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A calibration and compensation method for an industrial robot with high accuracy harmonic reducers

Science China(Technological Sciences) 2024年第3期67卷 725-739页

作者： ZHAO YiYang LIU Xun CAO JiaBin LIU JinYu XU Yan YAN WeiXin School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China College of Computer and Control Engineering Northeast Forestry UniversityHarbin 150040China

Industrial serial robots need high stiffness to keep absolute pose accuracy and meet the requirements in practical applications. However, the weak stiffness feature of robot joints and the payloads affected on robot end-effector, which will also increase the pose error of robot. Especially, the existing calibration methods often consider under no-payload condition without discussing the payload state. In this paper, we report a new industrial serial robot composed by a new harmonic reducer: Model-Y, based on high accuracy and high stiffness, and a kinematic parameter calibration algorithm which is based on a harmonic reducer forcedeformation model. To decrease the accuracy effects of payload, an iterative calibration method for kinematic parameters with payload situation was proposed. Simulation and experiments are conducted to verify the effectiveness of the proposed calibration method using the self-developed industrial serial robot. The results show a remarkably improved accuracy in absolute position and orientation with the robot's payload range. The position mean error has 70% decreased to 0.1 mm and the orientation mean error diminished to less than 0.01° after calibration with compensation. Additionally, online linear and circular tests are carried out to evaluate the position error of the robot during large-scale spatial and low-speed continuous movement. The accuracy is consistent with the previous calibration results, indicating the effectiveness and advantages of the proposed strategy in this article.

关键词： industrial serial robot Model-Y harmonic calibration stiffness model online compensation

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Active disturbance rejection control for COVID-19 outbreak based on SEIR model

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International Journal of Systems, control and Communications 2024年第3期15卷 292-311页

作者： Zhang, Haonan Tan, Wen Yu, Mei School of Control and Computer Engineering North China Electric Power University Beijing102206 China School of Electrical and Control Engineering North China University of Technology Beijing100144 China

Public health and social measures (PHSMs) standardise the non-pharmacological intervention (NPIs) policies that countries around the world have implemented to curb the spread of COVID-19, and may also serve as a guide for the implementation of future complex health policies in response to new pandemics of infectious diseases. In this paper we aim to use feedback control to help decision-makers establish PHSMs, which can effectively constrain the spread of COVID-19 pandemic with minimal financial loss. The time-dependent susceptible-exposed-infectious-removed (SEIR) model is used for the dynamics of the COVID-19 pandemic. The feedback control is based on a modified nonlinear active disturbance rejection controller (ADRC) that includes modified nonlinear extended state and nonlinear state error feedback with parameters tuned by particle swarm optimisation. The final simulation results show that the modified nonlinear ADRC has better performances and is more robust against uncertainties in the parameters of the epidemiological model. © 2024 Inderscience Enterprises Ltd.

关键词： Disturbance rejection

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Multimodal Sentiment Analysis Using BiGRU and Attention-Based Hybrid Fusion Strategy

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Intelligent Automation & Soft Computing 2023年第8期37卷 1963-1981页

作者： Zhizhong Liu Bin Zhou Lingqiang Meng Guangyu Huang School of Computer and Control Engineering Yantai UniversityYantai264005China

Recently,multimodal sentiment analysis has increasingly attracted attention with the popularity of complementary data streams,which has great potential to surpass unimodal sentiment *** challenge of multimodal sentiment analysis is how to design an efficient multimodal feature fusion ***,existing work always considers feature-level fusion or decision-level fusion,and few research works focus on hybrid fusion strategies that contain feature-level fusion and decision-level *** improve the performance of multimodal sentiment analysis,we present a novel multimodal sentiment analysis model using BiGRU and attention-based hybrid fusion strategy(BAHFS).Firstly,we apply BiGRU to learn the unimodal features of text,audio and *** we fuse the unimodal features into bimodal features using the bimodal attention fusion ***,BAHFS feeds the unimodal features and bimodal features into the trimodal attention fusion module and the trimodal concatenation fusion module simultaneously to get two sets of trimodal ***,BAHFS makes a classification with the two sets of trimodal features respectively and gets the final analysis results with decision-level *** on the CMU-MOSI and CMU-MOSEI datasets,extensive experiments have been carried out to verify BAHFS’s superiority.

