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第34届中国过程控制会议

作者： Pengyu Song Chunhui Zhao Jinliang Ding Furong Gao College of Control Science and Engineering Zhejiang University State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Department of Chemical and Biological Engineering Hong Kong University of Science and Technology

Nonstationarity,i.e.,the time-varying property of the data distribution,is a typical process characteristic caused by operating condition switching,which can conceal stationarity describing time-invariant process mechanisms and thus bring challenges for explicit process *** achieve full decoupling of stationarity and nonstationarity,this study reveals the following facts:1) the coupling between stationarity and nonstationarity is not uniform but can present time-varying modes,defined as multimodal coupling here;2) diverse coupling modes possess intrinsic association since they essentially stem from definite nonstationary driving forces,namely changeable operating ***,this study proposes a multimodal decoupling representation method for learning explicit representations of stationarity and ***,to capture the basic coupling mode caused by nonstationary driving forces,an information refinement module(IRM) is designed in which a shortcut connection is incorporated into the auto-encoding *** the deep cascading of multiple IRMs,multimodal coupling modes can be fully ***,a compatibility learning algorithm is developed,which can balance the stationarity and reconstruction requirements to form a stationary feature learning module(SFLM).With compatibility learning,IRMs can be induced to capture and filter out nonstationarity and output stationary refined information for *** this way,multimodal decoupling of stationarity and nonstationarity can be fully *** effectiveness of the proposed method is illustrated through a numerical example and an actual industrial process.

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Simplified control Strategies for Power Converters in a Grid-Connected Hybrid DC-AC Microgrid

Simplified Control Strategies for Power Converters in a Grid...

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Future Energy Solutions (FES), International Conference on

作者： Tiago Davi Curi Busarello Marcelo Godoy Simões Hannu Laaksonen Kimmo Kauhaniemi Department of Control Automation and Computing Engineering Federal University of Santa Catarina Blumenau Brazil School of Technology and Innovations University of Vaasa Vaasa Finland

Many typical converter control strategies used in microgrids are complex or require modifications in the power structure. The complexities are due coupling effects among controllers and time-delay caused in exchanging information in the system. This paper proposes simplified control strategies for power converters in a grid-connected hybrid DC-AC microgrid, aiming to ensure precise voltage and current regulation. The used controllers are proportional-resonant, integral-double-lead, proportional-integral and single integral controller. In this paper, the methodology for tuning each controller is carefully described in detail and recommendation for choosing their bandwidth is given. Then, the designed controllers are discretized through the Backward-Euler approximation. The power converters of the microgrid are an inverter, a Buck, a Boost and a bidirectional DC-DC. A case study is conducted through simulations with Matlab/Simulink. Results show that the controlled variables follow their reference signals with negligible steady-state error, proving the efficacy of the simplified control strategies and allowing an stable operation of the microgrid.

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Sensor-based Multi-Robot Coverage control with Spatial Separation in Unstructured Environments

Sensor-based Multi-Robot Coverage Control with Spatial Separ...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Xinyi Wang Jiwen Xu Chuanxiang Gao Yizhou Chen Jihan Zhang Chenggang Wang Yulong Ding Ben M. Chen Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong China Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai P. R. China Department of Control Science and Engineering Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Multi-robot systems have increasingly become instrumental in tackling coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured scenarios with dense obstacles. This paper presents an innovative, decentralized Voronoi-based coverage control approach to reactively navigate these complexities while guaranteeing safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic Information System), offering a more comprehensive and real-time understanding of environments like post-disaster. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in task success rate, coverage ratio, and task execution time compared with others.

关键词： Point cloud compression System recovery Robot sensing systems Sensors Safety Multi-robot systems Task analysis

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Riding the Rollercoaster: Improving UAV Piloting Skills with Augmented Visualization and Collaborative Planning

Riding the Rollercoaster: Improving UAV Piloting Skills with...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Riccardo Franceschini Javier Rodriguez Marquez Matteo Fumagalli Julian Cayero Becerra Eurecat Centre Tecnològic de Catalunya Robotics and Automation Unit Cerdanyola del Vallès Barcelona Spain Department of Electrical Engineering Automation and Control group Danish Technical University Elektrovej Kgs. Lyngby Denmark

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

Operating unmanned aerial vehicles (UAVs) in complex environments can be challenging, particularly for inexperienced operators. This paper introduces a method aimed at enhancing the piloting experience by incorporating an intermediary processing layer between the remote controller and the drone. The presented approach empowers operators to control both the speed and direction of the UAV along a secure path, which is continuously computed and overlaid onto the operator's camera stream. The UAV autonomously plans and executes this path, adapting to the operator's commands and en-vironmental changes. The primary aim of this proposed solution is to enhance the operator's situational awareness, perception, as well as the safety and efficiency of UAV navigation. The paper outlines the system and methodology employed, showing its ability to operate at a high enough frequency to enable seamless user interactions. Furthermore, to validate the effectiveness of this approach, a real-world test and a user-based experimental study conducted in a simulation environment with an audience comprising varying levels of pilot expertise have been carried out.

