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arXiv 2023年

作者： Wang, Siqi Li, Shaoyuan Yin, Li Yin, Xiang Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China The Institute of Systems Engineering Macau University of Science and Technology Taipa China

This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the spatial robustness of a system, our work takes a step further by also considering temporal robustness as a critical metric to quantify the tolerance of time uncertainty in STL. To this end, we formulate two relevant control objectives to enhance the temporal robustness of the synthesized policies. The first objective is to maximize the probability of being temporally robust for a given threshold. The second objective is to maximize the worst-case spatial robustness value within a bounded time shift. We use reinforcement learning to solve both control synthesis problems for unknown systems. Specifically, we approximate both control objectives in a way that enables us to apply the standard Q-learning algorithm. Theoretical bounds in terms of the approximations are also derived. We present case studies to demonstrate the feasibility of our approach. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Platoon Keeping and Collision Avoidance Based on Distributed Model Predictive control under Arbitrary Communication Chain Malfunction

Platoon Keeping and Collision Avoidance Based on Distributed...

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2022 Chinese Automation Congress, CAC 2022

作者： Chen, Nan Chen, Yutao Lin, Dingci Huang, Jie College of Electrical Engineering and Automation Fuzhou University Fuzhou350108 China Fuzhou University 5G+Industrial Internet Institute Fuzhou350108 China Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350108 China

ISBN: (纸本)9781665465335

In this paper, a platoon keeping and collision avoidance method based on distributed model predictive control(DMPC) is proposed to solve the problem of arbitrary communication chain malfunctions under a bidirectional-leader topology. Firstly, for the platoon under normal communication, a DMPC controller is designed by using the trajectory information of the leader and predecessor vehicle, which also satisfies the situation when communication chain between the follower (except follower 1) and the leader malfunction. Secondly, for other communication chain malfunction situation, we proposed the corresponding communication topology transformation scheme and controller transformation scheme, which makes the proposed control scheme can adapt to arbitrary communication chain malfunction situation. Finally, as for the control strategy proposed in this paper, some simulation experiments are carried out. © 2022 IEEE.

关键词： Collision avoidance

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A Dynamic Safe Arbitrator for Human-Machine Shared control

A Dynamic Safe Arbitrator for Human-Machine Shared Control

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2022 Chinese Automation Congress, CAC 2022

作者： Chen, Haocong Chen, Yutao Wang, Wu Lin, Dingci Huang, Jie Fuzhou University 5G+Industrial Internet Institute Fuzhou350108 China Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350108 China Fuzhou University College of Electrical Engineering and Automation Fuzhou350108 China

ISBN: (纸本)9781665465335

Shared control has become a popular subject of human-machine hybrid intelligence. This paper presents a dynamic safety arbitrator for shared control in an automated vehicle. The vehicle is controlled autonomously by a model predictive controller (MPC) tracking a given trajectory, while at the same time human input is provided via a joystick. Unlike traditional mixed-initiative control methods that blend weighted human and vehicle inputs, the proposed arbitrator first adopts control barrier function (CBF) to generate weights for human and vehicle inputs under safety critical situations, and then employs the null-space based control (NSBC) to merge the two inputs with priorities determined by the weights. As a result, the final input to the vehicle has a clear physical meaning that represents dynamic priorities of human and vehicle autonomous inputs, in which the higher priority input is fully adopted and the lower priority input is partially adopted without intervening the higher priority input. An immediate advantage of the proposed arbitrator is that there is no need to tune the weights between human and autonomous inputs. Simulation results show that the dynamic safe arbitrator is effective for shared control. © 2022 IEEE.

关键词： Safety engineering

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Distributed Differential Game for Formation control of Multi-UAV with Obstacle Avoidance

Distributed Differential Game for Formation Control of Multi...

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2022 Chinese Automation Congress, CAC 2022

作者： Li, Zeyi Xue, Wenyan Li, Dongfang Lin, Dingci Huang, Jie College of Electrical Engineering and Automation Fuzhou University Fuzhou350108 China 5G+Industrial Internet Institute Fuzhou University Fuzhou350108 China Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou350108 China

ISBN: (纸本)9781665465335

For the multi-unmanned aerial vehicle formation control (MUAVFC) in obstacle environments, this work proposes a new distributed non-cooperative differential game framework. This scheme adequately reflects the dynamic interaction of each UAV in the formation control process and effectively reflects the interaction of individual strategies and behaviors. Meanwhile, the game model is added with obstacle avoidance penalty constraints to achieve obstacle avoidance in the UAV formation flight and ensure flight safety. Each UAV needs to obtain the information of its neighbors following the communication topology to minimize the cost function, so that all strategy converges to Nash equilibrium. Based on the existing differential game method that only considers the formation goal, this work adds a penalty function term representing the distance between obstacles in the game model to achieve flight obstacle avoidance. In addition, this work strictly proves the existence of Nash equilibrium. The simulation results verify that the UAVs in this scheme have successfully formed a formation. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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A Polarization-Diversity Omnidirectional Glass Dielectric Resonator Antenna with Gain and Bandwidth Enhancements

