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arXiv 2025年

作者： Wang, Shuze Mei, Yunpeng Cao, Hongjie Yuan, Yetian Wang, Gang Sun, Jian Chen, Jie National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing100081 China Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

Imitation learning (IL) has proven effective for enabling robots to acquire visuomotor skills through expert demonstrations. However, traditional IL methods are limited by their reliance on high-quality, often scarce, expert data, and suffer from covariate shift. To address these challenges, recent advances in offline IL have incorporated suboptimal, unlabeled datasets into the training. In this paper, we propose a novel approach to enhance policy learning from mixed-quality offline datasets by leveraging task-relevant trajectory fragments and rich environmental dynamics. Specifically, we introduce a state-based search framework that stitches state-action pairs from imperfect demonstrations, generating more diverse and informative training trajectories. Experimental results on standard IL benchmarks and real-world robotic tasks showcase that our proposed method significantly improves both generalization and performance. Videos are available on https://***/sbr. Copyright © 2025, The Authors. All rights reserved.

关键词： Trajectories

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Aging feature Extracting Strategy Considering Battery Usage Conditions and Optimized ELM-Based Accurate SOH Estimation

Aging feature Extracting Strategy Considering Battery Usage ...

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第42届中国控制会议

作者： Yanhong Huo Linhui Zhao Pengliang Qin Jia Sun Licui Tong China FAW Group Corporation Department of Control Science and Engineering Harbin Institute of Technology

Accurate State of Health(SOH) estimation is of great significance for battery maintenance and safe driving of electric *** paper first constructs effective aging features based on the characteristics of similar triangles formed by the charging voltage curve,and then designs an aging feature extracting strategy considering the battery's actual usage *** establish an accurate SOH estimation model,particle swarm optimization algorithm is used to optimize the parameters of Extreme Learning Machine(ELM).The experimental results show that the constructed aging features are reasonable,and the established optimized ELM-based data-driven model has a high SOH estimation accuracy.

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A Novel Three-Phase Passive Auxiliary Resonant Pole Soft-Switching Inverter With Symmetrical Auxiliary Networks and Electric Energy Feedback Function

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International Journal of Circuit theory and Applications 2025年第0期

作者： Wang, Shuyu Liu, Hongchen Gao, Fei Wheeler, Patrick School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Department of Engineering Science Shanghai Jiao Tong University Shanghai China Power Electronics Machines and Control Research Institute University of Nottingham Santiago Chile

To solve the problems of high cost, large additional component size, large circulating loss, and complex control in existing auxiliary resonant soft-switching inverters, a three-phase passive auxiliary resonant pole inverter (ARPI) with symmetrical auxiliary networks and electric energy feedback function is proposed. On each phase bridge arm of the inverter, a set of passive auxiliary networks (PANs) without large electrolytic capacitors, transformers, and other devices is provided, which is capable of enhancing the power density of the inverter. Additionally, as the auxiliary commutation circuit does not employ auxiliary switches, it not only lowers the hardware cost but also simplifies the control complexity and enhances the reliability of the soft-switching inverter operation. The proposed topology is capable of enhancing the utilization ratio of DC voltage and reducing the harmonic content of the output waveform. According to the equivalent circuit diagrams in different operating modes, the soft-switching operating principle and realization conditions of soft-switching for the proposed ARPI are analyzed. The parameters of passive components are designed with the aim of minimizing the PAN loss. A 3-kW experimental prototype is constructed. The experimental results indicate that the switching tubes can realize the soft-switching action and suppress the rate of change of voltage and current. The efficiency of the prototype can reach 98.30% at the rated output power, which is a remarkable improvement compared with the same type of ARPIs. © 2025 John Wiley & Sons Ltd.

关键词： Poles

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Identifiability and Solvability in Inverse Linear Quadratic Optimal control Problems

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Journal of Systems Science & Complexity 2021年第5期34卷 1840-1857页

作者： LI Yibei WAHLBERG Bo HU Xiaoming Optimization and Systems Theory Department of MathematicsKTH Royal Institute of TechnologySE-10044StockholmSweden Division of Decision and Control School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologySE-10044StockholmSweden

In this paper, the inverse linear quadratic(LQ) problem over finite time-horizon is *** the output observations of a dynamic process, the goal is to recover the corresponding LQ cost function. Firstly, by considering the inverse problem as an identification problem, its model structure is shown to be strictly globally identifiable under the assumption of system invertibility. Next, in the noiseless case a necessary and sufficient condition is proposed for the solvability of a positive semidefinite weighting matrix and its unique solution is obtained with two proposed algorithms under the condition of persistent excitation. Furthermore, a residual optimization problem is also formulated to solve a best-fit approximate cost function from sub-optimal observations. Finally, numerical simulations are used to demonstrate the effectiveness of the proposed methods.

