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第33届中国控制与决策会议

作者： Wei Shen Huan Liu Luwei Shao Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology

The deadbeat predictive current control(DPCC) exhibits strong dynamic performance in the current control of permanent magnet synchronous motor(PMSM),whereas the performance of the traditional DPCC depends on the accuracy of model parameters to a great *** cope with this problem,parameter sensitivity of the traditional DPCC has been analyzed in detail,with a disturbance observation compensation method proposed to improve the robustness of the current control of ***,a method of non-singular terminal sliding mode disturbance observer(NTSMDO) which employs a novel reaching law,combined with the DPCC is put forward to enhance the parameters robustness of the current loop.A harmonic compensation(HC) term has been added to the output of the current control for ignoring the harmonic electromagnetic process in the mathematical model of the PMSM to further promote the performance of the current loop *** and experimental results demonstrate that the proposed method offers robustness against parameters mismatch and control precision compared with the traditional DPCC.

关键词： PMSM Predictive current control NTSMDO Parameter mismatch Harmonic compensation

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A Graphical Pressure Sensor Array With Multilayered Structure: Written Through Graphene Ink on Cellulose Paper Substrate

Research Square

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Research Square 2021年

作者： Ji, Chao Zhang, Qiang Li, Qiang Pei, Zhen Zhao, Dong Yuan, Zhongyun Wang, Jie Zhang, Wendong Sang, Shengbo MicroNano System Research Center Key Laboratory of Advanced Transducers and Intelligent Control System of the Ministry of Education and Shanxi Province College of Information and Computer Taiyuan University of Technology Shanxi Taiyuan030024 China

Paper based flexible pressure sensors have received extensive attention due to their recoverability and accessibility. In this paper, we proposed graphical pressure sensors array with multilayered structure. A simple writing method was adopted to achieve the adsorption of sensitive materials on the fiber structure of cellulose paper. Pressure sensors with 1, 3, 5 and 7 stacked layers were fabricated and compared, respectively. The results show that the 7-layers sensor combined high sensitivity (44 kPa-1) and fast time response (150 ms). The highly sensitive stacked paper-based sensor array realizes the pressure detection of objects and special-shaped surfaces. A pressure sensor base on commercial corrugated box was also fabricated to compare. The corrugated carton array was made to switch reminder devices for its convenience and accessibility. Since there are many scenarios that require a safe distance, especially under the influence of the COVID-19, the writable paper-based sensor array was used to realize graphical distance perception and warning. © 2021, CC BY.

关键词： Pressure sensors

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An OpenPLC-based Active Real-time Anomaly Detection Framework for Industrial control systems

An OpenPLC-based Active Real-time Anomaly Detection Framewor...

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Chinese Automation Congress (CAC)

作者： Chengxu Zheng Xiaopeng Wang Xiaoyu Luo Chongrong Fang Jianping He The Dept. of Automation Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China NSFOCUS Technologies Group Co. Ltd Beijing China

In recent years, the design of anomaly detectors has attracted a tremendous surge of interest due to security issues in industrial control systems (ICS). Restricted by hardware resources, most anomaly detectors can only be deployed at the remote monitoring ends, far away from the control sites, which brings potential threats to anomaly detection. In this paper, we propose an active real-time anomaly detection framework deployed in the controller of OpenPLC, which is a standardized open-source PLC and has high scalability. Specifically, we add adaptive active noises to control signals, and then identify a linear dynamic system model of the plant offline and implement it in the controller. Finally, we design two filters to process the estimated residuals based on the obtained model and use χ 2 detector for anomaly detection. Extensive experiments are conducted on an industrial control virtual platform to show the effectiveness of the proposed detection framework.

关键词： Adaptation models Industrial control Detectors Real-time systems Software Security Task analysis

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Self-Organized Criticality in C. Elegans Neural Network

Self-Organized Criticality in C. Elegans Neural Network

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Chinese control Conference (CCC)

作者： Xiao Gu Jian Liu Ye Yuan Peng Zhao Kuankuan Xin Tao Fang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Centre of Intelligent Control and Management Shanghai China Institute of Machine Intelligence University of Shanghai for Science and Technology Shanghai China Queensland Brain Institute The University of Queensland Brisbane QLD Australia

The self-organized criticality is a fundamental property for organisms to perform normal functional activities. Extensive large-scale biological neural network researches have found the existence of self-organized criticality through avalanche phenomenon, which is typical characteristic of self-organized criticality. However, such research method is not suitable for small-scale biological neural network, because number of neurons in small-scale biological neural network is not large enough to support the emergence of avalanche phenomenon. It has been demonstrated that branching parameter can also be used to describe the propagation of activity in the neural network. Here, in this paper, the C. elegans neural network composed of 302 neurons is selected to investigate the existence of self-organized criticality using branching parameter. Based on the obtained connectome of C. elegans, a directed graph model is constructed to simulate the gradient potential of neurons and the activity of C. elegans, then, the existence of self-organized criticality in the neural network of C. elegans is proved by using branching parameter method. Meanwhile, the result is further confirmed by analyzing the calcium activity data of C. elegans obtained from biological experiments.

