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arXiv 2024年

作者： Feng, Shilun Shi, Dawei Shi, Yang Zheng, Kaikai The State Key Laboratory of Intelligent Control and Decision of Complex Systems MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing100081 China The Department of Mechanical Engineering Faculty of Engineering University of Victoria VictoriaBCV8N 3P6 Canada

An important question in data-driven control is how to obtain an informative dataset. In this work, we consider the problem of effective data acquisition of an unknown linear system with bounded disturbance for both open-loop and closed-loop stages. The learning objective is to minimize the volume of the set of admissible systems. First, a performance measure based on historical data and the input sequence is introduced to characterize the upper bound of the volume of the set of admissible systems. On the basis of this performance measure, an open-loop active learning strategy is proposed to minimize the volume by actively designing inputs during the open-loop stage. For the closed-loop stage, an closed-loop active learning strategy is designed to select and learn from informative closed-loop data. The efficiency of the proposed closed-loop active learning strategy is proved by showing that the unselected data cannot benefit the learning performance. Furthermore, an adaptive predictive controller is designed in accordance with the proposed data acquisition approach. The recursive feasibility and the stability of the controller are proved by analyzing the effect of the closed-loop active learning strategy. Finally, numerical examples and comparisons illustrate the effectiveness of the proposed data acquisition strategy. Copyright © 2024, The Authors. All rights reserved.

关键词： Active learning

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ICP algorithm point cloud registration method based on a new improved Harris Hawk algorithm

ICP algorithm point cloud registration method based on a new...

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2021 China automation Congress, CAC 2021

作者： Wang, Chen Jiao, Shangbin Gao, Rui Li, Yuxing School of Automation and Information Engineering Xi'an University of Technology Xi'an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China School of Electronic and Electrical Engineering Baoji University of Arts and Sciences Baoji China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Baoji China

ISBN: (纸本)9781665426473

To address shortcomings of ICP algorithm, which is sensitive to the initial position and easy to fall into local optimum, we propose a Harris Hawks Optimizer (HHO) point cloud registration method combining PCA preprocessing and parallel population initialization. The PCA method is used to align the point clouds with the main axes and perform the main axes correction. Since the six input variables in the population initialization stage of HHO point cloud registration are different and independent, the initial population of HHO algorithm is initialized by the parallel initialization method. The results show that the improved algorithm is able to successfully overwhelm the fault of ICP algorithm, and its global seek performance and optimization accuracy are more advantageous, and the algorithm operates efficiently, with high registration accuracy and robustness. © 2021 IEEE

关键词： PCA HHO Parallel Computing ICP

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Research on Geomembrane Leakage Detection Method Based on Quadruped Robot

Research on Geomembrane Leakage Detection Method Based on Qu...

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Chinese automation Congress (CAC)

作者： Pengcheng Zhang Ningning Hu Xiao Wang Qingbiao Xi Haohao Zhao Xingchen Wu Linfeng Qin Dongli Yuan Investigation & Testing Research Institute Shanghai Investigation Design & Research Institute Co. Ltd. Shanghai China System Department 2 Xi'an ASN Technology Group Co. Ltd. Xi'an China School of Electronic and Control Engineering Chang'an University Xi'an China School of Automation Northwestern Polytechnical University Xi'an China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Aiming at the problem of leakage detection of seepage control geomembranes in landfills, a fully autonomous dipole method detection system based on a quadruped robot equipped with a dipole sensor is designed. The feasibility and superiority of using a quadruped robot are analyzed on the basis of the detection principle of the dipole method. Due to the problems existing in the process of upgrading the artificial static detection to autonomous dynamic detection, a dynamic detection method based on a quadruped robot is designed while the structure construction of the dipole method on the quadruped robot is completed. The experimental results show that the efficiency of geomembrane leakage detection can be improved with detection system method employed in this paper.

关键词： Legged locomotion Costs automation Landfills Dogs Robot sensing systems Software Quadrupedal robots Intelligent control

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control Strategy of Multi-axis Serial Manipulator Based on Improved Active Disturbance Rejection control

Control Strategy of Multi-axis Serial Manipulator Based on I...

