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IEEE International Conference on Mechatronics and Automation

作者： Zhao Su Xuehui Liang Jigang Tong Sen Yang Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China Department of Electrical Engineering Tshwane University of Technology Pretoria South Africa

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In the point cloud 3D object detection task, the point cloud data is unevenly distributed in 3D space. Therefore, whether it is regular sparse convolution or submanifold sparse convolution, there is a significant difference in the detection performance when dealing with objects at different positions using sparse convolutional networks. Therefore, this paper proposes an improvement using focal sparse convolution to break the limitations of traditional convolution methods and enhance the representation ability of sparse convolution. Focal sparse convolution is utilized to replace the currently better-performing two-stage object detection network based on the combination of points and voxels, enhancing the end-to-end training effectiveness and achieving better detection results. And an optional detachable auxiliary network is added, which, during the training stage, combines point features to guide the backbone network in learning the structural information of the 3D point cloud, enhancing the localization accuracy of the backbone network. Extensive experiments have been conducted on the KITTI dataset to validate the proposed method, yielding promising detection results and demonstrating the effectiveness of the approach.

关键词： Point cloud compression Training Location awareness Three-dimensional displays Accuracy Mechatronics Convolution

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Analysis of Maximum PowerPoint Tracking (MPPT) Adaptability in Inverters of the Three-Phase Photovoltaic Systems Integrated into the Electrical Grid of Congo-Brazzaville

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Journal of Power and Energy engineering 2024年第11期12卷 125-152页

作者： Rostand Martialy Davy Loembe Souamy Mavie Grace Mimiesse Brel Levallois Ndzah Yombi Zonzolo Guoping Jiang Wanghong Hua Xubao Wen Laboratory of Electrical and Electronic Engineering (LGEE) National Higher Polytechnic School Marien Ngouabi University Brazzaville Republic of the Congo National Institute of Research in Natural and Exact Sciences (IRSEN) Brazzaville Republic of the Congo College of Automation and Artificial Intelligence Nanjing University of Posts and Telecommunications Nanjing China Laboratory of Control Theory and Control Engineering Hohai University College of Energy and Electrical Engineering Nanjing China Jiangsu Provincial Key Laboratory for Novel Technology Department of Computers Sciences and Technology Nanjing University Nanjing China

This paper investigates the adaptability of Maximum Power Point Tracking (MPPT) algorithms in single-stage three-phase photovoltaic (PV) systems connected to the grid of Congo-Brazzaville and compares the attributes of various conventional, significance and novelty of controller system of the proposed of method and improved Incremental Conductance algorithms, Perturbation and Observation Techniques, and other Maximum Power Point Tracking (MPPT) algorithms in normal and partial shading conditions. Performance evaluation techniques are discussed on the basis of the dynamic parameters of the PV system although the control of this structure is relatively advanced technology but the conversion efficiency is difficult to improve due to increase in transformation series. The single stage topology has a simple topology with high reliability and efficiency because of high power consumption, but control algorithm is more complex because of its power convert main circuit a new strategy is being developed. This paper describes a method for maximum power point tracking (MPPT) in the single-stage and three single-phase PV grid-connected system. In the paper, the nonlinear output characteristics of the PV including I-V & P-V are obtained in changed solar insulations or temperature based on MATLAB, and the MPPT algorithm which is based on the P & O algorithm method, compared with Incremental Conductance, is also described, a dimensioning of the impedance adapter for better stabilization. A comparison SPWM and SVPWM control methods in the case of a grid connection applied to the electrical grid of Republic of Congo and their influences on the dynamic performance of the system and their impact in reducing the harmonic rate for better injection into the grid. The simulation model of three single-phase PV grid-connected system is built, and simulation results show the MPPT algorithm has excellent dynamic and static performances, which verifies the Incremental Conductance is effective f

关键词： Photovoltaic Array Congo Maximum Power Point Tracking Perturbation Observation Incremental Conductance Partial Shading Conditions Performance Evaluation State Flow

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Lipschitz-bounded 1D convolutional neural networks using the Cayley transform and the controllability Gramian

arXiv

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arXiv 2023年

作者： Pauli, Patricia Wang, Ruigang Manchester, Ian R. Allgöwer, Frank The Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70569 Germany The Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia

We establish a layer-wise parameterization for 1D convolutional neural networks (CNNs) with built-in end-to-end robustness guarantees. In doing so, we use the Lipschitz constant of the input-output mapping characterized by a CNN as a robustness measure. We base our parameterization on the Cayley transform that parameterizes orthogonal matrices and the controllability Gramian of the state space representation of the convolutional layers. The proposed parameterization by design fulfills linear matrix inequalities that are sufficient for Lipschitz continuity of the CNN, which further enables unconstrained training of Lipschitz-bounded 1D CNNs. Finally, we train Lipschitz-bounded 1D CNNs for the classification of heart arrythmia data and show their improved robustness. Copyright © 2023, The Authors. All rights reserved.

