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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Liu, Xiao Chen, Luefeng Wu, Min Cao, Weihua Lu, Chengda Pedrycz, Witold School of Automation China University of Geosciences Wuhan China School of Automation The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Department of Computer Engineering Sariyer Istanbul34396 Turkey

Changes in coal seam hardness cause fluctuations in the feed resistance at the drill bit during the drilling process, leading to unstable feeding speed. This paper proposes a robust dynamic output feedback controller to suppress disturbances caused by the variations in coal seam hardness in the feed system. Firstly, an unknown parameter measuring coal seam hardness is introduced, and an uncertain model of the feeding system is established based on the finite element model of the drill string. By designing weighted functions based on industrial field requirements and constructing a generalized plant, the controller achieves loop shaping, reducing the low-frequency impact of coal seam hardness variations on the feed system and suppressing the systems resonance peak. Simulation results demonstrate that the controller effectively suppresses parameter variations and external disturbances caused by changes in coal seam hardness, achieving stable control of the drilling speed. © 2024 IEEE.

关键词： Robust control

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Study on Landslide Susceptibility Evaluation Based on Improved Multivariable Weighted Model: A Case Study of Lushan County, China

Study on Landslide Susceptibility Evaluation Based on Improv...

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Software Engineering and Artificial Intelligence (SEAI), IEEE International Conference on

作者： Li Zhao Gonghao Duan School of Computer Science and Engineering Wuhan Institute of Technology Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

The evaluation of regional geological hazard susceptibility is of great significance to the prevention and control of geological hazard. In this paper, the "4-20" Lushan earthquake disaster area as the research area, combined with GIS and characteristics of the research area, through correlation analysis, selected 9 influencing factors as the evaluation factors. The study was conducted using a weighted information volume-logistic regression model (WI-LR). The results were classified into five sensitivity levels: very low, low, medium, high and very high. The results show that the landslide prone areas in Lushan County are concentrated in the area below the middle of the county seat, mostly near rivers, faults and areas with peak acceleration greater than 0.4. Among them, WI-LR model (AUC=0.918) > deterministic factor model (CF =0.908) > weighted information quantity model (WI) (AUC=0.896) > information quantity model I (AUC=0.853) > information quantity logistic regression model I-LR (AUC=0.799). It indicates that WI-LR model has high evaluation accuracy.

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Smart Infrared Temperature Measurement system Based On Elastic Compute Service Platform

Smart Infrared Temperature Measurement System Based On Elast...

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2021 China automation Congress, CAC 2021

作者： Li, Yongbo Yuan, Li Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9781665426473

In the fight against the novel coronavirus, this paper designs a smart infrared temperature measurement system based on the Elastic Compute Service platform. In the perceptual layer part of the Internet of Things(IoT), the system uses infrared temperature sensors to quickly collect the temperature of the forehead or arm of the human body and Uses the MCU to automatically transmits the measured data to the Elastic Compute Service through the WiFi module. In the network layer part of the Internet of Things,the data written into the database of the Elastic Compute Service through the program deployed on the Elastic Compute Service. In the application layer of the Internet of Things, the remote management terminal monitors the collected body temperature data in real-time and provides quick warnings. Finally, the User can log in to the applet on his mobile phone to quickly and easily obtain personal information. © 2021 IEEE

关键词： Internet of things

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High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain

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Chinese Journal of Aeronautics 2021年第5期34卷 652-665页

作者： Kang XU Shoukun WANG Junzheng WANG Xiuwen WANG Zhihua CHEN Jinge SI School of Automation Beijing Institute of Technology.Beijing 100081China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China Key Laboratory Ministry of Industry and Information Technology Beijing Institute of TechnologyBeijing 100081China

There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is ***,the hybrid control framework,which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion,is also *** on this framework,robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator(GG).Additionally,by using Whole-Body control(WBC)of framework,robot has the capability of flexibly accommodating the uneven terrain by Attitude control(AC)kinematically adjusting the length of legs like an active suspension system,and by Force/torque Balance control(FBC)equally distributing the Ground Reaction Force(GRF)to maintain a stable *** simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog ***,to smoothly demonstrate the performance of robot transporting heavy loads,the experiment of carrying 3-person load of about 240 kg is deployed.

