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Space robotics (iSpaRo), International Conference on

作者： Matteo De Benedetti Steven Kay Jorge Ocón Raquel Jalvo Manuel Esquer Cerezo Augusto Gómez Eguíluz Mercedes Alonso Javier Ramos Fernandez Karl Buckley Robert Field Angus Cameron Vassilios Papantoniou Ares Papantoniou Carlos Perez del Pulgar Konstantinos Kapellos Martin Azkarate GMV NSL Ltd UK GMV Aerospace and Defence Spain Hellenic Technology of Robotics Athens Greece Department of Systems Engineering and Automation Space Robotics Laboratory Universidad de Málaga Málaga Spain Network Research Belgium Uccle Belgium European Space Agency European Space Research and Technology Centre (ESTEC) Noordwijk Netherlands

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Previous Mars and Moon rover missions have highlighted a limitation in mobility, with surface rovers traversing only a few tens of meters per day, at speeds in the order of 10 cm/s. This limitation can be primarily attributed to the rover locomotion system from one side, and on the other by the lack/limited on-board autonomous *** address these limitations, ESA issued a series of activities on fast autonomous rovers. GMV is leading the RAPID and FASTNAV projects, aiming at developing a semi-autonomous rover capable of safely traversing lunar terrains at high speeds (around 1 m/s), using a visual navigation based Guidance, Navigation and Control (GNC) system. The RAPID project was the foundation of this work, in which the rover platform was designed, manufactured, and a first version of the on-board software was developed. The follow-up FASTNAV project builds upon the work of RAPID to establish an innovative multi-mode continuous drive GNC system. This new architecture aims to achieve an improved autonomy and faster speeds, with different guidance modes selected according to the terrain type, using a combination of techniques (AI and classical computer vision), while also improving the existing GNC *** paper shall present the experience obtained during the development of the rover platform and the GNC system across both activities. It shall provide an overview of the challenges and risks, the decisions made, a detailed technical overview of the GNC architecture and components, and the results observed during the analogue field tests.

关键词： Space vehicles Meters Visualization Computer vision Navigation Space missions Moon Computer architecture Control systems Software

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Demand Response Optimization for the Enhancement of the Distribution System's Operation

Demand Response Optimization for the Enhancement of the Dist...

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International Conference on Smart Energy systems and Technologies (SEST)

作者： Maria Fotopoulou George Tsekouras Dimitrios Rakopoulos Vassiliki Kontargyri Department of Electrical and Electronics Engineering University of West Attica Athens Greece Chemical Process and Energy Resources Institute Centre for Research and Technology Hellas Athens Greece Control Systems and Industrial Automation Laboratory National and Kapodistrian University of Athens Athens Greece

ISBN: (数字)9798350386493

ISBN: (纸本)9798350386509

Following the latest energy market trends, active distribution systems incorporate an ascending mix of flexible loads, which can participate in Demand Response (DR) strategies. The purpose of this research paper is to present a DR strategy for the Distribution System Operator (DSO) in order to enhance the system's operation and mitigate power quality issues, such as voltage drops, and congestion. The proposed algorithm aims at smoothing the load curve, taking into consideration the available flexible load and the limitations of the system. The algorithm is demonstrated on a model of the distribution system of Skiathos island, Greece, in the context of ENFLATE, a Horizon Europe project, and future scenarios with photovoltaic (PV) penetration are studied as well. According to the results, the proposed DR algorithm manages to reduce the voltage drop, eliminate the number of events where the voltage drop exceeds the limits and reduce the losses of the distribution system up to 8%-9%, depending on the PV penetration.

关键词： Electric potential Smoothing methods Power quality Europe Voltage Artificial neural networks Transformers Demand response Load modeling Context modeling

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Online Gyro Bias Estimation from Single Vector Measurements Using Regression Models

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IFAC-PapersOnLine 2023年第1期56卷 252-257页

作者： Bowen Yi Lei Wang Weidong Zhang Australian Centre for Field Robotics The University of Sydney NSW 2006 Australia State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 China School of Information and Communication Engineering Hainan University Haikou 570228 China Department of Automation Shanghai Jiao Tong University Shanghai 200240 China

This paper addresses the problem of on-line consistent estimation of gyro bias using the measurements of a single vector and the biased angular velocity - both in the body-fixed frame. We propose two globally convergent gyro bias observers using new regression models, which are capable to deal with the cases of constant and time-varying reference vectors, respectively. Indeed, there are quite a few works discussing the latter case. To address this, we derive a nonlinear regression model, based on which a convexified gradient descent observer is designed, providing globally asymptotically convergent estimates to the gyro bias under some sufficient excitation conditions. The proposed schemes are illustrated by some numerical simulations.

