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IEEE International Conference on Systems, Man and Cybernetics

作者： Juanjuan Li Xiaolong Liang Rui Qin Fei-Yue Wang State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Faculty of Innovation Engineering Macau University of Science and Technology Macau China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Decentralized Autonomous Organizations (DAOs) have been gaining popularity in recent years due to their promise of realizing the decentralized Web 3.0. However, most DAOs rely heavily on token-centric value systems as well as allocate decision-making authority and yield-sharing rights according to the held tokens, which often lead to monopolization of power and rights. To address this issue, this paper contributes to propose a truly democratic organization model, named True Autonomous Organizations and Operations (TAOs), that does not count upon tokens and is guided by principles of contribution-based and on-demand allocation. We first discuss the design of TAOs, including their infrastructures, power structures, and value systems, and then provide a technical roadmap for implementing TAOs in the DeSci context. This research can provide a valuable guidance for the construction and application of TAOs.

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Extended NNs-Based Adaptive Event-Triggered Asymptotic control for Nonlinear Systems Against Actuator Faults

Extended NNs-Based Adaptive Event-Triggered Asymptotic Contr...

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International Symposium on Autonomous Systems (ISAS)

作者： Shanlin Liu Yingwei Zhang Xudong Zhao Hesheng Wang College of Information Science and Engineering Northeastern University Shenyang China State Laboratory of Synthesis Automation of Process Industry Northeastern University Shenyang China Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian China Department of Automation 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 IntelligentControl and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

In this article, an adaptive event-triggered asymp¬totically fault-tolerant control (FTC) issue for nonlinear systems with actuator faults is investigated. An extended neural networks (NNs) technique is introduced to estimate unknown functions of the system under consideration. Compared with traditional NNs that ignore approximation errors, the proposed extended NNs further processes approximation errors, reducing the conservatism of the proposed algorithm. Then, within the framework of backstepping method, a new adaptive control strategy is developed by combining event-triggered mechanism (ETM) and bound estimation (BE) approach, which ensures the asymptotic convergence of system states while also reducing the transmission of unnecessary information, thus improving the utilization of communication resources. At the same time, the designed controller eliminates the adverse effects of actuator failures and system nonlinear terms. Finally, a simulation example of a single-link robot system is provided to demonstrate that the developed control strategy can ensure that all signals are bounded and system states are asymptotically convergent.

关键词： Actuators Backstepping Fault tolerant systems Process control Artificial neural networks control systems Approximation error

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Management-Oriented Operating Systems: Harnessing the Power of DAOs and Foundation Models

Management-Oriented Operating Systems: Harnessing the Power ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Rui Qin Juanjuan Li Xiaolong Liang Fei-Yue Wang State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Faculty of Innovation Engineering Macau University of Science and Technology Macau China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

This paper presents Management-Oriented Operating Systems (M2OS) that leverages the power of parallel intelligence theory, Decentralized Autonomous Organizations (DAOs) and foundation models to revolutionize the manner of management in Cyber-Physical-Social Systems (CPSS). The parallel architecture on M2OS is proposed, including the parallel interactive actual M2OS and artificial M2OS. Among them, the artificial M2OSs provide digital infrastructures for organizations to operate, collaborate, and make decisions in the virtual space, and conduct computational experiments to evaluate management decisions and predict future states of the actual M2OS. Through parallel execution and closed-loop feedback between the artificial and actual M2OSs, the management and control, experimentation and evaluation, as well as learning and training of the actual M2OS can be realized. Moreover, the functional layers of M2OS, including the infrastructure layer, data layer, scenario layer, modeling layer, decision layer, and application layer, are discussed. These layers work together to support the intelligent, autonomous, collaborative, and adaptive nature of the M2OS, and facilitate data-driven decision-making, optimize business operations, and empower managers with real-time actionable insights. The proposed M2OS paradigm has great potential to transform the management paradigm and opens up new possibilities for intelligent and collaborative decision-making.

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Identification and control of Industrial Hydraulic Actuators with a Hammerstein-Wiener Model Approach 1st

Identification and Control of Industrial Hydraulic Actuators...

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1st International Symposium on Systems Modelling and Simulation, SMS 2024

作者： Mohamad Ali, Nur Husnina Jaafar, Hazriq Izzuan Ghazali, Rozaimi Ghani, Muhamad Fadli Soon, Chong Chee Has, Zulfatman Fakulti Teknologi dan Kejuruteraan Elektrik Universiti Teknikal Malaysia Melaka Melaka Malaysia Center for Robotics and Industrial Automation Universiti Teknikal Malaysia Melaka Melaka Malaysia Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Penang Branch Campus Pulau Pinang Malaysia Electrical Engineering Department University of Muhammadiyah Malang Malang Indonesia

