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Developing a Mechatronics-Twin Framework for Effective Exploration of Operational Behaviors of Prosthetic Sockets

SN Computer Science 2024年第2期5卷 205页

作者： Chen, Dejiu Ottikkutti, Suranjan Tahmasebi, Kaveh Nazem Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden

A Stewart platform is a six-degree-of-freedom parallel manipulator widely used as the motion base for flight simulators and antenna positioning systems, among others. This work presents a novel mechatronics-twin framework that integrates such a manipulator with advanced biomechanical models and simulations for effective exploration of operational behaviors of prosthetic sockets with amputees. By means of the biomechanical models and simulations, the framework allows the users to first analyze the fundamental operational characteristics of individual amputees according to their specific body geometries, pelvis-femur structures, and sizes of transfemoral sockets. Such operational characteristics are then fed to one Stewart platform as the reference control signals for the generation of dynamic loads and behaviors of prosthetic sockets that are otherwise difficult to observe or realize with the real amputees. Experiments in form of integration testing show that the proposed control strategy is capable of generating expected dynamic operational conditions. Currently, the mechatronics-twin framework supports a wide range of biomechanical configurations and the quantification of the respective intra-socket load conditions for socket design optimization and anomaly detection. © 2024, The Author(s).

关键词： Biomechanical modeling Cyber-physical system Force-control Human-in-the-loop Mechatronics-Twin Prosthetics Stewart manipulator Transfemoral amputee

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A Multi-agent Deep Reinforcement Learning Approach for Multiple AGVs Scheduling in Automated Container Terminals

A Multi-agent Deep Reinforcement Learning Approach for Multi...

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2024 China Automation Congress, CAC 2024

作者： Wang, Fei Ding, Pansheng Bi, Yannan Qiu, Jianbin Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350368604

The equipment scheduling method of automated container terminals is gradually evolving towards intelligence and automation. In this paper, a novel multi-agent deep reinforcement learning algorithm called Coupling Deep Q-network (C-DQN) is proposed to address the automated guided vehicles (AGV) scheduling problem. Specifically, the sparse reward problem of the proposed algorithm model is solved by a mask. The convergence of the model is accelerated by changing the greedy rate with a fixed step size. The shape of samples in the experience replay buffer is also improved through the methods of the centralized training and decentralized execution. Furthermore, the scheduling conflict problem caused by the cooperative game is reduced, and the overall efficiency of the scheduling task is also improved. Finally, the scenario of multi-AGV scheduling is designed to verify the effectiveness and efficiency of the proposed C-DQN algorithm. © 2024 IEEE.

关键词： Deep reinforcement learning

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Fault diagnosis method of rotating machinery based on multi-sensor information decision-level fusion 14

Fault diagnosis method of rotating machinery based on multi-...

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14th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Hangzhou 2023

作者： Yang, Jingli Huang, Yuxiang Zhang, Huiyuan Gao, Tianyu Department of Automatic Test and Control Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350301359

In order to improve the reliability and safety of rotating machinery systems, a fault diagnosis method based on consistency class weighted soft voting strategy is proposed in this paper, which consists of the basis classifier and decision fusion. The basis classifier includes a multi-scale feature extraction module and a classification module. In the first module, A multi-scale convolution kernel is employed to achieve the extraction and fusion of diverse features. To further improve the generalization performance, feature dimensionality reduction of the global average pooling layer is also introduced to effectively suppress noise interference and reduce overfitting. Then, the multi-scale features are input into the classification module to obtain the prediction label. Finally, a consistent category-weighted soft voting strategy is designed to perform decision fusion, which takes into account the difference in recognition ability of different basis classifiers for the same class while focusing on the difference in recognition ability of the base classifier for each fault class. By combining the probability distribution of prediction labels, the combined weights of different prediction labels are reasonably assigned. The fault dataset of a mechanical fault comprehensive simulation test-bed with Gaussian white noise is used to evaluate the method. The experimental results show that the proposed method is superior to other existing fault diagnosis methods for rotating machinery under noise interference, which proves that it has strong noise suppression ability. © 2023 IEEE.

关键词： fault diagnosis Information decision level fusion multisensor rotating machinery

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Establishment of Degradation Model and Transfer Model for P-channel Power MOSFETs Under Negative Bias Temperature Stress 10

Establishment of Degradation Model and Transfer Model for P-...

