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第36届中国控制会议

作者： Li Jun Zhang Neng Li Jing Jing Zhang Xi Yong Tian School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

This paper present a prediction model for three different objection(the airflow rate,the carbonaceous biochemical oxygen demand(CBOD) of the effluent,and the total suspend solids(TSS) of the *** model is built by the MLP neural *** accurancy of the prediction result of MLP neural network is compared with the accurancy of the result of trational stational autoregressive model(AR).The conclution is that the percentage error prediction model of the MLP neural network(PE),the fractional deviation(FB),normalized mean square error(NMSE),the mean absolute error(MAE) and mean square error(MSE) prediction model of evaluation index is better than the AR *** other words,the prediction model based on MLP neural network provides a reliable basis for reducing the energy consumption in the activated sludge process of industrial waste water treatment and further improving its effect on the treatment of industrial waste water.

关键词： Industrial waste water treatment Activated sludge process MLP neural network Data mining

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Experimental Study on Decentralized Concurrent Learning for Multi-Agent System with Complex Dynamics 36

Experimental Study on Decentralized Concurrent Learning for ...

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第36届中国控制会议

作者： Ting Fei Xin Chen Min Wu Chi Wang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

A cooperative multi-agent system entitles some independent agents to complete complex tasks through coordination and *** the dynamics of physical agents are so complex that the environment of learning is indeed stochastic,the paper introduces the decentralized multi-agent reinforcement learning（MARL） algorithm,named as Decentralized Concurrent Learning with Cooperative Policy Exploration（DCL-CPE）,in order to solve cooperative learning within stochastic *** investigate its feasibility in practical multi-agent systems,the box-pushing test with DCL-CPE is designed with a group of two-wheel driven robots acting as learning *** to physical properties,such as nonholonomic dynamics,rolling and sliding frictions,unreliable sense,rigid body collision,etc.,the cooperative learning is a high stochastic learning *** simulation test in Webots shows that DCL-CPE is good at exploring best cooperative policy in a decentralized way,even as state transition and rewards are all stochastic.

关键词： Multi-agent system Decentralized cooperative learning Stochastic environment Webots

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2D-DOA Estimation for Polarized Massive Antenna Array: Geometric and Algorithmic Guidelines

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IEEE Transactions on Vehicular Technology 2025年

作者： Wen, Fangqing Wang, Han Gui, Guan Yuen, Chau Sari, Hikmet Adachi, Fumiyuki China Three Gorges University Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering Yichang443002 China Hubei University of Automotive Technology Institute of Vehicle Information Control and Network Technology Shiyan442002 China Yichun University College of Physical Sciences and Engineering Technology Yichun336000 China City University of Macau Faculty of Data Science China Nanjing University of Posts and Telecommunications College of Telecommunications and Information Engineering Nanjing210003 China Nanyang Technological University School of Electrical and Electronics Engineering 639798 Singapore Sendai980-8572 Japan

The utilization of an Electromagnetic Vector Sensor (EMVS) array presents valuable insights in wireless communications and radars by incorporating the advantages of spatial, temporal, and polarization diversities. This study focuses on addressing the problem of estimating the Two-Dimensional (2D) Direction-of-Arrival (DOA) for an arbitrarily spaced EMVS array. Firstly, the Cramer-Rao Bounds (CRB) for estimating the 2D-DOA and polarized parameters are derived, which provides design guideline for array geometry. As suggested by the CRB, a sparse planar EMVS array is a more appealing choice compared to the popular coprime EMVS array. Thereafter, a Parallel Factor (PARAFAC)-based weighted phase fitting algorithm is presented, designed to fully explore the aperture of the conformal array as well as capitalize on the tensorial structure inherent in array data. The proposed PARAFAC algorithm not only provides a closed-form solution for conformal arrays but also exhibits superior accuracy in 2D-DOA estimation compared to existing approaches. Numerical results corroborate the theoretical advantages of the proposed array geometry and PARAFAC algorithm. © 1967-2012 IEEE.

关键词： Cramer-Rao bounds

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Geneva Hosts "ICT In Motor Vehicles" Workshop

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IEEE VEHICULAR TECHNOLOGY MAGAZINE 2009年第1期4卷 15-17页

作者： Bodson, Dennis Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan

The 'Information and Communication Technologies (ICT) In Motor Vehicles' Workshop was held at the Geneva International Motor Show between 4-5 March, 2009. The theme of the workshop was 'The Fully Networked Car', which focused on the integration of ICT in motor vehicles. A large number of experts, including engineers, designers, planners, government officials, regulators, and standards experts attended the event. The presentations focused on the issues facing the ICT and the automotive industries. One of the major topics discussed by the participants at the event was concerned with ICT and the impact of climate change. Some of the other topics that were discussed at the event included standards and spectrum, car-to-X communications, nomadic devices, voice and audiovisual services, advanced driver assistance systems, and wireless technologies for car production lines.

