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International Conference on advanced Robotics and Mechatronics (ICARM)

作者： Huai Xiao Jundong Wu Wenjun Ye Yawu Wang School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan Hubei China Gina Cody School of Engineering and Computer Science Concordia University Montreal Quebec Canada

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

This paper proposes a dynamic model for dielectric elastomer actuators (DEAs) based on the long-short term memory (LSTM) deep neural network. The fabrication of the DEA and the framework of the experimental platform are introduced firstly. The behaviors of the DEA are analyzed through several sets of experiments, which shows the DEA has obvious memory behavior (i.e., the hysteresis behavior and creep behavior), where the hysteresis behavior is a symmetry and rate-dependence. Considering that the traditional neural network is difficult to describe the memory property, the LSTM deep neural network is constructed as the dynamic model of the DEA. Then, such neural network is trained according to the experimental data. Finally, the comparation results of the experimental data and the model output verify the effectiveness as well as the generalization ability of the dynamic model.

关键词： Mathematical model Neural networks Hysteresis Actuators Logic gates Soft robotics

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Disturbance rejection of two-dimensional repetitive control system based on T-S fuzzy model

Disturbance rejection of two-dimensional repetitive control ...

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IEEE Conference on Decision and control

作者： Shengnan Tian Min Wu Manli Zhang Chengda Lu Luefeng Chen Jinhua She School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Engineering Tokyo University of Technology Hachioji Japan

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

In this paper, the issue of disturbance rejection of nonlinear repetitive control system (RCS) based on a continuous-discrete two-dimensional (2D) model is studied. Since a RCS involves continuous control and discrete learning, higher tracking performance may be realizable by taking into account these two different actions in system design. This paper construct a fuzzy RCS based on T-S model at first. Then, an improved fuzzy-equivalent-input-disturbance (IFEID)-based 2D RCS is presented to achieve both high tracking precision of periodic input and satisfactory rejection of aperiodic disturbances. Stability conditions of two subsystems are derived by exploiting separation theorem to ease the solution of state-feedback and observer gains. A design algorithm is presented via the concept of parallel distributed compensation. A simulation and a comparison demonstrate the availability and advantage of the IFEID-based 2D RCS approach.

关键词： Two dimensional displays Observers control systems Estimation State feedback Stability analysis Time-frequency analysis

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Position control of a Planar Single-Link Flexible-Link Manipulator Based on Enhanced Dynamic Coupling Model ⁎

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IFAC-PapersOnLine 2020年第2期53卷 7777-7782页

作者： Qingxin Meng Jundong Wu Ze Yan Chun-Yi Su 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 Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal QC H3G 1M8 Canada

Position control of a planar single-link flexible-link manipulator always faces huge challenges due to the underactuated characteristic of the system and the vibration of the flexible link. Since the system state variables related to the vibration is underactuated, this paper considers enhancing the dynamic coupling of this system. An enhanced dynamic coupling model is established by making equivalent transformation for the real dynamic model of the system. This enhanced dynamic coupling model makes the vibration variables appear as active variables in the proposed energy-based controller. Therefore, the proposed controller achieves good vibration suppression effect. The stability analysis is presented to prove that the proposed controller can effectively achieve the position control objective, and the simulation results further demonstrate the superiority of the proposed control method.

关键词： Flexible-link manipulator underactuated system enhanced dynamic coupling position control vibration control

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Design of Ultrasonic Ranging System Based on Cross-correlation Method

Design of Ultrasonic Ranging System Based on Cross-correlati...

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Chinese control Conference (CCC)

作者： Han Lu Zhihua Li Pei Gao 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

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

In order to solve the problem that ultrasonic ranging is difficult to obtain the first wave, an ultrasonic ranging system based on cross-correlation method is designed. In this system, the signal generating unit is mainly responsible for transmitting high frequency sound waves, and the data acquisition unit is mainly responsible for collecting and storing the sound waves. Then, according to the time delay between the collected acoustic signals, the time difference between the signals received by the signal acquisition unit is obtained, so as to measure the distance.

