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第32届中国控制与决策会议

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Human Walking Model Biped Robots Leg Stiffness Legged Locomotion Model and control

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Design of intelligent control system for networkable stereo garage based on microprocessor

Design of intelligent control system for networkable stereo ...

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2019 Jiangsu Annual Conference on automation, JACA 2019

作者： Xue, Yufeng Niu, Dan Yue, You Li, Tao Li, Fan Huang, Xueying School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems Ministry of Education Nanjing China Jiangsu Juli Intelligent Machinery Corp. Ltd. Suzhou China

The demand for stereo garages has been an urgent issue as the number of vehicles in China has been soaring these years. An intelligent control system for networked stereo garages is introduced here. Based on authors’ design, the movement of the parking plate is controlled by a programmable logic controller (PLC). PLC sends the parking space status, the limit switch state, and the motor running parameters to the acorn RSIC machine (ARM) control system. The ARM control system then uploads the license plate recognition result and the garage operation data to the cloud platform instantly through internal network. The cloud platform would develop corresponding control strategies based on data received from the cloud portal (website and application (APP)) and the ARM controller. The test result of the system indicates that it meets the requirements of relevant technical indicators and the actual needs of users. © 2019 Institution of Engineering and *** rights reserved.

关键词： intelligent control

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Research and design of cloud monitoring and management system for intelligent stereo garage

Research and design of cloud monitoring and management syste...

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2019 Jiangsu Annual Conference on automation, JACA 2019

作者： Li, Fan Niu, Dan Li, Tao Xue, Yufeng Huang, Xueying School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems Ministry of Education Nanjing China Jiangsu Juli Intelligent Machinery Corp. Ltd. Suzhou China

With the rapid development of the stereo garage, there are plenty of security problems appeared in stereo garage. The monitoring and management system of the stereo garage has attracted more and more attention. A cloud monitoring and management system for stereo garage is designed based on Web technology, which collects real-time data from the intelligent controller of the stereo garage, stores them in the cloud database. History and real-time data are studied to complete the functions of garage overview, real-time video monitoring, fault management, garage management, and system management. Deep confidence networks are proposed to conduct fault diagnosis for stereo garage, and the results are sent to the management interface of cloud portal (APP and website) for remote management. Test results show that the management efficiency of the stereo garage is significantly improved. The system guarantees the safe and reliable work of the stereo garage. It achieves better performance especially in the remote management and fault diagnosis. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Failure analysis

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An Enhanced Fault Diagnosis Method with Uncertainty Quantification Using Bayesian Convolutional Neural Network

An Enhanced Fault Diagnosis Method with Uncertainty Quantifi...

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IEEE International Conference on automation Science and Engineering (CASE)

作者： Qihang Fang Gang Xiong Xiuqin Shang Sheng Liu Bin Hu Zhen Shen State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

Fault diagnosis is a vital technique to pinpoint the machine malfunctions in manufacturing systems. In recent years, the deep learning techniques greatly improve the fault detection accuracy, but there still remain some problems. If one fault is absent in the training data or the fault signal is disturbed by severe noise interference, the fault classifier may misjudge the health state. This problem limits the reliability of the fault diagnosis in real applications. In this paper, we enhance the fault diagnosis method by using Bayesian Convolutional Neural Network (BCNN). A Shannon entropy-based method is presented to quantify the prediction uncertainty. The BCNN turns the deterministic predictions to probabilistic distributions and enhances the robustness of the fault diagnosis. The uncertainty quantification method helps to indicate the wrong predictions, detect unknown faults, and discover the strong disturbances. Then, a fine-tuning strategy is applied to enhance the model performance further. The potential usability of the proposed method in monitoring the motors of 3D printers is studied. And the experiment is conducted on a motor bearing dataset provided by Case Western Reserve University. The proposed BCNN achieves 99.82% fault classification accuracy over nine health conditions. Its robustness is verified by comparing the testing accuracy with three other methods on the noisy datasets. And the uncertainty quantification method successfully detects the outlier inputs.

关键词： Fault diagnosis Uncertainty Bayes methods Circuit faults Robustness Predictive models Noise measurement

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Dynamic Balance and Trajectory Tracking control of Quadruped Robots Based on Virtual Model control

Dynamic Balance and Trajectory Tracking Control of Quadruped...

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第三十九届中国控制会议

As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.

关键词： Virtual model control Dynamic balance control Trajectory tracking control Quadruped robots

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K-9 Artificial Intelligence Education in Qingdao: Issues, Challenges and Suggestions

K-9 Artificial Intelligence Education in Qingdao: Issues, Ch...

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IEEE International Conference on Networking, Sensing and control

作者： Xiaoyan Gong Ying Tang Xiwei Liu Sifeng Jing Wei Cui Joleen Liang Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao China Rowan University Glassboro NJ USA Squirrel AI Learning Shanghai China

ISBN: (数字)9781728168555

ISBN: (纸本)9781728168562

Nowadays, AI education from Kindergarten to 9 th grade(K-9) is in full swing in China, but many challenges exist, such as fragmented AI curricula, ineffective teaching tools, and uneven educational resources in urban and rural areas, etc. So this paper presents an in-depth study of the current status of K-9 AI education in Qingdao area through questionnaires, expert discussions, and field visits to sort out existing problems and then put forward corresponding advice and suggestions. Collected data is then analyzed from the perspectives of government, schools, teachers, students and parents, respectively. Results show that AI-related educational activities have been carried out in Qingdao area to improve students' AI literacy. But efforts are still needed to make such education more systematic, standardized, and personalized. Finally the paper made a list of recommendations corresponding to these needed efforts.

