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An Online Exploratory Maximum Likelihood Estimation Approach to Adaptive Kalman Filtering

IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 228-254页

作者： Jiajun Cheng Haonan Chen Zhirui Xue Yulong Huang Yonggang Zhang the College of Intelligent Systems Science and Engineering Harbin Engineering University the Engineering Research Center of Navigation Instruments Ministry of Education the College of Intelligent Systems Science and Engineering the College of Future Technology Harbin Engineering University IEEE

Over the past few decades, numerous adaptive Kalman filters(AKFs) have been proposed. However, achieving online estimation with both high estimation accuracy and fast convergence speed is challenging, especially when both the process noise and measurement noise covariance matrices are relatively inaccurate. Maximum likelihood estimation(MLE) possesses the potential to achieve this goal, since its theoretical accuracy is guaranteed by asymptotic optimality and the convergence speed is fast due to weak dependence on accurate state ***, the maximum likelihood cost function is so intricate that the existing MLE methods can only simply ignore all historical measurement information to achieve online estimation,which cannot adequately realize the potential of MLE. In order to design online MLE-based AKFs with high estimation accuracy and fast convergence speed, an online exploratory MLE approach is proposed, based on which a mini-batch coordinate descent noise covariance matrix estimation framework is developed. In this framework, the maximum likelihood cost function is simplified for online estimation with fewer and simpler terms which are selected in a mini-batch and calculated with a backtracking method. This maximum likelihood cost function is sidestepped and solved by exploring possible estimated noise covariance matrices adaptively while the historical measurement information is adequately utilized. Furthermore, four specific algorithms are derived under this framework to meet different practical requirements in terms of convergence speed, estimation accuracy,and calculation load. Abundant simulations and experiments are carried out to verify the validity and superiority of the proposed algorithms as compared with existing state-of-the-art AKFs.

关键词： Adaptive Kalman filtering coordinate descent maximum likelihood estimation mini-batch optimization unknown noise covariance matrix

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Attar: RRAM-based in-memory attention accelerator with software-hardware co-optimization

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Science China(Information Sciences) 2025年第3期68卷 371-387页

作者： Bing LI Ying QI Ying WANG Yinhe HAN Information Engineering College Capital Normal University Research Center for Intelligent Computing Systems Institute of Computing TechnologyChinese Academy of Sciences

The attention mechanism has become a pivotal component in artificial intelligence, significantly enhancing the performance of deep learning applications. However, its quadratic computational complexity and intricate computations lead to substantial inefficiencies when processing long sequences. To address these challenges, we introduce Attar, a resistive random access memory(RRAM)-based in-memory accelerator designed to optimize attention mechanisms through software-hardware co-optimization. Attar leverages efficient Top-k pruning and quantization strategies to exploit the sparsity and redundancy of attention matrices, and incorporates an RRAM-based in-memory softmax engine by harnessing the versatility of the RRAM crossbar. Comprehensive evaluations demonstrate that Attar achieves a performance improvement of up to 4.88× and energy saving of 55.38% over previous computing-in-memory(CIM)-based accelerators across various models and datasets while maintaining comparable accuracy. This work underscores the potential of in-memory computing to enhance the efficiency of attention-based models without compromising their effectiveness.

关键词： RRAM computing-in-memory attention pruning quantization

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Stability and Stabilization of Sampled-Data Based LFC for Power systems:A Data-Driven Method

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 291-293页

作者： Yu-Long Fan Chuan-Ke Zhang Yong He the School of Automation China University of Geosciences the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education IEEE

Dear Editor,This letter is concerned with stability analysis and stabilization design for sampled-data based load frequency control(LFC) systems via a data-driven method. By describing the dynamic behavior of LFC systems based on a data-based representation, a stability criterion is derived to obtain the admissible maximum sampling interval(MSI) for a given controller and a design condition of the PI-type controller is further developed to meet the required MSI. Finally, the effectiveness of the proposed methods is verified by a case study.

