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Research and manufacture of a rotational coin sorting machine

UPB Scientific Bulletin, Series D: Mechanical engineering 2021年第1期83卷 125-134页

作者： Han, Zhu Liu, Jun Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System National Demonstration Centre for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

To solve the problem of huge cost of human and material resources when sorting coins in banks, shopping malls and bus companies. A coin sorting device is first proposed and designed based on structural optimization design. The novel device can automatically sort coins and save a lot of labor. The structure of the machine is designed ingeniously, and the function of layer-by-layer coin sorting is realized through the cooperation among slopes of between different sieve plates. The machine has the advantages of low cost, stable operation and reliable performance, which effectively realizes coin sorting. In addition, the design and machine provide a novel research direction on coin classification and sorting. © 2021, Politechnica University of Bucharest. All rights reserved.

关键词： Structural optimization

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LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map

arXiv

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arXiv 2024年

作者： Wu, Xinrui Xu, Jianbo Hu, Puyuan Wang, Guangming Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom

— Localization using a monocular camera in the pre-built LiDAR point cloud map has drawn increasing attention in the field of autonomous driving and mobile robotics. However, there are still many challenges (e.g. difficulties of map storage, poor localization robustness in large scenes) in accurately and efficiently implementing cross-modal localization. To solve these problems, a novel pipeline termed LHMap-loc is proposed, which achieves accurate and efficient monocular localization in LiDAR maps. Firstly, feature encoding is carried out on the original LiDAR point cloud map by generating offline heat point clouds, by which the size of the original LiDAR map is compressed. Then, an end-to-end online pose regression network is designed based on optical flow estimation and spatial attention to achieve real-time monocular visual localization in a pre-built map. In addition, a series of experiments have been conducted to prove the effectiveness of the proposed method. Our code is available at: https://***/IRMVLab/LHMaploc. Copyright © 2024, The Authors. All rights reserved.

关键词： Optical radar

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Economic Dispatch Strategy for Virtual Power Plants Based on Distributed Multi-Agent Algorithms

Economic Dispatch Strategy for Virtual Power Plants Based on...

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Energy engineering and Power systems (EEPS), International Conference on

作者： Dong Jiang Chenxia Wang Yali Xue Department of Energy and Power Engineering State Key Laboratory of Power System Operation and Control Tsinghua University Beijing China College of New Energy Harbin Institute of Technology at Weihai Weihai China Department of Energy and Power Engineering State Key Laboratory of Power System Operation and Control Tsinghua Shanxi Clean Energy Research Institute Tsinghua University Beijing China

ISBN: (数字)9798350375138

ISBN: (纸本)9798350375145

This paper proposes an economic dispatch strategy for virtual power plants(VPP) based on distributed multi-agent algorithms to optimize resource allocation and maximize the VPP economy, in response to the volatility and uncertainty associated with a significant amount of renewable energy. An economic dispatch model for VPP is established in which the coefficients of the cost function are time-varying to account for the effect of the renewable energy output variation. Then a distributed multi-agent algorithm based on graph theory and the Lagrange multiplier method is developed to facilitate communication among individual units and minimize the total operational cost of the system. The effectiveness of the proposed algorithm is validated through numerical examples, which demonstrate its capability to optimize resource allocation, achieve economic dispatch for the VPP, and exhibit a rapid rate of convergence.

关键词： Economics Renewable energy sources Uncertainty Virtual power plants Cost function Graph theory Scheduling Power systems Resource management Convergence

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DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spatio-temporal Propagation

DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spa...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Huixin Zhang Guangming Wang Xinrui Wu Chenfeng Xu Mingyu Ding Masayoshi Tomizuka Wei Zhan Hesheng Wang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Department of Engineering University of Cambridge Cambridge U.K. UC Berkeley Berkeley CA USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper introduces a 3D point cloud sequence learning model based on inconsistent spatio-temporal propagation for LiDAR odometry, termed DSLO. It consists of a pyramid structure with a spatial information reuse strategy, a sequential pose initialization module, a gated hierarchical pose refinement module, and a temporal feature propagation module. First, spatial features are encoded using a point feature pyramid, with features reused in successive pose estimations to reduce computational overhead. Second, a sequential pose initialization method is introduced, leveraging the high-frequency sampling characteristic of LiDAR to initialize the LiDAR pose. Then, a gated hierarchical pose refinement mechanism refines poses from coarse to fine by selectively retaining or discarding motion information from different layers based on gate estimations. Finally, temporal feature propagation is proposed to incorporate the historical motion information from point cloud sequences, and address the spatial inconsistency issue when transmitting motion information embedded in point clouds between frames. Experimental results on the KITTI odometry dataset and Argoverse dataset demonstrate that DSLO outperforms state-of-the-art methods, achieving at least a 15.67% improvement on RTE and a 12.64% improvement on RRE, while also achieving a 34.69% reduction in runtime compared to baseline methods. Our implementation will be available at https://***/IRMVLab/DSLO.

