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American control Conference (ACC)

作者： H. Bessafa C. Delattre Z. Belkhatir A. Zemouche R. Rajamani CRAN CNRS UMR 7039 Université de Lorraine Cosnes et Romain France Department of Electronics and Computer Science University of Southampton Southampton UK Faculty of Computing Engineering and Media De Montfort University The Gateway Leicester UK Department of Mechanical Engineering Laboratory for Innovations in Sensing Estimation and Control University of Minnesota Minneapolis USA

The main objective of this work is to propose a solution to observer design for triangular systems where additional output measurements are available, which may improve the estimation quality. In fact, such additional measurements prevent the standard high-gain observer methodology to provide solutions for the estimation problem. In this paper, motivated by this issue, we propose two novel observer design methods to handle the additional output measurements. The first one can be viewed as an extension of the standard high-gain observer by introducing a weighting matrix as a tuning parameter, while the second method, which can be viewed as an alternative method, exploits jointly the high-gain methodology and the LPV/LMI technique to overcome some limitations related to the first design method. The proposed methods are applied to a vehicle trajectory estimation problem using the well-known kinematic model. The efficiency of the estimation using both proposed methods and a comparative study between them are provided.

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Distributed Adaptive Fault-Tolerant Output Regulation of Heterogeneous Multi-Agent Systems With Coupling Uncertainties and Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1098-1106页

作者： Chao Deng Weinan Gao Weiwei Che the School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore the Department of Electrical and Computer Engineering Allen E.Paulson College of Engineering and ComputingGeorgia Southern UniversityStatesboroGA 30460 USA the State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027 the Institute of Complexity Science Qingdao UniversityQingdao 266071China

In this paper, we consider the distributed adaptive fault-tolerant output regulation problem for heterogeneous multiagent systems with matched system uncertainties and mismatched coupling uncertainties among subsystems under the influence of actuator faults. First, distributed finite-time observers are proposed for all subsystems to observe the state of the exosystem. Then, a novel fault-tolerant controller is designed to compensate for the influence of matched system uncertainties and actuator faults. By using the linear matrix inequality technique, a sufficient condition is provided to guarantee the solvability of the considered problem in the presence of mismatched coupling uncertainties. Moreover, it is shown that the system in closed-loop with the developed controller can achieve output regulation by using the Lyapunov stability theory and cyclic-small-gain ***, a numerical example is given to illustrate the effectiveness of the obtained result.

关键词： Adaptive control cyclic-small-gain fault-tolerant control multi-agent systems(MASs)

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A Sub-mother UAV System Capable of Autonomous Aerial Docking

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年

作者： Li, Gang Lu, Yi He, Bin Pang, Tao Cheng, Bin Zhang, Pengpeng College of Electronics and Information Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai200120 China Shanghai Sunshine Rehabilitation Center Shanghai201613 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai200120 China East China Institute of Computing Technology Shanghai201822 China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China College of Electronic and Information Engineering Tongji University Shanghai China

Completing the docking between two multi-rotor unmanned aerial vehicles (UAVs) in the air has great significance for expanding the application scenarios of multiple UAVs and improving their endurance capability. In this regard, this paper first designs a safe and autonomous docking scheme and constructs a sub-mother UAV *** address the issue of unstable flight in downwash airflow, this paper designs a high-performance control method suitable for the sub-mother UAV system based on Incremental Nonlinear Dynamic Inversion (INDI) and achieves robust attitude control with strong disturbance rejection capability. A UWB-based Ortho-UWB 3D positioning method is proposed in this paper with orthogonal installation, which, after being integrated with visual methods, enables high-precision 3D relative positioning during the docking process of the sub-mother UAV ***, the paper designs a complete docking process for the sub-mother UAVs and incorporates safety constraints into the docking process to ensure the safety of the docking process for both UAVs. Experiments of successfully docking the sub UAV to the mother UAV from bottom to top prove the feasibility and effectiveness of this scheme. © 2024 IEEE.

关键词： Disturbance rejection

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Robust correlation filter tracking based on response map analysis network

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Signal Processing: Image Communication 2022年第0期108卷

作者： Yang, Xin Song, Yong Zhang, Zishuo Zhao, Yufei Li, Liansheng Li, Wang Beijing Institute of Technology Beijing100081 China Department of Precision Instrument Center for Brain Inspired Computing Research Tsinghua University Beijing100084 China Beijing Institute of Control Engineering Beijing100190 China

Conventional discriminative-correlation-filter-based (DCF-based) visual tracking methods always update model at a fixed frequency and learning rate. Without evaluating the tracking confidence scores, the response map generated by filter is the only evidence for locating. Thus, most of the existing DCF-based methods suffer from the model contamination caused by drastic appearance variations, which leads to tracking drift even failure. And excessively frequent update will increase the computational redundancy and risk of over-fitting. In addition, these methods cannot recover target from heavy occlusion neither. Based on the observation that the shape of response maps reflects the matching degree between filter and target, we design and train a small-scale binary network named as response map analysis network (RAN) to evaluate the confidence scores of filters. Further, we propose to learn multiple filters to exploit different kinds of features, and adaptively adjust the update parameters according to the corresponding confidence scores. Moreover, we build a simple occlusion event model to detect heavy occlusion and recover target. Extensive experimental results validate the effectiveness of RAN and demonstrate that the proposed tracker performs favorably against other state-of-the-art (SOTA) DCF-based trackers in terms of precision, overlap rate and efficiency. © 2022 Elsevier B.V.

