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Chinese control and decision Conference, CCDC

作者： Xiyuan Shan Tao Cai Zhicheng Zong Hongbo Mu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

Aiming at the problems containing complex working conditions, modeling difficulties and long-time delay of thermoelectric cooler temperature control system, an improved ADRC control method combining ADRC and Smith predictor is proposed in this paper. ADRC deals with the disturbances and uncertain dynamics in the system, SP compensates the time delay to improve the control performance. Compared with the traditional PID controller, the proposed control method has faster response speed and stronger anti-disturbance ability, meanwhile, overcomes the dependence of Smith predictor on object parameters to a certain extent. Through simulation and experimental verification, a good control effect is obtained, which provides a positive guidance of the related application of thermoelectric cooler.

关键词： Robust control Employee welfare Delay effects Simulation Perturbation methods Predictive models control systems

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An Improved Active Disturbance Rejection control Method for Crane system

An Improved Active Disturbance Rejection Control Method for ...

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Chinese control and decision Conference, CCDC

作者： Yubo Sun Xiyuan Shan Zhicheng Zong School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

In order to improve the dynamic performance of the underdriven crane system, an improved linear active disturbance rejection controller (LADRC) based on the new error was proposed. The improved LADRC takes the error value between the disturbance and its observed value multiplied by a coefficient as the basis for adjusting the linear extended state observer (LESO). The improved method has two advantages. Firstly, the new error can prevent the traditional LESO from choosing larger parameter adjustment disturbances, which will limit the performance of the observer. Secondly, the pole can be configured by adjusting the coefficient to obtain better dynamic characteristics. Finally, the effectiveness of the proposed method is verified by simulation and experiment. The proposed method can effectively restrain the swing of the payload and it is robust to system parameters perturbation as well.

关键词： Robust control Couplings Adaptation models Cranes Uncertainty Perturbation methods Bandwidth

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GAT-Net: A Network using Grid Attention and Transformer for Dynamic Facial Expression Recognition

GAT-Net: A Network using Grid Attention and Transformer for ...

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Chinese control and decision Conference, CCDC

作者： Wenxin Dai Yaping Dai Kaoru Hirota Shuai Shao School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

Dynamic facial expression recognition (DFER) in the wild has received widespread attention recently. There are complex factors such as face occlusion and pose variation in the wild. Facial expression recognition has a subtle competition between capturing local features of a human face and obtaining a global feature representation. This paper proposes an end-to-end DFER network GAT-Net based on the grid attention module and Transformer, which improves the robustness and accuracy of DFER in the wild. Specifically, GAT-Net is divided into two components: spatial feature extraction and temporal feature processing. The grid attention module of the spatial feature extraction component guides the network to pay attention to the local salient features of the face, which reduces the interference of field occlusion and non-frontal poses. The Transformer in the temporal feature processing component guides the network to learn the temporal relationship of high-level semantic features and the global representation of facial expression features. These two components balance the subtle competition between local features and global feature representations of facial expressions. The ablation experiment has proved the effectiveness of the grid attention module and Transformer. Experiments demonstrate that our GAT-Net outperforms state-of-the-art methods on DFEW and AFEW benchmarks with accuracies of 67.53%, and 50.14% respectively.

关键词： Face recognition Semantics Interference Benchmark testing Transformers Feature extraction Robustness

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Jichao Pang Dan Liu Xiaoqing Tang Yan Chen Qiang Huang Tatsuo Arai Xiaoming Liu Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand’s two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device’s lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors’ tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand’s lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand.

关键词： Costs Accuracy Fasteners End effectors 6-DOF Mathematical models Biology

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Optimal Portfolio of Wind-solar-hydro Hybrid Renewable Generation based on Variable Speed Pumped Storage 6

Optimal Portfolio of Wind-solar-hydro Hybrid Renewable Gener...

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6th IEEE International Electrical and Energy Conference, CIEEC 2023

作者： Xiang, Shizhe Xu, Da Gao, Menglu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Dc Company of State Grid Hubei Electric Power Co. Ltd. Yichang443000 China

ISBN: (纸本)9798350346671

Compared with separate solar or wind generation, the hybrid wind-solar-hydro renewable portfolio can achieve better generation characteristics due to their temporal-spatial complementarities. This paper proposes optimal portfolio of wind-solar-hydro hybrid renewable generation based on variable speed pumped storage (VSPS). In this portfolio, the complementarities of hydro-solar-wind hybrid renewable energy sources (RESs) are fully exploited via various conversion and storage devices for zero carbon 100% renewable supplies. Compared to traditional fixed speed pumped storage (FSPS), the VSPS has obvious advantages in power regulation and renewable accommodation, which is comprehensively modeled to capture its dynamic operational dispatchability and flexibility. The portfolio production, conversion, storage, and consumption are formulated via a two-stage framework, which takes the minimum system investment cost as the objective function. Case studies on southwest China are performed to show the effectiveness and superiority of the proposed methodology on cost-effective accommodation. © 2023 IEEE.

关键词： Cost effectiveness

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Optimal Carbon Capture, Utilization and Storage Planning for Multi-Energy system 42

Optimal Carbon Capture, Utilization and Storage Planning for...