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10th IEEE International Power Electronics and Motion control Conference, IPEMC 2024 ECCE Asia

作者： Chen, Cen Wang, Haodong Yin, Haonan Zheng, Wei Zhai, Guofu Harbin Institute of Technology School of Electrical Engineering and Automation China Beijing Aerospace Automatic Control Institute China

ISBN: (纸本)9798350351330

Negative Bias Temperature Instability (NBTI) is the main reason for the degradation of gate oxide in P-channel power MOSFETs. Affected by long-term negative bias gate voltage and high temperature, the threshold voltage of power MOSFETs drifts, which in turn affects the performance of the device. Based on the analysis of NBTI failure mechanism, this paper conducted accelerated degradation test on six different types of P-channel power MOSFETs. Secondly, the Iterative Reweighted Least Square (IRLS) method was applied to establish a threshold voltage drift's degradation model, which can accurately describe actual degradation data. In addition, a transfer model was established using multiple linear regression theory to approximately describe the relationship between the fitting parameters of degradation model and power MOSFETs' process parameters, providing a new approach for the fast reliability assessment of P-channel power MOSFETs. © 2024 IEEE.

关键词： Negative bias temperature instability

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Basis change, projection, and relative linear algebra tricks in signal and image processing 27

Basis change, projection, and relative linear algebra tricks...

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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Dabrowski, Adam Poznań University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Jana Pawla II 24 Poznań60-965 Poland

ISBN: (纸本)9788362065486

In this tutorial some basic linear algebra problems: basis change and projection, are discussed together with examples of their applications in signal and image processing. In typical linear algebra university courses perpendicular projections are only discussed. However, in image processing, for defining various color spaces, we need non-perpendicular projections. That is why this is the key problem in this tutorial. © 2024 Division of Signal Processing and Electronic systems, Poznan University of technology (DSPES PUT).

关键词： Matrix algebra

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CDQKL: Consensus-Based Distributed Quantum Kernel Learning 1

CDQKL: Consensus-Based Distributed Quantum Kernel Learning

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1st International Conference on Quantum Communications, Networking, and Computing, QCNC 2024

作者： Ma, Wenxuan Liu, Mengxiang Deng, Ruilong State Key Laboratory of Industrial Control Technology The College of Control Science and Engineering Zhejiang University Hangzhou310027 China University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom

ISBN: (纸本)9798350366778

The field of quantum computing has developed rapidly in recent years due to its promising trend of surpassing traditional machine learning in terms of speed and effectiveness. Quantum kernel learning is one of the paradigms of quantum machine learning, but the training of quantum kernel is time consuming. Therefore, this work makes the first attempt to introduce a consensus-based distributed approach to quantum kernel learning - named CDQKL - that only requires to exchange model parameter information between adjacent nodes while avoiding the need of sharing local training data. Through comparative experimental studies, the advantages of CDQKL in classification accuracy and convergence speed are verified. Considering the popularization of quantum computing cloud service and miniaturization of quantum terminals, the CDQKL adapting to this trend is able to play a vital role in data security, which implies the far-reaching significance of this work. Our code is available at https://***/Leisurivan/CDOKL. © 2024 IEEE.

关键词： Quantum computers

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An Effective Adaptive Large Neighborhood Search Algorithm for Multi-AGV Dispatching Problem in Matrix Manufacturing systems 21

An Effective Adaptive Large Neighborhood Search Algorithm fo...

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21st International Conference on Networking, Sensing and control, ICNSC 2024

作者： Li, Boyu Wu, Weimin Institute of Cyber-Systems and Control Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou China

ISBN: (纸本)9798350365221

With the increasing prevalence of automated guided vehicles (AGV s) in industry, the AG V dispatching has emerged as a research hotspot. Recently, matrix manufacturing systems (MMS) have been favored for their suitability in mass-customized production. However, fluctuating and diverse transport demands in MMS pose challenges for effective AGV scheduling. This paper investigates a multi-AGV dispatching problem (AGVDP) in MMS, involving time-constrained pick-up and delivery tasks. A mixed-integer linear programming model is developed to minimize total transportation costs, including travel distance, early arrival time, and utilized AGV s. To achieve this, an effective adaptive large neighborhood search algorithm (ALNS) is proposed. In ALNS, a scope-based nearest neighbor heuristic is introduced for initial construction. Diverse problem-specific operators are designed to generate large neighborhoods. To enhance ALNS's robustness to instance variations, an adaptive simulated annealing acceptance criterion is proposed. Computational experiments using a well-established benchmark validate the superiority of the proposed ALNS. © 2024 IEEE.