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第34届中国控制与决策会议

作者： Pengcheng Hu Chaochen Gu Kaijie Wu Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information ProcessingMinistry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

Aiming at the sudden change of load torque and uncertain external disturbance that multi-axis serial manipulators may face during operation,an improved Active Disturbance Rejection controller(ADRC) assisted by a Nonlinear Disturbance Observer(NLDOB) is designed and implemented in this *** realizes the estimation and compensation of known model parameter perturbation,and NLDOB is introduced to estimate and compensate the load torque and other unmodeled dynamic factors of the ***,the lumped control object model of three-bar mechanism and permanent magnet DC motor is established,and the control response curves of improved ADRC,traditional ADRC,and PID under the same conditions are compared and analyzed through *** experimental results show that compared with the traditional ADRC and PID,the improved ADRC has faster response speed,smaller overshoot and stronger robustness.

关键词： ADRC Multi-axis serial manipulator Permanent magnet DC motor NLDOB Load estimation

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Parametric Transformation of Timed Weighted Marked Graphs:Applications in Optimal Resource Allocation

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IEEE/CAA Journal of Automatica Sinica 2021年第1期8卷 179-188页

作者： Zhou He Ziyue Ma Zhiwu Li Alessandro Giua the College of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an 710021China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of TechnologyXi’an 710048China the School of Electro-Mechanical Engineering Xidian UniversityXi’an 710071China Institute of Systems Engineering Macao University of Science and TechnologyTaipa 999078MacaoChina the Department of Electrical and Electronic Engineering University of CagliariCagliari 09124Italy

Timed weighted marked graphs are a subclass of timed Petri nets that have wide applications in the control and performance analysis of flexible manufacturing *** to the existence of multiplicities(i.e.,weights)on edges,the performance analysis and resource optimization of such graphs represent a challenging *** this paper,we develop an approach to transform a timed weighted marked graph whose initial marking is not given,into an equivalent parametric timed marked graph where the edges have unitary *** order to explore an optimal resource allocation policy for a system,an analytical method is developed for the resource optimization of timed weighted marked graphs by studying an equivalent ***,we apply the proposed method to a flexible manufacturing system and compare the results with a previous heuristic *** analysis shows that the developed approach is superior to the heuristic approach.

关键词： Discrete event system resource allocation timed Petri net weighted marked graph

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SC-NeRF: Self-Correcting Neural Radiance Field with Sparse Views

arXiv

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arXiv 2023年

作者： Song, Liang Wang, Guangming Liu, Jiuming Fu, Zhenyang Miao, Yanzi Wang, Hesheng Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 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 Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

In recent studies, the generalization of neural radiance fields for novel view synthesis task has been widely explored. However, existing methods are limited to objects and indoor scenes. In this work, we extend the generalization task to outdoor scenes, trained only on object-level datasets. This approach presents two challenges. Firstly, the significant distributional shift between training and testing scenes leads to black artifacts in rendering results. Secondly, viewpoint changes in outdoor scenes cause ghosting or missing regions in rendered images. To address these challenges, we propose a geometric correction module and an appearance correction module based on multi-head attention mechanisms. We normalize rendered depth and combine it with light direction as query in the attention mechanism. Our network effectively corrects varying scene structures and geometric features in outdoor scenes, generalizing well from object-level to unseen outdoor scenes. Additionally, we use appearance correction module to correct appearance features, preventing rendering artifacts like blank borders and ghosting due to viewpoint changes. By combining these modules, our approach successfully tackles the challenges of outdoor scene generalization, producing high-quality rendering results. When evaluated on four datasets (Blender, DTU, LLFF, Spaces), our network outperforms previous methods. Notably, compared to MVSNeRF, our network improves average PSNR from 19.369 to 25.989, SSIM from 0.838 to 0.889, and reduces LPIPS from 0.265 to 0.224 on Spaces outdoor scenes. © 2023, CC BY.

关键词： Rendering (computer graphics)

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Design of User Plane in 5G Core Network Based on SDN 8

Design of User Plane in 5G Core Network Based on SDN

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8th IEEE International Conference on Network Intelligence and Digital Content, IC-NIDC 2023

作者： Wang, Ping Xu, Zhan Zhao, Ming Liu, Zhao Gong, Yi School of Automation Beijing Information Science and Technology University Beijing100192 China Beijing Information Science and Technology University Ministry of Education Key Laboratory of Modern Measurement & Control Technology Beijing100101 China Tsinghua University Beijing National Research Center for Information Science and Technology Beijing100084 China Tsinghua University Department of Electronic Engineering Beijing100084 China

