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On tuning of ADRC with competing design indices:a quantitative study

Control Theory and Technology 2023年第1期21卷 16-33页

作者： Yutao Zhao Yi Huang Zhiqiang Gao Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Department of Electrical Engineering and Computer Science Center for Advanced Control TechnologiesCleveland State UniversityClevelandOH 44115USA

Controller optimization has mostly been done by minimizing a certain single cost *** practice,however,engineers must contend with multiple and conflicting considerations,denoted as design indices(DIs)in this *** to account for such complexity and nuances is detrimental to the applications of any advanced control *** paper addresses this challenge heads on,in the context of active disturbance rejection controller(ADRC)and with four competing DIs:stability margins,tracking,disturbance rejection,and noise *** this end,the lower bound for the bandwidth of the extended state observer is first established for guaranteed closed-loop ***,one by one,the mathematical formula is meticulously derived,connecting each DI to the set of controller *** our best knowledge,this has not been done in the context of *** formulas allow engineers to see quantitatively how the change of each tuning parameter would impact all of the DIs,thus making the guesswork *** example is given to show how such analytical methods can help engineers quickly determine controller parameters in a practical scenario.

关键词： Uncertain systems Active disturbance rejection control(ADRC) Design indices(DIs) Extended state observer(ESO)

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An Advanced Visualisation Engine with Role-Based Access Control for Building Energy Visual Analytics 13

An Advanced Visualisation Engine with Role-Based Access Cont...

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13th International Conference on Information, Intelligence, systems and Applications, IISA 2022

作者： Kormpakis, Georgios Kapsalis, Panagiotis Alexakis, Konstantinos Pelekis, Sotiris Karakolis, Evangelos Doukas, Haris National Technical University of Athens Decision Support Systems Laboratory School of Electrical and Computer Engineering Athens Greece

ISBN: (数字)9781665463904

ISBN: (纸本)9781665463904

One of the main challenges of today's societies is the avoidance of the climate change since the climate crisis in now more evident than ever. Buildings have a large share of total energy consumption and, thus, it is obvious that actions should be taken to reduce their needs. Taking into consideration that nowadays data related to building's metrics are available in significantly higher rate than in the past, due to the advance of the related technologies, it is necessary to find ways to exploit them in order to draw useful inferences regarding their consumptions and how they can be reduced. For that reason, in this paper we present a Visualisation Engine, which offers a variety of visualisations over stored data. With the usage of the proposed Visualisation Engine, we envision to be able to conduct sufficient research over the data, to generate insightful information regarding their behaviour, and to assist the development of useful solutions towards the direction of more energy efficient buildings. © 2022 IEEE.

关键词： Energy efficiency

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Autonomous Robotic Assembly and Sequence Planning Based on YOLOv8 11

Autonomous Robotic Assembly and Sequence Planning Based on Y...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Babi, Zeynab Ezzati Khomami, Navid Asadi Masouleh, Mehdi Tale Kalhor, Ahmad University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran School of Mechanical Engineering Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9798350308105

This study contributes to autonomous assembly by introducing a robotic building system designed to observe its workspace, plan building sequences, determine appropriate grasps and manipulator motions, and operate hardware in real-time. This study involves the creation of a wooden brick dataset and employs a YOLOv8 deep learning model for object segmentation in two implemented real-time algorithms, namely, Desired Construction Object Detection (DCOD) and Robot Current Frame Object Detection (RCFOD). The DCOD algorithm is designed for the desired structure, while the RCFOD algorithm is utilized for detecting objects within the operational environment of the robot. By comparing the outputs of these two algorithms, sequences of objects for assembly are formulated, and the appropriate grasp positions are determined. Subsequently, the robot's motion planning for both grasping and construction tasks is executed. Due to the limitations of using a single RGB gripper-mounted camera, various issues, such as failing to recognize items with the same cross-section but varying heights, have been addressed in this study. The results of this study indicate the effective learning of the YOLOv8 model, as shown by a loss value below 0.2 and an accuracy over 90% for 17 out of the total 18 classes. Practical implementation is done by a common industrial Delta parallel robot, a 2-finger gripper, and a simple RGB camera. Overview of practical implementation system is shown in Fig. 1. The proposed robotic assembly method demonstrates its effectiveness in autonomously constructing structures utilizing a reduced and cost-efficient configuration. © 2023 IEEE.

关键词： Object detection

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Robust Monocular Camera-Based Localization in Industrial Environments

Robust Monocular Camera-Based Localization in Industrial Env...

