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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Li, Meihui Song, Chunhe Yu, Xia Chu, Mengmeng Li, Rui Shenyang University of Technology State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China Shenyang University of Technology Shenyang China

ISBN: (纸本)9798331506230

Printed circuit board defect recognition is of great significance to ensuring the quality of electronic products. This paper proposes an improved PCB defect detection method based on YOLOV8. Firstly, the data augmentation method PredMix (prediction mix) is adopted to simulate scenarios such as overlapping and occlusion in images, where the displays are incomplete or blurred, thereby enhancing the robustness of the network model. Secondly, BiFPN is used to replace PAN-FPN in the fusion layer to strengthen the feature fusion capability. Finally, the CESE_C2f module is employed in the Backbone part, leveraging a lightweight attention mechanism to improve the detection effect while reducing the number of parameters. Experimental results show that compared with the original YOLOV8, the MAP value of this improved algorithm reaches 92.6%, with a 2.3% increase in accuracy. © 2024 IEEE.

关键词： Deep learning

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Temporal-spatial cross-correlation analysis of non-stationary near-surface wind speed time series

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Journal of Central South University 2017年第3期24卷 692-698页

作者： ZENG Ming LI Jing-hai MENG Qing-hao ZHANG Xiao-nei Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control （School of Electrical Automation and Information Engineering Tianjin University） Tianjin 300072 China

Temporal-spatial cross-correlation analysis of non-stationary wind speed time series plays a crucial role in wind field reconstruction as well as in wind pattern ***,the near-surface wind speed time series recorded at different locations are studied using the detrended fluctuation analysis(DFA),and the corresponding scaling exponents are larger than *** indicates that all these wind speed time series have non-stationary ***,concerning this special feature( i.e.,non-stationarity)of wind signals,a cross-correlation analysis method,namely detrended cross-correlation analysis(DCCA) coefficient,is employed to evaluate the temporal-spatial cross-correlations between non-stationary time series of different anemometer ***,experiments on ten wind speed data synchronously collected by the ten anemometers with equidistant arrangement illustrate that the method of DCCA cross-correlation coefficient can accurately analyze full-scale temporal-spatial cross-correlation between non-stationary time series and also can easily identify the seasonal component,while three traditional cross-correlation techniques(i.e.,Pearson coefficient,cross-correlation function,and DCCA method) cannot give us these information directly.

关键词： temporal-spatial cross-correlation near-surface wind speed time series detrended cross-correlation analysis (DCCA) cross-correlation coefficient Pearson coefficient cross-correlation function

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Dynamic Characteristics Analysis of Elastic Missile 7

Dynamic Characteristics Analysis of Elastic Missile

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： XU Zhaoqing Pei Hailong South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467383189

The longitudinal and lateral dynamic characteristics of the elastic missile are analyzed in this *** aerodynamic force and moment and structure mode are *** unsteady aerodynamics additional caused by vibration is researched through simplified theory;the longitudinal and lateral rigid disturbance motion equations are established in term of the linear theory *** elastic vibration dynamic response can be acquired after the unsteady aerodynamics loads additional are substituted to the disturbance motion equations as perturbation *** outputs can provide raw data for stability analysis,precision analysis,control and guidance system *** response of output shows that the longitudinal attitude angles and sideslip angle variation induced by elastic vibration will be very slight,but the variation of bank angle will be great,this result is matched with the experiment phenomenon.

关键词： Laplace simulation Dynamic Characteristics Analysis of Elastic Missile

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A Mobile Robot Localization and Map Building Algorithm and Simulation 33

A Mobile Robot Localization and Map Building Algorithm and S...

