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Integrated Attitude Estimate Algorithm for INS/Magnetometer System Based on Data Fusion of Dual MIMU Inertial Array

IEEE Sensors Journal 2025年

作者： Xue, Liang Lu, Jixiang Cai, Guangbin Yang, Bo Wang, Xinguo Chang, Honglong Xi’an Research Institute of High Technology Department of Control Engineering Xi’an710025 China Northwestern Polytechnical University Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace Xi’an710072 China

In this paper, a MIMU/magnetometer attitude estimate algorithm based on the data fusion of an inertial measurement array is proposed for the micro unmanned aerial vehicle. A parallel and co-directional measurement array is constructed by using two MIMU units, and a Kalman filter (KF) is presented for fusing multiple gyro signals from MIMU array to achieve an optimal estimation of the tri-axial input rate, and then the estimated rate signals from fused MIMU are employed to resolve the aircraft’s attitude quaternion. Furthermore, the quaternion error and drift noise of inertial sensors are chosen to construct a KF state vector, and an integrated KF is established to obtain the optimal attitude quaternion, specially a modified Gauss-Newton iterative approach is utilized to get the matched quaternion making use of gravitational and geomagnetic field information to construct the KF measurements. The simulations and experiments demonstrated that the estimated error of attitude quaternion using fusion of MIMU array is less than that by a single MIMU. The estimated errors for quaternion components of q0 and q3 are about 9.4% of the errors caused by the original signals of single MIMU, and the estimated errors for component q1 and q2 are about 15.3% and 17.3%, respectively. The results show that the proposed KF algorithm can effectively decrease the drift noise of MIMU and improve the attitude estimation accuracy. © 2001-2012 IEEE.

关键词： Image fusion

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Distributed multi-timescale algorithm for nonconvex optimization problem: A control perspective

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Neural Networks 2025年 186卷 107257页

作者： Shi, Xiasheng Liu, Jian Sun, Changyin School of Artificial Intelligence Anhui University Hefei230106 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Automation Southeast University Nanjing210096 China

The distributed nonconvex constrained optimization problem with equality and inequality constraints is researched in this paper, where the objective function and the function for constraints are all nonconvex. To solve this problem from a control perspective, a virtual reference-based convex penalty function is added to the augmented Lagrangian function. Then, based on the primal–dual technique, a two-timescale distributed approach is designed based on the consensus scheme. The slower subsystem aims to ensure the optimality, and the faster subsystem intends to guarantee the stability. Finally, three cases are presented to illustrate the approach's effectiveness. © 2025 Elsevier Ltd

关键词： Consensus algorithm

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A Novel Rate of Penetration Fusion Modeling Method based on Improved Dung Beetle Optimization Algorithm and Support Vector Regression

A Novel Rate of Penetration Fusion Modeling Method based on ...

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IEEE International Conference on Industrial technology (ICIT)

作者： Yang Zhou Zihan Zhang Shipeng Chen Min Wu Xin Chen 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 Future Technology China University of Geosciences Wuhan China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

The rate of penetration (ROP) is a critical indi-cator for evaluating drilling efficiency. Developing an accurate ROP model is essential for optimizing drilling performance and addressing process control challenges. However, ROP modeling in deep geological drilling is complicated by nonlinearity, diverse working conditions, and high-dimensional variations. To overcome these challenges, a fusion modeling approach for ROP is proposed. First, the fuzzy C-means clustering method is applied to classify drilling data into different working con-ditions. Based on this classification, support vector regression is employed to develop ROP sub-models, effectively addressing nonlinearity. To further enhance model accuracy, an improved dung beetle optimization algorithm (IDBO) is designed to deter-mine optimal model parameters and integrate the sub-models, thereby resolving issues related to multiple working conditions and high-dimensional variations. The IDBO incorporates four key enhancements, average weight, chaos disturbance, modified local search, and re-updating of the best solution, to strength-en its global search capability. Comparative results using the IEEE CEC2017 benchmark test functions demonstrate that the proposed algorithm outperforms others in 12 test functions, highlighting its strong global optimization ability. Additionally, results from real-world drilling data validate the effectiveness of the proposed modeling approach in practical applications.

