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7th International Conference on Smart City Applications, SCA 2022

作者： Baihaqi, Muhammad Yeza Vincent Simatupang, Joni Welman Graduate Institute of Automation and Control College of Engineering National Taiwan University of Science and Technology Taipei Taiwan School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia Study Program of Electrical Engineering President University Bekasi Indonesia

ISBN: (纸本)9783031268519

Humanoid robot is able to mimic repetitive activities done by human. By having them, humans can focus on tasks that require extra focus, while leaving the simple one to be done by humanoid robot. To extend the functionality of the 3D-printed upper-body humanoid robot, a camera along with a machine learning algorithm is implemented. In this case, their responses can be categorized based on the gesture it sees. In this paper, the authors evaluate the performance of an upper-body humanoid robot that implements CVZone. The method of evaluation is conducted under three different distances, and each distance has three different brightness levels. It is found that the success rate is highest at the shortest distance which is 50 cm, and under medium-lighted environment. As the distance increases, the hand gesture gets harder to differentiate. At the same time, low or high brightness environment makes the image that contain hand gesture hard to interpret, thus lowering the success rate. Finally, hand gesture that involves third and little finger has the lowest success rate of 75%, while the movement that involves three fingers simultaneously has the second lowest success rate of 80.9%. Meanwhile, simple hand gesture such as clenched-fist or lifting a thumb has 100% success rate under all condition. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Anthropomorphic robots

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Approximate state estimation with large-scale sensor networks under event-based sensor scheduling strategy 63

Approximate state estimation with large-scale sensor network...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Liu, Xinhui Cheng, Meiqi Shi, Dawei Shi, Ling Beijing Institute of Technology Miit Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Kowloon Hong Kong

ISBN: (纸本)9798350316339

In this paper, we investigate the issues of real-time sensor scheduling and state estimator design within large-scale sensor network systems. Specifically, data redundancy sometimes occurs in large-scale sensor arrays due to the excessive proximity of sensing units in the spatial domain, leading to high similarity in their measurement data. Currently, it is difficult to account for such redundancy in sensor scheduling algorithms found in existing literature, where the optimal subset of sensors is generally selected by optimizing objective functions formulated from certain performance criteria. To tackle this problem, we introduce an event-based sensor scheduling strategy, the triggering condition of which is designed founded on the similarity of sensor data, so as to identify the most informative subset of sensors for state estimation. To evaluate the impact of the sensor scheduling protocol on system observability, we propose a new notion of E(varepsilon)-observability, based on which an observability criterion is derived. In addition, we have designed a set-valued state estimation algorithm, which takes into account the intricate measurement information structure inherent within the sensor selection mechanism. The performance enhancement of the proposed estimator is also investigated. Finally, numerical experiments are conducted to validate the effectiveness of the proposed estimation algorithm and to verify the performance improvement. © 2024 IEEE.

关键词： Scheduling algorithms

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Finite-Time and Fault-Tolerant Cooperative Guidance Against Maneuvering Target with Time and Angle Constraints

Finite-Time and Fault-Tolerant Cooperative Guidance Against ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Huang, Ang Yu, Jianglong Dong, Xiwang Li, Qingdong Ren, Zhang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Institute of Artificial Intelligence Beihang University Beijing100191 China

ISBN: (纸本)9789811966125

Cooperative guidance of multiple missiles against a non-cooperative target with angle constraint and time constraint is investigated. Firstly, guidance model is constructed from guidance kinematics. Secondly, an exponentially convergent state observer and an extended-state-observer (ESO) are designed respectively to estimate unknown target information. Thirdly, a finite time convergent cooperative guidance law with time constraint is designed in line-of-sight (LOS) direction, and the influence of observation error is considered. Another guidance law with angle constraint is designed in normal LOS direction and the scenario of actuator failure is considered. Finally, the simulation of four missiles cooperatively intercepting a maneuvering target is built to verify the feasibility of the proposed guidance laws. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： State estimation

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Weapon Target Assignment Based on Compensation Auction Algorithm

Weapon Target Assignment Based on Compensation Auction Algo...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Li, Xuheng Yu, Jianglong Dong, Xiwang Li, Qingdong Hua, Yongzhao Ren, Zhang Institute of Artificial Intelligence Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China

