healthy state by using the distance. Finally, this method is verified by using the power data collected from Guangzhou Metro turnout testbed and Line 4. The result shows that it is accurate for turnout health assessment and suitable for practical scenarios. © Springer Nature Singapore Pte Ltd. 2020.

关键词： Roller bearings

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The Design of an VIAM-USVI000 Unmanned Surface Vehicle for Environmental Monitoring Applications 4

The Design of an VIAM-USVI000 Unmanned Surface Vehicle for E...

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4th International Conference on Green Technology and Sustainable Development, GTSD 2018

作者： Tran, Ngoc-Huy Nguyen, Tu-Cuong Tran, Van-Tao Nguyen, Vuong-Chi Nguyen, Thanh-Nam Ho Chi Minh University of Technology Viet Nam National Key Lab of Digital Control and System Engineering Viet Nam

ISBN: (纸本)9781538651261

Unmanned surface vehicles (USV) has become popular around the world with their capabilities in complicated and low-cost applications, also reduce the danger to humans especially in the environmental field. The environmental pollution situation is appearing more and more anywhere in the world, a large effect on the lives of people, economic development and national security. With that requirement, the design and implementation of USV systems is underway urgently but a few results have been achieved as expected. This article describes a USV's design with flexible structure, easily integrated sensors for a range of environmental monitoring applications, and the developed control algorithm verified in simulation and experiment. Also, the hardware architecture of the control system is presented and the functions of all parts are clarified. And thence, the simulation and experiment results prove that the developed control system, strategies for waypoint guidance using light of sight (LOS) algorithm and PID controller have good performance and the feasibility, reliability of the designed control system. © 2018 IEEE.

关键词： Unmanned surface vehicles

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Research on Calculation Method of Two-Dimensiona Dual-Limit Speed Safety Protection Curve for High Speed Maglev

Research on Calculation Method of Two-Dimensiona Dual-Limit ...

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International Conference on Electromechanical control Technology and Transportation (ICECTT)

作者： Jiakun Wen Lianchuan Ma Kaicheng Li Qiang Fu Lei Yuan School of Electronic and Information Engineering Beijing Jiaotong University Beijing China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University Beijing China State Key Lab of Rail Traffic Control & Safety Beijing Jiaotong University Beijing China

ISBN: (数字)9781728199283

ISBN: (纸本)9781728199290

Determining the safety protection curve of the high-speed maglev train is the first problem to be solved by the high-speed maglev operation control system. The ground-based calculation of the safety protection curve for the high-speed maglev at the speed of 600km/h obviously cannot meet its design requirements. Therefore, this paper proposes an active calculation method of the safety protection curve, establishes a kinematic model of a high-speed maglev train, and combines the characteristics of high-speed maglev two-dimensional protection to give a calculation method of its safety protection curve. Finally, a practical example is used to verify the safety protection performance of the high-speed maglev train based on the calculation method. The results show that the vehicle-based two-dimensional dual-speed safety curve calculation method proposed in this paper can improve the safety of maglve operation without reducing the operating efficiency.

关键词： Magnetic levitation vehicles Safety Resistance Eddy currents Force Friction Transportation

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Model based reinforcement learning for robot grasping trajectory generation 4

Model based reinforcement learning for robot grasping trajec...

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4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

作者： Xue, Hongxiang Wen, Shuhuan Yang, Chao Liu, Huaping Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao066004 China Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and System Tsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing100084 China

ISBN: (纸本)9781728100647

Trajectory generation is a fundamental problem for successful robotic grasping. However, most of the existing work dealt with this problem using supervised learning with a prescribed model. It prevents the developed grasp strategies from being used for new unknown scenarios. In this paper, inspired by the success of the reinforcement learning method, we developed a new method which optimizes grasp trajectories using a policy search method. An important advantage of the proposed method is that the complicated 3D model could be used to generate the multi-dimensional grasp configurations. The developed algorithm has been validated on some typical robotic hand. The experimental results show that the proposed method achieves excellent performance. © 2019 IEEE.

关键词： Trajectories

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