关键词： Drilling Support vector machines Employee welfare Chaos Geology Clustering methods Clustering algorithms Benchmark testing Data models Optimization

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Enhancing engineering education by means of the promotion of entrepreneurial mindsets and attitudes for societal challenges

Enhancing engineering education by means of the promotion of...

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International Conference of the Portuguese Society for engineering Education (CISPEE)

作者： S. Tavares B. C. Gabriel R. Valente J. Oliveira C. Relvas P. Prates R. Sousa V. Neto C. Carlos C. Figueiredo Department of Mechanical Engineering (DEM) Centre for Mechanical Technology and Automation (TEMA) Intelligent Systems Associate Laboratory (LASI) University of Aveiro Portugal

The development of skills and awareness of entrepreneurship and innovation topics in engineering curricula has been growing by diverse measures, such as by means of team-working sessions towards real-world problems, promotion of problem-solving assignments, and external initiatives to exploit ideas and to promote the development of new products or services. This paper addresses an approach taken as a complementary, extracurricular, education program together with a Product Development Project course, activities promoted by a joint initiative of several European universities in the form of the “Start for Future” (SFF) program. This initiative allowed students to explore the innovation and entrepreneurship dimensions of their ongoing projects with tandem teams from other institutions and external experts. The potential impact of this integrated, international, program is reviewed, considering both the work developed by students as well as analyzing the competences acquired during the extra-curricular activities. These initiatives proved to attain a positive effect on students and the learning process, stimulating entrepreneurial mindsets and attitudes, as well as complementing the training of the student on a number of transferable competences that are crucial for future engineers.

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Image Fusion Algorithm Based on Laplacian Pyramid and Principal Component Analysis Transforms 5

Image Fusion Algorithm Based on Laplacian Pyramid and Princi...

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5th International Conference on Computer Network, Electronic and automation, ICCNEA 2022

作者： Li, Dangjuan Dong, Xiaoyu Wang, Kexuan Zhou, Mi Chen, Hang Su, Junhong Xi'an Technological University School of Optoelectronics Engineering Xi'an China Shaanxi Institute of Applied Physical Chemistry Science and Technology on Applied Physical Chemistry Laboratory Xi'an China Harbin Institute of Technology Department of Automation Measurement and Control Harbin China

ISBN: (数字)9781665491099

ISBN: (纸本)9781665491099

Herein, a novel image fusion algorithm based on Laplacian pyramid transform and principal component analysis (PCA) is proposed. In this algorithm, a multi-resolution transform called Laplacian pyramid transform is used to decompose the original image into sub-images. In the transform domain, the coefficients of the various sub-images are combined using a novel fusion rule that utilizes the PCA technique. Finally, the new coefficients are used in the reconstruction of the fused image. Numerical simulations are performed to test the validity and capability of the proposed fusion algorithm. The average gradient values of PCA fusion, Laplacian pyramid fusion, and the proposed fusion method, are tested, respectively. The average gradient values of the proposed method are larger than the other two methods, especially for the spectral bands over 600nm. The three methods performed a bit inferior between the 500nm and 600nm bands compared to the other spectral bands. The Laplacian pyramid transform fusion algorithm seems relatively stable, but it is obvious that the proposed fusion algorithm has a superior performance in the visible range. Moreover, the principal component of the original image was utilized, thus, preserving the spectral information of the hyperspectral image. © 2022 IEEE.

关键词： Principal component analysis

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Multi-objective Optimization of A CCHP System Model Integrated with P2G for Decarbonization 6

Multi-objective Optimization of A CCHP System Model Integrat...

