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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Joshua Giles Kai Keng Ang Lyudmila Mihaylova Mahnaz Arvaneh Automatic control and System Engineering Department University of Sheffield Sheffield UK Institute for Infocomm Research Agency for Science Technology and Research (A*STAR) Singapore

ISBN: (数字)9781728119908

ISBN: (纸本)9781728119915

A large amount of calibration data is typically needed to train an electroencephalogram (EEG)-based brain-computer interfaces (BCI) due to the non-stationary nature of EEG data. This paper proposes a novel weighted transfer learning algorithm using a dynamic time warping (DTW) based alignment method to alleviate this need by using data from other subjects. DTW-based alignment is first applied to reduce the temporal variations between a specific subject data and the transfer learning data from other subjects. Next, similarity is measured using Kullback Leibler divergence (KL) between the DTW aligned data and the specific subject data. The other subjects' data are then weighted based on their KL similarity to each trials of the specific subject data. This weighted data from other subjects are then used to train the BCI model of the specific subject. An experiment was performed on publicly available BCI Competition IV dataset 2a. The proposed algorithm yielded an average improvement of 9% compared to a subject-specific BCI model trained with 4 trials, and the results yielded an average improvement of 10% compared to naive transfer learning. Overall, the proposed DTW-aligned KL weighted transfer learning algorithm show promise to alleviate the need of large amount of calibration data by using only a short calibration data.

关键词： Calibration Electroencephalography Heuristic algorithms Brain modeling Data models Training Feature extraction

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DFSC-DA: Dominant frequency segmented Conformer with domain adaptation for acoustic footstep-based person identification

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Expert systems with Applications 2025年

作者： Shichao Wu Jinzheng Guang Wei Wu Gongping Chen School of Information and Control Engineering Southwest University of Science and Technology Mianyang 621010 China Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Southwest University of Science and Technology Mianyang 621010 China Institute of Robotics and Automatic Information System Nankai University Tianjin 300071 China College of Biomedical Engineering and Technology Tianjin Medical University Tianjin 300070 China

Compared to typical visual person identification methods, person recognition through acoustic footsteps offers advantages such as fewer privacy concerns and contactless operation. Moreover, since acoustic footsteps are generated during walking, they inherently possess advantages in tasks like service robot following. Existing footstep classification methods still exhibit shortcomings in handling common interferences, such as clothing and shoe types. Moreover, the adverse impact of room types on footstep classification is highly prominent. These interferences pose significant obstacles to the implementation of acoustic footsteps-based person identification, thus necessitating urgent attention and resolution. To tackle these issues, this paper proposes a Dominant Frequency Segmented Conformer with Domain Adaptation (DFSC-DA) for acoustic footstep-based person identification, aiming to enhance footstep recognition accuracy under various interferences. It divides the raw footsteps into multiple short-time sequences based on dominant frequencies, employs a Conformer to model intra-period variations and inter-period variations, and ultimately extracts favorable acoustic features for classification via an adversarial training mechanism. Experimental results on the AFPID-II acoustic footstep classification datasets demonstrate that the proposed method achieves improvements in classification accuracy of 2.03%, 6.66%, and 3.50% for the None, Clothing , and Shoe type conditions, respectively. Ablation studies conducted using a rigorous single-covariate controlled experimental protocol demonstrate that the DFSC-DA method achieves the highest scores across all settings.

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On the Influence of Ill-conditioned Regression Matrix on Hyper-parameter Estimators for Kernel-based Regularization Methods

On the Influence of Ill-conditioned Regression Matrix on Hyp...

