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TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Wu, Yangbiao Zhang, Chao Liu, Guiyi Wu, Le Ouyang, Bing Qin, Feifan School of Mechanical Engineering Inner Mongolia University of Science and Technology Baotou014010 China Key Laboratory of Intelligent Diagnosis and Control of Electromechanical Systems in Inner Mongolia Autonomous Region Baotou014010 China

ISBN: (纸本)9783031734069

The study of fault mechanisms plays a crucial role in the field of fault diagnosis. The phenomenon of rolling element slippage is inevitable. In order to more accurately describe the phenomenon of rolling element slippage in the defective area, this paper employs the instantaneous center method and the theorem of three centers to represent the centerline velocity of the rolling element. Due to the change in linear velocity when the rolling element slips, the magnitude of the impact force is calculated according to the principle of collision. Finally, focusing on deep groove ball bearings as the research object, a fault dynamic model is established to simulate the slippage of the rolling element after being subjected to impact force in the defective area. The model is solved using the fourth-order Runge-Kutta method, and the results are simulated. Through experimental simulation analysis, the fault characteristic frequencies obtained from the proposed model are compared with theoretical values, with errors falling within the range of 1 to 2 Hz. Therefore, this provides preliminary validation of the correctness of the proposed model. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Deep groove ball bearings

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TextGeo-SLAM: A LiDAR SLAM With Text Semantics and Geometric-Constraint-Based Loop Closure

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IEEE Internet of Things Journal 2025年第9期12卷 12021-12033页

作者： Chen, Shoubin Li, Chunyu Jiang, Qi Zhuang, Xuebin Zhang, Bo Zhou, Baoding Li, Qingquan Shenzhen518060 China Sun Yat-sen University School of Systems Science and Engineering Guangzhou510275 China National University of Singapore Queenstown Singapore Shenzhen University College of Mechatronics and Control Engineering Shenzhen City Joint Laboratory of Autonomous Unmanned Systems and Intelligent Manipulation Shenzhen518060 China Shenzhen518060 China Shenzhen University Department of Shenzhen Key Laboratory of Spatial Smart Sensing and Services Shenzhen518060 China

A robust back-end module with loop closure detection is crucial for accurate positioning and mapping in LiDAR-based simultaneous localization and mapping (SLAM) systems, particularly in Internet of Things (IoT) environments where multiple devices collaborate. Traditional methods that rely on images or point clouds often fail in environments with similar structures or textures, leading to incorrect loop closures. To address this, we propose a novel LiDAR SLAM system that integrates a front-end odometry module, a loop closure detection module using text semantics and geometric constraints, and a global optimization module. By using cameras on an unmanned ground vehicle (UGV), the system captures text information from the environment, enabling semantic matching to identify potential loops. Geometric constraints help eliminate erroneous loops caused by identical text in different locations. Evaluations on datasets with similarly structured environments, such as indoor parking lots, outdoor campus areas, and mixed indoor–outdoor scenes, show that our method significantly improves loop closure detection accuracy and global precision compared to existing state-of-the-art approaches. Our research can support autonomous IoT systems and multiagent systems that rely on accurate positioning and mapping, with potential applications in embodied intelligence, self-driving cars, and smart cities. © 2014 IEEE.

关键词： Multi agent systems

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An intelligent matching method for the equivalent circuit of electrochemical impedance spectroscopy based on Random Forest

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材料科学技术（英文版） 2025年第6期209卷 300-310页

作者： Wenbo Chen Bingjun Yan Aidong Xu Xin Mu Xiufang Zhou Maowei Jiang Changgang Wang Rui Li Jie Huang Junhua Dong Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Shenyang National Laboratory for Materials Science Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China General Research Institute China Oil & Gas Pipeline Network CorporationLangfang 065000China