关键词： Vehicles Telecommunication standards Testing IP networks Web and internet services Protocols Feedback Conferences Internet telephony Network servers

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Non-reciprocity of energy transfer derived from cubic stiffness-induced nonlinear phenomena

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Results in Physics 2025年 73卷

作者： Kong, Na Sun, Min Chen, Jianen Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384 China School of Science Tianjin Chengjian University Tianjin 300384 China

Introducing purely nonlinear elastic elements can induce rich dynamic behaviors, such as bifurcations, jumps and isolated resonance curves, to linear systems. Therefore, these elements are suitable for constructing strong non-reciprocity of vibration energy transfer. First, the energy transfer along reciprocal directions in a three-degree-of-freedom system is investigated, where three oscillators are connected by cubic springs. The semi-analytical solutions of the system are obtained using the complexification-averaging method and the least squares method. The results are compared against numerical solutions obtained by the Runge-Kutta method. The excitation amplitude range that produces strong non-reciprocity of vibration energy is analyzed. The jump phenomenon under combined excitation is investigated, and a trigger method for constructing non-reciprocity using an impulse is proposed. Then, an oscillator chain with cubic stiffness and scaling parameters is embedded into a multi-degree-of-freedom linear oscillator system to further explore the effect of cubic stiffness. Energy transfer along two directions is compared by exciting the leftmost oscillator and the rightmost oscillator. Moreover, the trigger effect of the impulse on non-reciprocity is demonstrated. The results show significant differences in vibration energy transfer within three distinct frequency bands. The critical points between reciprocal and non-reciprocal states are obtained, and the three stages of reciprocity related to excitation amplitude are analyzed. Lastly, the modulation effect of the cubic stiffness on non-reciprocity is conducted by comparing the energy of the output oscillator. © 2025 The Authors

关键词： Cubic stiffness Energy transfer Jump phenomenon Non-reciprocity

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Hybrid Matching Teacher Framework for Cross-Domain Visual Detection Transformer

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IEEE Transactions on intelligent Transportation Systems 2025年

作者： Wang, Xiaowei Suo, Jinhui Li, Yang Gao, Ming Jiang, Peiwen Dai, Pengwen Hunan University State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle Engineering Changsha 410082 China Hunan University Wuxi Intelligent Control Research Institute Wuxi 214115 China Sun Yat-sen University School of Cyber Science and Technology Shenzhen Campus Shenzhen 518107 China

Object detection is a critical component of autonomous vehicle perception systems. However, domain shifts between training environments and real-world scenarios often degrade detector performance. Cross-domain object detection aims to adapt detectors to unlabeled target domains utilizing only labeled source data. Recent popular cross-domain object detection methods employ the mean teacher framework, which uses pseudo-labels generated by the teacher model to guide training on unlabeled real-world data. Despite its effectiveness, continuous training with noisy pseudo-labels leads to abnormal performance degradation in the later stages of training. To address this issue, we propose a novel Hybrid Matching Teacher (HMT) framework for cross-domain visual detection transformers, which enhances cross-domain knowledge transfer across pseudo-label generation, filtering, and training processes. Specifically, we design a Feature Sparse Alignment (FSA) module to adapt DETR tokens and queries, generate domain-adaptive weights to initialize the teacher-student models, and mitigate the inherent initial source bias in the teacher model. Next, a Localization-aware Pseudo-label Filtering (LPF) module ensures high-quality pseudo-labels by considering the consistency between localization and classification tasks. Furthermore, to improve the efficiency of pseudo-label training, the Cross-view Hybrid Matching (CHM) module introduces an auxiliary matching branch to increase the number of positive queries that match with pseudo-labels. Extensive experiments demonstrate that our approach achieves state-of-the-art performance, outperforming previous benchmarks by 3.1%, 8.5%, and 4.4% in adverse weather, diverse scenes, and synthetic-to-real, respectively. © 2000-2011 IEEE.

关键词： Autonomous vehicles cross-domain object detection detection transformer domain adaptation mean teacher

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Biomechanical Finite Element Methods Study of a Novel Internal Fixation System for Lumbar Spondylolysis

SSRN

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SSRN 2025年

作者： Li, Jingyuan Du, Chengfei Wang, Yulei Du, Di Liang, Jinlong Shao, Nengqi Feng, Fanzhe Xu, Wenhao Xu, Yongqing Cui, Yi Center for Joint Surgery Intelligent Manufacturing and Rehabilitation Engineering Center The First Affiliated Hospital of Army Medical University Chongqing400038 China Chongqing Municipal Science and Technology Bureau Key Laboratory of Precision Medicine in Joint Surgery Chongqing400038 China Chongqing Municipal Education Commission Key Laboratory of Joint Biology Chongqing400038 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of mechanical engineering Tianjin University of Technology Tianjin300384 China Department of Orthopaedic Surgery 920th Hospital of Joint Logistics Support Force Kunming650032 China Department of Orthopaedic Surgery 920th Hospital of Joint Logistics Support Force No. 212 of Da-Guan Road Xishan District Kunming650032 China

