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2023 China automation Congress, CAC 2023

作者： Wen, Gaoya Song, Xiaoying Chai, Li Engineering Research Center of Metallurgical Automation and Measurement Technology Wuhan University of Science and Technology Wuhan China College of Control Science and Engineering Zhejiang University Zhejiang China

ISBN: (纸本)9798350303759

Molecular fingerprints map molecular structures into vectorized sequences and can be applied to QSAR/QSPR model learning to predict molecular properties. In this paper, we obtain fingerprint embedding matrix based on molecular structure, while deriving complex network metrics based on molecular graph structure. Inserting complex network metrics into molecular fingerprints, we construct a new molecular embedding fingerprint and construct a better CNN-based QSAR/QSPR model for compounds with the same/similar graph structures. Experiments on relative retention time prediction of PCB dataset demonstrate the effectiveness of the proposed method. © 2023 IEEE.

关键词： Complex networks

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Bi-objective Optimization with Partial Variable-length Coding Method for Mixed Fleet Vehicle Routing Problem 43

Bi-objective Optimization with Partial Variable-length Codin...

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43rd Chinese control Conference, CCC 2024

作者： Li, Shilong Du, Shengli Wu, Di Gao, Yongfeng Beijing University of Technology School of Artificial Intelligence and Automation Beijing100124 China Beijing Laboratory of Smart Environmental Protection Beijing100124 China Dalian University of Technology School of Control Science and Control Engineering Dalian116024 China

ISBN: (纸本)9789887581581

This paper is concerned with the routing problem of a mixed vehicle fleet composed by both electric and conventional vehicles. A bi-objective model with the aim of minimizing carbon emissions and maximising customer satisfaction is established. To further tackle the challenges posed by the distinct constraints of electric and conventional vehicles, a partial variable-length coding method is introduced to facilitate chromosome generation in the model. Then, a novel NSGA-II including the above designed coding method is proposed for solving the optimization problem. By comparing the experiments results of solving separate single-objective optimization and the two conflict optimization objectives simultaneously, it is verified that the proposed encoding approach and algorithm is effective. The results suggest that the bi-objective model is well-established, demonstrating the anticipated conflict between the two objectives. Additionally, the partial variable-length coding method is shown to be effective in achieving chromosome generation tasks. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Vehicle routing

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Research on Robust Passenger Flow control Model of Metro Under a Short-Turning Operation Pattern

Research on Robust Passenger Flow Control Model of Metro Und...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Xue, Hongjiao Jia, Limin Peng, Fei Sun, Xuan Wang, Hongyan Li, Ying School of Automotive Engineering Beijing Polytechnic Beijing100176 China Beijing Automation Engineering School Beijing100101 China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China

ISBN: (纸本)9789819639564

Passenger flow control is the most direct and effective way to solve the problem of metro line congestion. To solve the problem that the random arrival characteristics of passenger flow affect the reliability of the passenger flow control strategy, this paper provides a robust passenger flow control strategy for a metro line under a short-turning operation pattern in peak hours according to the dynamic, time-varying and random characteristics of passenger flow. Firstly, a short-turning operation pattern environment is constructed, and the arrival rate of historical inbound passenger flow is obtained by statistical analysis. Poisson process is used as a parameter to generate multi-scene random arrival passenger flow data. Secondly, a robust passenger flow control and ride strategy is proposed considering the passenger flow OD of the stations inside and outside the short-turning sections. Combining with the strategy, a robust passenger flow collaborative control model is constructed with multi-scene random arrival passenger flow data as input. Finally, an empirical study was carried out on the Beijing Fangshan metro line. The results show that the robust passenger flow control strategy is applicable to the three passenger flow scenarios, and can ensure the passengers’ safety in the three passenger flow scenarios. Moreover, compared with the separate passenger flow control in a single passenger flow scenario, the passenger waiting time under the robust passenger flow control strategy only increases by 1.19%, 4.47% and 4.42% respectively, which basically ensures the travel efficiency of passengers. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Urban transportation

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Self-Supervised Learning with Min-Max Distance Approach for Few-Shot Steel Surface Defects Recognition 43

Self-Supervised Learning with Min-Max Distance Approach for ...

