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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Consensus Control of Multi-Agent Systems Using Fault-Estimation-in-the-Loop:Dynamic Event-Triggered Case

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IEEE/CAA Journal of Automatica Sinica 2022年第8期9卷 1440-1451页

作者： Yamei Ju Derui Ding Xiao He Qing-Long Han Guoliang Wei Shanghai Key Lab of Modern Optical System the Department of Control Science and EngineeringUniversity of Shanghai for Science and TechnologyShanghai 200093China Department of Control Science and Engineering University of Shanghai for Science and TechnologyShanghai 200093China School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia Department of Automation BNRistTsinghua UniversityBeijing 100084China College of Science University of Shanghai for Science and TechnologyShanghai 200093China

The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication ***,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed ***,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability ***,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,***,a simulation result is employed to verify the usefulness of the proposed design framework.

关键词： Consensus control dynamic event-triggered protocol(DETP) fault compensation(FC) fault estimation multi-agent systems(MASs)

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Improved Q-Learning Algorithm for Path Planning of an Automated Guided Vehicle (AGV) 5

Improved Q-Learning Algorithm for Path Planning of an Automa...

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5th IEEE International Conference on Artificial Intelligence in engineering and Technology, IICAIET 2023

作者： Guo, Hao Tan, Min Keng Lim, Kit Guan Ee Chuo, Helen Sin Yang, Baojian Kin Teo, Kenneth Tze Universiti Malaysia Sabah Modelling Simulation & Computing Laboratory Faculty of Engineering Kota Kinabalu Malaysia Baotou Light Industry Vocational and Technical College Department of Automation Baotou City China Wuyi University Department of Intelligent Manufacturing Jiangmen China

ISBN: (纸本)9798350304152

With the development of modern industry 4.0, intelligent path planning is an essential research direction of schedule systems for an automated guided vehicle (AGV), which has been widely used in logistics distribution centers of enterprises. This work implements the improved Q-learning algorithm to solve the typical obstacle avoidance problems in path planning. Specifically, the conventional Q-learning algorithm has shortcomings including low operational efficiency and slow learning speed. The improved Q-learning algorithm is successively proposed by adding a learning process based on the original Q-learning algorithm, which enables AGV to find obstacles and target locations within the shortest time, thus improving the efficiency of path planning. Finally, the simulation experiments are carried out in the grid environment with MATLAB. In comparison to the conventional Q-learning algorithm, the improved Q-learning algorithm has faster convergence and higher learning efficiency, improved by 20%. © 2023 IEEE.

关键词： Motion planning

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Two-Operation Buffering based on Dynamic Optical RAM 17

Two-Operation Buffering based on Dynamic Optical RAM

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17th IEEE International Conference on Advanced Trends in Radioelectronics, Telecommunications and Computer engineering, TCSET 2024

作者： Semenov, Andriy Tsyrulnyk, Serhii Baraban, Serhii Semenova, Olena Rudyk, Andrii Khloba, Anton Vinnytsia National Technical University Faculty of Information Electronic Systems Vinnytsia Ukraine Vinnytsia National Agrarian University Department of Computer Sciences and Digital Economy Vinnytsia Ukraine Poznan University of Technology Faculty of Computing and Telecommunications Poznan Poland National University of Water and Environmental Engineering Department of Automation Electrical Engineering and Computer-Integrated Technologies Rivne Ukraine

ISBN: (纸本)9798331520564

The authors of this paper propose a block diagram for a dual-operating buffer on a dynamic optical RAM. The buffer consists of two dynamic optical RAMs, each controlled separately to allow for simultaneous writing and reading of data, thereby improving performance. This setup enables data to be read from the buffer while new data is being written to it. Implementing a dual-operating buffer on a dynamic optical RAM has the potential to enhance the performance of high-speed data transmission in telecommunications networks. The authors conducted numerical calculations to compare failure probabilities between single-operation and dual-operation buffers on dynamic optical RAM. The results indicated that using a dual-operating buffer significantly reduces the probability of failure with the same buffer memory capacity compared to a single-operating buffer. Additionally, the authors analyzed the effectiveness of the proposed dual-operating buffer. The analysis confirmed that exploiting dynamic optical memory for buffering enhances data transfer speed and efficiency due to the inherent properties of optical data transfer, such as high bandwidth and low latency. © 2024 IEEE.

