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controlling the depth of a gliding robotic dolphin using dual motion control modes

science China(Information sciences) 2020年第9期63卷 217-230页

作者： Jian WANG Zhengxing WU Min TAN Junzhi YU State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESAT College of Engineering Peking University

This paper investigates the performance of the dual mode, namely flipper mode and central pattern generator(CPG) mode, for controlling the depth of a gliding robotic dolphin. Subsequent to considering the errors in dynamic models, we propose a depth control system that combines the line-of-sight(LOS)method with an adaptive control approach(ACA) to deal with uncertainties in the model parameters. First,we establish a full-state dynamic model to conduct simulations and optimize the parameters used in later aquatic experiments. Then, we use the LOS method to transform the control target from the depth to the pitch angle and employ the ACA to calculate the control signal. In particular, we optimize the ACA’s control parameters using simulations based on our dynamic model. Finally, our simulated and experimental results demonstrate not only that we can successfully control the robotic dolphin’s depth, but also that its performance was better than that of the CPG-based control, thus indicating that we can achieve three-dimensional motion by combining flipper-based and CPG-based control. The results of this study suggest valuable ideas for practical applications of gliding robotic dolphins.

关键词： gliding robotic dolphin depth control dual motion adaptive control approach

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RNN learning controller trained by ADRC 41

RNN learning controller trained by ADRC

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第41届中国控制会议

作者： Yutao Zhao Mengyang Wang Yi Huang Linfeng Li Yongchun Xie Key Lab.of System and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Science University of Chinese Academy of Sciences Beijing Institute of Control Engineering

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,the problem of training a recurrent neural network(RNN) controller to approximate an active disturbance rejection control(ADRC) is *** learning methods,online learning and offline learning,are *** the online setting,the RNN learning controller is trained by the error of the control quantity compared to that of ADRC in real time,while for the offline setting,the RNN controller is trained by the error of the whole state trajectory compared to that of ADRC obtained in *** randomized weight initialization,success rates of trained online and offline RNN learning controllers are compared by ***,the robustness property of the trained RNN controller is analyzed.A metric of robustness,which can be calculated from the weights of the trained RNN controller is also proposed.

关键词： Recurrent Neural Network(RNN) learning controller Active disturbance rejection control(ADRC) Online learning Offline learning Robustness

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On convergence of covariance matrix of empirical Bayes hyper-parameter estimator

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control Theory and Technology 2024年第2期22卷 149-162页

作者： Yue Ju Biqiang Mu Tianshi Chen School of Data Science and Shenzhen Research Institute of Big Data The Chinese University of Hong KongShenzhenShenzhen518172GuangdongChina Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of Technology10044StockholmSweden Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and System ScienceChinese Academy of SciencesBeijing100190China

Regularized system identification has become the research frontier of system identification in the past *** related core subject is to study the convergence properties of various hyper-parameter estimators as the sample size goes to *** this paper,we consider one commonly used hyper-parameter estimator,the empirical Bayes(EB).Its convergence in distribution has been studied,and the explicit expression of the covariance matrix of its limiting distribution has been ***,what we are truly interested in are factors contained in the covariance matrix of the EB hyper-parameter estimator,and then,the convergence of its covariance matrix to that of its limiting distribution is *** general,the convergence in distribution of a sequence of random variables does not necessarily guarantee the convergence of its covariance ***,the derivation of such convergence is a necessary complement to our theoretical analysis about factors that influence the convergence properties of the EB hyper-parameter *** this paper,we consider the regularized finite impulse response(FIR)model estimation with deterministic inputs,and show that the covariance matrix of the EB hyper-parameter estimator converges to that of its limiting ***,we run numerical simulations to demonstrate the efficacy of ourtheoretical results.

