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IEEE International Conference on Industrial Technology (ICIT)

作者： Chengao Bao Luefeng Chen Min Li Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan China the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation and the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Tokyo Institute of Technology Yokohama Japan Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method.

关键词： Emotion recognition Visualization Accuracy Service robots Semantics Human-robot interaction Speech recognition Feature extraction Data mining Facial features

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Soft Hinge for Magnetically Actuated Millimetre-Size Origami 21st

Soft Hinge for Magnetically Actuated Millimetre-Size Origami

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21th Annual Conference on Towards Autonomous Robotics, TAROS 20120

作者： Lahondes, Quentin Miyashita, Shuhei Automatic Control and Systems Engineering Department The University of Sheffield Portobello Ln SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783030634858

Origami-inspired folding techniques are widely applied in the fabrication and actuation of micro- and milli-robots and systems. While soft materials exhibit curved deformation when an external stimulus is applied, implementation of hinges effectively produces sharp edges in the structure. This paper presents the fabrication of millimetre size foldable elastomeric structures, the anisotropic magnetization method of the structure and the remote actuation method using a magnetic field. We specifically focused on the effect of hinges, whose presence resulted in the magnetically induced folding angle of 90 ± 0. 74 ∘, whereas the absence resulted in the angle of 63.9 ± 0. 93 ∘. © 2020, Springer Nature Switzerland AG.

关键词： Hinges

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A Model-Predictive-Enabled Equivalent-Input-Disturbance Approach for Disturbance Rejection

A Model-Predictive-Enabled Equivalent-Input-Disturbance Appr...

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Industrial Cyber-Physical systems (ICPS)

作者： Yujian Zhou Jinhua She Feng Wang Makoto Iwasaki School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Tokyo Japan Department of Electrical and Mechanical Engineering Nagoya Institute of Technology Nagoya Japan

This paper presents a model-predictive-enabled equivalent-input-disturbance (MPEID) method for disturbance rejection. An EID estimator with a state observer estimates the effect of disturbances in a system. The disturbance estimation will not be directly added to the input channel for disturbance rejection. A cost function that considers the disturbance estimation is designed. An MPC controller calculates an optimal control input by minimizing the cost function. The stability condition of the closed-loop system is analyzed based on the Lyapunov stability theory. Simulation results show that our method has better disturbance-rejection performance than an MPC method when the control input is similar.

关键词： Simulation Estimation Optimal control Predictive models Observers Cyber-physical systems Cost function

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Biologically plausible robust control with Neural Network weight reset for unmanned aircraft systems under impulsive disturbances

Biologically plausible robust control with Neural Network we...

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American control Conference (ACC)

作者： Ignacio Rubio Scola Luis Rodolfo Garcia Carrillo Andrew T. Sornborger João P. Hespanha Department of Industrial Products Engineering INTI CONICET and UNR Rosario Argentina Klipsch School of Electrical and Computer Engineering New Mexico State University Las Cruces NM USA Los Alamos National Laboratory Los Alamos NM USA Center for Control Dynamical Systems and Computation University of California Santa Barbara USA

Self-learning control techniques mimicking the functionality of the limbic system in the mammalian brain have shown advantages in terms of superior learning ability and low computational cost. However, accompanying stability analyses and mathematical proofs rely on unrealistic assumptions which limit not only the performance, but also the implementation of such controllers in real-world scenarios. In this work the limbic system inspired control (LISIC) framework is revisited, introducing three contributions that facilitate the implementation of this type of controller in real-time. First, an extension enabling the implementation of LISIC to the domain of SISO affine systems is proposed. Second, a strategy for resetting the controller’s Neural Network (NN) weights is developed, in such a way that now it is possible to deal with piece-wise smooth references and impulsive perturbations. And third, for the case when a nominal model of the system is available, a technique is proposed to compute a set of optimal NN reset weight values by solving a convex constrained optimization problem. Numerical simulations addressing the stabilization of an unmanned aircraft system via the robust LISIC demonstrate the advantages obtained when adopting the extension to SISO systems and the two NN weight reset strategies.

