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Journal of Applied and Numerical Optimization 2021年第1期3卷 85-103页

作者： Glizer, Valery Y. Department of Mathematics ORT Braude College of Engineering Karmiel Israel Independent Center for Studies in Control Theory and Applications Haifa Israel

In this paper, a singularly perturbed linear time-dependent controlled system with a point-wise delay in the input (the control variable) is considered. For this system, the problem of minimum energy control is formulated. An approximate solution to this problem is derived. An illustrative example is presented. © 2021 Journal of Applied and Numerical Optimization.

关键词： Optimization

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Uncertainty Estimation for Predictive Collision Avoidance in Human-Robot Collaboration

Uncertainty Estimation for Predictive Collision Avoidance in...

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IEEE International Conference on Robotics and Biomimetics

作者： Heiko Renz Maximilian Krämer Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

Predictive motion planning enables robots to consider workspace obstacles and proactively avoid them. Estimating future poses of various obstacles is complex and exhibits results with uncertainties. Especially in the case of human-robot collaboration, the forecast process has to deal with sudden motion changes and varying human intentions. This paper proposes an uncertainty estimation for human motion extrapolations in the joint space of a human skeleton. The approach utilizes Gaussian Mixture Models that allow an online determination of the accuracy of current extrapolations based on preceding extrapolation errors. Multiple human model representations enable consideration of estimated uncertainties and are presented along with evaluating the resulting robot trajectories. The results show that considering estimated uncertainties leads to a robot trajectory with increased distances between humans and robots and decreased danger index from the literature, which is desirable for collaborative scenarios.

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African Bison Optimization Algorithm:A New Bio-Inspired Optimizer with engineering Applications

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Computers, Materials & Continua 2024年第10期81卷 603-623页

作者： Jian Zhao Kang Wang Jiacun Wang Xiwang Guo Liang Qi School of Science University of Science and Technology LiaoningAnshan114051China Team of Artificial Intelligence Theory and Application University of Science and Technology LiaoningAnshan114051China Department of Computer Science and Software Engineering Monmouth UniversityWest Long BranchNJ 07764USA Information and Control Engineering College Liaoning Petrochemical UniversityFushun113000China Department of Computer Science and Technology Shandong University of Science and TechnologyQingdao266590China

This paper introduces the African Bison Optimization(ABO)algorithm,which is based on biological *** is inspired by the survival behaviors of the African bison,including foraging,bathing,jousting,mating,and *** foraging behavior prompts the bison to seek a richer food source for *** bison find a food source,they stick around for a while by bathing *** jousting behavior makes bison stand out in the population,then the winner gets the chance to produce offspring in the mating *** eliminating behavior causes the old or injured bison to be weeded out from the herd,thus maintaining the excellent *** above behaviors are translated into ABO by mathematical *** assess the reliability and performance of ABO,it is evaluated on a diverse set of 23 benchmark functions and applied to solve five practical engineering problems with *** findings from the simulation demonstrate that ABO exhibits superior and more competitive performance by effectively managing the trade-off between exploration and exploitation when compared with the other nine popular metaheuristics algorithms.

关键词： Optimization metaheuristics African bison optimization engineering problems

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Hyperbolic cosine transformer for LiDAR 3D object detection

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Optoelectronics Letters 2025年

作者： Tong Jigang Yang Fanhang Yang Sen Du Shengzhi Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory， Tianjin University of Technology Department of Electrical Engineering， Tshwane University of Technology

Recently， Transformer has achieved great success in computer vision. However， it is constrained because the spatial and temporal complexity grows quadratically with the number of large points in 3D object detection applications from point clouds. Previous point-wise methods are suffering from time consumption and limited receptive fields to capture information among points. To address these limitations， we propose the cosh-attention， which reduces the computation complexity of space and time from the quadratic order to linear order with respect to the number of points. In the cosh-attention， the traditional softmax operator is replaced by non-negative ReLU activation and hyperbolic-cosine-based operator with re-weighting mechanism. Then based on the key component， cosh-attention， we present a two-stage hyperbolic cosine transformer (ChTR3D) for 3D object detection from point clouds. It refines proposals by applying cosh-attention in linear computation complexity to encode rich contextual relationships among points. Extensive experiments on the widely used KITTI dataset and Waymo Open Dataset demonstrate that， compared with vanilla attention， the cosh-attention significantly improves the inference speed with competitive performance. Experiment results show that， among two-stage state-of-the-art methods using point-level features to refine proposals， the proposed ChTR3D is the fastest one.

