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Heterogeneous Image Knowledge Driven Visual Perception

IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 255-257页

作者： Lan Yan Wenbo Zheng Fei-Yue Wang IEEE the College of Computer Science and Electronic Engineering Hunan UniversityChangsha 410082China the School of Computer Science and Artificial Intelligence Wuhan University of TechnologyWuhan 430070China the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Dear Editor,This letter is concerned with visual perception closely related to heterogeneous *** the huge challenge brought by different image modalities,we propose a visual perception framework based on heterogeneous image knowledge,i.e.,the domain knowledge associated with specific vision tasks,to better address the corresponding visual perception problems.

关键词： Visual visual knowledge

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Detection of Perfect Stealthy Attacks on Cyber-Physical Systems Subject to Measurement Quantizations: A Watermark-Based Strategy

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 114-125页

作者： Yu-Ang Wang Zidong Wang Lei Zou Bo Shen Hongli Dong the College of Information Science and Technology Donghua University the Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of Education IEEE the College of Electrical Engineering and Automation Shandong University of Science and Technology the Department of Computer Science Brunel University London Uxbridge the Sanya Offshore Oil and Gas Research Institute Northeast Petroleum University the Artificial Intelligence Energy Research Institute Northeast Petroleum University Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University

In this paper, the attack detection problem is investigated for a class of closed-loop systems subjected to unknownbutbounded noises in the presence of stealthy attacks. The measurement outputs from the sensors are quantized before transmission.A specific type of perfect stealthy attack, which meets certain rather stringent conditions, is taken into account. Such attacks could be injected by adversaries into both the sensor-toestimator and controller-to-actuator channels, with the aim of disrupting the normal data flow. For the purpose of defending against these perfect stealthy attacks, a novel scheme based on watermarks is developed. This scheme includes the injection of watermarks(applied to data prior to quantization) and the recovery of data(implemented before the data reaches the estimator).The watermark-based scheme is designed to be both timevarying and hidden from adversaries through incorporating a time-varying and bounded watermark signal. Subsequently, a watermark-based attack detection strategy is proposed which thoroughly considers the characteristics of perfect stealthy attacks,thereby ensuring that an alarm is activated upon the occurrence of such attacks. An example is provided to demonstrate the efficacy of the proposed mechanism for detecting attacks.

关键词： Attack detection cyber-physical systems (CPSs) perfect stealthy attacks watermark-based strategy

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A novel 3D-Space Vector Modulation for Three single-phase combined 400Hz Ground Power Unit 12

A novel 3D-Space Vector Modulation for Three single-phase co...

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12th IEEE International Conference on control, automation and Information Sciences, ICCAIS 2023

作者： Que, Son Tran Van Diep, Huynh Dich, Nguyen Quang Trung, Nguyen Kien Hanoi University of Science and Technology Institute for Control Engineering and Automation Ha Noi Viet Nam Hanoi University of Science and Technology Department of Industrial Automation Ha Noi Viet Nam

ISBN: (纸本)9798350328783

The three single-phase combined (TSC) topology has been ruling the power converter industries for many years. In this research, TSC topology with Lithium Battery DC source is proposed for 400Hz Ground Power Unit (GPU) due to its advantages particularly in increasing the system flexibility and reliability. Sinusoidal Pulse Width Modulation (SPWM) is one of the most viable PWM techniques for inverter, however, it is shown that SPWM has no good contribution on three phase control system, hence, Space Vector Modulation (SVM) technique is now more widely used. This paper proposes a novel effectual three-dimensional Space Vector Modulation (3D-SVM) technique for three single-phase combined inverter, which can provide up to 27 switching states, expanding the possible range to find the best decision boundary to compare with traditional SPWM. The effectiveness of the proposed method is verified through MATLAB simulations. © 2023 IEEE.

关键词： Topology

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A Day-Ahead Market Clearing Model Under System Inertia Constraints 16

A Day-Ahead Market Clearing Model Under System Inertia Const...

