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12th International Conference on intelligent Human-Machine Systems and Cybernetics, IHMSC 2020

作者： Liu, Yongfeng Li, Changhe Zeng, Sanyou China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

ISBN: (纸本)9781728165165

Real-time strategy (RTS) games have become one of the hotspots in the field of artificial intelligence research due to the large search space, long-term planning, and real-time constraint. In view of the fact that most of the current research on solving the RTS combat problem uses offline training methods, and these methods may need a lot of training time, this work uses an evolutionary algorithm (EA) to directly optimize the units' action sequences online. In order to solve the problems of repetitive actions caused by the neutral area and the size correlation caused by cooperation between units, three search operators are proposed. It is shown that this method can effectively solve the combat problem in RTS games. © 2020 IEEE.

关键词： Evolutionary algorithms

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A Multiple Ant Colony System for the Electric Vehicle Routing Problem with Time Windows

A Multiple Ant Colony System for the Electric Vehicle Routin...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Michalis Mavrovouniotis Georgios Ellinas Changhe Li Marios Polycarpou Department of Electrical and Computer Engineering KIOS Research and Innovation Center of Excellence University of Cyprus Nicosia Cyprus School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781665487696

Ant colony optimization (ACO) has been found to be useful on several vehicle routing problem variations. In this work, ACO is applied to the electric vehicle routing problem with time windows (E-VRPTW). The E-VRPTW has a hierarchical multiple objective function, which is to minimize the number of electric vehicles and the total distance traveled. A multiple ACO is applied to E-VRPTW in which two colonies cooperate to minimize the objectives in parallel. A local search is embedded in ACO to improve the quality of the output. The experimental results on a set of benchmark instances show that the multiple ACO is competitive with existing methods.

关键词： Ant colony optimization Vehicle routing Benchmark testing Electric vehicles Routing Search problems Linear programming

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Trajectory Tracking for Directional Drilling in Underground Coal Mine Using Robust Model Predictive control

Trajectory Tracking for Directional Drilling in Underground ...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Jiajun Wu Chengda Lu Hao Li Hongchao Wei Min Wu School of Future Technology China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China School of Automation China University of Geosciences Wuhan China Xi'an Research Institute Co. Ltd. China Coal Technology and Engineering Group Xi'an China China Coal Research Institute Beijing China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

This paper studies the problem of trajectory tracking control for directional drilling in underground coal mine by devising a robust model predictive control method. First, a directional drilling trajectory extension model is obtained by the linearization of a drilling tool kinematic model through the Taylor series expansion in the borehole depth domain. Then, in view of the influence of the uncertainty of the drilling tool slope and external interference, a robust model predictive control method is introduced in the form of an optimal control problem. A sufficient condition is obtained to calculate the corresponding controller gain matrix on the premise of satisfying the stability of the closedloop control system and the $H_{\infty}$ performance index. At last, the effectiveness of our method is illustrated through simulation analysis. Compared with model predictive control, robust model predictive control directly incorporates the uncertainty of the drilling tool slope and external interference into the control design, enabling it to better adapt to the complex and variable underground coal mine environment.

关键词： Drilling Uncertainty Trajectory tracking Stability criteria Predictive models Taylor series Coal mining Trajectory Thermal stability Predictive control

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Broad-Deep Network-Based Fuzzy Emotional Inference Model with Personal Information for Intention Understanding

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IFAC-PapersOnLine 2023年第2期56卷 7071-7076页

作者： Min Li Luefeng Chen Min Wu Min Ding Kaoru Hirota Witold Pedrycz School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan 430074 China Tokyo Institute of Technology Yokohama 226-8502 Japan Department of Electrical and Computer Engineering University of Alberta Edmonton AB T6R 2G7 Canada

