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Cooperative attack–defense decision-making of multi-UAV using satisficing decision-enhanced wolf pack search algorithm

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Soft Computing 2024年第17-18期28卷 9575-9586页

作者： Zhou, Tongle Chen, Mou Wang, Yuhui Zhu, Ronggang Yang, Chenguang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing211106 China Key Laboratory of Avionics System Integrated Technology Shanghai200241 China Science and Technology on Electro-optic Control Laboratory Luoyang Institute of Electro-Optical Equipment of Avic Luoyang471000 China Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

Unmanned aerial vehicles (UAVs) have shown their superiority for applications in complicated military missions. A cooperative attack–defense decision-making method based on satisficing decision-enhanced wolf pack search (SDEWPS) algorithm is developed for multi-UAV air combat in this paper. Firstly, the multi-UAV air combat mathematical model is provided and the attack–defense decision-making constraints are defined. Besides the traditional air combat situation, the capability of UAVs and target information including target type and target intention are all considered in this paper to establish the air combat superiority function. Then, the wolf pack search (WPS) algorithm is used to solve the attack decision problem. To improve efficiency, the satisficing decision theory is employed to enhance the WPS to obtain the satisficing solution rather than optimal solution. The simulation results show that the developed method can realize the cooperative attack decision-making. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Decision making

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A ResNet-based approach for accurate radiographic diagnosis of knee osteoarthritis

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CAAI Transactions on Intelligence Technology 2022年第3期7卷 512-521页

作者： Yu Wang Shibo Li Baoliang Zhao Jianwei Zhang Yuanyuan Yang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina TAMS Department of InformaticsUniversity of HamburgHamburgGermany

Currently X-ray images are clinically graded by experienced clinicians using the Kellgren and Lawrence(KL)scoring ***,individual scoring is subjective and error *** study proposes an approach for automated knee osteoarthritis classification based on deep neural *** knee X-ray images are first preprocessed with frequency-domain filtering and histogram normalisation,making the trabecular bone texture more obvious and benefiting the subsequent classification ***,a two-step classification strategy is proposed by extracting the joint centre based on the VGG network and classifying osteoarthritis grades based on the ResNet-50 *** addition,a rebalance operation is proposed to deal with the dataset unbalance problem,and a quick search technique is proposed to improve the iterative search efficiency for the joint *** all of these techniques,a classification accuracy of 81.41%is obtained,which is higher compared to the state-of-the-art approaches.

关键词： AMSGrad knee osteoarthritis recognition ResNet VGG

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Advancing Orchard Fruit Detection: An Innovative Agricultural Foundation Model Approach

Advancing Orchard Fruit Detection: An Innovative Agricultura...

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2024 American Society of Agricultural and Biological Engineers Annual International Meeting, ASABE 2024

作者： Li, Jiajia Lammers, Kyle Yin, Xunyuan Yin, Xiang He, Long Lu, Renfu Li, Zhaojian Department of Electrical and Computer Engineering Michigan State University MI United States School of Chemical and Biomedical Engineering Nanyang Technological University Singapore Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Department of Agricultural and Biological Engineering Pennsylvania State University United States United States Department of Agriculture Agricultural Research Service East LansingMI United States Department of Mechanical Engineering Michigan State University East LansingMI United States

ISBN: (纸本)9798331302214

Fruit harvesting poses a significant labor and financial burden on the fruit industry, which underscore the urgent need for advancements in robotic harvesting solutions. Despite considerable progress in leveraging deep learning and machine learning techniques for fruit detection, a common shortfall is the inability to swiftly extend the developed models across different orchards and/or various fruit species. Additionally, the limited availability of pertinent data further compounds these challenges. In this work, we introduce MetaFruit, the largest publicly available multi-class fruit dataset, comprising 4,248 images and 248,015 manually labeled instances across diverse U.S. orchards. Furthermore, this study proposes an innovative open-set fruit detection system leveraging advanced Vision Foundation Models (VFMs) for fruit detection that can adeptly identify a wide array of fruit types under varying orchard conditions. This system not only demonstrates remarkable adaptability in learning from minimal data through few-shot learning but also shows the ability to interpret human instructions for subtle detection tasks. The performance of the developed foundation model is comprehensively evaluated across several metrics, outperforming existing state-of-the-art algorithms in our MetaFruit, thereby setting a new benchmark in the field of agricultural technology and robotic harvesting. The MetaFruit dataset (https://***/datasets/jiajiali/metafruit) and detection framework (https://***/JiajiaLi04/FMFruit) are open-sourced to foster future research in vision-based fruit harvesting, marking a significant stride toward addressing the urgent needs of the agricultural sector. © 2024 ASABE Annual International Meeting. All rights reserved.

