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第42届中国控制会议

作者： Ruotong Wu Yueting Li Jia Zhang Wenjie Chen School of Automation Beijing Institute of Technology State Key Laboratory of autonomous intelligent unmanned system

In order to meet the task requirements of autonomous navigation of UAV in the building space environment,the3 D dense mapping and path planning algorithm module of UAV is deeply *** at the problem that ORBSLAM2 algorithm based on feature point method cannot build dense maps,dense point cloud maps and octree maps(Octo-map) are constructed *** semantic segmentation and semantic information association,the construction of semantic Octo-map is *** response to the problem of multiple inflection points and obvious jitter in the path generated by the RRT algorithm,the smoothness of the path is improved by using quasi uniform cubic B-spline ***,the control scheme of UAV path tracking based on PX4 is designed,and the simulation of UAV path tracking in AirSim verifies the feasibility of path planning,which provides an effective simulation solution for the application of autonomous navigation technology of UAV.

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Propagation of Rayleigh-type surface waves in a layered piezoelectric nanostructure with surface effects

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Applied Mathematics and Mechanics(English Edition) 2022年第3期43卷 327-340页

作者： Lele ZHANG Jing ZHAO Guoquan NIE Jinxi LIU State Key Laboratory of Mechanical Behavior and System Safety of Tra±c Engineering Structures Shijiazhuang Tiedao UniversityShijiazhuang 050043China Hebei Key Laboratory of Mechanics of Intelligent Materials and Structures Department of Engineering MechanicsShijiazhuang Tiedao UniversityShijiazhuang 050043China Department of Architecture Shijiazhuang Institute of Railway TechnologyShijiazhuang 050041China

This work investigates the dispersion properties of Rayleigh-type surface waves propagating in a layered piezoelectric nanostructure composed of a piezoelectric nanofilm over an elastic *** one of the most important features of nanostructures,surface effects characterized by surface stresses and surface electric displacements are taken into account through the surface piezoelectricity theory and the nonclassical mechanical and electrical boundary *** expressions of the dispersion equation are derived,and numerical results are provided to examine the effects of several surface-related parameters,including the surface elasticity,surface piezoelectricity,surface dielectricity,surface density,as well as surface residual stress,on the dispersion modes and phase *** size-dependent dispersion behaviors occurring with surface effects are also predicted,and they may vanish once the thickness of the piezoelectric nanofilm reaches a critical value.

关键词： surface effect surface piezoelectricity dispersion behavior piezoelectric nanofilm Rayleigh wave

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Small Signal Stability-Guaranteed Moving Target Defense Against Load Redistribution Attack On IoT-based Smart Grid

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IEEE Internet of Things Journal 2025年第11期12卷 17413-17429页

作者： Wang, Bingdong Zhang, Zhenyong Wang, Mufeng Liu, Mengxiang Ye, Rui Deng, Ruilong Zhang, Xin Guizhou University State Key Laboratory of Public Big Data College of Computer Science and Technology Guiyang550025 China China Industrial Control Systems Cyber Emergency Response Team Beijing100040 China University of Sheffield Department of Automatic Control and System Engineering Sheffield United Kingdom Guizhou Power Grid Co. Ltd. Intelligent Operation Center China Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Huzhou Institute of Industrial Control Technology Huzhou313000 China

Moving target defense (MTD) is a promising approach to defend against load redistribution attacks on the internet-of-things (IoT)-based smart grid networks by probing the distorted state estimates with the distributed flexible AC transmission system. However, existing studies mainly focus on optimizing the performance of MTD and ignore the safety effect of it on the system’s operation. In this paper, we fill this gap by deeply analyzing the effect of MTD on the small signal stability and aim to alleviate the negative impact and guarantee its defending performance simultaneously. Firstly, the stability is formally described using the eigenvalue sensitivity. The relationship between the MTD-induced perturbation (MTDper) and the stability criteria is derived. Secondly, a new indicator is proposed to measure the effectiveness of MTDper. Thirdly, a constrained optimization problem is formulated to compute the bound of MTDper for guaranteeing the small signal stability. In addition, a surprising finding is that the stability margin can be improved and enhanced by optimizing the value of MTDper without losing the MTD’s effectiveness. Finally, we evaluate the performance of MTDper and its impact on the small signal stability with extensive simulations on the IEEE 30-bus, 39-bus, and 68-bus test power systems. © 2014 IEEE.

