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2023 China automation Congress, CAC 2023

作者： Zhang, Hongchuan Zheng, Song Zhu, Yuhang Lin, Ye Ai, Zhijie Xu, Zhezhuang Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Education Department of Fujian Province Fuzhou350000 China

ISBN: (纸本)9798350303759

Automated wood defect detection is of great significance for improving wood utilization. However, the stains on the wood surface resemble defect features and it is difficult to distinguish the appearance of wane from defect-free regions. Relying solely on machine vision for extracting surface features of wood makes it difficult to achieve accurate defect detection. To address these challenges, we propose MMDNet, a multimodal detection network that combines point cloud and image data. By adaptively fusing point cloud and image features at multiple stages, the network effectively highlights wood surface defect regions. Additionally, we introduce an Atrous Spatial Pyramid Pooling (ASPP) module into the network, which expands the network's receptive field and enables a comprehensive perception of the defects. Furthermore, we employ a deep supervision strategy to encourage the network to learn discriminative feature representations, enhancing the model's ability to differentiate defect regions. Experimental results validate the effectiveness of our method in detecting defects that are similar to the background and reducing interference from stains. © 2023 IEEE.

关键词： Surface defects

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Sliding Mode control for Uncertain Markovian Jump Systems:An Event-triggered Approach 41

Sliding Mode Control for Uncertain Markovian Jump Systems:An...

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第41届中国控制会议

作者： Yaru Yu Rongni Yang Dewei Li The Department of Automation Shanghai Jiao Tong University The School of Control Science and Engineering Shandong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,the sliding mode control problem for Markovian jump systems(MJS s) subject to parameter uncertainties and disturbances is solved via an event-triggered ***,a sliding mode surface is constructed,and then sufficient conditions are given to ensure the stochastic stability of the resultant Markov jump sliding mode ***,the system trajectories of the considered MJS s are driven onto the quasi-sliding mode band by synthesizing an event-triggered sliding mode ***,the event-triggered scheme is developed together with the design of sliding mode controller,which is different from the most existing ***,the value of the quasi-sliding mode band is also given by ***,the introduction of event-triggered scheme is capable of saving the network bandwidth utilization while maintaining a satisfactory system ***,the effectiveness of the presented approach is illustrated by utilizing a practical DC motor model.

关键词： Markovian jump systems(MJSs) sliding mode control(SMC) event-triggered scheme(ETS) uncertainty

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Reward Drops in Learning-based control with an Experimental Validation on Microdrones 63

Reward Drops in Learning-based Control with an Experimental ...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Tukenmez, Nejat Fotiadis, Filippos Junior, Jose M. Magalhaes Vamvoudakis, Kyriakos G. Bogosyan, Seta O. Istanbul Technical University Mechatronics Engineering Department Istanbul34469 Turkey Georgia Institute of Technology School of Aerospace Engineering AtlantaGA United States Istanbul Technical University Control and Automation Engineering Department Istanbul34469 Turkey

ISBN: (纸本)9798350316339

In this paper, we consider a computationally efficient learning-based control mechanism dealing with dense reward processing for a zero-sum game. The problem has been formulated as the online learning of the Nash equilibrium without requiring any information on the system dynamics. It has firstly been constructed as an infinite horizon optimal control problem, then as an online model-free Q-learning framework, which is composed of critic and actor networks (i.e., for the control and disturbance input). The closed-loop system is also proved to have a stable equilibrium point even in the presence of reward drops. The efficacy of the learning-based controller has been validated through simulations and experiments on micro drones. © 2024 IEEE.

关键词： Contrastive Learning

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Robust control Performance in Uncertain Environments: A Semi-Heuristic Gradient Descent Approach 8

Robust Control Performance in Uncertain Environments: A Semi...

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8th International Conference on Instrumentation, control, and automation, ICA 2023

作者： Ahmed Hassan, Mohammed Elbadri Irham Jambak, Ahmad Bayezit, Ismail Soylemez, Mehmet Turan Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey Istanbul Technical University Department of Mechatronics Engineering Istanbul Turkey Istanbul Technical University Department of Aeronautical Engineering Istanbul Turkey

ISBN: (纸本)9798350301274

Designing a robust controller for systems with parameter uncertainties is a complex and demanding task. Traditional deterministic and probabilistic approaches may fall short in providing efficient and satisfactory solutions. To address this challenge, we propose a semi-heuristic approach that exploits the Kharitonov theorem to establish an initial point for the gradient descent algorithm. Through an iterative optimization process that incorporates user-defined performance criteria, our approach provide a robust controller with respect to presence of system uncertainties. Numerical simulations validate the effectiveness of our proposed method and highlight its superiority in addressing robust control problems compared with auto-tuned ΡΠ) controller. © 2023 IEEE.