One of the core works of analyzing Electrochemical Impedance Spectroscopy(EIS)data is to select an appropriate equivalent circuit model to quantify the parameters of the electrochemical reaction ***,this process often relies on human experience and judgment,which will introduce subjectivity and *** this paper,an intelligent approach is proposed for matching EIS data to their equivalent circuits based on the Random Forest *** can automatically select the most suitable equivalent circuit model based on the characteristics and patterns of EIS *** the typical scenario of metal corrosion,an atmospheric corrosion EIS dataset of low-carbon steel is constructed in this paper,which includes five different corrosion *** dataset was used to validate and evaluate the pro-posed method in this *** contributions of this paper can be summarized in three aspects:(1)This paper proposes a method for selecting equivalent circuit models for EIS data based on the Random Forest algorithm.(2)Using authentic EIS data collected from metal atmospheric corrosion,the paper es-tablishes a dataset encompassing five categories of metal corrosion scenarios.(3)The superiority of the proposed method is validated through the utilization of the established authentic EIS *** ex-periment results demonstrate that,in terms of equivalent circuit matching,this method surpasses other machine learning algorithms in both precision and ***,it shows strong applicability in the analysis of EIS data.

关键词： Electrochemical impedance spectroscopy Random forest Corrosion Equivalent circuit model

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Collaborative Routing and Charging/Discharging Scheduling of Electric autonomous Vehicles in Coupled Power-Traffic networks: A Multi-Objective Approach

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IEEE Internet of Things Journal 2025年第11期12卷 17753-17764页

作者： Chu, Kai-Fung Chen, Tianlun Xie, Yue Lam, Albert Y.S. Song, Yue Iida, Fumiya University of Cambridge Department of Engineering CambridgeCB2 1PZ United Kingdom The University of Hong Kong Department of Electrical and Electronic Engineering Hong Kong The University of Hong Kong Department of Electrical and Electronic Engineering Department of Geography Hong Kong Fano Labs Hong Kong Tongji University Department of Control Science and Engineering Shanghai201804 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai201210 China Ministry of Education Frontiers Science Center for Intelligent Autonomous Systems Shanghai200120 China

autonomous vehicles (AVs) are vehicles that traverse on the road without active human intervention. With a coordinator, AVs can be connected to provide high-efficiency transport services, such as AV-based public transport networks. The controller can manage the network by coordinating the transport request assignment, traveling, and charging/discharging schedule. On the other hand, AVs are likely to be electric and benefit the smart grid via vehicle-to-grid technology. A well-designed mobility network connecting electric AVs (EAVs) and smart grid can substantially reduce unnecessary travel and energy costs. In this paper, we aim to maximize utilities in the AV-based public transport network and the power distribution network for the vehicle network containing EAVs, charging stations, and distributed power generations. We formulate the assignment and scheduling problem as a multi-objective mixed-integer program. To solve the optimization problem, we develop a hybrid heuristic approach based on Non-Dominated Sorting Genetic Algorithm II and branch-and-bound algorithms. Experiments are conducted on a modified 15-bus distribution system and a simulated traffic network. The results show that the proposed strategy effectively minimizes the total travel and energy purchase cost by 21%. This study provides valuable insights on vehicle coordination for multiple tasks, offering visionary guidance for stakeholders engaged in multifaceted transportation endeavors. © 2014 IEEE.

关键词： Vehicle-to-grid

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An Improved DeeplabV3+ Tile Image Positioning Method

An Improved DeeplabV3+ Tile Image Positioning Method

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2024 International Conference Optoelectronic Information and Optical Engineering, OIOE 2024

作者： Li, Xiaoyang Wang, Rui Tong, Xing Niu, Lianqiang Shenyang University of Technology Shenyang China Key Laboratory of Network Control Systems Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9781510688209

ISBN: (纸本)9781510688193

In order to improve the detection accuracy and efficiency of surface defects on ceramic tiles, a detection model based on DeepLabV3+and combined with MobileNetv2 for feature extraction was constructed. Using ECA attention mechanism and multi branch receptive field cascade fusion structure to expand the sampling range of global and local element features for the empty space pyramid pooling module ASPP of the original model. Meanwhile, the model decoder uses depthwise separable convolutions instead of the original standard convolutions. Experimental results have shown that the improved model has an MPA value of 96.12%, a MIou value of 97.29%, an F1 value of 90.03%, and an Accuracy value of 99.89%. Compared with the previous model, the improved model's indicators have increased by 4.07%, 4.44%, 2.04%, and 1.02%, respectively. The segmentation accuracy and detection speed have been significantly improved. The experimental results fully demonstrate that the algorithm proposed in this article can effectively complete the task of detecting surface defects on ceramic tiles. © 2025 SPIE.

