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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Feng Ding Chong Sun Yong Ai Jian Huang School of Computer Science South-Central Minzu University Hubei Provincial Engineering Research Center for Intelligent Management of Manufacturing Enterprises Wuhan Hubei China Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and automation Huazhong University of Science and Technology Wuhan Hubei China

Quadrotor-slung load transportation is an important way to transport goods, but the swing of the load bring a great deal of challenges to the stability of the system. In this paper, a barrier Lyapunov function based sliding mode controller is proposed to limit the load swing, which also satisfies the speed limitation of the quadrotor. An inner-outer loop control strategy is proposed, where the outer one is the virtual position controller which guarantees the stability of the quadrotor while eliminating the load swing, and the inner one is the attitude controller which driver the actual force to the position controller to ensure the effectiveness of the system. Specifically, the dynamics of quadrotor-slung load transportation system is reconstructed as a cascade form. Then, a barrier Lyapunov function based sliding mode controller is designed to ensure the trajectory tracking errors uniformly bounded with state constraints valid. Finally, comparative simulation results illustrate the effectiveness of the proposed method.

关键词： Attitude control Trajectory tracking Simulation Force Dynamics Transportation Stability analysis

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Molecular characterization of metabolic subtypes of gastric cancer based on metabolism-related lncRNA

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SCIENTIFIC REPORTS 2021年第1期11卷 1-10页

作者： Li, Lingdi Ma, