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6th CAA International Conference on Vehicular control and Intelligence, CVCI 2022

作者： Mao, Ziheng Li, Jinglun Gu, Xin Huang, Bencheng Liu, Kailong Zhang, Shuai Shang, Yunlong School of Control Science and Engineering Shandong University Jinan China School of Physics and Materials Science Changji University Changji China WMG University of Warwick CoventryCV4 7AL United Kingdom

ISBN: (数字)9781665453745

ISBN: (纸本)9781665453745

The fault diagnosis process of battery pack is restricted to its complex internal structure, chemical characteristics and nonlinearity. Internal short circuit (ISC) fault and virtual connection (VC) fault are two imperceptible fault types that can cause severe consequence, such as thermal runaway, which may lead to fire accident. The existing methods detect aforementioned faults by examining every cell in the battery pack. However, the inspection of normal cells is actually unnecessary. In real application occasion, the battery pack is composed of thousands of cells. If the algorithm is used to check each battery cell is faulty, the computing burden is significantly increased. Therefore, a method that can reduce the number of detected cells is urgently needed. A low-redundancy battery pack diagnosis method is proposed to address the data redundancy issue in electric vehicle battery pack fault detection of ISC and VC. The fault diagnosis efficiency can be improved dramatically if the fault diagnosis process is executed only in abnormal cells. Via extracting a novel extreme voltage sequences, a low-redundancy representation method is performed. Hence, the feature of battery pack cells is represented with less data. Then the sample entropy algorithm is employed to measure the extreme voltage sequences, of which only the abnormal cell voltage is detected. The method gained superior performance in reducing the data redundancy of the battery pack. The feasibility of proposed method is validated by experiment result. © 2022 IEEE.

关键词： Redundancy

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Dual-Band Flexible Terahertz Sensor Based on Rotated Metamaterial Structure

Dual-Band Flexible Terahertz Sensor Based on Rotated Metamat...

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2023 IEEE MTT-S International Wireless Symposium, IWS 2023

作者： Wang, Dongxu Xu, Kai-Da School of Information and Communications Engineering Xi'an Jiaotong University Xi'an China Science and Technology on Electromechanical Dynamic Control Laboratory Xi'an China East China Normal University State Key Laboratory of Precision Spectroscopy Shanghai200241 China

ISBN: (纸本)9798350336535

In this article, a terahertz flexible metamaterial sensor with dual-band operating characteristics is introduced. The gold metamaterial array is arranged on the top surface of a polyimide film, while the structure is made up of a rotated structure with spiral-shaped strips. Two resonances occur at 0.37 and 1.13 THz with outstanding polarization insensitivity. The metamaterial sensor also has sensitive refractive index sensing properties, with sensitivities of 0.1 THz/RIU and 0.3 THz/RIU, respectively, at the two operating bands. This work shows potential applications in refractive index and nesticide sensing. © 2023 IEEE.

关键词： Metamaterials

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Extended State Observer Based Fault-Tolerant Predictive control for a Four-Mecanum Wheels Mobile Robot 14

Extended State Observer Based Fault-Tolerant Predictive Cont...

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14th IEEE International Conference on Cyber Technology in Automation, control, and Intelligent Systems, CYBER 2024

作者： Yang, Binghao Wang, Dongliang Wen, Ziling Wei, Wu Li, Wenji Fan, Zhun Shantou University Key Lab of Digital Signal and Image Processing of Guangdong Province Guangdong 515063 China Shantou University School of Department of Electronic and Information Engineering Guangdong 515063 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Guangzhou510640 China School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China

ISBN: (纸本)9798331506056

The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collaborative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment. © 2024 IEEE.

关键词： Mobile robots

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Heuristic Task Allocation Method for Heterogeneous Lunar Robots under Dynamic Resource Cost

Heuristic Task Allocation Method for Heterogeneous Lunar Rob...

