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第三十九届中国控制会议

作者： Chengpeng Jiang Fen Liu Jinglin Li Peng LV Wendong Xiao School of Automation and Electrical Engineering University of Science and Technology Beijing Engineering Research Center of Industrial Spectrum Imaging School of Computer and Communication Engineering University of Science and Technology

Wireless rechargeable sensor network is a new type of sensor network which has been widely concerned recently. It has the function of charging nodes in network. We use the mobile energy replenishment device to actively move to nodes in the sensor network for charging. Research shows that different charging circuit order will get different charging performance. Therefore, we explore the design of scheduling scheme to achieve better charging performance. In this paper, three new concepts are proposed respectively: the start moment of charging, the energy exhaustion moment and the state of charging to evaluate the scheduling. Based on the above, we define a quadratic performance index as the evaluation of charging performance in sensor network called charging cost of network, the smaller the index is, the better charging performance of the network will be. Through theoretical analysis, firstly, we prove the problem in this paper is NP-complete. Then, considering the charging efficiency of each node to be charged, combined with the quantum behavior particle swarm optimization(QPSO) algorithm, we propose an optimal scheduling scheme for mobile energy replenishment device. Finally, some simulations and theoretical analyses can verify the correctness and effectiveness of the scheme which we proposed.

关键词： wireless rechargeable sensor network mobile energy replenishment quantum behavior particle swarm optimization optimal scheduling

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Networked multi-virus spread with a shared resource: Analysis and mitigation strategies

arXiv

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arXiv 2020年

作者： Janson, Axel Gracy, Sebin Paré, Philip E. Sandberg, Henrik Johansson, Karl H. Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden School of Electrical and Computer Engineering Purdue University IN United States

The paper studies multi-competitive continuous-time epidemic processes in the presence of a shared resource. We consider the setting where multiple viruses are simultaneously prevalent in the population, and the spread occurs due to not only individual-to-individual interaction but also due to individual-to-resource interaction. In such a setting, an individual is either not affected by any of the viruses, or infected by one and exactly one of the multiple viruses. We classify the equilibria into three classes: a) the healthy state (all viruses are eradicated), b) single-virus endemic equilibria (all but one viruses are eradicated), and c) coexisting equilibria (multiple viruses simultaneously infect separate fractions of the population). We provide i) a sufficient condition for exponential (resp. asymptotic) eradication of a virus;ii) a sufficient condition for the existence, uniqueness and asymptotic stability of a single-virus endemic equilibrium;iii) a necessary and sufficient condition for the healthy state to be the unique equilibrium;and iv) for the bi-virus setting (i.e., two competing viruses), a sufficient condition and a necessary condition for the existence of a coexisting equilibrium. Building on these analytical results, we provide two mitigation strategies: a technique that guarantees convergence to the healthy state;and, in a bi-virus setup, a scheme that employs one virus to ensure that the other virus is eradicated. The results are illustrated in a numerical study of a spread scenario in Stockholm city. Copyright © 2020, The Authors. All rights reserved.

关键词： Networked control systems

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Simulation and Analysis of Dynamic Stiffness of Electro-hydrostatic Actuators

Simulation and Analysis of Dynamic Stiffness of Electro-hydr...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Chaofan Jiang Yaoxing Shang Tian Yu Mingyang Li Shuai Wu Zhicheng Liu School of Automation Science and Electrical Engineering Beihang University Beijing China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Ningbo Institute of Technology Beihang University Ningbo China Tianmushan Laboratory Xixi Octagon City Yuhang District Hangzhou China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Research Institute for Frontier Science Beihang University Beijing China

