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International Conference on Guidance, Navigation and Control, ICGNC 2020

作者： Ren, Hao Jiang, Bin Ma, Yajie Tao, Gang College of Automation and Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China Department of Electrical and Computer Engineering University of Virginia CharlottesvilleVA22903 United States

ISBN: (纸本)9789811581540

A multi-design integration based adaptive fault-tolerant control algorithm is designed for position and attitude tracking of the dual-quaternion based spacecraft proximity operations with actuator stuck failures of which failure pattern, value and time instant are unknown. The developed scheme estimates the failure pattern and value parameters and utilizes these estimates to establish a backstepping feedback control law without fault detection. Simulation results signify the availability of the failure compensation strategy which guarantees the system stability and desired tracking performance of the chaser spacecraft. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Spacecraft

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Assessment of Sagittal Alignment Of Cervical Spine In seated individuals on Stable And Unstable Base

Assessment of Sagittal Alignment Of Cervical Spine In seated...

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2023 IEEE International Workshop on Technologies for Defense and Security, TechDefense 2023

作者： Filkova, Silviya Markov, Miroslav Markova, Valentina Medical University-Varna Training Sector 'Rehabilitator' Medical College Varna Bulgaria Varna Bulgaria Technical University of Varna Faculty of Computer Sciences and Automation Department of Communication Engineering and Technologies Varna Bulgaria

ISBN: (纸本)9798350319392

Office workers frequently maintain prolonged static postures and engage in extended computer or desk work, both of which can significantly contribute to back pain. This extended sitting places elevated stress on the musculoskeletal structures of the back, including the back, neck, arms, and legs, and subjects the spinal muscles and discs to significant pressure. The measurement of the craniovertebral angle (CVA) is one of the most used methods to assess head posture. In this research, we investigate the sagittal alignment of the cervical spine in individuals who spend extended periods working with computers under two conditions: while seated on a stable base and while seated on an unstable base. © 2023 IEEE.

关键词： Musculoskeletal system

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Blind Lane Detection and Following for Assistive Navigation of Vision Impaired People 8

Blind Lane Detection and Following for Assistive Navigation ...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Han, Zhicheng Gu, Jason Feng, Ying Institute of Advanced Technology University of Science and Technology of China Hefei230031 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNS Canada College of Automation Science and Engineering South China University of Technology Guangzhou510641 China

ISBN: (纸本)9798350300178

The task of safely navigating outdoor environ-ments presents significant difficulties for people with visual impairments. This paper aims to address this issue by proposing a wearable assistance system for visually impaired individuals in blind lane detection and following scenarios. The system consists of two stages: the first stage employs a fully convolutional network to detect blind lanes and an object detection network to identify obstacles. The second stage utilizes an improved artificial potential field method to achieve real-time path following based on the detection results. Our experiments involving subjects in dynamic outdoor environments demonstrate the robustness of our proposed method in navigating and avoiding obstacles under challenging outdoor conditions. © 2023 IEEE.

关键词： Object detection

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A New Finite-Time Stabilizing Design for a Class of High-Order Uncertain Nonlinear Systems and Its Application in Maglev Systems

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2023年第1期53卷 417-424页

作者： Yu, Le-Yuan Sun, Zong-Yao Meng, Qinghua Chen, Chih-Chiang Jining University College of Mathematics and Computer Applied Technology Qufu273155 China Institute of Automation Qufu Normal University Qufu273165 China Hangzhou Dianzi University School of Mechanical Engineering Hangzhou310018 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan

In this article, the problem of global fixed-time stabilization for a class of high-order uncertain nonlinear systems has been investigated. Quite different from traditional methods, a novel finite-time control scheme is presented for the first time based on a serial of exponential functions and fractional power integration with nested sign functions, which can guarantee that the convergent time of the states of the closed-loop systems is finite and independent of any initial conditions by the simple choice of design parameters. The remarkable contribution of this article lies in the fact that it provides an alternative to manipulate the possibility of initial states being far from the origin. As a practical application, the finite-time stabilizing design of maglev systems is provided to demonstrate the effectiveness and the superiority of the proposed strategy. © 2013 IEEE.

