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IEEE International Conference on Mechatronics and Automation

作者： Gongsheng Yu Lei Sun School of Electrical Engineering and Automation Tianjin Key Laboratory for Control Theory and Complicated Tianjin University of Technology Tianjin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Most of the research on rigid exoskeletons has focused on how to further improve the efficiency of the exoskeleton to further reduce the wearer's energy consumption, neglecting the wearer's experience. In this paper, we introduce a rigid-flexible exoskeleton based on active-passive control strategy. By switching the control strategy of the exoskeleton at different stages of the gait cycle, the suppleness of the exoskeleton's interaction with the wearer is improved. In addition, an experiment involving three testers validated the effectiveness of the presented rigid-flexible weight-bearing exoskeleton. The results of the experiment showed that the exoskeleton was able to reduce the wearer's metabolic expenditure by 13.1% when exercising with a weight of 30kg.

关键词： Energy consumption Mechatronics Automation Exoskeletons Switches control systems

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Ultrahigh energy storage performance realized in AgNbO_(3)-based antiferroelectric materials via multiscale engineering

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Journal of Advanced Ceramics 2023年第6期12卷 1166-1177页

作者： Mingyuan Zhao Jing Wang Ji Zhang Li-Feng Zhu Lei Zhao Key Laboratory of High-Precision Computation and Application of Quantum Field Theory of Hebei Province College of Physics Science&TechnologyHebei UniversityBaoding 071002China State Key Laboratory of Mechanics and Control of Mechanical Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China School of Materials Science and Engineering Nanjing University of Science&TechnologyNanjing 210094China School of Materials Science and Engineering University of Science and Technology BeijingBeijing 100083China

Antiferroelectric(AFE)materials are promising for the applications in advanced high-power electric and electronic *** them,AgNbO_(3)(AN)-based ceramics have gained considerable attention due to their excellent energy storage ***,multiscale synergistic modulation is proposed to improve the energy storage performance of AN-based materials,whereby the multilayer structure is employed to improve the breakdown strength(Eb),and Sm/Ta doping is utilized to enhance the AFE *** a result,ultrahigh recoverable energy storage density(Wrec)up to 15.0 J·cm^(-3) and energy efficiency of 82.8%are obtained at 1500 kV·cm^(-3) in Sm/Ta co-doped AN multilayer ceramic capacitor(MLCC),which are superior to those of the state-of-the-art AN-based ceramic ***,the discharge energy density(Wa)in direct-current charge-discharge performance reaches 9.1 J·cm^(-3),which is superior to that of the reported lead-free energy storage *** synergistic design of composition and multilayer structure provides an applicable method to optimize the energy storage performance in all dielectric energy storage systems.

关键词： antiferroelectric(AFE) AgNbO_(3)(AN)-based ceramics energy storage multilayer structure

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Analysis of Depth Estimation and Semantic Segmentation Algorithms for the Environment Perception of Automated Vehicles 1

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6. Internationalen ATZ-Fachtagung Automatisiertes Fahren, 2020

作者： Schmidt, Manuel Stannartz, Niklas Bertram, Torsten TU Dortmund Institute of Control Theory and Systems Engineering Germany

ISBN: (数字)9783658347529

ISBN: (纸本)9783658347512

This paper evaluates different deep learning based depth estimation algorithms. We propose improvements for a state-of-the-art unguided depth completion method where the number of necessary parameters can be more than halved at unvarying accuracy. Based on the results of the depth estimation evaluation, we consider the performance of semantic segmentation methods. We investigate if the completion improves the accuracy of point cloud based segmentation. The results are compared to the segmentation accuracy using only measured sensor data. Moreover, we give a comparison to the segmentation based solely on predicted depths of a monocular camera. Here, we depict the differences in accuracy when a costly lidar sensor is economized. The results are further validated on a self-provided dataset recorded with the institute’s own test vehicle. © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2021.

关键词： Semantic Segmentation

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QSAR Models for Predicting Additive and Synergistic Toxicities of Binary Pesticide Mixtures on Scenedesmus Obliquus

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Chinese Journal of Structural Chemistry 2022年第3期41卷 166-177,I0011页

作者： MO Ling-Yun YUAN Bai-Kang ZHU Jie QIN Li-Tang DAI Jun-Feng College of Environmental Science and Engineering Guilin University of TechnologyGuilin 541004China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of TechnologyGuilinGuangxi 541004China Technical Innovation Center of Mine Geological Environmental Restoration Engineering in Southern Karst Area MNRNanning 530023China Guangxi Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of TechnologyGuilin 541004China

