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IEEE Transactions on Intelligent Vehicles 2024年 1-14页

作者： Fang, Qiuyang Zhang, Jianlei Wang, Chen Xie, Guangming Zhang, Chunyan Department of Automation College of Computer and Control Engineering Nankai University Tianjin China National Engineering Research Center of Software Engineering Peking University Beijing China State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this study, we introduce a novel auction-based algorithm modeled as a decentralized coalition formation game, designed for the complex requirements of large-scale multi-robot task allocation under uncertain demand. This context is particularly illustrative in scenarios where robots are tasked to charge electric vehicles. The algorithm begins by partitioning a composite task sequence into distinct subsets based on spatial similarity principles. Subsequently, we employ a coalition formation game paradigm to coordinate the assembly of robots into cooperative coalitions focused on these distinct subsets. To mitigate the impact of unpredictable task demands on allocations, our approach utilizes the conditional value-at-risk to assess the risk associated with task execution, along with computing the potential revenue of the coalition with an emphasis on risk-related outcomes. Additionally, integrating consensus auctions into the coalition formation framework allows our approach to accommodate assignments for individual robot-task pairings, thus preserving the stability of individual robotic decision autonomy within the coalition structure and assignment distribution. Simulative analyses on a prototypical parking facility layout confirm that our algorithm achieves Nash equilibrium within the coalition structure in polynomial time and demonstrates significant scalability. Compared to competing algorithms, our proposal exhibits superior performance in resilience, task execution efficiency, and reduced overall task completion times. The results demonstrate that our approach is an effective strategy for solving the scheduling challenges encountered by multi-robot systems operating in complex environments. IEEE

关键词： Polynomial approximation

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control of PUC5 Based-Grid Connected Inverter Using MPC and PI Regulator 3

Control of PUC5 Based-Grid Connected Inverter Using MPC and ...

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3rd International Conference on Advanced Electrical Engineering, ICAEE 2024

作者： Khettab, Soufian Bradai, Rafik Kheldoun, Aissa Hattabi, Intissar Set Laboratory Blida 1 University Faculty of Technology Automation and Electrical Engineering Department Blida09000 Algeria Latsi Blida 1 University Faculty of Technology Electronics Department Blida09000 Algeria Institute of Electrical and Electronic Engineering University M'hamed Bougara Laboratory of Signals & Systems Boumerdes35000 Algeria

ISBN: (纸本)9798350349351

This study presents an analysis and comparison of the MPC and PI controllers' dynamic performance. The two control structures are intended to control a single-phase PUC5 inverter that is connected to the grid via a L filter. Owing to its various benefits, the packed U-Cell converter has emerged as a potential multilevel converter architecture for a wide range of industrial applications. It achieves the maximum voltage levels with greater dependability while using fewer switch components. In order to inject a sinusoidal current with minimum THD while maintaining the capacitor voltage at its appropriate level, different control methods are employed. In this paper, two controllers are investigated the MPC and the conventional PI regulator. MATLAB/Simulink software package is used for simulation of the whole system. The results demonstrate that MPC outperforms traditional PI control in terms of tracking performance under restrictions. In other words, the MPC offers more control flexibly and better current injection into the grid with low THD. © 2024 IEEE.

关键词： MATLAB

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Competitive Meta-Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1902-1904页

作者： Boxi Weng Jian Sun Gao Huang Fang Deng Gang Wang Jie Chen National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081 Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China School of Automation Tsinghua UniversityBeijing 100084China Department of Control Science and Engineering Tongji UniversityShanghai 201804 National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China IEEE

Dear Editor,This letter is concerned with developing meta-learning models for fast,stable,and effective few-shot learning across tasks over a few training ***,deep and reinforcement learning(RL)is widely used in auton... 详细信息

关键词： robot autonomous concerned

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The Journey/DAO/TAO of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu Shen Jinlin Sun Shihan Kong Yutong Wang Juanjuan Li Xuan Li Fei-Yue Wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence DAO TAO

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Simultaneous Estimation of Human Motion Intention and Time-Varying Arm Stiffness for Enhanced Human-Robot Interaction

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IEEE Transactions on Cognitive and Developmental systems 2024年第3期17卷 510-524页

作者： Wu, Huayang Zhu, Chengzhi Cheng, Long Yang, Chenguang Li, Yanan University of Sussex Department of Engineering and Design BrightonBN1 9RH United Kingdom South China University of Technology Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering Guangzhou510640 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China University of Liverpool Department of Computer Science LiverpoolL69 3BX United Kingdom

Recent advances in physiological human motor control research indicate that human endpoint stiffness magnitude increases linearly with grasp force. Based on these findings, a scheme was proposed in this paper to integrate the linear quadratic estimation (LQE) filter with the stiffness model inferred from grasp force, which can simultaneously estimate the human arm's stiffness and motion intention. Then, an online variable impedance controller (VIC) was designed based on previous estimations for physical human-robot interaction (pHRI). The proposed stiffness model and estimation method were validated through experiments using a planar robotic interface. In order to assess its performance in practical pHRI tasks, the implementation of human arm stiffness and intention estimation combining with VIC was extended to a teleoperation peg-in-hole and robot-assisted rehabilitation tasks. The experimental results demonstrate that the proposed method can effectively estimate human motion intention and arm stiffness simultaneously. Compared to existing methods, the proposed VIC enhances pHRI in terms of increased flexibility, effective guidance, and reduced human effort. © 2016 IEEE.