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Deformation Pattern Shape Sensing for Visuotactile Endoscope

Deformation Pattern Shape Sensing for Visuotactile Endoscope

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Yanzhe Yu Yuan Tian Shaowei Cui Yupeng Wang Rui Wang Shuo Wang Beijing University of Science and Technology Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

The integration of visuotactile sensor technology with endoscopy enables the provision of tactile information for minimally invasive surgeries and other operations. This paper proposes a real-time sensing framework for contact deformation pattern shape, providing a foundation for precise perception in miniaturized visuotactile sensors. Specifically, we first construct a Deformation Pattern shape Descriptor (DPSD) and then track the key points in the descriptor using optical flow to obtain contact deformation shape information. Through extensive qualitative and quantitative experiments, our proposed algorithm achieves an average perception accuracy of around 83.81% for contact pattern shapes. It demonstrates consistent perception accuracy across various contact force magnitudes, directions, and scenarios, highlighting its robustness. Additionally, compared to traditional marker-level methods, it achieves a notable 46.5% improvement in displacement field perception accuracy. This research elevates tactile perception to the dimension of contact pattern shape sensing and has the potential for application in miniaturized visual tactile sensors.

关键词： Visualization Accuracy Shape Deformation Tracking Endoscopes Shape measurement

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Development of ACS Elements Training Complexes of the Power Equipment for the Increase of Its Reliability 2

Development of ACS Elements Training Complexes of the Power ...

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2nd International Youth Conference on Radio Electronics, Electrical and Power engineering, REEPE 2020

作者： Andryushin, A.V. Lunenko, V.S. Militonyan, S.M. National Research University 'MPEI' Department of automated process control systems National Research University 'MPEI' Department of heat power and heat engineering Volzhsky Russia

ISBN: (纸本)9781728156552

The article deals with the current issue of solving problems related to process control. An important role in solving these problems is played by the training process for students and employees of enterprises, which allows simulating the operation of real equipment. Volzhsky branch of Moscow Power Engeneering Institute (MPEI) developed simulators for studying the combination of alternative and renewable sources of electric and thermal energy and a training complex for means of control, automatic regulation and technological protection. The field equipment promotes to visually demonstrate functioning of existing equipment to students, including during laboratory work. The withdrawal of equipment to all modes is not possible for technological reasons and due to the random nature of weather conditions. The simulator of a geothermal heat pump was developed based on the mathematical models of the geothermal heat pump system elements. Comparison of the experimental and simulated values shows sufficient convergence, which indicates the correctness of the mathematical model and allows us to recommend it to practical application. © 2020 IEEE.

关键词： Simulators

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Selenium uptake and simultaneous catalysis of sulfite oxidation in ammonia-based desulfurization

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Journal of Environmental Sciences 2021年第5期33卷 207-218页

作者： Qiangwei Li Yuguo Wang Lei Xing Tieyue Qi Lin Zhang Jie Liu Shihan Zhang Yongliang Ma Lidong Wang Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and EngineeringNorth China Electric Power UniversityBaoding071003PR China MOE Key Laboratory of Resources and Environmental Systems Optimization North China Electric Power UniversityBeijing102206P.R.China College of Environment Zhejiang University of TechnologyHangzhou 310014China School of Environment Tsinghua UniversityBeijing 100084China

Accelerating the(NH_4)_(2)SO_(3) oxidation gives rise to the reclaiming of byproduct, while there are secondary environmental risks from reduction of the coexisted selenium species by sulfite. In this study, a bi-functional Co-SBA-15-SH, were synthesized through Co impregnation and sulfhydryl(-SH) decoration, which can simultaneously uptake Se and accelerate sulfite oxidation efficiently. Meanwhile, the adsorption kinetics and migration mechanism of Se species were revealed through characterization and density functional calculations, with maximum adsorption capacity of 223 mg/g. The inhibition of Se~0 re-emission and poisonous effect of Se on sulfite oxidation was also investigated. Using the findings of this study, the ammonia desulfurization can be improved by enabling purification of the byproduct and lowering the toxicity of effluent by removing toxic pollutants.

关键词： Selenium Adsorption Re-emission Sulfite oxidation Catalyst

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Turing patterns in a network-reduced FitzHugh-Nagumo model

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Physical Review E 2020年第2期101卷 022203-022203页

作者： Timoteo Carletti Hiroya Nakao Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan

Reduction of a two-component FitzHugh-Nagumo model to a single-component model with long-range connection is considered on general networks. The reduced model describes a single chemical species reacting on the nodes and diffusing across the links with weighted long-range connections, which can be interpreted as a class of networked dynamical systems on a multigraph with local and nonlocal Laplace matrices that self-consistently emerge from the adiabatic elimination. We study the conditions for the instability of homogeneous states in the original and reduced models and show that Turing patterns can emerge in both models. We also consider generality of the adiabatic elimination for a wider class of slow-fast systems and discuss the peculiarity of the FitzHugh-Nagumo model.

