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A Guaranteed Cost Approach to Dynamic Output Feedback control for Neutral-Type Markovian Jumping Stochastic Systems

Journal of Systems Science & Complexity 2021年第4期34卷 1487-1500页

作者： LI Yanbo KAO Binghua XIE Jing KAO Yonggui School of Information and Statistics Guangxi University of Finance and EconomicsNanning 530003China Department of Mathematics Harbin Institute of Technology(Weihai)Weihai 264209China School of Information and Control Engineering Qingdao University of TechnologyQingdao 266520China

This paper is devoted to investigating the dynamic output feedback(DOF)control problem of Markovian jump neutral-type stochastic systems with a guaranteed cost *** of the state and measurement equations contain time ***-dependent DOF controllers are first designed such that the closed-loop system is asymptotically stable in mean-square and an adequate performance level of this system is ***,sufficient conditions for the solvability of this problem are derived in the form of linear matrix inequalities(LMIs).A numerical example is presented to reveal the effectiveness of our findings.

关键词： Guaranteed cost control linear matrix inequality Markovian jump neutral stochastic systems output feedback control time delay

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Research on Path Planning and Obstacle Avoidance of Mobile Robot in Forest Area

SSRN

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SSRN 2023年

作者： Zhao, Hongyang Guo, Yanan Liu, Yi Shen, Yi Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Northeast Forestry University College of Mechanical and Electrical Engineering Harbin150042 China

Forest robots need to face the dual pressure of finding a feasible path between the starting point and the goal point and avoiding some known or unknown obstacles when performing tasks, which poses a major challenge to optimal robot navigation with safety guarantees. This paper presents a combined algorithm combining path planning and real-time obstacle avoidance. On the one hand, the path planning algorithm based on the traditional gray wolf optimization is improved to solve the problem that the traditional algorithm is easy to fall into local optimum and the convergence speed is relatively slow. On the other hand, Nonlinear Model Predictive control (NMPC) is introduced to provide the robot with a control strategy that can satisfy the requirements of real-time obstacle avoidance for unknown dynamic obstacles. In addition, for the problem of multi-robot collision avoidance, a new control strategy is designed to design priorities for different robots to increase the robustness of the system. Then this paper applies the algorithm to single-robot and multi-robot systems, and performs numerical simulations in multiple complex cases. Finally, practical experiments are carried out on a physical robot platform using robot operating system (ROS) to verify the proposed method. The results show that the proposed algorithm can successfully obtain a feasible and effective path no matter it is applied in a single robot or a multi-robot system, and can effectively avoid static obstacles and dynamic obstacles, achieving 100% collision avoidance. © 2023, The Authors. All rights reserved.

关键词： Mobile robots

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Bi-layered coded metasurface for multi-functional hologram with broadband transmission and efficient reflection

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Chinese Optics Letters 2024年第5期22卷 8-16页

作者：朱磊李绪胜董亮谢文静尚关玉 Shah Nawaz Burokur 丁旭旻 School of Computer and Control Engineering Qiqihar UniversityQiqihar 161006China Communication and Electronics Engineering Institute Qiqihar UniversityQiqihar 161006China Heilongjiang Key Laboratory of Big Data Network Security Detection and Analysis Qiqihar UniversityQiqihar 161000China Department of Microwave Engineering Harbin Institute of TechnologyHarbin 150001China LEME UPLUniversitéParis NanterreF92410 Ville d’AvrayFrance Advanced Microscopy and Instrumentation Research Center Harbin Institute of TechnologyHarbin 150080China Key Laboratory of Millimeter Waves Southeast UniversityNanjing 210096China

A multi-functional full-space metasurface based on frequency and polarization multiplexing is *** metasurface unit consists of metallic patterns printed on the two faces of a single-layered dielectric *** unit cell can control electromagnetic wavefronts to achieve a broadband transmission with amplitudes greater than 0.4 from 4.4 to 10.4 ***,at 11.7 GHz and 15.4 GHz,four high-efficiency reflection channels with a reflection amplitude greater than 0.8 are also *** illuminated by linearly polarized waves,five different functions can be realized at five different frequencies,which are demonstrated by theoretical calculations,full-wave simulations,and experimental measurements.

关键词： multi-functional metasurface broadband transmission efficient reflection full space

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A simulation study on the characteristics of spatial coherence to a scattering medium in ultrasound

A simulation study on the characteristics of spatial coheren...

