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International Conference on Network and Information Systems for Computers (ICNISC)

作者： Yunqi Chen Jin Xu Measurement and Control Technology Research Institute China Coal Technology Engineering Group Chongqing Research Institute Chongqing China School of Big Data & Software Engineering Chongqing University Chongqing China

ISBN: (纸本)9781665453523

Coal is the most important basic energy supporting the development of the national economy, safe production and effective supervision and management are of great significance. Currently, the coal mine safety monitoring system can be monitored locally, but it cannot help the supervision department to realize the remote supervision and centralized supervision. Establishing a corresponding coal mine safety monitoring network system has become a urgent need of coal mine safety supervision. In the paper, we first study the service-oriented architecture(SOA), and describes the windows communication foundation(WCF) technology, the technology is a main way to achieve SOA architecture. Then combined with WCF technology, the function and logic structure of coal mine safety monitoring network system are designed. Finally, the network system of mine monitoring system based on SOA was realized in the background of a mine monitoring system networking project of a company.

关键词： Economics Companies Computer architecture Coal Safety Coal mining Service-oriented architecture

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Heterogeneous Multi-Robot Cooperative Welding Task Allocation Based on Task-Centered Optimization: An Industrial Case Study

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SSRN 2023年

作者： Liu, Wenbo Kuang, Zhian Zhou, Bo Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Shanghai Friendess Electronic Technology Shanghai201100 China

In this article, the complex task assignment, scheduling and planning of complex heterogeneous multi-robot welding process are studied. For large workpiece welding tasks that involve complex heterogeneous multi-robot task allocation under different internal and external constraints, the traditional multi-robot task allocation (MRTA) framework is extended to a novel and unified heterogeneous multi-robot (H-MRTA) framework, and a hierarchical optimization algorithm is proposed. Firstly, an optimization model based on the H-MRTA framework is established. Taking into account constraints such as accessibility, collision and welding process, the optimization objectives are formulated by combining the total welding time and the task balance between robots. Then, to obtain the optimal solution, a stepwise optimization algorithm is devised to solve the MRTA problem from top to bottom in two layers: working area division problem and multi-robot path planning problem. For the working area division problem, a task-centered optimization model is proposed, which aims to balance the workload among robots, and is solved by branch-and-bound method. For the multi-robot path planning problem, multiple process constraints are considered and the total working time is minimized as the objective function. The effectiveness of the optimization algorithm is verified by a case study on the welding task of a large plate element in a ship hull. compared to two other state-of-the-art algorithms, the proposed optimization algorithm achieves a task allocation scheme with a shorter welding time, a shorter waiting time and a higher welding productivity, which demonstrates the effectiveness and feasibility of the stepwise optimization-based task allocation algorithm for complex heterogeneous multi-robot. © 2023, The Authors. All rights reserved.

关键词： Industrial robots

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Adaptive Sliding Mode control for Force Tracking Using Nonlinear Observer

Adaptive Sliding Mode Control for Force Tracking Using Nonli...

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Chinese control and Decision Conference, CCDC

作者： Linyan Han Haibo Du Shihua Li Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China School of Electrical Engineering and Automation Hefei University of Technology Hefei China

ISBN: (纸本)9781665478977

This paper focuses on the development of a control scheme capable of tracking contact forces explicitly. Specifically, the nonlinear observer, admittance control and adaptive sliding mode control are integrated into a single framework. When the force sensor is absent, a nonlinear observer, which serves as a reaction force observer, can be used to estimate the contact force. Furthermore, in order to track the force profile explicitly, admittance control is introduced to transform the desired contact force into the desired position signal. An adaptive sliding mode controller is designed to track the desired position and meanwhile compensate the estimation errors of contact forces caused by nonlinear observer. The stability of the whole system under the proposed controller can be guaranteed by the Lyapunov function. Finally, several simulations are reported to demonstrate the effectiveness of the proposed approach.