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2024 IEEE International Conference on Consumer Electronics-Asia, ICCE-Asia 2024

作者： Won, Yungu Choi, Yein Ryu, Hwangryol Moon, Youngmin Kwon, Kihoon Hwang, Sung Soo Handong Global University Dept. of Computer Science and Electrical Engineering Pohang Korea Republic of Research Institute of Industrial Science & Technology Smart Engineering Research Laboratory Pohang Korea Republic of School of Computer Science and Electrical Engineering Handong Global University Pohang Korea Republic of

ISBN: (纸本)9798331530839

This paper proposes a camera-based system for robust localization of workers or robots in large-scale factories and industrial sites. The system is designed with the convenience and efficiency of workers in mind, providing stable tracking capabilities. To achieve this, a monocular camera is attached to a safety helmet, enabling localization without restricting the worker's range of motion. Additionally, by combining Visual Simultaneous Localization and Mapping and Visual Place Recognition, the system tracks the location of workers or robots while minimizing tracking loss, ensuring consistent localization. Our methodology has enhanced the accuracy and reliability of position estimation by approximately 46.0%. By accurately identifying the location of workers or robots, the system aims to prevent accidents and ensure swift responses in emergency situations. © 2024 IEEE.

关键词： Industrial robots

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Towards imbalanced motion:part-decoupling network for video portrait segmentation

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Science China(Information Sciences) 2024年第7期67卷 197-210页

作者： Tianshu YU Changqun XIA Jia LI State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang University Peng Cheng Laboratory

Video portrait segmentation(VPS), aiming at segmenting prominent foreground portraits from video frames, has received much attention in recent years. However, the simplicity of existing VPS datasets leads to a limitation on extensive research of the task. In this work, we propose a new intricate large-scale multi-scene video portrait segmentation dataset MVPS consisting of 101 video clips in 7 scenario categories,in which 10843 sampled frames are finely annotated at the pixel level. The dataset has diverse scenes and complicated background environments, which is the most complex dataset in VPS to our best *** the observation of a large number of videos with portraits during dataset construction, we find that due to the joint structure of the human body, the motion of portraits is part-associated, which leads to the different parts being relatively independent in motion. That is, the motion of different parts of the portraits is imbalanced. Towards this imbalance, an intuitive and reasonable idea is that different motion states in portraits can be better exploited by decoupling the portraits into parts. To achieve this, we propose a part-decoupling network(PDNet) for VPS. Specifically, an inter-frame part-discriminated attention(IPDA)module is proposed which unsupervisedly segments portrait into parts and utilizes different attentiveness on discriminative features specified to each different part. In this way, appropriate attention can be imposed on portrait parts with imbalanced motion to extract part-discriminated correlations, so that the portraits can be segmented more accurately. Experimental results demonstrate that our method achieves leading performance with the comparison to state-of-the-art methods.

关键词： video portrait segmentation imbalanced motion unsupervised part decoupling motion correlation inter-frame attention

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A Novel Random Pulse Width Modulation for PMSM Drive System Based on Unified Voltage Modulation 6

A Novel Random Pulse Width Modulation for PMSM Drive System ...

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6th International Conference on Energy, Power and Grid, ICEPG 2024

作者： Kan, Jinpeng Meng, Yongqing Shi, Yixin Li, Fengjiao Chen, Wenjie Li, Changyi Xi'an Jiaotong University School of Electrical Engineering Xi'an China Avic Xi'an Flight Automatic Control Research Institute Department of Computer and Electronic Systems Engineering Xi'an China

ISBN: (纸本)9798350377798

The electromagnetic interference (EMI) problem caused by power electronic switching devices and pulse width modulation (PWM) affects the normal operation of the motor drive system. In this paper, a random PWM based on unified modulation is proposed for permanent magnet synchronous motor (PMSM) drive system. The theoretical basis of unified modulation and the implementation scheme of random modulation are analyzed. Finally, the effectiveness of the proposed random PWM is verified by simulation. © 2024 IEEE.

关键词： Pulse width modulation

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Polarization-induced photocurrent switching effect in heterojunction photodiodes

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Nano Research 2023年第4期16卷 5503-5510页

作者： Dingbo Chen Yu-Chang Chen Guang Zeng Yu-Chun Li Xiao-Xi Li Dong Li Chao Shen Nan Chi Boon S.Ooi David Wei Zhang Hong-Liang Lu State Key Laboratory of ASIC and System Shanghai Institute of Intelligent Electronics&SystemsSchool of MicroelectronicsFudan UniversityShanghai 200433China Key Laboratory for Information Science of Electromagnetic Waves Department of Communication Science and EngineeringFudan UniversityShanghai 200433China Photonics Laboratory Division of ComputerElectricaland Mathematical Sciences and EngineeringKing Abdullah University of Science and Technology(KAUST)Thuwal 23955-6900Kingdom of Saudi Arabia

The unipolar photocurrent in conventional photodiodes(PDs)based on photovoltaic effect limits the output modes and potential versatility of these devices in *** photodiodes with photocurrent switching are emerging as a promising solution for obtaining photoelectric devices with unique and attractive functions,such as optical logic ***,we design an all-solid-state chip-scale ultraviolet(UV)PD based on a hybrid GaN heterojunction with engineered bipolar polarized electric *** introducing the polarization-induced photocurrent switching effect,the photocurrent direction can be switched in response to the wavelength of incident light at 0 V *** particular,the photocurrent direction exhibits negative when the irradiation wavelength is less than 315 nm,but positive when the wavelength is longer than 315 *** device shows a responsivity of up to−6.7 mA/W at 300 nm and 5.3 mA/W at 340 nm,*** particular,three special logic gates in response to different dual UV light inputs are demonstrated via a single bipolar PD,which may be beneficial for future multifunctional UV photonic integrated devices and systems.

