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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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Flexible job shop machines and AGVs cooperative scheduling on the basis of DQN algorithm 6

Flexible job shop machines and AGVs cooperative scheduling o...

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6th IEEE Advanced Information Management, Communicates, Electronic and Automation control Conference, IMCEC 2024

作者： Xiaoting, Dong Guangxi, Wan Peng, Zeng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9798350316520

In flexible job shop, the transportation time and path of Automated Guided Vehicles (AGVs) greatly impact the production cycle time. However, traditional flexible job shop scheduling problems (FJSSP) mainly focus on job sequencing and machine selection, neglecting the effect of AGVs transportation on the production process. This often leads to suboptimal scheduling solutions that are difficult to guide the shop floor operation effectively. To address this issue, this paper formulates a cooperative scheduling model that integrates the AGVs scheduling into traditional flexible job shop scheduling problem, abbreviated as the FJSMAS problem, with the objective of makespan minimization. Furthermore, by designing state features, action space, and reward function, the FJSMAS problem is transformed into a Markov decision process, a deep reinforcement learning algorithm (DRL) is then adopted to solve it. The feasibility of the proposed FJSMAS model and the effectiveness of DRL algorithm in solving the FJSMAS problem are verified through benchmark's instances. © 2024 IEEE.

关键词： Reinforcement learning

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A new active rehabilitation training mode for upper limbs based on Tai Chi Pushing Hands

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Biomimetic Intelligence & robotics 2024年第3期4卷 82-92页

作者： Xiangpan Li Liaoyuan Li Jianhai Han Bingjing Guo Ganqin Du School of Mechatronics Engineering Henan University of Science and TechnologyLuoyang 471003China Henan Provincial Key Laboratory of Robotics and Intelligent Systems Luoyang 471003China School of Automotive Engineering Hubei University of Automotive TechnologyShiyan 442002China Hubei Key Laboratory of Automotive Power Train and Electronic Control Shiyan 442002China The First Affiliated Hospital of Henan University of Science and Technology Luoyang 471003China

Robot-assisted rehabilitation is a crucial approach to restoring motor function in the ***,the current training trajectory lacks sufficient theoretical or practical support,and the monotony of single-mode training is a *** Chi Pushing Hands,a beneficial and effective daily exercise,has been shown to improve balance function,psychological state,and motor function of the upper extremities in patients recovering from *** address these issues,we propose a new active rehabilitation training that incorporates Tai Chi Pushing Hands movements and yin-yang balance *** training trajectory and direction are encoded by the velocity field and consist of two processes:yang(push)and yin(return).During yang,the limb actively pushes the robot to move,while during yin,the limb actively follows the robot’s *** provide necessary assistance,an admittance controller with self-adaptive parameters is *** addition,we introduce two indexes,the‘Intention Angle’(ϖ)and the time ratio(Γ),to evaluate motion perception *** experiment was conducted on a 4-degree-of-freedom upper limb rehabilitation robot platform,and the subjects were separated into a familiar group and an unfamiliar *** experiment results show that the training could be completed well no matter whether the subject is familiar with Tai Chi Pushing Hands or *** parameters and the movement of the robot can be adjusted based on the interactive force to adapt to the ability of the subject.

关键词： Tai Chi Push Hands Velocity field Self-adaptive admittance Upper limb rehabilitation Active training

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Serial Chain Hinge Support for Soft, Robust and Effective Grasp

arXiv

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arXiv 2022年

作者： Stuhne, Dario Vuletić, Jelena Car, Marsela Orsag, Matko LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia

This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach, resulting in lower maximum payload caused by a large deflection of fingers. To substantiate our claim we performed several experiments on payload and deflection of the SofIA gripper under both horizontal and vertical approach. In addition, we show that this reinforcement does not impede the original compliant behavior of the gripper, maintaining the original kinematic model functionality. We showcase the proprioceptive and exteroceptive capabilities (RGB-D camera and flex sensor) for two opposing manipulation problems: grasping small and large objects. Finally, we validated the improved SofIA gripper in agricultural and everyday activities. © 2022, CC BY.