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6th IEEE Conference on Energy Internet and Energy System Integration, EI2 2022

作者： Wei, Pengyu Bamisile, Olusola Cai, Dongsheng Li, Jian Adun, Humphrey Huang, Qi Chengdu University of Technology School of Nuclear Technology and Automation Engineering Chengdu China University of Electronic Science and Technology of China Sichuan Provincial Key Lab of Power System Wide-area Measurement and Control Chengdu China Cyprus International University KKTC Energy Systems Engineering Department Mersin10 Turkey

ISBN: (纸本)9798350347159

To realize the dual carbon policy, the goal of energy saving, and emission reduction, it is important to develop ways to better promote the low carbon economic operation of energy systems. Therefore, this research proposes an optimal operation strategy considering the electric-gas-cooling-heat demand response. Considering the demand response of each participant, an integrated energy system model with photovoltaic, wind energy, and traditional grid as energy supply. Also, electric energy, natural gas, cooling, and heating subsystems with co-production are established. With minimizing the overall system operation cost and optimizing environmental protection, the improved particle swarm optimization algorithm is used to solve the multi-constrained objective optimization problem. Finally, the optimized model is tested. The results from this study show that the energy system under cogeneration can find a balance between economy and environmental friendliness, and provide a reference for the subsequent energy supply configuration. © 2022 IEEE.

关键词： Environmental protection

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Assessing the contribution of global wildfire biomass burning to BaP contamination in the Arctic

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Environmental Science and Ecotechnology 2023年第2期14卷 29-38页

作者： Shijie Song Boqi Chen Tao Huang Shuxin Ma Luqian Liu Jinmu Luo Huizhong Shen Jiaxin Wang Liang Guo Min Wu Xiaoxuan Mao Yuan Zhao Hong Gao Jianmin Ma Key Laboratory for Environmental Pollution Prediction and Control Gansu ProvinceKey Laboratory of Western China's Environmental Systems(Ministry of Education)College of Earth and Environmental SciencesLanzhou UniversityLanzhou730000PR China Department of Earth and Atmospheric Sciences Cornell UniversityIthacaNY14853USA Department of Biological and Environmental Engineering Cornell UniversityIthacaNY14853USA School of Environmental Science and Engineering Southern University of Science and TechnologyShenzhen5180551PR China Laboratory for Earth Surface Processes College of Urban and Environmental SciencesPeking UniversityBeijing100871PR China

Polycyclic aromatic hydrocarbons(PAHs)have become cause for growing concern in the Arctic ecosystems,partly due to their stable levels despite global emission *** is considered one of the primary sources that influence PAH levels and trends in the Arctic,but quantitative investigations of this influence are still *** study estimates the global emissions of benzo[a]pyrene(BaP),a congener of PAHs with high carcinogenicity,from forest and grassland fires from 2001 to 2020 and simulates the contributions of wildfire-induced BaP emissions from different source regions to BaP contamination in the *** find that global wildfires contributed 29.3%to annual averaging BaP concentrations in the Arctic from 2001 to ***,we show that wildfires contributed significantly to BaP concentrations in the Arctic after 2011,enhancing it from 10.1%in 2011 to 83.9%in *** results reveal that wildfires accounted for 94.2%and 50.8%of BaP levels in the Asian Arctic during boreal summer and autumn,respectively,and 74.2%and 14.5%in the North American Arctic for the same *** source-tagging approach identified that local wildfire biomass emissions were the largest source of BaP in the Arctic,accounting for 65.7%of its concentration,followed by those of Northern Asia(17.8%)and Northern North America(13.7%).Our findings anticipate wildfires to play a larger role in Arctic PAH contaminations alongside continually decreasing anthropogenic emissions and climate warming in the future.

关键词： BaP Arctic Wildfires Emissions Source apportionment

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Optimal Tracking Performance of Networked control systems Under DoS and its Applications

Optimal Tracking Performance of Networked Control Systems Un...