关键词： State space methods

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Consistent Event-Triggered Consensus on Complete Graphs

Consistent Event-Triggered Consensus on Complete Graphs

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IEEE Conference on Decision and control

作者： Duarte J. Antunes David Meister Toru Namerikawa Frank Allgöwer W.P.M.H. Heemels Dep. of Mechanical Eng. Eindhoven Control Systems Technology Group University of Technology the Netherlands Institute for Systems Theory and Automatic Control University of Stuttgart Germany School of Integrated Design Engineering Graduate School of Science and Technology Keio University Japan

This paper starts by considering an optimal control formulation of the consensus problem on complete graphs with a cost capturing disagreement and agents modeled by integrators. An optimal control policy for this problem is shown to be the well-known consensus algorithm by which each agent resets its state to the average of its and other agents' state values received at every time step. The framework is extended to the case where agents can only exchange information periodically, with a period larger than one. Then an event-triggered control strategy is proposed that results in a better cost than that of the optimal periodic one with the same average transmission rate, that is, it is consistent. According to this strategy, each agent distributedly transmits its state if the error between its current state and a common consensus estimate based on previously transmitted agents' data exceeds a threshold. Simulation results are presented to illustrate the proposed strategy.

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Periodate-based advanced oxidation processes: A review focusing on the overlooked role of high-valent iron and manganese species

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Chemosphere 2023年第1期337卷 139442页

作者： Yang, Bowen Ma, Qiang Hao, Jiming Huang, Jin Wang, Qingyuan Wang, Dunqiu Zhang, Jun School of Architecture and Civil Engineering Chengdu University Chengdu610106 China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of Technology Guilin541004 China State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Tsinghua University Beijing100084 China

Periodate-based advanced oxidation processes (AOPs) have received mounting attention in scientific research in the past two decades due to their fair oxidizing capability for satisfactory decontamination performance. Unlike iodyl (IO3•) and hydroxyl (•OH) radicals are widely recognized as the predominant species generated from periodate activation, the role of high-valent metal as a dominant reactive oxidant has been proposed recently. Although several excellent reviews concerning periodate-based AOPs have been reported, there are still prevalent knowledge roadblocks to high-valent metals' formation and reaction mechanisms. Therefore, this work aims to provide a comprehensive overview of high-valent metals, especially concerning the identification methods (e.g., direct and indirect strategies), formation mechanisms (e.g., formation pathways and interpretation based on density functional theory calculation), reaction mechanisms (e.g., nucleophilic attack, electron transfer, oxygen-atom transfer, electrophilic addition, and hydride and hydrogen-atom transfer), and reactivity performance (e.g., chemical properties, influencing factors, and practical applications). Furthermore, points for critical thinking and further prospects for high-valent metal-mediated oxidation processes are suggested, emphasizing the need for parallel efforts to enhance the stability and reproducibility of high-valent metal-mediated oxidation processes in real world applications. © 2023 Elsevier Ltd

关键词： Atoms

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Simple controller Tuning for Unmanned Aerial Vehicles using Governors

Simple Controller Tuning for Unmanned Aerial Vehicles using ...

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International Conference on Process control (PC)

作者： Raphael Dyrska Jens Müller 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

A simple governor-based controller tuning is implemented and tested for the application to unmanned aerial vehicles (UAVs). We show that the governor-based tuning approach enables the high-level tuning of the existing controller of the UAVs by using a single tuning parameter only. We implement the approach on two UAV platforms of different sizes and controller frameworks to prove the versatility of the given approach. The validation is performed with experimental data collected for the UAVs flying in the supervised environment of an indoor flight laboratory.

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Path Planning of Mobile Robot Based on Improved Artificial Potential Field Method

Path Planning of Mobile Robot Based on Improved Artificial P...

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第35届中国控制与决策会议

作者： Jianyun Ni Helei Du Tie Wang Hao Li Chenyang Xue Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electronic Engineering and Automation Tianjin University of Technology Tianjin Climate Center Tianjin University of Technology

An improved artificial potential field method is proposed to address the problems of target unreachability and falling into local minima in the path planning process of the traditional artificial potential field ***,the distance factor between the robot and the target point is introduced to solve the target unreachability problem;secondly,the robot is guided out of the local minima point by setting the virtual target point through the double-circle strategy;finally,in order to satisfy the continuity of robot velocity and acceleration,the resulting path is smoothed by using three uniform B-sample *** experimental results show that the improved algorithm can effectively solve the problems of target unreachability and falling into local minima in the traditional algorithm,and the smoothness of the path after the spline treatment is better compared with the original path.

