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International Conference on Wireless Communications and Signal Processing (WCSP)

作者： Gengshan Wang Zhijia Yang Tierui Gong Meng Zheng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Singapore University of Technology and Design Singapore

Dynamic subarrays (DSs) is an energy-efficient and cost-effective hybrid beamforming structure for millimeter wave (mmWave) multiple-input multiple-output (MIMO) communications. In this paper, we investigate the nonconvex hybrid beam-forming problem of maximizing the average spectral efficiency of the point-to-point wideband mmWave MIMO system with DSs, where the beam squints are also considered. To address the nonconvexity of this hybrid beamforming problem, we first exploit the singular value decomposition of each subcarrier channel and water-filling strategy to get the optimal fully-digital beamforming. We then propose to leverage the Kuhn-Munkres algorithm to get the hybrid beamforming from the obtained fully-digital solutions, aiming to guarantee that every radio-frequency chain is connected to at least one antenna. Besides, we analyze the computational complexity of the proposed design. Numerical results demonstrate the superiority of this work over the state of the art.

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Adaptive Stiffness control of Series Elastic Actuator Manipulators Based on Dynamic System

Adaptive Stiffness Control of Series Elastic Actuator Manipu...

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IEEE International Conference on automation Science and Engineering (CASE)

作者： Kunlin Guo Chao Zeng Weiyong Si Ning Wang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China Department of Computer Science University of Liverpool Liverpool UK School of Computer Science and Electronic Engineering University of Essex Colchester Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic Systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.

关键词： Actuators Computer aided software engineering automation Adaptive systems control systems End effectors Hardware Dynamical systems Manipulator dynamics

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ROLL: Long-Term Robust LiDAR-based Localization With Temporary Mapping in Changing Environments

arXiv

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arXiv 2022年

作者： Peng, Bin Xie, Hongle Chen, Weidong Institute Of Medical Robotics Department Of Automation Shanghai Jiao Tong University Key Laboratory Of System Control And Information Processing Ministry Of Education Shanghai200240 China

Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping process temporarily when global matching towards the pre-built map is unreliable. The temporary map will be merged onto the pre-built map for later localization runs once reliable matching is obtained again. We further integrate a LiDAR inertial odometry (LIO) to provide motion-compensated LiDAR scans and a reliable initial pose guess for the global matching module. To generate a smooth real-time trajectory for navigation purposes, we fuse poses from odometry and global matching by solving a pose graph optimization problem. We evaluate our localization system with extensive experiments on the NCLT dataset including a variety of changing indoor and outdoor environments, and the results demonstrate a robust and accurate localization performance for over a year. The implementations are open sourced on GitHub. © 2022, CC BY.

关键词： Mapping

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Fault Diagnostic Opportunities for Electromagnetic Coils of Active Magnetic Bearings using Physics-of-Failure Analysis

Fault Diagnostic Opportunities for Electromagnetic Coils of ...

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System Reliability and Safety Engineering (SRSE), International Conference on

作者： Ruiqi Li Kai Wang Peng Zeng Jiwei Cao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Electrical Engineering Harbin Institute of Technology China

Active magnetic bearings (AMBs) have many advantages over traditional oil bearings due to their non-contact characteristics. They are environmentally friendly solution and have been proven to be highly reliable and available. Electromagnetic coils are vital components of AMB and they are failure prone. In this paper, the failure mode of magnetic bearing coil and its corresponding failure mechanism are reviewed by FMMEA method, and the existing coil fault diagnosis methods are introduced. Future directions for coil insulation health monitoring aiming at the application characteristics of AMBs are also discussed.

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Optimization method of Data interaction in power IoT based on particle swarm algorithm 2

Optimization method of Data interaction in power IoT based o...

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2nd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2022

作者： Wang, Tianyu Miao, Weiwei Zeng, Zeng Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China State Grid Jiangsu Electric Power Co. Ltd. Information Telecommunication Branch Nanjing China

ISBN: (纸本)9781665408868

The ubiquitous power Internet of things (IoT) constructs an intelligent service system with comprehensive perception, efficient response and flexible processing around all departments of the power system and with the support of communication technologies such as mobile Internet and artificial intelligence. With the rapid development of smart IoT perceptual devices and edge computing, it has become possible for perceptual devices and edge IoT agents to cooperate in processing tasks. The task completion time can be greatly reduced through the cooperative processing among multiple entities in the IoT. However, as the scale of the Internet of things and number of to-be-processed tasks expanding year by year, the simple task data interaction between devices can not meet the needs of the completion time. Therefore, it is an urgent problem to optimize data transmission and data interaction in the process of collaborative task processing among IoT devices. Motivated by this point, we propose an optimization method of data interaction in power IoT based on particle swarm algorithm. Evaluation on example IoT networks shows the effectiveness of our method to reduce overall task completion time. © 2022 IEEE.

关键词： Internet of things

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Short-term load forecasting of long-short term memory neural network based on genetic algorithm 4

Short-term load forecasting of long-short term memory neural...