关键词： Simulated annealing

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Improving the Reconstruction Efficiency of Dice- Stagewise Weak Orthogonal Matching Pursuit 3

Improving the Reconstruction Efficiency of Dice- Stagewise W...

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3rd IEEE International Conference on Computer Communication and Artificial Intelligence, CCAI 2023

作者： He, Shaoqi Xiao, Liangang Gao, Shibo Zhu, Yichuan National KeyLaboratory and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute Beijing China Committee of Science and Technologyational Key Laboratory of Science and Technology on Aerospace Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (纸本)9798350335262

weak orthogonal matching pursue algorithm cannot obtain high-precision reconstructed signals in the measurement process. Thus, this study proposes an improved SWOMP algorithm called DHP-SWOMP, which is based on partial Hadamard matrix, to overcome the aforementioned shortcoming. First, Dice coefficient matching is introduced to effectively distinguish the atomic correlation and ensure the selection of the best atom for overcoming the similar atom selection in traditional SWOMP algorithm. Then, the sampling partial Hadamard matrix is proposed as the measurement matrix to overcome the issue of failing to obtain high-precision reconstructed signals when Gaussian matrix is used in SWOMP algorithm. The random independence of the matrix is used to improve the reconstruction accuracy of the algorithm. Simulation results show that the proposed algorithm improves the signal-to-noise ratio by 53.97%, shortens the reconstruction time by 87.60%, reduces the mean square error by 15.46%, and have smaller recovery residual and higher signal reconstruction rate than SWOMP algorithm based on Gaussian matrix. © 2023 IEEE.

关键词： Compressed sensing

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Research on Optimization Seeking Method of Transmission Efficiency of Orbital Inspection Robot Based on DWPT System

Research on Optimization Seeking Method of Transmission Effi...

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2024 IEEE Transportation Electrification Conference and Expo, Asia-Pacific, ITEC Asia-Pacific 2024

作者： Chen, Youcheng Liu, Zhitao Xue, Xuchi Su, Hongye Zhejiang University State Key Laboratory Of Industrial Control Technology Institute Of Cyber-Systems And Control Hangzhou China

ISBN: (纸本)9798331529277

In wireless power transmission system, due to the changes of coupling coefficient, load impedance and other factors, it destroys the system constant voltage, constant power output and transmission efficiency optimal working condition. Therefore, this paper proposes an optimization seeking method for the maximum transmission efficiency of the DWPT system of an orbital inspection robot with constant voltage and constant power output. Firstly, the LCC-S topology mathematical model with additional PI control circuit and the convex optimization model of transmission efficiency are established, and the gradient descent algorithm is used to iteratively search for the maximum value of transmission efficiency when the orbital coupling coefficient changes. Then, based on the mutual inductance model between coils, the coupling coefficients are converted into coil inductance parameters L1 and L2, and the coil self-inductance is utilized for matching regulation to keep the transmission efficiency at the optimal value. Finally, in order to further optimize and predict the transmission efficiency, the fitting effects of the four fitting curves of the transmission efficiency are observed by the coefficient of determination and the residual paradigm, and the optimal fitting curves are used to calculate the maximum and average transmission efficiency, which reduces the system transmission loss and improves the charging efficiency. © 2024 IEEE.

关键词： Convex optimization

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Research on a New Type of Missile Agile Turn and Its control technology 2

Research on a New Type of Missile Agile Turn and Its Control...

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2nd International Conference on Intelligent control and Computing, IC-C 2024

作者： Li, Zheng Jia, Zhenyue Niu, Kang Li, Jiaxun Yu, Jianqiao Beijing Institute of Technology Department of Astronautics Beijing China Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (纸本)9798350351873

A new mechanism of missile agile turn and its control method are proposed for problem of missile attacking rear targets in this paper. Firstly, a new agile turn mechanism for missiles is defined;Secondly, the dynamic model for missiles with blended lateral thrusters and aerodynamic control systems including a deceleration parachute is established;Next, aiming at the singularity problem of traditional terminal sliding surface, a finite time convergent agile turn non-singular sliding mode controller is designed by using a segmented sliding surface;Then, the extended state observer is designed to eliminate control chattering, and the system stability is proven based on Lyapunov stability theory;Finally, the effectiveness of the proposed new mechanism of agile turn and the control method is proved through simulation and analysis. Compared with the traditional agile turn mechanism, the method proposed in this paper can significantly reduce the turning radius of the missile, while achieving greater terminal speed, the system states converge more quickly, the singularity problem and chattering are avoided. © 2024 IEEE.

关键词： Sliding mode control

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