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SSRN 2023年

作者： Zhang, Xiaorui Zhang, Wenzheng Sun, Wei Song, Aiguo Xu, Tong Engineering Research Center of Digital Forensics Ministry of Education Jiangsu Engineering Center of Network Monitoring School of Computer and Software Nanjing University of Information Science & Technology Nanjing210044 China Wuxi Research Institute Nanjing University of Information Science & Technology Wuxi214100 China School of Automation Nanjing University of Information Science & Technology Nanjing210044 China State Key Laboratory of Bioelectronics Jiangsu Key Lab of Remote Measurement and Control School of Instrument Science and Engineering Southeast University Nanjing210096 China University of Southern California Los AngelesCA United States

Flexible tissue modeling plays an important role in the field of telemedicine. It is related to whether the soft tissue deformation process can be accurately, real-time and vividly simulated during surgery. However, most existing models lack the unique biological characteristics. To solve this problem, a high-fidelity virtual liver model incorporating biological characteristics, such as the viscoelastic, anisotropic and nonlinear biological characteristics, is proposed based on the finite element model. When simulating the resection of diseased livers, the model undergoes a plastic deformation process where the model loses elasticity due to excessive deformation, but does not reach the cutting fracture threshold. To improve the fidelity of the liver model, this study is the first to introduce the viscoplasticity of biological tissues to the liver model. The 3DMax2020 and OpenGL4.6 were used to build a liver surgery simulation platform, and the PHANTOM OMNI manual controller was used to sense the feedback force during the operation. The proposed model was verified from three aspects of accuracy, fidelity and real-time performance. The experimental results show that the proposed virtual liver model can enhance visual perception ability, improve deformation accuracy and fidelity. © 2023, The Authors. All rights reserved.

关键词： Simulation platform

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Smart Infrared Temperature measurement System Based On Elastic Compute Service Platform

Smart Infrared Temperature Measurement System Based On Elast...

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Chinese automation Congress (CAC)

作者： Yongbo Li Li Yuan School of Automation( China University of Geosciences) Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan People’s Republic of China

ISBN: (纸本)9781665426480

In the fight against the novel coronavirus, this paper designs a smart infrared temperature measurement system based on the Elastic Compute Service platform. In the perceptual layer part of the Internet of Things(IoT), the system uses infrared temperature sensors to quickly collect the temperature of the forehead or arm of the human body and Uses the MCU to automatically transmits the measured data to the Elastic Compute Service through the WiFi module. In the network layer part of the Internet of Things,the data written into the database of the Elastic Compute Service through the program deployed on the Elastic Compute Service. In the application layer of the Internet of Things, the remote management terminal monitors the collected body temperature data in real-time and provides quick warnings. Finally, the User can log in to the applet on his mobile phone to quickly and easily obtain personal information.

关键词： Temperature measurement Temperature sensors Temperature distribution Forehead Databases Real-time systems Mobile handsets

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A Many-Objective Evolutionary Algorithm Assisted by Ideal Hyperplane

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SSRN 2022年

作者： Zhang, Zhixia Wen, Jie Wang, Hui Cai, Xingjuan Cui, Zhihua Zhang, Wensheng School of Computer Science and Technology Taiyuan University of Science and Technology China School of Information Engineering Nanchang Institute of Technology Nanchang330099 China State Key Laboratory of Intelligent Control and Management of Complex System Institute of Automation Chinese Academy of Sciences China State Key Lab. for Novel Software Technology Nanjing University China

In many-objective optimization problems (MaOPs), it is a difficult task for evolutionary algorithms to balance convergence and diversity while rapidly converging to the Pareto front. As the number of objectives increases, the difficulty of evolutionary algorithms increases with individual selection pressure. To address above problems, we propose a many-objective evolution algorithm assisted by an ideal hyperplane (MaOEA-IH). Firstly, the ideal hyperplane as a reference surface to guide the individual to search the Pareto front, which is established from the extremum of each dimension of the objective space. Secondly, a parallel p -norm mating selection strategy is proposed to improve convergence. In addition, two factors are considered in this strategy: 1) different p -norm are used to measure different spatial scales;2) individual selection uncertainty is defined by incorporating a probabilistic perturbation mechanism. Thirdly, the improved shift-based density estimation strategy is used as the evaluation criterion for environmental selection to improve the convergence and diversity of solution sets and enhance selection pressure. To verify the effectiveness of the proposed algorithm, MAOEA-IH is compared with seven excellent algorithms in three benchmark sets (DTLZ, WFG and MaF). The results show that the proposed MAOEA-IH is highly competitive in solving MaOPs. © 2022, The Authors. All rights reserved.

关键词： Geometry

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Accelerometer optimization based on real-time measurement of Hole Deviation INS with While-Drilling

Accelerometer optimization based on real-time measurement of...