关键词： Neural networks

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Chinese Automation Congress (CAC)

作者： Yumin Lang Jiande Wu Xun Lang Wanke Yu Chuanyan Yang Hongye Su Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Oscillation is a significant indication of the deterioration of control system performance and needs to be carefully monitored to ensure safe and stable process operations. However, industrial processes are often prone to noisy artifacts and nonstationary trends, resulting in low signal-to-noise ratios. In order to tackle this problem, this study introduces a novel framework for enhanced trend removal and noise reduction, which is featured by the following steps:(i) The circulant singular spectrum analysis (CiSSA) is used to decompose oscillation data into several reconstructed components (RCs). (ii) The estimated power spectral density (PSD) of these RCs is then smoothed using the Savitzky-Golay filter (SGF) to eliminate noise and identify the RCs corresponding to oscillatory components. (iii) These identified RCs are subsequently reconstructed to produce purified oscillatory data. The effectiveness of the suggested approach is validated using simulations and real-world industrial case studies. The findings indicate that the method notably enhances the quality of oscillatory data.

关键词： Power filters Noise reduction Process control Market research Information filters Noise measurement Oscillators Spectral analysis Monitoring Signal to noise ratio

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Natural Human Skin‑Inspired Wearable and Breathable Nanofiber‑based Sensors with Excellent Thermal Management Functionality

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Advanced Fiber Materials 2024年第6期6卷 1955-1968页

作者： Peng Wang Xiaodan Li Guifen Sun Guoqing Wang Qing Han Chuizhou Meng Zhonghe Wei Yang Li School of Mechanical Engineering University of JinanJinan 250022China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116China State Key Laboratory for Reliability and Intelligence of Electrical Equipment Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection TechnologyHebei Key Laboratory of Smart Sensing and Human‑Robot InteractionSchool of Mechanical EngineeringHebei University of TechnologyTianjin 300401China Shandong Provincial Key Laboratory of Network‑Based Intelligent Computing School of Information Science and EngineeringUniversity of JinanJinan 250022China Network Information Center Department of Computer ScienceQilu University of Technology(Shandong Academy of Sciences)Jinan 250353China School of Integrated Circuits Shandong UniversityJinan 250101China

Wearable sensors have been rapidly developed for application in various human monitoring ***,the wearing comfort and thermal properties of these devices have been largely ignored,and these characteristics urgently need to be ***,we develop a wearable and breathable nanofiber-based sensor with excellent thermal management functionality based on passive heat preservation and active Joule heating *** multifunctional device consists of a micropatterned carbon nanotube(CNT)/thermoplastic polyurethane(TPU)nanofiber electrode,a microporous ionic aerogel electrolyte and a microstructured Ag/TPU nanofiber *** to the presence of a supercapacitive sensing mechanism and the appli-cation of microstructuration,the sensor shows excellent sensing performance,with a sensitivity of 24.62 ***,due to the overall porous structure and hydrophobicity of TPU,the sensor shows good breathability(62 mm/s)and water repellency,with a water contact angle of 151.2°.In addition,effective passive heat preservation is achieved by combining CNTs with high solar absorption rates(85%)as the top layer facing the outside,aerogel with a low thermal conductivity(0.063 W m-1 k-1)as the middle layer for thermal insulation,and Ag with a high infrared reflectance rate as the bottom layer facing the *** warming,this material yields a higher temperature than ***,the active Joule heat-ing effect is realized by applying current through the bottom resistive electrode,which can quickly increase the temperature to supply controlled warming on *** proposed wearable and breathable sensor with tunable thermal properties is promising for monitoring and heat therapy applications in cold environments.

关键词： Wearable sensor Breathable Personal thermal management Electrospun nanofibers Joule heating

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Quantification of Valve Stiction in control Loops Using Adaptive Differential Evolution Algorithm

Quantification of Valve Stiction in Control Loops Using Adap...

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Chinese Automation Congress (CAC)

作者： Dong Yang Xun Lang Jiande Wu Wanke Yu Songhua Liu Lei Xie Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Accurately and promptly quantifying stiction is crucial for valve maintenance in industrial settings and ensuring the stability of control loop performance. However, current Hammerstein-based stiction quantification methods overlook valve dynamics, potentially leading to inaccurate quantification. Therefore, this paper proposes a novel stiction quantification method based on an adaptive differential evolution algorithm. In addition to considering the impact of valve dynamics on stiction, the proposed method demonstrates a certain level of robustness against the interference of unknown noise. Finally, the effectiveness of the proposed method is demonstrated through a series of simulations and industrial case studies.

