检索结果-内蒙古大学图书馆

On-Policy and Off-Policy Value Iteration Algorithms for Stochastic Zero-Sum Dynamic Games

Journal of Systems Science & Complexity 2025年第1期38卷 421-435页

作者： GUO Liangyuan WANG Bing-Chang ZHANG Ji-Feng School of Control Science and Engineering Shandong UniversityJinan 250063China School of Automation and Electrical Engineering Zhongyuan University of TechnologyZhengzhou 450007China Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China

This paper considers the value iteration algorithms of stochastic zero-sum linear quadratic games with unkown ***-policy and off-policy learning algorithms are developed to solve the stochastic zero-sum games,where the system dynamics is not *** analyzing the value function iterations,the convergence of the model-based algorithm is *** equivalence of several types of value iteration algorithms is *** effectiveness of model-free algorithms is demonstrated by a numerical example.

关键词： Approximate dynamic programming on-policy off-policy stochastic zero-sum games valueiteration

来源：评论

学校读者我要写书评

暂无评论

State Estimation of a Spatial 2-D Linear Diffusion Process With Mobile Sensors

引用

IEEE Transactions on automation Science and Engineering 2025年 22卷 12024-12032页

作者： Zhang, Xiao-Wei Chen, Kui Wu, Huai-Ning Wang, Jin-Liang Wang, Zi-Peng Beijing University of Technology School of Information Science and Technology Beijing100124 China Tiangong University School of Control Science and Engineering Tianjin300387 China Beihang University Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beijing100191 China Beihang University Hangzhou International Innovation Institute Hangzhou311115 China Tiangong University Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems School of Computer Science and Technology Tianjin300387 China Beijing University of Technology School of Information Science and Technology Beijing Institute of Artificial Intelligence Beijing100124 China

This paper studies the state observer design of a spatial two-dimensional (2-D) linear diffusion process described by a linear parabolic partial differential equation (PDE) under mobile sensors. Firstly, we analyze the well-posedness of the PDE system and give the structure form of the state observer with mobile sensors. Subsequently, according to the number of mobile sensors, the 2-D space domain is divided into multiple sub-domains, and the mobile sensors are guided by the projection operator method, which can guarantee that the mobile sensors can only move in their respective 2-D sub-domains. Then, in the light of Lyapunov theory, Poincaré-Wirtinger inequality and Barbalat lemma, we propose an observation-plus-guidance design method to ensure the asymptotic stability of the state estimation error system. In the designed mobile strategy, the actual guidance of mobile sensors is essentially a physical synthesis of two direction guidance laws, where two dimensional guidance laws are designed separately. Moreover, the existence condition of the observer is given by linear matrix inequalities. At last, a numerical example is provided to demonstrate the efficacy of the proposed design scheme. © 2004-2012 IEEE.

关键词： Asymptotic stability

来源：评论

学校读者我要写书评

暂无评论

Attention-Based Inductive Graph Neural Networks for Spatiotemporal Kriging

Attention-Based Inductive Graph Neural Networks for Spatiote...

引用

International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Chang, Wei Fang, Jun Zhao, Hongxia Zhang, Haibo Beijing Key Laboratory On Integration and Analysis of Large-Scale Stream Data Beijing China North China University of Technology Beijing100144 China State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9789819639601

Due to the high operation and maintenance cost of urban road monitoring equipment, the number of road installation equipment is limited, so it is necessary to use observable data and its potential spatiotemporal dependence to estimate the data of no sensor location to solve the problem of data sparsity, so as to realize the macro management of the road network. The main challenge of this problem is how to effectively model and exploit the spatiotemporal dependencies in the data. The existing models mainly use GNNs to model the spatiotemporal dependence, but this only considers the local spatiotemporal relationship of each node. Therefore, this paper proposes an AIGNN model, which aggregates the information of local neighbor nodes through graph neural network, and then captures the global spatiotemporal dependencies of each node through the attention mechanism, and uses the induction strategy to train the model to solve the spatiotemporal Kriging task. Experiments are carried out on three real-world spatiotemporal datasets, and the results show that AIGNN has performance advantages over the traditional linear model and the GNN-based Kriging model. © beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Graph neural networks