关键词： Acoustics Correlation Ultrasonic variables measurement Delays Power supplies Distance measurement

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Graph convolutional subspace clustering: A robust subspace clustering framework for hyperspectral image

arXiv

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arXiv 2020年

作者： Cai, Yaoming Zhang, Zijia Cai, Zhihua Liu, Xiaobo Jiang, Xinwei Yan, Qin School of Computer Science China University of Geosciences Wuhan430074 China School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan430074 China

Hyperspectral image (HSI) clustering is a challenging task due to the high complexity of HSI data. Subspace clustering has been proven to be powerful for exploiting the intrinsic relationship between data points. Despite the impressive performance in the HSI clustering, traditional subspace clustering methods often ignore the inherent structural information among data. In this paper, we revisit the subspace clustering with graph convolution and present a novel subspace clustering framework called Graph Convolutional Subspace Clustering (GCSC) for robust HSI clustering. Specifically, the framework recasts the self-expressiveness property of the data into the non-Euclidean domain, which results in a more robust graph embedding dictionary. We show that traditional subspace clustering models are the special forms of our framework with the Euclidean data. Basing on the framework, we further propose two novel subspace clustering models by using the Frobenius norm, namely Efficient GCSC (EGCSC) and Efficient Kernel GCSC (EKGCSC). Both models have a globally optimal closed-form solution, which makes them easier to implement, train, and apply in practice. Extensive experiments on three popular HSI datasets demonstrate that EGCSC and EKGCSC can achieve state-of-the-art clustering performance and dramatically outperforms many existing methods with significant margins. Copyright © 2020, The Authors. All rights reserved.

关键词： Spectroscopy

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A Privilege Management Method of Centralized Management System in the Computer Room

A Privilege Management Method of Centralized Management Syst...

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Chinese automation Congress (CAC)

作者： XiaoYu Dou Yan Yuan Weihua Cao Peilun Ouyang 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

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The computer room management system is a management system for network monitoring, bottom control, information filtering and security monitoring of computer room. It has the characteristics of multi-user and multi module. Scientific and intelligent management and control is the premise of efficient and stable work in computer room. Aiming at the problems of power supply security and efficiency, user authority configuration and management security of traditional computer room, a centralized management system of computer room based on Role Based of Access control(RBAC) is designed and implemented. This paper first introduces the structure and function of the system, then focuses on the detailed design of the user management subsystem of the system, and finally gives the realization and actual operation of the system. At present, the system has been successfully applied to a power room equipment, which proves the security, stability and efficiency of the system.

关键词： Computer security Security Encryption Databases Real-time systems Personnel complexity theory

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EDOLAB: An Open-Source Platform for Education and Experimentation with Evolutionary Dynamic Optimization Algorithms

arXiv

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arXiv 2023年

作者： Peng, Mai Yazdani, Delaram She, Zeneng Yazdani, Danial Luo, Wenjian Li, Changhe Branke, Juergen Nguyen, Trung Thanh Gandomi, Amir H. Yang, Shengxiang Jin, Yaochu Yao, Xin School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Research Institute Faculty of Engineering and Technology Liverpool John Moores University United Kingdom School of Computer Science and Technology Harbin Institute of Technology China Guangdong Provincial Key Laboratory of Novel Security Intelligence Technologies School of Computer Science and Technology Harbin Institute of Technology Peng Cheng Laboratory China School of Artificial Intelligence Anhui University of Sciences & Technology China Information Systems Management and Analytics in Warwick Business School University of Warwick United Kingdom Faculty of Engineering & Information Technology University of Technology Sydney Australia Obuda University Hungary School of Computer Science and Informatics De Montfort University United Kingdom Department of Artificial Intelligence School of Engineering Westlake University China School of Computer Science University of Birmingham United Kingdom

