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A trajectory-level robot skill learning method based on fuzzy systems

science China(Information sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Two Stages Segmentation Algorithm of Breast Tumor in DCE-MRI Based on Multi-Scale Feature and Boundary Attention Mechanism

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Computers, Materials & Continua 2024年第7期80卷 1543-1561页

作者： Bing Li Liangyu Wang Xia Liu Hongbin Fan Bo Wang Shoudi Tong School of Automation Harbin University of Science and TechnologyHarbin150080China Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin150080China School of Computer Engineering Technology Guangdong Institute of Science and TechnologyZhuhai519090China

Nuclearmagnetic resonance imaging of breasts often presents complex *** tumors exhibit varying sizes,uneven intensity,and indistinct *** characteristics can lead to challenges such as low accuracy and incorrect segmentation during tumor ***,we propose a two-stage breast tumor segmentation method leveraging multi-scale features and boundary attention ***,the breast region of interest is extracted to isolate the breast area from surrounding tissues and ***,we devise a fusion network incorporatingmulti-scale features and boundary attentionmechanisms for breast tumor *** incorporate multi-scale parallel dilated convolution modules into the network,enhancing its capability to segment tumors of various sizes through multi-scale convolution and novel fusion ***,attention and boundary detection modules are included to augment the network’s capacity to locate tumors by capturing nonlocal dependencies in both spatial and channel ***,a hybrid loss function with boundary weight is employed to address sample class imbalance issues and enhance the network’s boundary maintenance capability through additional *** was evaluated using breast data from 207 patients at RuijinHospital,resulting in a 6.64%increase in Dice similarity coefficient compared to the *** results demonstrate the superiority of the method over other segmentation techniques,with fewer model parameters.

关键词： Dynamic contrast-enhanced magnetic resonance imaging(DCE-MRI) breast tumor segmentation multi-scale dilated convolution boundary attention the hybrid loss function with boundary weight

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Reachable set estimation for spacecraft relative motion based on bang-bang principle

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Chinese Journal of Aeronautics 2023年第2期36卷 229-240页

作者： Lizhen SHAO Haibin MIAO Renhong HU Hongjin LIU Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China Shunde Graduate School of University of Science and Technology Beijing 100083China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 528399China Beijing Institute of Control Engineering Beijing 100190China Beijing Sunwise Space Technology Ltd. Beijing 100190China

For spacecraft formation flight,the information of relative motion reachable set is very important,which can be used to predict the operating boundary of adjacent spacecraft and thus to ensure the safety of spacecraft *** this paper,we aim at developing a numerical method to approximate the reachable set for spacecraft relative *** particular,we focus on the quality of the approximation and the computational *** on the bang-bang control principle,a polyhedral approximation algorithm is proposed to compute the reachable set of a relative motion spacecraft *** inner approximation and an outer approximation of the reachable set for the system can be *** prove that the approximation quality measured in Hausdorff distance can be *** method is easy to implement and has low computational ***,the effectiveness of the algorithm is demonstrated by experimental simulation.

关键词： Polyhedral approximation Reachable set Spacecraft control Spacecraft relative motion The bang-bang control principle

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Method of improving pedestrian navigation performance based on chest card

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Journal of systems engineering and Electronics 2024年第4期35卷 987-998页

作者： CHENG Hao GAO Shuang CAI Xiaowen WANG Yuxuan WANG Jie School of Instrumentation and Optoelectronic Engineering Beihang UniversityBeijing 100191China School of Automation and Electronic Information Xiangtan UniversityXiangtan 411105China Navigation Guidance and Control Graduate School of the Second Institute of China Aerospace Science and Industry CorporationBeijing 100854China

With the development of positioning technology,loca-tion services are constantly in demand by *** a primary location service pedestrian navigation has two main approaches based on radio and inertial *** pedestrian naviga-tion based on radio is subject to environmental occlusion lead-ing to the degradation of positioning *** pedestrian navigation based on micro-electro-mechanical system inertial measurement unit(MIMU)is less susceptible to environmental interference,but its errors dissipate over *** this paper,a chest card pedestrian navigation improvement method based on complementary correction is proposed in order to suppress the error divergence of inertial navigation *** suppress atti-tude errors,optimal feedback coefficients are established by pedestrian motion *** extend navigation time and improve positioning accuracy,the step length in subsequent movements is compensated by the first step *** experi-mental results show that the positioning accuracy of the pro-posed method is improved by more than 47%and 44%com-pared with the pure inertia-based method combined with step compensation and the traditional complementary filtering com-bined method with step *** proposed method can effectively suppress the error dispersion and improve the positioning accuracy.

关键词： pedestrian navigation micro-electro-mechanical sy-stem(MEMS) inertial navigation complementary filtering

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Interval analysis for neural networks with application to fault detection

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science China(Information sciences) 2024年第11期67卷 222-237页

作者： Zhenhua WANG Youdao MA Song ZHU Thach Ngoc DINH Yi SHEN Department of Control Science and Engineering Harbin Institute of Technology National Key Laboratory of Complex System Control and Intelligent Agent Cooperation School of Mathematics China University of Mining and Technology The CEDRIC-Lab Conservatoire National des Arts et Métiers (CNAM)

This paper investigates an interval analysis method for neural networks and applies it to fault detection for systems with unknown but bounded measurement noise. First, a novel interval analysis method is presented, which can compute the bounds of the output of a feedforward neural network subject to a bounded input. By applying the proposed interval analysis method to a network trained with fault-free system data, adaptive thresholds for fault detection are computed. Finally, one can acquire fault detection results via a fault detection strategy. The proposed method can achieve tight bounds of the network output and employ simple operations, which leads to accurate fault detection results and a low computational burden.A numerical simulation and an experiment on an AC servo motor are given to illustrate the effectiveness and superiority of the proposed method.