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Pose Estimation of Moving Vehicles Based on Heuristic Rules for Autonomous Driving

Pose Estimation of Moving Vehicles Based on Heuristic Rules ...

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IEEE International Conference on Robotics and Biomimetics

作者： Yuesheng He Wei Zhang Ming Yang Department of Automation Shanghai Jiao Tong University Shanghai Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Shenzhen Deeproute.ai Co. Ltd

ISBN: (纸本)9781665481106

Estimating the pose information on moving vehi-cles is one of the most fundamental functions of autonomous driving for detecting and tracking moving objects. The current methods are often based on the prior information of the point cloud distribution, however, the distribution in the actual scene changes dynamically, and is easy not to meet a priori. This paper proposes a 3D pose estimation method based on heuristic rules. In a single frame point cloud, the edge length and edge visibility are used to heuristically screen the candidate orientations established by the convex hull sampling method. On consecutive frame point clouds, tracking heuristics are employed to obtain smoother orientation estimation results. The experimental results on the KITTI dataset and the data from the actual scene of vehicles show that the proposed method reduces the average object-orientation error and improves the accuracy of estimation effectively.

关键词： Point cloud compression Three-dimensional displays Target tracking Biomimetics Pose estimation Object detection Sampling methods

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Sensor-based Multi-Robot Coverage control with Spatial Separation in Unstructured Environments

Sensor-based Multi-Robot Coverage Control with Spatial Separ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Xinyi Wang Jiwen Xu Chuanxiang Gao Yizhou Chen Jihan Zhang Chenggang Wang Yulong Ding Ben M. Chen Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong China Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai P. R. China Department of Control Science and Engineering Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Multi-robot systems have increasingly become instrumental in tackling coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured scenarios with dense obstacles. This paper presents an innovative, decentralized Voronoi-based coverage control approach to reactively navigate these complexities while guaranteeing safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic information system), offering a more comprehensive and real-time understanding of environments like post-disaster. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in task success rate, coverage ratio, and task execution time compared with others.

关键词： Point cloud compression system recovery Robot sensing systems Sensors Safety Multi-robot systems Task analysis

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Differentially Private Distributed Mismatch Tracking Algorithm for Constraint-Coupled Resource Allocation Problems

Differentially Private Distributed Mismatch Tracking Algorit...

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IEEE Conference on Decision and control

作者： Wenwen Wu Shanying Zhu Shuai Liu Xinping Guan Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China School of Control Science and Engineering Shandong University Jinan China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper considers privacy-concerned distributed constraint-coupled resource allocation problems over an undirected network, where each agent holds a private cost function and obtains the solution via only local communication. With privacy concerns, we mask the exchanged information with independent Laplace noise against attackers with potential access to all network communications. We propose a differentially private distributed mismatch tracking algorithm (diff-DMAC) to achieve cost-optimal distribution of resources while preserving privacy. Adopting constant stepsizes, the linear convergence property of diff-DMAC in mean square is established under the standard assumptions of Lipschitz smoothness and strong convexity. Moreover, it is theoretically proven that the proposed algorithm is ϵ-differentially private. And we also show the trade-off between convergence accuracy and privacy level. Finally, a numerical example is provided for verification.

关键词： Privacy Differential privacy Cost function Resource management Standards Convergence

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Effect of Annealing Process Parameters on N-Gaas Ohmic Contacts

SSRN

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SSRN 2021年

作者： Lin, Tao Xie, Jianan Ning, Shaohuan Ma, Zekun Mu, Yan Sun, WanJun Yang, Sha Department of Electronic 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 Shaanxi Xi’an710048 China

Ni/Ge/Ni/Au multi-layer metal electrodes were prepared on N-GaAs substrate by electron-beam evaporation to investigate the effect of annealing process parameters on N-GaAs ohmic contacts. In the annealing temperature range of 370 °C to 430 °C, the metal-semiconductor contact was found changing from Schottky contact to ohmic contact as the annealing temperature was above 380 °C. Specific contact resistivity of n-GaAs samples firstly decreased and then increased with the increasing of annealing temperature, and the minimum specific contact resistivity of 3.3×10 -5 Ω·cm 2 was formed at 420 °C annealing for 80 s. Although the specific contact resistivity of the metal-semiconductor contact performed satisfactorily, the surface morphology of the n-GaAs metal electrode was found having metal shrinkage after annealing. The formation mechanism of ohmic contact was qualitatively explained by the elements diffusion under different annealing parameters, which were confirmed by the comparative analysis of SEM and EDX results. © 2021, The Authors. All rights reserved.

