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IEEE International Conference on Mechatronics and Automation

作者： Wei Tian Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process.

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Portable Intelligent Sensor Based on Chemically Induced Silver Nanoparticles Colorimetric Response for Visual Monitoring Nitride/Sulfide Gases

SSRN

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SSRN 2025年

作者： Yang, Lihua Qin, Yingxi Zhao, Xiayan Liao, Dongliang Li, Fuli Jiang, Li Wen, Bo Lei, Yubin Pang, Aihua Liao, Lei Qin, Aimiao Key Laboratory of New Processing Technology for Nonferrous Metal & Materials Ministry of Education Guangxi Key Laboratory of Optical and Electronic Materials and Devices College of Material Science and Engineering Guilin University of Technology Guilin541004 China Guilin Electrical Equipment Scientific Research Institute Co. Ltd. Guilin541004 China College of Natural Resources and Environment Northwest A&F University Yangling712100 China College of Physics and Electronic Information Engineering Key Laboratory of Low-Dimensional Structural Physics and Application Education Department of Guangxi Zhuang Autonomous Region Guilin University of Technology Guilin541004 China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology College of Environmental Science and Engineering Guilin University of Technology Guilin541004 China

Nitride/sulfide gases possess hypertoxicity and carcinogenicity. Trace H₂S/SO₂/NO₂ gases were incapable of being recognized and detected by the naked eyes in advance and caused a serious threat to human health. Based on the mechanism of chemically induced silver nanoparticles to produce colorimetric response, a paper-based colorimetric sensor array with an integrated smartphone was proposed to achieve visual detection and distinction of three trace H₂S/SO₂/NO₂ gases. The silver nanoparticles were capped by long-chain hydrophobic molecules and high molecular hydrophilic polymer and immobilized on a porous hydrophobic paper substrate, presenting excellent stability and ability to resist humidity. The fabricated sensor array exhibits excellent classifying capability, selectivity, and sensitivity for these three gases, with limits of detection (LODs) of 12.8 ppb for H2S, 131.8 ppb for SO2, and 23.1 ppb for NO2, respectively, only exposure for 5 min. Importantly, these LODs are all comfortably below their respective permissible exposure limits. TEM and density functional theory (DFT) reveal that the colorimetric responses were induced by the changes of nanoparticle morphology or size, which attributed to the electrostatic or hydrogen bonding interaction among the analytical gases, nanoparticles, and cap agents. Additionally, the fabricated sensor array integrated smartphone was capable of visually monitoring freshness of chicken during the sale. This portable intelligent colorimetric sensor based on solid-state AgNPs offers a novel approach for the continuous, ultrasensitive, rapid and visual detection of trace toxic gases and meat freshness. © 2025, The Authors. All rights reserved.

关键词： Silver nanoparticles

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Convex synthesis of accelerated gradient algorithms for optimization and saddle point problems using Lyapunov functions

arXiv

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arXiv 2020年

作者： Gramlich, Dennis Ebenbauer, Christian Scherer, Carsten W. Institute for Systems Theory and Automatic Control University of Stuttgart Germany Institute of Mathematical Methods in Engineering Numerical Analysis and Geometric Modeling University of Stuttgart Germany

This paper considers the problem of designing accelerated gradient-based algorithms for optimization and saddle-point problems. The class of objective functions is defined by a generalized sector condition. This class of functions contains strongly convex functions with Lipschitz gradients but also non-convex functions, which allows not only to address optimization problems but also saddle-point problems. The proposed design procedure relies on a suitable class of Lyapunov functions and on convex semi-definite programming. The proposed synthesis allows the design of algorithms that reach the performance of state-of-the-art accelerated gradient methods and beyond. Copyright © 2020, The Authors. All rights reserved.

关键词： Lyapunov functions

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PID control for Aeroengine Based on Sparrow Search Algorithm

PID Control for Aeroengine Based on Sparrow Search Algorithm

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Chinese Automation Congress (CAC)

作者： Liang Xu Hao Wang Ying Liu Wei Xue Ningning Li Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China National Key Laboratory for Complex Systems Simulation Beijing China Beijing Aerospace Propulsion Institute Beijing China

ISBN: (纸本)9781665426480

To address the problem of aeroengine PID parameter optimization and tuning, this work employs the excellent performance of the sparrow search algorithm (SSA) with high convergence accuracy and fast convergence speed to propose a self-tuning PID control method (SSA-PID) for aeroengine parameters. Considering that the oil supply output by the actuator may have a substantial overshoot, the proposed technique adds a penalty mechanism for the overshoot at the output, designs and improves the fitness function weighted by performance indicators, and effectively avoids the possible excessive overshoot and sharp oil supply phenomenon of the engine oil supply. The SSA-PID simulates and verifies the mathematical models of the turbofan engine’ s steady-state operating points on the ground and at high altitudes. The results show that the SSA-PID control method has better parameter tuning and optimization effects, a faster speed step response, and generates a fuel supply that does not have a targe overshoot, thereby proving its effectiveness and feasibility.

