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IEEE Transactions on Artificial Intelligence 2024年第9期5卷 4376-4390页

作者： Li, Yiting Zhu, Haiyue Tian, Sichao Ma, Jun Xiang, Cheng Vadakkepat, Prahlad National University of Singapore Department of Electrical and Computer Engineering 117583 Singapore Singapore Institute of Manufacturing Technology Agency for Science Technology and Research 138634 Singapore Peking Union Medical College Institute of Medicinal Plant Development Chinese Academy of Medical Sciences Beijing100193 China Robotics and Autonomous Systems Thrust Guangzhou511453 China The Hong Kong University of Science and Technology Division of Emerging Interdisciplinary Areas Hong Kong SAR Hong Kong Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Shenzhen Futian518045 China

Practical object detection systems are highly desired to be open-ended for learning on frequently evolved datasets. Moreover, learning with little supervision further adds flexibility for real-world applications such as autonomous driving and robotics, where large-scale datasets could be prohibitive or expensive to obtain. However, continual adaption with small training examples often results in catastrophic forgetting and dramatic overfitting. To address such issues, a compositional learning system is proposed to enable effective incremental object detection from nonstationary and few-shot data streams. First of all, a novel bilateral-head framework is proposed to decouple the representation learning of base (pretrained) and novel (few-shot) classes into separate embedding spaces, which takes care of novel concept integration and base knowledge retention simultaneously. Moreover, to enhance learning stability, a robust parameter updating rule, i.e., recall and progress mechanism, is carried out to constrain the optimization trajectory of sequential model adaption. Beyond that, to enforce intertask class discrimination with little memory burden, we present a between-class regularization method that expands the decision space of few-shot classes for constructing unbiased feature representation. Final, we deeply investigate the incomplete annotation issue considering the realistic scenario of incremental few-shot object detection (iFSOD) and propose a semisupervised object labeling mechanism to accurately recover the missing annotations for previously encountered classes, which further enhances the robustness of the target detector to counteract catastrophic forgetting. Extensive experiments conducted on both Pascal visual object classes dataset (VOC) and microsoft common objects in context dataset (MS-COCO) datasets demonstrate the effectiveness of our method. © 2020 IEEE.

关键词： Feature extraction

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Time Synchronization in Industrial Internet of Things: A Survey 7

Time Synchronization in Industrial Internet of Things: A Sur...

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7th IEEE Information Technology, Networking, Electronic and Automation control Conference, ITNEC 2024

作者： Zhou, Ke Wang, Xiaoming Cui, Shijie Electric Power Research Institute of Guangxi Power Grid Co. Ltd. Nanning530023 China 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 Liaoning China

ISBN: (纸本)9798350370782

Time synchronization is a fundamental strategy for many operations such as data synchronous collection, timely fault tracking, distributed control, and real-time communication in Industrial Internet of Things (IIoT). Over the years, a wide variety of protocols and technologies have been proposed for different application scenarios. The accuracy, security, robustness, low cost, and so on, are the main focus for the design of time synchronization protocol. However, so far, there is no relatively unified standard for time synchronization in IIoT. To clarify the development of time synchronization technology, this paper surveys the latest research for time synchronization in various types of networks including Precision Time Protocol and wireless sensor networks. The future development of time synchronization in IIoT is also investigated. © 2024 IEEE.

关键词： Costs

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Model Predictive Torque control of Six-Phase Switched Reluctance Motors Based on Improved Voltage Vector Strategy

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 7650-7661页

作者： Yang, Yifei Sun, Xiaodong Dianov, Anton Demidova, Galina Prakht, Vladimir Wang, Yong Han, Shouyi Suzhou Vocational University School of Mechanical and Electrical Engineering Suzhou215104 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Saint Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Yekaterinburg620062 Russia Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China

To rapidly and accurately establish the model of switched reluctance motors (SRMs) and enhance torque control performance, this article proposes a model predictive torque control (MPTC) strategy based on the optimized voltage vector. First, a fourth-order Fourier series is used to calculate the flux and torque models, and a complete nonlinear model of the SRM is constructed using the Kriging model. Second, the torque characteristics are used to divide the sectors, thereby reducing the number of candidate voltage vectors (CVVs) and effectively decreasing the computational burden of predictive control. Finally, an adaptive adjustment algorithm for the sector boundary angle is proposed, where the position of the sectors is determined based on variations in speed and load. The proposed method reduces torque ripple and enhances dynamic response capability. The effectiveness of this approach is validated through experiments on a 12/10 pole six-phase SRM prototype. © 2015 IEEE.

关键词： Vectors

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Power-balancing Coordinated control of Wind Power and Demand-side Response Under Post-fault Condition

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Journal of Modern Power systems and Clean Energy 2022年第5期10卷 1207-1215页

作者： Xinshou Tian Yongning Chi Chao Liu Peng Cheng Yan Li China Electric Power Research Institute Beijing 100192China North China Electric Power University Beijing 102206China State Key Laboratory of Operation and Control of Renewable Energy&Storage Systems(China Electric Power Research Institute) Beijing 100192China China Institute of Energy and Transportation Integrated Development North China Electric Power UniversityBeijing 102206China

As the global energy transforms to renewablebased power system, the wind power generation has experienced a rapid increase. Due to the loss of synchronous machines and its frequency control mechanisms, the gradual evolution leads to critical challenges in maintaining the frequency stability. Under post-fault condition, the wind power generation has a slow recovery due to the fault ride-through(FRT) control strategy and may cause a larger frequency deviation due to the power imbalance between the supply and demand. Then, the impacts of the frequency deviations would further cause inaccuracy and instability in the control system for wind power generation. Considering the long parking time of electric vehicles(EVs), the demand-side response is provided to support the power grid via load-to-grid technology. Thus, a power-balancing coordinated control strategy of the wind power and the demand-side response is developed. It can significantly mitigate the power imbalance, thereby resulting in the enhanced frequency stability. Finally, the simulation results are provided to validate the power-balancing coordinated control strategy.

