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Prediction for Surface Subsidence of Shield Construction in Water-Rich Sand Egg Stratum Based on Edge intelligence 1

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3rd EAI International Conference on Edge Computing and IoT, EAI ICECI 2022

作者： Gao, Yanxia Liu, Yiwen Mi, Chunqiao Tang, Pengju Shi, Yuanquan School of Computer and Artificial Intelligence Huaihua University Huaihua418000 China Key Laboratory of Wuling-Mountain Health Big Data Intelligent Processing and Application in Hunan Province Universities Huaihua418000 China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture in Hunan Province Huaihua418000 China

ISBN: (数字)9783031289903

ISBN: (纸本)9783031289897

The refinement and intelligent control of shield tunneling is the development trend of modern tunnel construction technology. In order to better predict and control the surface subsidence caused by shield excavation, this paper takes the shield construction of Luoyang Metro Line 2 from Longmen Station to Longmen Avenue Station as the background, and proposes a method based on edge intelligence for shield construction in water-rich sand egg strata. Methods for predicting land subsidence. First, low latency and faster data processing are achieved by collecting a large amount of data containing dynamic information about geological conditions and surrounding environments during the shield tunneling process;then using the iFogSim simulator to create different configurations;second, establishing support A surface subsidence model based on vector regression was established, and the model was deployed on the edge equipment;finally, the model was evaluated using the monitoring data of surface subsidence of the water-rich sand egg formation in Luoyang area. The research results show that the edge computing-based system has lower latency and higher processing speed than only deploying cloud data centers. After Pearson-related parameter tuning and model comparison training with Linear as the kernel function, the mean square error of the predicted value and the collected value of the surface subsidence is better than the other two kernel functions. The method proposed in this paper can provide real-time prediction service for large-scale surface subsidence prediction caused by shield construction, and is more practical. © 2023, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.

关键词： Soils

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Disturbance Estimation of Legged Robots: Predefined Convergence via Dynamic Gains

arXiv

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arXiv 2025年

作者： Li, Bolin Cai, Peiyuan Zuo, Gewei Zhu, Lijun Ding, Han School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430072 China Key Laboratory of Imaging Processing and Intelligence Control China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology China

In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages measurable variables. The distinct feature of our observer is the integration of dynamic gains and comparison functions, which guarantees predefined convergence of the disturbance estimation error, including ultimately uniformly bounded, asymptotic, and exponential convergence, among various types. The properties of dynamic gains and the sufficient conditions for comparison functions are detailed to guide engineers in designing desired convergence behaviors. Notably, the observer functions effectively without the need for upper bound information of the disturbance or its derivative, enhancing its engineering applicability. An experimental example corroborates the theoretical advancements achieved. Copyright © 2025, The Authors. All rights reserved.

关键词： Continuous time systems

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Exploration and Practice of Course Homework Metaverse Based on Extended Reality Under Edge Computing 1

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3rd EAI International Conference on Edge Computing and IoT, EAI ICECI 2022

作者： Fu, Jinrong Liu, Yiwen Yan, Haobo Gao, Yanxia Xiao, Jianhua School of Computer and Artificial Intelligence Huaihua University Huaihua418000 China Key Laboratory of Wuling-Mountain Health Big Data Intelligent Processing and Application in Hunan Province Universities Huaihua418000 China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture in Hunan Province Huaihua418000 China

ISBN: (数字)9783031289903

ISBN: (纸本)9783031289897

The metaverse originated from science fiction at first, but it gradually came into reality with the continuous power of technology. Aiming at the problems of course work in Chinese universities, such as its function is weakened or suppressed, its form is too abstract, and it lacks elaborate design, this paper proposes a design method of course work meta-universe based on extended reality under edge computing. XR technology is used to realize the interactive immersion of the coursework meta-universe, in order to improve students’ learning enthusiasm and ability to solve abstract problems. Based on the international perspective, this paper systematically combs and analyzes the integration architecture, application scenarios and future trends of the meta-universe education application based on Edge computing (MEC). Four key processes are described: teacher-student interaction, data collection, data feedback and comprehensive evaluation. In order to promote the application of the metaverse in the field of education to provide mirror. The validity of the method is illustrated by the data. © 2023, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.

