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2022 Chinese Automation Congress, CAC 2022

作者： Yang, Yuelin Yu, Wanke Liu, Zepeng Zhao, Lingran Lu, Chengda Wu, Min Niu, Ruiqing China University of Geosciences School of Automation Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China China University of Geosciences Institute of Geophysics and Geomatics Wuhan China

ISBN: (纸本)9781665465335

In the analysis of regional landslide susceptibility, the geological data used usually have the characteristics of multiplicity and nonlinearity. At the same time, in the past researches, the selection of non-landslide units in the training set is usually random or subjective, and there is no guarantee sample accuracy. In this paper, the deep forest algorithm combined with the twice-sample method is used to evaluate the landslide susceptibility in the Zigui Badong area of the Three Gorges Reservoir area. First, 11 landslide impact factors were selected according to the geological data to initially construct a sample set, and the cleaned data set was obtained by twice-sample. After dividing the training set and the test set, the deep forest model was used to predict the landslide susceptibility and evaluate the accuracy. The results show that the AUC of the susceptibility prediction model built using the deep forest is 1%-10% higher than that of GBDT, MLP and other methods, while the Twice-Sample method improves the AUC by 2%. © 2022 IEEE.

关键词： Landslides

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Distributed multi-timescale algorithm for nonconvex optimization problem: A control perspective

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Neural Networks 2025年 186卷 107257页

作者： Shi, Xiasheng Liu, Jian Sun, Changyin School of Artificial Intelligence Anhui University Hefei230106 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Automation Southeast University Nanjing210096 China

The distributed nonconvex constrained optimization problem with equality and inequality constraints is researched in this paper, where the objective function and the function for constraints are all nonconvex. To solve this problem from a control perspective, a virtual reference-based convex penalty function is added to the augmented Lagrangian function. Then, based on the primal–dual technique, a two-timescale distributed approach is designed based on the consensus scheme. The slower subsystem aims to ensure the optimality, and the faster subsystem intends to guarantee the stability. Finally, three cases are presented to illustrate the approach's effectiveness. © 2025 Elsevier Ltd

关键词： Consensus algorithm

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Large Language Models for UAVs: Current State and Pathways to the Future

arXiv

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arXiv 2024年

作者： Javaid, Shumaila Saeed, Nasir He, Bin Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201804 China Frontiers Science Center for Intelligent Autonomous Systems Shanghai 201210 China Al Ain15551 United Arab Emirates

Unmanned Aerial Vehicles (UAVs) have emerged as a transformative technology across diverse sectors, offering adaptable solutions to complex challenges in both military and civilian domains. Their expanding capabilities present a platform for further advancement by integrating cutting-edge computational tools like Artificial Intelligence (AI) and Machine Learning (ML) algorithms. These advancements have significantly impacted various facets of human life, fostering an era of unparalleled efficiency and convenience. Large Language Models (LLMs), a key component of AI, exhibit remarkable learning and adaptation capabilities within deployed environments, demonstrating an evolving form of intelligence with the potential to approach human-level proficiency. This work explores the significant potential of integrating UAVs and LLMs to propel the development of autonomous systems. We comprehensively review LLM architectures, evaluating their suitability for UAV integration. Additionally, we summarize the state-of-the-art LLM-based UAV architectures and identify novel opportunities for LLM embedding within UAV frameworks. Notably, we focus on leveraging LLMs to refine data analysis and decision-making processes, specifically for enhanced spectral sensing and sharing in UAV applications. Furthermore, we investigate how LLM integration expands the scope of existing UAV applications, enabling autonomous data processing, improved decision-making, and faster response times in emergency scenarios like disaster response and network restoration. Finally, we highlight crucial areas for future research that are critical for facilitating the effective integration of LLMs and UAVs. © 2024, CC BY-SA.

