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

作者： Wang, Xiaoqi Fang, Yiming Xu, Miao Lei, Zhichao Yanshan University Key Labpratory of Industrial Computer Control Engineering Hebei Province Qinhuangdao China Yanshan University Eng. Res. Center of the Education Ministry for Intelligent Control System and Intelligent Equipment Hebei Province Qinhuangdao China

ISBN: (纸本)9798350315196

For a class of second-order nonlinear leader-following multi-agent systems with actuator faults and integral quadratic constraints (IQCs) of followers, a fully distributed adaptive consensus control algorithm based on improved PID sliding mode is designed. The algorithm only requires local topology information but no global information. According to Lyapunov stability theory, it is demonstrated that multi-agent systems can converge to the vicinity near equilibrium points within a finite time. Finally, the feasibility of the control algorithm proposed in this paper is verified by numerical simulation of multi-agent systems. © 2023 IEEE.

关键词： Multi agent systems

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High-performance self-powered ultraviolet to near-infrared photodetector based on WS_(2)/InSe van der Waals heterostructure

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Nano Research 2023年第5期16卷 7851-7857页

作者： Jinping Chen Zhen Zhang Yi Ma Jiying Feng Xiaoyu Xie Xiaoxuan Wang Aoqun Jian Yuanzheng Li Zhuxin Li Heng Guo Yizhi Zhu Qiannan Cui Zengliang Shi Chunxiang Xu State Key Laboratory of Bioelectronics School of Biological Science and Medical EngineeringSoutheast UniversityNanjing 210096China Micro Nano System Research Center Key Laboratory of Advanced Transducers and Intelligent Control System of the Ministry of Education&College of Information Engineering and ComputerTaiyuan University of TechnologyTaiyuan 030024China Key Laboratory of UV-Emitting Materials and Technology of Ministry of Education Northeast Normal UniversityChangchun 130024China

van der Waals heterostructures(vdWHs)based on two-dimensional(2D)materials without the crystal lattice matching constraint have great potential for high-performance optoelectronic ***,a WS_(2)/InSe vdWH photodiode is proposed and fabricated by precisely stacking InSe and WS_(2)flakes through an all-dry transfer *** WS_(2)/InSe vdWH forms an n–n heterojunction with strong built-in electric field due to their intrinsic n-type semiconductor characteristics and energy-band alignments with a large Fermi level offset between WS_(2)and *** a result,the device displays excellent photovoltaic behavior with a large open voltage of 0.47 V and a short-circuit current of 11.7 nA under 520 nm light ***,a fast rising/decay time of 63/76μs,a large light on/off ratio of 105,a responsivity of 61 mA/W,a high detectivity of 2.5×10^(11) Jones,and a broadband photoresponse ranging from ultraviolet to near-infrared(325–980 nm)are achieved at zero *** study provides a strategy for developing high-performance self-powered broadband photodetectors based on 2D materials.

关键词： two-dimensional materials van der Waals heterostructure self-powered photodetector photocurrent

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Research on Practical Teaching system of intelligent Manufacturing engineering: A Case Study of Major Design 24

Research on Practical Teaching System of Intelligent Manufac...

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2024 International Conference on Artificial Intelligence and Future Education, AIFE 2024

作者： Yang, Lu Wu, Yining Li, Zeyu Zhang, Guobin Tian, He Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (纸本)9798400710650

Based on the construction requirements of the "Emerging engineering"major in intelligent manufacturing engineering and the characteristics of interdisciplinary integration, the cultivation of high-quality interdisciplinary talents has been established as the primary objective. By coordinating multiple on-campus and off-campus resources and fostering cohesion within the entire discipline supervisor team, the "academic supervisor system"training mode has been established, and the continuous training mechanism for "undergraduate and master's"programs has been effectively developed. Additionally, school-enterprise collaborations have been implemented, and practical bases have been successfully established. With the support of the entire discipline supervisor team and the closed-loop integrated laboratory, the practical teaching system characterized by cross-integration and systematic progression has been developed at our university. By creating a step-by-step, planned, and systematic practical course system, the issues of standardization, randomization, and fragmentation within practical courses have been effectively resolved. Through the integration of project-based courses and school-enterprise co-constructed courses, students' innovative abilities are further enhanced. It then describes the design and implementation methods of major design, and analyzes its practical effects. It holds significant reference and demonstrative value for the construction of practical courses, laboratories, and the talent cultivation model of the "Emerging engineering"major. © 2024 Copyright held by the owner/author(s).