关键词： Attitude control Gait generation High-adaption locomotion Obstacle avoidance Planetary exploration robot

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Graph-based Selection-Activation Reinforcement Learning for Heterogenous Multi-agent Collaboration

Graph-based Selection-Activation Reinforcement Learning for ...

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第43届中国控制会议

作者： Hao-Xiang Chen Xi-Wen Zhang Jun-Nan Shen State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Chongqing Innovation Center Beijing Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In practical applications of multi-agent systems, agents are often heterogeneous, and each type of them typically has different task objectives. For heterogeneous multi-agent reinforcement learning(HMARL), the diversity of agent types and the unbalanced agent number of each type can lead to the curse of dimensionality and non-stationary. Moreover, the increase in the number of heterogeneous agents may result in slow convergence during training. This paper proposes a graph-based selection-activation reinforcement learning(GSARL) method for training heterogenous multi-agent collaboration strategies. It first constructs agents based on their types, then extracts the global adjacency matrices and the ally adjacency matrices from the agents' observations, and calculates the global feature matrices. Afterwards, GSARL utilizes hierarchical graph convolutional network to sequentially convolve the global information and ally information, obtaining action logits based on agent types. By using the neural topology graph and the selection-activation method, the optimal multi-agent collaboration configuration is obtained through combinatorial optimization. Experiments are conducted in an adversarial combat simulation environment involving collaborative Unmanned Aerial Vehicles(UAVs) and Unmanned Ground Vehicles(UGVs). Simulation results show that the proposed method can accelerate convergence while allowing that each type of heterogeneous agents can leverage its unique advantages.

关键词： Multi-Agent system Hierarchical Graph Convolutional Network Heterogenous Multi-Agent Collaboration

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Optimal Tracking Performance of Networked control systems Under DoS and its Applications

Optimal Tracking Performance of Networked Control Systems Un...

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Chinese automation Congress (CAC)

作者： Xinyu Ren Bo Li Feng Zhao Xiangyong Chen Xianhe Zhang Xiaowei Jiang Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation China University of Geosciences Wuhan China School of Finance Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing Universities of Shandong Linyi University Linyi China Key Laboratory of Complex systems and Intelligent Computing School of Automation and Electrical Engineering Universities of Shandong Linyi University Linyi China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

This paper investigates the optimal tracking performance (OTP) of multiple-input multiple-output (MIMO) discrete networked control systems (NCSs) under the influence of Denial of Service (DoS) attack, channel noise, and bandwidth constraints. The channel noise is assumed to be additive Gaussian white noise (AWGN). Due to the randomness of DoS attack, a Bernoulli distribution is used for DoS modeling. Utilizing frequency domain analysis methods, coprime factorization, all-pass decomposition, and Youla parameterization, an explicit expression for the optimal tracking performance (OTP) of the system under the two-degree-of-freedom (TDOF) controller is derived. The analysis indicates that non-minimum phase (NMP) zeros, unstable poles (UPs), DoS attack, and network constraints affect the OTP of NCSs. Finally, the theoretical results are validated through simulations of MIMO NCS and vehicle control system.

关键词： automation Networked control systems Frequency-domain analysis Bandwidth Interference White noise Cyber-physical systems Poles and zeros MIMO communication Multi-agent systems

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An-improved α-Shapes algorithm for solving collaborative workspaces of dual SCARA robots based on Monte Carlo method

An-improved α-Shapes algorithm for solving collaborative wo...

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第42届中国控制会议

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

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 α-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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Path Planning for Distribution Network Robots with Adaptive Simulated Annealing-Enhanced Artificial Potential Field Method 26

Path Planning for Distribution Network Robots with Adaptive ...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Zhang, Baichao Chen, Xin Chen, Jinge Li, Jinbin Wang, Xiaokai Jian, Xu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Wuhan430077 China Hubei Fangyuan Dongli Electric Power Science Research Co. Ltd Wuhan430077 China