关键词： Image segmentation

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Conditional Disturbance Compensation-Based Fault-Tolerant Group Consensus control for MASs: An Event-Based Switching Method

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 13828-13841页

作者： Liu, Pei-Ming Guo, Xiang-Gui Wang, Jian-Liang Che, Wei-Wei Wu, Zheng-Guang University of Science and Technology Beijing Beijing Engineering Research Center of Industrial Spectrum Imaging School of Automation and Electrical Engineering Beijing100083 China University of Science and Technology Beijing Shunde Innovation School Foshan528000 China Beihang University Hangzhou Innovation Institute Autonomous Intelligent Systems Department Hangzhou310051 China Northeastern University College of Information Science and Engineering Shenyang266071 China Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou310027 China

With respect to the group consensus control for multi-agent systems (MASs) with disturbances and actuator nonidentical and unknown direction faults (NUDFs), this paper proposes a novel fault-tolerant control scheme by incorporating an event-based switching function and a saturation function. The event-based switching function is implemented to directly switch to the desired working mode, thereby reducing invalid switching after a reverse fault. Concurrently, the saturation function, acting at the software level, can not only prevent the instantaneous impact of excessive reverse input caused by a reverse fault, but also eliminate input peaking and state chattering after switching the working mode. It is worth mentioning that the proposed switching-based fault-tolerant control method can avoid the control chocks and excessive control gains as in the existing methods by using Nussbaum functions and thus improve the transient performance. Additionally, for disturbances, the designed conditional disturbance compensation mechanism ensures a smaller steady-state error, and less energy consumption by utilizing beneficial disturbances and compensating for harmful ones. Besides, the conditional compensation mechanism also reduces the saturation error. Finally, the effectiveness of the proposed control scheme are verified through a simulation example of uncrewed aerial vehicles (UAVs). © 2004-2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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CT-NeRF: Incremental Optimization of Neural Radiance Field and Camera Poses with Complex Trajectory

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IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Ran, Yunlong Li, Yanxu Ye, Qi Huo, Yuchi Cui, Zhaopeng Bai, Zechun Sun, Jiahao Chen, Jiming Zhejiang University College of Control Science and Engineering Hangzhou China Zhejiang University College of Control Science and Engineering State Key Laboratory of Industrial Control Technology China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province China Zhejiang University State Key Lab of CAD and CG China

Neural radiance field (NeRF) has achieved impressive results in high-quality 3D scene reconstruction. However, NeRF heavily relies on precise camera poses. While recent works like BARF have introduced camera pose optimization within NeRF, their applicability is limited to simple trajectory scenes. Existing methods struggle while tackling complex trajectories involving large rotations. To address this limitation, we propose CT-NeRF, an incremental reconstruction and optimization pipeline using only RGB images without pose and depth input. In this pipeline, we first propose a local-global bundle adjustment under a pose graph connecting neighboring frames to enforce the consistency between poses to escape the local minima caused by only pose consistency with the scene structure. Further, we instantiate the consistency between poses as a reprojection error constraint resulting from pixel-level correspondences between input image pairs. Through the incremental reconstruction, CT-NeRF enables the recovery of both camera poses and scene structure and is capable of handling scenes with complex trajectories. We evaluate the performance of CT-NeRF on two real-world datasets, NeRF-Buster and Free-Dataset, which feature complex trajectories. Results show CT-NeRF outperforms existing methods in novel view synthesis and pose estimation accuracy. © 1991-2012 IEEE.

关键词： 3D Reconstruction bundle adjustment NeRF novel view synthesis structure from motion

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A Stackelberg Game Framework for Energy Internet System By Operator Approach

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IEEE Transactions on network Science and Engineering 2025年

作者： Chen, Yue Yi, Peng Lei, Jinlong Li, Xiangjun Tongji University Department of Control Science and Engineering Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education China China Electric Power Research Institute National Key Laboratory of Renewable Energy Grid-Integration Energy Storage and Electrical Engineering Department Beijing100192 China