关键词： Dynamic random access storage

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A Decentralized Self-Synchronizing Method for Cascaded Converter System Based on Analysis of the Existence of Equilibrium Points

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IEEE Transactions on Power Electronics 2025年第8期40卷 10402-10418页

作者： Shi, Guangze Ou, Junlan Wu, Zhenxi Zhang, Junhao Xu, Xuesong Guan, Yajuan Guerrero, Josep M. Hunan University of Technology and Business School of Artificial Intelligence and Advanced Computing Changsha410205 China Xiangjiang Laboratory Changsha410205 China Universitat Politècnica de Catalunya Department of Electronic Engineering Barcelona08034 Spain Central South University School of Automation Changsha410083 China City University of Hong Kong Department of Electrical Engineering Hong Kong Hong Kong Aalborg University Department of Energy Technology Aalborg9220 Denmark Technical University of Catalonia Center for Research on Microgrids Department of Electronic Engineering Barcelona08019 Spain ICREA Barcelona08010 Spain Aalborg University AAU Energy CROM Aalborg East9220 Denmark

As for the cascaded converter system, the existing grid-connected self-synchronization control methods are sensitive to grid fluctuations, which will affect the system stability and may lead to issues about the existence of equilibrium points of the system. To address these issues, this article analyzes the impact of grid voltage fluctuation on the existence of system equilibrium points. A robust decentralized self-synchronizing control method is proposed, where a voltage correction mechanism is designed to guarantee the system's equilibrium points. Besides ensuring frequency self-synchronization, the flexible adjustment abilities of output power and power factor are greatly improved. The control-hardware-in-loop and RTU-BOX-based experiment results under grid voltage fluctuation and load changing show that the system has good disturbance rejection capability and robust performance. © 1986-2012 IEEE.

关键词： Decentralized control

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Novel Approach for Passive Mixing in Microfluidics Utilizing Porous PDMS Sponge 11

Novel Approach for Passive Mixing in Microfluidics Utilizing...

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11th International Scientific Conference on Computer Science, COMSCI 2023

作者： Grigorov, Emil Kirov, Boris Denev, Jordan A. Galabov, Vassil Technical University of Sofia German Engineering Education and Industrial Management Sofia Bulgaria Technical University of Sofia Department Industrial Automation Sofia1756 Bulgaria Karlsruhe Institute of Technology Steinbuch Centre for Computing Karlsruhe Germany

ISBN: (纸本)9798350325256

Mixing in microfluidic devices has been always a significant challenge due to the small channel dimensions and the strongly laminar flow character of the fluids. However, mixing is an essential process in various biological, chemical and pharma processes. This paper introduces a new approach to passive mixing in microfluidic devices, utilizing a quick and cheap way with a sugar cube as prototype to produce a) porous medium. The authors present experimental and numerical analyses of the method, showing that the efficiency of mixing decreases as the volume flow rates of the fluids increase for flows studied with Re in the range 0,028-0,26. The largest porous mediumtested achieved a maximum mixing efficiency of 98%, suggesting that larger geometries may yield even higher efficiencies. A decrease in mixing efficiency along the length of the sponge with increasing volume flow rates was also observed (experimentally and numerically), possibly due to increased backflow. Despite the complexity of the Polydimethylsiloxan (PDMS) sponge, numerical analysis indicates a linear relationship between pressure drop and Reynolds number. © 2023 IEEE.

