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International Symposium on Autonomous Systems (ISAS)

作者： Shanlin Liu Yingwei Zhang Xudong Zhao Hesheng Wang College of Information Science and Engineering Northeastern University Shenyang China State Laboratory of Synthesis Automation of Process Industry Northeastern University Shenyang China Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of IntelligentControl and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

In this article, an adaptive event-triggered asymp¬totically fault-tolerant control (FTC) issue for nonlinear systems with actuator faults is investigated. An extended neural networks (NNs) technique is introduced to estimate unknown functions of the system under consideration. Compared with traditional NNs that ignore approximation errors, the proposed extended NNs further processes approximation errors, reducing the conservatism of the proposed algorithm. Then, within the framework of backstepping method, a new adaptive control strategy is developed by combining event-triggered mechanism (ETM) and bound estimation (BE) approach, which ensures the asymptotic convergence of system states while also reducing the transmission of unnecessary information, thus improving the utilization of communication resources. At the same time, the designed controller eliminates the adverse effects of actuator failures and system nonlinear terms. Finally, a simulation example of a single-link robot system is provided to demonstrate that the developed control strategy can ensure that all signals are bounded and system states are asymptotically convergent.

关键词： Actuators Backstepping Fault tolerant systems process control Artificial neural networks control systems Approximation error

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Hexapod Robot Gait Switching Based on Different Wild Terrains

Hexapod Robot Gait Switching Based on Different Wild Terrain...

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Data Driven control and Learning Systems (DDCLS)

作者： Shijie Fei Yiyang Chen Hongfeng Tao Hongtian Chen School of Mechanical and Electrical Engineering Soochow University Suzhou P. R. China Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education Jiangnan University Wuxi P. R. China Department of Automation Shanghai Jiao Tong University Shanghai China

Hexapod robots have become an indispensable part of legged robots due to their excellent stability and traversability, and have recently become a hot research topic. In complex outdoor environments, the ability of the hexapod robot to switch its motion strategy according to the terrain is crucial for improving its mobility. This paper presents a terrain recognition network that enables our hexapod robot to switch its forward gait based on the different types of outdoor terrain. This method provides better stability for the hexapod robot than traditional single-gait walking through different terrains.

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Interpretable Soft Sensors using Extremely Randomized Trees and SHAP

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IFAC-PapersOnLine 2023年第2期56卷 8000-8005页

作者： Liang Cao Xiaolu Ji Yankai Cao Yupeng Li Lim C. Siang Jin Li Vijay Kumar Pediredla R. Bhushan Gopaluni Department of Chemical and Biological Engineering University of British Columbia Vancouver BC V6T 1Z3 Canada Department of Statistics University of British Columbia Vancouver BC V6T 1Z4 Canada School of Automation China University of Geosciences Wuhan 430074 China Department of Process Control Engineering Burnaby Refinery Burnaby BC V5C 1L7 Canada

Tree-based ensemble models are easy to implement and have been widely used in various fields. However, they have limitations in industrial process applications since the majority of tree-based ensemble models are prone to over-fitting. In addition, the internal structure of tree-based ensemble models is very complex and the output of the model is also difficult to explain, which makes its application in industrial soft sensors very challenging. The purpose of this work is to build accurate and interpretable soft sensors for industrial processes. First, to deal with overfitting, a robust tree-based ensemble model and extremely randomized trees are used to build accurate soft sensors. Then, to improve model interpretability, an interpretable machine learning algorithm, namely Shapely additive explanation, is used to infer the global and local contributions of each feature to the predictions. Finally, the effectiveness of the proposed algorithms is validated on real industrial fluid catalytic cracker unit data.

关键词： Interpretability SHAP Extremely Randomized Trees Soft Sensor

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Quantized Distributed Nonconvex Optimization Algorithms with Linear Convergence under the Polyak–Lojasiewicz Condition

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IEEE Transactions on Automatic control 2025年

作者： Xu, Lei Yi, Xinlei Sun, Jiayue Shi, Yang Johansson, Karl H. Yang, Tao Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China University of Victoria Department of Mechanical Engineering VictoriaBCV8W 2Y2 Canada Tongji University Shanghai Institute of Intelligent Science and Technology Shanghai201804 China KTH Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm100 44 Sweden

This paper considers distributed optimization for minimizing the average of local nonconvex cost functions, by using local information exchange over undirected communication networks. To reduce the required communication capacity, we introduce an encoder–decoder scheme. By integrating it with distributed gradient tracking and proportional integral algorithms, respectively, we then propose two quantized distributed nonconvex optimization algorithms. Assuming the global cost function satisfies the Polyak–Lojasiewicz condition, which does not require the global cost function to be convex and the global minimizer is not necessarily unique, we show that our proposed algorithms linearly converge to a global optimal point. Moreover, we show that a low data rate is sufficient to guarantee linear convergence when the algorithm parameters are properly chosen. The theoretical results are illustrated by numerical examples. © 1963-2012 IEEE.