ISBN: (纸本)9789819646128

In motion control applications, the precise regulation of Industrial Hydraulic Actuators (IHA) is essential for properly ascertaining the position of the actuator rod. This research used a Hammerstein-Wiener (HW) model to characterize the system, integrating a dead zone to account for nonlinearities and using an open-loop methodology. A grey-box modelling technique is used for estimating the discrete-time model of the system and identifying its parameters. The System Identification toolbox in MATLAB functions as the principal instrument for model estimation, using input-output data acquired via experimental procedures. The validation of the input-output data demonstrated a promising best-fit percentage of 88.21%, indicating a robust connection between the HW model and the real system. To assess the trajectory tracking efficacy of the system, Proportional-Integral-Derivative (PID) and Fractional Order PID (FOPID) controllers developed and evaluated using both simulation and experimental data based on a multi-sinusoidal trajectory. The findings indicate that the FOPID controller surpasses the traditional PID controller, producing reduced Mean Square Error (MSE) and Root Mean Square Error (RMSE) values. In simulations, the FOPID control technique enhanced MSE by 32.8% and RMSE by 18.0% relative to the PID controller, although the experimental findings indicated improvements of 31.9% and 17.5%, respectively. The results highlight the superior efficacy of the FOPID controller in improving trajectory tracking performance owing to its greater complexity and flexibility. Future research may concentrate on developing more sophisticated controllers, including intelligent or nonlinear variants, to enhance the tracking precision of the IHA system. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Three term control systems

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Driving Envelope: On Vehicle Stability Through Tire Capacities

Driving Envelope: On Vehicle Stability Through Tire Capaciti...

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IEEE Symposium on Intelligent Vehicle

作者： Denis Efremov Martin Klauč o Tomá š Haniš Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Nov&#x00E9 M&#x011B sto Czech Republic Institute of Information Engineering Automation and Mathematics Slovak University of Technology in Bratislava Bratislava Slovakia

ISBN: (数字)9781665488211

ISBN: (纸本)9781665488228

Integrated automated safety systems in vehicles significantly reduced the number of car crashes. They help the driver in critical maneuvers when tires lose their grip on the driving surface. For instance, the technology of the anti-lock braking system and its augmentations (electronic stability control and traction control system) has already saved thousands of lives. Nevertheless, we still see room for improvement. This work defines boundaries in the vehicle state-space, excluding unstable vehicle maneuvers. Such boundaries form a so-called driving envelope. The resulting set includes all states where the vehicle’s wheels are not locked, overspun, or skidding. For the definition of the driving envelope, we use the Pacejka tire model and nonlinear single-track model. This paper shows how each tire dynamic property results in vehicle dynamics. Also, it discusses the application of nonlinear and linearized driving envelope boundaries on a single-track model. Then it shows that the linearized driving envelope constraints form a close to control invariant set over the vehicle state-space. Thus, the driving envelope is almost a feasible set, and it could be used in the model predictive control approaches with soft constraints. Protecting the driving envelope, one can preserve each wheel from locking, wheelspin, and skidding.

关键词： Intelligent vehicles Wheels control systems Tires Stability analysis Safety Automobiles

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UGNA-VPR: A Novel Training Paradigm for Visual Place Recognition Based on Uncertainty-Guided NeRF Augmentation

arXiv

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arXiv 2025年

作者： Shen, Yehui Zhang, Lei Li, Qingqiu Zhao, Xiongwei Wang, Yue Lu, Huimin Chen, Xieyuanli College of Intelligence Science and Technology National University of Defense Technology China Faculty of Robot Science and Engineering Northeastern University China School of Electronic and Information Engineering Harbin Institute of Technology Shenzhen China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University China SIASUN Robot& Automation Co. Ltd China School of Computer Science Fudan University China

Visual place recognition (VPR) is crucial for robots to identify previously visited locations, playing an important role in autonomous navigation in both indoor and outdoor environments. However, most existing VPR datasets are limited to single-viewpoint scenarios, leading to reduced recognition accuracy, particularly in multi-directional driving or feature-sparse scenes. Moreover, obtaining additional data to mitigate these limitations is often expensive. This paper introduces a novel training paradigm to improve the performance of existing VPR networks by enhancing multi-view diversity within current datasets through uncertainty estimation and NeRF-based data augmentation. Specifically, we initially train NeRF using the existing VPR dataset. Then, our devised self-supervised uncertainty estimation network identifies places with high uncertainty. The poses of these uncertain places are input into NeRF to generate new synthetic observations for further training of VPR networks. Additionally, we propose an improved storage method for efficient organization of augmented and original training data. We conducted extensive experiments on three datasets and tested three different VPR backbone networks. The results demonstrate that our proposed training paradigm significantly improves VPR performance by fully utilizing existing data, outperforming other training approaches. We further validated the effectiveness of our approach on self-recorded indoor and outdoor datasets, consistently demonstrating superior results. Our dataset and code have been released at https://***/nubot-nudt/UGNA-VPR. Copyright © 2025, The Authors. All rights reserved.

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An Experimental Research on Temperature Accuracy Algorithm in Fan Coil Thermostat

An Experimental Research on Temperature Accuracy Algorithm i...

