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Chinese Automation Congress (CAC)

作者： Chen Wang Shangbin Jiao Rui Gao Yuxing Li School of Automation and Information Engineering Xi’an University of Technology Xi’an China School of Automation and Information Engineering Xi’an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China School of Electronic & Electrical Engineering Baoji University of Arts and Sciences Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology China

ISBN: (纸本)9781665426480

To address shortcomings of ICP algorithm, which is sensitive to the initial position and easy to fall into local optimum, we propose a Harris Hawks Optimizer (HHO) point cloud registration method combining PCA preprocessing and parallel population initialization. The PCA method is used to align the point clouds with the main axes and perform the main axes correction. Since the six input variables in the population initialization stage of HHO point cloud registration are different and independent, the initial population of HHO algorithm is initialized by the parallel initialization method. The results show that the improved algorithm is able to successfully overwhelm the fault of ICP algorithm, and its global seek performance and optimization accuracy are more advantageous, and the algorithm operates efficiently, with high registration accuracy and robustness.

关键词： Point cloud compression Automation Input variables Sociology Robustness Statistics Optimization

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Optimization design of superconducting cusp magnetic field structure

Optimization design of superconducting cusp magnetic field s...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Jiao Shangbin Hou Dongbin Liu Ding Huang Weichao Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China National & Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xi'an China

Based on the analysis of the Cusp magnetic field suppression convection principle, the simulation model of superconducting Cusp magnetic field is built by the finite element method. In the case of satisfying the magnetic field strength of the crucible wall and giving the excitation current, the number of layers of the superconducting coil is calculated by using the established model. The influence of coil spacing, thickness of shielding thickness, horizontal distance between coil and shielding thickness and longitudinal distance on magnetic induction strength, horizontal distance and longitudinal distance between coil and the shielding are analyzed under the condition that the number of superconducting coils is constant. The influence of the force on the coil, the influence of the thickness of the shielding body on the magnetic leakage strength of the magnetic field. The simulation results show that the optimized Cusp magnetic field structure parameters can be used in the actual design.

关键词： Magnetic fields Convection Crystals Magnetic shielding Magnetic noise Superconducting magnets Silicon

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Bearing-Based Target Entrapping control of Multiple Uncertain Agents With Arbitrary Maneuvers

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IFAC-PapersOnLine 2023年第2期56卷 8821-8826页

作者： Haifan Su Ziwen Yang Shanying Zhu Cailian Chen Wenbin Yu Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the leaders move with the predesigned trajectories, and the followers are steered by an estimation-based control method, integrating a distance estimator using bearing measurements and a stress matrix-based formation controller. The signum functions are used to compensate for the uncertainties so that the agents’ accelerations can be piecewise continuous and bounded to track the desired dynamics. With proper design of the leaders’ trajectories and a geometric configuration, an affine matrix is determined so that the inter-agent relative bearings can be persistently exciting since the bearing rates are related to different weighted combinations of the affine matrix vectors. The asymptotic convergence of the estimation and control error is proved using Filipov properties and cascaded system theories. A sufficient condition for inter-agent collision avoidance is also proposed. Finally, simulation results are given to validate the effectiveness of the method.

关键词： Target entrapping control bearing measurement persistent excitation uncertainty

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Optimization of Extreme Learning Machine Based on Improved Beetle Antennae Search for Slot Die Coating Prediction

Optimization of Extreme Learning Machine Based on Improved B...

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Chinese control and Decision Conference, CCDC

作者： Haonan Yang Ding Liu Jun-Chao Ren Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China

In the actual production of slot die coating, the minimum coating thickness and the maximum substrate moving speed could only be judged by production experience, and there was no accurate prediction model due to the nonlinear characteristics of fluid motion. Therefore, building a reasonable and efficient prediction model for slot die coating is now an urgent and challenging task. In this paper, an optimized extreme learning machine (ELM) based on improved beetle antennae search (IBAS) algorithm is proposed for slot die coating prediction. The optimized ELM model can well learn the nonlinear characteristics of the system and make accurate predictions, thus solving the traditional inaccurate empirical judgment. As the prediction accuracy of ELM depends on the selection of weights and biases, the IBAS optimization algorithm is used to quickly search for the optimal value of weights and biases in the ELM network. IBAS algorithm improves the generation mechanism of antennae on the basis of the original algorithm, so that the algorithm can converge quickly. At the same time, the search strategy of the algorithm is improved to avoid falling into the local optimal solution. By predicting the production data of slit coating, the feasibility and effectiveness of IBAS-ELM model are proved.

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Model predictive control of event triggering in silicon single crystal growth processes

Model predictive control of event triggering in silicon sing...