A broad-deep fusion network-based fuzzy emotional inference model with personal information (BDFEI) is proposed for emotional intention understanding in human-robot interaction. It aims to understand students’ intentions in the university teaching scene. Specifically, feature extraction is carried out by convolution and maximum pooling, and then the ridge regression algorithm is used for emotional behavior recognition, which reduce the influence of the complex structure and slow network updates in deep learning. Multivariate analysis of variance is used to select the key personal information affecting the intention and obtain the coefficient of influence degree. Finally, fuzzy inference is used to understand the intention. According to the recognition results, the accuracy on FABO database of our proposal is 1.89%, 12.21% and 0.78% higher than those of the Residual Network combined with geodesic flow kernel (ResNet-101+GFK), a fuzzy deep neural network with sparse autoencoder (FDNNSA), and an affect recognition on a video-skeleton of bimodal information with a hierarchical classification fusion strategy (HCFS), respectively, indicating that our proposal can effectively capture the emotional intention of students in the teaching scene.

关键词： Convolution Neural Networks Broad Learning Emotional Intention Human-Robot Interaction

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Fast control Strategy of Grid-forming Inverter Based on Power Feedforward

Fast Control Strategy of Grid-forming Inverter Based on Powe...

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Chinese control Conference (CCC)

作者： Sheng Zhang Zhijian Fang Qine Liu Muchao Xiang Dingbang Huang 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 State Grid Hubei Electric Power Co. Ltd Xiangyang Power Supply Company Xiangyang China Electric Power Scientific Research Institute of State Grid Hubei Electric Power Co. Ltd Wuhan China

Grid-forming inverter is widely used in grid-connected systems of distributed generation because of its frequency and voltage support capacity and good stability in microgrid, but its large inertia will affect the dynamic response speed of grid-forming inverter. In order to solve this problem, this paper introduces the loop that affects the dynamic response of grid-forming inverter, and carries out small signal modeling for active loop, analyzes the dynamic performance indicators and determinants of typical second-order system. Thus, a method of adding power feedforward coefficient to the forward channel of the power loop is designed, and the response speed of the system with or without feedforward coefficient under the unit step response is compared. Finally, the simulation results show that adding the power feedforward coefficient can improve the response speed of the grid-forming inverter during startup and power switching, then achieves the effect of fast control.

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A Swing-Up and Stable control Strategy for Pendubot Based on Nonlinear Model Predictive Method

A Swing-Up and Stable Control Strategy for Pendubot Based on...

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Chinese automation Congress (CAC)

作者： Lejun Wang Yiqin Liu Ruihuan Zhang Zixin Huang Zhen Cai School of Automation/School of Industrial Internet Chongqing University of Posts and Telecommunications Chongqing 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 Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan China School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan China School of Information Engineering Wuhan City Polytechnic Wuhan China

The control objective of Pendubot is to stabilise the system in a vertically upward position by swinging up from a vertically downward position. Facing various physical constraints in practical applications, this paper proposes a swing-up stabil-isation control strategy based on a nonlinear model prediction method to accomplish the above control objective. On the basis of the system dynamics model, the forward Euler method is used to construct a nonlinear prediction model of the system. According to the control objectives and physical constraints of the system, the performance index function is designed, and then the control inputs of each sampling cycle are obtained through rolling optimisation and feedback correction, so that the system state gradually converges to the target trajectory, thus achieving the motion control objective. Based on the simulation results, it can be seen that the strategy proposed in this paper is efficient and robust under external disturbances.

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An-Improved $\alpha-\mathbf{Shapes}$ Algorithm for Solving Collaborative Workspaces of Dual SCARA Robots Based on Monte Carlo Method

An-Improved $\alpha-\mathbf{Shapes}$ Algorithm for Solving C...

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Chinese control Conference (CCC)

作者： Feng-Yu Zhang Gang Yu Shu-Han He Wang-Yong He School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China Huaxin Cement Technology Management (Wuhan) Co. Ltd. Wuhan P. R. China

Given the dual robots play a key role for collaborative work. In this paper, an improved method is proposed to find the kinematic positive solution based on its D-H parameters, model the dual SCARA robot in MATLAB environment, and solve the collaborative workspace point cloud map by Monte Carlo method. The proposed method extracts and plots the boundary curves of the collaboration space by improved the $\alpha-\text{Shapes}$ algorithm, and obtains the shape of the common region of the collaboration space of the dual SCARA robots and the limit position parameters in the collaboration space. It provides a theoretical basis for the research of path planning, trajectory planning, dynamics analysis, mechanism parameter optimization, self-avoidance, and anti-collision problems of the dual-robot collaborative system.