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An Improved Variable Window Detection Method for Exoskeleton Assistive Timing 20

An Improved Variable Window Detection Method for Exoskeleton...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Sun, Lei Lu, Rundong School of Electrical Engineering and Automation Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Complicated No. 391 Bin Shui Xi Dao Road Xiqing District Tianjin300384 China

ISBN: (纸本)9798350320831

The exoskeleton is usually assisted by the sensor detects the moment of assist, and the assist function generates the value of the assisted force according to the time and generates the corresponding force through the motor. Among them, the determination of the exoskeleton assistance moment plays an important role in the generation of a reasonable exoskeleton curve. To this end, this paper proposes an improved method based on the variable window for determining the assistance moment of exoskeleton. The method firstly improves the way of window sliding, secondly adjusts the way of window size selection, and finally experiments confirm that the method reduces the number of operations by 29%47% in different motion modes. © 2023 IEEE.

关键词： Timing circuits

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Tracking control in Presence of Obstacles and Uncertainties for Bioinspired Spherical Underwater Robots

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Journal of Bionic engineering 2023年第1期20卷 323-337页

作者： Chunying Li Shuxiang Guo Jian Guo Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China

During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or *** this paper,considering the strong nonlinearities,external disturbances and obstacles,the kinematic and dynamic model of bioinspired Spherical Underwater Robot(SUR)was ***,the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and ***,the Lyapunov theory was adopted to verify the stability and the Slide Mode control(SMC)method is used to verify the robustness of the control *** addition,a series of simulations were conducted to evaluate the effectiveness of proposed control *** tests,including path-following,static and moving obstacle avoidance were performed which verified the feasibility,robustness and effectiveness of the designed control ***,a series of experiments in real environment were performed to verify the performance of the control *** simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs.

关键词： Path following Obstacle avoidance Bioinspired.Spherical underwater robot(SUR) Lyapunov theory

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Research on Application of Innovative Linear Active Disturbance Rejection control in Three-Phase Four-Wire System DSTATCOM

Research on Application of Innovative Linear Active Disturba...

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International Joint Conference on Energy, Electrical and Power engineering, CoEEPE 2021

作者： Ma, Youjie Jiang, Xinyu Zhou, Xuesong Tianjin Key Laboratory of Control Theory and Application for Complex Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9789811919213

In order to improve the compensation accuracy and speed of the static synchronous compensator (DSTATCOM) for the unbalanced load, a novel linear active disturbance rejection controller is proposed in this paper. The controller is applied to the current tracking control of DSTATCOM, and its mathematical model is derived. The performance of the new linear active disturbance rejection controller is analyzed by frequency domain analysis to prove its correctness. Finally, the operation performance of DSTATCOM under the action of the new controller is verified by MATLAB/Simulink simulation platform, and compared with the traditional ADRC controller. The results show that the capacitive split DSTATCOM controller has better compensation performance and is more practical. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： controllers

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Strain engineering of Pt-based electrocatalysts for oxygen reaction reduction

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Frontiers in Energy 2024年第2期18卷 241-262页

作者： Zeyu WANG Yanru LIU Shun CHEN Yun ZHENG Xiaogang FU Yan ZHANG Wanglei WANG State Key Laboratory of Solidification Processing Atomic Control and Catalysis Engineering LaboratorySchool of Materials Science and EngineeringNorthwestern Polytechnical UniversityXi’an 710072China State Key Laboratory of Oral and Maxillofacial Reconstruction and Regeneration National Clinical Research Center for Oral DiseasesShaanxi Key Laboratory of StomatologyDepartment of Dental MaterialsSchool of StomatologyThe Fourth Military Medical UniversityXi’an 710032China Institute of New Energy Materials and Engineering School of Materials Science and EngineeringFuzhou UniversityFuzhou 350108China Key Laboratory of Marine Chemistry Theory and Technology(Ministry of Education) College of Chemistry and Chemical EngineeringOcean University of ChinaQingdao 266100China