关键词： PI control Oils Search problems Mathematical models Steady-state PD control Fuels

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Object Classification in the Fixation of a Car Driver

Object Classification in the Fixation of a Car Driver

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AmE 2020 - Automotive meets Electronics;11th GMM-Symposium

作者： Alexander Hugenroth Franz Albers Malte Oeljeklaus Torsten Bertram Electronic Laboratory (E-LAB) HELLA GmbH & Co. KGaA Institute of Control Theory and Systems Engineering TU Dortmund University

ISBN: (纸本)9783800752027

Driver state detection is a key topic in the complex area of automated driving. The reaction time of the driver is critical in the context of partial and conditional automated driving. Hence, it is important to know what is on the driver’s mind. To gain this knowledge, a head mounted eye tracking (ET) device is used to determine the drivers fixation. This paper presents a method for automatic processing of the eye tracking data with neural networks in order to automatically classify fixated objects inside and outside the car. Further, a comparison between various structures of the eye tracking signal processing shows differences in precision and calculation time. This approach reduces the effort for the analysis of human subject studies involving eye tracking. Therefore, a higher number of participants and objects could be processed in faster time. In addition, this method can be used to evaluate other unobtrusive methods for driver attention detection.

关键词： Drivers visual tracking Gaze tracking Fixation Automobile driver computational time human subject driver circuits AUTOMATIC signal processing Reaction Time

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Non-intrusive Time-POD for Optimal control of a Fixed-Bed Reactor for CO 2 Methanation

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IFAC-PapersOnLine 2021年第3期54卷 122-127页

作者： Jens Bremer Jan Heiland Peter Benner Kai Sundmacher Max Planck Institute Magdeburg Dpt. Process Systems Engineering Sandtorstraße 2 39106 Magdeburg Germany and Otto von Guericke University Magdeburg Chair for Process Systems Engineering Universitätsplatz 2 39106 Magdeburg (Sundmacher) Max Planck Institute Magdeburg Dpt. Computational Methods in Systems and Control Theory and Otto von Guericke University Magdeburg Fakultät für Mathematik

The optimization of a controlled process in a simulation without access to the model itself is a common scenario and very relevant to many chemical engineering applications. A general approach is to apply a black-box optimization algorithm to a parameterized control scheme. The success then depends on the quality of the parametrization that should be low-dimensional though rich enough to express the salient features. This work proposes using solution snapshots to extract dominant modes of the temporal dynamics of a process and use them for low-dimensional parametrizations of control functions. The approach is called proper orthogonal decomposition in time (time-POD). We provide theoretical reasoning and illustrate the performance for the optimal control of a methanation reactor.

关键词： Optimal control Model order reduction Proper orthogonal decomposition Fixed-bed reactor Carbon dioxide methanation Nonlinear programming Black-box model

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Mandatory Lane Change Strategy in VANET Based on Coordinated Stackelberg Game Model

Mandatory Lane Change Strategy in VANET Based on Coordinated...

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第32届中国控制与决策会议

作者： Ding Nan Akira Maria Meng Xianghua Nasibullah Di Wu Department of Computer Science and Technology Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Dalian University of Technology Electronics and Communication Science Unit Indian Statistical Institute Department of Control Theory and Control Engineering Dalian University of Technology

Despite the unavailability of intersections and turns,expressway has several lane closures and *** lane change takes place when the geographical condition requires the vehicles to shift lane,such as,exits,on and *** to a high-speed regulation on the expressway,it is more difficult and riskier to shift lane,therefore better strategies for semi-automation vehicles have to be implemented for the users’ *** paper studies the efficiency of the Stackelberg based algorithm for safer mandatory lane maneuver,yet still with appropriate *** paper also utilizes model predictive controller（MPC） to predict the motions of surrounding vehicles a few time steps in the future to model the probabilities of subject vehicles to *** we consider the costs,MPC and the game to output the best time for subject vehicle to ***,we simulate the algorithm to determine if it is efficient by comparing it to other existing algorithms and breaking the simulation down to various indicators.