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16th IEEE PES Asia-Pacific Power and Energy engineering Conference, APPEEC 2024

作者： Ma, Yuting Jin, Jiangliang Hao, Liangliang Huang, Qisheng Shen, Liye College of Information Scienc and Technology Donghua University Shanghai China Shandong University Department of Control Science and Engineering Shandong China School of Mechanical Engineering and Automation Harbin Institute of Technology Shanghai China

ISBN: (纸本)9798350386127

We study the market clearing model for electric energy, inertia, and reserve in the day-ahead market, with a particular focus on the virtual inertia provided by wind units. In this paper, we consider synchronous inertia and virtual inertia as sources of system inertia. We incorporate system inertia constraints into the unit commitment (UC) and the economic dispatch (ED) models, and assign economic value to virtual inertia, so as to incentivize wind power to provide virtual inertia. Numerical results demonstrate that the proposed model enhances the participation of wind power units, increases the wind utilization rate and reduces the total costs. © 2024 IEEE.

关键词： Wind power

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Development of End Multi-Fingered Manipulator with Flexible Device

Development of End Multi-Fingered Manipulator with Flexible ...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Chen, Zenghao Shi, Ran Wu, Pengfei Tao, Sheng Yan, Dan Cui, Ze Shanghai Aerospace Control Technology Institute Shanghai Engineering Research Center of Inertial Shanghai China Shanghai University School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9798350325706

In this study, a flexible grasping terminal manipulator that uses the pneumatic vacuum principle and granular material as its base is given. Pneumatic device and granular material are wrapped in elastic film by the end-effector. Whatever complex shape structure the target object has, the flexible end can change shape and wrap around it to entirely grasp the object, it is easy to operate and effective. Create a model of a multi-finger paw with flexible ends that may be used on other things with form structures in addition to flat objects. The flexible end effector has improved application prospects and practical relevance thanks to the optimized design, which additionally offers high gripping speed, success rate, and stability. © 2023 IEEE.

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A new noise network and gradient parallelisation‐based asynchronous advantage actor‐critic algorithm

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IET Cyber-Systems and Robotics 2022年第3期4卷 175-188页

作者： Zhengshun Fei Yanping Wang Jinglong Wang Kangling Liu Bingqiang Huang Ping Tan Provincial Key Institute of Robotics School of Automation and Electrical EngineeringZhejiang University of Science and TechnologyHangzhouChina State Key Lab of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina

Asynchronous advantage actor‐critic(A3C)algorithm is a commonly used policy opti-mization algorithm in reinforcement learning,in which asynchronous is parallel inter-active sampling and training,and advantage is a sampling multi‐step reward estimation method for computing *** order to address the problem of low efficiency and insufficient convergence caused by the traditional heuristic exploration of A3C algorithm in reinforcement learning,an improved A3C algorithm is proposed in this *** this algorithm,a noise network function,which updates the noise tensor in an explicit way is constructed to train the *** advantage estimation(GAE)is also adopted to describe the dominance ***,a new mean gradient parallelisation method is designed to update the parameters in both the primary and secondary networks by summing and averaging the gradients passed from all the sub‐processes to the main *** experiments were conducted in a gym environment using the PyTorch Agent Net(PTAN)advanced reinforcement learning library,and the results show that the method enables the agent to complete the learning training faster and its convergence during the training process is *** improved A3C algorithm has a better performance than the original algorithm,which can provide new ideas for sub-sequent research on reinforcement learning algorithms.

关键词： asynchronous advantage actorcritic (A3C) generalised advantage estimation (GAE) parallelisation reinforcement learning

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Adaptive Extended State Observer-Based Tracking control for PMSM Drive Systems With Uncertainties and Disturbances

Adaptive Extended State Observer-Based Tracking Control for ...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Zhang, Zhongjin Liu, Zhitai Li, Peng Cheng, Wei Lin, Weiyang Harbin Institute of Technology Research Institute of Intelligent Control and Systems Harbin150001 China Harbin Institute of Technology Shenzhen School of Mechanical Engineering and Automation Shenzhen518055 China Devol Advanced Automation Inc Shenzhen518101 China

ISBN: (纸本)9798350327182

With the aim of improving the robust tracking performance of permanent magnet synchronous motor (PMSM) drive systems, an indirect adaptive robust control strategy based on adaptive extended state observer (AESO) is developed in this paper. Firstly, the parameter estimation process is separated from the controller design, and the indirect adaptive law driven by the system input and output is adopted to guarantee the convergence and accuracy of parameter estimation. Secondly, an AESO is established to estimate the unmodeled characteristics and disturbances in the system, and the performance of disturbance estimation and compensation is improved by dynamically adjusting the observer gain. Finally, an adaptive tracking controller is synthesized using the backstepping method, and its stability is proven using Lyapunov analysis. Simulation results demonstrate the effective performance improvement of the synthesized controller for tracking control. © 2023 IEEE.