关键词： Service robots Simulation Force Transforms Observers Stability analysis Trajectory

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Joint Computation Offloading and Resource Allocation for LEO Satellite Networks Using Hierarchical Multi-Agent Reinforcement Learning

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IEEE Transactions on Cognitive communications and Networking 2024年

作者： Lai, Junyu Liu, Huashuo Xu, Guoyao Jiang, Weiwei Wang, Xiong Jiang, Dingde University of Electronic Science and Technology of China School of Aeronautics and Astronautics China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu611731 China University of Electronic Science and Technology of China School of Aeronautics and Astronautics Chengdu611731 China Ministry of Education Key Laboratory of Universal Wireless Communications China Beijing University of Posts and Telecommunications School of Information and Communication Engineering Beijing100876 China University of Electronic Science and Technology of China School of Information and Communication Engineering Chengdu611731 China

The integration of edge computing with LEO satellite broadband networks (LSBNs) offers a transformative potential, yet remains underexplored in the optimization of joint computation offloading and resource allocation (JCORA). This problem is compounded by the issues of load imbalance and hybrid action spaces. To tackle them, we firstly propose a multi-level edge computing architecture that leverages the inter-satellite links to enable collaborative offloading among neighboring satellites, thereby enhancing global resource utilization and load balance in LSBNs. Moreover, existing studies demonstrate the benefits of deep reinforcement learning (DRL) for JCORA optimization but struggle with the complexities of hybrid action spaces. To address this, we elaborate a novel hierarchical multi-agent DRL (HMADRL) framework that decomposes the JCORA problem into two-layered subproblems, namely global computation offloading and local resource allocation. This decomposition effectively mitigates the challenge posed by hybrid action spaces. The computation offloading subproblem is formulated as a delayed-reward partially observable Markov decision process, optimized by using multi-agent deep Q-networks specialized in discrete action outputs. Meanwhile, the resource allocation subproblem is addressed through the deep deterministic policy gradient model, adept at handling continuous actions. Extensive experiments validate our approach, demonstrating improvements in delay reduction, outrage rate, and load balancing compared to baselines. © 2015 IEEE.

关键词： Markov processes

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UKF-Based Multi-sensor Data Processing Algorithm for SLAM

UKF-Based Multi-sensor Data Processing Algorithm for SLAM

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IEEE International Conference on control Science and Systems engineering (CCSSE)

作者： Kun Xu Boheng Zhang Jiangang Li Guizhong Wang Mingjian Sun School of Information Science and Engineering Harbin Institute of Technology Weihai Weihai China Department of Control Science and Engineering Harbin Institute of Technology Harbin China Woan Technology (Shenzhen) Co. Ltd. Shenzhen China Hebei Key Laboratory of Grid Advanced Measurement and Monitor Jinyanhagong Industrial Technology Research Institute Zhangjiakou China School of Information Science and Engineering Harbin Institute of Technology Harbin China

Simultaneous localization and mapping (SLAM) algorithm is widely used in unmanned and robotic applications. SLAM usually uses sensor data, which are from the LiDAR, the inertial measurement unit (IMU) and the wheeled odometry, to build maps of the surrounding environment. However, the motion distortion of LiDAR data and the error accumulation of wheeled odometry can affect the accuracy of the front-end odometry of the SLAM algorithm, which can lead to serious errors in the maps created. Therefore, in order to solve the problem of poor map construction results of SLAM algorithm due to various types of sensor errors. we propose the traceless Kalman filtering based (UKF-based) multi-sensor data processing algorithm. Firstly, the proposed algorithm uses the UKF to fuse IMU and wheeled odometry data to reduce the cumulative error of wheeled odometry. And then the algorithm uses IMU and corrected wheeled odometry data and combines with the motion states of the robot to solve the motion distortion problem of LiDAR data. Finally, we verified the effectiveness of the proposed algorithm for wheeled odometry data correction in Gazebo simulation environment and real environment experiments, and compared the mapping effectiveness of SLAM by using the original data and the data processed by our algorithm. The experimental results show that the map construction effect of SLAM algorithm is significantly improved when using the sensor data processed by the algorithm. Experimental validation on the robot shows that the proposed algorithm has universal applicability and good compatibility.