关键词： Ethics Systematics Education Government Tools Sensors Artificial intelligence

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A Parallel Education Based intelligent Tutoring systems Framework

A Parallel Education Based Intelligent Tutoring Systems Fram...

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IEEE International Conference on Networking, Sensing and control

作者： Sifeng Jing Ying Tang Xiwei Liu Xiaoyan Gong Wei Cui Joleen Liang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao China Rowan University Glassboro NJ USA Squirrel AI Learning Shanghai China

ISBN: (数字)9781728168555

ISBN: (纸本)9781728168562

although online education has improved efficiency of learners' access to high-quality educational resources, real-time interaction between instructors and learners have not yet been achieved in online personalized learning. intelligent Tutoring systems (ITS) provides a feasible way to realize realtime personalized learning guidance and resource recommendations by applying AI to capture and analyze online learners' characteristics and behaviors. In this paper, reviews and trends of ITS are discussed and three challenges of ITS research & development are pointed out: learner model, guidance mechanism and human-computer interaction mechanism. In order to address these issues, parallel intelligence theory is introduced and a parallel intelligence education based ITS framework is proposed.

关键词： Human computer interaction Conferences Education Market research Sensors Artificial intelligence

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Sensorless control of a Tubular Oscillatory LPMSM based on MARS and Deadbeat Current Predictive control

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IOP Conference Series: Materials Science and Engineering 2020年第6期768卷

作者： Kang Lu Tao Wu Haonan Chen He Wang Jia Gao School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China

In the vector control system of the tubular oscillatory linear permanent magnet (PM) synchronous motor (LPMSM), it is difficult for traditional mechanical sensors to accurately obtain the feedback information under harsh conditions. In this work, a speed sensorless vector control system is designed and applied to the tubular oscillatory LPMSM which adopts the model reference adaptive system (MRAS), and the deadbeat current predictive control (DCPC) is also adopted to replace the traditional PI current loop to establish the coordination controller, which overcomes the difficulties of global optimization and PI control parameter setting. And the method is proved by the simulation results and it gets better dynamic performance.

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Image Fusion based on Variational Method for Maintenance of Gradient and Intensity

Image Fusion based on Variational Method for Maintenance of ...

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Chinese control Conference (CCC)

作者： Jinglan Bai Liping Yan Yuanqing Xia Bo Xiao Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing P. R. China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Infrared and visible image fusion technology helps to improve the spatial resolution. It mainly preserves the features and details of the source images and generates a fusion image with visual enhancement. In this paper, based on the gradient features and intensity information of the source images, an optimization model for image fusion is built. Firstly, the pre-fused gradient of the source images is obtained by combining the structure tensor and the proposed local gradient similarity, where local gradient similarity is used to make the fused gradient direction more accurately. Secondly, the source images are reconstructed into salient and non-salient images according to the comparison of the pixel intensity. A weight map before the non-salient image in the optimization model makes the effective details preserved, so that the pre-fused images consist of the salient image and the non-salient image with a weight map. Finally, an optimization model is constructed to constrain the gradient and intensity of the final fused image close to the pre-fused gradient and the pre-fused images. The final fused image is obtained from solving the optimization model by use of the variational method. The experimental results are evaluated from subjective and objective assessments, which show the effectiveness of the proposed algorithm.

关键词： Optimization Tensile stress Image fusion Mathematical model Matrix decomposition Eigenvalues and eigenfunctions Visualization

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Artificial Neural Network Based Maximum Power Point Tracking for PV System

Artificial Neural Network Based Maximum Power Point Tracking...

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第三十八届中国控制会议

作者： Al-wesabi Ibrahim Min Ding Xiaoling Jin Xianzhong Dai Mohammad Abu Sarhan Muhammed Badeaa Shafik Hao Zhou School of Automation China University of Geoscience Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System State Grid Energy Research Institute School of electrical engineering and automation Wuhan university

Nowadays PV systems is suffering from two main problems: high production cost and low efficiency especially under variable weather conditions. Therefore, to reduce such associated problems, PV systems are being connected with various optimization controllers such as maximum power point tracking. In this paper, an artificial neural network maximum power point method has been designed to be linked between a PV system and DC-DC buck converter, and each part of the system is fully explained. The whole system was modeled under MATLAB/Simulink environment, simulation results demonstrated the efficiency of the proposed method. The proposed method has been examined to track the maximum power point under different weather conditions which shows a rapid and accurate tracking of the maximum power point(MPP) of PV system. The whole system which consists of PV arrays, Buck converter, ANN tracker, and load has been modeled using MATLAB/Simulink environment. This Simulink model has been examined using different levels of temperature and irradiation and the output results of both P-V and I-V characteristics, output power, and the system efficiency clearly demonstrate the validation of the modeled system. This demonstration has been done by comparing between the result of experimental platform and the results of simulated model which approves that ANN is highly recommended to be used in the field of maximum power point tracking of PV system.

关键词： Artificial neural network(ANN) Photovoltaic(PV) Maximum power point tracking(MPPT) Buck converter

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