关键词： Sampled data control systems

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Recent advances in photopolymerization 3D printing of alumina-ceramic

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Progress in Natural Science:Materials International 2025年第1期35卷 1-30页

作者： M.Irfan Hussain Min Xia XiaoNa Ren Zhen Shen Muhammad Jamil Changchun Ge Institute of Powder Metallurgy and Advanced Ceramics School of Material Science and Engineering University of Science and Technology Beijing State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of AutomationChinese Academy of Sciences College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics

Digital light processing(DLP) 3D printing has a huge potential for manufacturing intricate and customized ceramic parts with high precision and cost-effectiveness. research in this field contributes to material innovation,opening the avenues for new process designs in both scientific and industrial sectors. However, the implementation of DLP 3D printing technology in ceramic research has not yet reached the maturity level as that in polymer and tissue engineering. Necessarily, a holistic in-depth literature reporting the successful integration of alumina ceramics within DLP 3D printing technology is urgently needed. This review, systematic examines recent progress in DLP technology, focusing on photopolymer resins that incorporate UV-sensitive monomers, photoinitiators, and dispersants, as well as their synergistic effects on achieving high-quality printing, desirable material properties, and enhanced performance. Further, the review discusses key factors including post-processing characteristics such as debinding and sintering, which influence microstructure, and defect formation including microcracks, porosity and voids. Finally, the challenges associated with printing and sintering are highlighted,aiming to identify focused focused development pathways and potential solution to optimize outcomes. This analysis clarifies existing challenges and also propsoes future applications for DLP technology in the aluminaceramic field.

关键词： Al2O3 ceramics Applications Digital light processing (DLP) Post-processing Resin

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Dynamic Regret for Distributed Online Composite Optimization

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IEEE Transactions on Automatic Control 2025年第5期70卷 3056-3071页

作者： Hou, Ruijie Yu, Yang Li, Xiuxian Tongji University Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai201800 China Tongji University Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai Institute of Intelligent Science and Technology Shanghai201210 China

This article focuses on online composite optimization over multiagent networks. In the distributed setting, each agent has its own local loss function, which consists of a convex, strongly convex or strongly convex and smooth function, and a time-varying nonsmooth regularizer. Two distributed online algorithms are proposed and corresponding dynamic regrets are analyzed. Two proposed algorithms are based on signs of relative states. The first algorithm obtains (Formula presented) dynamic regret bound when each local loss is a general convex composite function, where CT is the path variation. If CT can be estimated in advance for convex or strongly convex local loss with a time-varying nonsmooth regularizer, then dynamic regret bounds are, respectively, in the order of (Formula presented) and o (log T(1 + CT)). The second algorithm is based on the first one, especially for handling the local loss composed of a strongly convex and smooth function with a nonsmooth regularizer, and then obtains o (1 + CT) dynamic regret bound. In the end, numerical results are given to support the theoretical findings. © 1963-2012 IEEE.

关键词： Optimization algorithms

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Enhancing rheology and mechanical properties of DLP 3D-printed Si_(3)N_(4)materials via composition optimization and gas-pressure sintering

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International Journal of Minerals,Metallurgy and Materials 2025年第5期32卷 1220-1233页

作者： Qing Qin Gang Xiong Lin Han Yujuan Zhang Zhen Shen Changchun Ge Institute of Powder Metallurgy and Advanced Ceramics School of Materials Science and EngineeringUniversity of Science and Technology BeijingBeijing 100083China State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing Engineering Research Center of Intelligent Systems and TechnologyInstitute of AutomationChinese Academy of SciencesBeijing 100190China

Digital light processing(DLP)is a crucial additive manufacturing(AM)technique for producing high-precision ceramic *** study aims to optimize the formulation of Si_(3)N_(4)slurry to enhance both its performance and manufacturability in the DLP process,and investigate key factors such as particle size distribution,photopolymer resin monomer ratios,and dispersant types to im-prove the slurry’s rheological *** these optimizations,a photosensitive Si_(3)N_(4)slurry with 50vol%solid content was de-veloped,exhibiting excellent stability,and low viscosity(2.48 Pa·s at a shear rate of 12.8 s^(-1)).The effects of gas-pressure sintering on the material’s phase composition,microstructure,and mechanical properties were further explored,revealing that this technique significantly increases the flexural strength of the green sample from(109±10.24)to(618±42.15)*** sintered ceramics exhibited high hard-ness((16.59±0.05)GPa)and improved fracture toughness((4.45±0.03)MPa·m^(1/2)).Crack trajectory analysis revealed that crack deflec-tion,crack bridging,and the pull-out of rod-likeβ-Si_(3)N_(4)grains,are the main toughening mechanisms,which could effectively mitigate crack *** these mechanisms,crack deflection and bridging were particularly influential,significantly enhancing the frac-ture toughness of the Si_(3)N_(4)***,this research highlights how monomer formulation and gas-pressure sintering strengthen the performance of Si_(3)N_(4)slurry in the DLP three-dimensional printing *** work is expected to provide new insights for fabricat-ing complex Si_(3)N_(4)ceramic components with superior mechanical properties.

