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Parameter Optimization of Interval Type-2 Fuzzy Neural Networks Based on PSO and BBBC Methods

IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 247-257页

作者： Jiajun Wang Tufan Kumbasar the School of Automation Hangzhou Dianzi University IEEE the Control and Automation Engineering Department Faculty of Electrical and Electronics EngineeringIstanbul Technical University

Interval type-2 fuzzy neural networks(IT2FNNs)can be seen as the hybridization of interval type-2 fuzzy systems(IT2FSs) and neural networks(NNs). Thus, they naturally inherit the merits of both IT2 FSs and NNs. Although IT2 FNNs have more advantages in processing uncertain, incomplete, or imprecise information compared to their type-1 counterparts, a large number of parameters need to be tuned in the IT2 FNNs,which increases the difficulties of their design. In this paper,big bang-big crunch(BBBC) optimization and particle swarm optimization(PSO) are applied in the parameter optimization for Takagi-Sugeno-Kang(TSK) type IT2 FNNs. The employment of the BBBC and PSO strategies can eliminate the need of backpropagation computation. The computing problem is converted to a simple feed-forward IT2 FNNs learning. The adoption of the BBBC or the PSO will not only simplify the design of the IT2 FNNs, but will also increase identification accuracy when compared with present methods. The proposed optimization based strategies are tested with three types of interval type-2 fuzzy membership functions(IT2FMFs) and deployed on three typical identification models. Simulation results certify the effectiveness of the proposed parameter optimization methods for the IT2 FNNs.

关键词： Big bang-big crunch (BBBC) interval type-2 fuzzy neural networks (IT2FNNs) parameter optimization particle swarm optimization (PSO)

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Robust Fault-Tolerant control of Wave Equation Without Estimations of Plant and Failure Parameters

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IFAC-PapersOnLine 2022年第26期55卷 143-148页

作者： Zhiji Han Zhijie Liu Thomas Meurer Wei He School of Intelligence Science and Technology and Institute of Artificial Intelligence University of Science and Technology Beijing Beijing 100083 China Chair of Automation and Control Faculty of Engineering Kiel University 24143 Kiel Germany

This paper describes a novel robust fault-tolerant control for a vibrating string (captured by a wave partial differential equation) with constraint to be clamped at the left end and free at the right one. The control input is a force at the right hand, which might be affected by an actuator failure modelled by a general multiplicative type with unknown values. Except for the actuator failure, some physical parameters of the plant are also unavailable. We propose a pure output feedback control law without any estimation terms to guarantee the prescribed performance constraint of the state on the boundary of the closed-loop system and the uniform boundedness of the state in the whole domain. By applying the backstepping technique to the boundary of the system, together with a barrier Lyapunov function, we develop a non-adaptive control method capable of dealing with the underlying problem. Effective control performance in the wave equation with the designed control strategy is verified via Lyapunov analysis and numerical simulation.

关键词： Wave equation Boundary control Fault-tolerant control Prescribed performance constraint Non-adaptive method

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Design of Face Recognition Access Entrance Guard System with Mask Based on Embedded Development 2

Design of Face Recognition Access Entrance Guard System with...

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2021 2nd International Conference on Computer Information and Big Data Applications, CIBDA 2021

作者： Ruiqin, Lin Wenan, Tan Zhenyu, Chen Qinqin Faculty of Environmental and Materials Engineering Shanghai Polytechnic University Shanghai201209 China Computer Engineering Shanghai Polytechnic University Shanghai201209 China Department of Measurement and Control and Automation Shanghai Polytechnic University Shanghai201209 China

This paper investigates all kinds of access entrance guard control systems at home and abroad and analyzes their advantages and disadvantages. COVID-19 epidemic has a serious impact on life, travel must wear a mask, so that the access entrance guard control system can not carry out face recognition under the mask. In view of this kind of situation, an embedded face recognition access entrance guard control system with mask based on EAIDK-310 development board is designed. The system can complete face recognition and body temperature measurement without contact, and drive the motor to open the gate. After testing, the system is suitable for deployment in companies, communities, campuses and other small application scenarios. It is convenient to travel and can reduce the impact of the epidemic. © Published under licence by IOP Publishing Ltd.

关键词： Face recognition

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Enhancing Precision Agriculture Through Human-in-the-Loop Planning and control

Enhancing Precision Agriculture Through Human-in-the-Loop Pl...