关键词： Decision making

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Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

Autonomous Exploration of Unknown 3D Environments Using a Fr...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Iván D. Changoluisa Caiza Ana Milas Marco A. Montes Grova Francisco Javier Pérez-Grau Tamara Petrovic University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Advanced Center for Aerospace Technologies (CATEC) Aerospace Technology Park of Andalusia Seville Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment.

关键词： Three-dimensional displays Video on demand Navigation Warehousing Buildings Inspection Web sites

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A Survey on Robotic Manipulation of Deformable Objects: Recent Advances, Open Challenges and New Frontiers

arXiv

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arXiv 2023年

作者： Gu, Feida Zhou, Yanmin Wang, Zhipeng Jiang, Shuo He, Bin Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai201804 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai201210 China The Frontiers Science Center for Intelligent Autonomous Systems Shanghai200120 China The Department of Control Science and Engineering Tongji University Shanghai201804 China

Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for robotic perception, modeling and manipulation, due to the infinite dimensionality of the state space of deformable objects (DOs) and the complexity of their dynamics. The development of computer graphics and machine learning has enabled novel techniques for DOM. These techniques, based on data-driven paradigms, can address some of the challenges that analytical approaches of DOM face. However, some existing reviews do not include all aspects of DOM, and some previous reviews do not summarize data-driven approaches adequately. In this article, we survey more than 150 relevant studies (data-driven approaches mainly) and summarize recent advances, open challenges, and new frontiers for aspects of perception, modeling and manipulation for DOs. Particularly, we summarize initial progress made by Large Language Models (LLMs) in robotic manipulation, and indicates some valuable directions for further research. We believe that integrating data-driven approaches and analytical approaches can provide viable solutions to open challenges of DOM. Impact Statement-The manipulation of deformable objects is very common in industry or daily life. The applications of deformable object manipulation in industry can create enormous economic benefits, and the applications in daily life can improve quality of life, especially for people with disabilities and the elderly. Robotic manipulation tasks such as food handling, assistive dressing or clothing folding require open problems of perception, modeling and manipulation of deformable objects to be solved. Recent advances in machine learning have addressed some of the limitations of traditional approaches. Combining analytical and data-driven approaches holds the potential to bring the manipulation capa

关键词： Machine learning

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Iterative learning control for conformable fractional order system with time delay 12

Iterative learning control for conformable fractional order ...

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12th International Conference on CYBER Technology in Automation, control, and intelligent systems, CYBER 2022

作者： Wang, Yugang Yao, Mingwen Sun, Cong Zhou, Fengyu College of Naval Architecture and Marine Engineering Shandong Jiaotong University 1508 Hexing Road Weihai264310 China School of Control Science and Engineering Shandong University Jinan250061 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In this paper, iterative learning control is applied to deal with a class of repetitive SISO conformable fractional order system. By applying the -norm and Gronwall inequality, P-type of iterative learning law is presented to derive the convergence results for this type of system with time delay. Finally, an example is proposed to illustrate the effective of the results. © 2022 IEEE.

关键词： Time delay

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Design and application of a one-stop mobile application sharing platform for steel enterprises

Design and application of a one-stop mobile application shar...

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第42届中国控制会议

作者： Xinzhe Chen Luefeng Chen Jie Hu Qingfeng Yang Min Wu Witold Pedrycz School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer Engineering University of Alberta

As China's steel production accounts for an increasing share of the world's output, the intelligent transformation of the steel industry is becoming increasingly urgent. To address issues such as low levels of mobile informationization in steel enterprises and the lack of an industry-specific mobile application platform, it is of great significance to establish a shared mobile application platform for the steel industry. In this paper, the requirements of the platform were analyzed, and the platform's functions were designed. The software design of the platform was then carried out, and the entire mobile application sharing platform was developed, effectively improving the production management efficiency of steel enterprises. The results indicate that the platform can effectively meet the needs of steel enterprises and has significant engineering significance.

