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Youth Academic Annual Conference of Chinese Association of automation (YAC)

作者： Renzhi Liu Hongru Ren Hui Ma Hongyi Li Renquan Lu School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control and Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou China School of Mathematics and Statistics Guangdong University of Technology Guangzhou China School of Electronic and Information Engineering and Chongqing Key Laboratory of Generic Technology and System of Service Robots Southwest University Chongqing China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

In this paper, a new reinforcement learning-based model-free adaptive control algorithm is introduced for discrete-time nonlinear multi-agent systems with unknown dynamics, while the equivalent dynamic linearization algorithm is applied to design the optimal controller. The strategy for Q-Learning and the actor-critic neural network are specifically redesigned to achieve consensus control in multi-agent systems. The proposed reinforcement learning algorithm can adjust the dynamic linearization parameters in real-time only based on input and output data. The stability of the closed-loop system is proven by Lyapunov theorem. Furthermore, the method’s effectiveness is verified by a numerical simulation.

关键词： Adaptation models Target tracking Q-learning Heuristic algorithms Numerical simulation Stability analysis Real-time systems

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Transition Metal (AU, Ag, Pt, Pd, Ni) Doped MoS2 as Gas Sensing Materials for C4F7n Leakage Detection: A Comparative Study

SSRN

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SSRN 2023年

作者： Yan, Yongxu Li, Yi Zhang, YiFan Wu, Peng Tang, Ju Zhang, Xiaoxing Xiao, Song State Key Laboratory of Power Grid Environmental Protection School of Electrical Engineering and Automation Wuhan University Wuhan China Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Hubei University of Technology Wuhan430068 China

Fluorinated nitrile (C4F7N) has been considered a novel eco-friendly gas insulating medium, while the low toxicity and leakage risk urgently urge the development of C4F7N gas sensor. Herein, we analyzed the sensing performance of transition metal doped MoS2 to C4F7N based on the density functional theory (DFT). The adsorption energy, charge transfer, deformation charge density and density of states were explored. Furthermore, the sensitivity and recovery performance were analyzed based on frontier orbital and transition state theories. It was found that Pd-MoS2 can achieve a superior balance between sensitivity and response time, showing promising potential for C4F7N leak detection for engineering applications. © 2023, The Authors. All rights reserved.

关键词： Density functional theory

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Design of a Capsule Robot system for Gastric Hemorrhage Detection using Luminol 20

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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20th IEEE International Conference on Mechatronics and automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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Differentially Private Distributed Mismatch Tracking Algorithm for Constraint-Coupled Resource Allocation Problems

arXiv

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arXiv 2022年

作者： Wu, Wenwen Zhu, Shanying Liu, Shuai Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China School of Control Science and Engineering Shandong University Jinan China

This paper considers privacy-concerned distributed constraint-coupled resource allocation problems over an undirected network, where each agent holds a private cost function and obtains the solution via only local communication. With privacy concerns, we mask the exchanged information with independent Laplace noise against a potential attacker with potential access to all network communications. We propose a differentially private distributed mismatch tracking algorithm (diff-DMAC) to achieve cost-optimal distribution of resources while preserving privacy. Adopting constant stepsizes, the linear convergence property of diff-DMAC in mean square is established under the standard assumptions of Lipschitz gradients and strong convexity. Moreover, it is theoretically proven that the proposed algorithm is t-differentially private. And we also show the trade-off between convergence accuracy and privacy level. Finally, a numerical example is provided for verification. Copyright © 2022, The Authors. All rights reserved.

关键词： Cost functions

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Research on Improved Particle Swarm Optimized Fuzzy PID control for Quadrotor UAV

Research on Improved Particle Swarm Optimized Fuzzy PID Cont...

