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Chinese automation Congress (CAC)

作者： Jianfei Chen Yutao Chen Zihang Liu Jie Huang College of Electrical Engineering and Automation Fuzhou University Fuzhou China Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou China Fuzhou No.1 High School Fuzhou China

ISBN: (纸本)9781665426480

To address the problem of unpredictable trajectory caused by sensing limitation of UGV, in this paper, a heterogeneous multi-agent behavioral control architecture with predictive function is proposed, in which UAV intervenes in the decision-making of UGV. The basic task functions of UGV and UAV are defined respectively and the intervention signal of UAV is connected to the task function of UGV in null-space-based control framework to solve the problem of multi-task conflict. The UAV platform adopts the nonlinear model predictive control to predict the trajectory according to the environment data collected in advance and the current state of the UGV. The prediction results are input into the decision model to produce the final intervention signal and sent to the UGV platform. The UGV adjusts the task strategy in time to ensure the selection of the optimal trajectory for the UGV. Finally, the simulation results show the effectiveness of the proposed cooperative control method.

关键词： Simulation Robot kinematics Decision making Predictive models Robot sensing systems Trajectory Sensors

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GOGICP: A Real-time Gaussian Octree-based GICP Method for Faster Point Cloud Registration

GOGICP: A Real-time Gaussian Octree-based GICP Method for Fa...

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

作者： Zhitao Yu Wei Yuan Hengwang Zhao Hanyang Zhuang Ming Yang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Global Institute of Future Technology Shanghai Jiao Tong University Shanghai China University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

Point cloud registration algorithms are crucial for robot localization based on prior maps. Classical methods often struggle to achieve both high accuracy and real-time performance simultaneously, as these two goals can conflict. This limitation impedes the application of point cloud registration in high-speed scenarios, such as the LiDAR localization of fast-moving robots, where both precision and real-time capabilities are essential. This paper proposes a real-time Gaussian Octree-based Generalized Iterative Closest Point (GICP) method, which leverages the censoring properties of the Gaussian Octree to expedite the nearest neighbor search and incorporates an incremental calculation of the Gaussian distribution to hasten the tree-building process. Experimental results show that the proposed method can achieve a 61.8% improvement in speed over GICP while maintaining accuracy comparable to that of GICP. The average registration accuracy is up to 5 cm, with an angular error of less than 0.2°, and the average registration time for a single frame is 77 ms, which satisfies the demands of practical application scenarios.

关键词： Point cloud compression Location awareness Accuracy Laser radar Octrees Semantics Gaussian distribution

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High information Density and Low Coverage Data Storage in DNA with Efficient Channel Coding Schemes

arXiv

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arXiv 2024年

作者： Ding, Yi He, Xuan Nguyen, Tuan Thanh Song, Wentu Yakhini, Zohar Yaakobi, Eitan Pan, Linqiang Tang, Xiaohu Cai, Kui Information Coding and Transmission Key Lab of Sichuan Province Southwest Jiaotong University Sichuan Chengdu611756 China Cluster Singapore University of Technology and Design 487372 Singapore Faculty of Computer Science Technion - Israel Institute of Technology Haifa3200003 Israel School of Computer Science RUNI Herzliya4615200 Israel Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Hubei Wuhan430074 China

DNA-based data storage has been attracting significant attention due to its extremely high data storage density, low power consumption, and long duration compared to conventional data storage media. Despite the recent advancements in DNA data storage technology, significant challenges remain. In particular, various types of errors can occur during the processes of DNA synthesis, storage, and sequencing, including substitution errors, insertion errors, and deletion errors. Furthermore, the entire oligo may be lost. In this work, we report a DNA-based data storage architecture that incorporates efficient channel coding schemes, including different types of error-correcting codes (ECCs) and constrained codes, for both the inner coding and outer coding for the DNA data storage channel. We also carried out large scale experiments to validate our proposed DNA-based data storage architecture. Specifically, 1.61 and 1.69 MB data were encoded into 30,000 oligos each, with information densities of 1.731 and 1.815, respectively. It has been found that the stored information can be fully recovered without any error at average coverages of 4.5 and 6.0, respectively. This experiment achieved the highest net information density and lowest coverage among existing DNA-based data storage experiments (with standard DNA), with data recovery rates and coverage approaching theoretical optima. Copyright © 2024, The Authors. All rights reserved.

