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arXiv 2024年

作者： Liu, Quangao Li, Ruiqi Jiang, Maowei Yang, Wei Liang, Chen Pang, LongLong Zou, Zhuozhang Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shengyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China University of Chinese Academy of Sciences China

Time series forecasting (TSF) is widely applied in various fields such as economic forecasting, weather prediction, traffic flow analysis, and public health surveillance. The core of TSF is to capture the underlying temporal patterns in the data. However, real-world time series data exhibit complex temporal patterns and may include additional noise, outliers, missing values, etc., making accurate forecasting highly challenging. Current mainstream methods typically naively treat each time point as an isolated entity, attempting to model point-to-point relationships and uncover temporal patterns within the data, which has limitations when dealing with complex time series data. Specifically, point-by-point modeling fails to take advantage of the abundant contextual information in time series data. This results in a reduced ability to capture temporal patterns and an increased susceptibility to noise. To address these issues, we examine temporal variations from a window-based perspective and present the WindowMixer model, which is built on an all-MLP framework. WindowMixer stems from a simple observation: Time series are recorded in a continuous manner, and the information at any given time point relies on the preceding and succeeding time points for a complete representation. WindowMixer decomposes time series into trend and seasonal components via a sequence decomposition and fusion architecture, handling them individually. For the trend component, we employ a straightforward fully connected (FC) layer to make predictions. For the seasonal component, we first introduce a time window at each time point and project each time window to produce window tokens. Then, we apply the Intra-Window-Mixer and Inter-Window-Mixer to further process these tokens. The Intra-Window-Mixer models relationships within each window token, while the Inter-Window-Mixer models relationships between window tokens. These dual modules allows us to capture more intricate patterns and long-range de

关键词： Time series

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Robust Finite-Time Containment of Networked Heterogeneous Nonlinear systems with Intermittent Measurement Only

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IEEE Transactions on Network Science and Engineering 2025年

作者： Tian, Biao Zhang, Hao Cui, Peiyu Wang, Zhuping Yan, Huaicheng Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Tongji University College of Electronic and Information Engineering Department of Control Science and Engineering Shanghai201804 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems China East China University of Science and Technology School of Information Science and Engineering Shanghai200237 China

The robust finite-time containment problem of fully heterogeneous multiagent systems with uncertainties is often challenging, especially when only intermittent output measurement is used. To address the issue posed by the nonidentical system dynamics of multiple leaders, which makes the traditional distributed estimator form for the convex hull inapplicable, a distributed finite-time estimator is constructed for each follower to extract the system matrices and states of leaders. Then, in the output-triggering setting, a finite-time extended state observer driven by intermittent output measurement is developed to reconstruct the uncertainties and unmeasurable states of followers. Meanwhile, the non-continuous output measurement will lead to the differentiation of virtual control laws undefined. To solve this issue, a filtering compensation scheme-based finitetime controller via the backstepping technique is developed for nonlinear followers, ensuring practical finite-time stability (PFTS) of the closed-loop system. It is shown that the proposed algorithm steers each follower into the preset convex combination spanned by the positions of multiple leaders. The capability of the exploited control protocol is verified through simulations and experiments. 2013 IEEE.

关键词： Backstepping

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In Situ Measurement of the Kinetic Friction of Si Nanowires on SiC Substrates in SEM with a Microprobe 11

In Situ Measurement of the Kinetic Friction of Si Nanowires ...

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11th IEEE Annual International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2021

作者： Gao, Peng Zhou, Jie Zou, Tao Rong, Weibin State Key Laboratory of Robotics and Systems Harbin Institute of Technology HarbinHeilongjiang150080 China School of Electrical and Control Engineering Heilongjiang University of Science and Technology HarbinHeilongjiang150022 China

ISBN: (纸本)9781665425278

This research introduces a kinetic friction modeling and measurement method for silicon nanowires (NWs) and silicon carbide substrates. The NW was pushed to slide by the micro-force probe at a constant speed. Under the conditions of kinetic friction and deformation of the nanowires, the silicon nanowires are in equilibrium during the measurement. Under this condition, the value measured by the micro-force probe is the total kinetic friction force. The thermal insulation connector is used to isolate the heat conduction to the micro-force probe to avoid the influence of temperature rise on the measurement result. The Faraday cup was used to measure the surface current in the scanning electron microscope (SEM). The appropriate parameters of SEM were chosen according to the surface current to reduce the influence of the charging effect on the measurement results. The high sensitivity of the micro-force probe is used to ensure that there is no contact between the probe and the substrate, thereby avoiding the interference of the pre-load force. The entire experiment process was monitored in real-time to improve the stability of the measurement. The study in this paper found that the shear stress of silicon nanowires is 1.05 \pm 0.32\text{MPa}. © 2021 IEEE.