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Chinese automation Congress (CAC)

作者： Xinyu Ren Bo Li Feng Zhao Xiangyong Chen Xianhe Zhang Xiaowei Jiang Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation China University of Geosciences Wuhan China School of Finance Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing Universities of Shandong Linyi University Linyi China Key Laboratory of Complex systems and Intelligent Computing School of Automation and Electrical Engineering Universities of Shandong Linyi University Linyi China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

This paper investigates the optimal tracking performance (OTP) of multiple-input multiple-output (MIMO) discrete networked control systems (NCSs) under the influence of Denial of Service (DoS) attack, channel noise, and bandwidth constraints. The channel noise is assumed to be additive Gaussian white noise (AWGN). Due to the randomness of DoS attack, a Bernoulli distribution is used for DoS modeling. Utilizing frequency domain analysis methods, coprime factorization, all-pass decomposition, and Youla parameterization, an explicit expression for the optimal tracking performance (OTP) of the system under the two-degree-of-freedom (TDOF) controller is derived. The analysis indicates that non-minimum phase (NMP) zeros, unstable poles (UPs), DoS attack, and network constraints affect the OTP of NCSs. Finally, the theoretical results are validated through simulations of MIMO NCS and vehicle control system.

关键词： automation Networked control systems Frequency-domain analysis Bandwidth Interference White noise Cyber-physical systems Poles and zeros MIMO communication Multi-agent systems

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Fuzzy PID control for suppressing stick-slip vibration of drill-string system

Fuzzy PID control for suppressing stick-slip vibration of dr...

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2022 Chinese automation Congress, CAC 2022

作者： Hu, Shuaikang Lu, Chengda Wu, Min He, Zhaoqing Song, Haitao Li, Wangnian School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Xi’an Research Institute Co. Ltd. China Coal Technology and Engineering Group Xi’an710077 China

ISBN: (纸本)9781665465335

In this paper, a fuzzy PID (Proportional Integral Derivative) controller is introduced to suppress the stick-slip vibration present in the drilling process. First, the dynamical model of stick-slip vibration is composed of the multi-DOF (Degree-Of-Freedom) drill-string model and the Karnopp model describing the interaction of the drill bit with the rock. Then, stability analysis is made for the initial PID parameters of our controller. To suppress the stick-slip vibration and at the same time mitigate the effects of the stratigraphic environment variation on the control performance, the fuzzy adaptive algorithm is chosen as the method of optimization controller parameters. From the experimental results, it is clear that our controller has good control performance in the complex and changing stratigraphic environment. © 2022 IEEE.

关键词： controllers

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Physical Safety and Cyber Security Analysis of Multi-Agent systems:A Survey of Recent Advances

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 319-333页

作者： Dan Zhang Gang Feng Yang Shi Dipti Srinivasan the Research Center of Automation and Artificial Intelligence Zhejiang University of TechnologyHangzhou310023 Key Laboratory of Advanced Control and Optimization for Chemical Processes(East China University of Science and Technology) Ministry of EducationShanghai 200237China the Department of Biomedical Engineering City University of Hong KongHong KongChina the Department of Mechanical Engineering University of VictoriaCanada the Department of Electrical and Computer Engineering National University of SingaporeSingapore

Multi-agent systems(MASs)are typically composed of multiple smart entities with independent sensing,communication,computing,and decision-making ***,MASs have a wide range of applications in smart grids,smart manufacturing,sensor networks,and intelligent transportation *** of the MASs are often coordinated through information interaction among agents,which is one of the most important factors affecting coordination and cooperation ***,unexpected physical faults and cyber attacks on a single agent may spread to other agents via information interaction very quickly,and thus could lead to severe degradation of the whole system performance and even destruction of *** paper is concerned with the safety/security analysis and synthesis of MASs arising from physical faults and cyber attacks,and our goal is to present a comprehensive survey on recent results on fault estimation,detection,diagnosis and fault-tolerant control of MASs,and cyber attack detection and secure control of MASs subject to two typical cyber ***,the paper concludes with some potential future research topics on the security issues of MASs.

关键词： Consensus deception attack deny-of-service(DoS)attack fault detection fault estimation fault tolerant control multiagent systems

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