关键词： Channel coding

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Construction of Three-Dimensional Nickel-Vanadium Hydrotalcite with Ball-Flower Architecture for Screen-Printed Asymmetric Supercapacitor

SSRN

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SSRN 2022年

作者： Tu, Qian Zhang, Qiang Sun, Xinyu Wang, Jinglu Lin, Baoying Liu, Jin Liu, Zhonghua Chen, Liangzhe School of Electronic Information Engineering Jingchu University of Technology Jingmen448000 China School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control of Education Ministry Huazhong University of Science and Technology Wuhan430074 China

As a promising energy storage matter, two-dimensional (2D) layered double hydroxides (LDHs) suffer from a lower specific capacitance and poor retention. Morphology engineering is deemed to be an effective means. Herein, three-dimensional (3D) nickel-vanadium hydrotalcite (NiV-LDHs) with ball-flower structure are synthesized successfully via a facile dynamic-refluxing route, such a green strategy dispenses with template and high pressure and generates a specific surface area as high as 61.6 m 2 /g. Then, the screen-printed inks with outstanding rheological performances are formulated and the resulting electrodes display superior hydrophilic performance. Benefitted from the 3D architecture and shear flow process, the NiV-LDHs electrode can deliver an enhanced specific capacitance of 1069 F/g at 1 A/g with cycling stability of ~68.0% after 1500 cycles at 20 A/g, in contrast with that of NiV-LDHs prepared by coprecipitation (848 F/g and ~5.1%). Furthermore, an asymmetric NiV-LDHs//activated carbon supercapacitor (ASC) is assembled, which can yield a remarkable energy density of 75.8 μWh/cm2 at a power density of 0.80 mW/cm2, and two ASCs in series can illuminate a red light (2.5 V) for more than 270 s. Therefore, this study proposes a facile and economic strategy to prepare 3D nanomaterial for advanced and flexible printable energy storage devices. © 2022, The Authors. All rights reserved.

关键词： Screen printing

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Component parameter design for symmetrical LCC compensation converter

Component parameter design for symmetrical LCC compensation ...

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International Conference on Power Electronics Systems and Applications (ICPESA)

作者： Xirong Huang Yi Peng Guidong Zhang Weiqun Lin Weiping Le School of Automation Guangdong University of Technology Guangzhou China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shenzhen CSL Vacuum Science & Technology Co. LTD. Shenzhen China

ISBN: (纸本)9781665486699

Compared to the much talked about electric vehicle, there is less research on the compensation topology of wireless charging bicycle. Consider the low transmission efficiency under light load which exist in traditional basic compensation circuits, this paper firstly applies the symmetric LCC compensation topology in wireless charging bicycle. The symmetrical LCC topology circuit can switch between constant voltage mode and constant current mode simply by the driving frequency, which can better meet the charging requirements of wireless charging bicycle than the traditional ones. In this paper, firstly, the mathematical model of symmetric LCC compensation topology circuit is established. Then, the analysis of constant current and constant voltage modes are carried out. Finally, the calculation formula of the compensation element is derived. Based on the calculation formula and the known coil parameters, the parameters of the compensation element are designed for simulation verification, and the simulation results are found to be satisfactory.

