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2023 China automation Congress, CAC 2023

作者： Zhang, Bo-Yang Liu, Zhen-Tao Zeng, Xiang-Yu School of Future Technology China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China

ISBN: (纸本)9798350303759

Due to the rapid growth of online education worldwide, assessing the learning effectiveness of students during online classes has become increasingly challenging for teachers. In this paper, a method of assessing online education effect based on YOLOv8 and Vision Transformer is proposed. Firstly, the drowsiness state of students in an online teaching unconstraint environment is estimated by using YOLOv8, and then the gaze direction of awake students is estimated by using Vision Transformer to assess the students' attention levels during online education. The results from YOLOv8 are determined based on the calculated probabilities of drowsiness or wakefulness. And then gaze estimation method proposed in this paper was compared with state-of-the-art methods on the MPIIFaceGaze and Gaze360 datasets in which the angular errors of gaze estimation are 4.58° and 12.27°, respectively. We conducted experiments and analysis on a self-made dataset, from which the results demonstrate the feasibility of our method in an unconstrained environment. © 2023 IEEE.

关键词： Students

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Dynamics Modeling Method of Offshore Drilling Experimental System Based on Double-Layer Stewart Parallel Mechanism 42

Dynamics Modeling Method of Offshore Drilling Experimental S...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Chenxuan Ma, Zhejiaqi Lu, Chengda Du, Sheng Wu, Min School of Future Technology China University of Geosciences Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China

ISBN: (纸本)9789887581543

Establishing the dynamics model of the offshore drilling experimental system can better complete the offshore drilling test in the laboratory environment and reduce the cost of testing. A dynamical modeling method for the offshore drilling experimental system built on the double-layer Stewart parallel mechanism is proposed. Firstly, the kinematic and dynamical characteristics of the double-layer Stewart parallel mechanism are combined with the Lagrange method and the virtual work method to establish the dynamics model of the mechanism. Then a parameter identification scheme is designed using a nonlinear gray system estimation method based on the trust-domain reflection algorithm, and the model parameters are identified. The model is downscaled to improve the feasibility of the identification scheme and the accuracy of the identified parameters. The actual experimental system data verify this model's correctness and the model parameters' accuracy. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Dynamics

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Evaluation of Landslide Susceptibility Using Machine Learning Based on Information Value Sampling Method

Evaluation of Landslide Susceptibility Using Machine Learnin...

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2023 China automation Congress, CAC 2023

作者： Liu, Lang Chen, Xin Zhao, Lingran Cao, Weihua School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Exploration Institute of Geological Engineering of Xiangyang Xiangyang441000 China

ISBN: (纸本)9798350303759

In landslide susceptibility prediction using machine learning (ML) models, the selection of appropriate negative samples significantly impacts the accuracy of the predictions. Many existing studies tend to randomly choose negative samples from the entire research area or specific attribute areas such as low slopes, leading to inaccuracies and biases that decrease the reliability of susceptibility mapping. To address this issue, this paper proposes an ML model based on the coupled information value (IV) method for susceptibility modeling. In this approach, the attribute values of environmental factors are transformed into information values, representing their contribution to landslides, using the information quantity method. Very low and low prone areas are then identified based on these information values, and random points are selected from these areas as negative samples for training and verifying subsequent machine learning models, which include the Random Forest (RF) model and Support Vector Machine (SVM) *** study focuses on the Three Gorges reservoir area in the Zigui-Badong area as an example. The comparative analysis of models trained using traditional sampling methods reveals that the RF model and SVM model, which were sampled using the information value method, achieve accuracies of 95.33% and 91.13%, respectively. In contrast, models trained using traditional sampling methods achieve accuracies of 90.43% and 88.69%, respectively. © 2023 IEEE.

关键词： Landslides

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Group consensus of multi-agent systems with additive noises

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Science China(Information Sciences) 2022年第10期65卷 242-255页

作者： Chuanjian LI Xiaofeng ZONG School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

This paper is concerned with group consensus of multi-agent systems(MASs) that consist of two groups in additive noise environments. First, a control protocol is proposed based on the state information of each agent's neighbors corrupted by additive noises. Second, some sufficient conditions and necessary conditions are obtained for the following two types of group consensus behaviors.(1) Pure group consensus:agents in both groups have the same behavior(weak consensus or strong consensus);(2) hybrid group consensus: agents in different groups achieve different consensus behaviors. It is revealed that the influence between the two groups should be attenuated such that the MASs can achieve group consensus in additive noise environments, i.e., the affected group must fight against the influence that comes from another ***, some simulation examples are given to illustrate the feasibility of the theoretical results.

关键词： group consensus multi-agent systems additive noises pure group consensus hybrid group consensus

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Analysis and Preliminary Results of a Feedback-Feedforward controller for Depth of Anesthesia

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IFAC-PapersOnLine 2024年第7期58卷 216-221页

作者： Erwin Hegedus Marcian D. Mihai Isabela R. Birs Hamed Farbakhsh Erhan Yumuk Dana Copot Eva H. Dulf Robain De Keyser Clara M. Ionescu Cristina I. Muresan Department of Automation Technical University of Cluj-Napoca Memorandumului Street no. 28 400114 Cluj-Napoca Romania Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 Zwijnaarde 9052 Belgium Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey

In a computer-based anaesthesia control system, the depth of hypnosis must be correctly maintained. The regulated variable is the Bispectral Index scale (BIS) controlled via the Propofol drug rate. The anesthesiologist administers Propofol to prevent unwanted fluctuations in the controlled variable during surgical stimulation, which acts as an unmeasurable disturbance on the BIS signal. In this paper, a feedback controller is paired with a feedforward control action. Based on existing clinical protocols, a digitalized disturbance signal that mimics the actual surgical stimulus is employed in the feedforward controller design as a measurable disturbance. To account for the time delay in the BIS measurements, a time delay estimation algorithm is developed and used to estimate the patient time delay. The digitalized disturbance signal is then shifted based on the estimated time delay to ensure a pre-emptive action of the feedforward controller. Two different designs of the feedforward controller are developed. Closed loop simulations considering a nominal patient with and without the feedforward control action are presented and compared. The results show that the surgical stimulus is better tackled using a feedforward control action, even if the actual surgical stimulus is not entirely known.