关键词： Grippers

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PID Based Path Following Algorithm for the MiddleAUV

PID Based Path Following Algorithm for the MiddleAUV

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Ivan Lipko Robotics and Intelligent Control Systems Laboratory Sevastopol State University Sevastopol Russian Federation

The baseline path following algorithm based on PID controller for horizontal movement of the MiddleAUV is constructed. The MiddleAUV is small autonomous underwater vehicle designed to study the control algorithms. This article discusses the one case of PID controllers design and results of numerical simulations. The path is constructed using waypoints. The movement of the AUV between waypoints is accomplished by controlling the distance and yaw between the current position of the AUV and the waypoint. When the AUV approaches a waypoint, a special unit generates a new waypoint and the AUV continues moving. The main difficulty was configuring the controllers for the non-linear version of the AUV model. To solve this problem, we tuned the PID controller for the linear model and chose the best one for the nonlinear model. Numerical experiments were performed on the nonlinear mathematical model, which showed that the resulting PID controllers could be used as the basis for the robot's motion along the waypoints.

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Online Estimation Of Risk in AUV Course Keeping Problem

Online Estimation Of Risk in AUV Course Keeping Problem

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Ocean Studies (ICOS), International Conference on

作者： Ivan Lipko Robotics and Intelligent Control Systems Laboratory Sevastopol State University Sevastopol Russian Federation

The article is devoted to the problem of assessing the risk of the presence of an autonomous underwater vehicle in a position limited by a given course angle at every moment of the system's operation. These risky situations arise in the tasks of navigation, docking, tracking objects, receiving and transmitting data in the underwater environment. To perform risk assessments, the most probable trajectories of movement to the threshold values of phase states are used. The most probable trajectories are calculated by solving the minimization problems of the so-called quasipotentials with differential coupling in the form of linear differential equations describing an object and external disturbances acting on it. As a result, we have information about the trajectories of movement, time and probability of events when the object moves along the trajectory. Comparing the current state of the object with known trajectories at each moment of the system operation, an assessment is made of how close the object is to the threshold values. The evaluation results are presented in the form of numerical simulation, which are then aggregated and shown in the form of quality metrics of the forecast of the time remaining until the threshold is crossed. The forecast cannot be carried out for a sufficiently longer amount of time, since the nature of the risk situation already determines the functioning of the object in the danger zone. The estimation of the boundary of this prediction is also shown by simulation using the Monte Carlo method.

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Description and fault diagnosis in autonomous underwater vehicles based on ontologies

Description and fault diagnosis in autonomous underwater veh...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Alexander, Timoshenko Alexander, Zuev Eduard, Mursalimov Valeria, Gribova Alexander, Inzartsev Far Eastern Federal University Institute of Marine Technology Problems Feb Ras Laboratory of Intelligent Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia Institute of Automation and Control Feb Ras Laboratory of Intelligent Systems Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Control Systems Vladivostok Russia

ISBN: (纸本)9781665473729

The paper proposes new ontologies for describing and diagnosing malfunctions of subsystems of autonomous underwater vehicles (AUV) as a part of the development of a previously created approach to the intelligent diagnosis of these vehicles using knowledge bases. To implement this approach, it is proposed to use two knowledge bases, one of which describes malfunctions, features for their identification and actions necessary to adapt to the negative consequences caused by the appearance of these malfunctions. The other database contains information about the main subsystems of the AUV, devices and replaceable modules, as well as the states they may be in. Knowledge bases are used in the work of the intelligent control-emergency system (ICES) on board the AUV, which allows for comprehensive functional diagnostics of all subsystems of the device, including payload modules, as well as adaptation to the consequences of emerging malfunctions, taking into account the actual cause-and-effect relationships between them. To test the system's operability, a prototype was developed. The results of the prototype simulation showed that ICES performs the tasks and can be implemented on the onboard computers of existing AUV using well-known programming technologies. © 2022 IEEE.

关键词： Autonomous underwater vehicles

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Industrial Data Fusion Method based on Semantic Data Dictionary for Digital Twin 3

Industrial Data Fusion Method based on Semantic Data Diction...

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3rd International Symposium on Computer Engineering and intelligent Communications, ISCEIC 2022

作者： Liu, Yang Zhang, Tianshi Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781510660298

Industrial digital twin is the key support for the transformation of industry to intelligence. The realization of digital twin relies on the integration of whole-process data, which can provide real-time and intelligent decision-making optimization for production management. This paper proposes a digital twin data fusion method based on semantic data dictionary. Firstly, a modeling method of domain data dictionary is designed, and a semantic method is introduced to realize the construction of semantic data dictionary. Then, based on the semantic data dictionary, a semantic similarity calculation method based on multivariate distance weighting is proposed. Finally, the algorithm is tested and verified. The experimental results show that the method in this paper has a significant effect on automatic data fusion in the construction of industrial digital twins. © The Authors. Published under a Creative Commons Attribution CC-BY 3.0 License.