关键词： Edge computing

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Event-triggered Nonlinear control with Reset Dynamics

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IEEE Transactions on Automatic control 2025年

作者： Zhu, Lijun Chen, Zhiyong The Ministry of Education Key Laboratory of Imaging Processing and Intelligence Control China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Wuhan430074 China The University of Newcastle School of Engineering CallaghanNSW2308 Australia

In this paper, we propose an improved event-triggered control law based on Lyapunov function method for a class of nonlinear systems by integrating a monotonically decreasing dynamics with a reset mechanism at each sampling instance. It is rigorously guaranteed that the sampling interval can be increased compared to a recently designed Lyapunov-function based event-triggered control law when adopted at each step while the advantages compared with other existing event-triggered control laws are maintained. Then, the improved event-triggered law is applied in the adaptive control scheme. Finally, it is verified by numerical examples that the sampling efficiency is improved when the design parameter is appropriately chosen. © 1963-2012 IEEE.

关键词： Lyapunov functions

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Efficient Reinforcement Learning for 3D LiDAR Navigation of Mobile Robot 41

Efficient Reinforcement Learning for 3D LiDAR Navigation of ...

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第41届中国控制会议

作者： Yu Zhai Zhe Liu Yanzi Miao Hesheng Wang China University of Mining and Technology MoE Key Lab of Artificial Intelligence Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Developing an efficient automatic navigation system for mobile robots is challenging in the strange scenarios where robots can only observe the environment of the surrounding limited *** other distributed automatic navigation systems exist,they often require extracting semantic information to calculate navigation action,which requires extra modules to provide perceptual information and is not *** propose an end-to-end automatic navigation system based on the reinforcement learning *** particular,the raw 3 D LiDAR data is used to directly map an efficient navigation *** design a novel dense reward function to handle the reward sparsity issue and provide a graphical representation method to enable the efficient feature learning from the raw 3 D LiDAR data in our navigation *** addition,an imitation learning based policy initialization is introduced before the subsequent reinforcement learning,which increases the learning efficiency and,in the meantime,still encouraging the robot to explore all the potential states to achieve advanced performance than the imitated *** navigation model is trained in the Webots environment and the experimental results show that our model has efficient and flexible navigation performance in complex *** importantly,trained model can be easily extended to unfamiliar environments.

关键词： End-to-end Navigation Mobile robot Reinforcement Learning 3D LiDAR

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USV Path Planning Based on ACO-SA Algorithm

USV Path Planning Based on ACO-SA Algorithm

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第42届中国控制会议

作者： Chuanshang Luo Yifeng Tang Zhihui Huang Yifan Xu Bin Liu Hai-Tao Zhang School of Artificial Intelligence and Automation the Engineering Research Center of Autonomous Intelligent Unmanned Systems the Key Laboratory of Image Processing and Intelligent Control and the State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology

This paper solves USV path planning problem constrained by multiple factors via ant-colony optimization ***, this paper uses the ways of multi-objective optimization to model the USV path planning problem. An improved ant colony algorithm named ACO-SA is put forward afterwards to effectively solve the problem. The algorithm is a combination of ACO algorithm(ant colony algorithm) and SA algorithm(simulated annealing algorithm), which has three improments: change the initial distribution of pheromone to guide the search when the algorithm has just started running;change the heuristic function and state transition probability taking three factors into consideration;change the pheromone update rule and make the ants compete for the right to update pheromone by simulated annealing algorithm, and update the best solution by the same ***, simulation experiment and field experiment are conducted to check the validity of ACO-SA algorithm.

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Koopman Operator Learning control of the Piezoelectric Actuator

Koopman Operator Learning Control of the Piezoelectric Actua...

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第42届中国控制会议

作者： Xiang Huang Hai-Tao Zhang School of Artificial Intelligence and Automation the Engineering Research Center of Autonomous Intelligent Unmanned Systems the Key Laboratory of Image Processing and Intelligent Control and the State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology

The piezoelectric actuator is one kind of device that can drive nanoscale motion. However, the nonlinear hysteresis effect induced by its natural material greatly degrades its positioning accuracy. To handle this challenging issue, this work develops a Koopman model predict control(Koopman-MPC) framework for the piezoelectric actuator. Specifically, the Koopman operator theory is adapted for modeling the piezoelectric actuator dynamics. A simple yet powerful linear model spanned in a high-dimensional space is thus constructed to characterize the hysteresis dynamics. Subsequently, upon the established Koopman model, an MPC scheme is put forward for tracking control of piezoelectric actuators. Therein, by sustained optimizing a cost function containing future outputs and control increments, the control input is obtained. Moreover, extensive tracking simulations are carried out on a simulated piezoelectric actuator for verifying the feasibility and effectiveness of the Koopman-MPC scheme.

