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International Symposium on Underwater Technology

作者： Marijana Peti Ana Milas Natko Kraševac Marko Križmančić Ivan Lončar Nikola Mišković Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Underwater Systems and Technologies (LABUST) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and the total number of UAVs and sensors is to implement an appropriate search strategy so that a target vessel can be detected as soon as possible. Thus we present informed and non-informed methods used to search the environment. The informed method relies on an obtained probabilistic map, while the non-informed method navigates the UAVs along predefined paths computed with respect to the environment. The vessel detection method is trained on synthetic data collected in the simulator with data annotation tools. Comparative experiments in simulation have shown that our combination of sensors, search methods and a vessel detection algorithm leads to a successful search for the target vessel in such challenging environments.

关键词： Location awareness Navigation Annotations Computational modeling Search problems Probabilistic logic Sensors

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Characteristics of laser-induced breakdown spectroscopy of liquid slag

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Plasma Science and Technology 2024年第2期26卷 86-93页

作者：董长言于洪霞孙兰香李洋刘修业周平黄少文 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016People's RepublicofChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People's Republic of China Shenyang University of Technology Shenyang 110870People's Republic of China Shenyang Ligong University Shenyang 1i0142People's Republic of China Shandong Iron and Steel Company Ltd. Jinan 271105People's Republic of China

Rapid online analysis of liquid slag is essential for optimizing the quality and energy efficiency of steel production. To investigate the key factors that affect the online measurement of refined slag using laser-induced breakdown spectroscopy(LIBS), this study examined the effects of slag composition and temperature on the intensity and stability of the LIBS spectra. The experimental temperature was controlled at three levels: 1350℃, 1400℃, and 1450℃. The results showed that slag composition and temperature significantly affected the intensity and stability of the LIBS spectra. Increasing the Fe content and temperature in the slag reduces its viscosity, resulting in an enhanced intensity and stability of the LIBS spectra. Additionally, 42 refined slag samples were quantitatively analyzed for Fe, Si, Ca, Mg, Al, and Mn at 1350℃, 1400℃, and 1450℃.The normalized full spectrum combined with partial least squares(PLS) quantification modeling was used, using the Ca Ⅱ 317.91 nm spectral line as an internal standard. The results show that using the internal standard normalization method can significantly reduce the influence of spectral fluctuations. Meanwhile, a temperature of 1450℃ has been found to yield superior results compared to both 1350℃ and 1400℃, and it is advantageous to conduct a quantitative analysis of the slag when it is in a “water-like” state with low viscosity.

关键词： laser-induced breakdown spectroscopy(LIBS) slag temperature composition viscosity internal standard normalization partial least squares(PLS)

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A Weighting Factors Autotuning Strategy for Model Predictive Torque control of Permanent Magnet Synchronous Motor Based on Adaptive Multi-Objective Black Hole Algorithm 42

A Weighting Factors Autotuning Strategy for Model Predictive...

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42nd Chinese control Conference, CCC 2023

作者： Zhou, Zixiang Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

The rational design of weighting factors in the cost function for finite control set model predictive torque control (FCS-MPTC) has been a matter of great interest in power electronics and electrical drives. In order to solve this problem, a weighting factors autotuning strategy for FCS-MPTC of permanent magnet synchronous motor (PMSM) based on the adaptive multi-objective black hole algorithm (AMOBH) is proposed. In this paper, the design process of the FCS-MPTC algorithm is first analyzed in detail. Then, an AMOBH algorithm that can take into account both population convergence and population diversity is introduced, and based on this algorithm, the design problem of the weighting factors is successfully transformed into a multi-objective optimization problem by means of reconstructing the cost function and designing the motor operation information collected in real time as the objective functions of the multi-objective optimization algorithm. Simulation results show that the proposed method can find a set of weighting factor combinations suitable for different working condition requirements, and these weighting factors can effectively improve the operation performance of the PMSM system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Cost functions

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A Battery control Strategy for Sequential Utilization of Energy Storage systems in Power Batteries 7

A Battery Control Strategy for Sequential Utilization of Ene...