关键词： Inverse optimal control linear quadratic regulators model identifiability

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A Composite Battery Model Based on Actual Reaction Mechanisms of Lithium-Ion Batteries

A Composite Battery Model Based on Actual Reaction Mechanism...

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第42届中国控制会议

作者： Yixin Liu Yiming Zhai Di Zhang Pengliang Qin Linhui Zhao China FAW Group Corporation Department of Control Science and Engineering Harbin Institute of Technology

An accurate and applicable battery model is of great significance for the effective management of electric vehicle's battery management *** on the actual reaction mechanism inside the battery,a composite battery model is proposed in this *** proposed composite battery model considers important reactions such as charge transfer at the solid-liquid interface,solid-liquid phase diffusion of Li,and gives a new way of characterizing some reactions based on the electrochemical *** addition,the extended Kalman filter-based online parameter identification method makes the proposed battery model well-adapted to dynamic *** experimental results show that proposed composite battery model has higher model accuracy than the conventional equivalent circuit model,and the established online parameter identification model can make the proposed composite battery model better adapt to the dynamic environment.

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Worst-Scenario Prediction for Field-to-Cable Coupling Under Continuous Intentional Electromagnetic Interference Attack

Worst-Scenario Prediction for Field-to-Cable Coupling Under ...

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Asia-Pacific Symposium on Electromagnetic Compatibility (APEMC)

作者： Huamin Jie Eng Kee Chua Zhenyu Zhao Yongqi Chang Changdong Wang Kye Yak See School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Electronics and Information Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9784885523472

ISBN: (纸本)9798350349498

Studying intentional electromagnetic interference (IEMI) is crucial for safeguarding hardware safety, as it helps to address the deliberate disruption of electronic devices. The field-to-cable coupling serves as a prevalent attack mechanism of IEMI, precipitating unexpected failures of the device under test. Many efforts focus on the analysis of field-to-cable coupling under high-power electromagnetic pulse, but less target on the phenomenon illuminated with continuous waves. This paper proposes a novel method to predict the worst-case for field-tocable coupling under continuous IEMI attack. By employing the transmission line theory to characterize the cables and obtaining the impedance information of the devices at both ends of the cable, an analytical model is built for determining the terminal voltage frequency responses induced by IEMI. Subsequently, the sensitive frequency region of this cable-connected electrical system can be determined, facilitating purposive immunity improvements. Using an unmanned aerial vehicle (UAV) as an example, the analytical calculations are compared with the radiated susceptibility test. The results exhibit a good agreement with experiments and validate the effectiveness of the proposed method.

关键词： Couplings Analytical models Systematics Electromagnetic interference Voltage Immunity testing Autonomous aerial vehicles

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Multi-agent Pathfinding with Local and Global Guidance 18

Multi-agent Pathfinding with Local and Global Guidance

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18th IEEE International Conference on Networking, Sensing and control, ICNSC 2021

作者： Xu, Yunhong Li, Yanjie Liu, Qi Gao, Jianqi Liu, Yuecheng Chen, Meiling Harbin Institute of Technology Shenzhen Department of Control Science and Engineering Shenzhen China

ISBN: (纸本)9781665440486

Multi-agent path finding (MAPF) exists in many practical applications, such as intelligent warehouses. In this type of scenario, the agents need to cooperate with each other and eventually reach the target point without collision. The existing multi-agent path planning algorithms are mainly centralized algorithms, such as Conflict-Based Search (CBS). However, this kind of approach is difficult to solve the problem in real time and its scalability is poor. In this work, we focus on solving MAPF problem in intelligent warehouse. To address this problem, instead of using time-consuming search based algorithms, we propose a novel decentralized multi-agent pathfinding method based on deep reinforcement learning. Combined with curriculum learning, the algorithm uses local and global guidance mechanisms to help agents plan feasible paths. As a result, the success rate of the algorithm has been significantly improved. Experimental results show that our algorithm generalizes well and it still performs well when the scale of problem increases. The solution efficiency is close to the centralized algorithms. © 2021 IEEE.