关键词： Lyapunov methods

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Certainty Equivalence Control of Discrete-Time Multiagent Systems: A Framework for Uniform Global Exponential Stability

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IEEE Transactions on Automatic Control 2023年第12期68卷 7660-7675页

作者： Su, Youfeng Lee, Ti-Chung Cai, He Chen, Xiaofeng Fuzhou University College of Computer and Data Science Fuzhou350116 China National Sun Yat-sen University Department of Electrical Engineering Kaohsiung804201 Taiwan South China University of Technology School of Automation Science and Engineering Guangzhou510641 China Fuzhou University School of Mathematics and Statistics Fuzhou350116 China

The solvability of certainty equivalence control problems for discrete-time multiagent systems over uniformly jointly connected switching networks relies on the stability/attractivity analysis for a class of perturbed switched systems with respect to a set of switching signals. To tackle this issue, in this article, a novel systematic and unified framework is established consisting of three key stability/attractivity results. First, the uniform global exponential stability for two dual cases of the nominal dynamics is analyzed in a unified way by checking the weak zero-state detectability from the limiting systems. Second, the uniform global exponential attractivity of the perturbed switched systems accommodating both first-order and zero-order time-varying perturbations is studied without resorting to any Lyapunov function for the entire perturbed switched systems. Third, the uniform global κ-exponential stability for a class of cascaded switched systems is investigated. These stability/attractivity results together lay the foundation to thoroughly solve two kinds of typical certainty equivalence control problems, and also improve two specific cooperative control designs. Moreover, a relaxed dwell-time condition is considered, which makes the obtained results tolerable in the extreme case of instantaneous link failure and restoration. Finally, the control performances are shown by numerical simulations. © 1963-2012 IEEE.

关键词： Multi agent systems

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An adaptive representation model for geoscience knowledge graphs considering complex spatiotemporal features and relationships

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Science China Earth Sciences 2023年第11期66卷 2563-2578页

作者： Yunqiang ZHU Kai SUN Shu WANG Chenghu ZHOU Feng LU Hairong LV Qinjun QIU Xinbing WANG Yanmin QI State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing 100101China Jiangsu Center for Collaborative Innovation in Geographical Information Resource Development and Application Nanjing 210023China Department of Automation Tsinghua UniversityBeijing 100084China School of Computer Science China University of GeosciencesWuhan 430074China Department of Electronic Engineering Shanghai Jiao Tong UniversityShanghai 200240China School of Computer Science University of Nottingham Ningbo ChinaNingbo 315100China

Geoscience knowledge graph(GKG)can organize various geoscience knowledge into a machine understandable and computable semantic network and is an effective way to organize geoscience knowledge and provide knowledge-related *** a result,it has gained significant attention and become a frontier in *** knowledge is derived from many disciplines and has complex spatiotemporal features and relationships of multiple scales,granularities,and ***,establishing a GKG representation model conforming to the characteristics of geoscience knowledge is the basis and premise for the construction and application of ***,existing knowledge graph representation models leverage fixed tuples that are limited in fully representing complex spatiotemporal features and *** address this issue,this paper first systematically analyzes the categorization and spatiotemporal features and relationships of geoscience *** this basis,an adaptive representation model for GKG is proposed by considering the complex spatiotemporal features and *** the constraint of a unified spatiotemporal ontology,this model adopts different tuples to adaptively represent different types of geoscience knowledge according to their spatiotemporal *** model can efficiently represent geoscience knowledge,thereby avoiding the isolation of the spatiotemporal feature representation and improving the accuracy and efficiency of geoscience knowledge *** can further enable the alignment,transformation,computation,and reasoning of spatiotemporal information through a spatiotemporal ontology.

关键词： Geoscience Knowledge graph Representation model Spatiotemporal features Spatiotemporal relationships

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AgentMixer: Multi-Agent Correlated Policy Factorization

arXiv

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arXiv 2024年

作者： Li, Zhiyuan Zhao, Wenshuai Wu, Lijun Pajarinen, Joni Department of Electrical Engineering and Automation Aalto University Finland School of Computer Science and Engineering University of Electronic Science and Technology of China China