关键词： Wireless communication Simulation Inductive charging Bicycles Voltage Mathematical models Power electronics

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Hexagonally ordered microbowl arrays decorated with ultrathin CuInS_(2) nanosheets for enhanced photoelectrochemical performance

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Journal of Energy Chemistry 2020年第12期29卷 134-142页

作者： Ming Li Le Chen Yanjie Su Huan Yin Kexiang Hu State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200050China School of Electronic Engineering and Automation Guilin University of Electronic TechnologyKey Laboratory of Optoelectronic Information Processing of Guangxi Colleges and Uniy/ersitiesGuilin 541004GuangxiChina Key Laboratory for Thin Film and Microfabrication of the Ministry of Education Department of Micro/Nano ElectronicsSchool of ElectronicsInformation and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China National and Local Joint Engineering Laboratory of Internet Technology on Mine School of Information and Control EngineeringChina University of Mining and TechnologyXuzhou 221008JiangsuChina School of Physics and Telecommunication Engineering Guangxi Colleges and Universities Key Lab of Complex System Optimization and Big Data ProcessingYulin Normal UniversityYulin 537400GuangxiChina

This paper demonstrates the design and fabrication of three-dimensional(3 D) hexagonally ordered microbowl arrays(MBAs) decorated with Cu In S2 nanosheets for enhanced photoelectrochemical(PEC) performance. The 3 D MBAs are fabricated by a micro-fabrication technique. The ultrathin CuInS2 nanosheets are grown on the 3 D electrodes by solvothermal transformation of Cu film. The photocurrent density of 3 D photocathode(CuInS2@MBAs) is about two times higher than that of the planar counterpart(CuInS2@Planar). The improved PEC performance can be ascribed to the elevated light trapping ability and the increased surface area for loading photocatalysts. In addition, CdS quantum dots as cocatalysts are modified onto the Cu In S2 nanosheets to further enhance the PEC activity because the formed p-n heterojunction can accelerate the separation of photogenerated carriers. As a result, the 3 D photocathode of CuInS2/CdS@MBAs shows an optimal incident photon to current efficiency of 10% at the wavelength of400 nm. It is believed that this work can be generalized to design other hierarchical 3 D photoelectrodes for improved solar water splitting.

关键词： Microbowl array CuInS_(2) Nanosheet Photocathode Photoelectrochemical performance

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Robotic Trajectory Planning for Non-Destructive Testing Based on Surface 3D Point Cloud Data 7

Robotic Trajectory Planning for Non-Destructive Testing Base...

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2021 7th International Forum on Manufacturing technology and Engineering Materials, IFEMMT 2021

作者： Zhang, Zhen Zhang, Hualiang Yu, Xiaolong Deng, Yongsheng Chen, Zheng School of Mechanical Engineering and Automation Northeastern University Shenyang China Key Laboratory of Industrial Control Network and System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Hangzhou Innovation Institute Beihang University Hangzhou China School of Information Engineering Shenyang University of Chemical Technology Shenyang China

Robotics has been widely used in the field of non-destructive testing in recent years. However, for complex surfaces, manual teaching or offline programming is time-consuming and difficult to ensure high precision for non-destructive testing robot trajectory planning. Therefore, this work proposes a new method to generate non-destructive testing trajectory of the robot based on the pre-processed point cloud data. The workpiece surface is measured by 3D sensor to obtain the point cloud data. The trajectory line on workpiece surface is obtained by slicing pre-processed point cloud data. The dense trajectory points are obtained by isometric discretizing trajectory lines, and then they are compressed by Douglas-Peucker algorithm. The Principal Component Analysis (PCA) method is used to estimate the normal vector of the optimized trajectory points and unify their orientation. The pose of non-destructive testing robot can be obtained by biasing the trajectory points along their normal vectors finally. © Published under licence by IOP Publishing Ltd.

关键词： Nondestructive examination

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Direct Force control of PMLSM Based on Fractional-order Model Reference Adaptive System

Direct Force Control of PMLSM Based on Fractional-order Mode...