关键词： Multimdoal sentiment analysis BiGRU attention mechanism features-level fusion hybrid fusion strategy

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Part Deviation Correction Method Based on Geometric Feature Recognition

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International Journal of Crowd Science 2023年第3期7卷 113-119页

作者： Zhang, Guoqing Sun, Hongbo School of Computer and Control Engineering Yantai University Yantai264005 China

To realize the automatic loading process of parts, one of the core tasks is to identify the geometric contour of the part’s surface and the angular direction. Since the angular direction of each part is not the same when it arrives at the loading position, for example, there are two same types of parts with the same pattern, when they arrive at the loading position, the pattern on one part may be on the right side of the part surface, and the pattern on the other part may be on the left side of the part surface, the gripper of the mechanical arm needs to rotate above the parts in order to grab the parts during each loading process. If the rotation angle is wrong, there will be an impact between the gripper and the parts. Therefore, in order to solve the problem of different angles, this paper proposes a method of parts deviation correction based on geometric features. In this work, firstly, the acquired image is preprocessed, the image background is separated, and the geometric features of the parts are obtained. Then edge detection is used to obtain the set of edge pixels to obtain the contour in the image. Finally, the image moment and measurement model are used to output angular direction. Through 500 repeated detection experiments, the results show that this method can perform better angular direction correction. The maximum angular direction difference is 0.073°, which is 0.856° and 1.793° higher than the Least square method and Hough transform circle detection accuracy, respectively. The average detection time is 1.89 s and is 0.336 s and 1.39 s less than the Least square method and Hough transform circle detection, which meets the requirements of industrial applications. © The author(s) 2023.

关键词： Hough transforms

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Modeling and Verification of Simulation-Oriented Digital Selves

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International Journal of Crowd Science 2023年第2期7卷 87-96页

作者： Wang, Zhaotong Sun, Hongbo School of Computer and Control Engineering Yantai University Yantai264005 China

Networked life has now become one of our major life forms. In social networks, each individual has its own attributes and certain functions, which makes the current network present characteristics that the previous network did not have. The existing research believes that the structure and attributes of individuals in a network are the same, and they are in a single network at the same time. However, individuals in any social network may be in different networks at the same time and thus exhibit different behaviors, and such individuals are called digital selves. In this paper, we propose a simulation-oriented modeling method for digital selves, which allows them to be in multiple networks at the same time and to have their own decision-making mechanisms. The model consists of six parts, namely, pattern, affecter, decider, executor, monitor, and connector. After the verification of three simulation experiments, namely coevolutions, ecological structure evolution of an e-commerce market, and multi-information coevolution spreading, the model can be well applied in various scenarios, which verifies its feasibility and applicability. © The author(s) 2023.

关键词： Decision making

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Impact of asymptomatic infected individuals on epidemic transmission dynamics in multiplex networks with partial coupling

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Chinese Physics B 2024年第10期33卷 80-87页

作者： Xin Hu Jiaxing Chen Chengyi Xia School of Control Science and Engineering Tiangong UniversityTianjin 300387China School of Computer Science and Engineering Tianjin University of TechnologyTianjin 300384China School of Artificial Intelligence Tiangong UniversityTianjin 300387China

The theory of network science has attracted great interest of many researchers in the realm of biomathematics and public health,and numerous valuable epidemic models have been *** previous studies,it is common to set up a one-to-one correspondence between the nodes of a multi-layer network,ignoring the more complex situations in *** the present work,we explore this situation by setting up a partially coupled model of a two-layer network and investigating the impact of asymptomatic infected individuals on *** propose a self-discovery mechanism for asymptomatic infected individuals,taking into account situations such as nucleic acid testing in the community and individuals performing self-antigen testing during the *** these factors together,through the microscopic Markov chain approach(MMCA)and extensive Monte Carlo(MC)numerical simulations,we find that the greater the coupling between the networks,the more information dissemination is *** order to control the epidemics,more asymptomatic infected individuals should be made aware of their *** adoption of nucleic acid testing and individual adoption of antigenic self-testing can help to contain epidemic ***,the epidemic threshold of the proposed model is derived,and then miscellaneous factors affecting the epidemic threshold are also *** results are conducive to devising the prevention and control policies of pandemics.

关键词： asymptomatic infected individuals multi-layer networks partial interdependence

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Progress on the Fault Diagnosis Approach for Lithium-ion Battery Systems:Advances,Challenges,and Prospects

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Protection and control of Modern Power Systems 2024年第5期9卷 16-41页

作者： Hanxiao Liu Luan Zhang Liwei Li School of Control Science and Engineering Shandong UniversityJinan 250061China School of Computer Science and Technology Shandong UniversityQingdao 266237China

Because of their advantages of high energy and power density,low self-discharge rate,and long lifespan,lithium-ion batteries(LIBs)have been widely used in many applications such as electric vehicles,energy storage systems,smart grids,***,lithium-ion battery systems(LIBSs)frequently malfunction because of complex working conditions,harsh operating environment,battery inconsistency,and inherent defects in battery ***,safety of LIBSs has become a prominent problem and has attracted wide ***,efficient and accurate fault diagnosis for LIBs is very *** paper provides a comprehensive review of the latest research progress in fault diagnosis for ***,the types of battery faults are comprehensively introduced and the characteristics of each fault are ***,the fault diagnosis methods are systematically elaborated,including model-based,data processing-based,machine learning-based and knowledge-based *** latest research is discussed and existing issues and challenges are presented,while future developments are also *** aim is to promote further researches into efficient and advanced fault diagnosis methods for more reliable and safer LIBs.