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4th IEEE Conference on Energy Internet and Energy System Integration, EI2 2020

作者： Li, Wanting Zang, Chuanzhi Liu, Ding Zeng, Peng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Beijing China

ISBN: (纸本)9781728196060

Accurate load forecasting is conducive to the reasonable arrangement of power grid dispatching plans. Traditional load forecasting methods cannot handle the time series and nonlinear characteristics of load well. Long-short term memory (LSTM) neural networks can record long-term and short-term information, which can effectively solve this kind of problem. But the parameters of LSTM network are difficult to determine. For this reason, this paper proposes a long-short term neural network based on genetic algorithm. The learning rate and iteration number of the LSTM network are used as chromosomes, and the genes are continuously selected, crossed, and mutated to obtain more good genes. Comparing this method with the standard LSTM network, the simulation results show that the LSTM network using genetic algorithm for parameter optimization improves the prediction accuracy of the standard LSTM network by 63%. © 2020 IEEE.

关键词： Genetic algorithms

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A non-interactive verifiable computation model of perceptual layer data based on CP-ABE 2

A non-interactive verifiable computation model of perceptual...

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2nd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2022

作者： Zhao, Jianming Miao, Weiwei Zeng, Zeng Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China State Grid Jiangsu Electric Power Co. Ltd. Information Telecommunication Branch Nanjing China

ISBN: (纸本)9781665408868

The computing of smart devices at the perception layer of the power Internet of Things is often insufficient, and complex computing can be outsourced to server resources such as the cloud computing, but the allocation process is not safe and controllable. Under special constraints of the power Internet of Things such as multi-users and heterogeneous terminals, we propose a CP-ABE-based non-interactive verifiable computation model of perceptual layer data. This model is based on CP-ABE, NPOT, FHE and other relevant safety and verifiable theories, and designs a new multi-user non-interactive secure verifiable computing scheme to ensure that only users with the decryption key can participate in the execution of NPOT Scheme. In terms of the calculation process design of the model, we gave a detailed description of the system model, security model, plan. Based on the definition given, the correctness and safety of the non-interactive safety verifiable model design in the power Internet of Things environment are proved, and the interaction cost of the model is analyzed. Finally, it proves that the CP-ABE-based non-interactive verifiable computation model for the perceptual layer proposed in this paper has greatly improved security, applicability, and verifiability, and is able to meet the security outsourcing of computing in the power Internet of Things environment. © 2022 IEEE.

关键词： Internet of things

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Service Encapsulation Method Based on Industrial Internet

Service Encapsulation Method Based on Industrial Internet

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作者： Li, Kai Pan, Hao Tong, Xing Li, Dong Wang, Ting Shenyang University of Chemical Technology Liaoning Shenyang110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110016 China

Based on the analysis of software and hardware integration and highly heterogeneous infrastructure in the traditional industrial field, this paper puts forward the concept of service packaging engine, puts forward a unified service packaging model for Industry by using the Internet thinking design mode, and can complete the control of complex industrial field equipment by editing only simple logic in the programming interface. This article focuses on basic service encapsulation. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Computer programming

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Frame analysis based real time related indicators measurement of industrial ethernet Powerlink

Frame analysis based real time related indicators measuremen...

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Science and Technology Innovation (IAECST), International Academic Exchange Conference on

作者： Jian Wang Chuang Xie Ce Dong Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences ShenYang China

The protocol Powerlink which is one of real-time Ethernet protocols included in the Standard IEC FDIS61784-2, has been widely used for the communication of both IO devices in industrial fields and drives for motor control applications to provide deterministic data transmission. When the Powerlink network is running in the industrial field environment, the online measurement of time related indicators is an appropriate method to evaluate the performance of the network in real time and detect communication faults between devices. In this paper, several time related indicators are proposed and analyzed to estimate the real time performance of the network when all devices get into the operate state. Further more, an efficient method to measure the proposed indicators based on frame analysis is presented and implemented on a PC-based monitor station that stores all the frames which transfer in the network and contain timestamp added by an FPGA-based probe. The measurement method is tested on a real network consisting of one master node and two slave nodes, and some experimental results are presented.

关键词： Performance evaluation Technological innovation Protocols Stability criteria Ethernet Real-time systems Time measurement

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Trajectory Tracking Error Optimization based on Iterative Learning 4

Trajectory Tracking Error Optimization based on Iterative Le...

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4th IEEE International Conference on Power, Intelligent Computing and Systems, ICPICS 2022

作者： Huang, Haoran Zhang, Tao Jia, Danping Zhang, Hualiang Yan, Hongyu Pei, Quanshen Ding, Fan Shenyang University of Technology School of Information Science and Engineering Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China

ISBN: (数字)9781665467735

ISBN: (纸本)9781665467735

The X-Y precision plane motion platform is widely used in various precision motion control fields. In this paper, to improve the tracking accuracy of the X-Y precision plane motion table, a high-level iterative learning control with forgetting factor is proposed, and it is combined with a kind of PD-type iterative learning control with low-pass filter, and the method is applied to the Simulink model of the linear motor of the X-Y precision plane platform, thereby improving the trajectory accuracy of the X-Y precision plane motion platform. The traditional ILC has the disadvantage that the more number of iterations, the more divergent tracking error is. The new ILC proposed in this paper can not only effectively reduce the noise, reduce the tracking error, but also eliminate the problem of error divergence caused by too many iterations. At last, the experimental results of high-order PD iterative learning with forgetting factor and low-pass filter, PD iterative learning with low-pass filter, ordinary PD iterative learning are compared. The results show that the high-order PD iterative learning with forgetting factor and low-pass filter has better tracking effect than the first-order iterative learning and other several algorithms. It can make the movement trajectory of the X-Y precision plane motion platform more stable and improve the accuracy. © 2022 IEEE.

关键词： Low pass filters

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