关键词： Regularized system identification Hyper-parameter estimator Empirical Bayes Convergence of covariance matrix

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A New Fuzzy H∞ Filter Design for Nonlinear Time-Delay systems with Mismatched Premise Membership Functions

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IFAC-PapersOnLine 2017年第1期50卷 1433-1438页

作者： Ma Q. Li L. Ma G. Jia D. Xia H. Control Science and Engineering Department Harbin Institute of Technology Harbin 150001 China School of Information Science and Engineering Harbin Institute of Technology at Weihai Weihai 264200 China Beijing Institute of Space System Engineering Beijing 100076 China

This paper is concerned with the fuzzy H∞ filter design issue for nonlinear systems with time-varying delay. To overcome the limitations of conventional methods with matched preconditions, the filter to be designed and the T-S fuzzy model are assumed to have different premise membership functions and different number of rules. Hence, greater design flexibility can be obtained. Moreover, in order to reduce conservatism, a novel integral inequality which is tighter than the traditional inequalities derived from the Leibniz-Newton formula is applied. Furthermore, the proposed filter design approach also considered the information about the membership functions, which can help further relax the derived results. Finally, two numerical examples are provided to demonstrate the effectiveness and superiority of the proposed method. © 2017

关键词： Fuzzy H∞ filter Mismatched conditions New integral inequality T-S fuzzy model Time Delay

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Privacy Preservation for Cloud-Edge-Collaborative Energy Management system Using Post-Quantum Homomorphic Encryption

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IEEE Transactions on Smart Grid 2025年

作者： Jiang, Cheng Li, Xue Du, Dajun Qian, Hong Wen, Mi Wu, Lei Findeisen, Rolf Shanghai University of Electric Power Shanghai Key Laboratory of Power Station Automation Technology College of Automation Engineering Shanghai200090 China Shanghai University Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronical Engineering and Automation Shanghai200072 China Shanghai University of Electric Power College of Computer Science and Technology Shanghai201306 China Advanced Cryptography and System Security Key Laboratory of Sichuan Province Chengdu610225 China Stevens Institute of Technology Department of Electrical and Computer Engineering HobokenNJ07030 United States TU Darmstadt Control and Cyber-Physical Systems Laboratory Darmstadt64227 Germany

Cloud-based energy management systems (EMS) in smart grids face privacy challenges, as existing methods based on traditional homomorphic encryption support limited operations and are vulnerable to quantum attacks. We propose a privacy preservation method for smart grid energy management system, leveraging edge-assisted computing and ring learning with errors (RLWE) homomorphic encryption. Our approach enables both addition and multiplication operations on encrypted smart grid data while defending against quantum threats. We demonstrate the methods security under the RLWE hardness assumption and validate its effectiveness through an experimental platform simulating smart grid environments. This work addresses computational limitations in current privacy-preserving techniques, enhancing data security for evolving smart grid technologies © 2010-2012 IEEE.

关键词： Power management (telecommunication)

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A Combinatorial Condition and Boolean Functions with Optimal Algebraic Immunity

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Journal of systems science & Complexity 2015年第3期28卷 725-742页

作者： JIN Qingfang LIU Zhuojun WU Baofeng ZHANG Xiaoming Key Laboratory of System and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences State Key Laboratory of Information Security Institute of Information Engineering Chinese Academy of Sciences

This paper first proposes an infinite class of 2k-variable Boolean functions with high nonlinearity and high algebraic degree. Then an infinite class of balanced Boolean functions are proposed by modifying the above Boolean functions. This class of balanced Boolean functions have optimal algebraic degree and high nonlinearity. Both classes have optimal algebraic immunity based on a general combinatorial conjecture.

关键词： Algebraic degree algebraic immunity balancedness Bent function Boolean function nonlinearity.

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Parameter-free global hybrid point based range image registration 17

Parameter-free global hybrid point based range image registr...

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2017 International Conference on Advances in Image Processing, ICAIP 2017

作者： Tao, Linh Nguyen, Tinh Hasegawa, Hiroshi Graduate School of Engineering and Science Shibaura Institute of Technology Japan Department of Machinery and Control System Shibaura Institute of Technology Japan

ISBN: (纸本)9781450352956

In order to tackle one of the most difficult tasks in 3D computer vision, range image registration (RIR), this paper proposes a new approach to register two range images of the same object or scenario from different scanning angles. The new method of two dimensional point based boundary searching replaces conventional six dimension methods. This point based approach is applied into hybrid registration paradigm which integrates global searching algorithms with a local alignment tool, Iterative Closest Point (ICP). With this approach, searching algorithms are able to find global optima more efficiently with significantly fewer searching dimensions. Because of using data points as searching variables and taking all of them into consideration, registration algorithms are able to explore the whole space to find the global solution without any parameter constraint. Point based searching approach is successfully implemented on hybrid registration algorithms which use state-of-the-art global searching tools including Simulated Annealing (SA), Differential Evolution (DE) and Particle Swarm Optimization (PSO). The new approach is evaluated in terms of both accuracy and robustness in various experiments on different datasets to prove its superior over the conventional approach. © 2017 Association for Computing Machinery.

