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IEEE International Conference on Robotics and Biomimetics

作者： Yuyang Wang Bin Xin Yulong Ding Zhen Yin Bin He Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China School of Automation Beijing Institute of Technology Beijing China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing China Department of Control Science and Engineering Tongji University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This paper addresses the path planning problem for unmanned aerial vehicle (UAV), where a UAV serves as a messenger to periodically traverse over road-constrained ground vehicles (GVs) to relay information. The GVs may not move on the road network with the velocities agreed with the UAV due to their movement uncertainties. The UAV path planning problem can be formulated as the Dynamic Dubins Traveling Salesman Problem with Uncertain Neighborhood (DDTSPUN). To address the uncertainty in GVs motion, we define robust neighborhoods and corridors and prove that the UAV visiting these areas can revisit GVs reliably, thus transforming DDTSPUN into a Revisit-time-constrained Dubins Traveling Salesman Problem with Neighborhood (RDTSPN). To address the RDTSPN, we propose an online heuristic path planning algorithm. This algorithm incorporates a gradient-based method for visiting robust neighborhoods and a sampling-based search strategy along robust corridors to obtain the Dubins paths of UAV that achieve the robust visit for each GV. Finally, computational experiments demonstrate its advantage over other benchmark algorithms in obtaining the shortest path satisfying UAV curvature constraints, and ensuring robust access to all GVs.

关键词： Uncertainty Roads Surveillance Transforms Traveling salesman problems Benchmark testing Autonomous aerial vehicles Search problems Path planning Vehicle dynamics

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Modeling and operating point analysis for aquatic translational motion of a cross-medium vehicle

Modeling and operating point analysis for aquatic translatio...

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第42届中国控制会议

作者： Minghao Dou Xuchen Liu Dongyue Huang Biao Wang Jinqiang Cui Qinyuan Ren Lihua Dou Jie Chen Ben M.Chen Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Department of Mechanical and Automation Engineering The Chinese University of Hong Kong College of Automation Engineering Nanjing University of Aeronautics and Astronautics Peng Cheng Laboratory College of Control Science and Engineering Zhejiang University Beijing Institute of Technology

Modeling of cross-medium vehicles with complex shapes still requires a thorough *** paper proposes a multi-method combination modeling approach to tackle such a ***-principle model is derived to determinate a model *** are then set up to estimate parameters related to its rigid-body model and propulsion *** fluid dynamics(CFD) is performed to calculate and identify coefficients related to surrounding *** on the model obtained,we systematically investigate the possible steady motion of the cross-medium vehicle and analyze their related *** are instrumental for designing controllers for the vehicle to perform autonoumous missions.

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Fatigue Life Analysis of Piezoelectric Actuating Mechanism with Micro-displacement Amplifier 18

Fatigue Life Analysis of Piezoelectric Actuating Mechanism w...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zhang, Xinyuan Wang, Shaoping Wu, Xiao He, Siyuan Wang, Xingjian Niu, Yu Gavrilov, Alex I. Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Tianmushan Laboratory Xixi Octagon City Yuhang District Hangzhou310023 China Beihang University Ningbo Institute of Technology Ningbo315800 China Beihang University Research Institute of Aero-Engine Beijing100191 China Bauman Moscow State Technical University Department of Automatic Control Systems Moscow105005 Russia

ISBN: (纸本)9798350312201

Since piezoelectric actuating mechanism generally operate in high frequency response state, fatigue life has become an important factor influencing the performance and reliability of the entire drive mechanism. In order to investigate whether the designed piezoelectric ceramic actuator meets the active control requirements of the aero-engine, the paper analyzes the fatigue characteristics and fatigue life of the piezoelectric ceramic materials and the micro displacement amplification mechanism with finite element analysis software and the optimal spacing value is obtained by studying the effect of the flexible hinge spacing on the fatigue characteristics of the displacement amplifier. And then, the fatigue life of the displacement amplifier is analyzed based on the drive load spectrum of the aircraft during simulated flight, whose result is 340.93 hours. Finally, the fatigue life of the piezoelectric actuating mechanism is 32 minutes when loaded with full power, which meets the design target initially. © 2023 IEEE.

关键词： Piezoelectric actuators

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Accurate Identification and Localization of Transmission Lines under Complex Lighting for Distribution Network Power Supply Operation Robots

Accurate Identification and Localization of Transmission Lin...