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Highly Accurate Dynamic Gesture Recognition Method Based on Edge intelligence 1

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3rd EAI International Conference on Edge Computing and IoT, EAI ICECI 2022

作者： Changkai, Lu Yiwen, Liu Yanxia, Gao Yuanquan, Shi Xiaoning, Peng School of Computer and Artificial Intelligence Huaihua University Huaihua418000 China Key Laboratory of Wuling-Mountain Health Big Data Intelligent Processing and Application in Hunan Province Universities Huaihua418000 China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture in Hunan Province Huaihua418000 China

ISBN: (数字)9783031289903

ISBN: (纸本)9783031289897

In recent years, gestures have been widely used in many fields. For example, human-computer interaction, virtual reality, gesture translation, etc. The reason for its rapid development is due to the emergence of deep learning and artificial intelligence under today’s society. Due to dynamic gestural interactions, such large intelligent models are often characterized by many parameters, large sample size, frequent parameter updates, and high communication volume. Based on this feature, we propose a cloud-based edge design architecture approach for gesture recognition based on an improved YOLOv5 network model optimization by changing different gestures, background interference, which uses a 21-layer model for the neural network. With the use of edge intelligence, the computational accuracy can be improved by 10.6% over the traditional YOLOv5 with a MAP value of 93.3%. The final recall rate is also improved by 3.6%. The parameter model is only 43.6% of the original one. This shows the practicality and operability of using edge computing as a technique in gesture recognition, as well as the small improvement cost and obvious effect. © 2023, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.

关键词： Gesture recognition

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Fog images Generation about Unmanned Surface Vessels with Improved Generative Adversarial Network

Fog Images Generation about Unmanned Surface Vessels with Im...

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第42届中国控制会议

作者： Yifeng Tang Zhihui Huang Chuancong Tang Chuanshang Luo Yifan Xu Bin Liu Hai-Tao Zhang School of Artificial Intelligence and Automation the Engineering Research Center of Autonomous Intelligent Unmanned Systems the Key Laboratory of Image Processing and Intelligent Control and the State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology

This paper proposes a fog weather data augmentation method for the unmanned surface vessels(USVs) via improved Generative Adversarial Network(GAN) model. First, a generator scheme for GAN is proposed with the guided generation of the atmospheric scattering model in this paper. A Laplacian Pyramid Based Depth Residuals model is added to the generator which reduces the difficulty of generating fog images caused by the degradation of water surface image and improves the quality of generated images. Finally, fog images are generated from sunny weather images collected with HUST-12C by LPBDR-GAN model and experiments show that generated images are very close to real fog images.

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Deterministic-like data-driven discovery of stochastic differential equations via the Feynman–Kac formalism

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The European Physical Journal Special Topics 2024年 1-21页

作者： Ma, Chaoxiang Huang, Cheng Cheng, Cheng Li, Xiuting The College of Informatics Huazhong Agriculture University and the China–Poland Belt and Road Joint Laboratory on Measurement and Control Technology Huazhong University of Science and Technology Wuhan People’s Republic of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Ministry of Education Key Lab of Intelligent Control and Image Processing Wuhan China

This paper develops a data-driven deterministic identification architecture for discovering stochastic differential equations (SDEs) directly from data. The architecture first generates deterministic data for stochastic processes using the Feynman–Kac formula, and gives a parabolic partial differential equation (PDE) associated with the SDE. Then, a sparse regression model is proposed to discover drift and diffusion terms in SDEs using PDE data-driven techniques, where a large candidate library of potential terms only for the drift and diffusion coefficients in SDEs need be constructed. To simultaneously infer the drift and diffusion terms, we proposed a sequential thresholded reweighted least-squares algorithm to solve the constructed sparse regression model. The main advantage of the proposed method is that on the one hand, theoretical and numerical identification results of PDEs can be used for SDEs, on the score, our SDE identification problem is translated into the parameter estimation problem of PDEs, on the other hand, the proposed algorithm is easily executed and can enhance the sparsity and accuracy. Through several classical SDEs and ordinary differential equations, the effectiveness of the proposed data-driven method is demonstrated, and several comparison experiments with state-of-the-art approaches is provided to illustrate the superiority of the developed algorithm.

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