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IEEE International Symposium on Intelligent control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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Objective-Variable Tour Planning for Mobile Data Collection in Partitioned Sensor networks

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IEEE TRANSACTIONS ON MOBILE COMPUTING 2022年第1期21卷 239-251页

作者： Liu, Xuxun Lin, Peihang Liu, Tang Wang, Tian Liu, Anfeng Xu, Wenzheng South China Univ Technol Coll Elect & Informat Engn Guangzhou 510641 Guangdong Peoples R China South China Univ Technol Minist Educ China Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China Sichuan Normal Univ Coll Comp Sci Chengdu 610068 Peoples R China Huaqiao Univ Coll Comp Sci & Technol Xiamen 361021 Fujian Peoples R China Cent South Univ Sch Informat Sci & Engn Changsha 410083 Hunan Peoples R China Sichuan Univ Coll Comp Sci Chengdu 610017 Sichuan Peoples R China

Data collection with mobile elements can improve energy efficiency and balance load distribution in wireless sensor networks (WSNs). However, complex network environments bring about inconvenience of path design. This work addresses the network environment issue, by presenting an objective-variable tour planning (OVTP) strategy for mobile data gathering in partitioned WSNs. Unlike existing studies of connected networks, our work focuses on disjoint networks with connectivity requirement and serves delay-hash applications as well as energy-efficient scenarios respectively. We first design a converging-aware location selection mechanism, which macroscopically converges rendezvous points (RPs) to lay a foundation of a short tour. We then develop a delay-aware path formation mechanism, which constructs a short tour connecting all segments by a new convex hull algorithm and a new genetic operation. In addition, we devise an energy-aware path extension mechanism, which selects appropriate extra RPs according to specific metrics in order to reduce the energy depletion of data transmission. Extensive simulations demonstrate the effectiveness and advantages of the new strategy in terms of path length, energy depletion, and data collection ratio.

关键词： Wireless sensor networks Data collection Planning Data models Mobile computing Delays Routing Wireless sensor networks mobile data collection tour planning convex hull genetic operation

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Utility-Aware Charging Scheduling for Multiple Mobile Chargers in Large-Scale Wireless Rechargeable Sensor networks

IEEE TRANSACTIONS ON SUSTAINABLE COMPUTING

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IEEE TRANSACTIONS ON SUSTAINABLE COMPUTING 2021年第4期6卷 679-690页

作者： Ouyang, Wenyu Liu, Xuxun Obaidat, Mohammad S. Lin, Chi Zhou, Huan Liu, Tang Hsiao, Kuei-Fang South China Univ Technol Coll Elect & Informat Engn Guangzhou 510641 Peoples R China South China Univ Technol Minist Educ China Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China Univ Sharjah Coll Comp & Informat Sharjah 27272 U Arab Emirates Univ Jordan King Abdullah II Sch Informat Technol Amman 11942 Jordan Univ Sci & Technol Beijing Sch Comp & Commun Engn Beijing 100083 Peoples R China Dalian Univ Technol Sch Software Dalian 116620 Peoples R China Key Lab Ubiquitous Network & Serv Software Liaoni Dalian 116620 Peoples R China Nanjing Univ State Key Lab Novel Software Technol Nanjing 210023 Peoples R China China Three Gorges Univ Coll Comp & Informat Technol Yichang 443002 Peoples R China Sichuan Normal Univ Coll Comp Sci Chengdu 610068 Peoples R China Univ Sharjah Coll Comp & Informat Dept Informat Syst Sharjah 27272 U Arab Emirates Ming Chuan Univ Dept Informat Management Taoyuan 33743 Taiwan

