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2022 Chinese automation Congress, CAC 2022

作者： Ai, Zhijie Lin, Ye Xu, Zhezhuang Zhu, Yuhang Wu, Lianxu Fuzhou University School of Electrical Engineering and Automation Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China

ISBN: (纸本)9781665465335

Wood broken defects, such as cracks, penetrating dead knots and wanes, will seriously weaken the strength of the wood and destroy the structral integrity of the wood. Therefore, these defects should be inspected and then cut during the production. Although vision-based detection methods have been proposed to detect wood defect regions, they can not detect the defects that change in depth. To solve this problem, this paper focuses on the defect detection by measuring depth difference through 3D laser data. First, the 3D laser data is preprocessed to remove the noise. Secondly, we construct a support profile by multiple mean filtering at the line-level. Next, the residual components are obtained by subtracting the support profile from the profile data and the defect is determined by comparing the residual components and the setting threshold. Finally, we perform merging and filtering operation to determine the final position of defects. The experimental results verify the effectiveness of the proposed method. © 2022 IEEE.

关键词： Defects

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Modeling and Heuristic Solutions for Storage Scheduling of Steel Plates in Steel Logistics Park

Modeling and Heuristic Solutions for Storage Scheduling of S...

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2023 China automation Congress, CAC 2023

作者： Yang, Hao Wang, Jinlong Xu, Zhezhuang Chen, Boyu Zhang, Qingdong College of Electrical Engineering and Automation Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou University Education Department of Fujian Province Fuzhou350000 China Sansteel Minguang Co. Ltd. Sanming353000 China

ISBN: (纸本)9798350303759

Steel plates are highly customized according to different customer demands. In this case, the outbound date, the specifications of the steel plates and the distribution of stacks must be simultaneously considered when the steel plates are stored in the yard. Improper storage of steel plates significantly increases the number of shuffles during outbound operations. To overcome the challenge, we propose an efficient steel plate storage scheme based on the actual scenario of existing steel plate distribution in the yard. Firstly, a model for steel plate storage scheduling is established to minimize the number of extra blocking plates. Then, three heuristic algorithms are designed to solve the problem. Comparative experiments are carried out to verify the effectiveness of the proposed algorithm. The experimental results show that the proposed method can sufficiently improve the efficiency of steel plates scheduling. © 2023 IEEE.

关键词： Heuristic algorithms

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Learning Probabilistic Coordinate Fields for Robust Correspondences

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2023年第10期45卷 12004-12021页

作者： Zhao, Weiyue Lu, Hao Ye, Xinyi Cao, Zhiguo Li, Xin Huazhong University of Science and Technology The Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Wuhan430074 China West Virginia University The Lane Department of Computer Science and Electrical Engineering MorgantownWV26506-6109 United States

We introduce Probabilistic Coordinate Fields (PCFs), a novel geometric-invariant coordinate representation for image correspondence problems. In contrast to standard Cartesian coordinates, PCFs encode coordinates in correspondence-specific barycentric coordinate systems (BCS) with affine invariance. To know when and where to trust the encoded coordinates, we implement PCFs in a probabilistic network termed PCF-Net, which parameterizes the distribution of coordinate fields as Gaussian mixture models. By jointly optimizing coordinate fields and their confidence conditioned on dense flows, PCF-Net can work with various feature descriptors when quantifying the reliability of PCFs by confidence maps. An interesting observation of this work is that the learned confidence map converges to geometrically coherent and semantically consistent regions, which facilitates robust coordinate representation. By delivering the confident coordinates to keypoint/feature descriptors, we show that PCF-Net can be used as a plug-in to existing correspondence-dependent approaches. Extensive experiments on both indoor and outdoor datasets suggest that accurate geometric invariant coordinates help to achieve the state of the art in several correspondence problems, such as sparse feature matching, dense image registration, camera pose estimation, and consistency filtering. Further, the interpretable confidence map predicted by PCF-Net can also be leveraged to other novel applications from texture transfer to multi-homography classification. © 1979-2012 IEEE.