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第三十三届中国控制会议

作者： ZHANG Qian Pei Hailong ZHANG Cheng Key Laboratory of Autonomous Systems and Networked Control (South China University of Technology) Ministry of Education

ISBN: (纸本)9781479947249

In order to realize the localization demand of mobile robot, the motion model and observation model of mobile robot were analyzed, and the mobile robot real-time localization algorithm of given map environment based on extended Kalman filtering was described. Besides, the algorithm was simulated. The landmark model of map was built in the process of simulation,and the landmark that was observed under control action was used to correct the location of mobile robot, by which the positioning of robot was realized. The result of simulation shows that the positional accuracy of this algorithm is very high. In addition, the construction method of real-time map of mobile robot was described on extended Kalman filtering under unknown environment based on this. Experimental result shows that this algorithm can identify the location of landmark accurately so as to give reference for the real-time positioning and mapping construction of mobile robot.

关键词： Mobile Robot,Extended Kalman Filtering,Localization,Map,Simulation

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Adaptive Output Feedback control Using Fault Compensation and Fault Estimation for Linear System with Actuator Failure

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International Journal of Automation and computing 2013年第5期10卷 463-471页

作者： Jun Wang Hai-Long Pei Nai-Zhou Wang Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology College of Automation Science and Engineering South China University of Technology

The problem of linear systems subject to actuator faults（outage,loss of efectiveness and stuck）,parameter uncertainties and external disturbances is *** active fault compensation control law is designed which utilizes compensation in such a way that uncertainties,disturbances and the occurrence of actuator faults are account *** main idea is designing a robust adaptive output feedback controller by automatically compensating the fault dynamics to render the close-loop *** to the information from the adaptive mechanism,the updating control law is derived such that all the parameters of the unknown input signal are ***,a disturbance decoupled fault reconstruction scheme is presented to evaluate the severity of the fault and to indicate how fault accommodation should be *** advantage of fault compensation is that the dynamics caused by faults can be accommodated *** proposed design method is illustrated on a rocket fairing structural-acoustic model.

关键词： Fault compensation fault-tolerant control robust adaptive control fault reconstruction actuator failure

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A Priority-aware Frequency Domain Polling MAC Protocol for OFDMA-based Networks in Cyber-physical systems

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IEEE/CAA Journal of Automatica Sinica 2015年第4期2卷 412-421页

作者： Meng Zheng Junru Lin Wei Liang Haibin Yu Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of Sciences Huawei Technologies Co. Ltd.

Wireless networking in cyber-physical systems (CPSs) is characteristically different from traditional wireless systems due to the harsh radio frequency environment and applications that impose high real-time and reliability constraints. One of the fundamental considerations for enabling CPS networks is the medium access control protocol. To this end, this paper proposes a novel priority-aware frequency domain polling medium access control (MAC) protocol, which takes advantage of an orthogonal frequency-division multiple access (OFDMA) physical layer to achieve instantaneous priority-aware polling. Based on the polling result, the proposed work then optimizes the resource allocation of the OFDMA network to further improve the data reliability. Due to the non-polynomial-complete nature of the OFDMA resource allocation, we propose two heuristic rules, based on which an efficient solution algorithm to the OFDMA resource allocation problem is designed. Simulation results show that the reliability performance of CPS networks is significantly improved because of this work. © 2014 Chinese Association of Automation.

关键词： Access control Embedded systems Frequency domain analysis Medium access control Network layers Orthogonal frequency division multiplexing Polynomials Real time systems Reliability Resource allocation Wireless networks

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Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors

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Engineering 2019年第1期5卷 164-172页

作者： Ningbo Yu Shirong Wang Institute of Robotics and Automatic Information Systems Nankai University Tianjin 300353 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300353 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate twodimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.

关键词： Autonomous exploration Red/green/blue-depth Sensor fusion Point cloud Partial map simulation Global frontier search

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Simulation and experiment research of non-contact micro-liquid reagent dispensing

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Advance Journal of Food Science and Technology 2013年第5期5卷 514-521页

作者： Yufeng, Yao Shizhou, Lu Yaxin, Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an 710049 China