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IEEE Conference on Decision and control

作者： Yue Ju Tianshi Chen Biqiang Mu Lennart Ljung School of Data Science and Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Shenzhen China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy of Sciences Beijing China Division of Automatic Control Linkoping University Linkoping Sweden

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

In this paper, we study the influence of ill-conditioned regression matrix on two hyper-parameter estimation methods for the kernel-based regularization method: the empirical Bayes (EB) and the Stein's unbiased risk estimator (SURE). First, we consider the convergence rate of the cost functions of EB and SURE, and we find that they have the same convergence rate but the influence of the ill-conditioned regression matrix on the scale factor are different: for upper bounds, the scale factor for SURE contains one more factor cond(Φ T Φ) than that of EB, where Φ is the regression matrix and cond(·) denotes the condition number of a matrix. This finding indicates that when Φ is ill-conditioned, i.e., cond(Φ T Φ) is large, the cost function of SURE converges slower than that of EB. Then we consider the convergence rate of the optimal hyper-parameters of EB and SURE, and we find that they are both asymptotically normally distributed and have the same convergence rate, but the influence of the ill-conditioned regression matrix on the scale factor are different. In particular, for the ridge regression case, we show that the optimal hyperparameter of SURE converges slower than that of EB with a factor of 1/n 2 , as cond(Φ T Φ) goes to ∞, where n is the FIR model order.

关键词： Kernel Convergence Estimation Cost function Contracts Linear regression Splines (mathematics)

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Optimal linear-quadratic guidance law considering autopilot first-order lag with terminal acceleration constraint

Optimal linear-quadratic guidance law considering autopilot ...

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Asia-Pacific International Symposium on Aerospace Technology, APISAT 2018

作者： Zheng, Duo Xu, Xinghua Yan, Ruyi Lin, Defu Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Institute of Automatic Control Equipment Beijing100074 China Unit 95806 PLA Air Force Beijing100070 China School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789811333040

In this paper, a new optimal linear-quadratic guidance law with terminal acceleration constraints is proposed for intercepting maneuvering target. Because the angle of attack is approximately proportional to the normal acceleration for aerodynamic control missile, not only miss distance, but also terminal acceleration is required to converge to zero for increasing effectiveness of the warhead for destroying armored target in the proposed guidance law. The gain characteristic of proposed guidance law is studied by comparing with traditional optimal guidance law with considering autopilot dynamics lags. Numerical simulations are performed to examine performance of the proposed optimal guidance law, and its robustness with respect to the time constant of autopilot dynamic lags is also studied by considering time constant typical errors. © Springer Nature Singapore Pte Ltd. 2019.

关键词： Angle of attack

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Nash optimality based distributed model predictive control for vehicle platoon ⁎

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IFAC-PapersOnLine 2020年第2期53卷 6610-6615页

作者： Shuyou Yu Hao Chen Yangyang Feng Yajing Zhang Yongfu Li Christian Ebenbauer Hong Chen Department of Control Science and Engineering Jilin University Changchun 130012 P.R. China College of Automation Chongqing University of Posts and Telecommunications Chongqing 400065 P.R. China Institute for System Theory and Automatic Control University of Stuttgart Stuttgart 70550 Germany Clean Energy Automotive Engineering Tongji University Shanghai 201804 P. R. China

In this paper, a distributed model predictive control algorithm (DMPC) based on Nash optimality is proposed for automated vehicle platoon control. The optimization decision of vehicle platoon is decomposed into the decentralized optimization of single vehicles, in which the Nash optimality algorithm is adopted to solve the decentralized optimization problem. Thus, each vehicle can reach the local optimal target and the whole team can reach its Nash equilibrium. The methodology employs neighborhood information of the entire platoon through on-board sensors and V2V communication to achieve coordination of the entire platoon. The ability of the methods in terms of robustness to disturbances and cyber-physical interaction is demonstrated with simulation case studies.

关键词： Vehicle platoon Distributed control Model predictive control Nash optimality

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Attitude control of hypersonic vehicle based on optimized ADRC 8

Attitude control of hypersonic vehicle based on optimized AD...

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8th IEEE Data Driven control and Learning systems Conference, DDCLS 2019

作者： Piao, Minnan Sun, Mingwei Huang, Jian Wang, Zenghui Chen, Zengqiang Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratory Beijing100074 China College of Artificial Intelligence Nankai University Tianjin300350 China Beijing Automatic Control and Equipment Institute Beijing100074 China University of South Africa Department of Electrical and Mining Engineering Florida1710 South Africa

ISBN: (纸本)9781728114545

In this paper, two types of practical angle of attack control schemes are proposed for hypersonic vehicle which is subject to large unmodeled, parametric uncertainties and external disturbances. In the first scheme, the pitch angle control method based on the second-order linear active disturbance rejection control is directly applied to the angle of attack control through simple command transformation. Inner-loop pitch angular rate feedback is performed first to enhance the damping in the second scheme, and then first-order linear active disturbance rejection control is designed for the overdamped plant. Both schemes provide simple and robust solutions to the angle of attack control. To achieve desired stability and performance robustness, non-smooth $H-{\infty}$ synthesis technique is utilized to optimize the controller within the designed flight envelope. Nonlinear simulations are performed to validate the advantages of the proposed methods. © 2019 IEEE.