关键词： Human-robot interaction Process control Collaboration Autonomous aerial vehicles Safety Planning Haptic interfaces

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A Gradient-Based Algorithm for Joint Beamforming and Reflection Design in Ris-Assisted Mobile Communications

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SSRN 2025年

作者： Pitz, Ciro André Matsuo, Marcos Vinicius Seara, Rui Department of Control Automation and Computation Engineering Federal University of Santa Catarina Santa Catarina Blumenau89065-100 Brazil LINSE–Circuits and Signal Processing Laboratory Department of Electrical and Electronics Engineering Federal University of Santa Catarina Santa Catarina Florianópolis88040-900 Brazil

Reconfigurable intelligent surfaces (RIS) have emerged as a transformative technology for shaping the propagation environment in next-generation mobile communication systems, creating the need for efficient optimization strategies. In this context, this paper introduces a gradient-based algorithm for jointly optimizing beamforming and reflection design in RIS-assisted multi-user (MU) multiple-input single-output (MISO) systems. The proposed approach addresses the sum-rate capacity maximization problem while significantly reducing computational complexity. To achieve this, the optimization problem is reformulated by using eigenvalue minimization, thereby reducing computational burden. This reformulation reduces computational demands without compromising the sum-rate performance. The proposed algorithm incorporates both steepest descent and the damped quasi-Newton Broyden–Fletcher–Goldfarb–Shanno (BFGS) approximation, enabling flexible trade-offs between computational efficiency and convergence rate. Simulation results confirm the effectiveness of the proposed algorithm in enhancing the sum-rate capacity. © 2025, The Authors. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Design and Implementation of an Image Processing-Based Ping Pong Training Robot

Design and Implementation of an Image Processing-Based Ping ...

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Innovations in Intelligent Systems and Applications Conference

作者： Mert Aydın Sezercan Bektaş Ahmet Ajam Ahmet Kağızman Volkan Sezer Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Institute of Science Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

This study aims to develop an image-processing-based ping-pong training robot to facilitate effective practice for ping-pong players. In the developed system, the image of the ping-pong player is processed from the camera integrated into the robot, the player's position is determined and the ball is directed to areas that are difficult for the player to reach. The reason for launching the ball into difficult areas is to improve the players' physical and strategic abilities. In the process of throwing the ball, the ball is placed in the hopper, driven from the hopper to the launch point with the help of a servo motor, and launched with the help of two DC motors. Experimental results confirm that the robot accurately detects the player's position and successfully directs the ball to the intended target area. Furthermore, the findings demonstrate that this system, which integrates image processing and robotic control technologies, provides a robust and adaptable training tool for ping-pong players.

关键词： Training Technological innovation Image processing Robot vision systems Process control DC motors Cameras Servomotors Intelligent systems Robots

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Design. Implementation, and control of a Novel Automated Manual Transmission (AMT) System for Manual Transmission Bicycles

Design. Implementation, and Control of a Novel Automated Man...

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Innovations in Intelligent Systems and Applications Conference

作者： Fehmi Can Ay Bengisu Kılınç Talha Enes Ercan Ahmet Kağızman Volkan Sezer Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Institute of Science Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

In recent years, the bicycle industry has undergone continuous transformation through the introduction of novel technologies and innovations. Automated Manual Transmission (AMT) system, which is widely used in motor vehicles and defined as automating the traditional manual gearbox through electronic components and actuators, has an important place in the automotive industry due to its advantages such as fuel efficiency, low cost, and driver comfort. However, a similar system is not yet available on bicycles. This article describes developing a new gear-shifting system that enables the manual gear-shifting mechanism in bicycles to be automated with an intelligence-based system. The developed system automatically performs the most appropriate gear change by processing the data received from the sensors, such as inclination, wheel, and pedal cadence, thus providing a more efficient and comfortable driving experience that does not require effort. The system has been tested by integrating it into a bicycle with manual transmission and it has been confirmed that automatic gear shifts were successful.

关键词： Industries Technological innovation Gears Wheels Manuals Bicycles Sensor systems Intelligent systems Intelligent sensors Vehicles

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Detection of Out-of-Plane Waviness in Carbon-Fibre Reinforced Plastics - Comparing different Non-Destructive Evaluation Modalities

Detection of Out-of-Plane Waviness in Carbon-Fibre Reinforce...