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IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Zhiyuan Li Hervé Liebgott Yue Zhao François Varray INSA-Lyon Universite Claude Bernard Lyon 1 CNRS Inserm CREATIS UMR 5220 U1294 Lyon France Control Theory and Engineering School of Astronautics Harbin Institute of Technology Harbin China

ISBN: (数字)9798350371901

ISBN: (纸本)9798350371918

Spatial coherence in ultrasound has been used to characterize the microstructure and evaluate the local anisotropy of biological tissues. However, a simulation framework for verifying spatial coherence properties is lacking to understand the spatial coherence in function of the imaging parameters. In this paper, we propose a simulation framework that confirms that spatial coherence mainly reflects the properties of the auto-correlation function of the scatterers, which is related to the distribution of the scatterers. We also use the framework to demonstrate that the transmitted aperture size determines the width of the spatial coherence function, which can help to select the optimal parameters for evaluating the coherence of the received signal on the array. We also verify that the spatial coherence function is independent of depth and that the information of the medium is obtained from the transmitted beamwidth.

关键词： Ultrasonic imaging Anisotropic magnetoresistance Biological tissues Spatial coherence Scattering Imaging Coherence Apertures Microstructure Frequency control

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Feasibility Analysis of the Electromagnetic Acoustic Emission Technique Applying in Rail Defects Detection

SSRN

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SSRN 2022年

作者： Chang, Yongqi Zhang, Xin Song, Shuzhi Shen, Yi Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

Electromagnetic acoustic emission (EMAE) technique is a novel non-destructive testing (NDT) method, however, few studies have focus on the defects detection of rail based on EMAE. This paper proposes a feasibility analysis approach for rail defect detection based on EMAE, using finite element method (FEM) and defect evaluation indicator (DEI). A quantitative model was first developed based on the FEM and coupled constitutive equations, to explore the EMAE mechanism. Subsequently, the metallic dislocation movement under different loading conditions was simulated using multiphysics coupled simulation software. In addition, a series of experiments were performed, and the DEI was constructed using the Chebyshev inequality and experimental signals, to validate if EMAE can distinguish defect signals from the defect-free ones. The results indicate that the EMAE technique can detect rail defects, and the suitable loading conditions were determined, which is useful for the rail defect detection in the actual railway operating environment. © 2022, The Authors. All rights reserved.

关键词： Finite element method

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Fractional Time-Frequency Scattering Convolution Network 1

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3rd EAI International Conference on Artificial Intelligence for Communications and Networks, AICON 2021

作者： Zheng, Jiabin Shi, Jun Chen, Gong Chen, Weiping Geng, Zhenya MEMS Center Harbin Institute of Technology Harbin150001 China Communication Research Center Harbin Institute of Technology Harbin150001 China Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9783030901967

ISBN: (纸本)9783030901950

The wavelet scattering convolution network (SCN) have recently developed as a kind of effective feature extractor, which has achieved a great performance in signal and image processing applications. Unfortunately, as feature extractor, SCN is not appropriate to mimic the visual system of mammals in image classification tasks, so that STFT-based time-frequency scattering convolution network (TFSCN) is proposed. However, TFSCN is limited by a major drawback: it is only available for stationary signals’analysis but not for non-stationary ones, since STFT can viewed as linear translation-invariant filters in the FT domain intrinsically. The aim of this paper is to overcome this weakness using the short-time fractional fourier transform (STFRFT) which is a bank of linear translation-variant bandpass filters and thus may be used for non-stationary signal analysis. First, We present the fractional time-frequency scattering transform based upon the STFRFT. Then a generalization of TFSCN’s structure dubbed FRTFSCN is illustrated. The significant performance of FRTFSCN are shown via experiment simulations. © 2021, ICST institute for Computer Sciences, Social Informatics and Telecommunications engineering.

关键词： Convolution

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On Deep Recurrent Reinforcement Learning for Active Visual Tracking of Space Noncooperative Objects

arXiv

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arXiv 2022年

作者： Zhou, Dong Sun, Guanghui Zhang, Zhao Wu, Ligang The Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

Active tracking of space noncooperative object that merely relies on vision camera is greatly significant for autonomous rendezvous and debris removal. Considering its Partial Observable Markov Decision Process (POMDP) property, this paper proposes a novel tracker based on deep recurrent reinforcement learning, named as RAMAVT which drives the chasing spacecraft to follow arbitrary space noncooperative object with high-frequency and near-optimal velocity control commands. To further improve the active tracking performance, we introduce Multi-Head Attention (MHA) module and Squeeze-and-Excitation (SE) layer into RAMAVT, which remarkably improve the representative ability of neural network with almost no extra computational cost. Extensive experiments and ablation study implemented on SNCOAT benchmark show the effectiveness and robustness of our method compared with other state-of-the-art algorithm. The source codes are available on https://***/Dongzhou-1996/RAMAVT. © 2022, CC BY-NC-SA.