Proton exchange membrane fuel cells(PEMFCs)are playing irreplaceable roles in the construction of the future sustainable energy ***,the insufficient performance of platinum(Pt)-based electrocatalysts for oxygen reduction reaction(ORR)hinders the overall efficiency of *** the surface strain of catalysts is considered an effective way to tune their electronic structures and therefore optimize catalytic *** this paper,insights into strain engineering for improving Pt-based catalysts toward ORR are elaborated in ***,recent advances in understanding the strain effects on ORR catalysts are comprehensively ***,strain engineering methodologies for adjusting Ptbased catalysts are comprehensively ***,further information on the various challenges and potential prospects for strain modulation of Pt-based catalysts is provided.

关键词： strain engineering Pt-based catalysts oxygen reduction reaction(ORR) catalytic performance proton exchange membrane fuel cells(PEMFCs)

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Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds

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Chinese Journal of Aeronautics 2024年第2期37卷 431-445页

作者： Hao LU Lan GAO Yunda YAN Mingzhe HOU Chenliang WANG Hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of Information Science and Technology Hangzhou Normal UniversityHangzhou 311121China Department of Computer Science University College LondonLondon WC1E 6BTUnited Kingdom Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Wind is the primary challenge for low-speed fixed-wing unmanned aerial vehicles to follow a predefined flight *** cope with various wind conditions,this paper proposes a wind disturbance compensated path following control strategy where the wind disturbance estimate is incorporated with the nominal guiding vector field to provide the desired airspeed direction for the *** the control input vector for the outer-loop kinematic subsystem needs to satisfy a magnitude constraint,a scaling mechanism is introduced to tune the proportions of the compensation and nominal ***,an optimization problem is formulated to pursue a maximum wind compensation in strong winds,which can be solved analytically to yield two scaling factors.A cascaded inner-loop tracking controller is also designed to fulfill the outer-loop wind disturbance compensated guiding vector ***-fidelity simulation results under sensor noises and realistic winds demonstrate that the proposed path following algorithm is less sensitive to sensor noises,achieves promising accuracy in normal winds,and mitigates the deviation from a desired path in wild winds.

关键词： Path following Guiding vector field Wind disturbance Disturbance rejection Fixed wings

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Predictive Diagnostics of Power Generating Equipment Failures Based on Neural Network Technology 5

Predictive Diagnostics of Power Generating Equipment Failure...

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5th International Conference on Neural Networks and Neurotechnologies, NeuroNT 2024

作者： Nekrasov, Ivan V. Konstantinovskij, Yurij D. Kukin, Nikolay S. V.A. Trapeznikov Institute of Control Sciences Ras Laboratory of Schedule Theory and Discrete Optimization Moscow Russia Bauman Moscow State Technical University Aerospace Faculty Moscow Russia Autonomous Non-Profit Organization 'Institute of Engineering Physics' Serpukhov Russia

ISBN: (纸本)9798350363739

This paper is covers basic problems of creating a predictive diagnostic system for assets and units of a heating power plant based on a fully connected neural network. The research confirms frequent situation when the network cannot be properly trained against typical failures due to lack of statistical data associated with each type of failure. In order to solve the problem we implement the idea of utilizing additional data that belongs to pre-fault time period and/or corresponds to warning alarms thrown before the failure itself. The primary analysis shows that existing databases from industrial enterprises contain significant amount of pre-fault data. We introduce a procedure of creating and preprocessing the training set based on pre-fault data measurements. The procedure includes basic stages of detecting cross-correlation between measured parameters, defining each parameter variation/range and choosing the data most applicable for neural network training. The result of training the network and testing the diagnostic system on real data taken from the turbine's feeding pump located at the heat power plant. Based on the real result demonstrated we certify positive outcome of the designed predictive diagnostic system and share some future improvements to be done. © 2024 IEEE.

关键词： Machine learning

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