关键词： controllers

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Multiobjective Differential Evolution for Higher-Dimensional Multimodal Multiobjective Optimization

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1458-1475页

作者： Jing Liang Hongyu Lin Caitong Yue Ponnuthurai Nagaratnam Suganthan Yaonan Wang School of Electrical and Information Engineering Zhengzhou UniversityZhengzhou 450001 School of Electrical Engineering and Automation Henan Institute of TechnologyXinxiang 453003China School of Electrical and Information Engineering Zhengzhou UniversityZhengzhou 450001China KINDI Center for Computing Research Qatar UniversityDohaQatarand also with the Nanyang Technology UniversitySingapore College of Electrical and Information Engineering and also with the National Engineering Research Center for Robot Visual Perception and Control TechnologyHunan UniversityChangsha 410082China IEEE

In multimodal multiobjective optimization problems(MMOPs),there are several Pareto optimal solutions corre-sponding to the identical objective *** paper proposes a new differential evolution algorithm to solve MMOPs with higher-dimensional decision *** to the increase in the dimensions of decision variables in real-world MMOPs,it is diffi-cult for current multimodal multiobjective optimization evolu-tionary algorithms(MMOEAs)to find multiple Pareto optimal *** proposed algorithm adopts a dual-population framework and an improved environmental selection *** utilizes a convergence archive to help the first population improve the quality of *** improved environmental selection method enables the other population to search the remaining decision space and reserve more Pareto optimal solutions through the information of the first *** combination of these two strategies helps to effectively balance and enhance conver-gence and diversity *** addition,to study the per-formance of the proposed algorithm,a novel set of multimodal multiobjective optimization test functions with extensible decision variables is *** proposed MMOEA is certified to be effective through comparison with six state-of-the-art MMOEAs on the test functions.

关键词： Benchmark functions diversity measure evolution-ary algorithms multimodal multiobjective optimization.

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Research on the Flux-weakening Capability of the Reverse-salient Permanent Magnet Synchronous Motor 26

Research on the Flux-weakening Capability of the Reverse-sal...

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26th International Conference on Electrical Machines and Systems, ICEMS 2023

作者： Zhao, Xiaokun Zhang, Cheng Wang, Weinan Kou, Baoquan Zhu, Liangkuan Northeast Forestry University College of Computer and Control Engineering Harbin China Harbin Institute of Technology Department of Electrical and Automation Harbin China

ISBN: (纸本)9798350317589

Permanent magnet synchronous motors (PMSMs) offer the benefits of high torque density and a superior power factor. Nevertheless, the challenge lies in the inherent difficulty of adjusting the permanent magnet flux. To address this issue, this paper analyzes the influence of electromagnetic parameters on the constant-power speed range (CPSR). First, the analysis focuses on the influence of d-axis inductance and saliency ratio, aiming to establish a design method for achieving a wide CPSP in PMSMs. Second, based on the electromagnetic parameter requirements, a reverse-salient PMSM is proposed and its working principle is explained. Finally, the electromagnetic characteristics, including torque and the CPSP, are determined through the application of the finite element method (FEM). The obtained results confirm that the reverse-salient PMSM achieves a CPSP of 7:1, thus validating the accuracy of the theoretical analysis. © 2023 IEEE.

关键词： Finite element method

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A Three-Dimensional Force Estimation Method for the Cable-Driven Soft Robot Based on Monocular Images

A Three-Dimensional Force Estimation Method for the Cable-Dr...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhu, Xiaohan Bu, Ran Li, Zhen Xu, Fan Wang, Hesheng School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Department of Automation China Artificial Intelligence Research Institute School of Information and Control Engineering China University of Mining and Technology China

ISBN: (纸本)9781665481090

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system's actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works). © 2024 IEEE.

关键词： Robotic surgery

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