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检索条件"机构=The Research Institute of Vehicles Control System of Department of Control Engineering"

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A Hardware-Efficient Vector Limiter Algorithm and Its Programmable Logic Realization

A Hardware-Efficient Vector Limiter Algorithm and Its Progra...

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China International Electrical and Energy Conference (CIEEC)

作者： Zhao Song Yiyan Wang Tianyi Xiong Computer and Electronics System and Engineering Department AVIC Xi'an Flight Automation Control Research Institute (FACRI) Xi'an Shanxi Province China

ISBN: (数字)9798350359558

ISBN: (纸本)9798350359565

Vector limiter is a computationally complex component of vector control, but its hardware-friendly algorithm is rarely discussed. This paper presents an efficient solution with pure shift-and-add operations, namely the dual vector rotation algorithm (DVRA). Its programmable logic realization is also provided. The DVRA is then simulated in a motor driving system, and physical validation is made on a Xilinx FPGA. Furthermore, performance comparison is conducted between the DVRA and four control groups (conventional algorithms). All control groups are built by Xilinx IPs under diversified configurations, thus human bias can be minimized. Post-implementation results evince that the DVRA exhibits significantly less resource expenditure and better timing, with power consumption and accuracy comparable to the control groups.

关键词： Power demand Accuracy Motors Vectors Hardware Timing system-on-chip

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Video2Reward: Generating Reward Function from Videos for Legged Robot Behavior Learning 27

Video2Reward: Generating Reward Function from Videos for Leg...

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27th European Conference on Artificial Intelligence, ECAI 2024

作者： Zeng, Runhao Zhou, Dingjie Liang, Qiwei Liu, Junlin Li, Hui Huang, Changxin Li, Jianqiang Hu, Xiping Sun, Fuchun Artificial Intelligence Research Institute Shenzhen MSU-BIT University China College of Mechatronics and Control Engineering Shenzhen University China College of Computer Science and Software Engineering Shenzhen University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Department of Computer Science and Technology Tsinghua University China

ISBN: (纸本)9781643685489

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement learning, thereby replacing the need for manually designed rewards by experts. However, this approach, which relies on textual descriptions to define learning objectives, fails to achieve controllable and precise behavior learning with clear directionality. In this paper, we introduce a new video2reward method, which directly generates reward functions from videos depicting the behaviors to be mimicked and learned. Specifically, we first process videos containing the target behaviors, converting the motion information of individuals in the videos into keypoint trajectories represented as coordinates through a video2text transforming module. These trajectories are then fed into an LLM to generate the reward function, which in turn is used to train the policy. To enhance the quality of the reward function, we develop a video-assisted iterative reward refinement scheme that visually assesses the learned behaviors and provides textual feedback to the LLM. This feedback guides the LLM to continually refine the reward function, ultimately facilitating more efficient behavior learning. Experimental results on tasks involving bipedal and quadrupedal robot motion control demonstrate that our method surpasses the performance of state-of-the-art LLM-based reward generation methods by over 37.6% in terms of human normalized score. More importantly, by switching video inputs, we find our method can rapidly learn diverse motion behaviors such as walking and running. © 2024 The Authors.

关键词： Robots

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Multi-party secure communication using blockchain over 5G

Multi-party secure communication using blockchain over 5G

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International Conference on Artificial Intelligence, Blockchain, Computing and Security, ICABCS 2023

作者： Archana, K. Kareem, Z.H. Al-Farhani, Liwa H. Bagyalakshmi, K. Jenvi, Ignatia K. Majella Kumar, Ashok Department of Computer Engineering Pimpri Chinchwad College of Engineering and Research Maharashtra Pune India Medical Instrumentation Techniques Engineering Department Al-Mustaqbal University College Babylon Iraq System Analysis Control and Information Processing dep Academy of Engineering RUDN University Moscow Russia Sri Ranganathar Institute of Engineering and Technology Coimbatore India Mathematics Department Saveetha School of Engineering SIMATS Saveetha Nagar Chennai India Department of Computer Science Banasthali Vidyapith Rajasthan Banasthali India

ISBN: (纸本)9781032669663

One of the most critical problems facing the blockchain technology industry right now is how to protect the privacy of users’ data on the blockchain in a way that is both effective and cheap. Based on the Pedersen commitment and the Schnorr protocol, this study comes up with a secure multi-party computing protocol (BPLSM). By making the structure of the protocol and doing formal proof calculations, it has been shown that the protocol can be used in the blockchain network to combine private messages for efficient signing while keeping people’s identities secret. Furthermore, by looking at the nature and security of the protocol, it is also possible to find that the BPLSM protocol on the blockchain has a low cost of computing and a high level of information secrecy. Furthermore, it was found that the BPLSM protocol takes less time to check than the current mainstream BLS signature in a simple multi-party transaction with a fixed number of participants. © 2024 The Author(s).