关键词： Adaptation models Heuristic algorithms Noise Interference Valves Stability analysis Robustness Data models Maintenance Classification algorithms

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Theoretical Aspects of Automatically Generated Service-Oriented Communication Between ADAS and IVI Domains

Theoretical Aspects of Automatically Generated Service-Orien...

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Zooming Innovation in Consumer Electronics International Conference (ZINC)

作者： Duš an Kenjić Marija Antić Tihomir Anđ elić Department of Computing and Control Engineering Faculty of Technical Sciences University of Novi Sad Novi Sad Serbia RT-RK Institute for Computer Based Systems Novi Sad Serbia

ISBN: (数字)9781665483742

ISBN: (纸本)9781665483759

In the automotive software development, interface definition languages (IDLs) are often used to provide system models and enable the automatic generation of communication mechanisms between different software components. This way, the development process is facilitated leaving the implementation of the application independent from communication mechanisms. However, the utilization of heterogenous platforms and standards in the automotive industry often leads to the repeated implementation of software components with the similar functionality. Also, due to the fact that IDLs are usually built only for one domain, similar or complementary communication mechanisms need to be defined in different interface definition languages, in order to enable the cross-domain communication. Two challenges in this topic are interesting for further analysis and this paper provides the theoretical aspects for their solution. The first challenge is the implementation of proper translation between available interface definition languages following the model driven development. The second challenge is the expansion of the code generated from IDLs to achieve the cross-domain communication between ADAS and IVI in automotive.

关键词： Technological innovation Java Codes Software Service-oriented architecture Task analysis Standards

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MI3SE: A Multi-User Index-Based Searchable Symmetric Encryption Scheme for Improving Security of Data in Connected Electronic Devices

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IEEE Transactions on Consumer Electronics 2024年

作者： Soleymani, Seyed Ahmad Goudarzi, Shidrokh Anisi, Mohammad Hossein Xiao, Pei Mihaylova, Lyudmila Wang, Wenwu University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom University of West London School of Computing and Engineering LondonW5 5RF United Kingdom University of Essex School of Computer Science and Electronic Engineering ColchesterCO4 3SQ United Kingdom GuildfordGU2 7XH United Kingdom GuildfordGU2 7XH United Kingdom

In the Industrial Internet of Things (IIoT), outdoor electronic devices serve crucial roles across sectors, providing vital data for decision-making. However, their exposure to open outdoor environments makes them vulnerable to unauthorized access, physical theft, or compromise, endangering both the device and its data. Ensuring the security of outdoor devices and their data is thus critical. This study addresses data security in outdoor IIoT devices by supporting the encryption of all IIoT-related data in device memory. Accessing and retrieving this data requires operations on encrypted data. Hence, we introduce a Searchable Symmetric Encryption (SSE) scheme called MI3SE, which ensures each device's encryption key is unique and valid for a period based on the device's security sensitivity. Moreover, MI3SE meets key security requirements, including confidentiality, integrity, forward secrecy, and backward secrecy. It is specifically designed to mitigate physical compromise and query pattern analysis through a two-keyword query approach and withstand various attacks, as validated by rigorous security analysis. Comparative evaluations against benchmark schemes underscore the efficacy of MI3SE in terms of both security and performance. Moreover, comprehensive non-mathematical security analysis and simulation experiments affirm the enhanced accuracy and efficacy of MI3SE in securing sensitive data stored in outdoor IIoT devices. © 1975-2011 IEEE.

关键词： Data Security IIoT Outdoor Electronic Devices Searchable Symmetric Encryption (SSE)

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Computer Vision-control-Based CNN-PID for Mobile Robot

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Computers, Materials & Continua 2021年第7期68卷 1065-1079页

作者： Rihem Farkh Mohammad Tabrez Quasim Khaled Al jaloud Saad Alhuwaimel Shams Tabrez Siddiqui College of Engineering Muzahimiyah BranchKing Saud UniversityP.O.Box 2454Riyadh11451Saudi Arabia College of Computing and Information Technology University of BishaBisha67714Saudi Arabia King Abdulaziz City for Science and Technology Saudi Arabia Department of Computer Science College of Computer Science and Information TechnologyJazan UniversityJazanSaudi Arabia Department of Electrical Engineering Laboratory for AnalysisConception and Control of SystemsLR-11-ES20National Engineering School of TunisTunis El Manar UniversityTunisTunisia

With the development of artificial intelligence technology,various sectors of industry have *** them,the autonomous vehicle industry has developed considerably,and research on self-driving control systems using artificial intelligence has been extensively *** on the use of image-based deep learning to monitor autonomous driving systems have recently been *** this paper,we propose an advanced control for a serving robot.A serving robot acts as an autonomous line-follower vehicle that can detect and follow the line drawn on the floor and move in specified *** robot should be able to follow the trajectory with speed *** controllers were used simultaneously to achieve *** neural networks(CNNs)are used for target tracking and trajectory prediction,and a proportional-integral-derivative controller is designed for automatic steering and speed *** study makes use of a Raspberry PI,which is responsible for controlling the robot car and performing inference using CNN,based on its current image input.

关键词： Autonomous car pid control deep learning convolutional neural network differential drive system raspberry pi

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