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2024 China Automation Congress, CAC 2024

作者： Ren, Xinyu Li, Bo Zhao, Feng Chen, Xiangyong Zhang, Xianhe Jiang, Xiaowei School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Finance Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong Linyi University Linyi China School of Automation and Electrical Engineering Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong Linyi University Linyi China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

ISBN: (纸本)9798350368604

This paper investigates the optimal tracking performance (OTP) of multiple-input multiple-output (MIMO) discrete networked control systems (NCSs) under the influence of Denial of Service (DoS) attack, channel noise, and bandwidth constraints. The channel noise is assumed to be additive Gaussian white noise (AWGN). Due to the randomness of DoS attack, a Bernoulli distribution is used for DoS modeling. Utilizing frequency domain analysis methods, coprime factorization, all-pass decomposition, and Youla parameterization, an explicit expression for the optimal tracking performance (OTP) of the system under the two-degree-of-freedom (TDOF) controller is derived. The analysis indicates that non-minimum phase (NMP) zeros, unstable poles (UPs), DoS attack, and network constraints affect the OTP of NCSs. Finally, the theoretical results are validated through simulations of MIMO NCS and vehicle control system. © 2024 IEEE.

关键词： White noise

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Time-synchronous-averaging-spectrum based on super-resolution analysis and application in bearing fault signal identification

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第7期25卷 573-585页

作者： Zengle REN Yuan WANG Huiyue TANG Xin'an CHEN Wei FENG Guangdong Provincial Key Laboratory of Construction Robotics and Intelligent Construction Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Shenzhen EBORAIL Technology Co. Ltd.Shenzhen518038China National Supercomputing Center in Shenzhen Shenzhen518055China State Key Lab of Rail Traffic Control and Safety Beijing Jiaotong UniversityBeijing100044China University of Chinese Academy of Sciences Beijing100190China Shenzhen University of Advanced Technology Shenzhen518107China

Time-synchronous-averaging(TSA)is based on the idea of denoising by averaging,and it extracts the periodic components of a quasiperiodic signal and keeps the extracted waveform *** paper studies the mathematical properties of TSA,where three propositions are given to reveal the nature of *** paper also proposes a TSA-spectrum based on super-resolution analysis and it decomposes a signal without using any base *** contrast to discrete Fourier transform spectrum(DFT-spectrum),which is a spectrum in frequency domain,TSA-spectrum is a period-based spectrum,which can present more details of the cross effects between different periodic components of a quasiperiodic ***,a case study is carried out using bearing fault analysis to illustrate the performance of TSA-spectrum,where the rotation speed fluctuation of the shaft is estimated,which is about 0.12 ms *** extracted fault signals are presented and some insights are *** believe that this paper can provide new motivation for TSA-spectrum to be widely used in applications involving quasiperiodic signal processing(QSP).

关键词： Time-synchronous-averaging(TSA) Spectrum Quasiperiodic signal processing(QSP) Super-resolution analysis Bearingfaultdetection

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Dynamic Obstacle Avoidance for Magnetic Helical Microrobots Based on Deep Reinforcement Learning

Dynamic Obstacle Avoidance for Magnetic Helical Microrobots ...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Qiu, Yukang Hou, Yaozhen Yang, Haotian Gao, Yigao Huang, Hen-Wei Shi, Qing Huang, Qiang Wang, Huaping Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China Harvard Medical School Laboratory for Translational Engineering CambridgeMA02139 United States Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798350372601

Magnetic helical microrobots hold immense promise in biomedical domains owing to their compact size and efficient propulsion capabilities. However, navigating these microrobots through dynamic and unstructured environments, particularly when encountering numerous dynamic obstacles, remains a formidable challenge. In the study, a control framework based on deep reinforcement learning (DRL) with the objective of guiding a microrobot through dynamic obstacles towards specified target goals is introduced. Initially, we design and fabricate a microdrill capable of propulsion via external magnetic rotating fields produced by our magnetic actuation system. Subsequently, we construct a custom training environment, adhering to the OpenAI gym interface, to serve as the simulator for training purposes. Utilizing the proximal policy optimization algorithm, we conduct training of the navigation policy within this simulator. Simulations and experimental validations conducted in dynamic environments affirms the efficacy of the proposed method. © 2024 IEEE.

关键词： Microrobots

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An extension of weighted strategy sharing in cooperative Q-learning for specialized agents

An extension of weighted strategy sharing in cooperative Q-l...

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International Conference on Neural Information processing

作者： S.M. Eshgh M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Using other agents' experiences and knowledge, a learning agent may learn faster, make fewer mistakes, and create some rides for unseen situations. These benefits will be gained if the learning agents know the area of expertise and the expertness values of each other. In this paper, some Q-learning agents with different skills and expertness levels cooperate in learning. The agents use some criteria to judge others information and knowledge. Four expertness criterion, certainty and entropy measures are used to assign degrees of importance to others' Q-Tables. Effects of measuring these values based on their whole Q-Table, a portion of Q-Tables that reflects their proficiencies, and the states in Q-Tables on the learning quality are studied. Simple strategy sharing and two different weighted strategy-sharing methods are used to combine the acquired knowledge from different agents.