关键词： Hypersonic vehicles

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Supplementary material for CDC submission no. 1461

arXiv

引用

arXiv 2020年

作者： Ju, Yue Chen, Tianshi Mu, Biqiang Ljung, Lennart Chinese University of Hong Kong Shenzhen518172 Hong Kong School of Science and Engineering Shenzhen Research Institute of Big Data Chinese University of Hong Kong Shenzhen518172 Hong Kong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy of Sciences Beijing100190 China Division of Automatic Control Department of Electrical Engineering Linköping University LinköpingSE-58183 Sweden

In this paper, we study the influence of ill-conditioned regression matrix on two hyper-parameter estimation methods for the kernel-based regularization method: the empirical Bayes (EB) and the Stein’s unbiased risk estimator (SURE). First, we consider the convergence rate of the cost functions of EB and SURE, and we find that they have the same convergence rate but the influence of the ill-conditioned regression matrix on the scale factor are different: the scale factor for SURE contains one more factor cond(ΦTΦ) than that of EB, where Φ is the regression matrix and cond(·) denotes the condition number of a matrix. This finding indicates that when Φ is ill-conditioned, i.e., cond(ΦTΦ) is large, the cost function of SURE converges slower than that of EB. Then we consider the convergence rate of the optimal hyper-parameters of EB and SURE, and we find that they are both asymptotically normally distributed and have the same convergence rate, but the influence of the ill-conditioned regression matrix on the scale factor are different. In particular, for the ridge regression case, we show that the optimal hyper-parameter of SURE converges slower than that of EB with a factor of 1/n2, as cond(ΦTΦ) goes to ∞, where n is the FIR model order. Copyright © 2020, The Authors. All rights reserved.

关键词： Cost functions

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Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

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science China(Information sciences) 2017年第7期60卷 29-39页

作者： Chunyan WANG Zongyu ZUO Qinghai GONG Zhengtao DING School of Electrical and Electronic Engineering University of Manchester Sackville Street Building Sino-British Joint Advanced Control System Technology Laboratory James Lighthill Building The Seventh Research Division and Science and Technology on Aircraft Control Laboratory Beihang University Beijing Aerospace Automatic Control Institute

In this paper, we consider the leader-follower formation control problem for general multi-agent systems with Lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of the neighbouring agents and sufficient conditions for global stability of the formation control are identified using Lyapunov method in the time domain. The proposed strategy and analysis guarantee that all signals in the closed-loop dynamics are uniformly ultimately bounded and the formation tracking errors converge to an arbitrarily small residual set. Finally, the validity of the proposed controller is demonstrated through a numerical example.

关键词： multi-agent systems formation control Lipschitz nonlinearity disturbance rejection

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Sausage, kink, and fluting MHD wave modes identified in solar magnetic pores by Solar Orbiter/PHI

