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Chinese control Conference (CCC)

作者： Zhi Liu Lin Zhang Shoukun Wang Tianwei Niu Yongkang Xu Jin Cao Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China

Path planning is one of the most critical links in mobile robots. Its timeliness, security and accessibility are crucial to the development and wide application of mobile robots. However, in solving the problem of path planning, the most popular A* algorithm has some problems, such as heuristic function cannot be estimated accurately, node redundancy, path is not smooth, and obstacle avoidance cannot be achieved in real time. To solve these problems, A fusion algorithm of improved A* combined with reverse path and dynamic window method (DWA-IMP-A*) was proposed. The algorithm refines the heuristic function by incorporating the reverse path. The node optimization algorithm is used to further reduce the path length. The generated trajectories are smoothed by cubic spline interpolation. At the same time, it is integrated with the improved DWA algorithm to improve the efficiency and safety of robot path planning. The algorithm takes ROS mobile robot as the carrier and is tested under typical road conditions. Compared with A* algorithm, the planning time is reduced by 54.6% and the path length is reduced by 6.37%. Experimental results verify the effectiveness and robustness of the algorithm. The research results have certain reference significance for the path planning of various types of mobile robots and the research of driverless vehicles.

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Single-Domain Generalization Combining Geometric Context Toward Instance Segmentation of Track Components

Single-Domain Generalization Combining Geometric Context Tow...

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International Joint Conference on Neural Networks (IJCNN)

作者： Shixiang Su Songlin Du Dezhou Wang Shuzhen Tong Xiaobo Lu School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China School of Instrument Science and Engineering Southeast University Nanjing China

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

A stable track components segmentation model should have consistent performance across a broad spectrum of railroad conditions, particularly in unfamiliar locations. Despite this, satisfying this requirement proves challenging when working with a limited track dataset, as there is a substantial domain shift between the given dataset and unobserved distributions. The goal of this paper is to improve the generalization ability of track component segmentation in situations where single-domain training data is available. Toward this end, a novel track component instance segmentation method combining the geometric context is proposed. First, we design an initial mask prediction head (IMPH) that utilizes predicted box output from the object detector to generate initial masks by merging the geometric priors of track components. Meanwhile, a multiscale feature fusion structure is introduced to encourage IMPH to better capture the geometric context. Then, a final mask refinement head (FMRH) is introduced to get higher quality masks with a geometry-gated aggregation strategy. On the basis of experiments on track datasets, it was determined that the heads can be incorporated with several types of detection frameworks and have demonstrated consistent generalization enhancements across multiple object detectors. Furthermore, our method substantially enhances segmentation performance on various unobserved domains.

关键词： Instance segmentation Geometry Accuracy Neural networks Merging Training data Detectors

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A Vehicle-to-Vehicle Cooperative control Method for Intersections with Cav- Dedicated Lane

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SSRN 2024年

作者： Zhang, Xiqiao Cui, Leqi Yang, Longhai Lv, Yisheng School of Transportation Science and Engineering Harbin Institute of Technology Harbin150090 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

With the development of intelligent connected technology and autonomous driving technology, connected autonomous vehicles (CAV) and connected human-driven vehicles (CHV) will coexist for a long time in the future. The popularization of vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication enables the improvement of CAV platooning efficiency and the joint control of CAV trajectory and signal timing. Therefore, this paper proposes a CAV-dedicated lane-based vehicle-to-vehicle interactive intersection control method, which is suitable for managing mixed traffic flow of CHV and CAV at a single intersection. In the proposed method, the road capacity is enhanced by separating the mixed traffic flow with a CAV-dedicated lane. Through vehicle-to-vehicle interaction and CHV induction, the traffic flow spatiotemporal distribution is regulated by a limited number of controlled vehicles. Furthermore, by jointly controlling CAV trajectory and signal timing, vehicles can efficiently pass through the intersection in the CHV phase without the dedicated CAV phase. The optimization of signal timing and vehicle trajectory at the intersection aims to improve intersection capacity and smooth vehicle trajectories. In addition, the car-following and lane-changing models of CHV are revised based on the prospect theory to validate the performance of platooning strategies under cooperative induction information in practical traffic operations. Simulation results demonstrate that compared to control methods without considering vehicle-to-vehicle interaction, the proposed method in this paper has significant advantages in reducing average vehicle delay and improving intersection efficiency. © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Simulation and Experiment of Planar Magnetic Sensor