关键词： Silicon carbide

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Research on Optimization of Aluminum Electrolysis Product Tending Machine Queuing System with Non-preemptive Priority

Research on Optimization of Aluminum Electrolysis Product Te...

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2022 International Conference on Mechanisms and robotics, ICMAR 2022

作者： Song, Libo Shi, Haibo Liu, Chang Zhu, Jun Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781510657328

Product tending machine (PTM) is one of the most important equipment in the aluminum electrolysis production process, for the problem of PTM optimization, a queuing system model of aluminum electrolysis PTM is proposed for the first time. According to the actual production situation of the aluminum electrolysis industry, a non-preemptive priority M/G/1 aluminum electrolysis PTM queuing system model is defined, and the general calculation formula of the operating index of the non-preemptive priority PTM queuing system is given, including queuing system length, waiting time, optimal service rate, etc. According to the actual production data of an aluminum factory, the relevant indicators were calculated and analyzed, and the relationship between the operating indicators and the number of electrolysis cells was drawn. Finally, under the conditions of meeting different operating indicators, the optimal matching scheme of PTM and aluminum electrolysis cells was given. © 2022 SPIE.

关键词： Queueing theory

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The improved approach for calculating residual error rates in SIS communication 12

The improved approach for calculating residual error rates i...

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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Zhou, Xiufang Xu, Aidong Yan, Bingjun Sun, Yue Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The residual error rate is an essential parameter for evaluating the functional safety of a communication system, based on the requirements of safety communication in the safety instrumented system (SIS). The traditional approach of quantifying residual error rates is incomplete in some cases. The proposed improvements focus on the different cases addressing full and partial redundancy models, time expectations and different verification approaches for connection identification. A hypergeometric distribution approach is used when the partial message redundancy mode is considered. © 2022 IEEE.

关键词： Redundancy

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A Continuous Off-Policy Reinforcement Learning Scheme for Optimal Motion Planning in Simply-Connected Workspaces

A Continuous Off-Policy Reinforcement Learning Scheme for Op...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Panagiotis Rousseas Charalampos P. Bechlioulis Kostas J. Kyriakopoulos School of Mechanical Engineering Control Systems Laboratory National Technical University of Athens Greece Department of Electrical and Computer Engineering University of Patras Center of AI & Robotics (CAIR) New York University Abu Dhabi

In this work, an Integral Reinforcement Learning (RL) framework is employed to provide provably safe, convergent and almost globally optimal policies in a novel Off-Policy Iterative method for simply-connected workspaces. This restriction stems from the impossibility of strictly global navigation in multiply connected manifolds, and is necessary for formulating continuous solutions. The current method generalizes and improves upon previous results, where parametrized controllers hindered the method in scope and results. Through enhancing the traditional reactive paradigm with RL, the proposed scheme is demonstrated to outperform both previous reactive methods as well as an RRT* method in path length, cost function values and execution times, indicating almost global optimality.

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Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode control

Robust Tracking for Electromagnetic-Actuated Microrobot Via ...

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Annual Conference of Industrial Electronics Society

作者： Yihang Wu Ziyao Qu Xiaocong Chang Zhijian Hu Rongni Yang Renjie Ma State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore School of Control Science and Engineering Shandong University Jinan China

Microrobots can work in small, enclosed spaces and complete complex tasks. It has potential applications in the field of biomedical and life sciences. This paper focuses on investigating robust dynamic tracking for electromagnetic-actuated microrobot via sliding mode control. First, we generalize the planar motion to the case of spatial trajectory tracking and then establish the three-dimensional tracking error model of microrobot. Then, we deploy a novel sliding control strategy and ensure the stability of sliding mode dynamics, once the robotic state reaches the sliding surface and sustains there in the sequel. Finally, the numerical simulation is conducted, compared to the traditional proportion-integration-differentiation control strategy, to verify the effectiveness and advantages of our proposed control scheme.