arXiv

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arXiv 2024年

作者： Jafarzadeh, S. Schiavo, L.A.C.A. Fedun, V. Solanki, S.K. Stangalini, M. Calchetti, D. Verth, G. Jess, D.B. Grant, S.D.T. Ballai, I. Gafeira, R. Keys, P.H. Fleck, B. Morton, R.J. Browning, P.K. Silva, S.S.A. Appourchaux, T. Gandorfer, A. Gizon, L. Hirzberger, J. Kahil, F. Suárez, D. Orozco Schou, J. Strecker, H. del Toro Iniesta, J.C. Valori, G. Volkmer, R. Woch, J. Max Planck Institute for Solar System Research Justus-von-Liebig-Weg 3 Göttingen37077 Germany School of Physics & Astronomy The University of Manchester Oxford Road ManchesterM13 9PL United Kingdom Department of Mathematics Physics and Electrical Engineering Northumbria University Newcastle upon TyneNE1 8ST United Kingdom Plasma Dynamics Group Department of Automatic Control and Systems Engineering The University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom ASI Italian Space Agency Via del Politecnico snc RomeI-00133 Italy Plasma Dynamics Group School of Mathematics and Statistics The University of Sheffield Hicks Building Hounsfield Road SheffieldS3 7RH United Kingdom Astrophysics Research Centre School of Mathematics and Physics Queen’s University Belfast BelfastBT7 1NN United Kingdom Department of Physics and Astronomy California State University Northridge NorthridgeCA91330 United States Instituto de Astrofísica e Ciências do Espaço Department of Physics University of Coimbra Coimbra3040-004 Portugal ESA Science and Operations Department c/o NASA Goddard Space Flight Center GreenbeltMD20771 United States Univ. Paris-Sud Institut d’Astrophysique Spatiale UMR 8617 CNRS Bâtiment 121 Orsay91405 Cedex France Apartado de Correos 3004 GranadaE-18080 Spain Leibniz-Institut für Sonnenphysik Schöneckstr. 6 FreiburgD-79104 Germany Institut für Astrophysik und Geophysik Georg-August-Universität Göttingen Friedrich-Hund-Platz 1 Göttingen37077 Germany

Solar pores are intense concentrations of magnetic flux that emerge through the Sun’s photosphere. When compared to sunspots, they are much smaller in diameter and hence can be impacted and buffeted by neighbouring granular activity to generate significant magnetohydrodynamic (MHD) wave energy flux within their confines. However, observations of solar pores from ground-based telescope facilities may struggle to capture subtle motions synonymous with higher-order MHD wave signatures due to seeing effects produced in the Earth’s atmosphere. Hence, we have exploited timely seeing-free and high-quality observations of four small magnetic pores from the High Resolution Telescope (HRT) of the Polarimetric and Helioseismic Imager (PHI) on board the Solar Orbiter spacecraft, during its first close perihelion passage in March 2022 (at a distance of 0.5 au from the Sun). Through acquisition of data under stable observing conditions, we have been able to measure the area fluctuations and horizontal displacements of the solar pores. Cross correlations between perturbations in intensity, area, line-of-sight velocity, and magnetic fields, coupled with the first-time application of novel Proper Orthogonal Decomposition (POD) techniques on the boundary oscillations, provide a comprehensive diagnosis of the embedded MHD waves as sausage and kink modes. Additionally, the previously elusive m = 2 fluting mode is identified in the most magnetically isolated of the four pores. An important consideration lies in how the identified wave modes contribute towards the transfer of energy into the upper solar atmosphere. We find that the four pores examined have approximately 56%, 72%, 52%, and 34% of their total wave energy associated with the identified sausage modes, and around 23%, 17%, 39%, and 49% to their kink modes, respectively, while the first pore also has around an 11% contribution linked to the fluting mode. This study marks the first-time identification of concurrent sausage, kin

关键词： Magnetohydrodynamics

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Strategy of Defending UAVs by Interfering Path Planning

Strategy of Defending UAVs by Interfering Path Planning

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Jiaqi Li Zhuanghua Liu Lipeng Wang Yang Liu Department of Automatic Control Beihang University Beijing China China Aerospace Science and Technology Corporation The 9th Academy Beijing Aerospace Unmanned Vehicles System Engineering Research Institute Beijing China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

This paper proposes the problem of how to maximize the defensive effect by setting up defensive facilities given the path planning method of the enemy's UAV, and made validations and analysis on the commonly used RRT path planning algorithm. From the simulation experiments, some factors that affect the results of the path planning are summarized. We measure the defensive effect by defining the metric E, and discuss the factors that may affect the metric. Finally, by summarizing the impacts of the distribution of defensive facilities on the path planning results under the RRT algorithm, two kinds of trapping schemes for RRT algorithms are proposed, and the experiments also show the effectiveness of these schemes.

关键词： Path planning Planning Measurement Heuristic algorithms Aerospace engineering Market research Electronic mail

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