关键词： Data fusion

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Effect of additional cylinders on power-extraction performance of a Savonius vertical-axis wind turbine

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2023年第6期24卷 531-542页

作者： Yangyang YAN Jintao ZHANG Junao SHE Wenhao LIU Jianghong DENG Jianyang ZHU Institute of Robotics and Intelligent Systems Wuhan University of Science and TechnologyWuhan 430081China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan 430081China

To improve the power-extraction performance of the Savonius vertical-axis wind turbine(S-VAWT),additional cylinders,which are used to control the fluid flow around the wind turbine blade,were introduced into the blade *** contrast to the traditional numerical method,a mathematical model in the form of a dynamical system was used in this study.A numerical calculation program that could effectively solve the equations of wind-induced rotation of S-VAWT was developed,and combined with the Taguchi experimental method to investigate the influence of additional cylinders on the power-extraction characteristics of the *** results showed that the additional cylinders have a significant impact on the power-extraction performance of the *** 4-m/s wind speed,the average power coefficient of the S-VAWT with additional cylinders is 15%higher than that of the conventional *** construction of the wind turbine prototype and power-extraction tests,the results showed that compared with a conventional S-VAWT,the output power was 29%higher for the S-VAWT with additional cylinders under the same particular conditions.

关键词： Additional cylinders Taguchi experimental method Savonius vertical-axis wind turbine(S-VAWT) Average power coefficient Wind-induced rotation

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Artificial neural network-based direct power control to enhance the performance of a PMSG-wind energy conversion system under real wind speed and parameter uncertainties: An experimental validation

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Energy Reports 2024年 11卷 4356-4378页

作者： Majout, Btissam Bossoufi, Badre Karim, Mohammed Skruch, Pawel Mobayen, Saleh El Mourabit, Youness El Zair Laggoun, Zakaria Laboratory of Engineering Modelling and Systems Analysis SMBA University Fez Morocco Department of Automatic Control and Robotics AGH University of Krakow Poland Graduate School of Intelligent Data Science National Yunlin University of Science and Technology 123 University Road Section 3 Yunlin Douliou640301 Taiwan National School of Applied Sciences Abdelmalek Essaadi University Tetouan Morocco Laboratory of Electrotechnique Constantine Mentouri Brothers Constantine 1 University Constantine Algeria

With the increasing emphasis on embedding advanced technology into system controls, the Direct Power control (DPC) approach has garnered considerable attention due to its simple and highly adaptable algorithm. This approach has been increasingly recognized in numerous applications. However, the variable frequency, harmonic distortion of the currents, and power ripples caused by Hysteresis controllers and switching tables decrease its effectiveness and robustness, affecting the system's performance. For this reason, this paper proposed a new DPC based on Artificial Neural Network (ANN) approaches. In this approach, the hysteresis comparator and the switching table are substituted with ANN controllers and then applied on both sides: machine-side converter (MSC) and grid-side converter (GSC) of a Permanent Magnet Synchronous Generator based Wind Energy Conversion System (PMSG-WECS). Moreover, to make the system more efficient in varying wind conditions, this study expands the utilization of the artificial neural networks (ANN) to encompass the maximum power point tracking (MPPT) control strategy. To demonstrate the effectiveness of the proposed approach on the system behaviors, a simulation test was carried out in the Matlab/Simulink environment, using a real wind profile of a Moroccan city (Essaouira). In comparison to the classical DPC control, the simulation results showed the superior performance of the proposed ANN-DPC control in terms of reference tracking, response time, overshoot, precision, and its capacity to reduce the rate of power ripples and total harmonic distortion (THD) in the injected currents. Furthermore, a robustness test was also included in this work to check the robustness of the proposed control against parameters variation. In conclusion, the feasibility and effectiveness of the ANN-DPC control approach were confirmed through experimental validation using the dSPACE DS1104 board. © 2024 The Authors

关键词： MATLAB

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