关键词： Simulated annealing

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Effect of inclined support surface on postural strategy during anterior-posterior platform translations

Effect of inclined support surface on postural strategy duri...

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34th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBS 2012

作者： Ishizawa, Masanori Yamamoto, Shin-Ichiroh Department of Machinery and Control System Shibaura Institute of Technology Japan Department of Bio-science and Engineering Shibaura Institute of Technology Japan

ISBN: (纸本)9781424441198

Previous studies have reported that postural coordination patterns change as a function of translation frequency. However, the effect of inclined support surface on postural strategy was not clear. Therefore, the purpose of this study is to investigate the influence of inclined support surface on postural strategy during platform translations. Eight healthy adults maintained their balance in stance during support surface translations in the anterior-posterior direction at two different frequencies (0.2 and 0.8[Hz]) and at three different base of support condition (LV: Level, TD: Toe Down, TU: Toe Up). For the kinematic data at slow frequency, subjects rode the platform depending on the movement of platform itself, while at fast frequency subjects fixed their head and center of mass (COM) in space. For the kinetic data at slow frequency, the ankle moment amplitude is similar among all support surface conditions, while at fast frequency the ankle moment amplitude for TU is significantly larger than LV. Result shown that the effect of inclined surface on postural strategy changed according to frequency of support surface translations. © 2012 IEEE.

关键词： Fixed platforms

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Refined modeling and experimental verification of a torque motor for an electro-hydraulic servo valve

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Chinese Journal of Aeronautics 2023年第6期36卷 302-317页

作者： Zhichuang CHEN Shenghong GE Yulei JIANG Wenhao CHENG Yuchuan ZHU National Key Laboratory of Science and Technology on Helicopter Transmission Nanjing University of Aeronautics and AstronauticsNanjing 210016China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing Engineering Institute of Aircraft SystemsNanjing 210061China AVIC Nanjing Servo Control System Co. LtdNanjing 210032China

The Permanent Magnet Torque Motor(PMTM)is the key electro-mechanical conversion device in an Electro-Hydraulic Servo Valve(EHSV).In this work,a refined model of a PMTM is developed,considering the non-working air-gaps between the upper or lower yoke and the armature,the fringing effect at the limiting holes,and the nonlinear permeability of soft magnetic *** on the refined model,the influences of various factors on the calculation accuracy of the magnetic flux at the pole surfaces of the armature and the output torque are *** verifying the validity of the refined model,a Finite Element Analysis(FEA)of the PMTM is conducted,and a test platform is *** with existing models,the refined model can better reveal the intrinsic mechanism of the PMTM,and its calculations are more consistent with the FEA *** experimental results of the armature deflection displacement show that the refined model can accurately describe the output characteristics of the PMTM.

关键词： Calculation accuracy Electro-hydraulic servo valve Experimental verification Finite element analysis Refined model Torque motor

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Evolution and maintenance of cooperation via inheritance of neighborhood relationship

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Chinese science Bulletin 2013年第28期58卷 3491-3498页

作者： TAN ShaoLin Lü JinHu YU XingHuo HILL David John The Key Laboratory of System and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences School of Electrical and Computer Engineering RMIT University Department of Electrical and Electronic Engineering The University of Hong Kong School of Electrical and Information Engineering University of Sydney

Cooperative behaviors are ubiquitous in nature and human *** is very important to understand the internal mechanism of emergence and maintenance of *** we know now,the offsprings inherit not only the phenotype but also the neighborhood relationship of their *** recent research results show that the interactions among individuals facilitate survival of cooperation through network reciprocity of clustering *** paper aims at introducing an inheritance mechanism of neighborhood relationship to explore the evolution of *** detail,a mathematical model is proposed to characterize the evolutionary process with the above inheritance *** analysis and numerical simulations indicate that high-level cooperation can emerge and be maintained for a wide variety of cost-to-benefit ratios,even if mutation happens during the evolving process.

关键词：合作机制邻里关系维护演变进化过程人类社会遗传机制数学模型

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