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3rd International Conference on Machine Learning, Cloud Computing and intelligent Mining, MLCCIM 2024

作者： Mo, Fan Gu, Chaochen Wang, Kunkun Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (纸本)9789819616930

To address the periodic disturbances introduced by the manipulator mounted on the drone, as well as the overall system parameter variations caused by the robotic arm carried by the Unmanned Aerial Vehicle (UAV), the fixed-time convergence observer (FTCO) is introduced to ADRC to enhance the dynamic characteristics, including overshoot and convergence speed. The Active Disturbance Rejection controller (ADRC) is employed as the fundamental controller for UAV systems while the FTCO is used to rapidly observe disturbances and compensate them to the controller, aiming to counteract interference. The UAV system is established to verify the effect of Fixed-Time Convergence Observer-Active Disturbance Rejection controller (FTCO-ADRC) when it is compared to conventional ADRC and PID controller. The simulation outcome reveals that the FTCO-ADRC perform better in convergence speed, overshoot and robustness. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Disturbance rejection

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Adaptive Neural Finite-Time Deployment of Heterogeneous Multi-agent Systems via a Cross-Species Bionic PDE-ODE Approach

Artificial Intelligence Science and Engineering

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Artificial Intelligence Science and Engineering 2025年第1期1卷 52-63页

作者： Jingtao MAN Zhigang ZENG Jun LI School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan China

For large-scale heterogeneous multi-agent systems (MASs) with characteristics of dense-sparse mixed distribution, this paper investigates the practical finite-time deployment problem by establishing a novel cross-species bionic analytical framework based on the partial differential equation-ordinary differential equation (PDE-ODE) approach. Specifically, by designing a specialized network communication protocol and employing the spatial continuum method for densely distributed agents, this paper models the tracking errors of densely distributed agents as a PDE equivalent to a human disease transmission model, and that of sparsely distributed agents as several ODEs equivalent to the predator population models. The coupling relationship between the PDE and ODE models is established through boundary conditions of the PDE, thereby forming a PDE-ODE-based tracking error model for the considered MASs. Furthermore, by integrating adaptive neural control scheme with the aforementioned biological models, a “Flexible Neural Network” endowed with adaptive and self-stabilized capabilities is constructed, which acts upon the considered MASs, enabling their practical finite-time deployment. Finally, effectiveness of the developed approach is illustrated through a numerical example.

关键词： Adaptation models Uncertainty Biological system modeling Neural networks Stochastic processes Mathematical models Numerical models Topology Multi-agent systems Diseases

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Hierarchical Data-driven Scheduling-control Framework for Energy-efficient Industrial Flexible Production 24

Hierarchical Data-driven Scheduling-Control Framework for En...

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2nd International Conference on Frontiers of intelligent Manufacturing and Automation, CFIMA 2024

作者： Jiang, Yuliang Zhu, Shanying Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (纸本)9798400710681

This paper proposes a hierarchical data-driven scheduling-control framework for a multi-machine/mode production system to operate in an energy-efficient manner. At the scheduling layer, the scheduling problem incorporating process dynamics is formulated into a quadratic programming to arrange candidate processing machines/modes and corresponding production objectives. Based on the dynamic linearization model, scheduling results are executed by model-free adaptive control at the control layer. The real-time process output is feedback to the scheduling layer for the next decision-making. The practicality of the proposed framework is validated in a thread-tapping process featuring four distinct operational modes. On average, operating in a single mode maintains output accuracy while saving 14.2% on energy. The multi-mode operation further optimizes energy usage through its capability for dynamic mode switching. © 2024 Copyright held by the owner/author(s).

关键词： Quadratic programming

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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A Novel Construction of Two-Dimensional Z-Complementary Array Code Sets Based on Extended Boolean Functions

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IEEE Transactions on Vehicular Technology 2025年第5期74卷 7821-7834页

作者： Tian, Liying Song, Xiaoshi Li, Yubo Zhang, Haijun Northeastern University School of Computer Science and Engineering Shenyang110819 China Northeastern University Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Shenyang110189 China Yanshan University School of Information Science and Engineering Qinhuangdao066004 China Hebei Key Laboratory of Information Transmission and Signal Processing Qinhuangdao066004 China University of Science and Technology Beijing School of Computer and Communication Engineering Beijing100083 China