Pesticides released into the environment may pose potential risks to the ecological system and hu-man ***,existing toxicity data on pesticide mixtures still lack,especially regarding the toxic interac-tions of their *** study aimed to determine the toxic interactions of binary mixtures of pesticides on Scenedesmus Obliquus(***)and to build quantitative structure-activity relationship models(QASR)for predicting the mixture *** applying direct equipartition ray method to design binary mixtures of five pes-ticides(linuron,dimethoate,dichlorvos,trichlorfon and metribuzin),the toxicity of a single pesticide and its mix-ture was tested by microplate toxicity analysis on *** QASR models were built for combined toxicity of binary mixtures of pesticides at the half-maximal effective concentration(EC_(50)),30%maximal effective concen-tration(EC_(30))and 10%maximal effective concentration(EC_(10)).The results showed that the single toxicity follows:metribuzin>linuron>dichlorvos>trichlorfon>*** mixtures of linuron and trichlorfon,dichlorvos and metribuzin,dimethoate and metribuzin induced synergetic effects,while the remaining binary mixtures exhib-ited *** developed QSAR models were internally validated using the leave-one-out cross-validation(LOO),leave-many-out cross-validation(LMO),bootstrapping,and y-randomization test,and externally validated by the test *** three QSAR models satisfied well with the experimental values for all mixture toxicities,and presented high internally(R^(2)and Q^(2)>0.85)and externally(Q^(2)_(F1),Q^(2)_(F2),and Q^(2)_(F3)>0.80)predictive *** developed QSAR models could accurately predict the toxicity values of EC_(50),EC_(30)and EC_(10)and were superior to the concentration addition model's results(CA).Compared to the additive effect,the QSAR model could more ac-curately predict the binary mixture toxicities of pesticides with synergistic effects.

关键词： pesticide QSAR toxicity prediction binary mixture algae

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Enhanced Preprocessing and Fast PCA Feature Extraction Algorithm for Ultrasound Images of Ovarian Diseases 17

Enhanced Preprocessing and Fast PCA Feature Extraction Algor...

引用

17th IEEE International Conference on Signal Processing, ICSP 2024

作者： Zhao, Yue Xiang, Hongbei Miao, Kuo Dong, Xiaoqiu Zhou, Zhiyu Zhu, Dong Harbin Institute of Technology Control Theory and Engineering School of Astronautics Harbin150001 China Fourth Affiliated Hospital Harbin Medical University Department of Ultrasound Harbin150001 China Chengdu Chg Robots & Intelligent EquipmentInstitute Co. Ltd Chengdu610095 China

ISBN: (纸本)9798350387384

Clinical diagnosis of ovarian diseases is mainly based on ultrasonography. Due to the susceptibility of ultrasound images to noise, and the special characteristics and defects of ovarian ultrasound images themselves are prominent, there are some limitations in the existing preprocessing and feature extraction methods. To address the above problems, this paper proposes an enhanced preprocessing and fast principal component analysis (PCA) feature extraction algorithm for ovarian ultrasound images. Combining the unique characteristics of ovarian ultrasound images, the image preprocessing algorithm is designed using a strategy that combines image sharpening using Robert's operator with linear transformation of contrast. The traditional PCA algorithm is improved to reduce and extract ovarian image features more effectively. The experimental results demonstrate that the proposed method can achieve a generalization rate of 89.79%, AUC of 0.9136 and a duration of 1.98s. © 2024 IEEE.

关键词： Principal component analysis

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A Feasibility Condition for the Governor-based Tuning of Explicit MPC: Application to a Hydraulic Plant ⁎

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IFAC-PapersOnLine 2024年第14期58卷 538-543页

作者： Raphael Dyrska Sebastian Leonow Miroslav Fikar Martin Mönnigmann Automatic Control and Systems Theory Ruhr-Universität Bochum Bochum Germany Institute of Information Engineering Automation and Mathematics Slovak University of Technology in Bratislava Bratislava Slovakia

We propose a feasibility condition for reference governors that are used to tune the behavior of a reference-tracking explicit model predictive controller. Governors allow for a simple tuning of existing controllers without modifying them. However, since properties like feasibility are often not accounted for by the governors, their applicability may be limited. We prove that feasibility can be guaranteed using information about the explicit solution, and demonstrate the resulting algorithm by controlling the flow rate in a laboratory-scale hydraulic plant.