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China International Electrical and Energy Conference (CIEEC)

作者： Yunus Arı Ergün Cücük Seda Karateke Electric and Electronic Engineering Institute of Graduate Studies Istanbul University - Cerrahpaşa Istanbul Turkey Department of Research and Development Ges Teknik Air Conditioning Control and Automation Systems Industry and Trade Inc. Istanbul Turkey Department of Computer Engineering Faculty of Engineering Istanbul Topkapı University Istanbul Turkey

The efficient operation of HVAC&R systems are based on keeping indoor temperature and air quality at an optimum level without disturbing comfort. Starting from this point, in this experimental research, the factors affecting the measurement accuracy during the room temperature detection of a wall mount fan coil thermostat were examined. Among the external effects, the effect of the device components on the measurement was focused and the solution of the measurement deviations occurred in this extent was investigated. Based on the experiments, the algorithm that must be applied to reach the optimum temperature measurement of a room thermostat developed for Fan Coil systems was proposed.

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Discrete-time Formation control With Attitude Alignment: A Geometric Approach under Ergodic Products

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IEEE Transactions on control of Network Systems 2025年

作者： Li, Zhen Tang, Yang Zhang, Wenbing Fan, Yongqing Huang, Tingwen Xi-an University of Posts and Telecommunications School of Automation Xian710121 China East China University of Science and Technology Key Laboratory of Smart Manufacturing in Energy Chemical Process Shanghai200237 China Yangzhou University Department of Mathematics Jiangsu225002 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

Assuming agents possess sensing capabilities and dynamics relative to their body coordinate frames, this paper addresses a displacement-based strategy for discrete-time formation control through attitude synchronization. Unlike the Eulerian approximation, the first challenge lies in developing discrete-time models that capture both position and attitude motions, thereby complementing existing continuous-time systems with a discretized version. Then, two leader-following control protocols are designed, incorporating a jointly-connected topology to relax the connectivity requirements. The analysis of these systems often relies on the Lyapunov function, the existence of which may be hard to guarantee. Consequently, geometric properties of several polytopes are explored under the dynamic topologies and time-varying parameters. By extending the ergodicity results to leader-following scenarios, these properties are characterized as positively invariant sets. This invariance, which is independent of the existence of the Lyapunov function or the solvability of its associated criteria, provides a beneficial tool for analyzing time-variant systems. Utilizing this invariance and some mathematical techniques, the desired formation shape can be achieved in the cases where the attitudes of the followers synchronize with the leader. Finally, a numerical simulation validates the results. © 2014 IEEE.

关键词： Lyapunov functions

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Quantifying the Impact of Automated Vehicles on Traffic

Quantifying the Impact of Automated Vehicles on Traffic

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Automated Vehicle Validation Conference (IAVVC), IEEE International

作者： Martin Sigl Binnert Prins Christoph Schütz Sebastian Wagner Frederik Schulte Daniel Watzenig BMW AG München Germany Faculty of Mechanical Maritime and Materials Engineering (3mE) Delf CD Institute of Automation and Control at Graz University of Technology Graz Austria Virtual Vehicle Research GmbH Graz Austria

One of the major challenges in the development of Automated Driving is its assessment. It is expected that Automated Vehicles behave differently than human drivers. Therefore, mixed human-robot traffic will yield different and new driving situations as human-only traffic. It is important to know how this mixed traffic will change the composition of traffic situations to be able to quantify the impact Automated Vehicles will have on everyday traffic. This paper presents a methodology on how to find metrics that quantify traffic in order to detect changes in the traffic space that will come with the introduction of Automated Vehicles. Additionally, this methodology provides tools to help with the validation of virtual testing platforms such as simulation.

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Practical Sliding Mode control with Time Delay Estimation for a 4-DOF Parallel Manipulator with Variant Payload

Practical Sliding Mode Control with Time Delay Estimation fo...

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International Conference on Mechatronics Technology (ICMT)

作者： Duc Thien Tran Thanh Nha Nguyen Xuan Tra Nguyen Duc Manh Nguyen Quoc Thanh Truong Hoai An Trinh Manh Hung Nguyen Kyoung Kwan Ahn Automation Control Department Ho Chi Minh City University of Technology and Education Ho Chi Minh City Vietnam Faculty of Mechanical Engineering HCMC University of Technology Ho Chi Minh City Vietnam School of Mechanical and Automotive Engineering University of Ulsan Ulsan Korea

This paper proposes a sliding mode control (SMC) with a time delay estimation (TDE) for a 4-DOF parallel manipulator with modeling error and a variant payload in practice. The proposed control is constructed from a sliding mode control and a time delay estimator. The sliding mode control is designed to guarantee the tracking objective of the parallel robot. Additionally, the TDE is utilized to compensate for the lumped uncertainty. By incorporating these techniques in the proposed control, the proposed method not only guarantees stability but also enhances the accuracy of the tracking performance in the parallel robot against the lumped uncertainty. The stability and robustness of the closed-loop control system are evaluated by the Lyapunov approach in theory. Finally, some experiments are conducted on the 4-DOF parallel robot testbench. The experimental results of the proposed control are compared to other methods to verify its superiorities.

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