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Parallel Seeds:From Foundation Models to Foundation Intelligence for Agricultural Sustainability

IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 481-484页

作者： Laiyi Fu Shunkang Ling Danyang Wu Mengzhen Kang Fei-Yue Wang Hequan Sun the Shool of Automation Science and Engineering Faculty of Electronic and Information Engineering Xi'an Jiaotong University the College of Information Engineering Northwest A&F University IEEE the State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences

THE development of agriculture faces significant challenges due to population growth, climate change, land depletion, and environmental pollution, threatening global food security [1]. This necessitates the development of sustainable agriculture, where a fundamental step is crop breeding to improve agronomic or economic traits, e.g., increasing yields of crops while decreasing resource usage and minimizing pollution to the environment [2].

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Fully Distributed Model-Free Adaptive Sliding Mode control for MASs With Hybrid-Attacked Topology

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IEEE Transactions on automation Science and engineering 2025年 22卷 12336-12346页

作者： Duan, Shitao Chen, Guangdeng Zhou, Qi Li, Hongyi Huang, Tingwen Guangdong University of Technology School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative Control Guangzhou510006 China Southwest University College of Electronic and Information Engineering Chongqing400715 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

A fully distributed model-free adaptive sliding mode control (MFASMC) strategy is proposed in this paper for unknown nonlinear multi-agent systems (MASs), in which topology networks are exposed to hybrid attacks consisting of denial-of-service (DoS) and false data injection attacks. Hybrid attacks in topology networks can result in neighbor information dropouts and inaccuracies among agents. First, the MASs with unknown dynamics are translated to equivalent linear data equations by the dynamic linearization technique. Second, the impact of neighbor information dropouts caused by DoS attacks is mitigated by a designed attack compensation mechanism, in which the compensation error is guaranteed to be bounded in the sense of mathematical expectation. Then, a fully distributed MFASMC algorithm, which does not depend on knowledge of the Laplacian matrix, is designed to improve the robustness of MASs with topology networks exposed to hybrid attacks, thus indirectly mitigating the impact of neighbor information inaccuracies. Finally, the consensus error is rigorously proved to be bounded in the sense of mathematical expectation, and the validity of the proposed strategy is confirmed by simulations. © 2004-2012 IEEE.

关键词： Network topology

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Stability and bifurcation analysis of delayed tri-trophic food chain model in poisoned environment with fear effect and additional food

Stability and bifurcation analysis of delayed tri-trophic fo...

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作者： Ramasamy, Sivasamy Banjerdpongchai, David Park, PooGyeon Center of Excellence in Intelligent Control Automation of Process Systems Department of Electrical Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand Department of Electrical Engineering Pohang University of Science and Technology Pohang Korea Republic of

One of the most important goals of theoretical ecologists is to find a strategy for controlling the chaos in ecological models to maintain healthy ecosystems. We investigate the influence of fear and the supply of additional food to predators in a delayed tri-trophic food chain model, where interference among the species is determined by Holling type-II functional response. The proposed model incorporates the fact that the growth rates of prey and middle predators are decreased due to the fear of middle and special predators, respectively. The additional food is supplied to both predators by either nature or external agencies. Furthermore, the poisoned prey in the predator's environment is taken into account. In the proposed model, we use two time delays: one for the growth term of the middle predator and another for the gestation delay of the special predator. We determine the conditions for the existence of ecologically feasible equilibrium points and their local and global stability. In addition, we establish the conditions for the existence of Hopf bifurcation around interior equilibrium to seek periodic behavior in nondelayed and delayed models. Numerical investigations are performed to justify the proposed theoretical findings through phase portraits, time series of solutions, and bifurcation diagrams. We observe that the chaotic dynamics of a tri-trophic food chain model can be controlled by the proper choice of the fear effect and by supplying additional food parameters. As a result, our findings provide more ecological insights into the dynamics of the delayed tri-trophic food chain model with the fear effect and additional food supply. © 2023 John Wiley & Sons, Ltd.

关键词： Hopf bifurcation

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Data-Driven Group Formation control of Cyber-Physical Systems via Distributed Cloud Computing

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2025年 3卷 341-350页

作者： Ren, Hongru Long, Yinren Li, Hongyi Huang, Tingwen Guangdong University of Technology School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative Control Guangzhou510006 China Southwest University College of Electronic and Information Engineering Chongqing400715 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

This paper investigates the group formation control problem for cyber-physical systems (CPSs) with random communication constraints. The distributed cloud computing system is constructed to divide agents into groups and establish communication between agents. A data-driven predictive control strategy is proposed by combining networked predictive control and model-free adaptive control method. The desired group formation control performance can be achieved and the three-channel random communication constraints of CPSs are actively compensated. Thisstrategy does not require the system model and relies solely on the system's I/O data for adaptive learning. Further analyses concludes the conditions for simultaneous reach stability and group formation of the closed-loop CPSs using the data-driven predictive control strategy. The effectiveness of the proposed strategy is validated by simulation results. © 2023 IEEE.