Mobile charging can provide stable and reliable energy replenishment for wireless rechargeable sensor network (WRSN). However, relatively low charging utility exists in existing solutions. In this paper, we present a utility-based collaborative charging (UBCC) strategy to maximize the charging utility of mobile chargers (MCs) in large-scale WRSNs. Charging MCs and server MCs are employed to jointly achieve our goal by three aspects. First, a path merging scheme is designed to save the traveling paths of MCs. Unlike existing studies with entirely diverse movement trajectories of MCs, the same traveling path is assigned to both the departure charging MCs and the return MCs, which serve different charging areas. Second, an idle-difference alleviating scheme is devised to improve the utilization rate of MCs. Different from current solutions with a large difference of working hours of MCs, each charging MC is assigned the equal charging tasks, resulting in synchronous charging and simultaneous energy replenishment of MCs. Third, an energy-waste averting scheme is designed to maximize the energy utilization of MCs. The energy of each MC is just exhausted until the MC completes its charging tasks and traveling roles. Extensive simulation results demonstrate the advantages of UBCC in the charging cost and charging utility.

关键词： Charging stations Wireless sensor networks Wireless communication Servers Dynamic scheduling Collaboration Wireless rechargeable sensor network charging scheduling charging utility path merging idle difference

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A Wind Estimation Method with an Unmanned Rotorcraft for Environmental Monitoring Tasks

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SENSORS 2018年第12期18卷 4504-4504页

作者： Wang, Jia-Ying Luo, Bing Zeng, Ming Meng, Qing-Hao Tianjin Univ Sch Elect & Informat Engn Inst Robot & Autonomous Syst Tianjin Key Lab Proc Measurement & Control Tianjin 300072 Peoples R China Coordinat Ctr China Natl Comp Network Emergency Response Tech Team Beijing 100029 Peoples R China

Wind velocity (strength and direction) is an important parameter for unmanned aerial vehicle (UAV)-based environmental monitoring tasks. A novel wind velocity estimation method is proposed for rotorcrafts. Based on an extended state observer, this method derives the wind disturbance from rotors' speeds and rotorcraft's acceleration and position. Then the wind disturbance is scaled to calculate the airspeed vector, which is substituted into a wind triangle to obtain the wind velocity. Easy-to-implement methods for calculating the rotorcraft's thrust and drag coefficient are also proposed, which are important parameters to obtain the wind drag and the airspeed, respectively. Simulations and experiments using a quadrotor in both hovering and flight conditions have validated the proposed method.

关键词： environmental monitoring unmanned aerial vehicle wind estimation extended state observer

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Load-Balanced Topology Rebuilding for Disconnected Wireless Sensor networks With Delay Constraint

IEEE TRANSACTIONS ON SUSTAINABLE COMPUTING

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IEEE TRANSACTIONS ON SUSTAINABLE COMPUTING 2022年第4期7卷 899-909页

作者： Yin, Song Obaidat, Mohammad S. Liu, Xuxun Zhou, Huan Liu, Anfeng South China Univ Technol Coll Elect & Informa t Engn Guangzhou 510641 Peoples R China South China Univ Technol Key Lab Autonomous Syst & Network Control Minist Educ China Guangzhou 510641 Peoples R China Univ Texas Permian Basin Comp Sci Dept TX79762 Odessa TX 79762 USA Univ Texas Permian Basin Cybersecur Ctr USA TX79762 Odessa TX 79762 USA China Three Gorges Univ Coll Comp & Informat Technol Yichang 443002 Peoples R China Cent South Univ Sch Comp Sci & Engn Changsha 410083 Peoples R China

In inhospitable environments, connectivity recovery plays a significant role in enabling normal data transmission in wireless sensor networks (WSNs). However, existing approaches lack thorough load-balancing and delay-control functions. In this article, we present a load-balanced connectivity recovery (LBCR) strategy to address these problems. This strategy consists of two relay-segment selection approaches. The first one is the delay-controlled connectivity mechanism, in which mobile relays and static relays are employed to connect isolated segments, and the path length of the two kinds of relays is adjusted based on the requirement of data delivery delay. The second one is the load-balanced connectivity mechanism, in which both the intra-segment and the inter-segment traffic distribution are evaluated to balance the traffic load. For intra-segment load equilibrium, we use the A-Star algorithm to calculate the number of disjoint paths of a relay segment, which helps to evaluate the load sharing ability from a micro perspective. For inter-segment load equilibrium, we compare the traffic load of different paths, which helps to evaluate the load sharing ability from a macroscopic angle. Extensive simulations demonstrate the effectiveness and advantage of our strategy in terms of connectivity cost, data collection delay, and system lifespan.

