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Brillouin optical correlation domain analysis based on a phase-chaos laser

Advanced Photonics Nexus 2024年第6期3卷 106-116页

作者： Lintao Niu Yahui Wang Jing Chen Haochen Huang Lijun Qiao Mingjiang Zhang Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control SystemMinistry of EducationTaiyuanChina Taiyuan University of Technology College of Physics and OptoelectronicsTaiyuanChina Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering TaiyuanChina

The physical mechanism of gain motivation is the main theoretical bottleneck that restricts the signal-to-noise ratio(SNR)and results in a mono-merit implementation for the existing stimulated Brillouin scattering-based fiber sensors.A phase-chaos laser(PCL)is proposed and introduced in the Brillouin optical correlation domain analysis(BOCDA)scheme to promote the SNR and achieve a high-accuracy *** PCL characteristics are presented,and a theoretical model of chaos gain accumulation and extraction is ***,the simulation results reveal that the SNR is improved by 5.56 dB,and the signal-to-background noise ratio(SBR)of the Brillouin gain spectrum(BGS)is promoted by 8.28 dB with a 100-km sensing ***,the PCL is experimentally *** the proof-of-concept experiment,the accuracy of the Brillouin frequency shift is upgraded to 0.64 MHz,and the SBR of BGS is improved by 10.77 *** PCL provides a new research direction for optical chaos,and the PCL-BOCDA showcases a promising future for optimal-merit-coupling sensing and its application.

关键词： phase-chaos laser distributed fiber sensing stimulated Brillouin scattering high signal-to-noise ratio

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Unsupervised Learning of 3D Scene Flow from Monocular Camera

arXiv

引用

arXiv 2022年

作者： Wang, Guangming Tian, Xiaoyu Ding, Ruiqi Wang, Hesheng Department of Automation Institute of Medical Robotics 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 Shanghai 200240 China

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real scenes, and recent studies are based on synthetic data for training. Therefore, how to train a scene flow network with unsupervised methods based on real-world data shows crucial significance. A novel unsupervised learning method for scene flow is proposed in this paper, which utilizes the images of two consecutive frames taken by monocular camera without the ground truth of scene flow for training. Our method realizes the goal that training scene flow network with real-world data, which bridges the gap between training data and test data and broadens the scope of available data for training. Unsupervised learning of scene flow in this paper mainly consists of two parts: (i) depth estimation and camera pose estimation, and (ii) scene flow estimation based on four different loss functions. Depth estimation and camera pose estimation obtain the depth maps and camera pose between two consecutive frames, which provide further information for the next scene flow estimation. After that, we used depth consistency loss, dynamic-static consistency loss, Chamfer loss, and Laplacian regularization loss to carry out unsupervised training of the scene flow network. To our knowledge, this is the first paper that realizes the unsupervised learning of 3D scene flow from monocular camera. The experiment results on KITTI show that our method for unsupervised learning of scene flow meets great performance compared to traditional methods Iterative Closest Point (ICP) and Fast Global Registration (FGR). The source code is available at: https://***/IRMVLab/3DUnMonoFlow. Copyright © 2022, The Authors. All rights reserved.

关键词： Unsupervised learning

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Autonomous Tracking control for Four-Wheel Independent Steering Robot Based on Improved Pure Pursuit

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Journal of Beijing Institute of Technology 2020年第4期29卷 466-473页

作者： Jing Li Qingbin Wu Junzheng Wang Hui Qin Jiehao Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of TechnologyBeijing 100081China

Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent *** this paper,an improved pure pursuit control method is proposed for the path tracking control problem of a four-wheel independent steering *** on the analysis of the four-wheel independent steering model,the kinematic model and the steering geometry model of the robot are *** the path tracking control is realized by considering the correlation between the look-ahead distance and the velocity,as well as the lateral error between the robot and the reference *** experimental results demonstrate that the improved pure pursuit control method has the advantages of small steady-state error,fast response and strong robustness,which can effectively improve the accuracy of path tracking.

关键词： autonomous tracking control four-wheel independent steering robot pure pursuit lateral error

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Regression model for estimation of attribute reliability

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Journal of control and decision 2021年第2期8卷 201-212页

作者： Guangyan Lu Wenjun Chang Department of Operation Management CRRC Qishuyan Institute Co.LtdChangzhouPeople’s Republic of China School of Management Hefei University of TechnologyHefeiBox 270HefeiAnhui 230009People’s Republic of China Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of EducationHefeiAnhui 230009People’s Republic of China Ministry of Education Engineering Research Center for Intelligent Decision Making&Information System Technologies Hefei 230009People’s Republic of China

In this paper,a regression model is developed to estimate attribute reliability in the evidential reasoning(ER)*** analysing the difference between attribute weight and attribute reliability,a general qualitative definition of attribute reliability is *** reliability of an attribute is quantitatively measured in consistence with the qualitative definition in the context of the ER approach.A regression model is then constructed to generate attribute reliabilities by minimising the maximum differences between the real value of attribute reliability and its *** the post-optimal solution space of attribute reliabilities,an optimisation model is constructed to determine the expected utilities of each alternative in order to generate solutions to multiple attribute decision analysis *** place selection problem in Qingyang County of Chizhou in Anhui province of China is analysed using the proposed regression model to demonstrate its detailed implementation process,validity and applicability.

关键词： Multiple attribute decision analysis attribute reliability regression model evidential reasoning rule evidential reasoning approach

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Infinite-Horizon Optimal Wireless control Over Shared State-Dependent Fading Channels for IIoT systems

arXiv

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arXiv 2024年

作者： Wang, Shuling Li, Peizhe Zhu, Shanying Chen, Cailian Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Heterogeneous systems consisting of a multiloop wireless control system (WCS) and a mobile agent system (MAS) are ubiquitous in Industrial Internet of Things systems. Within these systems, the positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise its performance, requiring joint coordination between the WCS and MAS. Such coordination introduces different time steps and hybrid state spaces consisting of logical components and continuous components. This paper focuses on the infinite-horizon optimal control of MAS to ensure the performance of WCS while minimizing an average cost for the heterogeneous system subject to safety constraints. A state-dependent fading channel is modeled to capture interference among transmission links, as well as the effects of mobile agents’ movements on successful wireless transmission. In order to address the heterogeneous system dynamics, the optimal control problem is formulated as the optimal constrained set stabilization of the MAS by establishing a necessary and sufficient condition for the Lyapunov-like performance of WCS with the expected decay rates. Using the semi-tensor product of matrices, a constrained optimal state transition graph is constructed to encode the constrained system dynamics as well as objective function, which further reduces the problem into a minimum-mean cycle problem for the graph. By studying the properties of the graph, the feasibility is proven, and an effective algorithm is proposed for the construction of optimal input sequences. An illustrative example is provided to demonstrate effectiveness of the proposed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Tensors

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Robust control of Feeding Speed in Coal Seam Drilling Process Considering Borehole Friction

Robust Control of Feeding Speed in Coal Seam Drilling Proces...

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2024 China Automation Congress, CAC 2024

作者： Liu, Xiao Chen, Luefeng Lu, Chengda Fan, Haipeng Wu, Min Pedrycz, Witold School of Automation The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan430074 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Department of Computer Engineering Istinye University Sariyer Istanbul34396 Turkey

ISBN: (纸本)9798350368604

During the coal seam drilling process, the drill string is subject to compressive deformation, compounded by unpredictable variations in formation hardness and borehole wall friction, leading to challenges in maintaining a stable feeding speed. This paper presents a novel approach by introducing uncertain parameters to describe the effects of formation hardness and borehole wall friction. Drill string axial movement model is modeled as a polyhedral system based on a lumped parameter representation. To meet industrial performance requirements, we design a robust H∞ controller to achieve consistent feeding speed control. Our simulation results demonstrate the controller’s effectiveness in ensuring system stability despite fluctuations in formation hardness and drill string friction. © 2024 IEEE.