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IEEE SENSORS

作者： Rylan Gomes Ehsan Mohseni S.G. Pierce Kenneth Burnham Amine Hifi Charles N Macleod Vincent Maes Matthew Chandler Andy Barnes Gavin Munro Department of Electronic & Electrical Engineering SEARCH: Sensor Enabled Automation Robotics & Control Hub Centre for Ultrasonic Engineering (CUE) University of Strathclyde Royal College Building Glasgow Department of Mechanical Engineering University of Bristol Bristol UK AdaptixNDE Eynsham Spirit AeroSystems Aerospace Innovation Centre Glasgow Prestwick Airport Monkton

ISBN: (数字)9798350363517

ISBN: (纸本)9798350363524

The detection of fibre wrinkles (out-of-plane waviness) is investigated using Eddy Current (ECT), Ultrasonic Testing (UT) and X-ray and is compared on 9 Carbon Fibre Reinforced Plastic (CFRP) samples with varying wrinkle heights. All three Non-Destructive Evaluation (NDE) modalities demonstrated detection capabilities for wrinkle heights 0.13 - 1.31 mm, with UT being able to map the interior structure of the composite material, which was further used to measure the distortion of plies caused due to the presence of wrinkles using an image processing technique.

关键词： Ultrasonic imaging Costs Sensor phenomena and characterization Fiber reinforced plastics Feature extraction Distortion Distortion measurement Eddy currents Carbon Testing

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LDTSF: A Label-Decoupling Teacher-Student Framework for Semi-Supervised Echocardiography Segmentation 48

LDTSF: A Label-Decoupling Teacher-Student Framework for Semi...

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48th IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2023

作者： Zhang, Jiapeng Wang, Yongxiong Pan, Zhiqun Tang, Zhenhui Chen, Lijun Liu, Jinlong University of Shanghai for Science and Technology Department of Control Science and Engineering China Shanghai Jiao Tong University Department of Automation China Shanghai Jiao Tong University Shanghai Children's Medical Center School of Medicine Department of Pediatric Cardiology China Shanghai Jiao Tong University Department of Cardiothoracic Surgery Shanghai Children's Medical Center School of Medicine China

ISBN: (纸本)9781728163277

The accurate segmentation of the right and left ventricles with limited labeled data is a challenging task in echocardiographic data analysis. To fully leverage the easily accessible unlabeled data, we propose a label-decoupling teacher-student framework (LDTSF) based on semi-supervised learning. Specifically, the decoupled deep network within LDTSF jointly predicts pixel-wise segmentation maps, level set-based edge regression maps, target skeleton maps and target detail maps to focus on edge pixels. Several micro-task-transformable layers are used to map multi-task representations to a unified space in order to supervise the consistency among multiple tasks using massive unlabeled data. In addition, we first train a teacher model based on semi-supervised learning strategy, and then use the pseudo-labels generated by the teacher model together with the original labels to train a student model. Experiments on our self-collected 3D echocardiographic dataset and a publicly available MRI dataset show that our method outperforms state-of-the-art semi-supervised learning methods. The code will be available at: https://***/SwanKnightZJP/LDTSF. © 2023 IEEE.

关键词： Deep-Learning Echocardiography Segmentation Semi-Supervised Learning

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Discrete-time inverse linear quadratic optimal control over fnite time-horizon under noisy output measurements

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control Theory and Technology 2021年第4期19卷 563-572页

作者： Han Zhang Yibei Li Xiaoming Hu Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Department of Mathematics KTH Royal Institute of Technology10044 StockholmSweden

In this paper,the problem of inverse quadratic optimal control over fnite time-horizon for discrete-time linear systems is *** goal is to recover the corresponding quadratic objective function using noisy ***,the identifability of the model structure for the inverse optimal control problem is analyzed under relative degree assumption and we show the model structure is strictly globally ***,we study the inverse optimal control problem whose initial state distribution and the observation noise distribution are unknown,yet the exact observations on the initial states are *** formulate the problem as a risk minimization problem and approximate the problem using empirical *** is further shown that the solution to the approximated problem is statistically consistent under the assumption of relative *** then study the case where the exact observations on the initial states are not available,yet the observation noises are known to be white Gaussian distributed and the distribution of the initial state is also Gaussian(with unknown mean and covariance).EM-algorithm is used to estimate the parameters in the objective *** efectiveness of our results are demonstrated by numerical examples.

关键词： Inverse optimal control Linear quadratic regulator Statistical consistency EM-algorithm

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