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第34届中国过程控制会议

作者： Fangfang Zhang Yashan Xing Xian Wang Yingbo Huang Jing Na Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming University of Science and Technology

In this paper,a modular mobile robot(MMR) is developed to improve adaptive capacity of traditional mobile ***,we illustrate the mechanical design of the ***,a new configuration identification method is proposed to facilitate the online modeling of the MMR ***,the control allocation method is used to allocate the three control inputs to the corresponding actuators of each ***,the sliding mode control scheme is used to realize the trajectory tracking of modular mobile robot with arbitrary ***,experimental results on the proposed MMR platform is given to show the feasibility of designed dynamic model and the proposed method.

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SDSFusion: A Semantic-Aware Infrared and Visible Image Fusion Network for Degraded Scenes

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IEEE transactions on image processing : a publication of the IEEE Signal Processing Society 2025年 PP卷 PP页

作者： Jun Chen Liling Yang Wei Yu Wenping Gong Zhanchuan Cai Jiayi Ma School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Faculty of Engineering China University of Geosciences Wuhan China School of Computer Science and Engineering Macau University of Science and Technology Taipa Macau China Electronic Information School Wuhan University Wuhan China

A single-modal infrared or visible image offers limited representation in scenes with lighting degradation or extreme weather. We propose a multi-modal fusion framework, named SDSFusion, for all-day and all-weather infrared and visible image fusion. SDSFusion exploits the commonality in image processing to achieve enhancement, fusion, and semantic task interaction in a unified framework guided by semantic awareness and multi-scale features and losses. To address the disparity between infrared and visible images in degraded scenes, we differentiate modal features in a unified fusion model. Unlike existing joint fusion methods, we propose an adversarial generative network that refines the reconstruction of low-light images by embedding fused features. It provides feature-level brightness supplementation and image reconstruction to refine brightness and contrast. Extensive experiments in degraded scenes confirm that our approach is superior to state-of-the-art approaches in visual quality and performance, demonstrating the effectiveness of interaction improvement. The code will be posted at: https://***/Liling-yang/SDSFusion.

关键词： Degradation Image fusion Semantics Training Visualization Meteorology Feature extraction Lighting Image segmentation Brightness

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A rapid method for modal parameter prediction in robotic milling 25

A rapid method for modal parameter prediction in robotic mil...

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Proceedings of the 4th International Conference on Computer, Artificial Intelligence and control engineering

作者： Yu Peng Xiaojing Yang Zhaoyang Liao Zesheng Guo Haocheng Jiao Xuefeng Zhou Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming Yunnan China Guangdong Key Laboratory of Modern Control Technology Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou Guangdong China Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming Yunnan China

ISBN: (纸本)9798400712647

Due to the multi-degree-of-freedom structure and low rigidity of robots, they are prone to chatter phenomena when subjected to vibrational milling forces, leading to a decline in milling precision. To mitigate the impact of chatter on machining, the robot's frequency response can be obtained through hammer testing, from which the FRF can be further derived to guide the optimization of the robot's machining posture. However, the extensive range and diverse postures during robotic machining, coupled with the cumbersome and static nature of hammer testing, present significant challenges. To address these issues, this paper proposes a data-driven method for predicting the modal parameters of robots. The hammer test, limited to static conditions, cannot provide real-time modal parameters for arbitrary postures. By analyzing the superposition principles between different frequency response functions, the relationship between robot posture and modal parameters is established, forming the theoretical basis for prediction. A GPR based method for predicting modal parameters is proposed, and in conjunction with the fully discrete method, the stability lobes diagram for any machining posture of the robot is computed in real-time, serving as a stability indicator during machining.