关键词： Coal deposits

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Active Target Tracking Using Bearing-only Measurements With Gaussian Process Learning

arXiv

引用

arXiv 2024年

作者： Fu, Yingbo Yang, Ziwen Zhu, Shanying Guo, Yi Chen, Cailian The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

This paper studies the tracking problem of a target with the partially unknown motion model by an active agent with bearing-only measurements using Gaussian process learning. To address this problem, a learning-planning-control framework is proposed. First, to learn and predict the target motion under mild assumptions, a Gaussian-process-based scheme is proposed, and a probabilistic uniform prediction error bound can be rigorously proved. Second, by analyzing the data dependence of the posterior covariance, we obtain an optimal relative trajectory to achieve efficient sampling. Third, to realize efficient learning, a controller to track the planned path is proposed based on the learned target motion, which can provide guaranteed tracking performance. Theoretical analysis is conducted to prove the the given probabilistic error bounds. Numerical examples and comparison with other typical methods verify the feasibility and superior performance of our proposed framework. Copyright © 2024, The Authors. All rights reserved.

关键词： Target tracking

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Safety-Aware Scheduling of Real-Time control systems with Burst Computing Tasks

SSRN

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SSRN 2024年

作者： Cheng, Ting Liang, Yonghui Xu, Qimin Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

In industrial sites, multiple real-time control systems often share computing resources. However, burst computing tasks may lead to the dropping of control computing subtasks, resulting in potential hazards. To address this issue, we propose a safety-aware task scheduling scheme. When burst computing tasks are triggered, this scheduling scheme adaptively releases resources from low-criticality control computing subtasks, ensuring the timely completion of burst computing tasks and keeping the control system state deviation within a safe threshold. To achieve the scheduling scheme, we propose an efficient algorithm called ADP-Opt. It decouples the complex original problem into multiple subproblems, which greatly reduces the search space and improves the solution efficiency. In the suboptimization problem, safety is maintained by limiting the upper bound of the system state's deviation to below the threshold. By introducing a penalty term in the cost function related to computing resources, we aim to balance the impact of control computing subtasks on control performance and the consumption of computing resources. Consequently, the overall cost of the control system can be minimized while releasing enough resources for burst computing tasks. Simulation results show that the scheduling decisions made by ADP-Opt can approach the optimal decision by approximately 99% efficiently. © 2024, The Authors. All rights reserved.

关键词： Cost functions

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Nash Equilibrium Estimation of Non-Cooperative Games with Time-Varying Delay

Nash Equilibrium Estimation of Non-Cooperative Games with Ti...

引用

Chinese Automation Congress (CAC)

作者： Ziqi Liu Chao Zhai China University of Geosciences Wuhan Campus School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

Time delay has great impacts on the stability and the reliability and real-time of the communication of multi-agent systems. In multi-agent communication network, due to network congestion, transmission distance and other factors, there are various communication delays. In this paper, we study the deviation of convergence value after adding time-varying delays under gradient descent method, and the upper bound related to delay time is estimated. This upper bound can be used to analyze the magnitude of deviation under different time delays and minimize the loss caused by delays, and provide more explicit information for system optimization and resource allocation. Numerical simulation is conducted to verify the proposed approach.

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Adaptive control of Discrete-time Nonlinear systems Using ITF-ORVFL

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IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 556-563页

作者： Xiaofei Zhang Hongbin Ma Wenchao Zuo Man Luo School of Automation Beijing Institute of TechnologyBeijing 100081 School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China School of Automation Beijing Institute of Technologyand also with the State Key Laboratory of Intelligent Control and Decision of Complex Systems(Beijing Institute of Technology)Beijing 100081China School of Automation Beijing Institute of TechnologyBeijing 100081and he is with Beijing Institute of Electronic System EngineeringBeijing 100854China School of Automation Beijing Institute of TechnologyBeijing 100081and she is with Ant GroupBeijing 310013China

Random vector functional ink(RVFL)networks belong to a class of single hidden layer neural networks in which some parameters are randomly *** network structure in which contains the direct links between inputs and outputs is unique,and stability analysis and real-time performance are two difficulties of the control systems based on neural *** this paper,combining the advantages of RVFL and the ideas of online sequential extreme learning machine(OS-ELM)and initial-training-free online extreme learning machine(ITFOELM),a novel online learning algorithm which is named as initial-training-free online random vector functional link algo rithm(ITF-ORVFL)is investigated for training *** link vector of RVFL network can be analytically determined based on sequentially arriving data by ITF-ORVFL with a high learning speed,and the stability for nonlinear systems based on this learning algorithm is *** experiment results indicate that the proposed ITF-ORVFL is effective in coping with nonparametric uncertainty.

关键词： Adaptive control initial-training-free online learning algorithm random vector functional link networks

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