关键词： Nonlinear systems observer parameter identification robotics

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ItD: Large Language Models Can Teach Themselves Induction through Deduction

arXiv

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arXiv 2024年

作者： Sun, Wangtao Xu, Haotian Yu, Xuanqing Chen, Pei He, Shizhu Zhao, Jun Liu, Kang The Laboratory of Cognition and Decision Intelligence for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China CAS Engineering Laboratory for Intelligent Industrial Vision Institute of Automation Chinese Academy of Sciences Beijing China Department of Computer Science and Engineering Texas A&M University United States Shanghai Artificial Intelligence Laboratory China Xiaohongshu Inc China

Although Large Language Models (LLMs) are showing impressive performance on a wide range of Natural Language Processing tasks, researchers have found that they still have limited ability to conduct induction. Recent works mainly adopt "post processes" paradigms to improve the performance of LLMs on induction (e.g., the hypothesis search & refinement methods), but their performance is still constrained by the inherent inductive capability of the LLMs. In this paper, we propose a novel framework, Induction through Deduction (ItD), to enable the LLMs to teach themselves induction through deduction. The ItD framework is composed of two main components: a Deductive Data Generation module to generate induction data and a Naive Bayesian Induction module to optimize the fine-tuning and decoding of LLMs. Our empirical results showcase the effectiveness of ItD on two induction benchmarks, achieving relative performance improvement of 36% and 10% compared with previous state-of-the-art, respectively. Our ablation study verifies the effectiveness of two key modules of ItD. We also verify the effectiveness of ItD across different LLMs and deductors. The data and code of this paper can be found at https://***/r/ItD-E844. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

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Chinese automation Congress (CAC)

作者： Yumin Lang Jiande Wu Xun Lang Wanke Yu Chuanyan Yang Hongye Su Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Oscillation is a significant indication of the deterioration of control system performance and needs to be carefully monitored to ensure safe and stable process operations. However, industrial processes are often prone to noisy artifacts and nonstationary trends, resulting in low signal-to-noise ratios. In order to tackle this problem, this study introduces a novel framework for enhanced trend removal and noise reduction, which is featured by the following steps:(i) The circulant singular spectrum analysis (CiSSA) is used to decompose oscillation data into several reconstructed components (RCs). (ii) The estimated power spectral density (PSD) of these RCs is then smoothed using the Savitzky-Golay filter (SGF) to eliminate noise and identify the RCs corresponding to oscillatory components. (iii) These identified RCs are subsequently reconstructed to produce purified oscillatory data. The effectiveness of the suggested approach is validated using simulations and real-world industrial case studies. The findings indicate that the method notably enhances the quality of oscillatory data.

关键词： Power filters Noise reduction Process control Market research Information filters Noise measurement Oscillators Spectral analysis Monitoring Signal to noise ratio

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Neural-Network-Based Recursive State Estimation for Nonlinear Networked systems With Binary-Encoding Mechanisms

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IEEE Transactions on Neural Networks and Learning systems 2025年第6期36卷 10072-10083页

作者： Yuhan Zhang Zidong Wang Lei Zou Wei Qian Shuxin Du College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China Department of Computer Science Brunel University of London Middlesex Uxbridge U.K. College of Information Science and Technology Donghua University Shanghai China Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of Education Shanghai China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo China Huzhou Key Laboratory of Intelligent Sensing and Optimal Control for Industrial Systems School of Engineering Huzhou University Huzhou China

This work addresses the problem of recursive state estimation for networked control systems with unknown nonlinearities and binary-encoding mechanisms (BEMs). To enhance transmission reliability and reduce network resource consumption, BEMs are used to convert measurement signals into binary bit strings (BBSs) of limited length, which are then transmitted to the estimator through noisy communication channels. During transmission, random bit errors may occur in the BBSs due to channel noise. For the considered nonlinear networked control systems affected by random bit errors, a neural-network (NN)-based recursive estimation strategy is proposed, where an NN with a time-varying tuning scalar is employed to approximate the unknown nonlinearity of the networked control systems. By using the proposed strategy, the upper bounds of the estimation error of the system state and the trace of the estimation error of the NN weight (NNW) are first derived. These bounds are then minimized by recursively designing both the estimator gain matrix and the tuning scalar of the NNW. Finally, the effectiveness of the proposed estimation strategy is demonstrated through a numerical example.

关键词： Artificial neural networks State estimation Encoding Noise Networked control systems Electronic mail Symmetric matrices Estimation error Tuning Recursive estimation

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Quantification of Valve Stiction in Control Loops Using Adaptive Differential Evolution Algorithm

Quantification of Valve Stiction in Control Loops Using Adap...

