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第三十九届中国控制会议

作者： Feng Liu Hualing He Zhihua Li Zhi-Hong Guan Hua O Wang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems College of Automation Huazhong University of Science and Technology Department of Mechanical Engineering Boston University

In order to overcome the problem of path planning failure in traditional potential field method, an improved potential field path planning method based on genetic algorithm is proposed in this paper. Firstly, for the problem of inaccessibility of the target, a factor method is added to the traditional gravity function to solve it;then the local minimum point problem of the traditional artificial potential field method is solved to ensure that the robot can reach the target point. At the same time, in order to get the optimal path, genetic algorithm is used to optimize the combined potential field function of gravity and repulsion, to find the lowest point of potential energy directly, so as to determine the step size and moving direction of the robot. Simulation is carried out to verify the effectiveness of the method.

关键词： Path planning artificial potential field gravitation function genetic algorithms

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Emotion Regulation Based on Multi-objective Weighted Reinforcement Learning for Human-robot Interaction

Emotion Regulation Based on Multi-objective Weighted Reinfor...

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Asian control Conference

作者： Man Hao Weihua Cao Zhentao Liu Min Wu Yan Yuan Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781728102634

Given emotion is important in maintaining mental and physical well-being. A multi-objective weighted reinforcement learning (MOW-RL) decision method is proposed to execute emotion regulation in human-robot interaction. The goal of emotion regulation is to minimize the cost of executing the service while eliminate user's negative emotions or maintain user's positive emotions. Considering the coordination problem of two objectives, fuzzy analytic hierarchy process (FAHP) is used to calculate the weight of each target reward and punishment function under different conditions. In addition, the influence factors of different personality on the difficulty level of emotion transfer are calculated by FAHP. Experiments are performed by 20 experimenters in the laboratory scenario, from which the results show that experimenters' satisfaction is 2.3, which is close to satisfaction.

关键词： Human-robot interaction External stimuli Service robots Reinforcement learning Robot kinematics Emotion recognition

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Compensation control for Tool Attitude in Directional Drilling systems

Compensation Control for Tool Attitude in Directional Drilli...

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Asian control Conference

作者： Zhen Cai Xuzhi Lai Min Wu Luefeng Chen Chengda Lu the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781728102634

This paper is concerned with tool attitude control of directional drilling systems, which plays a key role in guaranteeing desired drilling trajectory. The coupling of inclination and azimuth motions are taken into account in the motion model, where the azimuth one involves some time-varying parameters. To ensure satisfactory control precision, an output-feedback compensation control scheme is developed based on a motion model established from Taylor expansion. Stability analysis is sequentially made for the resulting inclination and azimuth closed-loop system. At last, some simulations show that the compensation controller can achieve higher control accuracy than a proportional integral controller.

关键词： Azimuth Tools Mathematical model Stability analysis control systems Attitude control Delays

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Fuzzy PID control Based on Working Condition Identification for Mould Level in Continuous Casting Process

Fuzzy PID Control Based on Working Condition Identification ...

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Asian control Conference

作者： Ying Feng Min Wu Xin Chen Luefeng Chen Sheng Du Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781728102634

Continuous casting is an important process in iron and steel production. In continuous casting process, in order to improve the control precision of mould level under steady-state working condition, and to suppress large fluctuation under non-steady-state working condition, a fuzzy PID controller is designed based on working condition identification. First, a mechanism model of mould level is established. After analyzing the characteristics of the model, the continuous casting process is divided into different working conditions. Then, fuzzy rules are designed to regulate the parameters of PID. Finally, results in industrial site show both of the control precision of mould level under steady-state working condition and the anti-interference ability under non-steady-state working condition are improved, indicating that the proposed method is effective.

关键词： Employee welfare Casting Process control Steel Steady-state Slabs Level control

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Voltage Sensitivity of Tag Antennas for Inductively Coupled RFID systems

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Journal of Physics: Conference Series 2021年第1期1738卷

作者： Cheng Jin Jixuan Zhu School of Automation China University of Geosciences (Wuhan) Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China

This paper describes a parameter of voltage sensitivity to recognize the performance differences of tag antennas for inductively coupled RFID systems. Based on the equivalent circuit model of the RFID tag and reader, an expression for the voltage sensitivity is educed. Then, the design steps of measuring platform to obtain the voltage sensitivity of tag antenna are introduced in detail. Finally, the feasibility of the proposed method was verified with the market available tag antennas through the measuring platform.

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An Efficient Method to Discover Association Rules of Mode-Dependent Alarms Based on the FP-Growth Algorithm

An Efficient Method to Discover Association Rules of Mode-De...