关键词： artificial potential field method target unreachable local minimum point bicircular strategy virtual target point B-sample curve

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An Intelligent Ovarian Ultrasound Image Generation Algorithm based on Generative Adversarial Networks

An Intelligent Ovarian Ultrasound Image Generation Algorithm...

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IEEE Symposium (IUS) Ultrasonics

作者： Hongbei Xiang Yue Zhao Hao Huang Kuo Miao Xiaoqiu Dong Control Theory and Engineering School of Astronautics Harbin Institute of Technology Harbin China Department of Ultrasound Fourth Affiliated Hospital of Harbin Medical University Harbin Heilongjiang China

A deep learning framework based on generative adversarial networks (GAN) for ovarian ultrasound (US) images synthesis is investigated. This method offers an effective solution for addressing the issue of insufficient and unbalanced data in ovarian disease research. The proposed network, built on the Triple-GAN model, can synthesize a large number of medical ovarian US images which are difficult to distinguish from the real ones. This approach effectively increases the available volume of the ultrasound images of ovarian diseases and facilitates deep learning applications in ovarian ultrasound images. It provides reliable training data replacements. The generated data were validated through professional appraisal, classification method and image metrics. The results demonstrated high credibility and quality. The feasibility of using the generated data in the intelligent classification algorithm of ovarian diseases is verified, which has important practical significance for the research and development of artificial intelligence diagnosis algorithms for various diseases in the future.

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Gauss’s principle and tracking control of underactuated mechanical systems

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IFAC-PapersOnLine 2021年第19期54卷 365-370页

作者： Matthias Konz Joachim Rudolph Chair of Systems Theory and Control Engineering Saarland University 66123 Saarbrücken Germany

Gauss’s principle of least constraint is used to derive equations of motion. The principle is then used to motivate a template for the closed loop of the (tracking) controlled system. The control law arises from minimization of the distance between the controlled model and the template in the sense of least constraint. The control template is derived and analysed for the example of a free rigid body. This leads to quite natural formulations of its controlled inertia, damping and stiffness. This template is then used to compute a controller for a quadcopter, an underactuated system. A simulation result for an aerobatic maneuver demonstrates quite good performance of the proposed controller even though there is no formal proof of stability.

关键词： mechanics first-principles energy methods tracking control rigid body quadcopter

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Characterization of Malathion Degradation by S. Oneidensis Mr-1 Pombe Based on Response Surface Methodology

SSRN

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SSRN 2024年

作者： Hu, Ting Tang, Shen Zhang, Jing Pan, Qiaodong Hou, Yu Li, Yanhong College of Environmental Science and Engineering Guilin University of Technology Guilin541004 China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of Technology Guilin541004 China Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of Technology Guilin541004 China

To explore the characteristics of malathion degradation by Shewanella oneidensis and its mechanism, the effects of different degradation conditions (malathion concentration, S. oneidensis MR-1 inoculum amount, pH, and temperature) on the malathion-degradation ability of S. oneidensis MR-1 were investigated. The results showed that the optimal malathion degradation effect by S. oneidensis MR-1 was achieved at an initial malathion concentration of 30 mg/L, temperature of 35 ℃, and pH of 7, and that the degradation effect could reach > 90%. From the single-factor test, the main factors affecting malathion degradation (initial malathion concentration, reaction time, and S. oneidensis MR-1 inoculum amount) were determined, and the response surface method was then used to optimize the malathion degradation conditions by the composite system (iron oxide@biochar+S. oneidensis MR-1). The optimal conditions for malathion degradation in the composite system were an initial malathion concentration of 51.3 mg/L, reaction time of 3.7 d, S. oneidensis MR-1 inoculation amount of 1%;and FeC material dosage of 0.1 g/L. The intermediates of malathion degradation were identified as malaoxon, malathion monoacid, 2-mercaptosuccinic acid diethyl ester, diethyl malat, O,S,S-trimethyl phosphorodithioat, dimethyl phosphorodithioate, dimethyl fumarate, malic acid, etc.. The malathion degradation pathway was investigated on the basis of LCMS/MS analysis. The results provide a theoretical basis for application of highly effective bioremediation using S. oneidensis MR-1. © 2024, The Authors. All rights reserved.

关键词： Iron oxides

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