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Modified weak-value-amplification technique for measuring a mirror's velocity based on the Vernier effect

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Physical Review A 2022年第1期105卷 013718-013718页

作者： Jing-Hui Huang Fei-Fan He Xue-Ying Duan Guang-Jun Wang Xiang-Yun Hu Institute of Geophysics and Geomatics China University of Geosciences Lumo Road 388 430074 Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education 430074 Wuhan China School of Automation China University of Geosciences Lumo Road 388 430074 Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems 430074 Wuhan China

A modified weak-value-amplification (MWVA) technique to measure a mirror's velocity based on the Vernier effect is proposed. To demonstrate its enhanced sensitivity and higher signal-to-noise ratio (SNR), we use two cascaded Michelson interferometers with similar optical structures. One has a fixed mirror and acts as a fixed part of the Vernier scale, while the other, with a moving mirror, acts as a sliding part of the Vernier scale for velocity sensing. The envelope of the cascaded interferometers shifts much more than a single one with a certain enhancement factor, which is related to the free space range difference between them. In addition, we calculate the SNR based on the Fisher information with both the MWVA and traditional weak-value-amplification (TWVA) techniques. The results show that both the SNR and the sensitivity with our MWVA technique is greater than that of the TWVA technique within the range of our time measurement window. In particular, MWVA can present a viable and effective alternative to the TWVA technique out of the limit of resolution. Furthermore, by using the principles of the Vernier effect, it is applicable and convenient to improve the sensitivity and SNR in measuring other quantities with the TWVA technique.

关键词： Quantum measurements Quantum optics

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Motion control Strategy Based on Integrated Trajectory for the Pendubot

Motion Control Strategy Based on Integrated Trajectory for t...

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European control Conference (ECC)

作者： Lejun Wang Xuzhi Lai Pan Zhang Min Wu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

The control objective of a Pendubot is always to swing its endpoint up from the vertical downward equilibrium point (VDEP) and to stay it at the vertical upward equilibrium point (VUEP). This paper proposes a motion control approach based on the integrated trajectory to achieve the above control objective with only one controller. First, an integration trajectory with two parts is designed for the Pendubot. We plan the first part trajectory with variable parameters, and optimize these variable parameters by applying the genetic algorithm (GA) to make all links move simultaneously from their starting states to their target states. We plan the second part trajectory to make all links remain at the target states. Then, we build the linear time-varying error system based on the integration trajectory, and design a global tracking controller by using the linear system control method to track the integration trajectory. By this way, the control objective of the Pendubot is realized. Finally, the simulations illustrate the validity and superiority of the proposed method.

关键词： Linear systems Target tracking Torque Simulation Europe control systems Trajectory

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Disturbance Rejection for Pedaling Rehabilitation Robot Based on Integration of Equivalent-Input-Disturbance and Repetitive control Methods

Disturbance Rejection for Pedaling Rehabilitation Robot Base...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Yujian Zhou Jinhua She Feng Wang Makoto Iwasaki 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 School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Department of Electrical and Mechanical Engineering Nagoya Institute of Technology Nagoya Japan

This study integrated an improved equivalent-input-disturbance (EID) and a repetitive control methods to ensure reference tracking and enhance disturbance-rejection performance for a pedaling rehabilitation robot. A repetitive controller ensures steady-state tracking of a periodic reference input. An EID estimator with a state observer estimates and compensates for the effect of disturbances generated by patients with lower-limb impairment. The stability condition of the closed-loop system is analyzed based on the Lyapunov stability theory. Simulation results show the effectiveness of this method.

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