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Chinese automation Congress (CAC)

作者： Yuan-Qiu Liu Fang Jin Jun-Lei Song Kai-Feng Dong Wen-Qin Mo Ya-Juan Hui School of Automation China University of Geosciences Wuhan China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (纸本)9781665426480

Well deviation measurement of While-Drilling(MWD) refers to the real-time measurement of well deviation and azimuth While-Drilling is the key for navigation in automatic drilling, real-time detection of drilling direction and automatic drilling control. In this paper, we solve the problem that the accelerometer could not accurately measure gravity because of the high-speed rotation caused by the eccentric installation of INS (Inertial Navigation System) and the acceleration of vibration line in the real-time measurement of borehole deviation and azimuth angle while drilling. Firstly, the dynamic physical model of accelerometer and gyroscope under eccentric installation is built, the non-gravity error of accelerometer measurement under eccentric motion is analyzed, and the algorithm optimization is made. Secondly, a calibration scheme for the compensation coefficients of centrifugal and tangential forces is given, which enables the carrier to make eccentric pure rotational motion on the rotating platform to determine the compensation calibration coefficient matrix. Finally, the first-order complementary filter algorithm is used to fuse the gyroscope angular velocity with the corrected acceleration for attitude calculation, and the algorithm is experimented. In this study, MPU6050 is selected as the chip of INS, and the attitude algorithm is realized by STM32. The experimental results show that the high dynamic error of the accelerometer measurement caused by eccentric motion is effectively reduced by the algorithm compensation.

关键词： Accelerometers Drilling Semiconductor device measurement Heuristic algorithms measurement uncertainty Vibration measurement Real-time systems

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Multi view 3D reconstruction method for weak texture objects based on "eye-in-hand" model

Multi view 3D reconstruction method for weak texture objects...

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Chinese automation Congress (CAC)

作者： Xuan Gong Xin Chen Xu Jian Wenpeng He School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration

ISBN: (纸本)9781665426480

Size measurement and defect detection of ceramics are required in the production process of ceramic products. Therefore, it is necessary to perform high-precision and fast three-dimensional reconstruction of such targets with smooth surfaces and weak textures. However, the reconstruction of a large number of point clouds from multiple perspectives is time-consuming due to the matching of adjacent feature points. Based on this, a fast point cloud registration strategy based on the "eye-in-hand" model is proposed, which can obtain RGB-D images at multi-view around weak-textured objects with RGB-D camera for rapid point cloud registration and reconstruction. Meanwhile, a 3D point cloud segmentation method based on voxel-grid and euclidean distance clustering is applied to divide the scene point and obtain an accurate 3D model. The experimental results indicate that the multi view 3D reconstruction speed of this method is faster and the accuracy of objects point cloud is within 2 mm. Hence, this method can be well applied in reconstructing the 3D point clouds model for ceramic products.

关键词： Point cloud compression Solid modeling Three-dimensional displays Ceramic products Euclidean distance Reconstruction algorithms Cameras

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Parallel Planning:A New Motion Planning Framework for Autonomous Driving

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 236-246页

作者： Long Chen Xuemin Hu Wei Tian Hong Wang Dongpu Cao Fei-Yue Wang IEEE School of Data and Computer Science Sun Yat-sen University the School of Computer Science and Information Engineering Hubei University Institute of Measurement and Control Systems Karlsruhe Institute of Technology Department of Mechanical and Mechatronics Engineering University of Waterloo the State Key Laboratory of Management and Control for Complex Systems.Institute of Automation Chinese Academy of Sciences the Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology

Motion planning is one of the most significant technologies for autonomous driving. To make motion planning models able to learn from the environment and to deal with emergency situations, a new motion planning framework called as"parallel planning" is proposed in this paper. In order to generate sufficient and various training samples, artificial traffic scenes are firstly constructed based on the knowledge from the reality.A deep planning model which combines a convolutional neural network(CNN) with the Long Short-Term Memory module(LSTM) is developed to make planning decisions in an end-toend mode. This model can learn from both real and artificial traffic scenes and imitate the driving style of human ***, a parallel deep reinforcement learning approach is also presented to improve the robustness of planning model and reduce the error rate. To handle emergency situations, a hybrid generative model including a variational auto-encoder(VAE) and a generative adversarial network(GAN) is utilized to learn from virtual emergencies generated in artificial traffic scenes. While an autonomous vehicle is moving, the hybrid generative model generates multiple video clips in parallel, which correspond to different potential emergency scenarios. Simultaneously, the deep planning model makes planning decisions for both virtual and current real scenes. The final planning decision is determined by analysis of real observations. Leveraging the parallel planning approach, the planner is able to make rational decisions without heavy calculation burden when an emergency occurs.

关键词： Autonomous driving artificial traffic scene deep learning emergencies motion planning parallel planning

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A dulcimer keys positioning method based on improved Roberts operator

A dulcimer keys positioning method based on improved Roberts...