关键词： Markov processes

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A Robust Time-Delay Approach to Continuous-Time Extremum Seeking for Multi-Variable Static Map

A Robust Time-Delay Approach to Continuous-Time Extremum See...

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IEEE Conference on Decision and control

作者： Xuefei Yang Emilia Fridman Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China National Key Laboratory of Modeling and Simulation for Complex Systems School of Electrical Engineering Tel-Aviv University Israel

In this article, we introduce a time-delay approach to gradient-based extremum seeking (ES) in the continuous domain for n-dimensional (nD) static quadratic maps. As in the recently introduced (for 2D maps in the continuous domain), we transform the system to the time-delay one (neutral type system). This system is $\mathbf{O}(\varepsilon)$ . ‘perturbation of the averaged linear ODE system. We further explicitly present the neutral system as the linear ODE, where $\mathrm{O}(\varepsilon)$ -terms are considered as disturbances with distributed delays of the length of the small parameter $\varepsilon$ . Quantitative (for uncertain map) and qualitative (for unknown map) practical stability analyses are provided by employing a variation of constants formula that greatly simplifies the results compared to the previously used Lyapunov-Krasovskii (L-K) method. The new approach also simplifies the conditions and improves the results. Examples from the literature illustrate the efficiency of the new approach, allowing essentially large uncertainty of the Hessian matrix with bounds on $\varepsilon$ that are not too small.

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Inverse Problem of Ultrasound Beamforming With Non-Local Structure Tensor Total Variation

Inverse Problem of Ultrasound Beamforming With Non-Local Str...

引用

International Conference on Signal Processing Proceedings (ICSP)

作者： Zhiyuan Li Hervé Liebgott Yue Zhao François Varray CNRS Inserm CREATIS UMR 5220 U1294 INSA-Lyon Universite Claude Bernard Lyon 1 Lyon France Control Theory and Engineering School of Astronautics Harbin Institute of Technology Harbin China

ISBN: (数字)9798350387384

ISBN: (纸本)9798350387391

The inverse problem of ultrasound beamforming has recently emerged as a novel imaging method, attracting growing interest from the research community. Inverse problems in ultrasound beamforming hypothesize that the received signal is linearly correlated with the beamformed image. Based on this assumption, a minimization problem comprises a fidelity term derived from the linear model and a regularization term that considers prior information about the underlying image. This study introduces the non-local structure tensor total variation as the regularization term to exploit the image’s local geometry and non-local self-similarity properties. Such regularization can also preserve the edge or orientation of an image. The simulation results demonstrate that using a single plane wave, the proposed method can achieve a spatial resolution of 0.34 mm full-width at half-maximum, a contrast-to-noise ratio of 16.82 dB, and a generalized contrast-to-noise ratio of 0.99.

关键词： Geometry Ultrasonic imaging Tensors Array signal processing Inverse problems Simulation Image edge detection Minimization Spatial resolution Image reconstruction

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Data-Based Soft Fault Diagnosis of a Three-Phase DC/AC Converter

Data-Based Soft Fault Diagnosis of a Three-Phase DC/AC Conve...

引用

China International Electrical and Energy Conference (CIEEC)

作者： Cen Chen He Du Xi Cai Haoran Wang Guofu Zhai Department of Electrical Engineering & Automation Harbin Institute of Technology Harbin China China Three Gorges Construction Engineering Corporation Chengdu China Three Gorges Intelligent Industrial Control Technology Company Wuhan China

ISBN: (数字)9798350359558

ISBN: (纸本)9798350359565

With the widespread use of power electronic equipment, accurately identifying soft faults in power electronic converters is crucial for the stable and reliable operation of power electronic equipment. This paper proposed a soft fault diagnosis method for three-phase DC/AC converter using a data-based approach. Firstly, simulation analysis is conducted on the soft faults of three-phase DCI AC converter, and appropriate test signals are selected as data sources. Then, the LSTM neural network and its variants are used to obtain fault diagnosis models. Finally, the method is validated through experiments, and the results show that it has good performance in soft fault diagnosis of the three-phase DCI AC converter.

关键词： Fault diagnosis Training Accuracy Soft sensors Neural networks White noise Power electronics

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