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2024 IAF Space Operations Symposium at the 75th International Astronautical Congress, IAC 2024

作者： Xu, Rui Zhou, Junhui Li, Zhaoyu Zhu, Shengying Pan, Bo Zhao, Zhijun Yu, Dengyun School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China Beijing Institute of Spacecraft System Engineering Beijing100094 China China Aerospace Science and Technology Corporation Beijing100048 China

ISBN: (纸本)9798331312183

China, in collaboration with multiple countries, is preparing to construct a long-term, independently operated international lunar research station on the surface of the moon in the coming years. The construction of an unmanned lunar research station requires the collaboration of diverse and heterogeneous lunar robots to successfully carry out missions. Task allocation for heterogeneous lunar robots is a crucial technical requirement, focusing on constructing evaluation matrix, designing optimization objective functions, and developing algorithms for optimization matching. The state changes during the execution of tasks by robots result in different resource costs for completing other task goals compared to the initial resource costs. Therefore, one of the major challenges in task allocation for multi-robot systems is effectively managing dynamic resource costs during the construction of evaluation matrix (and subsequent optimization based on the matrix). However, the current approach tends to calculate static cost without considering cost changes during task execution, which deviates from standard engineering practices. Instead, the primary contribution of this paper lies in designing a heuristic algorithm capable of optimizing task allocation outcomes while accounting for the dynamic changes in resource costs incurred during goal achievement. In this paper, we propose a heuristic task allocation method for heterogeneous lunar robots under dynamic resource cost. Given a multi-robot cooperative task, our method firstly constructs a task allocation model based on robotic capability and task resource consumption. Next, based on relaxation planning graph, the resource cost for each lunar rover to complete all task goals is calculated, and the cost of transitioning between different goal states is estimated (to efficiently update the resource cost of completing each goal as the lunar rover's state changes). Subsequently, the evaluation matrix is constructed. Then, a heu

关键词： Multipurpose robots

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A Metro Cloud Platform Based on Real-Time Processing of Heterogeneous Concurrent Data

A Metro Cloud Platform Based on Real-Time Processing of Hete...

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Chinese control Conference (CCC)

作者： Chengyuan Ren Zhuohan Li Danchen Zheng Yan Zhuang Cheng Shao School of Control Science and Engineering Dalian University of Technology Dalian P. R. China

With the rapid development of urban transportation, the metro has become a vital means for daily communication. However, during the operation of the metro, a large amount of operational data from various equipment is constantly generated and transmitted to the ground control center, leading to high bandwidth load and poor real-time processing performance of the ground monitoring system. Inspired by the idea of big data processing system, this paper proposes a metro cloud platform for processing large, concurrent, and heterogeneous data generated by metros. We first designed the software structure of the platform according to the overall requirements, including both front-end and back-end systems, and then divided them into several modules with different functions. We employed technologies such as Netty, Kafka, Redis, and TimescaleDB to efficiently handle and store the vast amounts of data generated by metros, and implemented an online playback feature for video stream captured by onboard cameras, which have been processed by deep learning models. Moreover, a data-sending simulator was designed for simulation experiments, and the experimental results verified the functionality and performance of the metro cloud platform.

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Magnetic Fe_(2)O_(3)/biochar composite prepared in a molten salt medium for antibiotic removal in water

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Biochar 2022年第1期4卷 1131-1143页

作者： Huagen Liang Chenxi Zhu Shan Ji Palanisamy Kannan Fu Chen Jiangsu Key Laboratory of Coal-Based Greenhouse Gas Control and Utilization Low Carbon Energy InstituteChina University of Mining and TechnologyXuzhou 221008China College of Biological Chemical Science and EngineeringJiaxing UniversityJiaxing 314001China School of Materials Science and Engineering China University of Mining and TechnologyXuzhou 221008China School of Environment Science and Spatial Informatics China University of Mining and TechnologyXuzhou 221008China