关键词： additive manufacturing Si_(3)N_(4)slurry low viscosity pressure sintering

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Non-contact video-based vital signs continuous monitor for uncontrained conscious rodents

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IEEE Sensors Journal 2025年第10期25卷 16628-16639页

作者： He, Yuke Gao, Tong Lv, Yong Zhang, Jingjing China University of Geoscienceis Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation Wuhan430074 China

Animal experiments should minimize pain and discomfort and maximize animal welfare to satisfy the experimental animal 3R principle. The quality of vital signs monitor results collected from conscious and stress-free rodents is superior, ensuring experimental data's reliability, accuracy, and scientificity. This work proposes a non-contact video-based vital signs continuous monitoring method for uncontrained conscious rodents. Firstly, rodents are tracked using keypoint detection, and Regions of Interest (ROI) on the rodents are selected based on signal-to-noise ratio (SNR) distribution of vital signs. Secondly, corner motion within the ROI region is tracked to synthesize skin pulsations, from which respiratory signals are extracted. Finally, a method is proposed to eliminate the influence of respiratory harmonics, thereby removing respiratory interference and extracting the heart rate. Four rats and four mice were used to measure the performance of the proposed method. This work is the first to use a camera to continuously monitor the heart rate of unrestrained and conscious rodents. Compared with the ground truth (semi-implantable electrocardiogram), the relative heart rate (HR) error was 1.86 ± 0.82% and 1.20 ± 0.33% for rats and mice, respectively. This method is used for uncontrained conscious rodents and has high applicability, allowing it to be used in various experimental environments and conditions. At the same time, this work contributes to the development of new methods for continuously and objectively evaluating animal welfare, thereby promoting the development of modern biomedical and ethical research. © 2001-2012 IEEE.

关键词： Invertebrates

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Attention-Modulated Feature Fusion Neural Network for Inverse Modeling of Microwave Filters

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IEEE Microwave and Wireless technology Letters 2025年第4期35卷 376-379页

作者： Guo, Linwei Cao, Weihua Hu, Wenkai Lu, Zhengyang Wu, Min China University of Geosciences School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

Inverse modeling is extensively applied in the design and tuning of microwave filters (MFs). Inverse models (IMs) take the features extracted from the high-dimensional electromagnetic parameters as input. How to make full use of features from multiple perspective is a critical issue for improving model accuracy. To solve it, this letter proposes an attention-modulated feature fusion neural network (AMFFNN). AMFFNN achieves multiperspective feature fusion (MPFF) at the input side and independent feature fusion (IFF) at the output side. In addition, feature fusion in AMFFNN is enhanced by attention modules to dynamically identify the importance of each feature. Statistical and comparative results of simulations demonstrate that AMFFNN outperforms existing methods in terms of accuracy, stability, and generalization. © 2023 IEEE.

关键词： Inverse problems

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Chattering-Free Fault-Tolerant Cluster Control and Fault Direction Identification for HIL UAV Swarm With Pre-Specified Performance

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 183-197页

作者： Pei-Ming Liu Xiang-Gui Guo Jian-Liang Wang Daniel Coutinho Lihua Xie the Beijing Engineering Research Center of Industrial Spectrum Imaging School of Automation and Electrical Engineering University of Science and Technology Beijing the Shunde Graduate School of University of Science and Technology Beijing IEEE Autonomous Intelligent Systems Department Hangzhou Innovation Institute of Beihang University the Department of Automation and Systems Universidade Federal de Santa Catarina the School of Electrical and Electronic Engineering Nanyang Technological University

In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop(HIL) swarm unmanned aerial vehicles(UAVs) in the presence of possible nonidentical and unknown direction faults(NUDFs) in the yaw *** control strategy begins with the design of a pre-specified performance event-triggered observer for each individual *** observers estimate the outputs of the human controlled UAVs, and simultaneously achieve the distributed design of actual control signals as well as cluster consensus of the observer *** is worth mentioning that these observers require neither the high-order derivatives of the human controlled UAVs' output nor a priori knowledge of the initial conditions. The fault-tolerant controller realizes the pre-specified performance output regulation through error transformation and the Nussbaum function. It should be pointed out that there are no chattering caused by the jump of the Nussbaum function when a reverse fault occurs. In addition, to provide a basis for further solving the problem of physical malfunctions, a fault direction identification algorithm is proposed to accurately identify whether a reverse fault has occurred. Simulation results verify the effectiveness of the proposed control and fault direction identification strategies when the reverse faults occur.

关键词： Chattering-free cluster consensus fault direction identification human-in-the-loop (HIL) nonidentical and unknown direction faults (NUDFs) pre-specified performance swarm unmanned aerial vehicles (UAVs)

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Time-Varying Formation Tracking Control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems Control theory Autonomous systems Stability

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