关键词： Microfluidics

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Next-Gen IoT: 5G Realities and 6G Possibilities 15

Next-Gen IoT: 5G Realities and 6G Possibilities

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15th International Conference on computing Communication and Networking Technologies, ICCCNT 2024

作者： Ticku, Amrita Sidana, Sagar Sinha, Anurag Sathesh, S. Uniyal, Manas Kumar, Biresh Sinha, Raj Shekhar Raj, Petheru Al-Khayyat, Ahmed Sikarwar, Mansi Bharati Vidyapeeth's College of Engineering Department of computer science and engineering India Maharshi Dayanand University Department of computer science and engineering Haryana Rohtak India School of Computing and information Science Ignou New Delhi India Kongu Engineering College Department of Electronics and Communication Engineering Tamil Nadu Perundurai India Graphic Era Hill University Department of computer science and engineering India Amity University Department of computer science and It Jharkhand India Reliance Jio Platforms Ltd Bangalore India Islamic University Department of computer science and engineering Iraq Indira Gandhi Technical University For Women Department Of Mechanical And Automation India

ISBN: (纸本)9798350370249

In a world where technology reigns supreme, the Internet of Things has taken center stage, revolutionizing our lives in countless ways. Augmented reality, crystal-clear video streaming, self-driving cars, intelligent environments, and advanced healthcare are just a few examples of the IoT's widespread impact. With these groundbreaking ideas in mind, the IoT demands faster data rates, wider bandwidth, increased capacity, swift data transmission, and minimal delays. Addressing these requirements head-on, this paper introduces 5G as the leading-edge technology capable of meeting these challenges. The fifth-generation cellular networks, known as 5G, offer a host of vital features that facilitate the widespread adoption of IoT. These features include device-to-device communication, where devices can directly exchange information without relying on a central server, coordinated multipoint processing to enhance network efficiency, massive machine type communication that enables seamless connectivity for countless IoT devices, ultra-reliable low latency communication to ensure critical data is transmitted swiftly and reliably, and extreme mobile broadband to support high-speed, uninterrupted connectivity on the go. It has paved ways for innovative wireless architecture and intelligent services and 6 G which will be the next step in this evolutionary cycle of wireless networks is expected to amplify this development to new and unimaginable levels. This article gives an extensive overview of the IoT technology, outlining its statistical and architectural trends, application scenarios, challenges and its potential. The research also offers a thorough and in-depth analysis of the current 5G-IoT environment. The use cases for 5 G in IoT systems are also emphasized. As a result, we discuss some of the key 5G IoT research directions and trends. After which we highlight the challenging areas of 5G-IoT and where special emphasis will be a necessity in paving the way for 6 G enabled

关键词： 6g Iot NEXT GEN Pervasive computing Smart City

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GACL-Net:Hybrid Deep Learning Framework for Accurate Motor Imagery Classification in Stroke Rehabilitation

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Computers, Materials & Continua 2025年第4期83卷 517-536页

作者： Chayut Bunterngchit Laith H.Baniata Mohammad H.Baniata Ashraf ALDabbas Mohannad A.Khair Thanaphon Chearanai Sangwoo Kang State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing100190China School of Computing Gachon UniversitySeongnam13120Republic of Korea Computer Science Department Faculty of Information TechnologyThe World Islamic Sciences and Education UniversityAmman11947Jordan Intelligent Systems Department Faculty of Artificial IntelligenceAl-Balqa Applied UniversityAl-Salt19117Jordan IT Infrastructure Department Qatrana Cement CompanyAmman11821Jordan Division of Industrial and Logistics Engineering Technology Faculty of Engineering and TechnologyKing Mongkut’s University of Technology North BangkokRayong CampusRayong21120Thailand

Stroke is a leading cause of death and disability worldwide,significantly impairing motor and cognitive *** rehabilitation is often hindered by the heterogeneity of stroke lesions,variability in recovery patterns,and the complexity of electroencephalography(EEG)signals,which are often contaminated by *** classification of motor imagery(MI)tasks,involving the mental simulation of movements,is crucial for assessing rehabilitation strategies but is challenged by overlapping neural signatures and patient-specific *** address these challenges,this study introduces a graph-attentive convolutional long short-term memory(LSTM)network(GACL-Net),a novel hybrid deep learning model designed to improve MI classification accuracy and ***-Net incorporates multi-scale convolutional blocks for spatial feature extraction,attention fusion layers for adaptive feature prioritization,graph convolutional layers to model inter-channel dependencies,and bidi-rectional LSTM layers with attention to capture temporal *** on an open-source EEG dataset of 50 acute stroke patients performing left and right MI tasks,GACL-Net achieved 99.52%classification accuracy and 97.43%generalization accuracy under leave-one-subject-out cross-validation,outperforming existing state-of-the-art ***,its real-time processing capability,with prediction times of 33–56 ms on a T4 GPU,underscores its clinical potential for real-time neurofeedback and adaptive *** findings highlight the model’s potential for clinical applications in assessing rehabilitation effectiveness and optimizing therapy plans through precise MI classification.