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Experimental Study on Flame Behaviors and Dynamic Parameters Induced by Hydrogen Jet Fire in an Enclosed Compartment

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SSRN 2023年

作者： Huang, Zhiwei Jin, Hao Ma, Hongsheng Yu, Xing Li, Yang Wang, Changjian School of Civil Engineering Hefei University of Technology Anhui Hefei230009 China Anhui International Joint Research Center on Hydrogen Safety Hefei230009 China Engineering Research Center of Safety Critical Industrial Measurement and Control Technology Ministry of Education Hefei230009 China

Hydrogen is thought of as one of the most superior future energy carriers due to its clean, low-carbon and extensive sources. However, the broad combustion range and low ignition energy of hydrogen can cause potential safety hazards, even hydrogen jet fires. Currently, an array of hydrogen jet flame experiments was performed in an enclosed compartment with internal dimensions of 1.82m (L) × 1.99m (W) × 1.85m (H), using different nozzle diameters and stagnation pressures. The results indicate that the combustion process can be divided into four stages, including growth stage, relatively stable stage, stretching stage, and self-extinguishing stage. Both the average gas temperature slope and the maximum average gas temperature are linearly proportional to the stagnation pressure. The oxygen concentration in an enclosed compartment decreases rapidly with increasing stagnation pressure. The self-extinguishing time is positively correlated with the mass of oxygen and negatively correlated with the mass flow rate. Based on thermal equilibrium analysis, the correlations for average gas temperature rise and oxygen concentration were proposed. © 2023, The Authors. All rights reserved.

关键词： Gas temperature

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Designing a Trajectory control System for Wheelchairs with a Combination of Automatic and Manual Steering Methods

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Periodica Polytechnica Transportation engineering 2024年第4期52卷 412-422页

作者： Vu, Van Tan Nguyen, Quang Thinh Nakagawa, Chihiro Nguyen, Trung Nguyen Le, Thanh Long Nguyen, Van Vinh Hoang, Thi Lan Anh Do, Trong Tu Mihály, András Gáspár, Péter Department of Automotive Mechanical Engineering Faculty of Mechanical Engineering University of Transport and Communications Building A6 no. 3 Cau Giay Street Lang Thuong Ward Dong Da District Hanoi100000 Viet Nam Japan Technology Solution Joint Stock Company 9 Dau Ma Street Section 2 Thi Cau Ward Bac Ninh Bac Ninh222000 Viet Nam School of Engineering Osaka Metropolitan University 1-1 Gakuen-cho Nakaku Sakai Osaka599-8531 Japan Emergency abdominal surgery Department Viet Duc University Hospital no. 40 Trang Thi Street Hanoi100000 Viet Nam Mechanical and Power Engineering Faculty Electric Power University no. 235 Hoang Quoc Viet Street Co Nhue Ward Bac Tu Liem District Hanoi100000 Viet Nam Systems and Control Laboratory Institute for Computer Science and Control Hungarian Research Network Kende u. 13-17 Budapest1111 Hungary

A wheelchair is a specialized form of Personal Mobility Vehicle (PMV) designed to help people with disabilities move safely to their desired locations. Unlike conventional PMVs, wheelchairs for people with disabilities are challenging to manually control in environments with heavy traffic. This study focuses on designing and feasibility testing of control systems for PMVs to meet safety and efficiency standards, even in complex environments. First, a control structure model for PMVs is proposed. This is followed by the application of a combination of First In First Out (FIFO) and Dijkstra traffic control methods to determine effective trajectories for PMVs. The proposed control system is then tested on the campus of the University of Transport and communications. Simulation results show that when comparing the travel time of 10 PMVs, the order execution time for each PMV remains stable (within 10%) for up to 20 PMVs. However, when the number of PMVs increases to 25, 30, 35, and 40 vehicles, the order execution time increases by 35%, 55%, 103%, and 119%, respectively. These results demonstrate that the system can control a large number of PMVs, ensuring safety, flexibility, and efficiency. © 2024 Budapest University of technology and Economics. All rights reserved.