Simulation and Experiment of Planar Magnetic Sensor

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China Instrument and control Society (ACCIS), Academic Conference of

作者： Jiaqi Lu Fang Jin Kaifeng Dong Junlei Song Wenqin Mo Yajuan Hui Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation China University of Geosciences Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (数字)9798350350326

ISBN: (纸本)9798350350333

In this paper, aiming at the planar magnetic sensor, the model of the planar magnetic sensor probe is constructed from the principle of magnetic line orbit transfer. The planar magnetic sensor probe is simulated and analyzed by COMSOL Multiphysics software. The influence of the horizontal width, height, length, and relative permeability parameters of the magnetic line orbit transfer structure on the orbit transfer coefficient of the magnetic line orbit transfer structure is studied. The simulation results analyze the influence of the structural parameters of the magnetic line transfer on the transfer coefficient, and the optimal parameter conditions are obtained. In order to verify the simulation results, an experimental test platform was built to test the planar magnetic sensor, and the magnetic line of force rail structure with the best experimental effect was obtained. The magnetic line of the force rail structure selects soft magnetic material with relative permeability greater than 5000, the horizontal width is 3mm, the height is 14mm, and the length of the magnetic line of the force rail structure in the experiment is determined to be 5mm according to the actual demand and the production process. Finally, the conversion efficiency of the planar magnetic sensor to the Z-axis magnetic field can reach 39.9 %. This study provides a research idea for promoting the planar design of magnetic sensors.

关键词： Rails Magnetic flux leakage Magnetic field measurement Magnetic sensors Simulation Force Orbits Permeability Soft magnetic materials Magnetic fields

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Few-shot Learning for Rolling Bearing Fault Diagnosis Based on Residual Convolutional Neural Network 4

Few-shot Learning for Rolling Bearing Fault Diagnosis Based ...

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4th International Conference on Artificial Intelligence and Big Data, ICAIBD 2021

作者： Cui, Zihao Kong, Xiangwei Hao, Peifeng Software College Northeastern University Shenyang China School of Mechanical Engineering Automation Liaoning Province Key Laboratory of Multidisciplinary Design Optimization of Complex Equipment Northeastern University Key Laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education Shenyang China

ISBN: (纸本)9780738131702

This paper proposes a new Siamese network model for fault diagnosis with limited training samples. We introduce residual blocks to the Siamese network model for few-shot learning. By using the same or different types of sample pairs to learn, our model further improves the accuracy of the Siamese network in bearing fault diagnosis under different workloads and noisy environments. Experiments on the CWRU and MFPT data set showed that the proposed model outperforms the convolutional Siamese network in bearing fault diagnosis. The accuracy of our model has achieved more than 93% accuracy with 90 training samples on the CWRU and MFPT data set. All our models and experiments are available from https://***/WunaiDczh/Few_data_Learing. © 2021 IEEE.

关键词： Failure analysis

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Design of Load Frequency controller for Power System Based on Equivalent Input Disturbance Method

Design of Load Frequency Controller for Power System Based o...

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New Energy and Energy Storage System control Summit Forum (NEESSC)

作者： Jianrong Zhang Hang Xu Hongzhang Wang Chuanke Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (数字)9798350389012

ISBN: (纸本)9798350389029

In the power system, due to the instability of the external environment, safe and stable operation cannot always be guaranteed, as it frequently encounters varying degrees of external disturbances. In order to mitigate the effects of these disturbances on the system, the power system can operate safely and stably, In this paper, a power system load frequency control (LFC) based on Equivalent Input Disturbance (EID) method is proposed from the perspective of active disturbance suppression. Firstly, the disturbances present in the environment are unified as external disturbances, and then a single area the electric power system model with external disturbance was constructed. Then, a controller algorithm based on EID was designed using EID equivalent processing method and linear matrix inequality method to address the issue of external interference in the power system. Finally, a numerical example is used to validate the effectiveness and accuracy of the controller by simulating with two aspects, fixed perturbation and random perturbation, respectively.