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2024 China automation Congress, CAC 2024

作者： Liu, Tianhe Chen, Xin Hu, Chenyu Jian, Xu Li, Shengzu Wang, Gang 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 Equipment Technology Center State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Wuhan430077 China Distribution Department State Grid Hubei Electric Power Co. Ltd. Wuhan Power Supply Company 430070 China

ISBN: (纸本)9798350368604

Accurate identification and position of transmission lines is critical for robots to safely and effectively perform distribution network operations. However, such tasks are often challenged by complex lighting conditions, where depth information can be easily lost. Transmission lines have limited texture features and reflective surfaces, making it difficult to match image feature points. To address these challenges, this paper proposes a visual perception system for weak texture targets under complex lighting, based on an "eye-on-hand" configuration and a depth complementation algorithm. Furthermore, a high-precision identification and localization method for transmission line grasping points is developed, utilizing the fusion of binocular visual color maps and depth maps. The proposed method has been shown to effectively solve the problem of identifying and localizing the grasping points of transmission lines under complex lighting conditions. Experiments demonstrated that the method can improve the localization accuracy to within ±4mm, outperforming other algorithms. The method is characterized as simple and efficient, and it enhances the environmental adaptability of distribution network robots. © 2024 IEEE.

关键词： Binocular vision

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A Multimodal Fault Diagnosis Model Utilizing GAF Transformation for controllable Pitch Propeller Hydraulic System

A Multimodal Fault Diagnosis Model Utilizing GAF Transformat...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Huihuang Cai Wei Chen Huanglong Fu Hua Wang Jingcheng Wang Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Shanghai Marine Equipment Research Institute Shanghai China Department of Automation the Key Laboratory of System Control and Information Processing Ministry of Education of China and the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University Xi'an China

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

The hydraulic system of the controllable pitch propeller (CPP) serves as the power source for adjusting the blade pitch. Due to its structural complexity and harsh operating conditions, any malfunction of this system could significantly impair the vessel's navigation. Apart from the pitch command and the pitch feedback of CPP itself, the number and types of sensors added for fault diagnosis are not fixed. Therefore, this study establishes a multimodal fault diagnosis model based on Gramian angular field(GAF). By considering the deviation values of pitch feedback and pitch command as key variables, this model transforms them into a two-dimensional image using GAF, thereby obtaining more effective feature information. Image features are extracted using ResNet, while the temporal features of additional sensors are extracted using GRU. Finally, a multi-head attention mechanism is employed for feature fusion. This method achieves a classification accuracy of 100% in the classification of four types of hydraulic system faults simulated on the experimental platform.

关键词： Fault diagnosis Propellers Navigation Hydraulic systems Transforms Sensor phenomena and characterization Feature extraction Sensor systems Marine vehicles Load modeling

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Dynamic grouping of heterogeneous agents for exploration and strike missions

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Frontiers of Information Technology & Electronic engineering 2022年第1期23卷 86-100页

作者： Chen CHEN Xiaochen WU Jie CHEN Panos M.PARDALOS Shuxin DING School of Automation Beijing Institute of TechnologyBeijing100081China Department of Control Science and Engineering Tongji UniversityShanghai200092China Center for Applied Optimization Department of Industrial and Systems EngineeringUniversity of FloridaGainesvilleFL32611USA Signal and Communication Research Institute China Academy of Railway Sciences Corporation LimitedBeijing100081China

The ever-changing environment and complex combat missions create new demands for the formation of mission groups of unmanned combat *** study aims to address the problem of dynamic construction of mission groups under new *** are heterogeneous,and a group formation method must dynamically form new groups in circumstances where missions are constantly being *** our method,a group formation strategy that combines heuristic rules and response threshold models is proposed to dynamically adjust the members of the mission group and adapt to the needs of new *** degree of matching between the mission requirements and the group’s capabilities,and the communication cost of group formation are used as indicators to evaluate the quality of the *** response threshold method and the ant colony algorithm are selected as the comparison algorithms in the *** results show that the grouping scheme obtained by the proposed method is superior to those of the comparison methods.

关键词： Multi-agent Dynamic missions Group formation Heuristic rule Networking overhead

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Design and Analysis of Individually Demagnetized Power Converter for Switched Reluctance Motors

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 8439-8449页

作者： Liu, Hemiao Chen, Hao Wang, Xing Gorbounov, Yassen Wheeler, Patrick Anuchin, Alecksey Demidova, Galina Korovkin, Nikolay Liudmila, Sakhno Shenzhen Research Institute China University of Mining and Technology Shenzhen515100 China China University of Mining and Technology School of Electrical Engineering Xuzhou221116 China Xinjiang Institute of Engineering Ürümqi830000 China International Joint Research Center of Central and Eastern European Countries on New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China International Cooperation Joint Laboratory of New Energy Power Generation and Electric Vehicles of Jiangsu Province Colleges and Universities Xuzhou221008 China Xuzhou Key Laboratory of New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China Mining Production University of Mining and Geology "St. Ivan Rilski " Department of Automation Sofia1700 Bulgaria The University of Nottingham Power Electronics Machines and Control Group NottinghamNG7 2RD United Kingdom Electric Drives Department Moscow111250 Russia Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Faculty of Control Systems and Robotics Engineer Saint Petersburg197101 Russia Peter the Great St. Petersburg Polytechnic University Institute of Energy Saint Petersburg195251 Russia