关键词： Blockchain

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Influence of new energy at the sending end on the calculation of single-end equivalent model of LCC-HVDC sending system 12

Influence of new energy at the sending end on the calculatio...

引用

12th International Conference on Renewable Power Generation, RPG 2023

作者： He, Xiaocai Wang, Bin Dong, Xinzhou Zhang, Minglong Chao, Wujie Huang, Junwei Dai, Liyu National Key Laboratory of New Power System Operation and Control Department of Electrical Engineering Tsinghua University Beijing China State Grid Fujian Electric Power Co. Ltd. Electric Power Science Research Institute Fujian China

The short circuit current characteristics of LCC-HVDC transmission system are directly related to the action characteristics of AC protection at the inverter side. However, the single-end equivalent model of the existing LCC-HVDC transmission system regards the sending end as a pure traditional AC power supply, and the equivalent error is large when the sending end contains a high proportion of new energy. Based on the dynamic phasor equivalent calculation framework, this paper establishes a single-end equivalent model of the LCC-HVDC transmission system based on the AC information of the inverter side only, and analyzes the impact of different new energy proportion scenarios on the single-end equivalent error and the causes of the error. In this paper, simulation verification is carried out under the scenario of multiple new energy ratios at the sending end. The results show that the simulation error of the single-end equivalent model increases with the increase of the proportion of new energy, which reduces the credibility of the single-end equivalent calculation. © The Institution of engineering & Technology 2023.

关键词： Errors

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Human Following Robot Based on Object Detection for Aerospace Application 1

Human Following Robot Based on Object Detection for Aerospac...

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1st International Conference of Adisutjipto on Aerospace Electrical engineering and Informatics, ICAAEEI 2024

作者： Sumari, Arwin Datumava Wahvudi Aryandika, Ahnaf Bagus Purnami, Ndaru Atmi Dermawan, Denny Syamsiana, Ika Noer State Polytechnic of Malang Cognitive Artificial Intelligence Research Group Department of Electrical Engineering Malang Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Aerospace Navigation Instrumentation Control Automation and Robotics System Research Group Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Aerosp. Digit. Syst. Microprocessor Microcontroller and Programmable Logic Devices Research Group Yogyakarta Indonesia

ISBN: (纸本)9798331507930

In this research, the Human Following Robot (HFR) prototype has been designed and implemented using YOLO v3-Tiny and Tensor Flow Lite on Raspberry Pi hardware named Rewang. The HFR Rewang is designed to assist aircraft technicians by bringing maintenance tool kits to aircraft shelters. Rewang's movement is based on a camera as a vision sensor following the movement of human entities. Image input is processed by YOLO v3-Tiny through the determination of the bounding box, the calculation of Euclidean Distance, and the determination of the pixel value of the camera as the basis of Rewang's movement which is regulated by an L298N driver motor that controls two Direct Current (DC) motors for the left and right wheels. The test results show that Rewang can move at an average speed of 0.18 m/s at 2 m with a travel time of 11 seconds with a light intensity of more than 250 lux. The minimum and maximum distance of object detection is as far as 120 cm and 400 cm, with an object detection accuracy of 95.8%. Rewang allows the HFR to have a larger carrying capacity to bring more complete aircraft maintenance tools and is prospective for other aerospace and general applications. © 2024 IEEE.

关键词： Travel time

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Design and Development of New Solid-state DC Circuit Breaker 6

Design and Development of New Solid-state DC Circuit Breaker

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6th IEEE International Electrical and Energy Conference, CIEEC 2023

作者： Zhong, Jianying Deng, Yuan Yan, Xin Qu, Lu Fan, Naiyuan Feng, Jian Gan, Zhizheng Pinggao Group CO. Ltd Pingdingshan China Tsinghua University State Key Laboratory of Control and Simulation of Power System and Generation Equipment Department of Electrical Engineering Beijing China Dc Research Center Sichuan Energy Internet Research Institute Tsinghua University Chengdu China

ISBN: (纸本)9798350346671

Solid-state DC circuit breakers are key equipment for the protection of medium and low voltage DC systems and are the most effective means of isolating short-circuit faults. With the development of high-power power electronics, the performance of solid-state DC circuit breakers has also improved. In this paper, a new topology of anti-parallel connection is proposed based on the reverse blocking IGCT, which requires fewer switches, lower cost and smaller loss than the anti-series and diode-bridge structure. Besides, a snubber branch design method based on MOV-C is proposed, which can effectively suppress the breaking overvoltage and AC harmonics. Finally, a prototype of low-voltage solid-state DC circuit breaker with rated voltage of 750V was developed, and the breaking test and temperature test were carried out. © 2023 IEEE.