关键词： Battery management system battery safety fault diagnosis lithiumion battery system

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A Semantic-Based Approach for Self-Configuring Smart Home Systems Using Feedback-Based Reinforcement Learning

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IEEE Internet of Things Journal 2025年第11期12卷 17729-17741页

作者： Ran, Weizhi Nantogma, Sulemana Yang, QingZhuo Zhang, Shangyan Wang, Yan Xu, Yang University of Electronic Science and Technology of China School of Computer Science and Engineering Chengdu611731 China Xi'an University of Architecture and Technology School of Information and Control Engineering China

As urban populations grow, smart home technology has become a key enabler for enhancing energy efficiency, comfort, and convenience in residential environments. However, existing smart home implementations often struggle to adapt to complex and dynamic user needs due to issues like device heterogeneity, rigid pre-set solutions, and limited interoperability. This paper presents a novel semantic-based self-configuring framework that captures the functional, operational, state, and characteristic perspectives of smart home devices, facilitating seamless interconnection and interoperability across heterogeneous devices. The proposed framework uses service entity, that is semantically modeled to act as a linker and mediator between applications and devices to enable dynamic scheduling and control based on application requests and user preferences. To enable continuous adaptation and learning, the proposed approach formulates the self-configuration problem as a Markov Decision Process (MDP), with parameters instantiated using semantic information and rules. A novel Feedback-based Reinforcement Learning approach is then proposed to adjust the reward function and state transition parameters based on user feedback. The performances of the proposed approach against a bench-marked fixed and rule-based mechanisms are demonstrated through simulation. © 2014 IEEE.

关键词： Smart homes

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A linkable signature scheme supporting batch verification for privacy protection in crowd-sensing

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Digital Communications and Networks 2024年第3期10卷 645-654页

作者： Xu Li Gwanggil Jeon Wenshuo Wang Jindong Zhao School of Computer and Control Engineering Yantai UniversityYantai264005China Department of Embedded Systems Engineering Incheon National UniversityAcademyro-119Incheon22012Republic of Korea

The maturity of 5G technology has enabled crowd-sensing services to collect multimedia data over wireless network,so it has promoted the applications of crowd-sensing services in different fields,but also brings more privacy security challenges,the most commom which is privacy *** a privacy protection technology combining data integrity check and identity anonymity,ring signature is widely used in the field of privacy ***,introducing signature technology leads to additional signature verification *** the scenario of crowd-sensing,the existing signature schemes have low efficiency in multi-signature ***,it is necessary to design an efficient multi-signature verification scheme while ensuring *** this paper,a batch-verifiable signature scheme is proposed based on the crowd-sensing background,which supports the sensing platform to verify the uploaded multiple signature data efficiently,so as to overcoming the defects of the traditional signature scheme in multi-signature *** our proposal,a method for linking homologous data was presented,which was valuable for incentive mechanism and data *** results showed that the proposed scheme has good performance in terms of security and efficiency in crowd-sensing applications with a large number of users and data.

关键词： 5G network Crowd-sensing Privacy protection Ring signature Batch verification

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ConvCycleGAN - An Unsupervised Generative Adversarial Network for Chinese Pastoral Painting Style 17

ConvCycleGAN - An Unsupervised Generative Adversarial Networ...

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17th International Congress on Image and Signal Processing, BioMedical engineering and Informatics, CISP-BMEI 2024

作者： Dong, Zhengyu He, Naixin Wang, Li Ma, Chaoqing School of Computer and Control Engineering Yantai University China

ISBN: (纸本)9798331507398

The image style conversion work is to map the style of the target domain image while keeping the content of the natural landscape image in the source domain unchanged. This technology is widely used in fields such as painting, film, and artistic creation. At present, research in this field mostly focuses on learning the styles of Western painters, lacking research on traditional Chinese painting styles. Due to the limitations of various painting techniques and clear semantic boundaries in traditional Chinese painting, existing methods still cannot clearly express stroke boundaries. This article proposes a style conversion network based on CycleGAN named Conv-CycleGAN. Convnext blocks are added to the generator in combination with PONO-MS modules to extract finer boundary features, and a self-attention mechanism module is used in the discriminator to achieve high-quality image style conversion of Chinese pastoral landscape paintings. Through extensive experimental comparisons and evaluations, it has been proven that this method has the ability to optimize the traditional Chinese painting style, confirming its superiority. © 2024 IEEE.

关键词： Chinese pas-toral landscape painting Convnext CycleGAN Image style transfer Self-attention

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