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Design of Functional Safety Pressure Transmitter and Safety Assessment 23

Design of Functional Safety Pressure Transmitter and Safety ...

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23rd IEEE International Conference on High Performance Computing and Communications, 7th IEEE International Conference on Data Science and systems, 19th IEEE International Conference on Smart City and 7th IEEE International Conference on Dependability in Sensor, Cloud and Big Data systems and Applications, HPCC-DSS-SmartCity-DependSys 2021

作者： Yan, Bingjun Zhou, Xiufang Zhang, Bo Wang, Zhiping Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665494571

Based on functional safety standard IEC61508, this paper studies the functional safety approaches of the pressure transmitter. Following the 1oo1D architecture, self-diagnostics measures are used in this functional safety pressure transmitter. In order to improve diagnostic coverage, dual CPUs are used to compare results at different calculation stages. The FTA analysis and Markov model are used for safety verification. Furthermore, the safety failure fraction (SFF) and probability of failure on demand (PFD) are analysed, and the results indicate that safety integrity level is SIL2. © 2021 IEEE.

关键词： Transmitters Smart cities Phase frequency detectors Markov processes Reliability engineering Hardware Safety

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Design and Characterization of a Flexure-Based Hybrid Mechanism for Precise Micro/Nano Positioning

Design and Characterization of a Flexure-Based Hybrid Mechan...

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International Conference on Mechatronics Technology (ICMT)

作者： Kim Sang Tran Kai Zhong Lai Bijan Shirinzadeh Armin Ehrampoosh Yanling Tian Dawei Zhang Yanding Qin Department of Mechanical and Aerospace Engineering Monash University Robotics and Mechatronics Research Laboratory (RMRL) Melbourne Australia School of Engineering University of Warwick Conventry UK Control and Systems Engineering Tianjin University Tianjin China

This paper presents a hybrid mechanism for micro/nano positioning and manipulation by combining a piezoelectric actuator (PEA) and a voice coil motor (VCM) using a flexure bridge. The research investigates the behavior of the hybrid mechanism, designs the amplification mechanism, and characterizes and compares the dominant parameters through modal and finite element analysis. The models were designed using Solidworks software and optimized using response surface in ANSYS. The hybrid mechanism provides both long-range displacement and precision movement capabilities, making it suitable for micro-assembly, micro-manipulation, and microfluidics applications. The results illustrate that the amplification ratio of the flexure mechanism obtained by modal analysis was 4.38, which was 3.42% larger than that simulated by finite element model. The input stiffness of the flexure mechanism was 2231.81 N/mm, which is slightly lower than the figure calculated by Finite element analysis (FEA) at 2325.58 N/mm. However, the difference between the two output stiffnesses of this mechanism obtained by the two methods is close, standing at 1.60%.

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Discrete particle swarm algorithm with Q-Learning for solving flexible job shop scheduling problem with parallel batch processing machine 2

Discrete particle swarm algorithm with Q-Learning for solvin...

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2022 2nd International Conference on Artificial Intelligence and Industrial Technology Applications, AIITA 2022

作者： Song, Libo Liu, Chang Shi, Haibo Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

For the flexible job shop scheduling problem with parallel batch processing machines (FJSP-PBPM), the mathematical model of the problem is defined, and an improved enhanced discrete particle swarm algorithm is proposed to solve this problem. In terms of global search, an improved discrete particle swarm algorithm is adopted, and effective particle velocity and position update formulas are designed;in the local search, in order to speed up the convergence speed and avoid local convergence, it is integrated into the q-learning method in reinforcement learning. The state space, action space, reward function, and Q-table update methods that meet the scheduling problem are designed, and the proposed hybrid algorithm achieves an effective balance between global search and local search capabilities. At the same time, according to the characteristics of FJSP-PBPM, effective process sequence scheduling rules and batch machine selection rules are designed respectively to improve the search ability of the algorithm. Through the standard FJSP benchmark problem and the production data of a transformer manufacturer that meets the characteristics of the FJSP-PBPM problem, the validity and feasibility of the proposed algorithm are verified. © Published under licence by IOP Publishing Ltd.

关键词： Reinforcement learning

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