关键词： GaN heterostructure ultraviolet(UV)photodiodes bipolar photocurrent optical logic device

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The propagation of Quasi-static region during granular impact

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Particuology 2023年第12期83卷 1-7页

作者： Moyu Yang Ran Li Yingnan Xiu Qiang Zeng Xiaoyan Ye Hui Yang School of Optical-Electrical and Computer Engineering University of Shanghai for Science and TechnologyShanghai200093China Center for Particle-Laden Turbulence Key Laboratory of Mechanics on Disaster and Environment in Western China attached to the Ministry of Education of ChinaDepartment of Mechanics and Engineering ScienceSchool of Civil Engineering and MechanicsLanzhou UniversityLanzhou730000China

In this paper,through experiments and DEM simulations,it is found that there is a ring-shaped region named Quasi-static Region between the particles expanding outward and the particles collapsing inward during the impact ***-static Region is always generated from the impact point at the same time,and then spreads out at a uniform *** the propagation of Quasi-static Region,the velocity of the particles in the particle extend region varies linearly in space and *** the change rate is only related to the properties of the particle *** simulation results show that the particle flow in Quasi-static Region is elastic-inertial flow,while the particle flow expanding outward and collapsing inward is inertial flow.

关键词： Impact Quasi-staticregion Propagation Shearflow

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3D scene graph prediction from point clouds

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Virtual Reality & Intelligent Hardware 2022年第1期4卷 76-88页

作者： Fanfan WU Feihu YAN Weimin SHI Zhong ZHOU State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijing 100191China

Background In this study,we propose a novel 3D scene graph prediction approach for scene understanding from point *** It can automatically organize the entities of a scene in a graph,where objects are nodes and their relationships are modeled as *** specifically,we employ the DGCNN to capture the features of objects and their relationships in the scene.A Graph Attention Network(GAT)is introduced to exploit latent features obtained from the initial estimation to further refine the object arrangement in the graph structure.A one loss function modified from cross entropy with a variable weight is proposed to solve the multi-category problem in the prediction of object and *** Experiments reveal that the proposed approach performs favorably against the state-of-the-art methods in terms of predicate classification and relationship prediction and achieves comparable performance on object classification *** The 3D scene graph prediction approach can form an abstract description of the scene space from point clouds.

关键词： Scene understanding 3D scene graph Point cloud DGCNN GAT

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Adaptive Fault Detection Scheme Using an Optimized Self-healing Ensemble Machine Learning Algorithm

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CSEE Journal of Power and Energy systems 2022年第4期8卷 1145-1156页

作者： Levent Yavuz Ahmet Soran AhmetÖnen Xiangjun Li S.M.Muyeen Electrical and Computer Engineering Department in Abdullah Gül University Kayseri 38080Turkey Department of Electrical and Computer Engineering College of EngineeringSultan Qaboos UniversityAl-KhoudMuscat123Oman Department of Electrical Engineering Qatar UniversityDoha 2713Qatar State Key Laboratory of Control and Operation of Renewable Energy and Storage Systems China Electric Power Rescarch InstituteBeijing 100192China

This paper proposes a new cost-efficient,adaptive,and self-healing algorithm in real time that detects faults in a short period with high accuracy,even in the situations when it is difficult to *** than using traditional machine learning(ML)algorithms or hybrid signal processing techniques,a new framework based on an optimization enabled weighted ensemble method is developed that combines essential ML *** the proposed method,the system will select and compound appropriate ML algorithms based on Particle Swarm Optimization(PSO)*** this purpose,power system failures are simulated by using the PSCA D-Python *** of the salient features of this study is that the proposed solution works on real-time raw data without using any pre-computational techniques or pre-stored ***,the proposed technique will be able to work on different systems,topologies,or data *** proposed fault detection technique is validated by using PSCAD-Python co-simulation on a modified and standard IEEE-14 and standard IEEE-39 bus considering network faults which are difficult to detect.

关键词： Decision tree(DT) ensemble machine learning algorithm fault detection islanding operation k-Nearest Neighbor(kNN) linear discriminant analysis(LDA) logistic regression(LR) Naive Bayes(NB) self-healing algorithm

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