关键词： Electric circuit breakers

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Self-Organized Criticality in C. Elegans Neural Network 42

Self-Organized Criticality in C. Elegans Neural Network

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42nd Chinese control Conference, CCC 2023

作者： Gu, Xiao Liu, Jian Yuan, Ye Zhao, Peng Xin, Kuankuan Fang, Tao Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Centre of Intelligent Control and Management Shanghai200240 China Institute of Machine Intelligence University of Shanghai for Science and Technology Shanghai200093 China Queensland Brain Institute The University of Queensland BrisbaneQLD4072 Australia

ISBN: (纸本)9789887581543

The self-organized criticality is a fundamental property for organisms to perform normal functional activities. Extensive large-scale biological neural network researches have found the existence of self-organized criticality through avalanche phenomenon, which is typical characteristic of self-organized criticality. However, such research method is not suitable for small-scale biological neural network, because number of neurons in small-scale biological neural network is not large enough to support the emergence of avalanche phenomenon. It has been demonstrated that branching parameter can also be used to describe the propagation of activity in the neural network. Here, in this paper, the C. elegans neural network composed of 302 neurons is selected to investigate the existence of self-organized criticality using branching parameter. Based on the obtained connectome of C. elegans, a directed graph model is constructed to simulate the gradient potential of neurons and the activity of C. elegans, then, the existence of self-organized criticality in the neural network of C. elegans is proved by using branching parameter method. Meanwhile, the result is further confirmed by analyzing the calcium activity data of C. elegans obtained from biological experiments. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Calcium

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A Two-layer Adaptive control Strategy for Photovoltaic Power in Different Scenarios 3

A Two-layer Adaptive Control Strategy for Photovoltaic Power...

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3rd International Conference on Energy engineering and Power systems, EEPS 2023

作者： Wan, Yanghui Yan, Jiahao Chu, Tianfeng Li, Yaping Yuan, Kun Zhang, Kaifeng Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education Nanjing China Power Automation Department Nanjing China State Grid Liaoning Electric Power Co. Ltd. Electric Power Research Institute Shenyang China

ISBN: (纸本)9798350313857

Currently, control strategies for distributed photovoltaic (PV) power generation are relatively single and rigid, and cannot flexibly adapt to the diverse demands of power grids in different scenarios. Firstly, this paper analyzes the adaptive relationship between different dispatching demands, the regulation ability of distributed PV, and the characteristics of the local voltage. Secondly, for different scenarios, the coordinated controller determines the reference values of active power and reactive power given to the inverter. Thus, distributed PV power control modes which can adapt to different scenarios have been established. Then, these control modes can be classified into single control modes and compound control modes according to the complexity of scenario demands. On this basis, a specific two-layer adaptive control strategy and process of distributed PV power generation in a low-voltage distribution network are further proposed, which takes into account both external demands of the distribution network and the regulation ability of distributed PV. Finally, a case study is given to verify the rationality and effectiveness of the two-layer adaptive scenarios control strategy. This strategy can effectively improve the comprehensive support ability of distributed PV power generation towards the power grid in multiple scenarios, and improve the stable operation level of the regional power grid. © 2023 IEEE.

关键词： Reactive power

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Guanfeng Yu Han Zhang Zehao Wang Jingchuan Wang Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities.

关键词： Pedestrians Accuracy systematics Wheelchairs Estimation Predictive models Real-time systems

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K-BMPC: Derivative-based Koopman Bilinear Model Predictive control For Tractor-trailer Trajectory Tracking With Unknown Parameters

K-BMPC: Derivative-based Koopman Bilinear Model Predictive C...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zehao Wang Han Zhang Jingchuan Wang Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the original control-affine system. Further, we analyze the propagation and bounds of state prediction errors caused by the truncation in derivative order. The identified finite dimensional Koopman bilinear model would serve as predictive model in the next step. Koopman Bilinear Model Predictive control (K-BMPC) is proposed to solve the trajectory tracking problem. We linearize the bilinear model around the estimation of the lifted state and control input. Then the bilinear Model Predictive control problem is approximated by a quadratic programming problem. Further, the estimation is updated at each iteration until the convergence is reached. Moreover, we implement our algorithm on a tractor-trailer system, taking into account the longitudinal and side slip effects. The open-loop simulation shows the proposed Koopman bilinear model captures the dynamics with unknown parameters and has good prediction performance. Closed-loop tracking results show the proposed K-BMPC exhibits elevated tracking precision with the commendable computational efficiency. The experimental results demonstrate the feasibility of K-BMPC.

关键词： Trajectory tracking Computational modeling Estimation Predictive models control systems Data models Nonlinear dynamical systems

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