Two-dimensional (2-D) array sets with good 2-D correlation properties have received considerable attention in wireless communication systems. This paper focuses on 2-D Z-complementary array code sets (ZCACSs), which have ideal 2-D correlation properties within a rectangular zone around the origin. By developing a theory linking 2-D extended Boolean functions with 2-D arrays, we establish an efficient construction of 2-D ZCACSs. In contrast to previous work, the proposed construction is capable of producing 2-D ZCACSs with new flexible parameters. Constructions of three-dimensional (3-D) and higher-dimensional ZCACSs are further investigated. We remark that 2-D and higher-dimensional complete complementary codes (CCCs) can also be generated from the proposed constructions. © 1967-2012 IEEE.

关键词： Codes (symbols)

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AMA-Net: Adaptive Masking Attention Network for Agricultural Crop Classification From UAV images

IEEE Transactions on AgriFood Electronics

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IEEE Transactions on AgriFood Electronics 2025年第1期3卷 246-253页

作者： Wang, Xu Wang, Deyi He, Zhaoshui Lin, Zhijie Xie, Shengli Guangdong Mechanical and Electrical Polytechnic School of Electronics and Communication Guangzhou510550 China Guangdong University of Technology School of Automation Guangzhou510006 China Key Laboratory for IoT Intelligent Information Processing and System Integration of Ministry of Education Guangzhou510006 China Guangdong Provincial Key Laboratory of Intelligent Systems and Optimization Integration Guangzhou510006 China

Agriculture crop classification is helpful for agricultural production. However, it is challenging to classify crops from the agriculture image suffering from these problems: 1) Crops are often masked in complex backgrounds;2) There is high similarity between crop categories. To address these problems, an adaptive masking attention network (AMA-Net) is proposed for agriculture crop identification from natural images, where the adaptive masking (AM) module is developed to distinguish the crop from the complex background by selectively eliminating redundant information of feature maps, and the fair attention module is devised to identify similar crops between categories by modeling the fine-grained features. Experiments conducted on the benchmark show the effectiveness and superiority of the proposed AMA-Net, achieving the performance of 96.65%, 96.65%, 97.13%, and 96.72% on the accuracy, precision, recall, and F1-score, respectively, which is better than other state-of-the-art methods. © 2023 IEEE.

关键词： Crops Agriculture Accuracy Visualization Training Production Autonomous aerial vehicles Attention mechanisms Adaptive systems Support vector machines

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Subsampling Decomposition based k-Space Refinement for Accelerated MRI Reconstruction

Subsampling Decomposition based k-Space Refinement for Accel...

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2025 IEEE International Conference on Acoustics, Speech, and Signal processing, ICASSP 2025

作者： Qiao, Xiaoyu Li, Weisheng Xiao, Bin Huang, Yuping Yang, Lijian Chongqing Key Laboratory of Image Cognition Chongqing University of Posts and Telecommunications Chongqing China Key Laboratory of Cyberspace Big Data Intelligent Security Chongqing University of Posts and Telecommunications Ministry of Education Chongqing China

ISBN: (纸本)9798350368741

In accelerated MRI reconstruction problem, directly recovering all the missing k-space data from undersampled measurements is highly ill-posed and often leads to suboptimal performance. To address the problem, we propose a novel deep unfolding network (DUN) with subsampling decomposition (SD) based k-space refinement to mitigate the ill-posedness. Our method employs a parallel network architecture with a primary branch unfolded by gradient descent-inspired optimization process (GD-PB) for reconstruction. Additionally, we introduce an SD-based auxiliary branch (SD-AB) that decompose the inverse problem into moderately corrupted subproblems. We design a novel subsampling mask predictor that captures both global and local spatial correlations in k-space, ensuring the SD-AB effectively preserves the most well-reconstructed subsets as reliable region (RR). The RR in SD-AB is used to periodically refine the intermediate outputs of the GD-PB, achieving improved accuracy. Experimental results reveal that our method significantly outperforms conventional and SD-based DUN techniques, achieving superior PSNR and SSIM results compared with cutting-edge methods. © 2025 IEEE.