关键词： Distributed cloud

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USDE-Based Task-Space Bilateral Teleoperator control Design with Time Delay 16th

USDE-Based Task-Space Bilateral Teleoperator Control Design ...

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16th International Conference on Modelling, Identification and control, ICMIC 2024

作者： Luo, Xin Ma, Jun Wang, Xian Na, Jing Xing, Yashan Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming650500 China Yunnan Key Laboratory of Intelligent Control and Application Kunming University of Science and Technology Kunming650500 China

ISBN: (纸本)9789819617760

In this paper, we present a control strategy for bilateral teleoperators operated in the task space, which is designed to estimate the uncertain dynamics. To implement this proposed strategy, we develop a straightforward yet robust unknown system dynamics estimator (USDE) by incorporating a low-pass filtering operation. By using the USDE, we can eliminate the impact of unmodeled system dynamics without the need to measure the acceleration signal. Furthermore, the proposed USDE offers the advantages of requiring only one tuning parameter and being easily adjustable compared to conventional estimators. The convergence of the estimation error associated with the unmodeled system dynamics and the stability of the closed-loop control system are both rigorously demonstrated through Lyapunov’s theorem. Ultimately, the superior performance of our method, as evidenced by enhancing motion synchronization and stability, is confirmed through simulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Time delay

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Adaptive Prescribed Finite-Time Bipartite Consensus control for Nonaffine Nonlinear MASs Under Structurally Unbalanced Topology

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3532-3541页

作者： Wang, Xiaomei Song, Yongduan Zhao, Xudong Wang, Huanqing Wang, Ding Niu, Ben Chongqing University School of Automation Chongqing400044 China Shandong Normal University School of Information Science and Engineering Shandong Jinan250014 China Dalian University of Technology School of Control Science and Engineering Liaoning Dalian116023 China Bohai University College of Mathematical Sciences Liaoning Jinzhou121013 China Beijing University of Technology Faculty of Information Technology Beijing100124 China Sichuan University School of Electrical Engineering Chengdu610065 China

This article investigates an adaptive bipartite consensus tracking control algorithm for a class of heterogeneous nonaffine nonlinear multiagent systems (MASs) with prescribed finite-time tracking performance under an unbalanced communication topology. In the case of an unbalanced digraph, a novel locally optimal bipartition strategy is proposed to transform the unbalanced communication topology into a structurally balanced one, thereby enabling the implementation of bipartite consensus tracking control. To achieve the expected tracking performance, the design philosophy focuses on developing a prescribed finite-time performance function (PFTPF), capable of preassigning the convergence time and accuracy precisely beforehand. The explored adaptive control algorithm can ensure that the whole signals concerning the closed-loop MASs remain bounded while the bipartite consensus errors converge to a predetermined range around zero within the prescribed finite time. Ultimately, the simulation results on robotic systems prove the availability of the developed design solution. © 2013 IEEE.

关键词： Topology

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Category-Level and Open-Set Object Pose Estimation for Robotics

arXiv

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arXiv 2025年

作者： Hönig, Peter Hirschmanner, Matthias Vincze, Markus Automation and Control Institute Faculty of Electrical Engineering TU Wien Vienna1040 Austria

Object pose estimation enables a variety of tasks in computer vision and robotics, including scene understanding and robotic grasping. The complexity of a pose estimation task depends on the unknown variables related to the target object. While instance-level methods already excel for opaque and Lambertian objects, category-level and open-set methods, where texture, shape, and size are partially or entirely unknown, still struggle with these basic material properties. Since texture is unknown in these scenarios, it cannot be used for disambiguating object symmetries, another core challenge of 6D object pose estimation. The complexity of estimating 6D poses with such a manifold of unknowns led to various datasets, accuracy metrics, and algorithmic solutions. This paper compares datasets, accuracy metrics, and algorithms for solving 6D pose estimation on the category-level. Based on this comparison, we analyze how to bridge category-level and open-set object pose estimation to reach generalization and provide actionable recommendations. Copyright © 2025, The Authors. All rights reserved.

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Overview on Contact Bounce Phenomena of Electromagnetic Type Switch Electrical Apparatus 11th

Overview on Contact Bounce Phenomena of Electromagnetic Type...