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IEEE Transactions on Antennas and Propagation 2025年

作者： Yu, Bo Hao Leung, Kwok Wa Hu, Peng Fei Lee, Mike W. K. Luk, Kwai Man City University of Hong Kong State Key Laboratory of Terahertz and Millimeter Waves Department of Electrical Engineering Hong Kong CityU Shenzhen Research Institute Shenzhen Key Laboratory of Millimeter Wave and Wideband Wireless Communications Information and Communication Technology Centre Shenzhen518057 China Sun Yat-sen University School of Electronics and Information Technology Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Guangzhou510006 China

A polarization-diversity omnidirectional glass dielectric resonator antenna (DRA) with gain and bandwidth enhancements is presented in this communication. It employs high-order TM01δ+2 and TE01δ+3 modes to improve the antenna gains of the vertical and horizontal polarizations, respectively. However, their high quality factors result in narrow bandwidths. When the modes of feeding circuits are combined with them, the overlapping bandwidth of the two polarizations is only 6.5%. To overcome this, an air gap is introduced into the dielectric resonator (DR), modifying its shape from cylindrical to I-shaped. This reduces the effective dielectric constant and quality factor, increasing the overlapped bandwidth from 6.5% to 16.0%. In addition, the peak gain is increased from 2.66 to 4.62 dBi by reducing the back lobe. To verify the idea, a DRA made of K9 glass is designed for the 3.3-3.6 GHz WiMAX band. The prototype antenna has a measured overlapping bandwidth of 13.8% and a peak gain of 4.14 dBi. © 2025 IEEE.

关键词： Bandwidth

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Short-Term Load Forecasting for Buildings Based on Dynamic Weighted edRVFL Model

Short-Term Load Forecasting for Buildings Based on Dynamic W...

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Chinese Automation Congress (CAC)

作者： Junwei Xie Meng Yuan Zhezhuang Xu Chi Liu Yuxiong Xia Department of Fujian Province College of Electrical Engineering and Automation Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Fuzhou China Fujian Huading Intelligent Manufacturing Technology Co. Ltd Fuzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Short-term load forecasting of buildings plays a key role in demand management, however, when dealing with massive data, the prevalent practice of training and testing the system as a whole overlooks pattern variations inside data and potentially limits predictive performance. To address this issue, this paper proposes an ensemble deep random vector functional link (edRVFL) model that combines adaptive ensemble clustering and dynamic weighting strategy for load forecasting of an industrial building. Firstly, the adaptive ensemble clustering that combines ordering points to identify the clustering structure and K nearest neighbor is employed to determine the electricity load usage patterns. Subsequently, the improved particle swarm optimization algorithm is applied to adjust the weights of load curves in different typical day scenarios. Finally, a dynamic weighting strategy is designed to dynamically assign model weights to two clusters, where one matches the type of predicted load pattern for the day being forecasted and another for the cluster of the previous day. The experiment in a real building verifies the effectiveness of the proposed algorithm, which has higher prediction accuracy than other comparison algorithms including one-week interval and different ensemble clustering.

关键词： Adaptation models Load forecasting Heuristic algorithms Buildings Clustering algorithms Predictive models Prediction algorithms Vectors Forecasting Load modeling

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Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Learning 22

Depth-Aware Multi-Modal Fusion for Generalized Zero-Shot Lea...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Cao, Weipeng Yao, Xuyang Xu, Zhiwu Pan, Yinghui Sun, Yixuan Li, Dachuan Qiu, Bohua Wei, Muheng Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen China Stony Brook University New York United States Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen China Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China ZhenDui Industry Artificial Intelligence Co. Ltd Shenzhen China 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)9798331527471

Realizing Generalized Zero-Shot Learning (GZSL) based on large models is emerging as a prevailing trend. However, most existing methods merely regard large models as black boxes, solely leveraging the features output by the final layer while disregarding potential performance enhancements from other layers. Indeed, numerous researchers have visually depicted variations in the features learned across different layers of neural networks. Motivated by this observation, we propose a Vision Transformer (ViT)-based GZSL method named Depth-Aware Multi-Modal ViT (DAM2ViT), which exploits multi-level features of ViT. DAM2ViT incorporates a multi-modal interaction block to align semantic information of categories across multiple layers, thereby augmenting the model’s capacity to learn associations between visual and semantic spaces. Extensive experiments conducted on three benchmark datasets (i.e., CUB, SUN, AWA2) have showcased that DAM2ViT achieves competitive results compared to state-of-the-art methods. © 2024 IEEE.