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IEEE Canada Electric Power Conference, EPEC

作者： Kai Ru Wang Wenkai Hu Tongwen Chen University of Alberta Edmonton Alberta T6G 1H9 Canada School of Automation and Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan China

ISBN: (数字)9781728164892

ISBN: (纸本)9781728164908

State-based alarming is an advanced technique to reduce nuisance alarms and alarm floods by suppressing alarms associated with certain conditions or operating modes. To implement this technique, the key is to find the associations between operating modes and alarms. In practice, this is mainly done based on the experience of plant operators and expert knowledge of process engineers, and thus is very time consuming. Therefore, this paper proposes a data driven method to discover the association rules of mode-dependent alarms for both single and multiple operating modes from the historical Alarm and Event (A&E) logs in an efficient way based on a data mining approach named FP-Growth. The effectiveness of the proposed method is demonstrated by an industrial case study.

关键词： Data mining Databases Alarm systems Power systems Conferences Systematics Standards

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A Comparison Study of Three Active Disturbance Rejection Methods

A Comparison Study of Three Active Disturbance Rejection Met...

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第三十九届中国控制会议

作者： Youwu Du Weihua Cao Jinhua She Mingxing Fang School of Automation China University of Geosciences College of Physics and Electronic Information Anhui Normal University Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

This paper investigates the performance of three active disturbance-rejection methods: disturbance-observer-based（DOB） control, active disturbance rejection control（ADRC）, and equivalent-input-disturbance-based（EID） control. Compared to the classic feedback control, these methods provide an additional degree of freedom to reject disturbances effectively. First, the disturbance-rejection mechanism of each of the methods is analyzed. For a proper design, the transfer function from disturbances to the output of a system approximates zero using these methods. This implies the effect of disturbances is blocked to the ***, the three methods are applied to the position control of a ball-and-beam system for comparison. The simulation results show that all these methods are insensitive to disturbances and robust to system uncertainties. And the error of the system output is smaller for the EID method than for the DOB and ADRC methods.

关键词： Active disturbance rejection control（ADRC） disturbance observer（DOB） disturbance estimation equivalent input disturbance（EID） robust control

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Corrigendum to “T2V_TF: An adaptive timing encoding mechanism based transformer with multi-source heterogeneous information fusion for portfolio management: A case of the Chinese A50 stocks” [Expert Syst. Appl. 213 (2023) 119020]

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Expert systems with Applications 2024年 239卷

作者： Feng Zhou Qun Zhang Yuan Zhu Tian Li School of Information Sciences Guangdong University of Finance and Economics Guangzhou 510320 China School of Finance Guangdong University of Foreign Studies Guangzhou Guangdong 510006 China Southern China Institute of Fortune Management Guangzhou Guangdong 510006 China Institute of Financial Openness and Asset Management Guangzhou Guangdong 510006 China School of Automation China University of Geosciences Wuhan Hubei 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan Hubei 430074 China Key Laboratory of Computational Neuroscience and Brain-Inspired Intelligence Fudan University Shanghai 200433 China Department of Finance School of Business The Chinese University of Hong Kong Shatin NT Hong Kong

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Stability and Neimark-Sacker Bifurcation of Leslie-Gower Predator-Prey System with Two Delays

Stability and Neimark-Sacker Bifurcation of Leslie-Gower Pre...

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第三十九届中国控制会议

作者： Wei Yin Weiqi Qin Xiaowei Jiang Xiangyong Chen Ming Chi School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Affiliated Hospital of Shandong Medical College School of Automation and Electrical Engineering Linyi University Huazhong University of Science and Technology

Neimark-Sacker bifurcation of a delay differential equation modeling two-enterprise interaction mechanism is investigated. For the demands of computer simulation applications, the discrete-time two-enterprise interaction model is proposed by using the forward Euler scheme. By discussing the characteristic equation of linearized part, the local stability criterion of the positive fixed point is presented. Time lag is selected as the bifurcation parameter. Then it is demonstrated that variation of time lag may result in Neimark-Sacker bifurcation. Furthermore, derivations for the directions and stability of Neimark-Sacker bifurcation are also given. Finally, we simulate the main results.

关键词： Leslie-Gower model Delay Stability Neimark-Sacker bifurcation

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CNN-based Broad Learning with Efficient Incremental Reconstruction Model for Facial Emotion Recognition ⁎

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IFAC-PapersOnLine 2020年第2期53卷 10236-10241页

作者： Luefeng Chen Min Li Xuzhi Lai 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 Tokyo Institute of Technology Yokohama 226-8502 Japan Department of Electrical and Computer Engineering University of Alberta Edmonton AB T6R 2G7 Canada

Convolutional neural network-based broad learning with efficient incremental reconstruction model (CNNBL) is proposed to recognize emotions in human-robot interaction. It aims to extract deep and abstract features from facial emotional images, and reduce the influence of the complex structure and slow network updates on facial emotion recognition in deep learning. Feature extraction is carried out by convolution and maximum pooling, and then the ridge regression algorithm is used for emotion recognition. When the network needs to expand, the network is dynamically updated by incremental learning algorithm. We verified the experimental performance through k -fold cross validation. According to the recognition results, the accuracy on JAFFE database of our proposal is greater than that of the state of the art, such as the Local Binary Patterns with Softmax and Deep Attentive Multi-path convolutional neural network.

关键词： Convolution Neural Networks Broad Learning Emotion Recognition Human-Robot Interaction

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