关键词： Perturbation methods Process control Interference Power system stability control systems Linear matrix inequalities Numerical models Frequency control Load modeling Energy storage

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controllability Analysis and Stable control for Planar Non-One Passive Joint Underactuated Robot with Bi-Directional Approach

Controllability Analysis and Stable Control for Planar Non-O...

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Chinese control Conference (CCC)

作者： Zixin Huang Ziang Wei Wei Wang Xiangyu Gong Ba Zeng Lejun Wang School of Electrical and Information Engineering Wuhan Institute of Technology Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications

In this paper, we consider the controllability and stability control problem for planar underactuated robots with non-one passive joints. The dynamic constraints of the robot are mainly caused by nonholonomic constraints. Firstly, we establish the dynamic model of this system and analyze its controllability. Then, based on location and number of passive joints, we divide the system into different configurations. Next, we propose a stable control method based on bi-directional approach to achieve the stable control of different systems. At last, the numerical simulation conclusion illuminate the feasibility of this method.

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Few-shot Pose-free View Synthesis with 3D Gaussian Splatting

Few-shot Pose-free View Synthesis with 3D Gaussian Splatting

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Chinese Automation Congress (CAC)

作者： Yuan Huang Chi Xu Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation China University of Geosciences Wuhan China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Recent advancements in Novel View Synthesis using neural radiance fields and 3D Gaussian splatting have demon-strated promising results. However, these methods conventionally rely on accurate initial poses and point clouds from the model of structure from motion, which poses challenges in sparse input views. To addressing these drawbacks, we introduces an novel method for view synthesis based on 3D Gaussian splatting. Our approach operates on sparse input views without the prerequisite of pose priors, achieving reconstruction and real-time rendering of novel perspectives. For the deficiency of camera poses and point cloud, we employ an end- to-end deep learning model to recover the 3D structure from a few of 2D images to initialize the 3D Gaussian point cloud. In addressing the issue with few-shot, we utilize the differentiable rasterization module to render depth map and apply regulation on it. Additionally, we incorporate supervision between input views by interpolating to generate novel perspectives during training. Experimental results demonstrate that our proposed method significantly enhances the capabilities of 3D Gaussian splatting for novel view synthesis in sparse views and without the necessity of camera pose priors.

关键词： Point cloud compression Training Solid modeling Three-dimensional displays Structure from motion Cameras Rendering (computer graphics) Regulation Real-time systems Image reconstruction

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controllability analysis and stable control for planar non-one passive joint underactuated robot with bi-directional approach

Controllability analysis and stable control for planar non-o...

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第42届中国控制会议

In this paper, we consider the controllability and stability control problem for planar underactuated robots with nonone passive joints. The dynamic constraints of the robot are mainly caused by nonholonomic constraints. Firstly, we establish the dynamic model of this system and analyze its controllability. Then, based on location and number of passive joints, we divide the system into different configurations. Next, we propose a stable control method based on bi-directional approach to achieve the stable control of different systems. At last, the numerical simulation conclusion illuminate the feasibility of this method.

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Preassigned-Time Synchronization of Memristive Chaotic Circuit via Intermittent control

Preassigned-Time Synchronization of Memristive Chaotic Circu...

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2023 International Conference on Neuromorphic Computing, ICNC 2023

作者： Wang, Qiming Wang, Leimin Wu, Genping China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Wuhan Second Ship Design and Research Institute Wuhan430064 China

ISBN: (纸本)9798350316889

In this paper, the preassigned-time synchronization (PTS) problem for a fifth-order memristive chaotic circuit (MCC) is investigated by designing a time-dependent intermittent controller. First, the dynamic characteristics of the MCC, especially the existence and occurrence of chaos, are investigated by simulation experiments. Besides, the stability of the equilibrium points is discussed by using Routh-Hurwitz criterion. Then, a time-dependent intermittent controller is designed and the PTS of MCC is realized via the presented controller. Finally, the effectiveness of theoretical results is verified by means of numerical simulations. © 2023 IEEE.

关键词： controllers

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