关键词： Image registration

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Distributed Nash equilibrium for pursuit-evasion game with one evader and multiple pursuers

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Science China(Information Sciences) 2025年

作者： Libing WANG Zhixin LIU Shuo YUAN Zhiqiang PU Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences Department of Electrical and Computer Engineering Wayne State University Institute of Automation Chinese Academy of Sciences

This paper investigates the pursuit-evasion problem involving one evader and multiple pursuers with limited sensing capability, where the evader tries to maximize the distance with the pursuers, while the pursuers have different objectives based on whether they can receive the information of the evader. The subgroup of pursuers who can observe the evader(called leaders) tries to be close to the evader, and the other subgroup of pursuers(called followers) tries to synchronize with their neighbors. When the subgraph formed by all leaders is complete, sufficient conditions are given to guarantee that the pursuers capture the evader and the pursuit-evasion game composed of the evader and leaders reaches Nash equilibrium. Furthermore, for the incomplete subgraph case, the distributed observers are proposed to estimate the relative positions between the evader and all leaders. It is shown that the distributed control strategy based on the observers converges exponentially to the Nash equilibrium solution, and makes the pursuers capture the evader. Finally, simulation examples are provided to verify the effectiveness of the proposed strategies.

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Stabilization of Continuous-Time Systems Against Stochastic Network Uncertainties:Fundamental Variance Bounds

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Journal of Systems Science & Complexity 2021年第5期34卷 1858-1878页

作者： QI Tian CHEN Jie School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked ControlSouth China University of TechnologyGuangzhou 510640China Department of Electrical Engineering City University of Hong KongHong KongChina

This paper studies the stabilizability and stabilization of continuous-time systems in the presence of stochastic multiplicative *** authors consider multi-input,multi-output(MIMO)linear time-invariant systems subject to multiple static,structured stochastic uncertainties,and seek to derive fundamental conditions to ensure that a system can be stabilized under a mean-square *** the stochastic control framework,this problem can be considered as one of optimal control under state-or input-dependent random noises,while in the networked control setting,a problem of networked feedback stabilization over lossy communication *** authors adopt a mean-square small gain analysis approach,and obtain necessary and sufficient conditions for a system to be meansquare stabilizable via output *** single-input,single-output(SISO)systems,the condition provides an analytical bound,demonstrating explicitly how plant unstable poles,nonminimum phase zeros,and time delay may impose a limit on the uncertainty variance required for mean-square *** MIMO minimum phase systems with possible delays,the condition amounts to solving a generalized eigenvalue problem,readily solvable using linear matrix inequality optimization techniques.

关键词： Mean-square small gain theorem multiplicative stochastic uncertainty networked control

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Development and control of Underwater Gliding Robots:A Review

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1543-1560页

作者： Jian Wang Zhengxing Wu Huijie Dong Min Tan Junzhi Yu the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China

As one of the most effective vehicles for ocean development and exploration,underwater gliding robots(UGRs)have the unique characteristics of low energy consumption and strong ***,by borrowing the motion principles of current underwater robots,a variety of novel UGRs have emerged with improving their maneuverability,concealment,and environmental friendliness,which significantly broadens the ocean *** this paper,we provide a comprehensive review of underwater gliding robots,including prototype design and their key *** the perspective of motion characteristics,we categorize the underwater gliding robots in terms of traditional underwater gliders(UGs),hybrid-driven UGs,bio-inspired UGs,thermal UGs,and ***,their buoyancy driven system,dynamic and energy model,and motion control are concluded with detailed ***,we have discussed the current critical issues and future *** review offers valuable insight into the development of next-generation underwater robots well-suited for various oceanic applications,and aims to gain more attention of researchers and engineers to this growing field.

关键词： Buoyancy driven motion control oceanic applications system development underwater gliding robots

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Algorithm for Solving Traveling Salesman Problem Based on Self-Organizing Mapping Network

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 463-470页

作者：朱江辉叶航航姚莉秀蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System Ministry of EducationShanghai 200240China Huawei Technologies Co. Ltd.Shanghai 201206China

Traveling salesman problem(TSP)is a classic non-deterministic polynomial-hard optimization *** on the characteristics of self-organizing mapping(SOM)network,this paper proposes an improved SOM network from the perspectives of network update strategy,initialization method,and parameter *** paper compares the performance of the proposed algorithms with the performance of existing SOM network algorithms on the TSP and compares them with several heuristic *** show that compared with existing SOM networks,the improved SOM network proposed in this paper improves the convergence rate and algorithm *** with iterated local search and heuristic algorithms,the improved SOM net-work algorithms proposed in this paper have the advantage of fast calculation speed on medium-scale TSP.