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11th Frontier Academic Forum of Electrical engineering, FAFEE 2024

作者： Wang, Zhiyong Zhu, Zhongheng Wang, Xili Zhao, Qi Faculty of Electrical and Control Engineering Liaoning Technical University Huludao125105 China Huludao Jili Industrial Control Automation Technology Co. Ltd. Huludao125001 China Guoneng Nortel Shengli Energy Co. Ltd. Xilingol026000 China

ISBN: (纸本)9789819788156

This article initially presents the working principle of electromagnetic switching devices and the significance of the contact system, distinguishing contact vibration into contact closure bounce and contact release rebound. It emphasizes that these phenomena are crucial factors influencing the lifespan and reliability of electrical devices. Subsequently, through the analysis of domestic and international literature, the paper discusses the academic community's progress in understanding and improving these vibration phenomena. The study shows that closure bounce and release rebound are affected by factors such as structural parameters and the contact engagement method. Notably, scholars have proposed innovative solutions, such as employing the principle of eccentric impact with inclined stationary contacts to suppress closure bounce, and adding limit stop plates between moving and stationary contact leaves to significantly mitigate release rebound, thereby markedly improving the appearance of contact vibration. Finally, the paper summarizes the current state of research on contact vibration in electromagnetic switches, pointing out the deficiencies in existing studies. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Vibration analysis

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Enhanced Feature Matching in Image Stitching Using ORB for Image-Based Mapping Using UAV 1

Enhanced Feature Matching in Image Stitching Using ORB for I...

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1st engineering and Science International Conference 2024, ESIC 2024

作者： Anoraga, Muhammad Imron Catur Ekawati, Estiyanti Mukhlish, Faqihza Instrumentation and Control Master Program Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Engineering Physics Research Group Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Center for Instrumentation Technology and Automation Institut Teknologi Bandung Bandung Indonesia

Image-based region mapping requires an image-stitching process to produce a complete map while preserving the details of the mapped objects. Image acquisition can be done using UAVs such as drones, and image stitching can be performed using the Oriented FAST and Rotated BRIEF (ORB) techniques. However, this algorithm has a drawback: There are many mismatches during feature matching. In this study, a maximum pixel displacement constraint between images was applied during the feature-matching process. Applying this constraint improved the feature-matching results due to a significant reduction of the mismatch rate from 84.28% to 25.17%. This reduction positively impacted subsequent stages, including map stitching. The mismatch removal process and the acquisition of transformation models during image registration became faster, reducing the processing time from 17m 36.8s to 1m 17.2s. Additionally, there was an improvement in the SSIM metric score, indicating that the stitched image results had a higher similarity to the reference image captured by a digital camera, increasing from 0.8423 to 0.8489. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Research on twistor-based complex collisions of a quadrotor UAV suspension system

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International Journal of Dynamics and control 2025年第3期13卷 1-14页

作者： Zhou, Jiaxing Chen, Yuhao Deng, Yifan Li, Qing School of Electric Engineering and Automation Xiamen University of Technology 600 Ligong Road Fujian Xiamen361024 China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control 600 Ligong Road Fujian Xiamen361024 China Faculty of Electronic and Information Engineering Xi’an Jiaotong University No. 28 Xianning West Shaanxi Xi’an710075 China School of Aerospace Northwestern Polytechnical University No. 127 Youyi West Road Xi’an710072 China

The disturbances of wind fields and collisions introduce additional uncertain disturbance during the collision deicing process of UAV suspended load. The UAV suspension system’s position and attitude models are established separately based on traditional method such as Newton–Euler. Consequently, the introduction of multiple algebraic methods, including position vector and Euler angle, increases computational complexity. Accordingly, the system response delays and the control accuracy cannot meet the mission requirements. Therefore, it is essential to find a method for integrated position–attitude modeling and control. To address this problem, this paper proposes a collision dynamic model for a quadrotor UAV suspension system based on twistor. This twistor provides a unified description of translational and rotational motion. In addition, the introduction of twistor avoids the normalization constraints and parameter redundancy in dual quaternion. The stability of the UAV cannot be ensured due to the uncertain disturbances introduced by the wind field and collisions. As a result, there is a need to design a strong disturbance rejection controller. To mitigate impacts of these disturbances, a fuzzy sliding mode controller within the twistor framework is presented. Lyapunov theory and LaSalle invariance principles are used to prove the stability of the system. The simulation demonstrates that the fuzzy sliding mode controller within the twistor framework effectively ensures the stability and adaptability of the quadrotor UAV suspended system under the disturbances of wind fields and collisions. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Disturbance rejection

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