关键词： Constrained optimization

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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2023 International Conference on Cyber-Physical Social Intelligence, ICCSI 2023

作者： Luo, Jialiang Chen, Shichao Lv, Yisheng Sun, Wenqiao Yang, Fan Xu, Ruijie Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University The State Key Laboratory for Management and Control of Complex System Jinan China The Hong Kong Polytechnic University Department of Aeronautical and Aviation Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350312492

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field. © 2023 IEEE.

关键词： Cost effectiveness

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Quantification of valve stiction in control loops using adaptive differential evolution algorithm

Quantification of valve stiction in control loops using adap...

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2024 China automation Congress, CAC 2024

作者： Yang, Dong Lang, Xun Wu, Jiande Yu, Wanke Liu, Songhua Xie, Lei Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

Accurately and promptly quantifying stiction is crucial for valve maintenance in industrial settings and ensuring the stability of control loop performance. However, current Hammerstein-based stiction quantification methods overlook valve dynamics, potentially leading to inaccurate quantification. Therefore, this paper proposes a novel stiction quantification method based on an adaptive differential evolution algorithm. In addition to considering the impact of valve dynamics on stiction, the proposed method demonstrates a certain level of robustness against the interference of unknown noise. Finally, the effectiveness of the proposed method is demonstrated through a series of simulations and industrial case studies. © 2024 IEEE.

关键词： Adaptive algorithms

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Mid-Iong Term Photovoltaic Power Forecasting Method Considering Periodicity Characterization

Mid-Iong Term Photovoltaic Power Forecasting Method Consider...

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2024 IEEE IAS Industrial and Commercial Power system Asia, I and CPS Asia 2024

作者： Zhuo, Minyi Yang, Ming Li, Peng Sun, Yi Liu, Rui Zheng, Zhijie Shi, Bingke Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Jinan China Economic & Technology Research Institute State Grid Shandong Electric Power Company Power Grid Planning Research Department Jinan China

ISBN: (纸本)9798350352290

Accurate forecasting of mid-long term photovoltaic power plays a key role in site planning, operation scheduling and mid-long term plan development for new power system. Meanwhile, the uncertainty in solar power generation is a key factor influencing the precision of its forecasting. This paper proposes a mid-long term PV power forecasting method considering periodic characterization, which first obtains the key meteorological factors through the maximal information coefficient, and extracts the timing features through ARIMA model for mid-long term PV power periodic component prediction. Then the results obtained from above are inputted to the LSTM model, which is trained using raw data to obtain the final PV power prediction results with high accuracy. Validation is carried out through the model's RMSE, MAE and MAPE metrics and the comparison of the model's forecasting results with traditional GRU model. © 2024 IEEE.

关键词： Solar power generation

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2024 China automation Congress, CAC 2024

作者： Lang, Yumin Wu, Jiande Lang, Xun Yu, Wanke Yang, Chuanyan Su, Hongye Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

Oscillation is a significant indication of the deterioration of control system performance and needs to be carefully monitored to ensure safe and stable process operations. However, industrial processes are often prone to noisy artifacts and nonstationary trends, resulting in low signal-to-noise ratios. In order to tackle this problem, this study introduces a novel framework for enhanced trend removal and noise reduction, which is featured by the following steps:(i) The circulant singular spectrum analysis (CiSSA) is used to decompose oscillation data into several reconstructed components (RCs). (ii) The estimated power spectral density (PSD) ofthese RCs is then smoothed using the Savitzky-Golay filter (SGF) to eliminate noise and identify the RCs corresponding to oscillatory components. (iii) These identified RCs are subsequently reconstructed to produce purified oscillatory data. The effectiveness of the suggested approach is validated using simulations and real-world industrial case studies. The findings indicate that the method notably enhances the quality of oscillatory data. © 2024 IEEE.