关键词： Optimization

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Event-Triggered Extended Dissipative FTB for T-S Fuzzy Switched Systems With Mismatched Phenomena and Deception Attacks: A Multidomain Framework

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IEEE Transactions on Cybernetics 2024年第9期54卷 4928-4938页

作者： Chen, Haiyang Zong, Guangdeng Su, Shun-Feng Gao, Fangzheng Tiangong University School of Control Science and Engineering Tianjin300387 China Nanjing Institute of Technology School of Automation Jiangsu Collaborative Innovation Center for Smart Distribution Network Nanjing211167 China National Taiwan University of Science and Technology Department of Electrical Engineering Taipei106 Taiwan Nanjing Institute of Technology School of Automation Nanjing211167 China

This article investigates the extended dissipative finite-time boundedness (ED-FTB) problem for fuzzy switched systems under deception attacks. To improve the network resource efficiency, a multidomain probabilistic event-triggered mechanism (MDPETM) is proposed. The mode mismatched phenomenon is modeled based on the switching delay information between the controller mode and the system mode. To extract the true signal generated by the MDPETM, a virtual delay concept is developed. The constraint that the controller and the system must have the same premise variables is removed. Based on the MDPETM, mismatched fuzzy state feedback controllers are first devised which may not share the same modes with the system. Then, by establishing fuzzy basis and controller mode-dependent Lyapunov functionals, sufficient criteria free of nonlinear terms existing in the literature are derived, which ensure the ED-FTB of the closed-loop system under admissible delays and deception attacks. Finally, an application-oriented one-link robotic arm system is utilized to validate the theoretical results. © 2013 IEEE.

关键词： controllers

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Studying the Influence of Working Fluid Temperature on the Performance of an Electrohydraulic Servo System in Dynamic Mode

Studying the Influence of Working Fluid Temperature on the P...

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2023 International Conference Automatics and Informatics, ICAI 2023

作者： Yordanov, Stanimir Ormandzhiev, Krasimir Mihalev, Georgi Kostov, Krasen Mitev, Veselin Technical University of Gabrovo Department of Automation Information and Control Systems Gabrovo Bulgaria Technical University of Gabrovo Department of Power Engineering Gabrovo Bulgaria

ISBN: (纸本)9798350312911

The paper examines the influence of the working fluid temperature on power losses in an electro-hydraulic servo system. The behavior of the system has been investigated under Proportional-Integral (PI) control at different working fluid temperatures and various control setpoints. An Adaptive PID controller has been synthesized, utilizing feedback from sensors to measure various system parameters (such as temperature, pressure, and RPM), and then adapting the parameters of the P, I, and D components of the controller based on this data to achieve optimal regulation. © 2023 IEEE.

关键词： controllers

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Attack Path Analysis and Security Concept Design for OTA Enabled Electric Power Steering System

Attack Path Analysis and Security Concept Design for OTA Ena...

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2024 Innovations in Intelligent Systems and Applications Conference, ASYU 2024

作者： Subaşi, Engin MercıMek, Muharrem Functional Safety & Cybersecurity Team FEV Türkiye Istanbul Turkey Department of Control and Automation Engineering Yıldız Technical University Istanbul Turkey

ISBN: (纸本)9798350379433

Electric power steering systems (EPS) are increasingly prevalent in modern vehicles, and over-the-air (OTA) updates offer a convenient method for improving their performance and functionality in the system lifecycle. OTA capability is important to improve control structure with state-of-the-art artificial intelligent (AI) powered novel control algorithms. AI also helps to improve personalized driving characteristics to the best performance. However, OTA capability introduces new security vulnerabilities that could be exploited by attackers. This paper presents a comprehensive analysis of potential attack paths within an OTA-enabled EPS system. Critical components and data flows susceptible to manipulation are identified to manipulation and are explored the potential consequences of successful attacks. Based on this analysis, a security concept is proposed to mitigate these identified risks. Proposed security concepts aim to ensure the integrity and confidentiality of the EPS system throughout the OTA update process. This research contributes to the development of secure and reliable OTA updates for electric power steering systems, promoting safety and functionality in modern vehicles with applying ISO 21434 [1] requirements and recommendations. © 2024 IEEE.