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2021 China automation Congress, CAC 2021

作者： Li, Guohong Wei, Pengfei Yang, Weiyue Gao, Ran Tianjin Key Laboratory of Control Theory and in Complicated System Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China School of Electrical Engineering and Automation Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China

ISBN: (纸本)9781665426473

Aiming at the problem of blindness in selecting the scale factor and quantization factor in the fuzzy PID control of quadrotor UAV basedon empirical knowledge and simulation debugging, an improved particle swarm algorithm is proposed to optimize the parameter factors of the fuzzy controller, method Using the adaptive inertia weight method to optimize the particle swarm can avoid the dilemma of local optimatity at the beginning At the same time, the ITAE criterion is selected as the adaptabitity of the particle swarm algorithm to achieve better control effect. The adaptive particle swarm fuzzy PID is proved to be faster than fuzzy PID and traditional PID, with less overshoot and shorter stabilization time;the particle swarm fuzzy PID algorithm takes less time to recover the stabilization time when disturbing signals are encountered. © 2021 IEEE

关键词： Unmanned aerial vehicles (UAV)

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Privacy Preservation for Cloud-Edge-Collaborative Energy Management system Using Post-Quantum Homomorphic Encryption

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IEEE Transactions on Smart Grid 2025年

作者： Jiang, Cheng Li, Xue Du, Dajun Qian, Hong Wen, Mi Wu, Lei Findeisen, Rolf Shanghai University of Electric Power Shanghai Key Laboratory of Power Station Automation Technology College of Automation Engineering Shanghai200090 China Shanghai University Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronical Engineering and Automation Shanghai200072 China Shanghai University of Electric Power College of Computer Science and Technology Shanghai201306 China Advanced Cryptography and System Security Key Laboratory of Sichuan Province Chengdu610225 China Stevens Institute of Technology Department of Electrical and Computer Engineering HobokenNJ07030 United States TU Darmstadt Control and Cyber-Physical Systems Laboratory Darmstadt64227 Germany

Cloud-based energy management systems (EMS) in smart grids face privacy challenges, as existing methods based on traditional homomorphic encryption support limited operations and are vulnerable to quantum attacks. We propose a privacy preservation method for smart grid energy management system, leveraging edge-assisted computing and ring learning with errors (RLWE) homomorphic encryption. Our approach enables both addition and multiplication operations on encrypted smart grid data while defending against quantum threats. We demonstrate the methods security under the RLWE hardness assumption and validate its effectiveness through an experimental platform simulating smart grid environments. This work addresses computational limitations in current privacy-preserving techniques, enhancing data security for evolving smart grid technologies © 2010-2012 IEEE.

关键词： Power management (telecommunication)

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Muscle-Synergy-Based Planning and Neural-Adaptive control for a Prosthetic Arm

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2021年第5期2卷 424-436页

作者： Li, Guoxin Li, Zhijun Li, Junjun Liu, Yueyue Qiao, Hong The Department of Automation University of Science and Technology of China Hefei230026 China The Institute of Artificial Intelligence Hefei Comprehensive National Science Center Hefei230026 China The School of Automation Science and Engineering South China University of Technology Guangzhou511442 China The State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Science Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The Center for Excellence in Brain Science and Intelligence Technology Institute of Neuroscience Chinese Academy of Science Shanghai200031 China

Upper limb loss has significant effects on the individual's quality of life. Artificial prosthetic limbs as an alternative to the lost limb are designed to allow amputees to regain motor function. Motion classification via extracted surface electromyogram (sEMG) signals is widely utilized to realize a friendly human-robot interface in the control of the prosthesis. However, limited classification of discrete motion patterns from sEMG prevents intuitive motor control. Thus, instead of using discrete patterns, decoding the human intention continuously from sEMG would significantly benefit the prosthesis control. In this article, we propose a muscle-synergy-based intention decoding and motion planning that can model a broad set of complex upper limb movements as a combination of motor primitives. A novel muscle activation-to-force mapping model is developed to detect muscular effort of the healthy side to drive the affected side. A neural-network-approximation-based controller is developed for the bionic neuroprosthetic arm to execute the movement. Operational experiments with prosthetic movement control were performed on four healthy participants and an upper limb amputee participant. Results of controlling prosthetic arm (0.94 ± 0.02 of R2 in the horizontal reaching tasks and 0.95 ± 0.01 in the vertical reaching tasks for the healthy subjects, 0.95 and 0.97 for the amputee) demonstrate that our control method could successfully capture human movement intention and effectively control the movement of prosthesis. Impact Statement-Powered robotic prostheses have enabled individuals with limb amputations to regain motor function via motion intention decoding from extracting surface electromyogram signals. Most research works have provided human-robot interaction through motion classification obtained from pattern recognition using surface electromyogram signals and simple movement control. However, decoding the human intent continuously from surface electromyogram is con

关键词： Matrix algebra

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Robust optimization-based fusion of GNSS and Visual-Inertial-Wheel Odometry

Robust optimization-based fusion of GNSS and Visual-Inertial...