关键词： Gaussian Process Regression

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Power Allocation Strategy for Secret Key Generation Method in Wireless Communications

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Computers, Materials & Continua 2021年第8期68卷 2179-2188页

作者： Bin Zhang Muhammad Waqas Shanshan Tu Syed Mudassir Hussain Sadaqat Ur Rehman School of Electronics and Information Engineering Hunan University of Science and EngineeringYongzhou425199China Engineering Research Center of Intelligent Perception and Autonomous Control Faculty of Information TechnologyBeijing University of TechnologyBeijing100124China Faculty of Computer Science and Engineering Ghulam Ishaq Khan(GIK)Institute of Engineering Sciences and TechnologyTopi23460Pakistan Department of Electronics Engineering FICTBalochistan University of Information TechnologyEngineering and Management SciencesQuetta87300Pakistan Department of Computer Science Namal InstituteMianwali42200Pakistan

Secret key generation(SKG)is an emerging technology to secure wireless communication from ***,the SKG at the physical layer is an alternate solution over traditional cryptographic methods due to wireless channels’***,the physical layer secret key generation(PHY-SKG)depends on two fundamental parameters,i.e.,coherence time and power *** coherence time for PHY-SKG is not applicable to secure wireless *** is because coherence time is for a certain period of ***,legitimate users generate the secret keys(SKs)with a shorter key length in ***,an attacker can quickly get information about the ***,the attacker can easily get valuable information from authentic ***,we considered the scheme of power allocation to enhance the secret key generation rate(SKGR)between legitimate ***,we propose an alternative method,i.e.,a power allocation,to improve the *** results show 72%higher SKGR in bits/sec by increasing power *** addition,the power transmission is based on two important parameters,i.e.,epsilon and power loss factor,as given in power transmission *** found out that a higher value of epsilon impacts power transmission and subsequently impacts the *** SKGR is approximately 40.7%greater at 250 from 50 mW at epsilon=*** value of SKGR is reduced to 18.5%at 250 mW when epsilonis ***,the transmission power is also measured against the different power loss factor values,i.e.,3.5,3,and 2.5,respectively,at epsilon=***,it is concluded that the value of epsilon and power loss factor impacts power transmission and,consequently,impacts the SKGR.

关键词： Secret key generation rate power allocation physical layer wireless communication

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An Error Compensation Method for Industrial Robots Based on Anisotropy Spatial Interpolation

An Error Compensation Method for Industrial Robots Based on ...

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Chinese control and Decision Conference, CCDC

作者： Xi Wang Jingpeng Niu Guanbin Gao Jing Na Yashan Xing Faculty of Mechanical and Electrical Engineering Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming University of Science and Technology Kunming China

The absolute positioning accuracy of industrial robot is essential in the applications of offline programing, machining etc. Kinematic calibration is the common way to improve the absolute positioning accuracy, which can only compensate the error caused by deviation of kinematic parameters. Non-kinematic compensation methods usually use inverse distance-weight to calculate the compensated error, but the difference of error similarity between the grid reference points and the positioning points in each direction is not considered, which makes the compensation lack of effectiveness. In this paper, an alternative weight evaluation index for error directions is proposed, and an anisotropic spatial interpolation compensation model is constructed based on the similarity of error directions to account for the sample point errors in each direction. First, a simulation is used to analyze the interval joint angle error in various directions. The robot's workspace was then segmented into a series of cubic grids. A new spatial grid interpolation compensation model and its weight evaluation index are built based on the distances between the reference points and sample points in each direction in the spatial grid, and a thorough interpolation compensation method for the positioning error of the industrial robot is proposed. Finally, simulations are conducted to verify the effectiveness of the proposed method. The results of the simulations show that after compensation with the proposed method the maximum error, average error, and standard deviation of the sample points in x, y and z directions decrease greatly. Moreover, by comparing with the traditional inverse distance-weighted spatial grid interpolation compensation method, the compensation accuracy of the proposed method is much higher.

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Improving Motor Imagery Classification in BCI Systems Using EMD and Multi-Layer CNNs

Improving Motor Imagery Classification in BCI Systems Using ...