关键词： Steering

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A joint sparse Bayesian learning for wideband DOA estimation

A joint sparse Bayesian learning for wideband DOA estimation

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2024 Conference on Spectral Technology and Applications, CSTA 2024

作者： Zhao, Yonghong Liu, Jisong Wang, Junlong Dong, Shuxin Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing Department of Automation and Information Engineering Xi'an University of Technology Shaanxi Xi'an710048 China

ISBN: (纸本)9781510683082

Wideband direction of arrival (DOA) estimation using sensor array is a noteworthy problem frequently occurring in many applications involving radar, sonar, and communication. We present a wideband DOA method based on a sparse Bayesian learning of multiple sub-bands jointly with the redundant dictionary matrix at the reference frequency. Explicitly enforcing the focusing operation and the singular value decomposition (SVD) to sensor measurements is motivated by a desire to decrease the computational complexity and storage capacity. A joint sparse Bayesian learning framework is proposed to deal with multiple sub-bands under one segment to obtain the DOA information. Moreover, the proposed method can be directly extended to multiple segments. Comparing to other wideband DOA estimation methods, the proposed method has the advantages of increased resolution, higher accuracy, and correlation of the sources, as well as not requiring the initial angles for the focusing matrix. Simulations are provided to show the effectiveness and improved performance of the proposed method. © 2024 SPIE.

关键词： Direction of arrival

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Video Streaming Protocols Comparison in Field Experiments for Aerial Teleoperation 9

Video Streaming Protocols Comparison in Field Experiments fo...

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9th International Conference on Mechanical engineering and Robotics Research, ICMERR 2025

作者： Fernandez, Manuel J. Franceschini, Riccardo Becerra, Julian Cayero Fumagalli, Matteo Technical University of Denmark Department of Electrical Engineering Automation and Control Kongens Lyngby2800 Denmark Robotics and Automation Unit Eurecat Technology Center of Catalunya Cerdanyola Del Vallès Barcelona Spain

ISBN: (纸本)9798331509262

As aerial robots evolve to perform complex tasks such as manipulation and visual inspection, maintaining the pilot at the center of decision-making is critical for mission safety and leveraging human expertise. A key enabler of this collaboration is reliable video streaming between the robot and the operator. This paper presents a comparative analysis of four video streaming protocols RTP (Real-time Transport Protocol), RTSP (Real-Time Streaming Protocol), SRT (Secure Reliable Transport), and ROSTCP (ROS Transport control Protocol) based on extensive field experiments. The evaluation focuses on CPU usage, network throughput, latency, streaming quality, and packet integrity across varying distances. Tools such as iperf, ping, GStreamer, and Wireshark were employed for detailed performance measurements. Results reveal significant differences: SRT and RTP deliver superior network stability and resilience to packet loss, while RTSP and ROSTCP show advantages in CPU efficiency. These findings provide actionable insights for optimizing video streaming in aerial robotics, emphasizing the trade-offs and advantages of each protocol in real-world scenarios. © 2025 IEEE.

关键词： Social robots

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Robust controller Design with Two-Degree-of-Freedom Feedback Loop Factorization for Oscillating Plant with Uncertain Time Delay

Robust Controller Design with Two-Degree-of-Freedom Feedback...

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2023 International Conference on control, automation and Diagnosis, ICCAD 2023

作者： Dlapa, Marek Tomas Bata University in Zlin Faculty of Applied Informatics Department of Automation and Control Engineering Zlin760 05 Czech Republic

ISBN: (纸本)9798350347074

Application of Robust control Toolbox for Time Delay Systems implemented in the Matlab system to the oscillating plant with uncertain time delay using the D-K iteration and algebraic approach. The algebraic approach combines the structured singular value, algebraic theory and algorithm of global optimization solving remaining issues in structured singular value framework. The algorithm of global optimization can be alternated with direct search methods such as Nelder-Mead simplex method giving solutions for problems with one local extreme. As a global optimization method, Differential Migration is used proved to be reliable in solving this type of problems. The D-K iteration represents a standard method in the structured singular value theory. The results obtained from the D-K iteration are compared with the algebraic approach. © 2023 IEEE.

关键词： Global optimization

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