关键词： Lane Change Strategy Vehicle-to-vehicle Mandatory Lane Change Model Predictive controller Game theory

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Radar-based dynamic occupancy grid mapping and object detection

arXiv

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arXiv 2020年

作者： Diehl, Christopher Feicho, Eduard Schwambach, Alexander Dammeier, Thomas Mares, Eric Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund Dortmund44227 Germany HELLA Aglaia Mobile Vision GmbH Berlin12109 Germany

Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic occupancy grid maps, which maintain the possibility of a low-level data fusion while also estimating the position and velocity distribution of the dynamic local environment. This paper presents the further development of a previous approach. To the best of the author’s knowledge, there is no publication about dynamic occupancy grid mapping with subsequent analysis based only on radar data. Therefore in this work, the data of multiple radar sensors are fused, and a grid-based object tracking and mapping method is applied. Subsequently, the clustering of dynamic areas provides high-level object information. For comparison, also a lidar-based method is developed. The approach is evaluated qualitatively and quantitatively with real-world data from a moving vehicle in urban environments. The evaluation illustrates the advantages of the radar-based dynamic occupancy grid map, considering different comparison metrics. Copyright © 2020, The Authors. All rights reserved.

关键词： Object detection

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Response of Occurrence in Microplastics and its Adsorped Cadmium Capacity to Simulated Agricultural Environmental Scenarios in Sludge-Amended Soil

SSRN

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SSRN 2022年

作者： Li, Xin-Yu Lin, Jia-Yu Liu, Hong-Tao Zhang, Jun Institute of Geographic Sciences and Natural Resources Research Chinese Academy of Sciences Beijing100101 China College of Resources and Environment University of Chinese Academy of Sciences Beijing100049 China Engineering Laboratory for Yellow River Delta Modern Agriculture Chinese Academy of Sciences Beijing100101 China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of Technology Guilin541004 China

Large amounts of microplastics (MPs) enter the soil along with the amendment of sludge to soil. However, it is still unclear about the response of MPs occurrence and the adsorption behaviors of Cd on MPs to typical agricultural environmental scenarios. In present work, three kinds of MPs (polyethylene, polypropylene, and polystyrene) were chosen to investigate that response in three agricultural environmental scenarios with sludge-amended soil, including dry-wet alteration (7 d, five cycles), microbial addition (Bacillus subtilis, 0.05 g/g soil), and Ultraviolet (UV) irradiation (340 nm, 15 W, 4 d). The results showed that there was the highest adsorption capacity of Cd on MPs (36.21, 45.15, 12.43 μg/g for PE, PP, PS, respectively) after UV irradiation exceeding those from MPs triggered by other two scenarios). UV irradiation caused an increase in the abundance of Streptomyces, an expansion in specific surface area, a significant change in surface morphologies, an improvement in crystallinity or the formation of new crystals, and an enhancement in C-O and C=O content, and then resulted in the incremental adsorption capacity of Cd on MPs. The findings are important of significance for controlling the environmental risks from sludge MPs via carrying heavy metals in the soil-plant systems. © 2022, The Authors. All rights reserved.

关键词： Cadmium

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On the Systematic Construction of Lyapunov Functions for Polynomial Systems

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PAMM 2023年第1期23卷

作者： Lars Natkowski Daniel Gerbet Klaus Röbenack Fraunhofer Institute for Transportation and Infrastructure Systems IVI Zeunerstraße 38 01069 Dresden Germany Institute of Control Theory Faculty of Electrical and Computer Engineering TU Dresden Georg-Schumann-Straße 7A 01187 Dresden Germany

Lyapunov functions are a widely used tool to evaluate stability properties of nonlinear dynamical systems' equilibria. In this paper quantifier elimination is used to construct Lyapunov functions for polynomial systems from a parametric ansatz. Because the existing algorithms for quantifier elimination are inherently computationally expensive, a strategy is to simplify the quantifier elimination problem beforehand. A method is presented that may help simplifying the problem of finding suitable Lyapunov functions by deriving easier to evaluate necessary conditions. Finally, the introduced method is applied to an example system to show local asymptotic stability of an equilibrium point by constructing a Lyapunov function.

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