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International eConference on Computer and Knowledge engineering (ICCKE)

作者： Reza Arghand Ali Chaibakhsh Moein Radman Intelligent Systems and Advanced Control Lab Faculty of Mechanical Engineering University of Guilan Rasht Guilan Iran Brain-Computer Interfacing and Neural Engineering Laboratory University of Essex School of Computer Science and Electronic Engineering Colchester United Kingdom

ISBN: (数字)9798331511272

ISBN: (纸本)9798331511289

Brain-Computer Interface (BCI) systems are relatively new technologies that could play a significant role in aiding the recovery of impaired activities resulting from neuromuscular disabilities in affected individuals. Accurate recognition and classification of motor imagery in BCI systems present a challenge, leading to extensive research in recent years aimed at improving the accuracy of these systems. In this study, a combination of the Empirical Mode Decomposition (EMD) method and a multi-layer Convolutional Neural Network (CNN) is employed. Initially, the signal is decomposed into Intrinsic Mode Functions (IMFs) using EMD, and all IMFs across all trials are analyzed to select the best ones, which are then fed into the CNN as inputs. Additionally, the study incorporates the fusion of three CNN networks, each corresponding to a different IMF. The features extracted from these networks are combined and used to train an SVM classifier. The proposed method achieved an accuracy of 86.1% on the BCI-2a 2008 dataset, outperforming other state-of-the-art approaches.

关键词： Support vector machines Knowledge engineering Accuracy Image recognition Empirical mode decomposition Neuromuscular Motors Feature extraction Brain-computer interfaces Convolutional neural networks

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Automated Door to Prevent COVID-19 using Fuzzy Logic 4

Automated Door to Prevent COVID-19 using Fuzzy Logic

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4th International Conference on Electrical, Communication and Computer engineering, ICECCE 2023

作者： Khokhar, Salah-Ud-Din Sohaib, Rana Muneeb, Abdul Bibi, Irfana Noor, Muhammad Yasir Imran, Muhammad School of Intelligent Manufacturing and Control Engineering Qilu Institute of Technology Shandong Jinan China Department of Computer Science G.C. University Lahore Punjab Lahore Pakistan Department of Computer Science Faculty of Computing and Information Technology University of Punjab Punjab Lahore Pakistan Department of Electronics G.C. University Lahore Punjab Lahore Pakistan

ISBN: (纸本)9798350369694

Due to the vagueness and uncertainties due to the coronavirus, it is crucial to implement the standard operating procedures (SOPs) issued by the World Health Organization and the authorities. Therefore an effective control system is required that minimizes the vagueness and uncertainties of people who are on the front line during the period of this pandemic checking the entering persons in an indoor area where it is necessary to maintain a distance of six feet from one another to avoid the spread of coronavirus. In this research work, a robust and efficient system has been proposed that takes protective mask and feverishness values as input and applies them using the fuzzy logic algorithm. If these input values are according to the rules defined in the system, then the door will open as an output. Otherwise, the door will not open. It is, finally, analyzing the output values. This fuzzy model had been implemented using a microcontroller. The genuine difference in the duty cycle of the microcontroller’s output pulse was measured using a 100 MHz digital oscilloscope. Our proposed system was compared with different systems reported in the literature. This work reduces the human effort as well as the negligence of people and builds up the management system without the labor in a mint. © 2023 IEEE.

关键词： Fuzzy logic

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Design and Flight Test of a Compact and Rapidly-Deployable Air-Launched Inflatable-Winged Aircraft

Design and Flight Test of a Compact and Rapidly-Deployable A...

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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ge, Hang Xu, Yixiang Sun, Donglei Chen, Xinmin Chen, Boyang School of Aerospace Faculty of Science and Engineering University of Nottingham Ningbo China Zhejiang Ningbo315100 China Department of Mechanical Materials and Manufacturing Engineering UNNC-NFTZ Blockchain Laboratory University of Nottingham Ningbo China Zhejiang Ningbo315100 China Advanced Intelligent Manufacturing Research Group Control System Lab University of Nottingham Ningbo China Zhejiang Ningbo315100 China Zhejiang Provincial Engineering Research Center of Special Aircraft Ningbo Institute of Materials Technology & Engineering Chinese Academy of Sciences Zhejiang Ningbo315100 China

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

In this research, a high-altitude, compact and rapidly deployable, air-launched, inflatablewinged aircraft is designed, developed, and flight-tested to investigate the flight characteristics of inflatable-winged aircraft as well as the in-flight inflation and dynamic deployment properties when launched from various carriers. To start with, two types of inflatable wings employing different materials have been designed, fabricated, and tested, the tests including structural characteristics tests, inflation properties tests, and low-Reynolds-number wind-tunnel tests. A full-scale 30-kilogram prototype unmanned aerial vehicle with inflatable wings was then designed, assembled and tested with some basic low-altitude flights to verify the feasibility of the aerodynamic layout and the trim and stability and control characteristics. Finally, low- and high-altitude in-flight launches will be conducted to study the dynamic deployment properties and high-altitude flight characteristics of this design. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Wind tunnels

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Design of Lowpass Filter and Wavelet Analysis for Electroretinogram in Dogs

Design of Lowpass Filter and Wavelet Analysis for Electroret...