来源：评论

学校读者我要写书评

暂无评论

Task-Parameterized Dynamic Movement Primitives With Reinforcement Learning for Improved Motion Planning

引用

IEEE Robotics and automation Letters 2025年第6期10卷 5457-5464页

作者： Huang, Kaiqi Ji, Xiaochun Su, Jianhua Qu, Xiaoyi Jiangxi University of Science and Technology Ganzhou341000 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China

Online trajectory planning in unstructured environments poses significant challenges for mobile robots, particularly when navigating complex obstacles. Traditional learning-from-demonstration (LfD) methods depend on offline datasets, limiting their ability to adapt to varying obstacle shapes and dynamic conditions. To address these limitations, we propose a novel motion planning framework that combines global trajectory generation with local adaptability. Dynamic Movement Primitives (DMPs) are employed to generate global trajectories based on demonstrations, while Task-Parameterized Potential Fields (TPPFs) enhance local adaptability. The Policy Improvement through Path Integrals (PI2) algorithm is utilized to optimize model parameters. The TPPF framework consists of two key components: (a) an obstacle avoidance field, which accounts for the robot's size, obstacle dimensions, and relative distances, allowing effective volumetric avoidance without extensive modeling;and (b) an attractive field, which directs the robot toward task-specific goals while steering it away from undesirable paths. By leveraging the PI2 algorithm, model parameters are optimized to produce trajectories that preserve the characteristics of demonstrated motions, while improving obstacle avoidance and task-oriented navigation. Experiments conducted in both simulations and dynamic real-world scenarios validate the proposed framework's effectiveness, demonstrating smoother trajectories and enhanced obstacle avoidance compared to baseline approaches. © 2016 IEEE.

关键词： Trajectories

来源：评论

学校读者我要写书评

暂无评论

GelStereo Tip: A Spherical Fingertip Visuotactile Sensor for Multi-Finger Screwing Manipulation

引用

IEEE Transactions on automation Science and Engineering 2025年 22卷 12012-12023页

作者： Zhang, Boyue Cui, Shaowei Zhang, Chaofan Hu, Jingyi Wang, Rui Wang, Shuo University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences School of Future Technology Beijing100049 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

Dexterous hands are the key element for robots to achieve human-like manipulation capabilities. An outstanding challenge is to provide fingertips of dexterous hands with precise tactile deformation sensing capabilities. In this paper, we present the GelStereo Tip, a spherical and easy-to-integrate GelStereo-type visuotactile sensor capable of sensing high-resolution 3D elastomer deformation. Previous calibration method does not take into account the impact of imaging errors caused by the sensor’s compact and high-curvature structural characteristics on the accuracy of tactile sensing. Therefore, we propose a novel self-calibration method based on the Refractive Stereo Ray Tracing model, named GTSC, and demonstrate the accuracy of less than 0.3 mm for deformation sensing. Furthermore, we also propose a Contact Retention Tactile Controller to address the issue of fingertips being unable to overcome obstructive torque during the multi-finger bottle cap screwing. After integrating GelStereo Tip into fingertips of Allegro Hand, the controller adjusts the joint positions of the given trajectory using proportional control based on the difference between the sensor’s actual deformation and the reference state for contact retention. We believe that the GelStereo Tip sensor combined with robotic dexterous hands has great application potential in the field of multi-finger fingertip manipulation. © 2004-2012 IEEE.

关键词： Proportional control systems

来源：评论

学校读者我要写书评

暂无评论

A Stealthy False Data Injection Attack Scheme Against Sensor Measurements Using Partial System Knowledge

引用

IEEE Transactions on Automatic Control 2025年

作者： Guo, Haibin Pang, Zhong-Hua Sun, Jian Han, Qing-Long Liu, Guo-Ping North China University of Technology Key Laboratory of Fieldbus Technology and Automation of Beijing Beijing100144 China Beijing University of Technology School of Information Science and Technology Beijing100124 China Beijing Institute of Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems School of Automation Beijing100081 China Swinburne University of Technology School of Science Computing and Engineering Technologies MelbourneVIC3122 Australia Southern University of Science and Technology School of Automation and Intelligent Manufacturing Shenzhen518055 China