With the development of biological analytical techniques and high throughput screening techniques, a large number of automated biological agents dispensing systems are widely used in the field of life science research. Non-contact dispensing method characterizedby its small dispensing volume, high dispensing precision and quick service speed which satisfies the requirements of biological agent's distribution, becomes the mainstream dispensing method used in reagent dispensing systems. However, the difficult control way, complex system of non-contact dispensing method and its vulnerable dispensing process, which can be easily affected by characteristics of the agent, have hindered the application and development of the method. In this study, simulation model of the separation process ofmicro scale biological reagent are constructed in order to solve the above problems. The prerequisites of the non-contact dispensing method, the relationship between dispensing volume and precision and characteristics of reagents, formation of system and control parameters are researched through theoretical analysis and numerical simulations. The experiment results are quite consistent with the simulation results;therefore it well verifies the reliability of the modeling and simulation method and also lays a firm theoretical foundation for the system design of non-contact micro-liquid reagent distribution and control optimization © Maxwell Scientific Organization, 2013.

关键词： Numerical methods

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Working condition recognition of sucker rod pumping system based on 4-segment time-frequency signature matrix and deep learning

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Petroleum Science 2024年第1期21卷 641-653页

作者： Yun-Peng He Hai-Bo Cheng Peng Zeng Chuan-Zhi Zang Qing-Wei Dong Guang-Xi Wan Xiao-Ting Dong State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016LiaoningChina Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016LiaoningChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169LiaoningChina University of Chinese Academy of Sciences Beijing100049China School of Artifcial Intelligence Shenyang University of TechnologyShenyang 110870LiaoningChina

High-precision and real-time diagnosis of sucker rod pumping system(SRPS)is important for quickly mastering oil well *** learning-based method for classifying the dynamometer card(DC)of oil wells is an efficient diagnosis ***,the input of the DC as a two-dimensional image into the deep learning framework suffers from low feature utilization and high computational ***,different SRPSs in an oil field have various system parameters,and the same SRPS generates different DCs at different ***,there is heterogeneity in field data,which can dramatically impair the diagnostic *** solve the above problems,a working condition recognition method based on 4-segment time-frequency signature matrix(4S-TFSM)and deep learning is presented in this ***,the 4-segment time-frequency signature(4S-TFS)method that can reduce the computing power requirements is proposed for feature extraction of DC ***,the 4S-TFSM is constructed by relative normalization and matrix calculation to synthesize the features of multiple data and solve the problem of data ***,a convolutional neural network(CNN),one of the deep learning frameworks,is used to determine the functioning conditions based on the *** on field data verify that the proposed diagnostic method based on 4S-TFSM and CNN(4S-TFSM-CNN)can significantly improve the accuracy of working condition recognition with lower computational *** the best of our knowledge,this is the first work to discuss the effect of data heterogeneity on the working condition recognition performance of SRPS.

关键词： Sucker-rod pumping system Dynamometer card Working condition recognition Deep learning Time-frequency signature Time-frequency signature matrix

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A novel magnetoelastic torque sensor with planar spiral coil probes

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Biomimetic Intelligence and robotics 2025年

作者： Zijian Zhang Zitao Wang MingShao Yangyang Dong Fenglei Ni School of Astronautics Nanjing University of Aeronautics and Astronautics Nanjing 210016 China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

Humanoid robot joints require real-time torque detection to provide accurate force feedback information for the control system. To meet the measurement requirements and realize the miniaturization of the sensor, a torque sensor based on the magnetoelastic effect is developed, utilizing planar spiral coils as detection probes. In this work, a planar spiral coil mutual inductance calculation model is established to solve the mutual inductance coefficient, and the mechanical structure and circuit design of the sensor are completed. Finally, a torque loading platform is built to perform calibration experiments, and the hysteresis model is improved to compensate for the hysteresis phenomenon. The calibration results indicate that the sensor shows excellent loaded nonlinearity of 3.08%F.S., unloaded nonlinearity of 2.71%F.S., loaded repeatability of 2.48%F.S., unloaded repeatability of 1.89%F.S. and hysteresis of 1.9%F.S., at a compact probe size of 13.8 × 9 . 9 × 1.8 mm.

关键词： Magnetoelastic effect Torque sensor Planar spiral coil Mutual inductance calculation Hysteresis model

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