关键词： Orchards

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Prescribed-time stabilization for high-order nonlinear systems with a pre-specified asymmetric output constraint

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Journal of the Franklin institute 2023年第4期360卷 3545-3574页

作者： Chen, Chih-Chiang Sun, Zong-Yao Xu, Sendren Sheng-Dong Department of Systems and Naval Mechatronic Engineering National Cheng Kung University Tainan70101 Taiwan Institute of Automation Qufu Normal University Shandong Province Qufu273165 China Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taiwan Advanced Manufacturing Research Center National Taiwan University of Science and Technology Taiwan

This article considers the problem of prescribed-time stabilization for a class of uncertain high-order nonlinear systems (i.e., systems in the p-normal form) with a pre-specified asymmetric output constraint. A core ingredient, tangent-type barrier function, is proposed first by skillfully excavating and assimilating the inherent properties of system nonlinearities. Based on the barrier function, as well as a serial of nested signum functions, the celebrated technique of adding a power integrator is renovated finely to establish a new design approach by which a continuous state feedback prescribed-time stabilizer, along with a tangent-type asymmetric barrier Lyapunov function, can be constructed in a systematic fashion, thereby guaranteeing the performance of prescribed-time state convergence and ensuring the fulfillment of pre-specified output constraints surely. Benefiting from the composite characteristics of the presented tangent-type barrier Lyapunov function and the signum functions, the proposed approach further offers a unified nature in design enabling us to organize a prescribed-time stabilizer that is simultaneously valid and executable for the system undergone or free from output constraints, without the need of changing the controller structure. The effectiveness and superiority of the developed approach are illustrated by a numerical example. © 2022 The Franklin institute

关键词： Lyapunov functions

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Brain-inspired Intelligent Robotics:Theoretical Analysis and systematic Application

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Machine Intelligence Research 2023年第1期20卷 1-18页

作者： Hong Qiao Ya-Xiong Wu Shan-Lin Zhong Pei-Jie Yin Jia-Hao Chen The State Key Laboratory of Management and Control for Complex System Institute of AutomationChineseAcademyof SciencesBeijing100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Chinese Academy of Science Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China School of Mechanical Engineering University of Science and Technology BeijingBeijing 100083China

Traditional joint-link robots have been widely used in production lines because of their high precision for single *** the development of the manufacturing and service industries,the requirement for the comprehensive performance of robotics is *** types of bio-inspired robotics have been investigated to realize human-like motion control and manipulation.A study route from inner mechanisms to external structures is proposed to imitate humans and animals *** this idea,a brain-inspired intelligent robotic system is constructed that contains visual cognition,decision-making,motion control,and musculoskeletal *** paper reviews cutting-edge research in brain-inspired visual cognition,decision-making,motion control,and musculoskeletal *** software systems and a corresponding hardware system are established,aiming at the verification and applications of next-generationbrain-inspired musculoskeletal robots.

关键词： Brain-inspired intelligent robot software and hardware decision making muscle control cognitive intelligence.