ISBN: (纸本)9789811966125

An improved auction algorithm named compensation auction algorithm (CAA) is proposed for the air-to-air confrontation problem in attack scenarios. First, in order to represent the conflict in assignment, a damage benefit function is established according to the guidance rules. Secondly, a multi-constraint dynamic model of multi-weapon attacking multi-target is created. Then, according to the traditional auction algorithm, a compensation mechanism is proposed and a compensation factor is introduced. Under the condition that the constraints are satisfied, the efficiency of algorithm convergence is accelerated. Finally, a simulation is carried out on the established scene by using CAA. The results show that the algorithm has an effective optimization in time consumption compared with the existing intelligent algorithms, which also meets the real-time requirements. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Combinatorial optimization

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Hierarchical Multiview Top-k Pooling with Deep-Q-Networks

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第6期5卷 2985-2996页

作者： Li, Zhi-Peng Su, Hai-Long Wu, Yong- Zhang, Qin-Hu Yuan, Chang-An Gribova, Valeriya Filaretov, Vladimir Fedorovich Huang, De-Shuang Eastern Institute of Technology Zhejiang Ningbo315201 China University of Science and Technology of China School of Life Sciences Anhui Hefei230026 China Tongji University Institute of Machine Learning and Systems Biology School of Electronics and Information Engineering Shanghai201804 China Guangxi Academy of Sciences Institute of Big Data and Intelligent Computing Research Center Nanning530007 China Far Eastern Branch of the Russian Academy of Sciences Institute of Automation and Control Processes Vladivostok690041 Russia

Graph neural networks (GNNs) are extensions of deep neural networks to graph-structured data. It has already attracted widespread attention for various tasks such as node classification and link prediction. Existing research focuses more on graph convolutional neural networks (GCNs). However, it is usually overlooked that graph pooling can obtain graph representations by summarizing and down-sampling node information. Meanwhile, existing graph pooling methods mainly use top-k for node selection, but most of them consider only single view information when scoring nodes, and the k values in top-k are usually selected empirically. This work proposes the hierarchical multiview top-k pooling (HMTPool) with deep-Q-networks, which scores nodes taking into account multiview information (considering graph structure and features) and does not rely on the empirical adaptive selection of the best k value. HMTPool is a two-stage process. It first uses a variant GCN and multilayer perceptron to score the nodes from structural and feature perspectives, respectively and then performs fusion operations on the multiview information scores of the nodes. In addition, to select the optimal pooling ratio of top-k, we propose a deep-Q-network-based top-k (DTop-k) node selection method, which can adaptively select the best pooling ratio without prior knowledge. Experimental results on six TUDatasets and two Benchmarking GNNs datasets demonstrate the effectiveness of our proposed approach. © 2020 IEEE.

关键词： Convolution

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Real-time multi-risk assessment of large scale power system with high-penetration renewable energy 3

Real-time multi-risk assessment of large scale power system ...

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2024 3rd International Conference on Green Energy and Power Systems, ICGEPS 2024

作者： Zhang, Tingxiang Xu, Ying Yi, Zhongkai Xu, Jianing Cai, Xinlei Wang, Naixiao School of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China Electric Power Dispatching and Control Center Guangdong Power Grid Co China Southern Power Grid Company Limited Guangzhou510000 China

To accurately assess the impact of real-time uncertainty of high penetration renewable energy sources on the real-time operation of large-scale power systems, this study proposes an innovative method for real-time multi-risk assessment in power systems. Firstly, by utilizing an improved spectral clustering algorithm and mixture density network to analyze historical operational data, effective clustering of different renewable energy generation curves and accurate fitting of prediction errors were achieved. Next, random sampling was performed from the probability density curves of prediction errors to obtain real-time renewable energy outputs. At the same time, a non-sequential Monte Carlo method was used to incorporate interruptions for each component into the scenario simulation. Subsequently, a state assessment was conducted for each sampled scenario by minimizing load shedding and energy curtailment. On this basis, risk indices that comprehensively consider the real-time flexibility of the system and power supply-demand imbalances were established. Finally, validation in a test system verified the accuracy and speed of the proposed multi-risk assessment method. © Published under licence by IOP Publishing Ltd.

关键词： Renewable energy

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Reliability Calculation Method of Ship Distributed Degaussing System Considering with Power Module Backup and Winding Reconstruction

Reliability Calculation Method of Ship Distributed Degaussin...