关键词： feedforward control fractional order control depth of hypnosis time delay estimation closed loop control of anesthesia

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Matrix-injection-based transformation method for discrete-time systems with time-varying delay

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Science China(Information Sciences) 2023年第5期66卷 289-290页

作者： Chuan-Ke ZHANG Ke-You XIE Yong HE Jinhua SHE Min WU School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Engineering Tokyo University of Technology

Dear editor,In order to identify the influence of time-varying delays on the stability of control systems represented in a discretetime mode, developing stability criteria of discrete-time delayed systems has received serious attention in the past few decades (see [1–3] and their references).Consider the following linear discrete-time system with a time-varying delay:

关键词： Lyapunov functions

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Methods of Reducing the Energy Consumption of Digital-Analog Converters and Increasing Their Metrological Reliability 17

Methods of Reducing the Energy Consumption of Digital-Analog...

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17th IEEE International Conference on advanced Trends in Radioelectronics, Telecommunications and Computer Engineering, TCSET 2024

作者： Zastavnyy, Oleg Kochan, Orest Bykovyy, Pavlo Sachenko, Anatoliy Kochan, Roman Kochan, Volodymyr West Ukrainian National University Department of Specialized Computer Systems Termopil Ukraine Lviv Polytechnic National University Department of Information and Measurement Technologies Automation and Metrology Lviv Ukraine West Ukrainian National University Department of Information Computer Systems and Control Termopil Ukraine Research Institute for Intelligent Computer Systems West Ukrainian National University Termopil Ukraine Kazimierz Pulaski University of Radom Department of Teleinformatics Radom Poland Lviv Polytechnic National University Department of Specialized Computer Systems Lviv Ukraine

ISBN: (纸本)9798331520564

This work analyzes the possibility of reducing the energy consumption of digital-to-analog converters by minimizing the energy consumption of the elements that ensure their operation. Due to the fact that such decisions can lead to an increase in the temperature and time drift of the output voltage of the digital-to-analog converter, a method of its in-situ calibration during operation is proposed. The method also allows carrying out calibration of high-speed analog-digital converters. © 2024 IEEE.

关键词： Voltage-source converters

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LoRa Modulation: A 2.4GHz Communication Strategy 3

LoRa Modulation: A 2.4GHz Communication Strategy

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3rd International Conference on Computation, automation and Knowledge Management, ICCAKM 2022

作者： Lavric, Alexandru Petrariu, Adrian I. Popa, Valentin Stefan Cel Mare University of Suceava Computers Electronics and Automation Department Romania Integrated Center for Research Development and Innovation in Advanced Materials Nanotechnologies and Distributed Systems for Fabrication and Control Stefan Cel Mare University Suceava Romania

ISBN: (数字)9781665453196

ISBN: (纸本)9781665453196

In the past decade the internet that we know has changed from being governed by humans to inter-object devices that are able to communicate and share information by means of wireless communication protocols. This growth has led to a set of problems related to Internet of Things device coexistence that usually communicate on a shared radio channel. This paper focuses on LoRa modulation technology and its potential. The LoRa modulation was seen as a holy grail that came to solve many problems of the IoT concept, problems related to power energy efficiency and achieve large communication distances. In this paper, we present the performance evaluation of the LoRa 2.4GHz modulation considering the main advantages that it brings to IoT concept. Also, we present a Software Defined Radio (SRD) traffic generator for LoRa technology that can be used for the scalability evaluation of the LoRa 2.4GHz technology. The traffic generator is implemented and tested using SRD hardware. © 2022 IEEE.

关键词： Software radio

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Certificated Actor-Critic: Hierarchical Reinforcement Learning with control Barrier Functions for Safe Navigation

arXiv

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arXiv 2025年

作者： Xie, Junjun Zhao, Shuhao Hu, Liang Gao, Huijun Department of Automation School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

control Barrier Functions (CBFs) have emerged as a prominent approach to designing safe navigation systems of robots. Despite their popularity, current CBF-based methods exhibit some limitations: optimization-based safe control techniques tend to be either myopic or computationally intensive, and they rely on simplified system models;conversely, the learning-based methods suffer from the lack of quantitative indication in terms of navigation performance and safety. In this paper, we present a new model-free reinforcement learning algorithm called Certificated Actor-Critic (CAC), which introduces a hierarchical reinforcement learning framework and well-defined reward functions derived from CBFs. We carry out theoretical analysis and proof of our algorithm, and propose several improvements in algorithm implementation. Our analysis is validated by two simulation experiments, showing the effectiveness of our proposed CAC algorithm. Copyright © 2025, The Authors. All rights reserved.

关键词： Adversarial machine learning

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