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IEEE Region 10 International Conference TENCON

作者： Tunyawat Tuntrik Nalinee Tuntivanich David Banjerdpongchai Dept. of Electrical Engineering Center of Excellence in Intelligent Control Automation of Process Systems Faculty of Engineering Chulalongkorn University Bangkok Thailand Dept. of Veterinary Surgery Faculty of Veterinary Science Bangkok Thailand

In frequency domain, wavelet coefficient is one of the characteristics of ERG signal which is hidden in frequency-domain. This paper aims to develop a tool for analyzing the constituent frequencies and time of interest in the dog's ERG signal using wavelet analysis. We design a lowpass filter to reduce noise during the measurement of ERG response. ERG dataset was obtained for the light intensity series and their constituent frequencies are analyzed by using the continuous wavelet transform (CWT). The results show that, in time-domain, as light intensity increases, both amplitudes of a-wave and b-wave are higher. We can visualize the noise interference in the ERG signals. Then a lowpass filter is designed to attenuate the noise effect. The filtered signals have lower a-, and b-waves' amplitude which affect the important characteristics in time domain. Therefore, we choose to filter signal from 26ms onward, the main components are recovered, and the filtered signal becomes smoother. In frequency-domain, the peak magnitude of wavelet coefficients is increased as light intensity increases.

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A Speech Cryptosystem Using the New Chaotic System with a Capsule-Shaped Equilibrium Curve

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Computers, Materials & Continua 2023年第6期75卷 5987-6006页

作者： Mohamad Afendee Mohamed Talal Bonny Aceng Sambas Sundarapandian Vaidyanathan Wafaa Al Nassan Sen Zhang Khaled Obaideen Mustafa Mamat Mohd Kamal Mohd Nawawi Faculty of Informatics and Computing Universiti Sultan Zainal AbidinMalaysia Department of Computer Engineering University of SharjahSharjah26666UAE Department of Mechanical Engineering Universitas Muhammadiyah TasikmalayaIndonesia Research and Development Centre Vel Tech UniversityAvadiChennaiIndia School of Artificial Intelligence and Automationand Key Laboratory of Image Processingand Intelligent Control of Education Ministry of ChinaHuazhong University of Scienceand TechnologyWuhan430074China Institute of Strategic Industrial Decision Modeling School of Quantitative SciencesUniversiti Utara Malaysia06010UUM SintokKedahMalaysia

In recent years,there are numerous studies on chaotic systems with special equilibrium curves having various shapes such as circle,butterfly,heart and *** paper describes a new 3-D chaotic dynamical system with a capsule-shaped equilibrium *** proposed chaotic system has two quadratic,two cubic and two quartic nonlinear *** is noted that the proposed chaotic system has a hidden attractor since it has an infinite number of equilibrium *** is also established that the proposed chaotic system exhibits multi-stability with two coexisting chaotic attractors for the same parameter values but differential initial states.A detailed bifurcation analysis with respect to variations in the system parameters is portrayed for the new chaotic system with capsule equilibrium *** have shown MATLAB plots to illustrate the capsule equilibrium curve,phase orbits of the new chaotic system,bifurcation diagrams and *** an engineering application,we have proposed a speech cryptosystem with a numerical algorithm,which is based on our novel 3-D chaotic system with a capsule-shaped equilibrium *** proposed speech cryptosystem follows its security evolution and implementation on Field Programmable Gate Array(FPGA)*** results show that the proposed encryption system utilizes 33%of the FPGA,while the maximum clock frequency is 178.28 MHz.

关键词： Chaos chaotic systems hidden attractors multi-stability bifurcation speech cryptosystem FPGA design

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