关键词： traveling salesman problem(TSP) self-organizing mapping(SOM) combinatorial optimization neu-ral network

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A comparative study of four nonlinear dynamic methods and their applications in classification of ship-radiated noise

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Defence Technology（防务技术） 2022年第2期18卷 183-193页

作者： Yu-xing Li Shang-bin Jiao Bo Geng Qing Zhang You-min Zhang School of Automation and Information Engineering Xi’an University of TechnologyXi’an710048China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of TechnologyXi’an710048China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontrealQuebec H3G 1M8Canada

Refined composite multi-scale dispersion entropy(RCMDE),as a new and effective nonlinear dynamic method,has been applied in the field of medical diagnosis and fault *** this paper,we first introduce RCMDE into the field of underwater acoustic signal processing for complexity feature extraction of ship radiated noise,and then propose a novel classification method for ship-radiated noise based on RCMDE and k-nearest neighbor(KNN),termed *** results of a comparative experiment show that the proposed RCMDE-KNN classification method can effectively extract the complexity features of ship-radiated noise,and has better classification performance under one and two scales than the other three classification methods based on multi-scale permutation entropy(MPE)and KNN,multi-scale weighted-permutation entropy(MW-PE)and KNN,and multi-scale dispersion entropy(MDE)and KNN,termed MPE-KNN,MW-PE-KNN,and *** is proved that the RCMDE-KNN classification method for ship-radiated noise is feasible and effective,and can obtain a very high recognition rate.

关键词： Nonlinear dynamic Refined composite multi-scale dispersion entropy(RCMDE) Multi-scale dispersion entropy(MDE) Multi-scale weighted-permutation entropy (MW-PE) Multi-scale permutation entropy(MPE) Classification of ship-radiated noise

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A Primal-Dual SGD Algorithm for Distributed Nonconvex Optimization

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IEEE/CAA Journal of Automatica Sinica 2022年第5期9卷 812-833页

作者： Xinlei Yi Shengjun Zhang Tao Yang Tianyou Chai Karl Henrik Johansson Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of Technologyand also affiliated with the Digital FuturesStockholm 10044Sweden Department of Electrical Engineering University of North TexasDentonTX 76203 USA IEEE State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819China

The distributed nonconvex optimization problem of minimizing a global cost function formed by a sum of n local cost functions by using local information exchange is *** problem is an important component of many machine learning techniques with data parallelism,such as deep learning and federated *** propose a distributed primal-dual stochastic gradient descent(SGD)algorithm,suitable for arbitrarily connected communication networks and any smooth(possibly nonconvex)cost *** show that the proposed algorithm achieves the linear speedup convergence rate O(1/(√nT))for general nonconvex cost functions and the linear speedup convergence rate O(1/(nT)) when the global cost function satisfies the Polyak-Lojasiewicz(P-L)condition,where T is the total number of *** also show that the output of the proposed algorithm with constant parameters linearly converges to a neighborhood of a global *** demonstrate through numerical experiments the efficiency of our algorithm in comparison with the baseline centralized SGD and recently proposed distributed SGD algorithms.

关键词： Distributed nonconvex optimization linear speedup Polyak-Lojasiewicz(P-L)condition primal-dual algorithm stochastic gradient descent

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Robust control of Electro-Hydraulic Servo System

Robust Control of Electro-Hydraulic Servo System

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2022 International Conference Automatics and Informatics, ICAI 2022

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

ISBN: (数字)9781665476256

ISBN: (纸本)9781665476256

An attempt to synthesize a robust control of an electro-hydraulic tracking system is discussed in the paper. Object nonlinearity is represented by an equivalent linear model in a state space with structured uncertainty. Some of the imprecisely known parameters are introduced as sources of structured uncertainty. An H∞ synthesis of a regulator has been attempted and simulation experiments have been carried out with the nonlinear model. The results of the simulation of the system with the proposed robust controller are compared with the data obtained when controlling the real system with a built-in PI controller. Transient analysis shows improved performance and stability in the operation of the electro-hydraulic system compared to that with PI control under the same operating conditions. © 2022 IEEE.

关键词： Robust control

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