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IEEE International Conference on automation Science and engineering (CASE)

作者： Shankar A. Deka Sujet Phodapol Andreu Matoses Gimenez Victor Nan Fernandez-Ayala Rufus Wong Pian Yu Xiao Tan Dimos V. Dimarogonas Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Division of Decision and Control Systems School of EECS Royal Institute of Technology (KTH) Stockholm Sweden Department of Cognitive Robotics Faculty of Mechanical Engineering TU Delft Delft Netherlands Department of Computer Science University of Oxford Oxford UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In this paper, we introduce a ROS based framework designed for the planning and control of robotic systems within the context of precision agriculture, with an emphasis on human-in-the-loop capabilities. Utilizing Linear Temporal Logic to articulate complex task specifications, our algorithm creates high-level robotic plans that are not only correct by design but also adaptable in real time by human operators. This dual-focus approach ensures that while humans have the flexibility to modify the high-level plan on-the-fly or even take over low-level control of the robots, the system inherently safeguards against any human actions that could potentially breach the predefined task specifications. We demonstrate our algorithm within the dynamic and challenging environment of a real vineyard, where the collaboration between human workers and robots is critical for tasks such as harvesting and pruning, and show the practical applicability and robustness of our software. This work marks a pioneering application of formal methods to complex, real-world agricultural environments.

关键词： Precision agriculture Heuristic algorithms Software algorithms Robustness Human in the loop Software Real-time systems Planning Robots Multi-agent systems

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Mathematical modeling of flow washing of preserved rawhides 26

Mathematical modeling of flow washing of preserved rawhides

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26th International Conference on Circuits, Systems, Communications and Computers, CSCC 2022

作者： Janacova, Dagmar Mokrejs, Pavel Vasek, Vladimir Drga, Rudolf Dept. of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University in Zlín Nad Stráněmi 4511 Zlín760 01 Czech Republic Dept. of Polymer Engineering Faculty of Technology Tomas Bata University in Zlín Vavrekova 5669 Zlín760 01 Czech Republic Dept. of Security Engineering Faculty of Applied Informatics Tomas Bata University in Zlín Nad Stráněmi 4511 Zlín760 01 Czech Republic

ISBN: (纸本)9781665481861

This paper presents a mathematical model of flow washing with the initial volume of the washing bath of preserved raw hides by salt. The main result of this work is the determination of the concentration field of the preservative in the raw material depending on the washing time and the size of the washing water flow, based on the correct laboratory-determined diffusion coefficient of the preservative using a tortuous factor. The paper points out the usefulness of applying theoretical tools of chemical engineering in areas such as the tanning industry. © 2022 IEEE.

关键词： Washing

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Unknown System Dynamics Estimator based control for Bilateral Teleoperation Systems 10

Unknown System Dynamics Estimator based Control for Bilatera...

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10th IEEE Data Driven control and Learning Systems Conference, DDCLS 2021

作者： Jing, Baorui Duan, Hao Na, Jing Wang, Shubo Kunming University of Science and Technology Faculty of Mechanical and Electrical Engineering Kunming650500 China School of Automation Qingdao University and Shandong Key Laboratory of Industrial Control Technology Qingdao266071 China

ISBN: (纸本)9781665424233

In this paper, we propose a novel control scheme for bilateral teleoperation system subject to the unknown system dynamics. To realize this purpose, the low-pass filter operation is introduced to construct a simple yet robustness unknown system dynamics estimator (USDE). With the help of the proposed USDE, not only the effect of unknown system dynamics can be eliminated but also the acceleration signal can be avoided. Moreover, one salient feature of the proposed USDE is that it only has one tuning parameter, which is more straightforward compared with traditional estimators. The convergence of the estimation error and the stability of the closed-loop control system are rigorously proved via the Lyapunov theorem. Finally, simulation is carried out to demonstrate the superior performance concerning the movement synchronization and transparency. © 2021 IEEE.

关键词： Low pass filters

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Toward Enhancing Cross-Lingual Domain Knowledge Sharing and Transferring for Multilingual Domain Adaptation in NMT

IEEE Transactions on Audio, Speech and Language Processing

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IEEE Transactions on Audio, Speech and Language Processing 2025年 33卷 2125-2138页

作者： Zhengtao Yu Jinlei Xu Xiang Huang Zhongfen Deng Yonghua Wen Li Sun Yuxin Huang Hao Peng Philip S. Yu Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming China Yunnan Province Key Laboratory of Artificial Intelligence Kunming University of Science and Technology Kunming China School of Cyber Science and Technology Beihang University Beijing China Department of Computer Science University of Illinois Chicago IL USA School of Control and Computer Engineering North China Electric Power University Beijing China