ISBN: (数字)9798350304947

ISBN: (纸本)9798350304954

With the development of multi-electrochemical aircraft, the application of electro-hydrostatic actuators(EHA) in aircraft actuator system is increasing. The dynamic stiffness of the actuator has a non-negligible effect on the fluttering characteristics of the rudder surface. So it is necessary to study the dynamic stiffness of EHA. In this research, a method for calculating the dynamic stiffness of EHA is proposed. The mathematical model of EHA is established. The bulk modulus of hydraulic oil affected by gas content and pressure is added to the model. Build the simulation model in Simulink. The dynamic stiffness of EHA is simulated in frequency domain. Analyze the simulation results. The EHA dynamic stiffness decreases with the increase of hydraulic oil gas content in the whole frequency range. The trough frequency of dynamic stiffness amplitude decreases with the increase of hydraulic oil gas content. The EHA dynamic stiffness decreases with the increase of pump leakage coefficient in low frequency band. Therefore, in order to improve the dynamic stiffness of EHA, the hydraulic oil gas content and the piston pump leakage coefficient should be reduced.

关键词： Pistons Actuators Mechatronics Software packages Simulation Frequency-domain analysis Pumps

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computer Vision for Road Imaging and Pothole Detection: A State-of-the-Art Review of Systems and Algorithms

arXiv

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arXiv 2022年

作者： Ma, Nachuan Fan, Jiahe Wang, Wenshuo Wu, Jin Jiang, Yu Xie, Lihua Fan, Rui Department of Control Science and Engineering Tongji University Shanghai201804 China Department of Civil Engineering McGill University MontréalQCH3A 0C3 Canada Department of Electronics and Computer Engineering The Hong Kong University of Science and Technology 999077 Hong Kong CTO Office ClearMotion Inc. BillericaMA01821 United States School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore

computer vision algorithms have been prevalently utilized for 3-D road imaging and pothole detection for over two decades. Nonetheless, there is a lack of systematic survey articles on state-of-the-art (SoTA) computer vision techniques, especially deep learning models, developed to tackle these problems. This article first introduces the sensing systems employed for 2-D and 3-D road data acquisition, including camera(s), laser scanners, and Microsoft Kinect. Afterward, it thoroughly and comprehensively reviews the SoTA computer vision algorithms, including (1) classical 2-D image processing, (2) 3-D point cloud modeling and segmentation, and (3) machine/deep learning, developed for road pothole detection. This article also discusses the existing challenges and future development trends of computer vision-based road pothole detection approaches: classical 2-D image processing-based and 3-D point cloud modeling and segmentation-based approaches have already become history;and Convolutional neural networks (CNNs) have demonstrated compelling road pothole detection results and are promising to break the bottleneck with the future advances in self/un-supervised learning for multi-modal semantic segmentation. We believe that this survey can serve as practical guidance for developing the next-generation road condition assessment systems. © 2022, CC BY.

关键词： Surveys

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Design and performance analysis of a coal-fired power plant integrated with high and low temperature molten salt thermal storage for improving peaking capacity

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Energy 2025年 331卷

作者： Xiaojun Xue Zesen Niu Lixing Zheng Gang Xu Haonan Cao Yingnan Wang School of Electric Power Civil Engineering and Architecture Shanxi University Taiyuan 030006 China Beijing Key Laboratory of Emission Surveillance and Control for Thermal Power Generation North China Electric Power University Beijing 102206 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454150 China

In order to improve the peaking performance of the coal-fired power plant (CFPP), this paper proposes a scheme, which integrates a CFPP with the high-temperature and low-temperature molten salt thermal storage. Two different types of molten salt thermal storage systems can increase the temperature range of heat storage and improve system efficiency and peaking performance compared to the existing single molten salt thermal storage. In the energy storage process, high-temperature molten salt (Solar salt) and low-temperature molten salt (Hitec salt) are used to store the thermal energy of the main steam and reheat steam in the CFPP. In the energy release process, high and low-temperature molten salts are used to heat the feedwater and condensate. The system integration can effectively broaden the peak range of the CFPP. The thermodynamic model of the coupled system is constructed and the system performance is analyzed from the perspectives of thermodynamics and economy, respectively. The results show that the peak range of CFPP is from 18.39 % THA to 106.35 % THA, the equivalent round-trip efficiency of the newly built CFPP is 54.69 %, and the exergy efficiency of the coupled system is 37.43 %. In addition, for the addition of the MSTS to the in-service CFPP, the net present value (NPV) is 107752.70 k$ and the dynamic payback period (DPP) is 3.63 years. For the newly built CFPP with MSTS, NPV is 661960.93 k$ and DPP is 7.90 years. This paper may provide a feasible scheme to improve the peaking performance of the coal-fired power plant.