ISBN: (纸本)9798331521950

In this paper, we propose a hybrid algorithm that combines an improved Artificial Potential Field (APF) method with the Simulated Annealing (SA) algorithm for path planning of an electric power operation robot manipulator in complex distribution grid environments. To address the unreachable target issue inherent in traditional APF, we introduce a distance regulation factor to optimize the repulsive function. This modification allows the manipulator to smoothly approach the target point as it nears, while the repulsion from obstacles gradually decreases. Additionally, to overcome the limitations of the traditional SA algorithm, such as its tendency to get trapped in local minimum solutions and its inefficiency in complex environments, we propose an adaptive temperature rise strategy. This strategy increases the temperature, enhancing the probability of escaping local optimal solutions. When the APF algorithm becomes trapped in a local optimum, the improved SA algorithm is applied to escape the local minimum. Once the local optimum is avoided, the algorithm switches back to APF to continue the path planning process. Simulation results demonstrate that the proposed improved APF-SA algorithm adapts effectively to various complex environments, achieving shorter planning times and higher success rates compared to traditional APF and SA algorithms. It successfully resolves the unreachable target and local minimum problems associated with APF. Finally, the feasibility of the proposed APF-SA fusion algorithm is validated through experiments conducted on an electric power operation robot experimental platform for distribution grid applications. © 2025 IEEE.

关键词： Motion planning

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Mdbfusion: A Visible And Infrared Image Fusion Framework Capable For Motion Deblurring

Mdbfusion: A Visible And Infrared Image Fusion Framework Cap...

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IEEE International Conference on Image Processing

作者： Jun Chen Wei Yu Xin Tian Jun Huang Jiayi Ma School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Electronic Information School Wuhan University Wuhan China

ISBN: (数字)9798350349399

ISBN: (纸本)9798350349405

As a vital technology in the field of image processing, numerous visible and infrared fusion methods have emerged with the aim of generating a single image containing salient targets and abundant details. However, owing to the influence of target motion or camera shake, source images may suffer from motion blur, resulting in blurred edges and unrecognizable objects. To address this issue, this paper bridges the gap between deblurring and fusion tasks and proposes a joint motion deblurring and fusion network for visible and infrared image (MDbFusion). On the one hand, we innovatively merge motion deblurring task into network design, which effectively ensures the capacity of MDbFusion to process images in the extreme condition. On the other hand, an Adaptive Weight Module (AWM) is designed to calculate contribution between visible and infrared features, which solves the channel contrast between two tasks, greatly reducing the complexity of network. Extensive experiments demonstrate that the MDb-Fusion outperforms state-of-the-art (SOTA) fusion algorithms in terms of preserving texture details and quantitative metrics. Furthermore, we also compare with a two-step fusion strategy that first deblurring then fusion, both with SOTA methods. The results reveal superiority of our framework in coupling and reciprocity between two tasks.

关键词： Measurement Couplings Adaptive systems Image edge detection Cameras complexity theory Decoding

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Improved Shufflenet V2 Network with Attention for Speech Emotion Recognition

SSRN

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SSRN 2024年

作者： Udeh, Chinonso Paschal Chen, Luefeng Du, Sheng Liu, Yulong Li, Min Wu, Min School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

This paper introduces a novel algorithm for recognizing speech emotions, utilizing an enhanced version of the ShuffleNet V2 network. Previous studies typically analyze speech signals solely from the time or frequency domain, resulting in the loss of detailed information. Our algorithm initially converts speech data into an acoustic spectrogram to address this limitation, preserving rich original information across both time and frequency domains. This approach optimizes feature extraction by leveraging the capabilities of deep convolutional networks to capture local changes in images. Furthermore, we integrated the attention mechanism from ECA-Net into the ShuffleNet V2 model. This incorporation enhances the extraction of significant features, amplifying the expression of features strongly correlated with the emotional state conveyed in speech while suppressing irrelevant ones. In addition to these enhancements, we replace the ReLU activation function with Hardswish to deepen the neural network, thereby improving feature information without compromising model accuracy. Finally, the training stage incorporates the hot restart Cosine Annealing Learning Rate to optimize the network further. Simulation experiments are conducted on the enterface'05 dataset to evaluate the accuracy of the proposed algorithm. The experimental results show that the recognition rate of the method is higher than the existing algorithms. © 2024, The Authors. All rights reserved.

关键词： Human robot interaction

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