关键词： Gallium arsenide

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Tuning Electrical Conductivity and Ultrafast Optical Nonlinearity of R-Go Films Ablated by Femtosecond Laser Direct Writing

SSRN

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SSRN 2024年

作者： Tao, Youliang Nie, Zhongquan Zhang, Xuefeng Pan, Deng Wang, Han College of Aeronautics and Astronautics Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Electronic Information and Optical Engineering Taiyuan University of Technology Taiyuan030024 China Institute of New Carbon Materials College of Materials Science and Engineering Taiyuan University of Technology Taiyuan030024 China Information Materials and Intelligent Sensing Laboratory of Anhui Province Anhui University 111 Jiu Long Road Hefei230601 China

Carbon-based nanomaterials with excellent electrical and optical properties are highly sought after for a plethora of hybrid applications ranging from advanced opto-electronic components to sustainable energy storage devices. In this contribution, we examine in detail the dependence of electrical conductivity and ultrafast optical nonlinearity of graphene oxide (GO) films on their degrees of reduction, as well as the link between the two properties. The GO films are first synthesized through the vacuum filtration method and then reduced partially controllably by the femtosecond laser direct writing with varying power doses. Subsequently, the 4-point probe measurements of the reduced GO (r-GO) films are demonstrated to exhibit superior resistivity and electrical conductivity compared with the pristine GO counterpart. It was found that the conductivity of the film increases and then decreases with increasing ablation laser power (P), GO was completely reduced at P = 100 mW with resistivity and electrical conductivity of 1.09 × 10-3Ω·m and 9.19 × 102s/m, respectively. GO was over reduced at P = 120 mW with resistivity and electrical conductivity being 3.72 × 10-3Ω·m and 2.69 × 102s/m, respectively. We further test the ultrafast optical nonlinearity (ONL) of the as-prepared pristine and reduced GO with the femtosecond Z-scan technique. The results show that the behavior of ONL is reversed whenever GO is reduced in a controlled manner. More interestingly, the higher the ablation laser power is, the stronger the optical nonlinearity of r-GO is. In particular, the nonlinear absorption and refraction coefficients of the r-GO films reach up to 3.26 × 10-8 m/W and -1.12 × 10-13 m2/W when P = 120 mW. The nonlinear absorption and refraction coefficients reach 1.9 × 10-8 m/W and -3 × 10-13 m2/W, respectively, for P = 70 mW. The GO/r-GO films endowing tunable electro-optical responses are potential building blocks for wide-ranging applications in microelectronic circuits, optoele

关键词： Femtosecond lasers

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Research on the High-Precision Unmanned Operation control Algorithm of theVibroseis Vehicle

Research on the High-Precision Unmanned Operation Control Al...

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第40届中国控制会议

作者： LI Bin WANG Shoukun WANG Shuai WANG Junzheng LIU Shangfei State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology Beijing Institute of Technology

In order to meet the demand for high-precision operation of the vibroseis vehicle in the case of unmanned driving, an unmanned operation system that meets the working characteristics of the vibroseis vehicle is designed, and the key technical problems are studied, so that the vibroseis vehicle can operate in the complex environment of the field and improve the efficiency of geological exploration greatly. Firstly, the coordinate system and the kinematic model without sideslip of the articulated vehicle are established successively. Secondly, in order to improve the path tracking accuracy of the vibroseis vehicle, a model predictive control algorithm based on the kinematic model is designed for vehicle path tracking. In order to improve the positioning accuracy of the working point, a compensation algorithm for positioning error is proposed to reduce the positioning error caused by terrain factors. Finally, the unmanned operation platform is built and the path tracking algorithm and the compensation algorithm for positioning error are verified on the platform. The real vehicle test data shows that the path tracking algorithm proposed in this paper can control the average lateral error of the path tracking of the vibroseis vehicle within 22 *** with the PID control method, its path tracking accuracy can be improved by 59%. The average positioning error of working point is controlled within about 15 cm by adopting the compensation algorithm for positioning error.

关键词： Vibroseis vehicle Unmanned operation Path tracking Positioning compensation

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