The large-scale use of antibiotics is causing serious water pollution problems,and it is of great significance to develop new technologies to remove antibiotics from *** an environmentally friendly and economical adsorption material,carbon derived from biomass is a low-cost and feasible material for removing antibiotics in sewage,but the current removal efficiencies are not high enough for large-scale practical *** this study,poplar wood chips are used as raw material,and a magnetic biochar is prepared by co-pyrolysis of poplar wood chips and FeCl_(3)/CaCl_(2)mixed molten salt.X-ray diffraction(XRD),Fourier transform infrared spectroscopy(FTIR),N_(2)-isothermal adsorption and desorption,X-ray photoelectron spectroscopy(XPS)and scanning electron microscope(SEM)techniques showed the successful synthesis of Fe_(2)O_(3)/bioC ***-situ formed Fe_(2)O_(3)makes the biochar possess the characteristic of superparamagnetic,which is conducive to the recycling of *** to the etching effect of the molten salts,rough surface was formed on Fe_(2)O_(3)/bioC,result-ing in a maximum norfloxacin(NOR)adsorption ability up to 38.77 mg g^(−1)at pH *** NOR adsorption behavior on Fe_(2)O_(3)/bioC followed the pseudo second order kinetic model and the equilibrium data was best fitted the Langmuir *** addition,the adsorption process of NOR on Fe_(2)O_(3)/bioC was thermodynamically *** results show that this low-cost and reusable magnetic biochar has the potential for rapid and efficient removal of antibiotic from aqueous solution.

关键词： Antibiotic adsorption Norfloxacin Biochar Water pollution Sewage treatment

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Design and testing of Hybrid Slime Mold Algorithm for Real-Time Adaptive Mobile Robot Path Planning in Dynamic Environments

Design and testing of Hybrid Slime Mold Algorithm for Real-T...

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Advancement in Computation & Computer Technologies (InCACCT), International Conference on

作者： Sachin Gupta Shivali Gupta Shaik Mohammed Raith Anand Kumar Salil Bharany Vishnu Kant Ch.Sandeep Department of Robotics and Control Engineering School of Electronics and Control Engineering Lovely Professional University Phagwara India Department of Chemistry School of Chemical Engineering and Physical Sciences Lovely Professional University Phagwara India Department of Computer Science and Engineering Lovely Professional University Phagwara Punjab India Chitkara University Institute of Engineering and Technology Chitkara University Rajpura India School of Computer Science and Artificial Intelligence SR University Warangal Telangana

ISBN: (数字)9798331543891

ISBN: (纸本)9798331543907

Dynamic path planning and collision prevention is one of the key tasks for autonomous vehicles in relation to dynamic movement of obstacles. In this paper, a novel hybrid approach based on integration of Slime Mold Algorithm (SMA), Triangle Inequality Principle (TIP), and Partition Method Strategy (PMS) for solution of this problem statement. The SMA algorithm is very flexible and adaptive by nature due to its biological working mechanism which is associated with TIP and PMS strategies in relation to their optimization and efficient path planning capabilities and robust solutions. This integrated module is tested in virtual environment and the results are compared with other updated algorithms such as A*, Genetic Algorithm (GA), and Particle Swarm Optimization (PSO) for the same static and dynamic environment. It has been observed from the results that this hybrid strategy significantly improves the path planning task several times than other algorithms in terms of multiple aspects. Under testing conditions, the path length was reduced to 25% than other algorithms in a dynamic environment. During this calculation, the computational efficiency of the system has been improved to 60% than conventional methods. The chances of collision have been improved to 34.23% especially in environment where the obstacles are moving. The capability of SMA has been improved due to the synergy between TIP and PMS. The dynamic and adaptive nature of this algorithm is suitable for various applications such as search-and-rescue operations, manufacturing units’ automation and other hazardous environment exploration.

关键词： Navigation Heuristic algorithms Virtual environments Path planning Partitioning algorithms Safety Mobile robots Vehicle dynamics Testing Genetic algorithms

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Predefined-time Attitude Tracking control for Liquid-filled Spacecraft Under Angular Velocity and Torque Constraints

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Zhang, Wei Guo, Yanning Ran, Guangtao Liu, Jian Wang, Bohui Harbin Institute of Technology Department of Control Science and Engineering Heilongjiang Harbin150001 China Southeast University School of Automation Nanjing210096 China Xi'an Jiaotong University School of Cyber Science and Engineering Xi'an710049 China