关键词： intelligent robots intelligent agent Process control control systems intelligent control Laboratories intelligent systems Physics Mathematics Entropy

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Wheeled-tip object manipulation: Modeling and motion planning of throwing an object

Wheeled-tip object manipulation: Modeling and motion plannin...

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IEEE International Conference on robotics and Biomimetics

作者： S. Parastegari M. Nili Ahmadabadi E. Noohi H. Moradi Robotics and AI Laboratory Control & Intelligent Processing Center of Excellence University of Tehran Tehran Iran University of Tehran Tehran Iran

ISBN: (纸本)9781467321259

In this paper we address the task of throwing an object on a plane using a wheeled-tip robot. Wheeled-tip robots constitute of one or more artificial fingers with an active wheel at the end of each finger that acts as its fingertip. This class of robots may be used for the task of transfer-throwing objects. In this task, the robot transfers the object for a while, giving it required velocity and then throws it toward a defined goal. The use of wheeled-tip robot in a transfer-throwing task has some advantages in practice and with respect to a typical robot. The wheel at the tip of the robot finger can move independently on the object and gives it the desired velocity at the time of throwing the object. Here we present an algorithm of a planner for throwing objects on a plane using a wheeled-tip robot. We show how using the ability of moving the wheel on the object leads to capability of overcoming joint velocity limits, making this class of robots proper for doing the task.

关键词： Throwing an Object Motion- Planning Wheeled-tip Manipulator

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Certainty and expertness-based credit assignment for cooperative Q-Learning agents with an AND-type task

Certainty and expertness-based credit assignment for coopera...

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International Conference on Neural Information processing

作者： A. Harati M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence & AI and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In multiagent reinforcement learning, inter-agent credit assignment is a fundamental problem, since a single scalar reinforcement signal is the only reliable feedback that teams of learning agents receive. This problem is more critical in groups of independent learners with a joint task. In this research, it is assumed that a critic agent receives the environment feedback and assigns a proper credit to each agent using some measures. Three of such measures for a team of cooperative agents with a parallel and AND-type task are introduced. These measures somehow compare the agents' knowledge. One of these criteria, called normal expertness, is a non-relative measure while two other ones (certainty and relative normal expertness) are relative measure. It is experimentally shown that relative measures work better as they contain more information for the critic agent.

关键词： Feedback intelligent agent intelligent robots Process control control systems intelligent control Artificial intelligence Robot kinematics Physics computing Reliability engineering

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Comparing effects of rigid, flexible, and actuated series-elastic spines on bounding gait of quadruped robots

Comparing effects of rigid, flexible, and actuated series-el...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad Hasan H. Kani Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Cognitive Robotics Laboratory School of ECE College of Engineering University of Tehran Tehran Iran

Spinal actuation is necessary for quadruped robots to achieve rapid leg locomotion. In this paper, effect of flexible spinal actuation on the bounding gait is investigated. By defining a performance criterion for the bounding gait, a quadruped robot (Ghostdog) is tested in four different case studies; namely rigid spine, flexible passive spine, actuated spine, and series elastic actuated spine. We show that the robot with a series elastic actuator in its spinal joint has the best performance criterion and is the best robot in terms of bounding power consumption. On the other hand, it is shown that by using spinal actuation not only the speed of locomotion increases considerably, but also the pattern of bounding becomes more similar to real fast felines.

关键词： Robots Oscillators Equations Hip

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Path Tracking control for Helical Microrobots Based on Fusion of Geometric and Model-Free Methods 13

Path Tracking Control for Helical Microrobots Based on Fusio...

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13th IEEE International Conference on CYBER Technology in Automation, control, and intelligent systems, CYBER 2023

作者： Zhong, Shihao Wang, Huaping Shi, Qing Hou, Yaozhen Qiu, Yukang Sun, Tao Huang, Qiang Fukuda, Toshio School of Medical Technology Beijing Institute of Technology Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798350315196

Helical micron-sized robots driven by magnetic fields have garnered significant interest, particularly in the field of tracking control. However, at the microscale, time-varying uncertain perturbations in both the environment and electromagnetic system can cause these robots to deviate from their preset state. Here, we propose a novel control method that combines geometric and model-free controllers in a complementary manner to achieve accurate path-tracking of a helical microrobot on underwater unstructured surfaces. The geometric controller acts as a feedforward controller handling path information and formulating guidance law, while the model-free controller responds directly to the lateral error. To compensate for unmodeled nonlinear dynamics and unknown disturbances and achieve system dynamic linearization, we employ an extended state observer. To validate the proposed method and determine suitable ranges for input parameters of the controllers, simulations were carried out. The effectiveness of our path-tracking control method is validated through experimental results. The control technique provides an initial investigation into addressing the effects of uncertainties and perturbation on the control capabilities of magnetic microrobots. © 2023 IEEE.

关键词： controllers

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

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2022 Chinese Automation Congress, CAC 2022

作者： Zhang, Bin Jiang, Xiaowei Sun, Li Zhang, Xianhe School of Automation China University of Geosciences Wuhan430074 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan430074 China School of Electrical Engineering and Automation Hubei Normal University Huangshi435002 China

ISBN: (纸本)9781665465335

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions. © 2022 IEEE.

关键词： Networked control systems

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