关键词： Smart manufacturing

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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Research on the autonomous system of the quadruped robot with a manipulator to realize leader-following,object recognition,navigation and operation

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IET Cyber-systems and Robotics 2022年第4期4卷 376-388页

作者： Jiamin Guo Hui Chai Yibin Li Qin Zhang Zhiying Wang Jialin Zhang Qifan Zhang Haoning Zhao School of Control Science and Engineering Shandong UniversityJinanChina Engineering Research Center of Intelligent Unmanned System Ministry of EducationShandong UniversityJinanChina School of Electrical Engineering University of JinanJinanChina

A systematic solution is developed to improve the autonomous capability of the quadruped robot with a manipulator,such as navigation,recognition and *** developed system adopts novel software,hardware system and system architecture,including a specially designed environment awareness system(EAS).Based on the camera and LiDAR on the EAS,the recognition of multiple common targets,such as the leader,door,window and bag,is *** terms of navigation,a location method is built,that combines the laser odometer and global positioning system.A mapping and path planning module is designed by the Robot-centric Elevation Mapping algorithm and the rapidly exploring rand tree *** operation,a real-time target grasp detection system is proposed based on the You Only Look Once v5 algorithm to improve the success rate of *** whole system is integrated based on the task relevance scheduling strategy to reduce the computational *** tightly integrated system and the subsystems are evaluated by conducting simulations and physical experiments in robot recognition,navigation and *** experiments show that the proposed framework can better achieve the autonomous navigation and operation of the quadruped robot with a ***,the proposed framework is still effective when facing dynamic *** addition,the system can be easily extended to other forms of mobile robot.

关键词： environment awareness system leader-following navigation quadruped robot

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Swarm-Based Dynamic Coverage of Multi-ASV systems in the Presence of Measurement Noises

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IEEE Transactions on Vehicular Technology 2025年第5期74卷 7237-7250页

作者： Liu, Lu Jiao, Shijian Han, Bing Li, Tieshan Peng, Zhouhua Dalian Maritime University School of Marine Electrical Engineering Dalian116026 China Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships Dalian116026 China State Key Laboratory of Maritime Technology and Safety Dalian116026 China Shanghai Ship and Shipping Research Institute National Engineering Research Center of Ship & Shipping Control System Shanghai200135 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China

This paper is concerned with the dynamic coverage of multiple autonomous surface vehicles (ASVs) in the presence of static and dynamic obstacles, limited communication distance, and measurement noises. A modular control method including planning, guidance, and control is proposed. At the planning level, a swarm-based dynamic coverage strategy is developed to achieve the coverage of a given domain. Both the collision avoidance and connectivity preservation issues are solved by using artificial potential fields. At the kinematic level, novel adaptive line-of-sight guidance laws are presented based on cascade extended state observers (CESOs), such that accurate guidance signals are given by compensating for time-varying sideslip angle and suppressing measurement noises. At the kinetic level, two CESOs are developed to estimate the internal model uncertainties and external environmental disturbance, and antidisturbance kinetic control laws are designed subsequently. The proposed CESOs overcome the noises sensitivity problem of classical observers, and thus facilitate the practical implementation under measurement noises. The input-to-state stability of the closed-loop system is confirmed by the Lyapunov theory and cascade stability theory. Simulation and hardware-in-the-loop experiment results are provided to demonstrate the effectiveness of the proposed swarm-based dynamic coverage method. © 1967-2012 IEEE.