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Chinese control and Decision Conference, CCDC

作者： Zixuan You Xiaoying Zhang Lingzhi Qian School of Electrical Engineering and Information Engineering Lanzhou University of Technology Lanzhou China Key Laboratory of Gansu Advanced Control for Industrial Processes Lanzhou China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (纸本)9781665478977

Given the traditional integer-order model reference adaptive system (IOMRAS) with large speed estimation error, slow response speed and poor performance against external interference under the direct force control (DFC) of permanent magnet linear synchronous motor (PMLSM), a fractional-order model reference adaptive system (FOMRAS) algorithm is proposed, which adopts the concept of fractional calculus and fractional-order Lyapunov stability theory. Through analysis and calculation, the fractional adaptive law is used to control the system in speed identification, which improves the speed tracking performance, reduces the oscillation of force response and ensures that the estimated value quickly approaches the real value. Then it is applied to DFC to realize speed sensorless control. The simulation results show that the speed sensorless PMLSM-DFC based on FOMRAS has significantly enhanced anti-disturbance performance and good dynamic and static performance, thus ensuring the stability of the system.

关键词： Adaptation models Estimation error Adaptive systems Simulation Dynamics Interference Stability analysis

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Multi-service collaboration and composition of cloud manufacturing customized production based on problem decomposition

arXiv

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arXiv 2024年

作者： Yue, Hao Wu, Yingtao Wang, Min Hu, Hesuan Wu, Weimin Zhang, Jihui Shandong Qingdao266580 China College of Information Engineering Yangzhou University Jiangsu Yangzhou225127 China School of Electro-Mechanical Engineering Xidian University Shanxi Xi’an710071 China School of Computer Science and Engineering College of Engineering Nanyang Technological University 639798 Singapore State Key Laboratory of Industrial Control Technology Zhejiang University Zhejiang Hangzhou310027 China Institute of Cyber-Systems and Control Zhejiang University Zhejiang Hangzhou310027 China Institute of Complexity Science School of Automation Qingdao University Shandong Qingdao266071 China Shandong Key Laboratory of Industrial Control Technology Shandong Qingdao266071 China

Cloud manufacturing system is a service-oriented and knowledge-based one, which can provide solutions for the large-scale customized production. The service resource allocation is the primary factor that restricts the production time and cost in the cloud manufacturing customized production (CMCP). In order to improve the efficiency and reduce the cost in CMCP, we propose a new framework which considers the collaboration among services with the same functionality. A mathematical evaluation formulation for the service composition and service usage scheme is constructed with the following critical indexes: completion time, cost, and number of selected services. Subsequently, a problem decomposition based genetic algorithm is designed to obtain the optimal service compositions with service usage schemes. A smart clothing customization case is illustrated so as to show the effectiveness and efficiency of the method proposed in this paper. Finally, the results of simulation experiments and comparisons show that these solutions obtained by our method are with the minimum time, a lower cost, and the fewer selected services. © 2024, CC BY-NC-ND.

关键词： Genetic algorithms

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A Swing-Up and Stable control Strategy for Pendubot Based on Nonlinear Model Predictive Method

A Swing-Up and Stable Control Strategy for Pendubot Based on...

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Chinese automation Congress (CAC)

作者： Lejun Wang Yiqin Liu Ruihuan Zhang Zixin Huang Zhen Cai School of Automation/School of Industrial Internet Chongqing University of Posts and Telecommunications Chongqing China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan China School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan China School of Information Engineering Wuhan City Polytechnic Wuhan China

The control objective of Pendubot is to stabilise the system in a vertically upward position by swinging up from a vertically downward position. Facing various physical constraints in practical applications, this paper proposes a swing-up stabil-isation control strategy based on a nonlinear model prediction method to accomplish the above control objective. On the basis of the system dynamics model, the forward Euler method is used to construct a nonlinear prediction model of the system. According to the control objectives and physical constraints of the system, the performance index function is designed, and then the control inputs of each sampling cycle are obtained through rolling optimisation and feedback correction, so that the system state gradually converges to the target trajectory, thus achieving the motion control objective. Based on the simulation results, it can be seen that the strategy proposed in this paper is efficient and robust under external disturbances.

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