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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Jiangjiang Li Qi Zhang Xiangdong Sun School of Automation and Information Engineering Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Processing Xi'an China

This paper proposes a new single-phase three-level inverter topology and describes the control method for the proposed inverter. The inverter contains a H-bridge inverter circuit and an auxiliary circuit. The auxiliary circuit enables H-bridge circuit to be operated in the mode of five kinds of voltage level with unipolar pulse width modulation (PWM) strategy. The operation principle of proposed inverter topology is analyzed in detail. The proposed inverter eliminates the problems of DC capacitors voltage unbalance without additional control. The control of inverter is simple and easy to implement. And it is suitable for small or medium power applications. In this paper, the proportional-resonant (PR) controller is used in the proposed inverter, the feasibility and the analysis of principle of the proposed inverter is verified by simulation. The results show that the proposed inverter can output currents of low total harmonic distortion and has higher efficiency than the H-bridge inverter.

关键词： Inverters Capacitors Integrated circuits Mathematical model Topology Switches Modulation

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Efficient Reinforcement Learning for 3D LiDAR Navigation of Mobile Robot 41

Efficient Reinforcement Learning for 3D LiDAR Navigation of ...

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第41届中国控制会议

作者： Yu Zhai Zhe Liu Yanzi Miao Hesheng Wang China University of Mining and Technology MoE Key Lab of Artificial Intelligence Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Developing an efficient automatic navigation system for mobile robots is challenging in the strange scenarios where robots can only observe the environment of the surrounding limited *** other distributed automatic navigation systems exist,they often require extracting semantic information to calculate navigation action,which requires extra modules to provide perceptual information and is not *** propose an end-to-end automatic navigation system based on the reinforcement learning *** particular,the raw 3 D LiDAR data is used to directly map an efficient navigation *** design a novel dense reward function to handle the reward sparsity issue and provide a graphical representation method to enable the efficient feature learning from the raw 3 D LiDAR data in our navigation *** addition,an imitation learning based policy initialization is introduced before the subsequent reinforcement learning,which increases the learning efficiency and,in the meantime,still encouraging the robot to explore all the potential states to achieve advanced performance than the imitated *** navigation model is trained in the Webots environment and the experimental results show that our model has efficient and flexible navigation performance in complex *** importantly,trained model can be easily extended to unfamiliar environments.

关键词： End-to-end Navigation Mobile robot Reinforcement Learning 3D LiDAR

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Detection of Weak Signal Amplitude of Winding Deformation Based on Duffing Oscillator

Detection of Weak Signal Amplitude of Winding Deformation Ba...

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Chinese control Conference (CCC)

作者： Sheng-Min Li Yuan-Yuan He Yue-Yue Che Xu-Xia Sun Academy of Automation & Information Engineering Xi’an University of Technology Xi’an Key Laboratory of Shaanxi Province for Complex System Control and Intelligent Information Processing Xi’an

In order to solve the problem that it is difficult to detect the weak sinusoidal response signal when the frequency response method is used to detect the transformer winding deformation fault online, this paper proposes a method to detect the amplitude of the response signal by using Duffing oscillator. Secondly, in order to solve the influence of the target signal phase shift on the amplitude detection in the actual detection process, a method of first detecting the signal phase using a vibrator array composed of Duffing vibrators and then detecting the amplitude is proposed. Finally, using this method to process the two sets of measured response signals of online detection, the detection results show that the maximum error between the detected signal amplitude and the standard signal is 5. 69%, which meets the requirements of the power industry standard, which proves that the method used in this article is It is feasible in winding deformation detection.

