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Finite-time asynchronous dissipative filtering of conic-type nonlinear Markov jump systems

Science China(Information Sciences) 2021年第5期64卷 151-162页

作者： Xiang ZHANG Shuping HE Vladimir STOJANOVIC Xiaoli LUAN Fei LIU Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil EngineeringUniversity of Kragujevac Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University

In the present study, the finite-time asynchronous dissipative filter design problem for the Markov jump systems with conic-type nonlinearity is studied. The hidden Markov model can describe the asynchronism embodied in the system modes and the filter modes reasonably. Moreover, a suitable LyapunovKrasovskii function is utilized and linear matrix inequalities are applied to obtain adequate conditions. These techniques guarantee the finite-time boundedness and strict dissipativity of the filtering error dynamic system. Furthermore, the design problems of the passive filter and the H∞ filter are studied by adjusting the three parameters U, G and V. Finally, the filter gains and the optimal index α*are obtained and the correctness and feasibility of the designed approach are verified by a simulation example.

关键词： dissipative filtering hidden Markov model finite-time boundedness Markov jump systems conic-type nonlinearity

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Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation

arXiv

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arXiv 2024年

作者： Hu, Bin-Bin Zhang, Hai-Tao Yao, Weijia Sun, Zhiyong Cao, Ming The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China The School of Robotics Hunan University Hunan410082 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands Department of Electrical Engineering Eindhoven University of Technology Netherlands

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e. that of a given target and that of its own, which reduces the communication and computation cost in multi-robot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Navigation

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基于自解耦三明治结构的横向运动栅场效应晶体管MEMS微力传感器

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Engineering 2023年第2期21卷 61-74,M0004页

作者：高文迪乔智霞韩香广王小章 Adnan Shakoor 刘存朗卢德江杨萍赵立波王永录王久洪蒋庄德孙东 State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265503China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150006China Eleventh Research Institute Sixth Academy of China Aerospace Science and Technology Co.Xi’an 710100China Department of Control and Instrumentation Engineering King Fahd University of Petroleum and MineralsDhahran 31261Saudi Arabia Department of Biomedical Engineering City University of Hong KongHong Kong 999077China

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵... 详细信息

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵列层和两个软光阻层SU-8组成。通过所提出的双差分传感结构,LMGFET横向工作在垂直干扰下的输出电流被大大消除,所提出传感器的相对输出误差从4.53%(传统差分结构)降低到0.01%。提出了一种实用的传感器制造工艺,并对其进行了模拟。基于LMGFET的力传感器的灵敏度为4.65μA·nN^(-1),可与垂直可移动栅极场效应晶体管(VMGFET)器件相媲美,但非线性度提高了0.78%,测量范围扩大了±5.10μN。这些分析为LMGFET器件的电气和结构参数提供了全面的设计优化,并证明了所提出的传感器在生物医学显微操作应用中具有良好的力传感潜力。

关键词：力传感器场效应晶体管横向运动三明治结构电气模型显微操作非线性度双差分

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Augmented System Observer-based Robust Fault-estimation Scheme for Nonlinear Systems

Augmented System Observer-based Robust Fault-estimation Sche...

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第40届中国控制会议

作者： Sheng Gao Guangfu Ma Yanning Guo Wei Zhang Department of Control Science and Engineering Harbin Institute of Technology State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

For the problem of previous fault-estimation studies that the so-called observer-matching condition should be satisfied,as well as the difficulty to estimate actuator and sensor faults simultaneously,an augmented system fault-estimation observer is proposed for a sort of nonlinear systems subject to process and sensor *** essential idea is to construct an augmented system using a filter and to further create an augmented state vector by considering the system states and simultaneous actuator and sensor *** nonlinearity,process,and sensor disturbances and multiple-fault problem of the actuator and sensor are all taken into ***,an augmented observer is designed for the augmented system by attenuating the disturbances and simultaneously estimating the system states and actuator and sensor *** asymptotic stability is confirmed via the Lyapunov stability theory,and the linear matrix inequality optimization technique is further utilized to solve the designed *** simulations of a single-link flexible-joint robot are performed to illustrate the effectiveness of the proposed robust fault-estimation scheme.

关键词： Augmented observer Fault diagnosis Fault estimation Nonlinear system Linear matrix inequality(LMI)

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EEG-GNet: GCN-Based EEG Signal Fatigue Detection Network for Edge Devices

EEG-GNet: GCN-Based EEG Signal Fatigue Detection Network for...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Fuquan Zhang Yu Wu Xinxin Xu Chuansheng Wang Minjia Ma Antoni Grau Jiayan Huang School of Computer and Big Data Minjiang University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China College of New Engineering Industry Putian University Putian China Department of Automatic Control Polytechnic University of Catalonia Barcelona Spain School of Robotics Xi’an Jiaotong-Liverpool University Suzhou China College of New Engineering Industry Putian University Fujian Ruituo Information Technology Limited Company Putian China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Fatigue driving is a common potential traffic safety hazard. To detect and analysis the driver Fatigue degree in real-time, more attention have been increasing paid to application research of EEG fatigue detection device. However, existing methods suffer from complex model structure or large-scale model parameters. In the other words, they requires high computational consumption and large memory footprint, which creates a contradiction between model and portable EEG machine with limited hardware resources. In this work, we take both time and frequency domains of EEG signal into account and design an lightweight and efficient driver fatigue detection network based on GCN (EEG-GNet), which is available edge-end device application. Experiments on 4th Raspberry Pi on a public baseline dataset show that our EEG-GNet outperforms the state-of-the-art methods and takes good tradeoff between detection accuracy and resource consumption. Our EEG-GNet provides a new potential opportunity for future applications in practical portable/wearable (P/W) devices.