关键词： Power spectral density

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Research on optimization of two-stage scheduling for aluminum extrusion machine manufacturing line

Research on optimization of two-stage scheduling for aluminu...

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2024 China automation Congress, CAC 2024

作者： Zhou, Aoran Qiu, Lipeng Wu, Yali Department of Information and Control Engineering Xi'an University of Technology Shaan'xi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China State Key Laboratory of Metal Extrusion and Forging Equipment Technology China National Heavy Machinery Research Institute Co Ltd Xi'an710016 China

ISBN: (纸本)9798350368604

In view of the problems of high energy consumption, long inventory time and low production efficiency in the production process of traditional aluminum extrusion machine, this paper establishes an efficient two-stage parallel scheduling optimization model based on the integration of flexible job shop scheduling and assembly sequence planning (IFJSS-ASP). On this basis, an evolutionary algorithm combining strong dominance relationship and simple grouping method (SDREA-SGM) is proposed. The algorithm utilizes a two-stage hybrid chromosome encoding and decoding method to establish a rational mapping from the decision space to the solution space. Furthermore, in order to prevent the model from easily falling into local optima, an adaptive intra-class and inter-class pairing selection strategy has been adopted by the algorithm. This enhances global search and improves local search ***, the feasibility and effectiveness of the algorithm are verified by solving problems of different scales. © 2024 IEEE.

关键词： Job shop scheduling

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A New Road Extraction Method from Satellite Images Using Genetic Programming

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Guidance, Navigation and Control 2024年第2期4卷 47-79页

作者： Jing Liang Yaxin Chang Ying Bi Caitong Yue Boyang Qu Mengnan Liu School of Electrical and Information Engineering Zhengzhou University ZhengzhouP.R.China School of Electrical Engineering and Automation Henan Institute of Technology XinxiangP.R.China State Key Laboratory of Intelligent Agricultural Power Equipment Luoyang P.R.China School of Electronic and Information Zhongyuan University of Technology ZhengzhouP.R.China State Key Laboratory of Power System of Tractor Luoyang P.R.China

Extracting roads from satellite images is an important task in thefield of computer vision with a wide range of ***,efficient road extraction from satellite images remains a complex challenge due to issues such as data labeling and the diversity of road *** methods often struggle to balance accuracy,robustness,and *** programming(GP)is based on aflexible and interpretable structure that is robust and does not require a large amount of data *** position the road extraction problem as a binary semantic segmentation task and introduce GP ***,an approach for extracting pixel neighborhood features is proposed,and features from multiple images in the DeepGlobe road extraction dataset are ***,an advanced feature construction method based on GP is ***,these advanced features are utilized for training classifier and classi-fication to achieve road *** have validated the effectiveness of the approach on the DeepGlobe road extraction *** results demonstrated that the proposed approach exhibits superior performance compared to traditional classification methods and multilayer perceptron(MLP)in terms of accuracy,generalization,and *** study provides a valuable reference for the integration of GP into the domain of road extraction from satellite images,showcasing their potential to enhance the accuracy and efficiency.

关键词： Road extraction genetic programming feature construction

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Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

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Journal of Shanghai Jiaotong university(Science) 2022年第5期27卷 638-648页

作者： LÜRunyan PENG Na WU Yi CAI Yunze Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Jiao Tong UniversityShanghai200240China Shanghai Aerospace Electronic Technology Institute Shanghai Academy of Spaceflight TechnologyShanghai201109China Alibaba(China)Co. Ltd.Hangzhou311121China

This paper focuses on the spatial registration algorithm under the earth-center earth-fixed(ECEF)coordinate system for multiple mobile *** sensor measurement biases are discussed with the attitude information of the platform into ***,the biased measurement model is ***,the maximum likelihood registration(MLR)algorithm is discussed to simultaneously estimate the measurement biases and the target ***,an improved online MLR(IMLR)algorithm is proposed through a sliding window of adaptive *** results demonstrate that the proposed IMLR algorithm effectively improves the realtime ability of the system and can approach similar estimation accuracy to the conventional MLR algorithm.

关键词： spatial registration 3D sensors improved online maximum likelihood registration(IMLR)

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