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43rd Chinese control Conference, CCC 2024

作者： Wang, Tianlei Chen, Xinyao Li, Zeliang Zhou, Zhencai Zhou, Zhiheng Wuyi University School of Electronic and Information Engineering Jiangmen China Jiangmen Key Laboratory of Kejie Semiconductor Bonding Technology and Control System Jiangmen China Wuyi University School of Mechanical and Automation Engineering Jiangmen China Guangdong Province Kejie Machinery Automation Company Technical Department Jiangmen China

ISBN: (纸本)9789887581581

Surface defects in steel are crucial for quality inspection in the manufacturing of industrial metal products. While deep learning methods have been extensively studied in this field, the lack of large-scale annotated defect samples imposes significant labeling pressure, making training fully supervised deep models challenging. In response to this issue, we employ self-supervised learning for few-shot recognition, effectively learning representations from limited unlabeled data and achieving defect recognition with a small amount of labeled samples. In particular, we construct Other encoder with multi-view information and Base encoder with single view information based on the distillation self-supervised learning framework through the multi-crops mechanism, and the Other encoders and Base encoders perform information share. Our main contribution is that, based on this framework, we propose a new regularization method to solve the problem of instances deviating from the center of self-supervised clustering by minimizing the maximum instance distance (MMD). In testing, fine-tuning the MMD pre-trained model with a small number of labeled data achieves superior recognition performance on the steel surface defect dataset NEU, significantly outperforming other testing methods. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Self-supervised learning

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Trajectory control of Multi-Axis Robotic Arms Based on Physics-Informed Neural Networks and Nonlinear Model Predictive control

Trajectory Control of Multi-Axis Robotic Arms Based on Physi...

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2024 China automation Congress, CAC 2024

作者： Wang, Yiqing Xia, Changqing Jin, Xi Xu, Chi Zhang, Yanzhu School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350368604

Multi-axis robotic arms are extensively utilized in intelligent manufacturing scenarios, with trajectory control in flexible scenarios constituting a primary challenge. Physics-Informed Neural Networks (PINNs) represent advanced methods that integrate physical laws with data-driven approaches. Despite their outstanding performance in integrating theory and data, research on their application for controlling robotic arms in complex scenarios remains limited. This paper establishes a nonlinear dynamic model based on the physical relationships between the axes of robotic arms. In the absence of prior data, Sobol sequence random sampling is employed to generate data, which are subsequently trained using PINNs. Considering system noise, the Extended Kalman Filter (EKF) is utilized to predict the next state in noisy environments, and Nonlinear Model Predictive control (NMPC) is implemented to control the robotic arm for trajectory tracking, achieving real-time control. Simulation results demonstrate that the proposed Discrete Physics-Informed Predictive control (DPIPC) method exhibits smaller position and velocity errors with less fluctuation compared to the method in the reference, indicating superior control capabilities. © 2024 IEEE.

关键词： Extended Kalman filters

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Sign consensus of heterogeneous linear multi-agent systems without an explicit leader 41

Sign consensus of heterogeneous linear multi-agent systems w...

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第41届中国控制会议

作者： Yihan Meng Shimin Wang Shuai Liu Hongwei Zhang School of Mechanical Engineering and Automation Harbin Institute of Technology Department of Chemical Engineering Queen's University School of Control Science and Engineering Shandong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates leaderless output sign consensus of heterogeneous linear multi-agent systems over fixed directed signed *** multi-agent system can synchronize in the same sign concurrently with time-varying values without an explicit *** on the assumption that the adjacency matrix of the signed graph is eventually positive,a virtual leader is constructed by utilizing a distributed sign *** virtual leader is not pre-specified but arises from the graph topology and the initial states of the *** light of this distributed sign observer,we propose a state feedback controller that drives the outputs of such multi-agent systems to reach sign consensus.

关键词： Distributed observer Multi-agent system Sign consensus Signed graph

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Typical Scene Material Classification Based on Remote Sensing Image Data 12

Typical Scene Material Classification Based on Remote Sensin...