关键词： Interfacial energy

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Semi-supervised Early Event Detection 5th

Semi-supervised Early Event Detection

引用

5th Asian Conference on Pattern Recognition, ACPR 2019

作者： Xie, Liping Gong, Chen Zhang, Jinxia Shan, Shuo Wei, Haikun Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China Jiangsu Key Laboratory of Image and Video Understanding for Social Safety School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing210094 China

ISBN: (纸本)9783030412982

Early event detection is among the keys in the field of event detection due to its timeliness in widespread applications. The objective of early detection (ED) is to identify the specified event of the video sequence as early as possible before its ending. This paper introduces semi-supervised learning to ED, which is the first attempt to utilize the domain knowledge in the field of ED. In this setting, some domain knowledge in the form of pairwise constraints is available. Particularly, we treat the segments of complete events as must-link constraints. Furthermore, some segments do not overlap with the event are put together with the complete events as cannot-link constraints. Thus, a new algorithm termed semi-supervised ED (SemiED) is proposed, which could make better early detection for videos. The SemiED algorithm is a convex quadratic programming problem, which could be resolved efficiently. We also discuss the computational complexity of SemiED to evaluate its effectiveness. The superiority of the proposed method is validated on two video-based datasets. © 2020, Springer Nature Switzerland AG.

关键词： Domain Knowledge

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A Visual Kinematics Calibration Method for Manipulator Based on Nonlinear Optimization

A Visual Kinematics Calibration Method for Manipulator Based...

引用

Chinese automation Congress (CAC)

作者： Gang Peng Zhihao Wang Shangbin Guan Zhang Deng Wentao Guo Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Beijing Railway Institute of Mechanical & Electrical Engineering Group Co. Ltd. Beijing China Wuhan Lisai Technology Co. Ltd. Wuhan China

The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not applicable to all manipulators. Another calibration method uses a camera, but the system error caused by the camera’s parameters affects the calibration accuracy of the kinematics of the robot arm. In order to solve this problem, this paper reduces the dimensionality of the experimental data and redesigns the objective function to be optimized. That is, the three-dimensional positions of the feature points of the calibration plate under each manipulator attitude corresponding to the actual kinematic model and the classic D-H kinematic model are mapped into the pixel coordinate system, and the sum of Euclidean distance errors of the pixel coordinates of the two is used as the objective function to be optimized. And then, nonlinear optimization and parameter compensation are performed. The experimental results show that the pixel deviation of the end pose corresponding to the optimized D-H kinematic model proposed in this paper and the end pose corresponding to the actual kinematic model in the pixel coordinate system is 0.99 pixels. Compared with the 7.9 deviation pixels between the pixel coordinates calculated by the classic D-H kinematic model and the actual pixel coordinates, the deviation is reduced by nearly 7 pixels for an 87% reduction in error. Therefore, the proposed method can effectively avoid system errors caused by camera parameters in visual calibration, can improve the absolute positioning accuracy of the end of the robotic arm, and has good economy and universality.