Attack design is indispensable for analyzing potential risks of networked control systems (NCSs). However, the remote control center is usually well protected and its knowledge is difficult to be disclosed, which becomes a major obstacle in developing stealthy false data injection (FDI) attack scheme because only partial system knowledge (i.e., the system matrices of the physical plant) could be used. To meet this challenge, a novel stealthy FDI attack scheme against the sensor measurement is proposed by employing the normal and compromised self-governed filters held by malicious attackers, where the normal one is adopted to estimate the system state and the compromised one is used as the virtual attacked target. The corresponding attack strategy is obtained by maximizing the estimation error of the compromised self-governed filter. Then, the residual of the compromised system is derived to prove attack stealthiness. Next, it is derived and found that the attack impact on system estimation performance is the same as that based on full system knowledge. Furthermore, the divergence condition of NCSs under the attack is presented. Finally, all the theoretical analyses are verified by simulation results. © 1963-2012 IEEE.

关键词： Kalman filters

来源：评论

学校读者我要写书评

暂无评论

Flexible dual-Janus porous membrane for underwater gas bubbles anti-buoyancy unidirectional transportation

引用

Science China Chemistry 2025年第3期68卷 881-890页

作者： Shuang Ben Han Ma Rui Liu Yuzhen Ning Zhihong Zhao Xudong Zhang Qiang Li Kesong Liu School of Materials Science and Engineering Shenyang Ligong UniversityShenyang 110159China Tianmushan Laboratory Hangzhou 310023China School of Equipment Engineering Shenyang Ligong UniversityShenyang 110159China Key Laboratory of Bio-Inspired Smart Interfacial Science and Technology School of ChemistryBeihang UniversityBeijing 100191China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Controllable transportation of bubbles in surfactant or aqueous is very important in daily chemical products,food fermentation,mineral flotation and other ***,bubbles are mainly dominated by buoyancy and move upward in solution,which makes the manipulation of bubbles *** some progress has been made in controlling underwater bubbles,achieving continuous transportation and collection of underwater bubbles without relying on external forces is still a great *** this end,we bionically designed a flexible polydimethylsiloxane(PDMS)porous surface with dual-Janus ***,a porous PDMS membrane integrating structural gradient and wettability gradient realizes the underwater anti-buoyancy unidirectional transportation of bubbles without external force input,and possesses the capability of underwater gas anti-buoyancy transportation and *** work provides inspiration and direction for the development and design of underwater gas transportation and storage devices and provides innovative thinking for the implementation of seabed carbon dioxide storage technology.

关键词： air diode anti-buoyancy unidirectional penetration without additional force dual-Janus membranes wettability gradient structural gradient

来源：评论

学校读者我要写书评

暂无评论

Dynamic Modeling and Control for an Offshore Semisubmersible Floating Wind Turbine

引用

IEEE Transactions on automation Science and Engineering 2025年 22卷 12371-12382页

作者： Gong, Yingjie Yang, Qinmin Geng, Hua Meng, Wenchao Wang, Lin Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Huzhou Institute Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Tsinghua University Beijing National Research Center for Information Science and Technology Department of Automation Beijing100084 China Zhejiang Windey Company Ltd. Hangzhou310027 China

Floating wind turbines (FWTs) hold significant potential for the exploitation of offshore renewable energy resources. Nevertheless, prior to the construction of FWTs, it is imperative to tackle several critical challenges, especially the issue of performance degradation under combined wind and wave loads. This study initiates with the development of a simplified nonlinear dynamical model for a semi-submersible FWT. In particular, both the rotor dynamics and the finite rotations of the platform are considered in presented modeling approach, thereby effectively capturing the complex interplay between the platform, tower, nacelle, and rotor under combined wind and wave loads. Subsequently, based on the developed FWT model, a novel adaptive nonlinear pitch controller is formulated with the goal of striking a trade-off between regulating power generation and reducing platform motion. Notably, the proposed control strategy adopts a continuous control approach, strategically beneficial in circumventing the chattering phenomenon commonly associated with sliding mode control. Furthermore, the controller integrates an online approximator and a robust integral of the sign of the tracking error, facilitating real-time learning of system unknown dynamics while compensating for bounded disturbances. Finally, both the accuracy of the established nonlinear FWT model in predicting key dynamics and the superiority of the presented pitch controller are validated through comprehensive comparative studies. Note to Practitioners - This paper addresses the conflicting goals between power regulation and load mitigation for floating wind turbines (FWTs) to ensure the reliable operation of wind turbine systems. This remains an ongoing challenge due to the inherent complexity of existing FWT models, frequently resulting in controllers crafted using linearized representations that fail to accommodate real-world uncertainties effectively. Through the utilization of a simplified physical-based n