关键词： Phased arrays Simulation Windings Frequency response Power industry Oscillators Standards

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Research on speed and tension multivariable system of reversible cold strip mill based on ILQ theory

Research on speed and tension multivariable system of revers...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Gang Zheng Xiao-Li Chao Zhe Yang Fu-Caiqian Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Xi'an University of Technology Xi'an Shaanxi CN

ISBN: (纸本)9781467372220

For the speed and tension system of reversing cold strip mill with multivariable, uncertainties and strong coupling, a new method of inverse linear quadratic (ILQ) is proposed. Firstly, a relatively complete mathematical model for the speed and tension multivariable coupling system is established by using the mechanism modeling method. Then according to the state-space expression of the controlled system and aspirations closed-loop poles, optimal feedback matrix is obtained by ILQ method. Instead of choosing the weighted matrix simplifies the design process, and the asymptotic behavior of the system is robust. Simulation results show the effectiveness of this method.

关键词： Reversible cold strip mill Speed and tension multivariable control system inverse linear quadratic (ILQ) pole-assignment cold strip Cold strip mills pole assignment design process multiple input multiple output systems tension speed Aspirations (Psychology) system behavior asymptotic behavior

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Learning oriented cross-entropy approach to user association in load-balanced HetNet

arXiv

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arXiv 2018年

作者： Huang, Xietian Xu, Wei Xie, Guo Jin, Shi You, Xiaohu Southeast University Nanjing China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an China

This letter considers optimizing user association in a heterogeneous network via utility maximization, which is a combinatorial optimization problem due to integer constraints. Different from existing solutions based on convex optimization, we alternatively propose a cross-entropy (CE)-based algorithm inspired by a sampling approach developed in machine learning. Adopting a probabilistic model, we first reformulate the original problem as a CE minimization problem which aims to learn the probability distribution of variables in the optimal association. An efficient solution by stochastic sampling is introduced to solve the learning problem. The integer constraint is directly handled by the proposed algorithm, which is robust to network deployment and algorithm parameter choices. Simulations verify that the proposed CE approach achieves near-optimal performance quite efficiently. Copyright © 2018, The Authors. All rights reserved.

关键词： Heterogeneous networks

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Vision-Based Autonomous Landing of a Quadrotor UAV on a Double-Layered Nested Landing Marker

Vision-Based Autonomous Landing of a Quadrotor UAV on a Doub...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Mu, Lingxia Zhang, Yuan Xin, Jing Zhang, Youmin School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Department of Mechanical and Industrial Engineering Concordia University MontrealH3G 1M8 Canada

ISBN: (纸本)9789811966125

This paper focuses on the vision-based autonomous landing mission of a quadrotor unmanned aerial vehicle (UAV). A double-layered nested Aruco landing marker is designed which can adapt to the situation that the field of sight of airborne camera changes as the UAV’s altitude decreases during the landing. Then, considering that the landing marker might be obstructed in certain situation, traditional Aruco detection method cannot effectively recognize marker. A YOLOv4 deep learning algorithm is used for marker detection. In addition, to address the problem of false detection in some test results, normalized Wasserstein distance is used to replace the non-maximum suppression to deal with redundant frames. The UAV’s relative location to the marker is then calculated and landing mission is finally achieved by the image-based visual servoing strategy. The simulation on Gazebo demonstrates that the designed marker is effective for the UAV landing mission and the revised YOLOv4 detection algorithm can increase detection results accuracy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Improved Kalman Filtering Algorithm Based Multi-Sensor Integration for Silicon Single Crystal Growth Process

Improved Kalman Filtering Algorithm Based Multi-Sensor Integ...

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International Symposium on Autonomous systems (ISAS)

作者： Ruidong Xie Pei Zhu Wenle Ma Zheqi Zhang Yingmin Yi Zheng Guo Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

The study primarily delves into addressing the data filtering challenge inherent in the silicon single crystal growth process by proposing a multi-sensor integrated detection approach. This approach is designed to alleviate the diminished filtering accuracy resulting from the reliance on a single sensor and the conventional Kalman filtering algorithm. By utilizing an enhanced adaptive Kalman filtering algorithm and the maximum likelihood estimation criterion to incorporate the innovation variance directly into the gain calculation of the Kalman filter, dynamic adjustment of the estimation model is achieved while interference from system noise and measurement noise is reduced. Finally, simulation-based comparative experiments between the adaptive and conventional Kalman filtering algorithms are performed. The results show that the performance of the adaptive Kalman filtering algorithm is superior to that of the conventional Kalman filtering algorithm in terms of accuracy and stability when detecting signals from multiple sensors. The research findings furnish dependable data support for refining the decision-making process in crystal growth technology, augmenting the precision and scientific integrity of crystal safety production scheduling and decision-making endeavors.