关键词： Zero-shot learning

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Real-Time Particle Cluster Manipulation with Holographic Acoustic End-Effector under Microscope

Real-Time Particle Cluster Manipulation with Holographic Aco...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Siyuan An Chengxi Zhong Mingyue Wang Shudong Wang Haojian Lu Jiaqi Li Youfu Li Song Liu School of Information Science and Technology ShanghaiTech University Shanghai China School of Electrical Engineering Xian Jiaotong University and with State Key Laboratory of Electrical Insulation and Power Equipment Xi an School of the College of Control Science and Engineering Zhejiang University China Institute of Cyber-Systems and Control Hangzhou Department of Mechanical Engineering City University of Hong Kong HK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Non-contact particle cluster manipulation holds significant promise in the realms of advanced manufacturing, chemistry, and pharmacy. However, achieving precise and dynamic control over the spatial kinematics of particle clusters remains a significant challenge, necessitating real-time and accurately programmable robotic end-effector. To this end, we develop an innovative non-contact, precise particle cluster manipulation system with ultrasonic phased array transducer (PAT) under microscope. This system combines a physics-based deep learning algorithm for real-time calculation of phase-only holograms (POHs), supporting PAT to dynamically form acoustic fields, namely holographic acoustic end-effector (HAE). Leveraging the dynamically and accurately generated HAEs by our system, kinematics control of particle clusters including aggregation, rotation, and translation is yielded. The extensive experiments well demonstrated the effectiveness of proposed system for particle cluster manipulation.

关键词： Deep learning Visualization Translation Microscopy Heuristic algorithms Clustering algorithms Ultrasonic transducer arrays Kinematics Real-time systems End effectors

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S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks

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IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Wang, Zhong Zhang, Lin Wang, Hesheng Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Tongji University School of Computer Science and Technology National Pilot Software Engineering School with Chinese Characteristics Shanghai201804 China

Traditional LiDAR SLAM approaches prioritize localization over mapping, yet high-precision dense maps are essential for numerous applications involving intelligent agents. Recent advancements have introduced methods leveraging neural fields to enhance mapping capabilities;however, these approaches still face several limitations. Firstly, concerning scene representation, they typically employ neural fields with high-dimensional features and multi-layer perceptron decoders utilizing non-continuous activation functions. This results in low learning efficiency and challenges in capturing high-frequency signals. Secondly, in terms of scene organization, these methods often treat the entire scene as a singular neural field, leading to inefficiencies, inflexibility, and difficulties in rectifying accumulated errors when mapping large-scale environments over extended periods. To tackle the first issue, we propose a lightweight continuous SDF regression approach by encoding the scene in single-valued embeddings and decoding SDF values from a Kolmogorov-Arnold Network. By minimizing discrepancies in measuring range, sampling distance, and decoded SDF values, we facilitate iterative frame-to-model tracking and bundle adjustment neural mapping. To mitigate the second challenge, we propose structuring the whole scene into multiple neural SDF submaps. By establishing node-node, node-submap, and loop closure constraints into a global pose graph, the system can create dense neural maps with global consistency across large-scale scenes. Experimental evaluations in both real-world and simulated settings indicate that our system achieves superior mapping completeness and accuracy, enhanced learning efficiency, reduced memory consumption, and greater flexibility compared to its counterparts. © 2025 IEEE.

关键词： Mapping

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Optimal control in Both Steady State and Transient Process with Unknown Disturbances

arXiv

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arXiv 2024年

作者： Li, Ming Wang, Zhaojian Liu, Feng Cao, Ming Yang, Bo The Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai200240 China The State Key Laboratory of Power System The Department of Electrical Engineering Tsinghua University Beijing100084 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands

The scheme of online optimization as a feedback controller is widely used to steer the states of a physical system to the optimal solution of a predefined optimization problem. Such methods focus on regulating the physical states to the optimal solution in the steady state, without considering the performance during the transient process. In this paper, we simultaneously consider the performance in both the steady state and the transient process of a linear time-invariant system with unknown disturbances. The performance of the transient process is illustrated by the concept of overtaking optimality. An overtaking optimal controller with known disturbances is derived to achieve the transient overtaking optimality while guaranteeing steady-state performance. Then, we propose a disturbance independent near-optimal controller, which can achieve optimal steady-state performance and approach the overtaking optimal performance in the transient process. The system performance gap between the overtaking optimal controller and the proposed controller proves to be inversely proportional to the control gains. A case study on a power system with four buses is used to validate the effectiveness of the two controllers. © 2024, CC BY.

关键词： Electromagnetic transients

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