关键词： Accuracy Computational modeling Image edge detection Frequency-domain analysis Fatigue Brain modeling Feature extraction Electroencephalography Real-time systems Time-domain analysis

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

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AGV Semantic Attack Detection Based on Hidden Markov Model

AGV Semantic Attack Detection Based on Hidden Markov Model

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IEEE International Conference on Industrial Technology (ICIT)

作者： Sichao Zhang Wei Liang Yinlong Zhang Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Department of Automation Technology ABB Corporate Research Sweden Vasteras Sweden

ISBN: (纸本)9781728119496

Automatic Guided Vehicle (AGV) semantic attack is now becoming an important research topic in digital workshops. Unfortunately, the conventional attack detections could trigger the wrong attack detection alarms, because of the unexpected wireless radio frequency interference. This paper investigates a new method for AGV semantic attack detection based on Hidden Markov Model (HMM). Our method is able to discriminate the typical wireless retransmission in presence of environment interference or in the context of AGV semantic attack by comparing the hidden state transition probability with the predefined threshold. Our model has been evaluated on our developed platform. The extensive experimental results and analysis prove the effectiveness of our method.

关键词： Wireless communication Conferences Semantics Hidden Markov models Interference Markov processes Radiofrequency interference

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Joint Routing and Charging Problem of Electric Vehicles with Incentive-Aware Customers Considering Spatio-Temporal Charging Prices

SSRN

引用

SSRN 2022年

作者： Yao, Canqi Chen, Shibo Salazar, Mauro Yang, Zaiyue School of Mechatronics Engineering Harbin Institute of Technology Harbin150000 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering The Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology EindhovenMB 5600 Netherlands

This paper investigates the scheduling problem of a fleet of electric vehicles, providing mobility as a service to a set of time-specified customers, where the operator needs to solve the routing and charging problem jointly for each EV. Hereby we consider incentive-aware customers and propose that the operator offers monetary incentives to customers in exchange for time flexibility. In this way, the fleet operator can achieve a routing and charging schedule with lower costs, whilst the customers receive monetary compensation for their flexibility. Specifically, we first propose a bi-level optimization model whereby the fleet operator optimizes the routing and charging schedule accounting for the spatio-temporal varying charging price, jointly with a monetary incentive to reimburse the delivery time flexibility experienced by the customers. Concurrently the customers choose their own time flexibility by minimizing their own cost. Second, we cope with the computational burden coming from this nonlinear bi-level optimization model with an accurate reformulation approach consisting of the KKT optimality conditions, a Big-M-based linearization method, and the zero duality gap of convex optimization problems. This way, we convert the proposed problem into a single-level optimization problem, which can be solved by a strengthened generalized Benders decomposition method holding a faster convergence rate than the generalized Benders decomposition method. To evaluate the effectiveness of the proposed mathematical model, we carry out numerous simulation experiments by using the VRP-REP data of Belgium. The numerical results showcase that the proposed mathematical model can reduce the delivery fees for the customers together with the cost of operation incurred by the fleet operator. © 2022, The Authors. All rights reserved.

关键词： Sales

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Joint Routing and Charging Problem of Electric Vehicles with Incentive-aware Customers Considering Spatio-temporal Charging Prices

arXiv

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arXiv 2022年

关键词： Sales

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Heterogeneous microstructure and mechanical behaviour of Al-8.3Fe-1.3V-1.8Si alloy produced by laser powder bed fusion

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Virtual and Physical Prototyping 2023年第1期18卷 Article: e2155197页

作者： Yu, S.J. Wang, P. Li, H.C. Setchi, R. Wu, M.W. Liu, Z.Y. Chen, Z.W. Waqar, S. Zhang, L.C. Additive Manufacturing Institute Shenzhen University Shenzhen China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen China School of Materials Science and Engineering Shanghai University of Engineering Science Shanghai China Cardiff School of Engineering Cardiff University Cardiff United Kingdom Department of Materials and Mineral Resources Engineering National Taipei University of Technology Taipei Taiwan Department of Mechanical Engineering Institute of Space Technology Islamabad Pakistan School of Engineering Edith Cowan University Perth Australia

The relationship between processing parameters, microstructure, and mechanical properties of Al-8.3Fe-1.3V-1.8Si alloy processed by laser powder bed fusion is seldom studied. Therefore, fully dense alloys with two parameters were selected to investigate this key issue. The results show that the alloy with low power and scanning speed (S200) shows fan-shell-shaped melt pools and laser tracks while another (S350) shows a deeper and wider melt pool. Both alloys obtain a heterogeneous microstructure without a secondary phase in melt pool (MP) and a nano-sized phase in melt pool boundary (MPB). The difference between solid-solution strengthening and Orowan strengthening in MP and MPB contributes to the difference in compressive yield strength (S200: 380 ± 14 MPa and S350: 705 ± 16 MPa), and heterogeneous nano-hardness results in different crack behaviours and failure strains. This work indicates that adjusting processing parameters is an effective method to control microstructure and mechanical properties of this alloy. © 2022 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.

关键词： Aluminum alloys

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