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Chinese automation Congress (CAC)

作者： Dong Yang Xun Lang Jiande Wu Wanke Yu Songhua Liu Lei Xie Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Accurately and promptly quantifying stiction is crucial for valve maintenance in industrial settings and ensuring the stability of control loop performance. However, current Hammerstein-based stiction quantification methods overlook valve dynamics, potentially leading to inaccurate quantification. Therefore, this paper proposes a novel stiction quantification method based on an adaptive differential evolution algorithm. In addition to considering the impact of valve dynamics on stiction, the proposed method demonstrates a certain level of robustness against the interference of unknown noise. Finally, the effectiveness of the proposed method is demonstrated through a series of simulations and industrial case studies.

关键词： Adaptation models Heuristic algorithms Noise Interference Valves Stability analysis Robustness Data models Maintenance Classification algorithms

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Deep Learning-Based Prediction of Subsurface Oil Reservoir Pressure Using Spatio-Temporal Data

Deep Learning-Based Prediction of Subsurface Oil Reservoir P...

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Annual Conference of industrial Electronics Society

作者： Haibo Cheng Yunpeng He Peng Zeng Shichao Li Valeriy Vyatkin 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 Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Automation Aalto University Helsinki Finland

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction.

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A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot

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Frontiers of Information Technology & Electronic engineering 2022年第8期23卷 1217-1228页

作者： Manjun TIAN Xiali LI Shihan KONG Licheng WU Junzhi YU First Research Institute of the Ministry of Public Security of PRC Beijing 100048China School of Information Engineering Minzu University of ChinaBeijing 100081China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

To tackle the problem of aquatic environment pollution,a vision-based autonomous underwater garbage cleaning robot has been developed in our *** propose a garbage detection method based on a modified YOLOv4,allowing high-speed and high-precision object ***,the YOLOv4 algorithm is chosen as a basic neural network framework to perform object *** the purpose of further improvement on the detection accuracy,YOLOv4 is transformed into a four-scale detection *** improve the detection speed,model pruning is applied to the new *** virtue of the improved detection methods,the robot can collect garbage *** detection speed is up to 66.67 frames/s with a mean average precision(mAP)of 95.099%,and experimental results demonstrate that both the detection speed and the accuracy of the improved YOLOv4 are excellent.

关键词： Object detection Aquatic environment Garbage cleaning robot Modified YOLOv4

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Unprecedented Smart Algorithm for Uninterrupted SDN Services During DDoS Attack

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Computers, Materials & Continua 2022年第1期70卷 875-894页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Rizaludin Kaspin Iram Haider Sana Nisar J.P.C.Rodrigues Bhawani Shankar Chowdhry Muhammad AslamUqaili Satya Prasad Majumder Danda B.Rawat Richard Etengu Rajkumar Buyya Faculty of Computing&Informatics Multimedia UniversityPersiaranMultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation Centre63000CyberjayaSelangorMalaysia Federal University of Piauí(UFPI) TeresinaPIBrazil Instituto de Telecomunica珲es 6201-001Covilh?Portugal National Center of Robotics and Automation-Condition Monitoring Systems Lab MUETJamshoroPakistan Department of Electrical and Electronic Engineering BUETDhaka1205Bangladesh Department of Electrical Engineering and Computer Science Data Science and Cybersecurity CenterHoward UniversityWashingtonDCUSA Cloud Computing and Distributed Systems(CLOUDS)Laboratory School of Computing and Information SystemsThe University of MelbourneMelbourneVIC 3053Australia

In the design and planning of next-generation Internet of Things(IoT),telecommunication,and satellite communication systems,controller placement is crucial in software-defined networking(SDN).The programmability of the SDN controller is sophisticated for the centralized control system of the entire ***,it creates a significant loophole for the manifestation of a distributed denial of service(DDoS)attack ***,recently a Distributed Reflected Denial of Service(DRDoS)attack,an unusual DDoS attack,has been ***,minimal deliberation has given to this forthcoming single point of SDN infrastructure failure ***,recently the high frequencies of DDoS attacks have increased *** this paper,a smart algorithm for planning SDN smart backup controllers under DDoS attack scenarios has *** proposed smart algorithm can recommend single or multiple smart backup controllers in the event of DDoS *** obtained simulated results demonstrate that the validation of the proposed algorithm and the performance analysis achieved 99.99%accuracy in placing the smart backup controller under DDoS attacks within 0.125 to 46508.7 s in SDN.

关键词： SDN smart algorithm RTZLK-DAASCP DDoS attack DRDoS

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