ObjectiveThis study aimed to verify the biomechanical efficacy of a novel internal fixation system for repairing lumbar spondylolysis (LS). Additionally, the changes in the mechanical performance of the novel internal fixation device during compression were *** healthy 25-year-old male volunteer was recruited for lumbar spine CT data acquisition to construct and validate a nonlinear finite element model of the L4-S1 spinal segment (A). Based on this, models were established for L5 spondylolysis (B), traditional internal fixation (C), and the pressurization process of the novel LS repair device fixation (D→E→F). For these six models, we constrained the lower surface of the S1 vertebral body while applying an axial compression force of 500 N and a moment load of 7.5 N·m on the upper surface of the L4 vertebral body to simulate six motions of the lumbar spine. The performance of each finite element model was evaluated by comparing the range of motion (ROM), maximum displacement, and maximum pressure experienced by the lumbar spine under different motion *** with Model C, Models D, E, and F exhibited a reduced ROM and maximum displacement (1%-38.5%, 12.8%-63.6%, and 32.8%-80.2%) compared with Model C during six different motions. Notably, compared with Model C, the novel internal fixation models consistently demonstrated a decreasing trend in the maximum stress on the intervertebral discs (IVD) and an increasing trend in the maximum stress on the articular cartilage and maximum stress and displacement of the bone graft. Moreover, the novel internal fixation model displayed larger ranges of evenly distributed stresses on the isthmus and reduced maximum stress on the internal fixation device across all six motions, with improved stiffness effects during the pressurization process of the novel internal fixation system (D→E→F).ConclusionsAccording to several mechanical comparisons, the novel internal fixation system had better biomechan

关键词： Axial compression

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A Contribution-based Resource Allocation Scheme for Multi-population Methods in Dynamic Environments 2

A Contribution-based Resource Allocation Scheme for Multi-po...

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2nd International Conference on Industrial Artificial Intelligence, IAI 2020

作者： Peng, Mai Li, Changhe Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

ISBN: (数字)9781728182162

ISBN: (纸本)9781728182162

The multi-population method is a common method for solving dynamic optimization problems. However, to design an efficient multi-population method, one of the challenging issues is how to allocate computational resources between populations given a limited computing buget in dynamic environments. This paper designs a contribution-based resource allocation mechanism. In this mechanism, a contribution degree of a population is defined according to the performance of the population, which determines the probability of the population to obtain the computing resource. This mechanism is implemented in an adaptive multi-population method. Experimental results on the moving peaks benchmark show that the algorithm equipped with the resource allocation mechanism outperforms the original algorithms. © 2020 IEEE.

关键词： Resource allocation

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Group Hybrid Coordination control of Multi-Agent Systems With Time-Delays and Additive Noises

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 737-748页

作者： Chuanjian Li Xiaofeng Zong School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China IEEE

A new kind of group coordination control problemgroup hybrid coordination control is investigated in this *** group hybrid coordination control means that in a whole multi-agent system(MAS)that consists of two subgroups with communications between them,agents in the two subgroups achieve consensus and containment,*** MASs with both time-delays and additive noises,two group control protocols are proposed to solve this problem for the containment-oriented case and consensus-oriented case,*** developing a new analysis idea,some sufficient conditions and necessary conditions related to the communication intensity betw een the two subgroups are obtained for the following two types of group hybrid coordination behavior:1)Agents in one subgroup and in another subgroup achieve weak consensus and containment,respectively;2)Agents in one subgroup and in another subgroup achieve strong consensus and containment,*** is revealed that the decay of the communication impact betw een the two subgroups is necessary for the consensus-oriented ***,the validity of the group control results is verified by several simulation examples.

关键词： Additive noises consensus control containment control group hybrid coordination control multi-agent systems(MASs) time-delays

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Time-varying formation tracking control of high-order multi-agent systems with multiple leaders and multiplicative noise

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Science China(Information Sciences) 2024年第12期67卷 191-207页

作者： Ruru JIA Xiaofeng ZONG Qing WANG College of Artificial Intelligence Nankai University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation Science and Electrical Engineering Beihang University

This work discusses the time-varying formation(TVF) tracking control problem of high-order multi-agent systems(MASs) with multiple leaders and multiplicative measurement noise. With the help of Lyapunov function tools and stochastic analysis methods, the TVF tracking protocol with multiple leaders and multiplicative noise is developed based on the relative state measurements, where followers are driven to realize the target TVF while tracking the convex combination formed by multiple leaders. Then, the TVF tracking problem is converted into the mean square asymptotic stability problem of a stochastic differential equation(SDE); sufficient conditions related to the control gains are given by stabilizing the corresponding stochastic system. Moreover, a TVF tracking algorithm is presented to outline the steps of protocol ***, the theoretical results are illustrated in terms of simulation examples.

关键词： multi-agent systems multiple leaders multiplicative measurement noise stochastic differential equation formation tracking control

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