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Modeling and Optimal control for Resource Allocation in the Epidemic Monitoring of a Multi-group Population

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SN Computer Science 2024年第1期5卷 121页

作者： Di Giamberardino, Paolo Iacoviello, Daniela Papa, Federico Department of Computer Control and Management Engineering “A. Ruberti” Sapienza University of Rome Via Ariosto 25 Rome 00185 Italy Institute for System Analysis and Computer Science “A. Ruberti” CNR Via dei Taurini 19 Rome 00185 Italy

In the last 3 years, the entire world has been facing the sanitary emergency due to the SARS-CoV2;it has been stressed the mutual interdependence of the human populations, as well as the strong impact of specific conditions, such as age, work, habits, on the disease spread among subgroups of a given population. Moreover, the high percentage of asymptomatic individuals, especially among young subjects, improves the infection spread among groups with higher probability of fatal consequences. The vaccination campaign has strongly contributed to reduce mortality, so bringing the epidemic scenario probably closer to the endemic state. Nevertheless, the loss of the vaccination protection, the appearance of new variants and the mixing of moving people require a surveillance action to reduce new virus waives. By suitable modeling and optimal control design, this paper addresses the planning of a swab test campaign for the surveillance of the disease spread within a given multi-group population, when resource limitation and distinctive epidemiological characteristics of the subgroups are present. The proposed approach, applied on a case study in which the population is split into four groups, stresses the importance of a suitable tuned swab test campaign, saving a significant number of infections (and therefore of human lives), by scheduling the surveillance effort on the different populations. The determination of this kind of control is useful not only in the endemic condition, but also as general surveillance strategy at the beginning of an epidemic spread, with limitations in material and logistic resources. © 2023, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd.

关键词： Epidemic monitoring Mathematical modeling of epidemics Optimal control Resource allocation

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3D Gyroscope Wi-Fi for Robot Application with Modbus

3D Gyroscope Wi-Fi for Robot Application with Modbus

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International Conference on control, automation and systems ( ICCAS)

作者： Anan Wongjan Rujipan Kosarat Department of Electronic Engineering and Automation Control System Faculty of Engineering Rajamangala University of Technology Lanna Chiang Mai Thailand Department of Software Engineering Faculty of Engineering Rajamangala University of Technology Lanna Chiang Mai Thailand

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

This article aims to propose an algorithm for operating a robot gyroscope application. A gyroscope, an instrument for measuring and maintaining direction, utilizes the concept of angular momentum. The hardware architecture utilizes the GY-85 sensor modules, the ESP-32, and the OLED to accomplish communication with other linked devices. I will refer to it as the 3D gyroscope. It is possible for this gadget to function in conjunction with any kind of gyroscope or robot of any kind. For determining the values of acceleration and gravity, the application makes use of the x, y, and z axes. To communication between the devices, the algorithm makes use of the Modbus protocol for communication between the devices. You can use LabView to develop a testable gyroscope application. We rotated the constructed three-dimensional gyroscope at angles of 0 degrees, 45 degrees, and -45 degrees along the x, y, and z axes to test the results. The rotating process produced a multi-perspective, three-dimensional presentation of the constructed or developed device. Theta values in the x, y, and z axes that come from the experimental findings for angles of 45, -45, and 0 are extremely accurate.

关键词： Three-dimensional displays Protocols Instruments Organic light emitting diodes Robot sensing systems control systems Hardware Gyroscopes Wireless fidelity Gravity

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Networked control synthesis of micro-grid system based on switching theory

Networked control synthesis of micro-grid system based on sw...

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第42届中国控制会议

作者： Jinming Luo Lei Yao Sibo Xu Hongtao Wang Jing Gao Key Laboratory of Regional Multi-energy System Integration and Control College of AutomationShenyang Institute of Engineering

A large number of sensors and controllers in the micro-grid system transmit signals through the network,however,due to the physical limitations of the network bandwidth and service capacity,data transmission in the network will have delays,packet loss and time disorder,which will damage the performance of the system,and even lead to instability of the ***,in this paper,the switching fuzzy time-delay micro-grid system is established,and the Fuzzy controller of the micro-grid subsystem is designed according to the PDC method,and the switching law is designed,the asymptotic stability condition of the system is given by using the method of single Lyapunov function and convex combination,and the stability of the system is analyzed.