关键词： Power-balancing wind power demand-side response frequency stability post-fault condition

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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A Novel Deep Learning Representation for Industrial control System Data

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Intelligent Automation & Soft Computing 2023年第6期36卷 2703-2717页

作者： Bowen Zhang Yanbo Shi Jianming Zhao Tianyu Wang Kaidi Wang Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China Shenyang Institute of Automation Chinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China Shenyang Aircraft Corporation Shenyang110850China Molarray Research TorontoL4B3K1Canada

Feature extraction plays an important role in constructing artificial intel-ligence(AI)models of industrial control systems(ICSs).Three challenges in this field are learning effective representation from high-dimensional features,data heterogeneity,and data noise due to the diversity of data dimensions,formats and noise of sensors,controllers and ***,a novel unsupervised learn-ing autoencoder model is proposed for ICS data in this *** traditional methods only capture the linear correlations of ICS features,our deep industrial representation learning model(DIRL)based on a convolutional neural network can mine high-order features,thus solving the problem of high-dimensional and heterogeneous ICS *** addition,an unsupervised denoising autoencoder is introduced for noisy ICS data in *** the denoising autoencoder allows the model to better mitigate the sensor noise *** this way,the represen-tative features learned by DIRL could help to evaluate the safety state of ICSs more *** tested our model with absolute and relative accuracy experi-ments on two large-scale ICS *** with other popular methods,DIRL showed advantages in four common indicators of AI algorithms:accuracy,precision,recall,and *** study contributes to the effective analysis of large-scale ICS data,which promotes the stable operation of ICSs.

关键词： Industrialcontrolsystem machinelearning deeplearning autoencoder

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Stable CoM Trajectory Generation for Biped Robots based on Heuristic Capture Point Tracking Approach

Stable CoM Trajectory Generation for Biped Robots based on H...

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IEEE Punecon

作者： Kumod K. Sharma Sunil Nimje S. E. Talole Center for Systems and Technologies for Advanced Robotics Research & Development Estt (Engrs) Pune India Department of Mechanical Engineering Defence Institute of Advanced Technology Pune India

ISBN: (数字)9798331527822

ISBN: (纸本)9798331527839

Biped locomotion is a complex phenomenon. As the bipedal robotic system possesses multiple degrees of freedom (DoF), the resulting dynamics is highly nonlinear and coupled. However for practical purposes, reduced and simplified dynamical models such as Linear Inverted Pendulum Model (LIPM) have been widely used for gait generation. In this work, an LIPM based Capture Point (CP) method has been worked out to achieve stable and robust walk for biped robot. An existing algorithm has been modified to avoid infeasibility of solution while generating the desired trajectories of Zero Moment Point (ZMP), CP and Center of Mass (CoM) for stable bipedal locomotion and the efficacy of the approach is validated through simulations. It is shown that the modification also offers an approach to adjust footprint up to a certain extent according to design requirements or terrain conditions.

关键词： Legged locomotion Simulation Heuristic algorithms Trajectory Nonlinear dynamical systems Robots

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Robot Teleoperation via Virtual Reality: A Unity and ROS Approach 3

Robot Teleoperation via Virtual Reality: A Unity and ROS App...

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3rd International Conference on Automation, robotics and Computer Engineering, ICARCE 2024

作者： Hernandez, Matheus Nicolás Ramos, Brenno Henrique Simoni, Roberto Negri, Doglas De Souza, Diego Trabasso, Luis Gonzaga Senai Innovation Institute for Manufacturing Systems Robotics Development Department Joinville Brazil Senai Innovation Institute for Manufacturing Systems Domingues Automation and Control Department Joinville Brazil Posecm Universidade Federal de Santa Catarina Ufsc Joinville Brazil

ISBN: (纸本)9798331529505

This paper explores the integration of virtual reality (VR) with teleoperation systems to enhance human-robot interaction. With the rise of remote operations, traditional methods often rely on two-dimensional interfaces, making it challenging to control robots in complex three-dimensional environments. This research presents a VR teleoperation system using the Meta Quest 2 headset, enabling immersive control of a climbing robot with six degrees-of-freedom and magnetic adhesion. The system architecture integrates Unity for virtual simulation and the Robot Operating System (ROS) for real-time communication and control. A virtual environment allows the user to control the virtual robot model through the VR headset and controllers, with ROS serving as the communication bridge between the virtual and physical robots, enabling effective operations in various applications, including high-risk environments (A video is available at https://***/MiZDOV4IfLA). © 2024 IEEE.

关键词： Virtual environments

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Robot Teleoperation via Virtual Reality: A Unity and ROS Approach

Robot Teleoperation via Virtual Reality: A Unity and ROS App...

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Automation, robotics and Computer Engineering (ICARCE), International Conference on

作者： Matheus Nicolás Hernandez Brenno Henrique Ramos Roberto Simoni Doglas Negri Diego De Souza Luís Gonzaga Trabasso Robotics Development Department SENAI Innovation Institute for Manufacturing Systems Joinville Brazil Domingues Automation and Control Department SENAI Innovation Institute for Manufacturing Systems Joinville Brazil POSECM Universidade Federal de Santa Catarina UFSC Joinville Brazil

ISBN: (数字)9798331529505

ISBN: (纸本)9798331529512

关键词： Headphones Solid modeling Operating systems Virtual environments systems architecture Human-robot interaction Streaming media Climbing robots Real-time systems Robots

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