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7th IEEE Advanced Information Technology, Electronic and Automation control Conference, IAEAC 2024

作者： Li, Bowen Cui, Shijie Zhu, Lizhong Shenyang Ligong University College of Automation and Electrical Engineering Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350339161

With the widespread adoption of energy storage systems utilizing power batteries, battery lifespan degradation has become a primary constraint on system performance. To address this issue, this study proposes a lifespan-optimized battery control strategy. Firstly, a battery lifespan calculation model for the energy storage system is established, taking into detailed consideration key parameters such as battery State of Charge (SOC). Secondly, a control strategy based on SOC for charging and discharging is designed, aiming to minimize battery lifespan consumption to the greatest extent possible. Finally, experimental results demonstrate that the proposed control strategy significantly improves the lifespan of the energy storage system compared to existing strategies. This research provides an effective means of control for the long-term stable operation of power battery systems. © 2024 IEEE.

关键词： Charging (batteries)

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Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

arXiv

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arXiv 2023年

作者： Changoluisa Caiza, Iván D. Milas, Ana Montes Grova, Marco A. Pérez-Grau, Francisco Javier Petrovic, Tamara The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia Aerospace Technology Park of Andalusia Seville Spain

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment. © 2023, CC BY-NC-SA.

关键词： Iterative methods

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Temperature Rising Model of Tubular Permanent Magnet Linear Synchronous Motor Based on Transfer Learning-Deep Neural Network 42

Temperature Rising Model of Tubular Permanent Magnet Linear ...

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42nd Chinese control Conference, CCC 2023

作者： Wang, YiFei Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

High temperature rise of permanent magnet linear synchronous motor can lead to irreversible demagnetization of the motor permanent magnet, which can negatively affect the motor performance. To address this problem, a thermal modeling analysis method based on Transfer learning-Deep neural network (TL-DNN) was proposed in this paper. Its specific implementation steps include (1) corresponding to different heat source inputs, the equivalent thermal circuit method and the finite element analysis was adopted based on the structure and main parameters of PMLSM including overall average temperature rise, coil temperature rise and permanent magnet temperature rise from the data sets of the motor;(2) TL-DNN was used to fit the functional relationship between the input source features and the output targets based on the characteristics of the sample data sets. In order to verify the accuracy of the prediction model with small sample data sets, this paper divided the proportion of the data set and compared the results with other classic nonparametric models (random forest, support vector machine, and deep neural network). The results show that the TL-DNN model outperforms other machine learning models and has better robustness and generalization ability when the training datasets are insufficient, and achieves an organic combination of physical field path model and data-driven model, which provides a feasible solution for PMLSM modeling in the case of small samples. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Finite element method

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Industrial Internet for intelligent manufacturing:past, present, and future

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Frontiers of Information Technology & Electronic Engineering 2024年第9期25卷 1173-1192页

作者： Chi XU Haibin YU Xi JIN Changqing XIA Dong LI Peng ZENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Industrial Internet, motivated by the deep integration of new-generation information and communication technology(ICT) and advanced manufacturing technology, will open up the production chain, value chain, and industry chain by establishing complete interconnections between humans, machines, and things. This will also help establish novel manufacturing and service modes, where personalized and customized production for differentiated services is a typical paradigm of future intelligent manufacturing. Thus, there is an urgent requirement to break through the existing chimney-like service mode provided by the hierarchical heterogeneous network architecture and establish a transparent channel for manufacturing and services using a flat network architecture. Starting from the basic concepts of process manufacturing and discrete manufacturing, we first analyze the basic requirements of typical manufacturing tasks. Then, with an overview on the developing process of industrial Internet, we systematically compare the current networking technologies and further analyze the problems of the present industrial *** this basis, we propose to establish a novel “thin waist” that integrates sensing, communication, computing, and control for the future industrial Internet. Furthermore, we perform a deep analysis and engage in a discussion on the key challenges and future research issues regarding the multi-dimensional collaborative sensing of task–resource, the end-to-end deterministic communication of heterogeneous networks, and virtual computing and operation control of industrial Internet.