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Chinese Automation Congress (CAC)

作者： Yankai Li Biao Ren Ding Liu Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

In this paper, the control issue of the semiconductor silicon monocrystalline growth process is studied through an event triggered model prediction approach. Firstly, a state-space model of silicon monocrystalline growth process is developed to describe the energy conversion and the dynamics and the geometry of the isodiametric stage silicon monocrystalline via the Czochralski method. Secondly, a small perturbation linearization is used to obtain a linear continuous model, which is translated into a linear discrete model under zero-order retainers. Finally, an event triggered model prediction controller is established to decrease the calculation of model prediction in the rolling optimization process. Based on experimental results, the event-triggered model prediction control algorithm is confirmed to be an effectively control scheme for the silicon monocrystalline growth process.

关键词： Crystal growth Semiconductor device modeling Computational modeling Photonic crystals Predictive models Prediction algorithms Silicon

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

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2022 Chinese Automation Congress, CAC 2022

作者： Zhang, Bin Jiang, Xiaowei Sun, Li Zhang, Xianhe School of Automation China University of Geosciences Wuhan430074 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan430074 China School of Electrical Engineering and Automation Hubei Normal University Huangshi435002 China

ISBN: (纸本)9781665465335

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions. © 2022 IEEE.

关键词： Networked control systems

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A fault isolation method using kernel canonical variate analysis-based contribution

A fault isolation method using kernel canonical variate anal...

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第35届中国过程控制会议

作者： Hongxin Wang Lingxia Mu Nan Feng Han Liu Ding Liu Department of Information and Control Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology School of Intelligence Science and Technology University of Science and Technology Beijing

Fault diagnosis and isolation is important for industrial system. In this paper, a kernel canonical variate analysis(KCVA) is proposed for fault isolation. KCVA is originally used as a data dimension reduction technique which can account for nonlinearity and correlations in the industrial dynamical process data. But there are some difficulties using KCVA in the construction of the contribution for the fault isolation. On the one hand, it is difficult to compute the contributions of individual variables because it is scarcely possible to find an inverse mapping from the feature space to the original space. On the other hand, a smearing effect is hardly avoided. To solve the problem, a KCVA-based contributions is proposed using the state subspace and the residual subspace which can isolate the faulty variables effectively. Simulations are conducted on the Tennessee Eastman process to verify the performance of the proposed method.

关键词： Kernel canonical variate analysis contribution plot fault isolation

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Digital-Twin-Based Clock Synchronization in Industrial IoT systems 13

Digital-Twin-Based Clock Synchronization in Industrial IoT S...

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13th IEEE International Conference on CYBER Technology in Automation, control, and intelligent systems, CYBER 2023

作者： Cheng, Ting Liu, Shuai Xu, Qimin Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China School of Control Science and Engineering Shandong University Jinan250061 China

ISBN: (纸本)9798350315196

Close and efficient cooperation between devices in the Industrial Internet of Things (IIoT) requires precise clock synchronization as a prerequisite. The uncertainty of IIoT networks and the complexity of industrial environments have led to less precise clock synchronization achieved by traditional algorithms and higher network resource consumption. This paper proposes a digital-twin-based clock synchronization scheme for IIoT systems. By building the digital model for each local clock to predict their clock skew, the information interaction required to achieve synchronization is reduced. In order to model the clock accurately, this paper proposes to use the extended state Kalman filter to handle uncertain dynamics and unknown measurement bias to improve the estimation accuracy of clock skew further. The simulation results show that the proposed algorithm can achieve high- precision clock synchronization while reducing the consumption of network resources. © 2023 IEEE.

关键词： Internet of things

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Spatial-Temporal-Rule-based Traffic Movement Status Interpretation at Intersections *

Spatial-Temporal-Rule-based Traffic Movement Status Interpre...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Zhuang, Hanyang Gao, Liyang Qian, Yeqiang Wang, Chunxiang Yang, Ming University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350327182

Traffic light is the most significant component of road transportation. Traffic lights control the traffic movement at intersections by allowing the movement of some lanes and forbidding that of the others to ensure safety and efficiency. It is important for intelligent vehicles to understand the meaning of traffic lights. Conventional research works on traffic light detection and tracking consider each light independently, so the occlusion of some lights may mislead the decision of the vehicle. Since all traffic lights at an intersection work together, it is more essential to understand the traffic movement status controlled by the traffic lights rather than the perception of a single light. Therefore, this paper proposes a spatial-temporal-rule-based framework to interpret the current traffic movement status and predict the next status. The spatial information, including position and class, is obtained by traffic light detection. The temporal information is perceived by the proposed topologic-feature-based tracking method. The rule information is recognized by combination of spatial and temporal information. A dual-view camera system consisting of a telephoto camera and a wide-angle camera is adopted to ensure long perception distance and wide coverage simultaneously. The successful tracking of traffic lights from 200 m to 10 m away provides enough data to recognize the phase-change rule, which leads to correct interpretation and prediction. A customized dataset was collected, and experiments were conducted to illustrate the capability of the proposed method. © 2023 IEEE.

关键词： Cameras

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