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IEEE International Conference on Robotics and Biomimetics

作者： Jake Jie Hou Xinrui Wu Jiwei Shan Dun Li Hesheng Wang Department of Automation Shanghai Jiao Tong University China Shanghai Karlang Industrial Nantong Intelligent Technology Co. Ltd China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665481106

SLAM is significant to autonomous mobile robots. In order to realize drift-free state estimation and provide accurate localization results for the subsequent navigation, we develop an optimization-based framework consisting of a high-frequency Inertial-Wheel Odometry(IWO), Visual-Inertial-Wheel Odometry(VIWO) and a global fusion module. To fuse the local state with the position provided by GNSS, we perform ternary edge in factor graph optimization to estimate the transformation between the local frame and ENU coordinate. Thanks to the tightly-coupled VIWO, the localization property of the odometry presents more robustness, and improve the accuracy of global fusion. A noise repropagation strategy is introduced to ensure the consistency of the IMU and wheel odometer. We evaluate the proposed system on public datasets and test it in real-world scenario. The experimental results show that our system achieves accurate pose estimation in outdoor environments.

关键词： Location awareness Global navigation satellite system Simultaneous localization and mapping Robot kinematics Wheels Robustness Sensors

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Configurability Selection of Robotic Arm with Constrained Task and Environment in Laparoscopic Hysterectomy for Uterus Manipulation

Configurability Selection of Robotic Arm with Constrained Ta...

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2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022

作者： Chen, Wei Wu, Jiahao Zhou, Jianshu Wang, Hesheng Wang, Yudong Cheung, Tak Hong Liu, Yun-Hui Chinese University of Hong Kong T Stone Robotics Institute Department of Mechanical and Automation Engineering Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China China International Peace Maternity and Child Health Hospital Shanghai Jiaotong University School of Medicine Department of Obstetrics and Gynecology Shanghai China Prince of Wales Hospital Chinese University of Hong Kong Department of Obstetrics and Gynaecology Hong Kong

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Multi-link serial robots have gained growing popularity in robot-Assisted surgeries with the advantages of flexibility and versatility. This type of robot has be introduced into the uterus manipulation in laparoscopic hysterectomy (UMLH) to mitigate the disadvantages of our previous robotic uterus manipulator. Compared with the other surgical tasks (e.g. laparoscope manipulation, orthopedic and neurosurgery surgeries), the UMLH has a more narrow workspace and a stringent task requirement. Selecting the proper initial configuration of the robot is a key issue for such kind of surgical operations. In this paper, we develop a scheme to select appropriate initial configurations for the UMLH. Moreover, our method can satisfy both the static RCM and dynamic RCM. In an dynamic RCM, the task path or trajectory depends on the robot initial pose and arbitrary (or indefinite) with respect to the robot base frame. We also proposed a criterion, i.e. configuration-Type task capability (CTTC), to measure the task capability of a given configuration-Type for the dynamic RCMs. Simulations are carried out to validate our scheme. © 2022 IEEE.

关键词： Neurosurgery

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Opportunistic Wireless control Over State-Dependent Fading Channels

arXiv

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arXiv 2022年

作者： Wang, Shuling Li, Peizhe Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

The heterogeneous system consisting of the wireless control system (WCS) and mobile agent system (MAS) is ubiquitous in Industrial Internet of Things (IIoT) systems. Within this system, the positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise the WCS’s performance. This paper focuses on the controller design for the MAS to ensure the performance of WCS in the presence of WCS and MAS coupling. Firstly, the constrained finite field network (FFN) with profile-dependent switching topology is adopted to proceed the operational control for the MAS. By virtue of the algebraic state space representation (ASSR) method, an equivalent form is obtained for the WCS and MAS coupling. A necessary and sufficient condition in terms of constrained set stabilization is then established to ensure the Lyapunov-like performance with expected decay rate. Finally, a graphical method together with the breath-first searching is provided to design state feedback controllers for the MAS. With this method, it is easy to check the constrained set stabilization of MAS and to ensure the performance requirements of WCS in the presence of WCS and MAS coupling. The study of an illustrative example shows the effectiveness of the proposed method. Copyright © 2022, The Authors. All rights reserved.

关键词： controllers

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