关键词： Human robot interaction

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Optimal Design and Tuning of Novel Fractional Order Fuzzy PID Power System Stabilizer for SMIB Power System Using African Vulture Optimization Algorithm 12

Optimal Design and Tuning of Novel Fractional Order Fuzzy PI...

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2024 12th International Conference on systems and control, ICSC 2024

作者： Hattabi, Intissar Kheldoun, Aissa Bradai, Rafik Khettab, Soufiane Blida 1 University SET Laboratory Faculty of Technology Electrical and control Department Blida09000 Algeria Institute of Electrical and Electronic Engineering University M'hamed Bougara Laboratory of Signals & Systems Boumerdes35000 Algeria Blida 1 University LATSI Faculty of Technology Electronics Department Blida09000 Algeria

ISBN: (纸本)9798331531812

This paper presents PSS (Power system stabilizer) design based on fractional order fuzzy PID (FOFPID). The proposed PSS architecture design is considered for single-machine infinite bus power system. The primary goal of this design is to reduce or stabilize low-frequency oscillation in power systems. Initially, talking about fractional PID control. Next, combining it with a fuzzy logic controller. The African vulture optimization algorithm (AVOA) is then used to fine-tune the FOFPID parameters (Ke,Kd,KPI,KPD,μ,λ) in order to achieve the best possible global stability. The findings of the simulation validate that the system is effective in improving the stability of the generator connected to the infinite power supply. © 2024 IEEE.

关键词： Three term control systems

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Distributed Resilient Fusion Filtering for Nonlinear systems with Random Sensor Delays:Optimized Algorithm Design and Boundedness Analysis

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Journal of systems Science & Complexity 2023年第4期36卷 1423-1442页

作者： HU Jun HU Zhibin DONG Hongli LIU Hongjian School of Automation Harbin University of Science and TechnologyHarbin 150080China Department of Mathematics Harbin University of Science and TechnologyHarbin 150080China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and TechnologyHarbin 150080China Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318China School of Mathematics-Physics and Finance Anhui Polytechnic UniversityWuhu 241000China

This paper is concerned with the distributed resilient fusion filtering(DRFF)problem for a class of time-varying multi-sensor nonlinear stochastic systems(MNSSs)with random sensor delays(RSDs).The phenomenon of the RSDs is modeled by a set of random variables with certain statistical *** addition,the nonlinear function is handled via Taylor expansion in order to deal with the nonlinear fusion filtering *** aim of the addressed issue is to propose a DRFF scheme for MNSSs such that,for both RSDs and estimator gain perturbations,certain upper bounds of estimation error covariance(EEC)are given and locally minimized at every sample *** the light of the obtained local filters,a new DRFF algorithm is developed via the matrix-weighted fusion ***,a sufficient condition is presented,which can guarantee that the local upper bound of the EEC is ***,a numerical example is provided,which can show the usefulness of the developed DRFF approach.

关键词： Distributed resilient fusion filtering matrix-weighted fusion nonlinear time-varying systems random sensor delays

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Hand Gesture Recognition Using a Multi-modal Deep Neural Network 13th

Hand Gesture Recognition Using a Multi-modal Deep Neural Net...

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13th IFIP TC 12 International Conference on Intelligent Information Processing, IIP 2024

作者： Fulsunder, Saneet Umar, Saidu Taherkhani, Aboozar Liu, Chang Yang, Shengxiang School of Computer Science and Informatics De Montfort University Leicester United Kingdom Key Laboratory of Networked Control Systems and Digital Factory Department Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9783031579189

As devices around us get more intelligent, new ways of interacting with them are sought to improve user convenience and comfort. While gesture-controlled systems have existed for some time, they either use additional specialized imaging equipment, require unreasonable computing resources, or are simply not accurate enough to be a viable alternative. In this work, a reliable method of recognizing gestures is proposed. The built model correctly classifies hand gestures for keyboard typing based on the activity captured by an ordinary camera. Two models are initially developed for classifying video data and classifying time-series sequences of the skeleton data extracted from a video. The models use different strategies of classification and are built using lightweight architectures. The two models are the baseline models which are integrated to form a single multi-modal model with multiple inputs, i.e., video and time-series inputs, to improve accuracy. The performances of the baseline models are then compared to the multimodal classifier. Since the multimodal classifier is based on the initial models, it naturally inherits the benefits of both baseline architectures and provides a higher testing accuracy of 100% compared to the accuracy of 85% and 75% for the baseline models respectively. © IFIP International Federation for Information Processing 2024.

关键词： Deep neural networks

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Artificial Intelligence-based Fault Detection and Diagnosis: Towards Application in a Chemical Process

Artificial Intelligence-based Fault Detection and Diagnosis:...

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2023 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2023

作者： Liu, Yiqi Li, Zhi Chen, Hongtian The School of Automation Science & Engineering Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou510640 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China

ISBN: (纸本)9798350337754

As the chemical processes become more and more complicated, it is crucial but also difficult to detect and diagnose faults in the system than ever. With the development of machine learning algorithms and cloud computing, to monitor chemical processes completely with the help of big data become true. However, most machine learning methods suffer from unexplainable problem. By employing Explainable Artificial Intelligence(XAI) techniques, this paper applies two kinds of unsupervised machine learning methods, One-Class Support Vector Machine and Depth-based Isolation Forest Feature Importance, to detect and diagnosis faults in a chemical process. By combining two different fault explanation methodologies, accuracy and reliability of the fault diagnosis results can be achieved by the validation in a simulated continuous stirred tank reactor. © 2023 IEEE.

关键词： Support vector machines

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