关键词： Dynamics of networks Network diffusion Pattern formation

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Nonlinear Model Predictive Clamping Force control for Electromechanical Brake System

Nonlinear Model Predictive Clamping Force Control for Electr...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Wenpeng Wei Tianyi He Yifan Men Jinxiang Wang Lu Xiong Guodong Yin Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Mechanical Engineering Southeast University Nanjing China Department of Mechanical and Aerospace Engineering Utah State University Logan UT USA ZDrive.ai 7th Floor Block T2 Ali Center 1398 Shenchang Road Minhang District Shanghai China School of Mechanical Engineering Southeast University Nanjing China School of Automotive Studies Tongji University Shanghai China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

In this paper, the problem of clamping force control for the Electromechanical Brake (EMB) system in autonomous vehicles is addressed. A nonlinear model predictive control framework is proposed to solve for the optimal maneuver at each optimization step to realize accurate clamping force tracking. First, the EMB system is modeled to a state-space representation through the first-principle modeling; Second, a control framework that includes three blocks is proposed to achieve clamping force tracking. The first block designs a clamping force separation strategy and an unknown input observer based on Kalman filter is applied to estimate the clamping force to replace the force sensors; the second block develops an adaptive estimation of polynomial coefficients to deal with the time-varying coefficients to improve model adaptiveness; the last block conceives the nonlinear model predictive control to track the reference force, and the resulted nonlinear programming is solved by the multiple shooting method. Finally, the proposed framework is validated to achieve faster tracking speed and more accurate tracking in multiple simulation scenarios.

关键词： Adaptation models Force Predictive models Observers Prediction algorithms Polynomials Clamps Kalman filters Force control Predictive control

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Harnessing low-cost adsorbents for removal of heavy metals and metalloids in contaminated water: Progress in the past decade and future perspectives

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Journal of Cleaner Production 2025年 518卷

作者： Li, Zhiliang Lu, Guining Du, Daolin Zhao, Dongye Institute of Environment and Ecology School of the Environment and Safety Engineering Jiangsu University Zhenjiang212013 China School of Emergency Management Jiangsu University Zhenjiang212013 China School of Environment and Energy South China University of Technology Guangzhou510006 China The Key Lab of Pollution Control and Ecosystem Restoration in Industry Clusters Ministry of Education South China University of Technology Guangzhou510006 China Jingjiang College Institute of Environment and Ecology School of Emergency Management School of Environment and Safety Engineering School of Agricultural Engineering Jiangsu University Zhenjiang212013 China Department of Civil Construction and Environmental Engineering San Diego State University San DiegoCA92182-1324 United States

Heavy metals and metalloids have been a major environmental concern due to their adverse effects on the environmental and human health. Consequently, more cost-effective technologies have been sought for decades to remove the contaminants from contaminated water. As metals and metalloids are nondegradable, adsorption based on low-cost materials has garnered broad interest for its cost-effectiveness, easy operation, and lower environmental impact, especially in developing countries or underserved communities. This review encapsulates the latest progress and the state of the technology on the type, preparation and applications of low-cost adsorbents ranging from natural minerals, biosorbents, materials, agricultural wastes, and modified natural materials to synthetic composite adsorbents. The focus was placed on the technical feasibility, economic effectiveness, pros and cons, as well as influencing factors for treating a range of heavy metals (e.g., lead, zinc, and copper) and metalloids (e.g., arsenic, selenium, tellurium, and antimony) in water. In addition, the underlying adsorption mechanisms were discussed and the technical practicality and economic viability are analyzed by considering the pros and cons as well as relevant environmental factors. Overall, low-cost adsorbents may offer an effective alternative for remediation of water contaminated with metal(loid)s, especially for underdeveloped communities and for non-potable water treatment. Modified or composite adsorbents composed of multiple low-cost materials have shown great promise. This review also identified some critical research needs and knowledge gaps, including eight action items, which may guide the future material and technology development. © 2025

关键词： River pollution

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