关键词： Renewable energy

来源：评论

学校读者我要写书评

暂无评论

Integrated Energy Management Platform for Monitoring, Operation and Maintenance 16th

Integrated Energy Management Platform for Monitoring, Operat...

引用

16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Zhang, Tao Wang, Hailun Ye, Jun Yang, Xu Zhang, Yixin Li, Dongze Shi, Zinan School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education Beijing100083 China Xi’an Jiaotong University Xi’an710000 China Beijing SyiTsing Energy Technology Co. LTD. Beijing100083 China

ISBN: (纸本)9789819617760

A seamless and comprehensive system for the clean utilization of energy remains elusive, with energy dispatch failing to harmonize the overall picture and the integration of clean energy sources. The judicious employment of holistic smart energy holds immense importance for societal advancement. To foster a more rational and efficient approach to the development and administration of smart energy, and to ensure the optimal utilization of new energy resources, the intelligent integrated energy management platform's development and design methodologies are being optimized in tandem with the Internet of Things technology. This paper outlines the construction of an integrated energy intelligent management system and platform, leveraging the ‘cloud management edge side’ approach. It bridges the gap between the various tiers of the integrated energy service system, achieving a comprehensive integration of energy flow, information flow, and value flow within the system. This platform stands poised to support comprehensive energy operators, data, and network services across the region, spurring regional economic growth, and offering a diverse array of financial products and services, grounded in high-quality user resources and industrial structure service capabilities. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Cloud platforms

来源：评论

学校读者我要写书评

暂无评论

Analysis of Disease-Induced Changes in Human Locomotor Patterns Through the Co-Joint Synergistic Attention Algorithm

引用

IEEE Transactions on Neural Systems and Rehabilitation Engineering 2025年 33卷 1695-1706页

作者： Chen, Jingyao Wang, Chen Hou, Zeng-Guang Deng, Pingye Peng, Liang Zhang, Pu Xu, Ningcun Macau University of Science and Technology Faculty of Innovation Engineering CASIA-MUST Joint Laboratory of Intelligence Science and Technology Macau China Beijing Academy of Science and Technology Institute of Analysis and Testing Beijing100089 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China China Rehabilitation Research Center Department of Rehabilitation Evaluation Beijing100068 China

Objective: Aiming to quantify and analyze disease-induced alterations in human movement, we explored the co-joint synergy patterns in locomotion through a vision-based co-joint synergistic attention algorithm. Methods: We recruited 30 participants (including 15 post-stroke patients and 15 healthy individuals) and extracted their 3D visual motor data for the joint feature coupling by a serial attention module. And we designed a dual-stream classification module for preclassification based on the spatio-temporal characteristics of the data. Then we extracted the important co-joint synergy patterns by a looping mask module and the co-joint synergy variability score. Results: Through the co-joint synergistic attention algorithm, we found significant differences in joint synergy patterns between post-stroke patients and healthy individuals during upper and lower limb tasks. Furthermore, we obtained quantitative results on the effect of specific diseases on co-joint synergy patterns among healthy individuals and patients. The validity of the result was verified by comparing with the commonly used Non-negative Matrix Factorization (NMF) and the Muscle Synergy Fractionation (MSF) methods. Conclusion: Specific diseases can cause changes in human movement patterns, and by the co-joint synergistic attention algorithm we can analyze the alterations in joint synergies and also quantify the importance of different synergy groups. Significance: This research proposes a new approach for identifying specific co-joint synergy patterns arising from disease-altered biomechanics, which provides a new targeted protocol for the rehabilitation process. © 2001-2011 IEEE.

关键词： Motors Diseases Trajectory Stroke (medical condition) Muscles Motor drives Couplings Topology Thumb Three-dimensional displays

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：