This paper addresses the attitude tracking control problem of liquid-filled spacecraft in the presence of angular velocity constraints and limited control torque. Significant challenges arise in spacecraft attitude control due to the increased nonlinearity and uncertainty in spacecraft dynamics resulting from large-amplitude liquid fuel slosh during attitude tracking missions. Firstly, the sloshing liquid in partially-filled tanks carried by the spacecraft is described by the Moving Pulsating Ball Model, and the interaction torque between rigid body and pulsating ball is equivalent to the internal disturbance. Secondly, a predefined-time disturbance observer is introduced to estimate the internal and external disturbance. After that, two sliding mode variables are designed to ensure that the angular velocity can track the desired value within a predefined time and satisfy the constraints. Furthermore, a predefined-time sliding mode attitude tracking controller is proposed, and a predefined-time auxiliary subsystem is proposed to deal with the torque constraint. Finally, the effectiveness of the proposed control algorithm is verified by numerical simulation. © 1965-2011 IEEE.

关键词： Fuel sloshing

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Multi-stage ARSVAE-based Detection Framework for DDoS Attack of Cyber-Energy System in Industrial Park

Multi-stage ARSVAE-based Detection Framework for DDoS Attack...

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2022 Chinese Automation Congress, CAC 2022

作者： Lv, Xiaoquan Jin, Feng Chen, Lie Zhao, Jun Wang, Wei Dalian University of Technology Ministry of Education Key Laboratory of Intelligent Control and Optimization for Industrial Equipment China School of Control Science and Engineering Dalian University of Technology Dalian China Jiangsu HENGA Automation Equipment Co. Ltd. Yangzhou China

ISBN: (纸本)9781665465335

The informatization of industrial parks increases the risk of the cyber-energy system (CES) attacked by hackers, which affects the security and stability of the production process. Among all kinds of the network attacks, distributed denial of service (DDoS) attack is one of the main threats to the CES, which may occupy the bandwidth and the memory resources a lot so as to destroy the normal running mode of the local host. In this study, a detection framework based on multi-stage adaptive recycling skip variational auto-encoder (MARSVAE) is proposed for CES under the condition of unbalanced data. To extract the probabilistic feature in the first stage, an improved variational auto-encoder based on skip structure with adaptive parameters and recycling structure (ARSVAE) is designed to improve the convergence speed. Then, ARSVAE is presented to solve the problem of imbalanced features representation for identifying anomalies at the second stage. Experiments by employing four public datasets indicate that the proposed MARSVAE is capable of reducing false alarm rate and achieving a detection precision of more than 99%. © 2022 IEEE.

关键词： Recycling

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Study on safety boundary of launch bar considering steam catapult launch

Study on safety boundary of launch bar considering steam cat...

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2022 Chinese Automation Congress, CAC 2022

作者： Lu, Peng Zhu, Qidan Liang, Kun Yang, Zhibo Wang, Yi Yao, Lan School of Intelligent Engineering Zhengzhou University of Aeronautics Zhengzhou China College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China School of Information and Control Engineering Qingdao University of Technology Qingdao China School of Foreign Languages Zhengzhou University of Aeronautics Zhengzhou China

ISBN: (纸本)9781665465335

In order to analyze the initial value range of the angle between the launch bar and deck in the safe steam catapult launch of carrier-based aircraft, the mathematical model of catapult launch is established. A method for solving the safety boundary of launch bar is proposed. By setting the initial steam pressure in the wet steam accumulator as 3.7MPa, 3.8MPa and 4.0MPa, three groups of steam catapult launch simulation tests of aircraft were carried out. The simulation results show that the steam pressure of the wet steam accumulator has a great influence on the safety boundary of the launch bar. The launch bar can always be within the safety boundary by adjusting the parameters of the wet steam accumulator;when the initial value of the launch bar is within the safe boundary, increasing the initial value of the launch bar can increase the angle of attack of leaving from carrier aircraft, which is conducive to the catapult launch;The research results can provide some theoretical reference for the design and test of launch bar and the formulation of safety criteria of launch bar. © 2022 IEEE.

关键词： Steam

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