关键词： Velocity measurement

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LI-DPS: A Long Sequence Dual Prediction Scheme Based on Informer for Efficient High-Frequency Data Transmission 50

LI-DPS: A Long Sequence Dual Prediction Scheme Based on Info...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Wu, Yu Yang, Bo Zhu, Dafeng Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China China Shanghai Engineering Research Center of Industrial Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9781665464543

High-frequency time-series data such as vibration signals will consume a lot of communication resources and require very high network bandwidth. Reducing the amount of data transmission while ensuring its availability is particularly important and challenging in high-frequency scenarios. Dual prediction scheme (DPS) can significantly reduce the amount of data transmission while ensuring data accuracy. However, traditional DPS cannot be applied to high-frequency scenarios due to the limitation of the mechanism design and model inference speed. We propose a novel long sequence DPS to efficiently reduce the volume of high-frequency data transmission in real time. To overcome the accuracy degradation due to gradient vanishing in long sequence prediction, we also propose an attention-based prediction model. Furthermore, we propose Informer to reduce the model’s computational complexity and enable fast inference and deployment on resource-constrained edge gateways. Experiments based on the real-world dataset show that the proposed scheme can efficiently cope with high-frequency data, reduce its transmission volume, and ensure data accuracy. © 2024 IEEE.

关键词： Prediction models

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Distributed Neighbor Selection on Matrix-weighted Networks 38

Distributed Neighbor Selection on Matrix-weighted Networks

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38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023

作者： Wei, Haoyu Pan, Lulu Shao, Haibin Li, Dewei Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China

ISBN: (纸本)9798350303636

This paper explores distributed neighbor selection in matrix-weighted networks, where a matrix-valued weight captures the interdependencies among agents' states. We demonstrate the feasibility of preserving and, in certain cases, improving the convergence rate of matrix-weighted networks by having agents exclusively engage with a subset of their neighbors. Leveraging the inherent monotonicity of Laplacian matrix eigenvectors, we introduce a novel neighbor selection criterion that reduces network connections while enhancing convergence rates. Existing neighbor selection strategies often require acquiring information from all nodes before making decisions. In order to propose a distributed neighbor selection strategy for matrix-weighted networks, we establish a numerical relationship between Laplacian eigenvectors and a locally measurable metric. In essence, this paper extends prior findings from scalar-weighted networks to matrix-weighted networks. © 2023 IEEE.

关键词： convergence rate Distributed neighbor selection Laplacian matrix matrix-weighted networks

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An Adaptive Physics-Informed Neural Network with Two-Stage Learning Strategy to Solve Partial Differential Equations

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Numerical Mathematics(Theory,Methods and Applications) 2023年第2期16卷 298-322页

作者： Shuyan Shi Ding Liu Ruirui Ji Yuchao Han School of Automation and Information Engineering Xi‘an University of TechnologyXi‘an 710048P.R.China National&Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xi‘an 710048P.R.China Xi’an University of Technology Shannxi Key Laboratory of Complex System Control and Intelligent Information ProcessingXi‘an 710048P.R.China

Physics-Informed Neural Network(PINN)represents a new approach to solve Partial Differential Equations(PDEs).PINNs aim to solve PDEs by integrating governing equations and the initial/boundary conditions(I/BCs)into a loss ***,the imbalance of the loss function caused by parameter settings usually makes it difficult for PINNs to converge,*** they fall into local *** other words,the presence of balanced PDE loss,initial loss and boundary loss may be critical for the *** addition,existing PINNs are not able to reveal the hidden errors caused by non-convergent boundaries and conduction errors caused by the PDE near the ***,these problems have made PINN-based methods of limited use on practical *** this paper,we propose a novel physics-informed neural network,*** adaptive physics-informed neural network with a two-stage training *** algorithm adds spatio-temporal coefficient and PDE balance parameter to the loss function,and solve PDEs using a two-stage training process:pre-training and formal *** pre-training step ensures the convergence of boundary loss,whereas the formal training process completes the solution of PDE by balancing various loss *** order to verify the performance of our method,we consider the imbalanced heat conduction and Helmholtz equations often appearing in practical *** Klein-Gordon equation,which is widely used to compare performance,reveals that our method is able to reduce the hidden *** results confirm that our algorithm can effectively and accurately solve models with unbalanced loss function,hidden errors and conduction *** codes developed in this manuscript are publicy available at https://***/callmedrcom/ATPINN.

关键词： Physics informed neural networks partial differential equations two-stage learning scientific computing

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