关键词： Wireless sensor network connectivity restoration load balancing delay control A-Star algorithm

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Distributed Containment control of networked Fractional-Order systems with Delay-Dependent Communications

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JOURNAL OF APPLIED MATHEMATICS 2012年第unknown期2012卷 840873-1-840873-13页

作者： Liu, Xueliang Xu, Bugong Xie, Lihua S China Univ Technol Coll Automat Sci & Engn Guangzhou 510640 Peoples R China Minist Educ Res Key Lab Autonomous Syst & Network Control Guangzhou 510640 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

This paper is concerned with a containment problem of networked fractional-order system with multiple leaders under a fixed directed interaction graph. Based on the neighbor rule, a distributed protocol is proposed in delayed communication channels. By employing the algebraic graph theory, matrix theory, Nyquist stability theorem, and frequency domain method, it is analytically proved that the whole follower agents will flock to the convex hull which is formed by the leaders. Furthermore, a tight upper bound on the communication time-delay that can be tolerated in the dynamic network is obtained. As a special case, the interconnection topology under the undirected case is also discussed. Finally, some numerical examples with simulations are presented to demonstrate the effectiveness and correctness of the theoretical results.

关键词： DISTRIBUTION (Probability theory) FRACTIONAL calculus control theory (Mathematics) TIME delay systems GRAPH theory CONVEX domains TOPOLOGY COMPUTER simulation

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Convolutional Embedding Makes Hierarchical Vision Transformer Stronger

arXiv

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arXiv 2022年

作者： Wang, Cong Xu, Hongmin Zhang, Xiong Wang, Li Zheng, Zhitong Liu, Haifeng Data & AI Engineering System OPPO Beijing China Beijing Key Lab of Urban Intelligent Traffic Control Technology North China University of Technology Beijing China University of Science and Technology of China Hefei China Neolix Autonomous Vehicle Beijing China

Vision Transformers (ViTs) have recently dominated a range of computer vision tasks, yet it suffers from low training data efficiency and inferior local semantic representation capability without appropriate inductive bias. Convolutional neural networks (CNNs) inherently capture regional-aware semantics, inspiring researchers to introduce CNNs back into the architecture of the ViTs to provide desirable inductive bias for ViTs. However, is the locality achieved by the micro-level CNNs embedded in ViTs good enough? In this paper, we investigate the problem by profoundly exploring how the macro architecture of the hybrid CNNs/ViTs enhances the performances of hierarchical ViTs. Particularly, we study the role of token embedding layers, alias convolutional embedding (CE), and systemically reveal how CE injects desirable inductive bias in ViTs. Besides, we apply the optimal CE configuration to 4 recently released state-of-the-art ViTs, effectively boosting the corresponding performances. Finally, a family of efficient hybrid CNNs/ViTs, dubbed CETNets, are released, which may serve as generic vision backbones. Specifically, CETNets achieve 84.9% Top-1 accuracy on ImageNet-1K (training from scratch), 48.6% box mAP on the COCO benchmark, and 51.6% mIoU on the ADE20K, substantially improving the performances of the corresponding state-of-the-art baselines. Copyright © 2022, The Authors. All rights reserved.