关键词： Motor imagery EEG stroke rehabilitation deep learning brain-computer interface

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An Energy Sharing Mechanism Considering Network Constraints and Market Power Limitation

An Energy Sharing Mechanism Considering Network Constraints ...

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IEEE General Meeting Power& Energy Society

作者： Yue Chen Changhong Zhao Steven H. Low Adam Wierman Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Department of Information Engineering The Chinese University of Hong Kong Computing and Mathematical Sciences Department California Institute of Technology

ISBN: (数字)9798350381832

ISBN: (纸本)9798350381849

As the number of prosumers with distributed energy resources (DERs) grows, the conventional centralized operation scheme may suffer from conflicting interests, privacy concerns, and incentive inadequacy. In this paper, we propose an energy sharing mechanism to address the above challenges. It takes into account network constraints and fairness among prosumers. In the proposed energy sharing market, all prosumers play a generalized Nash game. The market equilibrium is proved to have nice features in a large market or when it is a variational equilibrium. To deal with the possible market failure, inefficiency, or instability in general cases, we introduce a price regulation policy to avoid market power exploitation. The improved energy sharing mechanism with price regulation can guarantee the existence and uniqueness of a socially near-optimal market equilibrium. Some advantageous properties are proved, such as the prosumer’s individual rationality, a sharing price structure similar to the locational marginal price, and the tendency towards social optimum with an increasing number of prosumers. For implementation, a practical bidding algorithm is developed with a convergence condition. Experimental results validate the theoretical outcomes and show the practicability of our model and method.

关键词： Privacy Games Regulation Distributed power generation Convergence

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Joint Class-Balanced Client Selection and Bandwidth Allocation for Cost-Efficient Federated Learning in Mobile Edge computing Networks

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IEEE Transactions on Mobile computing 2025年第7期24卷 5681-5698页

作者： Tang, Jian Li, Xiuhua Li, Hui Li, Penghua Wang, Xiaofei Leung, Victor C. M. Chongqing University School of Big Data & Software Engineering Chongqing400000 China Chongqing University of Posts and Telecommunications School of Automation Chongqing400065 China Tianjin University College of Intelligence and Computing Tianjin300072 China Shenzhen MSU-BIT University Artificial Intelligence Research Institute Shenzhen518172 China Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China University of British Columbia Department of Electrical and Computer Engineering VancouverBCV6T1Z4 Canada

Federated Learning (FL) has significant potential to protect data privacy and mitigate network burden in mobile edge computing (MEC) networks. However, due to the system and data heterogeneity of mobile clients (MCs), client selection and bandwidth allocation is key for achieving cost-efficient FL in MEC networks with limited bandwidth. To address these challenges, we investigate the issue of joint client selection and bandwidth allocation for reducing the cost (i.e., latency and energy consumption) of FL training. We formulate the problem and decompose it into a holistic subproblem to reduce the number of rounds and a partial subproblem to reduce the costs of FL each round. We propose a joint class-balanced client selection and bandwidth allocation (CBCSBA) framework to address the whole problem. Specifically, for the holistic subproblem, CBCSBA combines MCs into groups, each having data distribution as close as possible to class-balanced distribution;For the partial subproblem, CBCSBA reduces costs by exploratively selecting a group and sequentially optimizing the latency and energy consumption of MCs within the group. Experimental results show that CBCSBA outperforms the baseline frameworks in reducing latency by 28.2% and energy consumption by 25.3% on average in the considered four datasets. © 2002-2012 IEEE.

关键词： Federated learning

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