In multi-agent reinforcement learning, centralized training with decentralized execution (CTDE) methods typically assume that agents make decisions based on their local observations independently, which may not lead to a correlated joint policy with coordination. Coordination can be explicitly encouraged during training and individual policies can be trained to imitate the correlated joint policy. However, this may lead to an asymmetric learning failure due to the observation mismatch between the joint and individual policies. Inspired by the concept of correlated equilibrium, we introduce a strategy modification called AgentMixer that allows agents to correlate their policies. AgentMixer combines individual partially observable policies into a joint fully observable policy non-linearly. To enable decentralized execution, we introduce Individual-Global-Consistency to guarantee mode consistency during joint training of the centralized and decentralized policies and prove that AgentMixer converges to an ϵ-approximate Correlated Equilibrium. In the Multi-Agent MuJoCo, SMAC-v2, Matrix Game, and Predator-Prey benchmarks, AgentMixer outperforms or matches state-of-the-art methods. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Cooperative nonlinear distributed model predictive control with dissimilar control horizons

arXiv

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arXiv 2024年

作者： Chanfreut, Paula Maestre, José M. Zhu, Quanyan Heemels, W.P.M.H. Department of Mechanical Engineering Eindhoven University of Technology Netherlands Department of Systems and Automation Engineering University of Seville Spain Department of Electrical and Computer Engineering New York University United States

In this paper, we introduce a nonlinear distributed model predictive control (DMPC) algorithm, which allows for dissimilar and time-varying control horizons among agents, thereby addressing a common limitation in current DMPC schemes. We consider cooperative agents with varying computational capabilities and operational objectives, each willing to manage varying numbers of optimization variables at each time step. Recursive feasibility and a non-increasing evolution of the optimal cost are proven for the proposed algorithm. Through numerical simulations on systems with three agents, we show that our approach effectively approximates the performance of traditional DMPC, while reducing the number of variables to be optimized. This advancement paves the way for a more decentralized yet coordinated control strategy in various applications, including power systems and traffic management. Copyright © 2024, The Authors. All rights reserved.

关键词： Predictive control systems

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AFBNet: A Lightweight Adaptive Feature Fusion Module for Super-Resolution Algorithms

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computer Modeling in engineering & Sciences 2024年第9期140卷 2315-2347页

作者： Lirong Yin Lei Wang Siyu Lu Ruiyang Wang Haitao Ren Ahmed AlSanad Salman A.AlQahtani Zhengtong Yin Xiaolu Li Wenfeng Zheng Department of Geography and Anthropology Louisiana State UniversityBaton RougeLA70803USA School of Automation University of Electronic Science and Technology of ChinaChengdu610054China College of Computer and Information Sciences King Saud UniversityRiyadh11574Saudi Arabia College of Resource and Environment Engineering Guizhou UniversityGuiyang550025China School of Geographical Sciences Southwest UniversityChongqing400715China

At present,super-resolution algorithms are employed to tackle the challenge of low image resolution,but it is difficult to extract differentiated feature details based on various inputs,resulting in poor generalization *** this situation,this study first analyzes the features of some feature extraction modules of the current super-resolution algorithm and then proposes an adaptive feature fusion block(AFB)for feature *** module mainly comprises dynamic convolution,attention mechanism,and pixel-based gating *** with dynamic convolution with scale information,the network can extract more differentiated feature *** introduction of a channel spatial attention mechanism combined with multi-feature fusion further enables the network to retain more important feature *** convolution and pixel-based gating mechanisms enhance the module’s ***,a comparative experiment of a super-resolution algorithm based on the AFB module is designed to substantiate the efficiency of the AFB *** results revealed that the network combined with the AFB module has stronger generalization ability and expression ability.

关键词： Super-resolution feature extraction dynamic convolution attention mechanism gate control

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Honey Badger Algorithm for Adjustment of FOPID Controller Adopted in An Automatic Voltage Regulator System

Honey Badger Algorithm for Adjustment of FOPID Controller Ad...

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2022 IEEE Global Energy Conference, GEC 2022

作者： Can, Ozay Ekinci, Serdar Izci, Davut Recep Tayyip Erdogan University Dept. of Electronics and Automation Rize Turkey Batman University Department of Computer Engineering Batman Turkey Batman University Dept. of Electronics and Automation Batman Turkey

ISBN: (数字)9781665497510

ISBN: (纸本)9781665497510

Automatic voltage regulator (AVR) system is a main control process to keep the terminal voltage of generator in power systems between the determined values. In this study, the optimal tuning of a fractional order PID controller used in an AVR system is proposed by using the optimization technique called honey badger algorithm (HBA). The transient response analysis of the HBA-FOPID, HBA-PID, and HBA-PI controllers were obtained by using the integral time-weighted squared error (ITSE) as the objective function. Then, the performance of the HBA tuned FOPID controller was compared with the performances of other controllers. It has been demonstrated that the FOPID controller provides remarkable performance compared to other controllers in terms of overshoot and settling time of the AVR system. © 2022 IEEE.

关键词： Voltage regulators

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