关键词： Cost functions

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Reduced Network Cumulative Constraint Violation for Distributed Bandit Convex Optimization under Slater’s Condition

arXiv

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arXiv 2024年

作者： Zhang, Kunpeng Yi, Xinlei Ding, Jinliang Cao, Ming Johansson, Karl H. Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201800 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper studies the distributed bandit convex optimization problem with time-varying inequality constraints, where the goal is to minimize network regret and cumulative constraint violation. To calculate network cumulative constraint violation, existing distributed bandit online algorithms solving this problem directly use the clipped constraint function to replace its original constraint function. However, the use of the clipping operation renders Slater’s condition (i.e, there exists a point that strictly satisfies the inequality constraints at all iterations) ineffective to achieve reduced network cumulative constraint violation. To tackle this challenge, we propose a new distributed bandit online primal–dual algorithm. If local loss functions are convex, we show that the proposed algorithm establishes an O(T max{c,1−c})network regret bound and an O(T 1−c/2) network cumulative constraint violation bound, where T is the total number of iterations and c ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds, the network cumulative constraint violation bound is reduced to O(T 1−c). In addition, if local loss functions are strongly convex, for the case where strongly convex parameters are unknown, the network regret bound is reduced to O(T1−c), and the network cumulative constraint violation bound is O(T1−c/2) and O(T1−c) without and with Slater’s condition, respectively. For the case where strongly convex parameters are known, the network regret bound is further reduced to O)(log(T)), and the network cumulative constraint violation bound is reduced to O(log(T)T) and O(log(T)) without and with Slater’s condition, respectively. To the best of our knowledge, this paper is among the first to establish reduced (network) cumulative constraint violation bounds for (distributed) bandit convex optimization with time-varying constraints under Slater’s condition. Finally, a numerical example is provided to verify the theoretical results. Copyright © 2

关键词： Convex optimization

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Data-Driven Distributionally Robust Mixed-Integer control through Lifted control Policy

arXiv

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arXiv 2025年

作者： Ma, Xutao Ning, Chao Du, Wenli Shi, Yang Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China the Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology Shanghai200237 China the Department of Mechanical Engineering University of Victoria VictoriaBCV8W 3P6 Canada

This paper investigates the finite-horizon distributionally robust mixed-integer control (DRMIC) of uncertain linear systems. However, deriving an optimal causal feedback control policy to this DRMIC problem is computationally formidable for most ambiguity sets. To address the computational challenge, we propose a novel distributionally robust lifted control policy (DR-LCP) method to derive a high-quality approximate solution to this DRMIC problem for a rich class of Wasserstein metric-based ambiguity sets, including the Wasserstein ambiguity set and its variants. In theory, we analyze the asymptotic performance and establish a tight non-asymptotic bound of the proposed method. In numerical experiments, the proposed DR-LCP method empirically demonstrates superior performance compared with existing methods in the literature. © 2025, CC BY.

关键词： Mixed-integer linear programming

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Research on Cardiac Medical Image Segmentation Based on an Improved U-Net Model

Research on Cardiac Medical Image Segmentation Based on an I...

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Image processing, Computer Vision and Machine Learning (ICICML), International Conference on

作者： Yuqing Wu Jun Wang Rui Wang Jian Wang Kecheng Zhou Xiaoxin Zhang School of Computer Science and Technology Shenyang University of Chemical Technology Key Laboratory of Industrial Intelligence Technology on Chemical Process Liaoning Province Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Emergency Zhongyi Northeast International Hospital Co. Ltd. Shenyang China

ISBN: (数字)9798350355413

ISBN: (纸本)9798350355420

This paper presents a cardiac MRI image segmentation model based on an improved U-Net architecture. Accurate segmentation of cardiac MRI images is critical for the diagnosis and treatment of cardiovascular diseases, yet existing U-Net models exhibit limitations in handling complex cardiac structures and multi-scale features. To address these challenges, this paper proposes two key enhancements. First, we propose a Multi-Dimensional Context Attention module, designed to improve the integration of global and local information within the skip connections, thereby enhancing segmentation accuracy for intricate cardiac structures. Furthermore, we propose a Reverse Feature Modulation module, which generates reverse masks and dynamically adjusts feature weights across different classes using adaptive weighting, effectively mitigating class imbalance issues in multi-class segmentation tasks and improving focus on difficult-to-segment regions. Experimental results demonstrate that the proposed model outperforms the standard U-Net on the ACDC dataset, achieving significant improvements in evaluation metrics such as the Dice coefficient. These enhancements underscore the model's efficacy and robustness in complex cardiac image segmentation tasks, offering new technical support for automated cardiovascular disease diagnosis.

关键词： Image segmentation Accuracy Magnetic resonance imaging Computational modeling Modulation Context awareness Robustness Medical diagnosis Cardiovascular diseases Context modeling

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The software solution of the overload capacity of a three-phase asynchronous motor

The software solution of the overload capacity of a three-ph...