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2023 International Joint Conference on Civil and Marine engineering, JCCME 2023

作者： Wang, Jianxun Zhao, Jie Xiao, Hanchen Zhou, Shiying Yang, Wentie Jiang, Weibin Hubei Key Laboratory of Marine Electromagnetic Detection and Control Wuhan Second Ship Design and Research Institute Wuhan China School of Electrical Engineering and Automation Wuhan University Wuhan China

ISBN: (纸本)9781839539954

With the large size of modern ships and the increasing requirements of naval demagnetization technology, the demagnetization system develops to distributed type, and the system reliability can be improved by modular demagnetization power supply module redundancy backup and demagnetization winding reconfiguration design in the distributed demagnetization system. In order to calculate the reliability of the distributed demagnetization system, the typical design principles of modular demagnetization power module backup and demagnetization winding reconfiguration are analyzed, and the design schemes such as 1+1 backup or Nm+1 backup for the demagnetization power supply, overall N-1 reconfiguration for the longitudinal winding, no reconfiguration for the single-layer transverse winding or vertical winding, and local N-1 reconfiguration for the double-layer transverse winding or vertical winding are determined. Based on the basic reliability model and the above design principles, the reliability calculation model and method applicable to the distributed demagnetization system are established, and the reliability enhancement capability of the demagnetization system is analyzed and calculated as an example, and the calculation method can be used to guide the reliability design of the demagnetization system. © The Institution of engineering & Technology 2023.

关键词： Degaussing

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Relative Pose Estimation from Range Measurements for Collaborative SLAM System

Relative Pose Estimation from Range Measurements for Colla...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Zhang, Yang Yu, Jianglong Li, Qingdong Dong, Xiwang Ren, Zhang Institute of Artificial Intelligence Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China

ISBN: (纸本)9789811966125

In this paper, we propose an algorithm that estimate 3D relative pose transformation based on range measurements between robots and pose estimates produced by VI-SLAM system. Specifically, we prove that 5 range measurements is needed at least to estimate 4 degrees-of-freedom relative pose transformation for nonsingular configurations. Additionally, a more efficient algebraic method is proposed to compute the unique solution which can be used as a good initial estimate for refinement process. Furthermore, we refine the initial estimate through iterative process to improve accuracy in the presence of noise. Finally, we validate the algorithm in simulation. The proposed algorithm based on range measurement is intended for use in collaborative SLAM system where map merging can be performed in more proactive manner, as contrast to the methods based on vision. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Degrees of freedom (mechanics)

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REDUNDANT DIGITAL BRAKE VALVE controlLER BIT DESIGN

REDUNDANT DIGITAL BRAKE VALVE CONTROLLER BIT DESIGN

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2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Jin, Hongtao Gao, Xiaolong Wu, Shuai Li, Chuandong School of Automation Science and Electrical Engineering Beihang University Beijing100191 China National Key Laboratory of Aircraft Integrated Flight Control Beijing100191 China Ningbo Institute of Technology Beihang University Ningbo315800 China

High-speed switching valves are widely used in aerospace and other fields due to their simple structure and high resistance to contamination. The digital brake valve controller is the driving device of the digital brake valve, which requires high reliability. In this paper, a redundant digital brake valve controller scheme is proposed, and the corresponding BIT circuit is designed based on the structural characteristics of the brake valve driving circuit. The reliability model of the controller is established based on Markov process theory and analysed by simulation, and the results show that the reliability of this redundant digital brake valve controller is mentioned to be greatly improved. © The Institution of engineering & Technology 2024.

关键词： Markov processes

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Transductive Transfer Broad Learning Soft Sensor for Multimode Quality Prediction 9

Transductive Transfer Broad Learning Soft Sensor for Multimo...

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9th International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2023

作者： Zhu, Jialiang Deng, Hongying Xu, Danya Yang, Tao Liu, Yi Institute of Process Equipment and Control Engineering Zhejiang University of Technology Hangzhou310023 China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China

ISBN: (纸本)9798350342239

In chemical processes, reliable soft sensors are generally established by enough labeled data. However, in most multimode processes, the collection of sufficient labeled data is difficult due to the high cost and complexity. In this work, transductive transfer broad learning (TTBL) is proposed for multimode quality prediction. By transferring the useful information from the related domain, unlabeled data in the prediction domain is utilized for modeling. First, the data feature is extracted by the feature and enhancement nodes. The similarity information of current and related domain data is captured by the k nearest-neighbor graph. Then, label information in the related domain can be transferred and similar information in the same domain can be retained by the manifold regularization framework. Finally, the output weight can be effectively calculated by the ridge regression algorithm. Experimental results on continuous stirred tank reactor datasets show the superiority of TTBL, compared with several common methods. © 2023 IEEE.

关键词： Forecasting

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