Many real-world optimization problems exhibit dynamic characteristics, posing significant challenges for traditional optimization techniques. Evolutionary Dynamic Optimization Algorithms (EDOAs) are designed to address these challenges effectively. However, in existing literature, the reported results for a given EDOA can vary significantly. This inconsistency often arises because the source codes for many EDOAs, which are typically complex, have not been made publicly available, leading to error-prone re-implementations. To support researchers in conducting experiments and comparing their algorithms with various EDOAs, we have developed an open-source MATLAB platform called the Evolutionary Dynamic Optimization laboratory (EDOLAB). This platform not only facilitates research but also includes an educational module designed for instructional purposes. The education module allows users to observe: a) a 2-dimensional problem space and its morphological changes following each environmental change, b) the behaviors of individuals over time, and c) how the EDOA responds to environmental changes and tracks the moving optimum. The current version of EDOLAB features 25 EDOAs and four fully parametric benchmark generators. © 2023, CC BY-NC-SA.

关键词： Optimization algorithms

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Precedence-constrained path planning of messenger UAV for air-ground coordination

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control Theory and Technology 2019年第1期17卷 13-23页

作者： Yulong DING Bin XIN Jie CHEN School of Automation Beijing Institute of Technology Beijing 700087 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China

This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the com mu nication n eighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large in stances dem on strate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.

关键词： Air-ground coordination curvature-constrained path planningz precedence constraints Dubins traveling salesman problem

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Fluidspread: A New Method of Maximizing Positive Influence in Online Social Networks via Fluid Dynamics

Fluidspread: A New Method of Maximizing Positive Influence i...

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International Conference on control and automation (ICCA)

作者： Feng Wang Jinhua She Yasuhiro Ohyama 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 School of Engineering Tokyo University of Technology Hachioji Tokyo Japan

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

Influence maximization aims at detecting the top-k influential users in online social networks. Almost all previous models of influence spread cannot simultaneously incorporate users' attitudes, interactions between users, and dynamic influences. However, in this study, we established a new model of influence spread via fluid dynamics, which reveals the time-evolving process for influence spread. We modeled the spread of influence as the process of fluid update based on three dimensions: the difference of fluid height, the temperature of fluids, and the difference of temperature. Moreover, we formulated the problem of maximizing positive influence and devised a Fluid-spread greedy algorithm to solve it. We conducted extensive comparisons between our approach and several baselines, and experimental results illustrate the effectiveness and efficiency of the Fluidspread model and algorithm.

关键词： Containers Dynamical systems Valves Plugs Time complexity Temperature distribution Social networking (online)

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Graph Convolutional Extreme Learning Machine

Graph Convolutional Extreme Learning Machine

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International Joint Conference on Neural Networks (IJCNN)

作者： Zijia Zhang Yaoming Cai Wenyin Gong Xiaobo Liu Zhihua Cai School of Computer Science China University of Geosciences Wuhan China School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (数字)9781728169262

ISBN: (纸本)9781728169279

Extreme Learning Machine (ELM) has gained lots of research interest due to its universal approximation capability and fast learning speed. However, traditional ELMs are devised for regular Euclidean data, such as 2D grid and 1D sequence, and thus don't apply to non-Euclidean data, e.g., graph-structured data. To overcome this shortcoming, this paper presents a Graph Convolutional Extreme Learning Machine (termed as GCELM) for semi-supervised classification. Technically, a random graph convolutional layer is introduced to replace the random projection of original ELM, which endues ELM with the capability of dealing with graph-structured data directly. To generate a robust graph from the raw dataset, a self-representation model is adopted to construct a weighted graph. Extensive experiments on 27 UCI datasets demonstrate that GCELM outperforms many popular semi-supervised methods, and with faster learning speed. To the best of our knowledge, this is the first work that combines graph convolution with ELM.

关键词： Convolution Robustness Closed-form solutions Neural networks Training Convolutional codes Optimization

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