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2020 International Conference on Information Science and Communications Technologies, ICISCT 2020

作者： Gazieva, Rano Aynakulov, Sharafidin Nigmatov, Aziz Rakhmankulova, Barna Khafizov, Otabek Ziyaeva, Sholpan Tashkent Institute of Irrigation and Agricultural Mechanization Engineers Department of Automation and Control of Thechnology Process in Production Tashkent Uzbekistan Tashkent Institute of Irrigation and Agricultural Mechanization Engineers Department of Information Technology Tashkent Uzbekistan

ISBN: (纸本)9781728199696

This article devoted to make characteristic of electrical engine on base of program platform PASCAL. In this paper consider and construct the mechanical characteristic of an induction motor, and calculate the main parameters of the electric motor. In the program compiled for this task, the voltage of loss of the starting ability with the rated torque on the shaft is calculated, the relationship between the slip and the motor torque is determined. © 2020 IEEE.

关键词： Induction motors

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An atraumatic mock loop for realistic hemocompatibility assessment of blood pumps

TechRxiv

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TechRxiv 2023年

作者： Bender, Moritz Escher, Andreas Röhrich, Michael Fischer, Michael Bernhard Hametner, Christoph Laufer, Günther Kertzscher, Ulrich Zimpfer, Daniel Jakubek, Stefan Granegger, Marcus The Department of Cardiac Surgery Medical University of Vienna Austria The Division of Control and Process Automation Institute of Mechanics and Mechatronics Vienna University of Technology Vienna1040 Austria Biofluid Mechanics Laboratory Berlin Germany The Division of Special Anesthesia and Pain Medicine Department of Anesthesia Intensive Care Medicine and Pain Medicine Medical University of Vienna Austria The Department for Blood Group Serology and Transfusion Medicine Medical University of Vienna Austria

Conventional mock circulatory loops (MCLs) cannot replicate realistic hemodynamic conditions without inducing blood trauma. This constrains in-vitro hemocompatibility examinations of blood pumps to static operating conditions that do not reflect clinical scenarios. This study aimed at developing an atraumatic MCL based on a hardware-in-the-loop concept (H-MCL) that enables hemocompatibility assessment under realistic hemodynamic conditions. The atraumatic H-MCL was designed for 450±50 ml of blood with the sole blood-contacting components being the polycarbonate reservoirs, the silicone/polyvinyl-chloride tubing and the blood pump under investigation. To account for inherent coupling effects a decoupling pressure control was derived by feedback linearization, whereas the level control was addressed by an optimization task to overcome periodic loss of controllability. The HeartMate 3 was showcased to evaluate the H-MCL’s accuracy at typical hemodynamic conditions and to demonstrate the H-MCL’s atraumatic properties. Pilot hemolysis experiments were conducted with bovine (n=2) and human (n=2) blood, and evaluated in terms of the normalized index of hemolysis (NIH). Typical hemodynamic scenarios of patients with full and partial support were replicated with marginal coupling effects and root mean square error (RMSE) of 1.74±1.37 mmHg and 0.94±0.83 mmHg, respectively, while the fluid level did not exceed a range of ±4% of its target value. The initial examinations of hemolysis demonstrated the atraumatic characteristics of the novel H-MCL, as evidenced by levels of NIH (bovine: 5.1-7.2mg/100L;human: 1.6-1.8mg/100L) that are consistent with those reported in existing literature. Collectively, these findings indicated the H-MCL’s potential for in-vitro hemocompatibiltiy assessment of blood pumps within realistic hemodynamic conditions. © 2023, CC BY.

关键词： Hemodynamics

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Finite-time Consensus for Third-Order Multi-Agent Systems with Directed Communication Networks

Finite-time Consensus for Third-Order Multi-Agent Systems wi...

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Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Xirui Zhang Zhi-Liang Zhao Tengfei Liu Zhong-Ping Jiang School of Mathematics and Statistics Shaanxi Normal University Xi’an P. R. China School of Electrical and Control Engineering North University of China Taiyuan P. R. China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang P. R. China Department of Electrical and Computer Engineering New York University Brooklyn NY USA

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper focuses on third-order multi-agent systems with directed communication networks. It is for the first time that the finite-time consensus problem is solved for third-order multi-agent systems under digraphs containing spanning trees. Two explicit-coefficient finite-time protocols, namely, edge-based and node-based, are proposed. First, we prove that asymptotic consensus is achievable with the reduced linear protocol. Then, we show that finite-time consensus is achievable with our explicit-coefficient finite-time protocols through homogeneous theory. Finally, numerical simulations are carried out to demonstrate the effectiveness of the proposed protocols.

关键词： Protocols Network topology Numerical simulation Topology Communication networks Closed loop systems Multi-agent systems

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