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Ultrafast capturing in-flight objects with reprogrammable working speed ranges

Ultrafast capturing in-flight objects with reprogrammable wo...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yongkang Jiang Xin Tong Zhongqing Sun Yaimiin Zhou Zhipeng Wang Shuo Jiang Zhen Yin Yulong Ding Bin He Yingtian Li Department of Control Science & Engineering Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Shanghai China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In-flight high-speed object capturing is crucial in nature to improve survival and adaptation to the environment, such as the predation of frogs, leopards, and eagles. Despite its ubiquitousness in nature, capturing fast-moving objects is extremely challenging in engineering implementations. In this paper, we report an ultrafast gripper based on tunable bistable structures. Different from current designs which are only suitable for objects with certain speed ranges once the grippers are fabricated, the working range of object speed of the proposed gripper could be reprogrammed by controlling the sensitivity of the structures. We present the design and fabrication of the proposed gripper in detail. A theoretical model is introduced to construct the energy landscape of the structures and the force response of the gripper when programmed to different states. The results show that in the original state, the gripper is capable of capturing a flying table tennis ball with a high speed of 15 m/s in only 6 ms. When the proposed gripper is controlled to the ultra-sensitive state, a flying ball with only 1 m/s could also be captured. This work broadens the frontiers of in-flight capturing design, and we envision broader promising applications.

关键词： Fabrication Sensitivity Sports equipment Force Aerospace electronics Grippers Robotics and automation

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A Multi-modal Virtual-Real Fusion System for Multi-task Human-Computer Interaction

A Multi-modal Virtual-Real Fusion System for Multi-task Huma...

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IEEE International Conference on Networking, Sensing and control

作者： Xinlei Zhang Jiahui Yu Yuxiang Sun Min Li Yang Song Xianzhong Zhou Department of Control and Systems Engineering School of Management and Engineering Nanjing University Nanjing China Department of Control and Systems Engineering School of Management and Engineering Research Center for New Technology in Intelligent Equipment Nanjing China

ISBN: (纸本)9781665472449

Due to the complexity of the task and the diversification of the scene, the traditional interactive control method can no longer meet the requirements of users. To solve this problem, a multi-modal virtual-real fusion system for multi-task human-computer interaction is proposed in this paper, which integrates eye movement, gesture and voice. Frist, aiming at the phenomenon of multi-task and multi-modal, a task-modal matching model is established. Then, the task-modal matching model is abstracted into a multi-objective optimization problem, and a method for solving this problem is designed and a matching scheme is successfully obtained. Meanwhile, the construction of the system is completed for the virtual-real fusion environment, and the control of unmanned car and virtual car is realized. The system can carry out multi-modal interaction and complete multiple tasks in real scene, virtual scene, parallel system and virtual-real fusion scene. Finally, the experiment proves the stability and reliability of the system.

关键词： Human computer interaction Multitasking Software systems control systems Stability analysis Software reliability Sensors

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High-order Fully Actuated Approach for Output Position control of Two Mass systems based on Extended State Observer

High-order Fully Actuated Approach for Output Position Contr...

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Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Ping Li Guang-Ren Duan Bi Zhang Yuzhong Wang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper proposes a high-order fully actuated (HOFA) control approach for the output position control of two-mass systems (TMSs) based on extended state observer (ESO). TMSs belongs to a class of underactuated mechanical systems, which can be converted into an HOFA model using variable elimination. Based on the feature of HOFA model, it is extremely simple to solve the position control law such that a desired tracking error system can be achieved. To handle the control issues of high-order derivatives and unknown disturbances, a linear ESO is employed for state estimation and active disturbance rejection control, where the lumped disturbance is treated as an extended system state. The theoretical stability of control system is analyzed with the help of sliding manifold. Comparative simulations are performed to demonstrate the effectiveness of the proposed approach.

关键词： Robust control Uncertain systems Simulation Position control Observers control systems Stability analysis

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