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SPIE 12th International Symposium on Multispectral Image Processing and Pattern Recognition, MIPPR 2023

作者： Gao, Yang Dai, Ling Li, Haipeng Zhang, Yini Wang, Feng Beijing Aerospace Automatic Control Institute Beijing100854 China School of Electrical and Automation Engineering Nanjing Normal University Jiangsu Nanjing210023 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Hubei Wuhan430074 China

ISBN: (数字)9781510675001

ISBN: (纸本)9781510674998

In spectral scene simulation applications, it is necessary to recognize and detect desert satellite images and satellite images containing water. However, previous network models such as AlexNet, VggNet, and GoogleNet have gradually fallen behind the trend of the times. Compared with the latest network models, they not only have slow training speeds but also do not achieve high accuracy. Therefore, this study adopts a series of the latest network models to solve this problem and compare and analyze the results. © 2024 SPIE.

关键词： Semantic Segmentation

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Design and Performance Test of an H-shaped Bionic Piezoelectric Robot Based on the Standing Wave Principle

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Journal of Bionic engineering 2025年第2期22卷 608-625页

作者： Ying Li Chaofeng Li Zhiwei Wu Binbin Zhu Jinghu Tang School of Mechanical Engineering and Automation Northeastern UniversityShenyang110819People’s Republic of China Key Laboratory of Vibration and Control of Aero-propulsion Systems Northeastern UniversityShenyang110819People’s Republic of China State Key Laboratory of Internet of Things for Smart City University of MacaoMacao999078People’s Republic of China

In this paper,inspired by the running motion gait of a cheetah,an H-shaped bionic piezoelectric robot(H-BPR)based on the standing wave principle is proposed and *** piezoelectric robot realizes linear motion,turning motion,and turning motion with different radi by the voltage differential driving method.A prototype with a weight of 38 g and dimensions of 150×80×31 mm^(3) was ***,the dynamics and kinematics of the piezoelectric robot were analyzed to obtain the trajectory of a point at the end of the piezoelectric robot *** motion principle of the piezo-electric robot was analyzed,and then the piezoelectric robot's modal analysis and harmonic response analysis were carried out using finite element analysis ***,an experimental setup was built to verify the effectiveness and high efficiency of the robot's motion,and the effects of frequency,voltage,load,and height of the driving leg on the robot's motion performance were *** performance test results show that the piezoelectric robot has a maximum veloc-ity of 66.79 mm/s at an excitation voltage of 320 V and a load capacity of 55 *** addition,the H-BPR with unequal drive legs has better climbing performance,and the obtained conclusions are informative for selecting leg heights for piezoelectric robots.

关键词： Piezoelectric Standing wave principle Bionic Differential driving method Robot

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Supervised-learning guarantee for quantum AdaBoost

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Physical Review Applied 2024年第5期22卷 054001页

作者： Yabo Wang Xin Wang Bo Qi Daoyi Dong Key Laboratory of Systems and Control Beijing 100049 People’s Republic of China Department of Automation School of Engineering

In the noisy intermediate-scale quantum (NISQ) era, the capabilities of variational quantum algorithms are greatly constrained due to a limited number of qubits and the shallow depth of quantum circuits. We may view these variational quantum algorithms as weak learners in supervised learning. Ensemble methods are general approaches to combining weak learners to construct a strong one in machine learning. In this paper, by focusing on classification, we theoretically establish and numerically verify a learning guarantee for quantum adaptive boosting (AdaBoost). The supervised-learning risk bound describes how the prediction error of quantum AdaBoost on binary classification decreases as the number of boosting rounds and sample size increase. We further empirically demonstrate the advantages of quantum AdaBoost by focusing on a 4-class classification. The quantum AdaBoost not only outperforms several other ensemble methods, but in the presence of noise it can also surpass the ideally noiseless but unboosted primitive classifier after only a few boosting rounds. Our work indicates that in the current NISQ era, introducing appropriate ensemble methods is particularly valuable in improving the performance of quantum machine learning algorithms.

关键词： Quantum algorithms & computation Quantum circuits Supervised learning

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