关键词： Reinforcement learning

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Investigation of Mode Transformation in Motor control System of Unmanned Aerial Vehicle Exposed to Intentional Electromagnetic Interference

Investigation of Mode Transformation in Motor Control System...

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Asia-Pacific Symposium on Electromagnetic Compatibility (APEMC)

作者： Huamin Jie Zhenyu Zhao Yongqi Chang Fei Fan Changdong Wang Kye Yak See School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Electronics and Information Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9784885523472

ISBN: (纸本)9798350349498

Susceptibility acts as a critical metric for assessing an electrical apparatus’s performance and reliability amidst the external electromagnetic environment, especially the intentional electromagnetic interference (IEMI). Given that the IEMI often invades electrical systems in common-mode (CM) and converts to the differential-mode (DM) signal to disrupt the normal operation of devices, investigating the mode transformation in the system under attack is pivotal for its susceptibility analysis. This paper first investigates the CM to DM conversion in the motor control system of the unmanned aerial vehicle (UAV) illuminated by an external IEMI. Experimental studies explore the influence of the distance between UAV and copper ground on mode conversion, revealing that adjusting the UAV’s landing gear height have the potential to enhance its susceptibility.

关键词： Performance evaluation Motor drives Electric potential Gears Electromagnetic interference RF signals Immunity testing

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A Data-Driven Two-Stage Dynamometer Diagram Inference Approach for Variable Operational Conditions in Pumping Machines

A Data-Driven Two-Stage Dynamometer Diagram Inference Approa...

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Industrial Cyber-Physical Systems (ICPS)

作者： Jiusi Zhang Hao Luo Jilun Tian Xinyu Qiao Xiaoyi Xu Yuchen Jiang Shen Yin Okyay Kaynak Department of Control Science and Engineering Harbin Institute of Technology Harbin China Faculty of Engineering Norwegian University of Science and Technology Trondheim Norway Department of Electrical and Electronics Engineering Bogazici University Istanbul Turkey

ISBN: (数字)9798350363012

ISBN: (纸本)9798350363029

In recent years, the soft measurement and state estimation of key parameters of industrial control systems and critical infrastructure have become crucial. The acquisition of dynamometer diagrams for pumping machines holds great significance in monitoring the operational status of drilling industrial control systems. To achieve the accurate inference of dynamometer diagrams from electrical parameters under variable operational conditions, this paper proposes a data-driven two-stage approach. Specifically, without prior knowledge, this paper proposes an electrical parameter derivation diagram approach based on extreme gradient boosting (XGBoost), which can accurately online suspended load and displacement estimation, thereby enabling efficient dynamometer diagram deduction. Furthermore, facing the variable operational conditions in actual engineering, this paper proposes a two-stage strategy. From a fine-grained perspective, the XGBoost algorithm is constructed separately for the operational condition categories and dynamometer diagram elements. This paper verifies the proposed dynamometer diagram approach under variable operational conditions through the real-world data provided by Daqing Oilfield Research institute. The experimental result demonstrates the advantages of the proposed approach.

关键词： Employee welfare Knowledge engineering Industrial control Pumps Poles and towers Dynamometers Data models

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Pango FPGA Implementation of a Real-Time Display System for Multi-Channel Video Processing

Pango FPGA Implementation of a Real-Time Display System for ...

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International Conference on Sensing, Diagnostics, Prognostics, and control (SDPC)

作者： Cao Huang Lifu Du Yu Peng Gang Xiang Yang Yu Jingyi Chen School of Electronics Information Engineering Habin Institute of Technology Harbin China Beijing Aerospace Automatic Control Institute Beijing China Department of System Engineering Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (数字)9798350388855

ISBN: (纸本)9798350388862

A Pango FPGA-based solution for merging and processing multiple independent video streams and reconstructing a real-time display system is presented. The system handles each video stream individually, then produces a combined video output in HDMI format. To ensure high efficiency and low latency, a parallel processing scheme and a hardware-oriented architecture are employed. The Pango PG50K FPGA board acts as the central hardware for managing inputs, reconstructing video, and producing outputs. Rapid-access DDR3-SDRAM ensures efficient data caching and signal integrity. This system is ideal for applications requiring rapid response, such as traffic monitoring and industrial automation, and supports quick algorithm iteration and optimization, enhancing performance and adaptability.

关键词： Visualization Surveillance Display systems Streaming media Real-time systems Sensors Field programmable gate arrays Streams Image reconstruction Signal integrity

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