关键词： Point cloud compression Solid modeling Laser radar Accuracy Three-dimensional displays Runtime Logic gates Robot sensing systems Real-time systems Odometry

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Quality Prediction of Injection Molding Process Using CNN and Parallel-Cascade LSTMs 43

Quality Prediction of Injection Molding Process Using CNN an...

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43rd Chinese control Conference, CCC 2024

作者： Zhang, Yibo Li, Dewei Zhou, Yuanqiang Gao, Furong Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Shanghai201100 China Tongji University College of Electronic and Information Engineering Shanghai201804 China Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong The Guangzhou Hkust Fok Ying Tung Research Institute Department of Chemical and Biological Engineering Guangzhou511458 China

ISBN: (纸本)9789887581581

Quality prediction of plastic products has always been an important research topic in the injection molding production process. However, existing quality prediction methods struggle to handle both high-frequency data and statistical data generated during the injection molding production process. This paper introduces a novel quality prediction model for injection molding production, utilizing a combination of Convolutional Neural Networks (CNN) and Parallel-Cascade Long Short-Term Memory (PCLSTM) networks. The PCLSTM network is designed to handle the complexities of high-frequency data in injection molding, overcoming the limitations of traditional LSTM methods in processing long sequence data. By segmenting data into stages and utilizing a cascade mechanism, the PCLSTM architecture efficiently captures important temporal dynamics. Additionally, the CNN network is designed to extract statistical data features. The quality prediction results are obtained by fusing two types of data features and then passing them through a fully connected network. Experimental results on real production datasets show that the CNN-PCLSTM model outperforms existing models in prediction accuracy and training convergence speed. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Convolutional neural networks

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A Fault-Tolerant control Scheme for Civil Aircraft Based on Prescribed Performance control

A Fault-Tolerant Control Scheme for Civil Aircraft Based on ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Duan, Jingqi Wu, Yunjie Wang, Ziyu State Key Laboratory of Virtual Reality Technology and System Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beijing100191 China Large Aircraft Advanced Training Center Beihang University Beijing100191 China

ISBN: (纸本)9789811966125

In this paper, a fault-tolerant control scheme based on prescribed performance control is proposed to solve the pitch angle attitude control problem of large civil aircraft when actuator faults and external disturbances exist simultaneously. Firstly, the longitudinal motion model of civil aircraft with actuator fault is established. Among them, actuator faults and external disturbances are regarded as lumped disturbances. Then, a performance envelope is constructed based on the hyperbolic cosecant function which can adjust the transient convergence rate and the steady convergence rate respectively. In order to achieve fast online estimation of lumped disturbances, an RBF neural network observer is constructed. The introduction of tracking differentiator solves the problems of initial state constraint of prescribed performance control and "differential-explosion" in back-stepping control. After proving the stability of the system from the perspective of theoretical analysis, the simulation of pitch angle control under the condition of abrupt actuator faults and external disturbance is completed based on Boeing 747 longitudinal motion model. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Attitude control

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86-Gb/s Optical Chaos Communication over 100-km Fiber Transmission Using Semiconductor Lasers 49

86-Gb/s Optical Chaos Communication over 100-km Fiber Transm...

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49th European Conference on Optical Communications, ECOC 2023

作者： Mao, Xiaoxin Fan, Xiaoqi Wang, Longsheng Fu, Songnian Wang, Yuncai Wang, Anbang Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province Taiyuan030024 China College of Optoelectronics Taiyuan University of Technology Taiyuan030024 China School of Information Engineering Guangdong University of Technology Guangzhou510006 China Guangdong Provincial Key Laboratory of Information Photonics Technology Guangzhou510006 China

An optical-chaos secure communication of 86-Gb/s 16-Ary QAM signal over 100-km fiber transmission is experimentally demonstrated under the 20%-overhead SD-FEC BER threshold of 2.0×10-2 by using wideband chaos syn... 详细信息

ISBN: (纸本)9781839539954

关键词： Semiconductor lasers

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弹流润滑下考虑切片耦合的直齿轮啮合刚度的迭代模型

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Journal of Central South University 2023年第10期30卷 3414-3434页