关键词： Travel time

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Robust Resource Allocation for RIS-aided V2X communications with Imperfect CSI

Robust Resource Allocation for RIS-aided V2X Communications ...

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IEEE Conference on Vehicular technology (VTC)

作者： Weihua Wu Peng Wang Yue Fan Jiayi Liu Runzi Liu Wenchao Xia School of Physics and Information Technology Shaanxi Normal University Xi’an China State Key Laboratory of ISN School of Telecommunications Engineering Xidian University Xi’an China School of Information and Control Engineering Xi’an University of Architecture and Technology Xi’an China Jiangsu Key Laboratory of Wireless Communications Nanjing University of Posts and Telecommunications Nanjing China

This paper investigates a robust resource allocation for reconfigurable intelligent surface (RIS) aided vehicle-to-everything (V2X) communications with imperfect channel state information (CSI). To satisfy the diverse quality-of-service (QoS) requirements of V2X communications, we aim at maximizing the sum capacity of cellular user equipments (CUEs) while guaranteeing the outage probability constraints of vehicular user equipments (VUEs). Then, the considered problem is decomposed into the subproblems of power, spectrum and RIS phase shift op-timization. A graph-based power allocation method is presented to transform the non-convex power allocation subproblem into a tractable one and obtain the closed-form solutions. A worst-case conditional value-at-risk (CVaR) approximation-based method is developed to convert the RIS phase optimization subproblem into a convex semidefinite programming (SDP) problem. We propose a low-complexity learning-based alternating optimization approach which alternately optimizes three subproblems to obtain a near-optimal solution. Simulation results demonstrate that the proposed approach outperforms other benchmark methods.

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A Simple Approach to Data-driven Security Detection for Industrial Cyber-Physical Systems

A Simple Approach to Data-driven Security Detection for Indu...

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Chinese control and Decision Conference, CCDC

作者： Bin Liu Jingzhao Chen Yong Hu Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology Wuhan China School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering Beijing China

ISBN: (纸本)9781665478977

In this paper, a data-driven security detection approach is proposed in a simple manner. The detector is designed to deal with false data injection attacks suffered by industrial cyber-physical systems with unknown model information. First, the attacks are modeled from the perspective of the generalized plant mismatch, rather than the operating data being tampered. Second, some subsystems are selected to reduce the design complexity of the detector, and based on them, an output estimator with iterative form is presented in a theoretical way. Then, a security detector is constructed based on the proposed estimator and its cost function. Finally, the effectiveness of the proposed approach is verified by simulations of a Western States Coordinated Council 9-bus power system.

关键词： Estimation Detectors Cyber-physical systems Cost function Data models Power systems Complexity theory

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Joint Optimization of Uplink Spectrum Efficiency and UAV Trajectory in Cell-Free UAV Networks

Joint Optimization of Uplink Spectrum Efficiency and UAV Tra...

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IEEE/ACM Int'l Conference on & Int'l Conference on Cyber, Physical and Social Computing (CPSCom) Green Computing and communications (GreenCom)

作者： Jian He Chunyu Pan Qian Chen The Key Laboratory of Information and Communication Systems Ministry of Information Industry and the Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing China School of Architecture and Transportation Engineering Guilin University of Electronic Technology Guilin China

The flexible mobility characteristics of unmanned aerial vehicle (UAV) lead to frequent handover and inter cell interference issues in traditional cellular based UAV assisted communication systems. Establishing cell-free UAV (CF-UAV) networks without cell boundaries will effectively alleviate this problem and has been an important research. However, the movement of the UAV results in time-varying channels. Therefore, the joint dynamic and reasonable UAV trajectory optimization and power allocation are very important for in CF-UAV networks. The expression of pilot transmission, channel estimation, uplink transmission spectrum efficiency (SE) have been derived based on the assumption of Rician channel between UAVs and access point (AP). SE optimization algorithm for CF-UAV networks combined with the Angle search and multi-UAV trajectory optimization strategy has been proposed in this paper. Simulation results show that the proposed algorithm performs better performance than comparison schemes, which SE improves by 37% compared with Angle search.

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