ISBN: (纸本)9798350317923

With the rapid increase in demand for the fifth-generation mobile communication technology (5G) in the BusinesstoBusiness (ToB) market, future factories, especially those involving a large number of Internet of Things (IoT) devices, will prioritize deploying private networks to achieve prioritized scheduling, resource allocation, and security control over the entire network. The User Plane Function (UPF) is an important network element in the 5G core network. In practical deployments, UPF typically uses dedicated hardware devices, which are not only expensive but also have a tightly coupled architecture that imposes certain limitations on future network upgrades and scalability. To achieve flexible deployment of Network Private Network (NPN), we implemented the 5G core network architecture using Software Defined Networking (SDN) with Programming Protocol-Independent Packet Processors (P4) programmable switch. Subsequently, we conducted the connectivity test of the core network and analyzed the maximum achievable user capacity. Considering that the introduction of SDN may bring new security risks to private networks, we have designed a solution to mitigate SDN data plane Distributed Denial of Service (DDoS) attacks and have proven its effectiveness through practical experiments. © 2023 IEEE.

关键词： Network security

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Smooth quadrotor trajectory generation for tracking a moving target in cluttered environments

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Science China(Information Sciences) 2021年第7期64卷 132-147页

作者： Lele XI Zhihong PENG Lei JIAO Ben M.CHEN School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Peng Cheng Laboratory Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we present a trajectory generation method of a quadrotor, based on the optimal smoothing B-spline, for tracking a moving target with consideration of relative tracking pattern or limited field of view of the onboard sensor in cluttered environments. Compared to existing methods, safe flying zone,vehicle physical limits, and smoothness are fully considered to guarantee flight safety, kinodynamic feasibility, and tracking performance. To tackle the cluttered environments, a parallel particle swarm optimization algorithm is applied to find the feasible waypoints that the generated trajectory should be as close to as possible, with consideration of the target's future state as well as obstacles to trade off the tracking performance and flight safety. Then, a sequential motion planning method, considering the above constraints, is applied and embedded into a cost function for solving the problem of robust tracking trajectory generation for the quadrotor via a convex optimization approach. The feasibility and effectiveness of the proposed method are verified by numerical simulations.

关键词： quadrotor target tracking trajectory generation B-spline convex optimization

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Wave Motion Compensation controller Design for a Catamaran Upper Platform in the Presence of External Disturbance

Wave Motion Compensation Controller Design for a Catamaran U...

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

作者： Junyu Shen Rongji Yin Yao Yu Rijie Zeng Zhihuan Hu Weidong Zhang Jinhui Lu Wei Xie Department of Automation Shanghai Jiao Tong University Shanghai China SJTU Yazhou Bay Institute of Deepsea Sci-Tech Shanghai Jiao Tong University Hainan China National Engineering Research Center of Ship & Shipping Control System Shanghai China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper presents a nonlinear controller for the upper platform of a catamaran in the presence of external time-varying disturbance induced by wind or wave. To handle disturbances, an observer is employed. Designed using the backstepping method, the controller effectively maintains the platform within a small neighborhood of 10 −3 (m or rad) of the desired attitude and the observer monitors external disturbance in real time. Simulation results validate the strategy, demonstrating the platform’s ability to consistently maintain an ideal posture in the presence of dynamic disturbance.

关键词： Robust control Attitude control Simulation Observers Stability analysis Real-time systems Motion compensation

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Reduced-Order Consensus Protocols with Pure Relative Output: Design, Existence, and Dual Results

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IEEE Transactions on Automatic control 2025年

作者： Ma, Yuwen Li, Xianwei Li, Shaoyuan Lin, Zongli Shanghai Jiao Tong University Department of Automation Shanghai200240 China State Key Laboratory of Submarine Geoscience China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China University of Virginia Charles L. Brown Department of Electrical and Computer Engineering CharlottesvilleVA22904 United States

This paper studies reduced-order dynamic consensus protocols for homogeneous linear multi-agent systems using pure relative output information. By applying H∞ control theory, a separation principle-like method with an additional small-gain constraint is proposed for designing an (nx-nu)th order protocol, where nx and nu are the numbers of states and inputs of each agent, respectively. Existence conditions for the protocol are then systematically discussed from the graph, low gain and high gain perspectives, respectively. It is revealed that the protocol always exists and can be found by the proposed design method for three cases: 1) directed acyclic networks, 2) agents with all eigenvalues in the closed left-half complex plane and 3) agents of minimum phase. Another reduced-order protocol of (nx - ny)th order is further discussed through duality. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method. © 1963-2012 IEEE.

关键词： Robust control

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