关键词： intelligent manufacturing Industrial Internet Thin waist Transparent service Manufacturing as a service

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A new SPICE modeling approach of annular MOSFET in 350 nm commercial CMOS process 3

A new SPICE modeling approach of annular MOSFET in 350 nm co...

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3rd International Conference on Electronic Information Engineering and Computer, EIECT 2023

作者： Cheng, He Yang, Zhijia Zhang, Chao Zhang, Zhipeng Key Laboratory of Networked 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: (纸本)9798350357707

Annular gate MOSFETs have emerged as potential solutions for radiation-hardened electronics, demonstrating exceptional total ionizing dose tolerance. However, accurate modeling of annular MOSFETs is crucial when designing analog integrated circuits for use in radiation environments, especially when implementing commercial CMOS processes. To enable circuit simulation using tools like SPECTRE/SPICE, foundry-provided PDKs must incorporate a rigorously verified compact model of annular MOSFET behavior. TCAD simulation can then be used to numerically evaluate the current characteristics of the annular MOSFET against the refined compact model constructed from the foundry-provided PDK. In this paper, by aligning the current characteristics of a standard NMOS between TCAD and SPICE simulations, we can verify the material process conditions. Then, based on the material process parameters, the model of the annular gate MOSFET is established using the TCAD simulator. Finally, reasonable agreements are obtained between the TCAD and SPICE simulation results for the IDS-VGS and IDS-VDS characteristics. © 2023 IEEE.

关键词： Foundries

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Power Line Following Based on Measurements of the Magnetic Field

Power Line Following Based on Measurements of the Magnetic F...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Goran Vasiljević Dean Martinović Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Unska 3 University of Zagreb Zagreb Croatia

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

In this paper, we present a method to control the UAV to follow the power line with a specific position and orientation based only on the measurement of the magnetic field generated by the current flow in the power line. In this way, it is possible to localize the UAV with respect to the power line without the need for additional sensors, even in poor visibility conditions. The measurements from four magnetometers attached to the UAV are used to solve an optimization problem that involves determining the relative pose of the UAV with respect to the power line. Based on the relative pose, the UAV is controlled to follow the power line in a predefined position and orientation. Experiments in a test setup have confirmed that the method is applicable in a realistic environment.

关键词： Location awareness Visualization Power measurement Magnetic field measurement Magnetometers Current measurement Position measurement Autonomous aerial vehicles Magnetic fields Optimization

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Design and Implementation of Industrial Real-Time Ethernet Redundant Network Based on Parallel Redundancy Protocol 3

Design and Implementation of Industrial Real-Time Ethernet R...

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3rd International Conference on Computer Science, Electronic Information Engineering and intelligent control Technology, CEI 2023

作者： Gang, Mingxu Yan, Bingjun Hu, Bo Chinese Academy of Sciences Key Laboratory of Networked Control Systems China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350372052

Industrial real-time Ethernet technology is widely used in modern industrial control systems due to its high communication rate and low application cost. However, in complex network environments, industrial real-time Ethernet may encounter data collisions, data loss, and other issues, which reduce the overall reliability of industrial control systems. To address these issues, a method for designing and implementing industrial real-time Ethernet redundancy networks based on parallel redundancy protocols is proposed. The method first analyzes the redundant data frame structure, dual-connected node (DANP) structure, and redundancy implementation principle of parallel redundancy protocols (PRP). Then, aiming at the standard redundancy discard algorithm principle and its shortcomings, an improved sliding window redundancy discard algorithm is proposed to adapt to complex network environments. Based on the discard algorithm, dual-connected redundancy nodes are designed and implemented. Finally, the dual-connected redundancy nodes are used as the core to construct industrial real-time Ethernet redundancy networks. The test results show that in a PRP-based industrial real-time Ethernet redundant network, when a single redundant network fails, the system can switch without delay, greatly improving the reliability of the industrial control system communication network © 2023 IEEE.

关键词： Redundancy

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