Multilingual Neural Machine Translation (NMT) excels in sharing knowledge across languages and transferring insights from high-resource languages to improve performance in low-resource languages. However, its performance lags in specific domains such as legal and medical. Previous works have focused on adding language-specific and domain-specific adapters to achieve domain adaptation. Although effective, these adapter-based methods only use domain data to train additional parameters, limiting the performance of multilingual NMT. In this paper, we propose CDSTX, a novel approach that achieves robust multilingual domain adaptation without relying on adapters, solely leveraging multilingual models. Specifically, we utilize the pretrained model XLM-R and frozen embeddings to preserve its robust multilingual capabilities and design a two-stage training strategy for domain adaptation. This includes separate training for the decoder and fine-tuning of the entire model, ensuring that the model effectively acquires domain knowledge and correctly represents domain-specific text. Moreover, to better utilize the domain information conveyed implicitly by the training data, we devise special domain tokens at the beginning of the source and target sentences called Source&Target Domain Tags. In addition, back translation is employed to enhance the cross-lingual transfer ability of our approach. Our proposed method is evaluated on two datasets across three translation tasks: Single-domain Multilingual NMT, Multi-domain bilingual NMT, and Multilingual Multi-domain NMT. Notably, in the single-domain multilingual NMT task, CDSTX significantly enhances zero-shot domain translation performance, achieving improvements of up to +30 BLEU points through the utilization of back-translation techniques. Even in the bilingual multi-domain NMT task where specific domain data for the target translation direction is unavailable, our method consistently outperforms all SOTA methods. Moreover, in the

关键词： Training Adaptation models Translation Limiting Law Large language models Training data Neural machine translation Multilingual Speech processing

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Designing sensor-equipped insoles for Diabetic Foot and investigation of its usability

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Gait & Posture 2024年 113卷 258-259页

作者： Yasemin Yarbaşı Fuat Bilgili Ali Fuat Ergenç Gaye Torna Nurdan Gül Betül Yiğit Yalçın Ilhan Satman Istanbul University- Institute of Health Sciences Department of Orthopedics and Traumatology Istanbul Turkey Istanbul University- Istanbul Faculty of Medicine Department of Orthopedics and Traumatology Istanbul Turkey Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey Istanbul University- Istanbul Faculty of Medicine Department of Physical Medicine and Rehabilitation Istanbul Turkey Istanbul University-Istanbul Faculty of Medicine Department of Internal Medicine Istanbul Turkey

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Bus manufacturing workshop scheduling method with routing buffer

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International Journal of Simulation and Process Modelling 2020年第3期15卷 225-235页

作者： Han, Zhonghua Zhang, Jingyuan Wang, Shiyao Qi, Yuanwei Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang China Department of Digital Factory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

Aiming at solving the problem that the moving route is complicated and the scheduling is difficult in the routing buffer of the bus in the manufacturing workshop, a routing buffer mathematical programming model for bus manufacturing workshop is proposed. We design a moving approach for minimising the total setup cost for moving in routing buffer. The framework and the solution of the optimisation problem of such a bus manufacturing workshop scheduling with routing buffer are presented. The evaluation results show that, compared with the irregularly guided moving method, the proposed method can provide a better guide line for the bus movement in the routing buffer by reducing the total setup time of all buses processed at the next stage, and a better scheduling optimisation solution with minimise maximum total completion time. © 2020 Inderscience Enterprises Ltd.

关键词： Manufacture

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LogisticsVISTA: 3D Terminal Delivery Services With UAVs, UGVs and USVs Based on Foundation Models and Scenarios engineering

LogisticsVISTA: 3D Terminal Delivery Services With UAVs, UGV...

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2024 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2024

作者： Tian, Yonglin Lin, Fei Zhang, Xinyuan Ge, Jingwei Wang, Yutong Dai, Xingyuan Lv, Yisheng Wang, Fei-Yue University of Chinese Academy of Sciences Beijing100049 China Tsinghua University Department of Automation Beijing100084 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems State Key Laboratory for Management and Control of Complex Systems Beijing100190 China Macau University of Science and Technology Faculty of Innovation Engineering Department of Engineering Science 999078 China

Intelligent logistics with autonomous vehicles is promising to improve the efficiency of rapidly expanding delivery systems. However, complex environments, diverse packages, and irregular human interaction have imposed challenges to the application of unmanned delivery vehicles. Combining various forms of vehicles and developing knowledge-driven delivery services have been the key to further facilitating the upgrading of logistics systems. In this paper, we propose an integrated framework named LogisticsVISTA (Logistics on Vehicles with Intelligent Systems for Transport automation) comprised of UAVs (Unmanned Aerial Vehicles), UGVs (Unmanned Ground Vehicles), and USVs (Unmanned Surface Vehicles) to provide timely and flexible 3D delivery services. In LogisticsVISTA, we design Large language models (LLMs) and large multimodal models (LMMs) for task planning, active perception, autonomous decision, and human-machine interaction. Besides, virtual-real integrated parallel scenarios are constructed to provide the playing ground for embodied agents efficiently and flexibly. © 2024 IEEE.

关键词： Drones

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