关键词： interval analysis feedforward neural network fault detection adaptive thresholds

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Dynamic Event-Triggered Fixed-Time Consensus Analysis of Multi-Agent systems Under Input Delays and Switching Topologies 3

Dynamic Event-Triggered Fixed-Time Consensus Analysis of Mul...

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3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Zhang, Yu Li, Yajing Ran, Guangtao Yu, Hao Ma, Guangfu Department of Automation Shenzhen518055 China Shanghai Institute of Aerospace System Engineering Shanghai200241 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China School of Automation Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798331540319

This paper proposes a dynamic event-triggered control method for first-order multi-agent systems with input delays and disturbances under switching topologies. The controller design and its properties of dynamic event-triggered fixed-time consensus are presented in detail. Furthermore, agents can achieve consensus in a fixed time for any initial conditions and topologies that comply with the control protocol. Zeno behavior is avoided. Simulation examples demonstrate the effectiveness of the proposed algorithm and simulate scenarios in which the communication environment deteriorates due to external disturbances affecting the MASs. © 2024 IEEE.

关键词： Multi agent systems

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Data-driven consensus control of fully distributed event-triggered multi-agent systems

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science China(Information sciences) 2023年第5期66卷 147-161页

作者： Yifei LI Xin WANG Jian SUN Gang WANG Jie CHEN School of Automation Beijing Institute of Technology The State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This study investigates the consensus control issue in discrete-time linear multi-agent systems(MASs) using data-driven control under undirected communication networks. To alleviate the communication burden, an adaptive event-triggered control strategy involving only local information is proposed and a model-based stability condition is derived that guarantees the asymptotic consensus of MASs. Furthermore,a data-based consensus condition for unknown MASs is established by combining a data-based system representation with the model-based stability condition, using only pre-collected noisy input-state data instead of the accurate system information a priori. Specifically, both model-based and data-driven event-triggered controllers can be utilized without requiring any global information. The validity and correctness of the controllers and associated theoretical results are demonstrated via numerical simulations.

关键词： distributed control event-triggered control data-driven control discrete-time MASs

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Dynamic Event-Triggered Consensus control for Input Constrained Multi-Agent systems With a Designable Minimum Inter-Event Time

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 649-660页

作者： Meilin Li Yue Long Tieshan Li Hongjing Liang C.L.Philip Chen the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China IEEE the Yangtze Delta Region Institute University of Electronic Science and Technology of ChinaHuzhou 313000 the Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing 100089China the School of Computer Science and Engineering South China University of TechnologyGuangzhou 510006

This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first ***,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale *** is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event *** addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable ***,the results are extended to regional consensus of the MASs with the bounded control *** simulations show the effectiveness of the proposed approach.

关键词： Constrained input designable minimum inter-event time directed communication topology dynamic event-triggered mechanism MASs consensus control

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Comparative Analysis of Deep Dielectric Charging Models of Spacecraft Slip Ring Assembly 7

Comparative Analysis of Deep Dielectric Charging Models of S...

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7th IEEE International Electrical and Energy Conference, CIEEC 2024

作者： Zhu, Liying Yang, Dong Wei, Dejie Wu, Jianwen Beijing Institute of Spacecraft System Engineering Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9798350359558

Numerical simulation is widely used as an important means for the design, evaluation, and qualitative analysis of deep dielectric charging in spacecraft. In this paper, for the commonly used radiation-induced conductivity (RIC) model and the charge conservation law (CCL) model, a comparative analysis is conducted from the perspective of control equations and physical meanings. The RIC model is a microscopic expression considering free charge and trapped charge, and the CCL model is a further simplification of the RIC model. Based on the RIC model, a typical back-grounded plate example is calculated to explore the internal charging of the medium under different particle energies. Based on the CCL model, utilizing a combination of Monte-Carlo particle transport simulation and finite element calculation, the 3-D distribution of the electric field intensity inside the solar array drive assembly (SADA) slip ring is accurately described. It can be seen from the calculation results that the two results are basically consistent, but the three-dimensional calculation can more accurately describe the internal electric field intensity distribution of the medium. The maximum internal electric field intensity is about - 1.81 × 107 V/m, which is close to the internal breakdown threshold of the dielectric. © 2024 IEEE.

关键词： Monte Carlo methods

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A Survey on Distributed Network Localization from a Graph Laplacian Perspective

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Journal of systems science & Complexity 2024年第1期37卷 273-293页

作者： HAN Zhimin LIN Zhiyun FU Minyue Artificial Intelligence Institute School of AutomationHangzhou Dianzi UniversityHangzhou 310018China Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent ManufacturingSouthern University of Science and TechnologyShenzhen 518055China Peng Cheng Laboratory Shenzhen 518000China

Network localization serves as a fundamental component for enabling various position based operations in multi-agent systems,facilitating tasks like target searching and formation control by providing accurate position information for all nodes in the *** localization focuses on the challenge of determining the positions of nodes within a network,relying on the known positions of anchor nodes and internode relative *** the past few decades,distributed network localization has garnered significant attention from *** paper aims to provide a review of main results and advancements in the field of distributed network localization,with a particular focus on the perspective of graph *** to its favorable characteristics,graph Laplacian unifies various network localization,even when dealing with diverse types of internode relative measurements,into a unified protocol framework,which can be constructed by a linear method and ensure the global convergence.

关键词： Distributed network localization graph Laplaian sensor network

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