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Cascaded Extended State Observer-Based Sliding Mode control for DC-DC Converter with Time- Varying Power Fluctuation

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IEEE Transactions on Industry Applications 2022年 1-6页

作者： Xu, Liangcai Liu, Jianxing Zhuo, Shengrong Huangfu, Yigeng Gao, Fei School of Automation Northwestern Polytechnical University Xi'an China Department of Control Science and Engineering Harbin Institute of Technology Harbin China FEMTO-ST Institute Univ. Bourgogne Franche-Comte UTBM CNRS Belfort France

In this paper, a cascaded extended state observer- based sliding mode control (SMC) is proposed for the typical microgrid (MG) interfaced dc-dc boost converter. For a given MG system, the power fluctuation is unpredictable, which may cause an unstable dc-bus voltage. In that situation, all the dc-bus connected electronic loads cannot work normally. In order to maintain a stable dc-bus voltage, additional power sources with a suitable power converter and the advanced controller are necessary. Especially, the controller for the power converter plays a crucial role in reducing the power fluctuation and regulating the dc-bus voltage. In this paper, to improve the ability of the converters to reject external power disturbance, a cascaded extended state observer is designed to estimate the lumped disturbance more accurately. Besides, the continuous SMC method is adopted to provide a feedback control loop. The corresponding simulation results could highly validate the effectiveness of the proposed control method. IEEE

关键词： Sliding mode control

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Aqueous-phase formation of N-containing secondary organic compounds affected by the ionic strength

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Journal of Environmental Sciences 2024年第4期138卷 88-101页

作者： Yuqi Gan Xiaohui Lu Shaodong Chen Xinghua Jiang Shanye Yang Xiewen Ma Mei Li Fan Yang Yewen Shi Xiaofei Wang Shanghai Key Laboratory of Atmospheric Particle Pollution and Prevention Department of Environmental Science and EngineeringFudan UniversityShanghai 200433China Shanghai Institute of Pollution Control and Ecological Security Shanghai 200092China Guangdong Provincial Observation and Research Station for Coastal Atmosphere and Climate of the Great Bay Area Southern University of Science and TechnologyShenzhen 518055China Institute of Mass Spectrometry and Atmospheric Environment Guangdong Provincial Engineering Research Center for On-line Source Apportionment System of Air PollutionJinan UniversityGuangzhouChina Environmental Monitoring Station of Pudong New District Shanghai 201200China Shanghai Municipal Center for Disease Control&Prevention Shanghai 200336China

The reaction of carbonyl-to-imine/hemiaminal conversion in the atmospheric aqueous phase is a critical pathway to produce the light-absorbing N-containing secondary organic compounds(SOC).The formation mechanism of these compounds has been wildly investigated in bulk solutions with a low ionic ***,the ionic strength in the aqueous phase of the polluted atmosphere may be *** is still unclear whether and to what extent the inorganic ions can affect the SOC *** we prepared the bulk solution with certain ionic strength,in which glyoxal and ammonium were mixed to mimic the aqueous-phase *** characterization by High-resolution Mass Spectrometry was performed to identify the N-containing products,and the light absorption of the mixtures was measured by ultraviolet-visible ***-nine N-containing compounds were identified and divided into four categories(N-heterocyclic chromophores,high-molecular-weight compounds with N-heterocycle,aliphatic imines/hemiaminals,and the unclassified).It was observed that the longer reaction time and higher ionic strength led to the formation of more N-heterocyclic chromophores and the increasing of the lightabsorbance of the *** added inorganic ions were proposed to make the aqueous phase somewhat viscous so that the molecules were prone to undergo consecutive and intramolecular reactions to form the *** general,this study revealed that the enhanced ionic strength and prolonged reaction time had the promotion effect on the lightabsorbing SOC *** implies that the aldehyde-derived aqueous-phase SOC would contribute more light-absorbing particulate matter in the industrial or populated area where inorganic ions are abundant.

关键词： Ionic strength Carbonyl-to-imine/hemiaminal Heterocyclic Brown carbon Mass spectrometry Aqueous-phase reaction

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