关键词： controller tuning model predictive control governor feasibility hydraulic plant

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Hidden Markov Models:Inverse Filtering,Belief Estimation and Privacy Protection

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Journal of Systems Science & Complexity 2021年第5期34卷 1801-1820页

作者： LOURENCO Ines MATTILA Robert ROJAS Cristian R. HU Xiaoming WAHLBERG Bo Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologyStockholmSweden Division of Optimizations and Systems Theory School of Engineering SciencesKTH Royal Institute of TechnologyStockholmSweden

A hidden Markov model(HMM)comprises a state with Markovian dynamics that can only be observed via noisy *** paper considers three problems connected to HMMs,namely,inverse filtering,belief estimation from actions,and privacy enforcement in such a ***,the authors discuss how HMM parameters and sensor measurements can be reconstructed from posterior distributions of an HMM ***,the authors consider a rational decision-maker that forms a private belief(posterior distribution)on the state of the world by filtering private *** authors show how to estimate such posterior distributions from observed optimal actions taken by the *** the setting of adversarial systems,the authors finally show how the decision-maker can protect its private belief by confusing the adversary using slightly sub-optimal *** range from financial portfolio investments to life science decision systems.

关键词： Belief estimation counter-adversarial systems hidden Markov models inverse decision making inverse filtering

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On Optimal Synchronization of Diffusively Coupled Heterogeneous Van der Pol Oscillators

arXiv

引用

arXiv 2023年

作者： Trummel, Tabea Liu, Zonglin Stursberg, Olaf Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel Germany

This paper proposes a novel method to achieve and preserve synchronization for a set of connected heterogeneous Van der Pol oscillators. Unlike the state-of-the-art synchronization methods, in which a large coupling gain is applied to couple any pair of connected oscillators, the proposed method first casts the whole synchronization process into two phases. The first one considers the period from the beginning to the first instant of synchronization, while the second phase covers the following time in which synchronization must be preserved. It is shown that a large coupling gain is adopted for the first phase, while the averaged coupling gain to preserve the synchronization in the second phase can be reduced significantly by using an offline optimized coupling law. Efficiency and performance of this method are confirmed by a set of numerical tests with different graphs and system dynamics. © 2023, CC BY-NC-ND.

关键词： Synchronization

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control of distributed-parameter systems using normal forms: An introduction

arXiv

引用

arXiv 2023年

作者： Gehring, Nicole Irscheid, Abdurrahman Deutscher, Joachim Woittennek, Frank Rudolph, Joachim Institute of Automatic Control and Control Systems Technology Johannes Kepler University Linz Austria Systems Theory and Control Engineering Saarland University Germany Institute of Measurement Control and Microtechnology Ulm University Germany Institute of Automation and Control Engineering UMIT TIROL Private University for Health Sciences and Health Technology Austria

This paper gives an overview of the control of distributed-parameter systems using normal forms. Considering linear controllable PDE-ODE systems of hyperbolic type, two methods derive tracking controllers by mapping the system into a form that is advantageous for the control design, analogous to the finite-dimensional case. A flatness-based controller makes use of the hyperbolic controller canonical form that follows from a parametrization of the system’s solutions. A backstepping design exploits the strict-feedback form of the system to recursively stabilize and transform the subsystems. © 2023, CC BY-NC-SA.

关键词： State feedback

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Distributionally Robust Model Predictive control for Trajectory Tracking of Space Manipulator Based on Fully Actuated System Approach

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Yang, Yi Heng Zhang, Kai Chen, Zhi Hua Yang, Xue Fei Duan, Guang Ren Sichuan University College of Aeronautics and Astronautics Chengdu610065 China Robotic Satellite Laboratory Chengdu610017 China Beijing Institute of Control Engineering Beijing100190 China Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China

Whether operating autonomously or assisting humans, multi-degree-of-freedom free-flying space manipulator has shown enormous potential in space missions. Leveraging the fully actuated system approach (FASA), this article proposes a distributionally robust model predictive control (MPC) scheme for trajectory tracking issue of space manipulator with stochastic uncertainties and multiple constraints on the angle, angular velocity, and control torque. First, a nominal FASA-based controller is designed to establish a linear second-order fully actuated (SOFA) model with desired eigenstructure assignment. By adopting an exact penalty function, a gradient-based optimization scheme is developed to optimize the FASA-based controller parameters offline, while avoiding violating of multiple constraints on angle, angular velocity, and control torque. Furthermore, a distributionally robust MPC is proposed to enable real-time optimization of auxiliary input, ensuring constraint satisfaction and enhancing performance in the presence of independent stochastic uncertainties. Recursive feasibility and convergence are proven. Monte Carlo numerical simulations are conducted with a planar space robot system to validate the superiority of proposed strategy. © 1965-2011 IEEE.

关键词： Predictive control systems

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