关键词： compressed sensing deep unfolded network MRI reconstruction parallel imaging subsampling decomposition

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Stacking U-Nets in U-shape: Redesigning the Information Flow in Model-based Networks for MRI Reconstruction

Stacking U-Nets in U-shape: Redesigning the Information Flow...

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2025 IEEE International Conference on Acoustics, Speech, and Signal processing, ICASSP 2025

ISBN: (纸本)9798350368741

Model-based networks have shown convincing performance in MRI reconstruction. However, the unrolled cascades within the networks are constrained to solely obtain information from the preceding counterpart, resulting in potential error accumulation. Moreover, the linear structure fails to address the challenge of recovering fine-grained details. To tackle these problems, we propose to redesign the information flow in model-based networks. Our method features a large U-shaped network, where the nodes are built with unrolled cascades and U-Net-based regularizers. We design an input-level integration module to help the cascades acquire information from adjacent and skip-connected counterparts, building robust mappings to the target. We further design a coarse-to-fine feature-level integration module, aiming at guiding the network to progressively recover fine details. Intermediate reconstructions produced by subnetworks of different scales are integrated, enabling the extraction of complementary information to enhance the final performance. Compared with cutting-edge methods on different datasets, our method exhibits superior performances. © 2025 IEEE.

关键词： compressed sensing deep learning model-based MRI reconstruction U-Net

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A Novel Dynamic Peer-to-Peer Carbon Right Sharing Scheme for Microgrid Clusters

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IEEE Transactions on Smart Grid 2025年

作者： Zhou, Wei Lai, Jingang Li, Xi Zeng, Zhigang School of Artificial Intelligence and Automation China Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Education Ministry of China Wuhan430074 China

In this paper, a novel four-level distributed game decision-making framework of dynamic peer-to-peer (P2P) carbon emission right (CER) sharing is proposed for microgrid clusters (MGCs), which consists of four phases: exploration, selection, equilibrium and correction. Firstly, in the exploration stage, the tradable information is published by microgrids (MGs) and an initial set of tradable options is constructed. Secondly, in the selection stage, bilateral transaction coefficients are calculated according to the deficit and surplus of CERs in the P2P carbon market, and then an optimal sharing matching scheme of CERs is designed to reduce invalid transactions. Thirdly, in the equilibrium stage, a P2P carbon right sharing strategy based on the Stackelberg game is proposed to realize the dynamic change in carbon prices and the flexible conversion of master-slave roles in P2P carbon trading, which can promote the popularity of carbon market. Fourthly, in the correction stage, a carbon emission right balancer (CERB) is developed to avoid the imbalance of CERs, and then a billing scheme including incentives and penalties is established to achieve the benefit redistribution after P2P carbon trading. In the end, numerical results illustrate the effectiveness of the proposed multi-layer game decision-making framework for P2P carbon right sharing among MGs. © 2010-2012 IEEE.

关键词： carbon emission right balancer Microgrid cluster peer-to-peer carbon trading Stackelberg game

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Learning Preconditioners in Gates-controlled Deep Unfolding Networks based on Quasi-Newton Methods For Accelerated MRI Reconstruction

Learning Preconditioners in Gates-controlled Deep Unfolding ...

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2025 IEEE International Conference on Acoustics, Speech, and Signal processing, ICASSP 2025

ISBN: (纸本)9798350368741

Deep unfolding networks (DUNs) have made significant progress in MRI reconstruction, successfully tackling the problem of prolonged imaging time. However, the ill-conditioned nature of MRI reconstruction often causes slow convergence in iterative optimization, potentially compromising the performance of DUNs. In this study we propose a preconditioned and gates-controlled DUN (PGDUN) to address these challenges. Our approach starts with optimizing the step size of proximal gradient descent (PGD) through a preconditioner. To improve flexibility and adaptability, we relax the constrains on quasi-newton-based optimization procedure. We design ConvLSTM-based modules, where the gate units automatically preserve necessary long- and short-term information, facilitating the learning of optimized variables and their combinations. Furthermore, we design gate units to modulate the features fed to regularizers across different iterations, boosting their robustness against potential accumulated errors. Evaluations using PSNR and SSIM metrics reveal that our approach outperforms existing state-of-the-art methods, achieving superior reconstruction results across various sequences. © 2025 IEEE.

关键词： Compressed Sensing LSTM MRI reconstruction Preconditioner Quasi-Newton

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