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Chinese automation Congress (CAC)

作者： De Tang Ziying Zhang Xin Chen Zhe Xiao Mengxi Qin School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration School of Arts and Communication China University of Geosciences Wuhan China

ISBN: (纸本)9781665426480

It is important for the dulcimer robot to obtain the spatial coordinates of the dulcimer phonemes. However, the traditional manual positioning method is both inefficient and does not meet the intelligence requirements of modern robot. A visual positioning method based on improved Roberts operator is proposed in this paper on account of solving these problems, which can obtain the 3D coordinates of the dulcimer keys in a short time. First, an improved Roberts edge detection operator is designed, which fully detects the edge information of the target by transforming the scale. Further, this paper proposes a dulcimer keys positioning method by fusing RGB and depth image information. This method has a better positioning effect for dulcimer keys with complex background and small size. The experimental results show that the visual positioning method proposed in this paper can effectively identify and locate the dulcimer keys, and it has better robustness to the lighting environment.

关键词： Visualization Three-dimensional displays Robot kinematics Image edge detection measurement uncertainty Lighting Manuals

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GPIO-based rail pressure control for diesel high pressure common rail injection system

GPIO-based rail pressure control for diesel high pressure co...

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2019 Jiangsu Annual Conference on automation, JACA 2019

作者： Wang, Jiapeng Sun, Hao Dai, Chen Li, Shihua Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing Jiangsu210096 China

The rail pressure control in diesel high-pressure common rail (HPCR) system is considered as one of the key issues for precise control of fuel injection. This study investigates the application of generalised proportional integral observer (GPIO)based control in diesel HPCR system. Firstly, a non-linear mathematical model of HPCR system which uses the metering unit as the actuator is established based on hydromechanics under some proper simplifications. Secondly, a GPIO is developed to estimate the mismatched disturbance caused by the injection process. Then a composite controller combining GPIO and backstepping control method is designed. By introducing the disturbance estimations into the control design process, the disturbance rejection capability of the system is promisingly enhanced. The effectiveness of the proposed control method is validated by the simulation results. © 2019 Institution of engineering and Technology. All rights reserved.

关键词： Disturbance rejection

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GPI observer-based composite current-constrained control approach for DC–DC buck converters

GPI observer-based composite current-constrained control app...

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2019 Jiangsu Annual Conference on automation, JACA 2019

作者： Wang, Zuo Guo, Tianliang Wang, Xiangyu Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China

In this study, overcurrent protection technique is investigated for the voltage regulation problem of the DC–DC buck converter system with time-varying disturbances and uncertainties. Normally, fast dynamics during the start-up phase generates large transient current. The overlarge transient current may lead to risks of hardware damage. By selecting conservative control parameters, the current constrained performance can be realised. However, the transient performance and disturbance rejection ability are sacrificed. It is of significant importance to design a controller which keeps a good balance between dynamic performance and overcurrent protection. Moreover, the control accuracy is inevitable affected by the time-varying disturbances effects, including load variations, input voltage fluctuations and circuit parameter perturbations. In this paper, the control design is divided into two parts. Firstly, by inserting a dynamic penalty term into the state feedback controller, a baseline current-constrained scheme is developed. Rigorous stability analysis and current constraint performance are given under the presented baseline controller. Secondly, taking the time-varying disturbances into account, a novel GPI observer-based composite current-constrained controller can be developed by combining disturbance estimations and the baseline controller. Experimental results are provide to demonstrate the effectiveness of the presented control strategy. © 2019 Institution of engineering and *** rights reserved.

关键词： controllers

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Differential evolution algorithm based on PCA to determine the objective function to optimize the configuration of microgrid

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Journal of Physics: Conference Series 2021年第1期2003卷

作者： Wang, Yunhu Xu, Ruobing Duan, Qing Zhang, Guobao Huang, Yongming Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Nanjing210096 China State Grid Jiangsu Electric Power Co. Ltd. Nanjing Power Supply Branch Nanjing210019 China China Electric Power Research Institute Co. Ltd. Beijing100192 China

Recently, microgrids are increasingly used in our lives. The purpose of this paper is to solve the uncertainties of multi-objective decision-making and the instability of algorithms in the optimal configuration of traditional microgrids. This paper proposed a differential evolution algorithm based on PCA to determine the objective function. Firstly, a multi-objective optimization model of the micro-grid was established on the basis of fully considering the economy, environmental protection and stability of the micro-grid. Next, the first principal component of the multi-objective was extracted based on PCA combining innovatively the Pareto optimal solution set, and the multi-objective optimization problem was transformed into a single-objective optimization problem. Finally, the experimental simulation result shows that the algorithm proposed in this paper can comprehensively consider the economy, environmental protection and stability of the microgrid on the basis of ensuring the efficiency and stability of the algorithm to realize the optimized configuration of the microgrid. © Published under licence by IOP Publishing Ltd.

关键词： differential evolution algorithm microgrid Pareto optimal solution set PCA

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