关键词： Crystal growth Filtering Noise Decision making Crystals Production Filtering algorithms

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A UAV Path Planning Algorithm Based on an Improved D* Lite Algorithm for Forest Firefighting

A UAV Path Planning Algorithm Based on an Improved D* Lite A...

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Chinese Automation Congress (CAC)

作者： Zhaohui Luo Youmin Zhang Lingxia Mu Jing Huang Jing Xin Han Liu Shangbin Jiao Guo Xie Yingmin Yi Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China Concordia University Montreal Canada

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

This paper proposes a new type of forest firefighting method. When one or more suspected fire spots are found in the forest, the firefighting Unmanned Aerial Vehicles (UAVs) can safely and quickly reach the desired location, conduct a thorough investigation of the suspected fire spots. If a fire occurs, it is necessary to drop firefighting materials to put out the fire. At the same time, considering the characteristics of limited endurance and low load capability have always limited the applications of UAVs, Unmanned Ground Vehicles (UGVs) are considered in this paper as an additional and comprehensive problem solution to provide energy and supplement materials for UAVs. In order to enable firefighting UAV to plan a safe and effective path in real time in the complex forest environment, a new improved D*Lite algorithm is proposed for UAVs in the mission team. Even when the 3D workspace is partially known or completely unknown, the algorithm can plan an effective path so that the firefighting UAV can move to the fire spots and UGV in real time.

关键词： Path planning Heuristic algorithms Unmanned aerial vehicles Forestry Smoothing methods Real-time systems Planning

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Measurement Method of the Least Mean Square Adaptive Filtering Parameters for Gas-solid Flow

Measurement Method of the Least Mean Square Adaptive Filteri...

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Chinese Automation Congress (CAC)

作者： A. Ruidong Xie B. Yingmin Yi C. Haichuan Yang Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

With regard to the unknown prior knowledge of signal noise in the parameter measurement of gas-solid flow, the present paper puts forward the AC signal processing method based on the least mean square (LMS) adaptive filtering. In addition, the floating processor DSP-TMS320F28335 is employed to collect AC signal of electrostatic sensors and the acquired signals are processed by the aid of LMS adaptive filtering algorithm which adjusts the filter weights according to the criterion of the least mean square error to achieve the optimal filtering. Drawing on the experimental platform, the solid-phase velocity is measured online in real time for the gas-solid flow. The results show that the method can improve the accuracy and stability for the velocity measurement of gas-solid flow.

关键词： Filtering Velocity measurement Filtering algorithms Adaptive filters Solids Atmospheric measurements Particle measurements

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Volume Measuring Method for Forming Additive Manufacturing Based on SGBM

Volume Measuring Method for Forming Additive Manufacturing B...

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Chinese Automation Congress (CAC)

作者： Ruidong Xie Haichuan Yang Yingmin Yi Qimeng Shi keying Wang Xiaolin Fan Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

For volume measurement problems in the processes of additive manufacturing, a volume measurement method is proposed through using the SGBM algorithm in this paper. In this method, the internal and external parameters of the camera are calibrated by the binocular vision system. And the image processes by SGBM are performed for the image acquired by binocular stereo vision system. The processes are including filtering, correction and stereo matching to obtain the disparity information of the object to be tested in the left and right cameras. The volume of the work-piece to be tested can be obtained by the calculation that measured the three-dimensional coordinate information through the disparity information. The experimental results illustrate that the method is of certain reliability and accuracy for volume measurement.

关键词： Cameras Calibration Volume measurement Three-dimensional printing Mathematical model Measurement by laser beam Three-dimensional displays

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