作者：黄文康马辉赵志芳王鹏飞彭志科张晓旭赵松涛 School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion System of Ministry of Education Northeastern UniversityShenyang 110819China Institute of Vibration Shock&Noise State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghai 200240China Harbin Marine Boiler and Turbine Research Institute Harbin 150078China School of Mechanical Engineering Tongji UniversityShanghai 201804China

弹流润滑在减少齿轮表面的变形和摩擦方面起着关键作用,可提高齿轮传动的稳定性和可靠性。本文提出了一个模型来研究直齿轮中弹流润滑与时变啮合刚度之间的复杂关系,旨在求解弹流润滑下的直齿轮时变啮合刚度。本模型考虑了弹流润滑、切... 详细信息

弹流润滑在减少齿轮表面的变形和摩擦方面起着关键作用,可提高齿轮传动的稳定性和可靠性。本文提出了一个模型来研究直齿轮中弹流润滑与时变啮合刚度之间的复杂关系,旨在求解弹流润滑下的直齿轮时变啮合刚度。本模型考虑了弹流润滑、切片耦合、延长啮合、齿轮体柔性耦合和修正的轮齿刚度的影响。为提高准确性,通过去除能量的重复计算来修正轮齿刚度。此外,还推导了切片耦合与变形协调方程之间的迭代关系。提出的模型通过MASTA软件和参考文献进行验证。分析了弹流润滑和切片耦合对直齿轮啮合特性的影响。研究结果显示,考虑切片耦合后,带有鼓向修形的直齿轮的时变啮合刚度显著增大,并且导致边缘的集中载荷转移到齿面的中间部位。

关键词：弹流润滑时变啮合刚度切片耦合变形协调方程

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A Joint Longitudinal and Lateral Guidance Scheme for Reentry Gliding Phase of Hypersonic Vehicles

A Joint Longitudinal and Lateral Guidance Scheme for Reentry...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Wang, Ziyu Wu, Yunjie Duan, Jingqi State Key Laboratory of Virtual Reality Technology and System Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beijing100191 China Large Aircraft Advanced Training Center Beihang University Beijing100191 China

ISBN: (纸本)9789811966125

A joint longitudinal and lateral guidance law design scheme is proposed for the reference trajectory tracking problem of the reentry gliding phase of hypersonic vehicles. With respect to the longitudinal and lateral motion model of the hypersonic vehicle, a longitudinal guidance law based on the Global Fast Terminal Sliding Mode (GFTSM) algorithm and a lateral guidance law based on the Extended State Observer (ESO) is designed respectively, which are combined to get the bank angle for the hypersonic vehicle and obtain the final guidance scheme. From theoretical analysis, it shows that the guidance scheme has the characteristics of global rapidity and finite-time convergence, and both longitudinal and lateral guidance law are robust to system uncertainties which are caused by certain parameter perturbation and external interference. The effectiveness and superiority of this joint guidance scheme compared to traditional guidance method are verified by simulation experiments using the specific gliding reentry model and reference trajectory of a hypersonic vehicle. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Hypersonic vehicles

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Smart Plant Application of Autonomous Decentralized systems with the Introduction of Edge Nodes 15

Smart Plant Application of Autonomous Decentralized Systems ...

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15th International Conference on Advanced Computer Theory and engineering, ICACTE 2022

作者： Wang, Jingyang Zou, Tao Yang, Zhijia Wang, Hongrui Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China Guangzhou University College Of Mechanical And Electrical Engineering Guangzhou China State Key Laboratory Of Robotics Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China University Of Chinese Academy Of Sciences Beijing China

ISBN: (数字)9781665481809

ISBN: (纸本)9781665481809

This paper illustrates the application of an autonomous decentralized system introducing edge nodes in a smart factory. The nodes include atomic nodes, the most fundamental autonomic units constituting an autonomous decentralized system that are capable of independently extracting information from the data field and processing that information internally and simultaneously transmitting the processing results and other internal information to the data field proactively in a broadcast mode, where the transmitted information circulates in the data field. The group-based data field enables the sharing of information by atomic nodes. Grouped management nodes are the managers of the whole group, and edge nodes are the terminal intelligent control units of an intelligent autonomous decentralized system. Improvements in system decentralization, fault tolerance characteristics and flexibility of the system can lead to homogenization, autonomous control and autonomous coordination in complex manufacturing environments, as well as excellent online fault tolerance, online expansion and online maintenance of the system. In addition, it enhances the ever-changing and evolving control requirements by deconstructing the complexity in the system. © 2022 IEEE.

关键词： Fault tolerance

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