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42nd Chinese control Conference, CCC 2023

作者： Hu, Aoyu Xu, Da Gao, Menglu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Dc Company of State Grid Hubei Electric Power Co. Ltd. Yichang443000 China

ISBN: (纸本)9789887581543

In response to the national dual carbon policy, carbon capture, utilization and storage (CCUS) are currently attracting much attention. This paper proposes optimal CCUS planning for multi-energy system. In this multi-energy system, transmission network and natural gas network are coupled via conversion and storage devices in the energy hubs. The CCUS planning is formulated based on a source-sink matching method to analyze the CO2 capture points, CO2 storage points and CO2 transportation routes. Furthermore, the original CCUS planning problem is reformulated as a mixed integer second order cone programming (MISOCP) and subsequently solved to guarantee a satisfactory convergence performance. Numerical studies on an urban multi-energy system are implemented to verify the effectiveness and superiority of the proposed methodology over conventional scheme. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Carbon capture

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Dynamic Event-Triggered control for Nonlinear systems:A Small-Gain Approach

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系统科学与复杂性学报（英文版） 2020年第4期33卷 930-943页

作者： ZHAO Qingtao SUN Jian BAI Yongqiang School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 China

An event-triggered control (ETC) system transmits data packages and updates control inputs only when the predefined criterion is *** this way,network communication and computing resources are scheduled more reasonably in contrast to the traditional periodic sampling ***-gain approach proposed in recent literatures is a new modeling method to deal with nonlinear ETC *** from traditional ETC models,stability criteria are proposed in the form of input to state stability (ISS) gain to design the triggering *** paper introduces additional dynamic variables in this model and proposes a small-gain based dynamic event-triggered *** conditions to guarantee the stability of the system are derived with the help of cyclic-small-gain theorem and Zeno behaviors are avoided to ensure the feasibility of this method in practical *** simulations are given to demonstrate the effectiveness of our approach.

关键词： Cyclic-small-gain theorem event-triggered control input-to-state stability (ISS) nonlinear systems

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A Gait Events Detection Algorithm Based on the Invariant Characteristic of Hip Joint Kinematics 33

A Gait Events Detection Algorithm Based on the Invariant Cha...

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第33届中国控制与决策会议

作者： Ningcun Xu Xiwei Peng Liang Peng Zeng-Guang Hou Institute of Intelligent Sensing & Motion Control School of AutomationBeijing Institute of Technology The State Key Laboratory for Management and Control of Complex Systems(SKL-MCCS) Institute of AutomationChinese academy of Science

ISBN: (纸本)9781665431293

In order to make up for the shortcomings of a single inertial sensor,which is easily disturbed and unable to directly describe the periodic characteristics of gait,a novel gait events detection algorithm is proposed which is based on the invariant characteristics of hip joint *** healthy volunteers conducted a walking experiment over the ground,who were equipped with motion capture device and insole with *** hip angle derived from motion capture device were applied to detect gait events,heel stride(HS) and toe off(TO).And the gait events detected by ground reactor force(GRF) were taken as the reference *** mean absolute difference of HS is 28±42 ms,and the mean absolute difference of TO is 27 ± 43 ms. And the confidence levels of the two gait events are 97.5% and 99.2%,*** results demonstrate that the proposed gait events detection algorithm is reliability and has potential clinical application value.

关键词： gait event inertial sensor hip joint kinematics statistical analysis

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Torque Compensation Model and Touchdown Detection Model of the Hydraulic Quadruped Robot controlled by VMC

Torque Compensation Model and Touchdown Detection Model of t...

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Chinese control and decision Conference, CCDC

作者： Ranjiang Wang Jiangbo Zhao Junzheng Wang Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665478977

In this paper, according to the different dynamic models of the support phase and the swing phase, the joint torque compensation of the support phase and the swing phase are given to compensate the joint torque of the hydraulic quadruped robot controlled by the virtual model control(VMC). This compensation can increase the tracking effect of the foot end on the swing trajectory, reduce the elasticity and damping coefficient of the virtual model method, and increase the flexibility of the leg. Then this paper establishes the touchdown detection function based on the joint torque obtained by the Lagrange dynamics equation and the joint torque obtained by the force sensor to determine the touch state of the foot of the quadruped robot to switch the phase of the leg. At the end of this paper, simulation and experiment prove that the compensation model and touchdown detection function model have feasibility and correctness.

关键词： Legged locomotion Damping Torque Switches Hydraulic systems Elasticity Mathematical models

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Distance- And velocity-based collision avoidance for time-varying formation control of second-order multi-agent systems

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IEEE Transactions on Circuits and systems II: Express Briefs 2021年第4期68卷 1253-1257页

作者： Pang, Zhong-Hua Zheng, Chang-Bing Sun, Jian Han, Qing-Long Liu, Guo-Ping Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology Beijing100144 China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China School of Software and Electrical Engineering Swinburne University of Technology MelbourneVIC3122 Australia Department of Artificial Intelligence and Automation Wuhan University Wuhan430072 China

This brief addresses the time-varying formation control problem with collision avoidance for second-order multi-agent systems. By taking both distances and velocities between agents into account, a novel collision avoidance scheme is proposed on the basis of conventional distance-based artificial potential field methods. Compared with the latter, the proposed scheme can more accurately determine possible collision situations and thus significantly reduce possible collision areas, which consequently not only can reduce energy consumption, but also has as few adverse effects on formation maintenance as possible. Then a time-varying formation control protocol is designed so as to achieve zero steady-state position and velocity formation tracking errors without collision. Finally, theoretical analysis, numerical demonstration, as well as comparative simulation are provided to verify the effectiveness of the proposed method. © 2004-2012 IEEE.

关键词： Multi agent systems

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