关键词： Visualization Robot kinematics Instruments Robot vision systems Kinematics Manipulators Cameras

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Exploiting Active RIS in NOMA Networks with Hardware Impairments

arXiv

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arXiv 2023年

作者： Yue, Xinwei Song, Meiqi Ouyang, Chongjun Liu, Yuanwei Li, Tian Hou, Tianwei The Key Laboratory of Information and Communication Systems Ministry of Information Industry China The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The School of Electrical and Electronic Engineering University College Dublin DublinD04 V1W8 Ireland The School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom The 54th Research Institute of China Electronics Technology Group Corporation Hebei Shijiazhuang050081 China The School of Electronic and Information Engineering Beijing Jiaotong University Beijing100044 China Erlangen91054 Germany

Active reconfigurable intelligent surface (ARIS) is a promising way to compensate for multiplicative fading attenuation by amplifying and reflecting event signals to selected users. This paper investigates the performance of ARIS assisted non-orthogonal multiple access (NOMA) networks over cascaded Nakagami-m fading channels. The effects of hardware impairments (HIS) and reflection coefficients on ARIS-NOMA networks with imperfect successive interference cancellation (ipSIC) and perfect successive interference cancellation (pSIC) are considered. More specifically, we develop new precise and asymptotic expressions of outage probability and ergodic data rate with ipSIC/pSIC for ARIS-NOMA-HIS networks. According to the approximated analyses, the diversity orders and multiplexing gains for couple of non-orthogonal users are attained in detail. Additionally, the energy efficiency of ARIS-NOMA-HIS networks is surveyed in delay-limited and delay-tolerant transmission schemes. The simulation findings are presented to demonstrate that: i) The outage behaviors and ergodic data rates of ARIS-NOMA-HIS networks precede that of ARIS aided orthogonal multiple access (OMA) and passive reconfigurable intelligent surface (PRIS) aided OMA;ii) As the reflection coefficient of ARIS increases, ARIS-NOMA-HIS networks have the ability to provide the strengthened outage performance;and iii) ARIS-NOMA-HIS networks are more energy efficient than ARIS/PRIS-OMA networks and conventional cooperative schemes. Copyright © 2023, The Authors. All rights reserved.

关键词： Energy efficiency

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Turning control of a Tuna-Like BAUV for a Minimum Turning Radius

Turning Control of a Tuna-Like BAUV for a Minimum Turning Ra...

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第40届中国控制会议

作者： Sheng Du Junzhi Yu Zhengxing Wu Di Chen Ming Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Dept.Adv.Manuf.Robot. BIC-ESAT College of Engineering Peking University School of Information and Electrical Engineering Shandong Jianzhu University

In order to break the bottleneck of conventional autonomous underwater vehicles(AUVs), biologically-inspired AUVs(BAUVs) have drawn great attention. This paper explores the turning control issue of a tuna-like BAUV with the purpose of seeking a minimum turning radius. Specifically, for better understanding of the turning motion, a dynamical model is established and the force acting on the tail fin is taken as the main source. Because of the complex nonlinear relationship and physical restrictions, it is hard to optimize the turning radius directly. To tackle with this problem, the input signals of joints are generated by sine function so as to satisfy physical constraints, and simulations under different parameter combinations are ***, a fixed tail joint method and a half-cycle flapping method are chosen and compared in an indoor pool. Finally,the experimental results verify the effectiveness of proposed methods, and a minimum turning radius of the tuna-like BAUV is achieved as small as 0.37 body lengths.

关键词： Turning control biologically-inspired autonomous underwater vehicles tuna-like robot

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A High-Fidelity Virtual Liver Model Incorporating Biological Characteristics

SSRN

引用

SSRN 2022年

作者： Zhang, Xiaorui Zhang, Wenzheng Sun, Wei Song, Aiguo Xu, Tong Wuxi Research Institute Nanjing University of Information Science & Technology Wuxi214100 China 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 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. Most existing models lack the unique biological characteristics. To enhance visual perception ability, 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 with the fourth-order Runge-Kutta method. 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 achieve real visual reproduction, with natural deformation effect, accurate simulation and high fidelity. © 2022, The Authors. All rights reserved.

关键词： Simulation platform

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