Switched reluctance motors (SRMs) are capable of operating at high speeds and high loads. The large back EMF results in the excitation winding current being demagnetized more slowly, which, in turn, reduces the efficiency and output of the motor system. This study proposes a novel individually demagnetization power converter (IDPC) specifically designed for SRMs to effectively use the demagnetization energy through an independent demagnetization circuit. Compared with traditional converters, the IDPC can accept direct current (dc) and high-frequency ac inputs while achieving fast demagnetization and energy recovery. The topology and working principle of the IDPC are analyzed in detail in this article using a three-phase 12/8 SRM as the research object. In addition, the influence of the winding demagnetization voltage on the negative torque during the demagnetization phase was studied, as well as the functional implementation and logic control strategy of the IDPC. Simulation and experimental results confirm the validity of the proposed topology and high-frequency ac drive characteristics, as well as their advantages in terms of efficiency, output capacity, and dynamic performance. © 2015 IEEE.

关键词： Reluctance motors

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Optimal Linear Deception Attacks on Remote State Estimation with Constrained Alarm Rates: A Low-Dimensional Case

Optimal Linear Deception Attacks on Remote State Estimation ...

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IEEE Conference on Decision and control

作者： Jun Shang Hanwen Zhang Jing Zhou Tongwen Chen Department of Control Science and Engineering Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems and Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai China Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This study addresses linear attacks on remote state estimation within the context of a constrained alarm rate. Smart sensors, which are equipped with local Kalman filters, transmit innovations instead of raw measurements through a wireless communication network. This transmission is vulnerable to malicious data interception and manipulation by attackers. The aim of this research is to identify the optimal attack strategy that degrades the system performance while adhering to stealthiness constraints. A notable innovation of this paper is the direct association of the attack’s stealthiness with the alarm rate, diverging from traditional approaches that rely on the covariance of the innovation or the Kullback–Leibler divergence, which are conventional metrics that have been extensively explored in previous studies. Our findings reveal that the optimal attack strategy exhibits some structural characteristics in systems of low dimensions. The performance of the proposed attack strategy is demonstrated through numerical examples.

关键词： Wireless communication Measurement Technological innovation System performance Kalman filters State estimation Intelligent sensors

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Discretizing Continuous Action Space With Unimodal Probability Distributions for On-Policy Reinforcement Learning

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IEEE Transactions on Neural Networks and Learning systems 2024年第6期36卷 11285-11297页

作者： Yuanyang Zhu Zhi Wang Yuanheng Zhu Chunlin Chen Dongbin Zhao Department of Control Science and Intelligence Engineering School of Management and Engineering and the Laboratory of Data Intelligence and Interdisciplinary Innovation Nanjing University Nanjing China Department of Control Science and Intelligence Engineering School of Management and Engineering and the Research Center for Novel Technology of Intelligent Equipment Nanjing University Nanjing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

For on-policy reinforcement learning (RL), discretizing action space for continuous control can easily express multiple modes and is straightforward to optimize. However, without considering the inherent ordering between the discrete atomic actions, the explosion in the number of discrete actions can possess undesired properties and induce a higher variance for the policy gradient (PG) estimator. In this article, we introduce a straightforward architecture that addresses this issue by constraining the discrete policy to be unimodal using Poisson probability distributions. This unimodal architecture can better leverage the continuity in the underlying continuous action space using explicit unimodal probability distributions. We conduct extensive experiments to show that the discrete policy with the unimodal probability distribution provides significantly faster convergence and higher performance for on-policy RL algorithms in challenging control tasks, especially in highly complex tasks such as Humanoid. We provide theoretical analysis on the variance of the PG estimator, which suggests that our attentively designed unimodal discrete policy can retain a lower variance and yield a stable learning process.

关键词： Task analysis Probability distribution Aerospace electronics Reinforcement learning Gaussian distribution Technological innovation Learning systems

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Multimodal Emotion Recognition Based on Multi-Scale Facial Features and Cross-Modal Attention

Multimodal Emotion Recognition Based on Multi-Scale Facial F...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Chengao Bao Luefeng Chen Min Li Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan China the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation and the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Tokyo Institute of Technology Yokohama Japan Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method.

关键词： Emotion recognition Visualization Accuracy Service robots Semantics Human-robot interaction Speech recognition Feature extraction Data mining Facial features

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