This paper proposes a Stackelberg game framework for managing an Energy Internet System that integrates renewable energy generation, energy conversion, and energy trading. The system comprises hubs controlled by competing energy companies, incorporating both external energy trading and peer-to-peer energy exchanges. It involves multiple stakeholders whose decisions are interdependent, creating challenges in decision-making. To tackle these challenges, we propose a networked Stackelberg game framework with two main objectives. First, from the energy companies' perspective, the companies make decisions by considering strategic interactions with other companies while accounting for the best responses of passive consumers within peer-to-peer constraints. Second, from the consumer side, consumers adjust their decisions based on their observations of the companies' strategies. The framework adopts a hierarchical decision-making structure in which energy companies act as leaders, formulating strategies that anticipate consumer demand responses, while competing within a Nash game. Meanwhile, consumer clusters, managed by demand management centers, modify their energy usage based on an incentive price mechanism. To search for the equilibrium, we develop an operator-theoretic approach that combines implicit gradient methods with proximal operator splitting techniques, and prove its convergence. Numerical studies and simulations on a combined IEEE 37-bus and gas source model with multiple energy hubs validate the model's effectiveness and the efficiency of the proposed algorithms. The results demonstrate the operational efficiency and strategic stability of the system, emphasizing the advantages of active market participation for both energy companies and consumers. © 2013 IEEE.

关键词： Demand response

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Collaborative Marine Targets Search Algorithm for USVs and AAVs Under Energy Constraint

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IEEE Internet of Things Journal 2025年第9期12卷 12137-12152页

作者： Xue, Mingyao Huang, Haibin Zhuang, Yufei Si, Jinshuai Lü, Tengping Sharma, Sanjay Zhang, Lei School of Information Science and Engineering Harbin Institute of Technology at Weihai Weihai264209 China Weihai Skysailing Technology Company Ltd. Research and Development Department Weihai264200 China Weihai Key Laboratory of Autonomous Control and Cooperation Technology for Unmanned Marine Systems Weihai264200 China Wuhan 2nd Ship Design and Research Institute Information Research Office Wuhan430205 China

The collaborative search of unmanned surface vessel (USV) and autonomous aerial vehicle (AAV) for tasks with high timeliness or a large number of target points is a current research focus in the field of Marine Internet of Things technology, such as counter-mine search and data collection of ocean sensor nodes. However, the slower navigation speed of USVs cannot meet the timeliness requirements of search tasks. Moreover, AAVs have a short endurance, making it unsuitable for large-area target search missions. Combining the characteristics of long endurance of USVs and the high speed of AAVs, this article propose a heterogeneous collaborative search algorithm based on time sequence constraints (TimeSeries). Initially, a time-sliding window is designed to control the trigger time for each agent to select the next search target point. Only when the current search time of the agent is in the time-sliding window, the conditions for the next search will be satisfied, ensuring the fairness of the search. Second, considering the constraint of limited energy for USVs and AAVs, a mathematical model of energy consumption under the constraint of sea wind and ocean current environment is established, then an objective function based on energy constraint and target weight is designed. Finally, the discretized isomorphic agent collision avoidance constraint strategy and the communication radius constraint strategy among agents based on network topology are added to enhance the robustness of the cooperative system. Finally, several simulation experiments are designed and compared with other algorithms to show the effectiveness of the proposed algorithm. © 2014 IEEE.

关键词： Motion planning

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Learning Nonlinear Marine Predator Algorithm for Multi-objective Optimization of Setpoints in Wastewater Treatment Operations

Learning Nonlinear Marine Predator Algorithm for Multi-objec...

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Robotics, control and Automation (ICRCA), International Conference on

作者： Jiahua Liu Daoping Huang Yiqi Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education the School of Automation Science & Engineering South China University of Technology Guangzhou China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

The nitrogen removal in wastewater treatment plants (WWTPs) usually consumes a significant amount of energy, for example, oxygen injection. To reduce energy consumption while ensure the quality in the effluent of WWTPs, this paper proposes a control strategy based on the Multi-Objective Nonlinear Marine Predator Algorithm (MONMPA). First, to address the unacceptable energy consumption issue due to fixed setpoints in the wastewater treatment process, a multi-objective setpoint optimization scheme is proposed in this paper. Second, to deal with uncontrollable inflow disturbances and uncertainty, a predictive controller with feedforward compensation for inflow disturbances is adopted to further accurately track the optimized setpoints. Finally, the proposed control strategy is compared with other standard approaches, and experimental results showed the effectiveness and superiority of this strategy.

关键词： Energy consumption Uncertainty Simulation Optimization methods Effluents Prediction algorithms Nitrogen Wastewater treatment Standards Robots

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