关键词： Embeddings

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Robust Adaptive Dynamic Surface control for a Class of Nonlinear Dynamical systems with Unknown Hysteresis

ABSTRACT AND APPLIED ANALYSIS

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ABSTRACT AND APPLIED ANALYSIS 2014年第none期000卷 1-10页

作者： Liu, Yong-Hua Feng, Ying Chen, Xinkai Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China Shibaura Inst Technol Dept Elect & Informat Syst Minuma Ku Saitama 3378570 Japan

The output tracking problem for a class of uncertain strict-feedback nonlinear systems with unknown Duhem hysteresis input is investigated. In order to handle the undesirable effects caused by unknown hysteresis, the properties in respect to Duhem model are used to decompose it as a nonlinear smooth term and a nonlinear bounded "disturbance-like" term, which makes it possible to deal with the unknown hysteresis without constructing inverse in the controller design. By combining robust control and dynamic surface control technique, an adaptive controller is proposed in this paper to avoid "the explosion complexity" in the standard backstepping design procedure. The negative effects caused by the unknown hysteresis can be mitigated effectively, and the semiglobal uniform ultimate boundedness of all the signals in the closed-loop system is obtained. The effectiveness of the proposed scheme is validated through a simulation example.

关键词： HYSTERESIS MATHEMATICAL models NONLINEAR dynamical systems ROBUST control ADAPTIVE control systems COMPUTER simulation NUMERICAL analysis

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Neural network-based adaptive event-triggered control for cyber-physical systems under resource constraints and hybrid cyberattacks

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AUTOMATICA 2023年第1期152卷

作者： Xie, Xuhuan Liu, Yonggui Li, Qinxue South China Univ Technol Sch Mech & Automot Engn Guangzhou 510641 Peoples R China South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Network Control Minist Educ Guangzhou 510641 Peoples R China Guangzhou Maritime Univ Dept Elect Engn Guangzhou 510700 Peoples R China

In this paper, the neural network (NN)-based adaptive event-triggered control (AETC) strategy is developed for cyber-physical systems (CPSs) under resource constraints and hybrid cyberattacks. First, by considering the nonperiodic denial-of-service (DoS) attacks that only constrain their frequency and duration and removing the strict assumption on the malicious information injected by deception attacks in existing literature, an unexplored hybrid cyberattack model is proposed. Second, a novel NN-based adaptive event-triggered state-feedback controller is designed, which not only flexibly solves the resource constraints of CPSs while considering the adverse effects of DoS attacks, but also adopts an on -line weight-adjusted NN to approximate and mitigate the malicious information injected by deception attacks. Then, the switched delay system model is established for the closed-loop control system with the designed novel controller. By carefully constructing a switched Lyapunov-Krasovskii functional and using the switched delay system theory and NN technology, the explicit form of the designed novel controller is obtained, which can ensure that the closed-loop control system is exponentially asymptotically stable (EAS). Finally, a numerical example is given to illustrate the effectiveness of the proposed strategy.(c) 2023 Elsevier Ltd. All rights reserved.

关键词： Cyber-physical systems (CPSs) Hybrid cyberattacks Constraint and security control concepts Adaptive event-triggered schemes (AETSs) Neural network (NN) technology

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Adaptive control of unmanned surface vessels matching an optimized reference model

Adaptive control of unmanned surface vessels matching an opt...

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IEEE International Conference on Robotics and Biomimetics

作者： Chenguang Yang Rongxin Cui Zhijun Li Sanjay Sharma Xingang Zhao Center for Robotics and Neural Systems Plymouth University Ply-mouth UK The MOE Key Lab of Autonomous System and Network Control South China University of Technology Guangzhou China School of Marine Science and Technology Northwestern Polytechnical University Xi'an China School of Marine Science and Engineering University of Plymouth Plymouth UK Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781479973989

In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate tracking would cause large acceleration and huge control effort, while the latter may be out of the actuators' limitation. Therefore, a reference model approach is employed, such that instead of direct tracking of the desired set point, the control objective becomes to shape the closed-loop dynamics to match a reference model. The reference model is built using optimization technique which tries to minimizes both tracking error and motion acceleration, and subsequently control effort. The smooth tracking is thus guaranteed in an optimal manner.

关键词： Tracking Acceleration Trajectory Adaptation models Performance analysis Mathematical model Dynamics

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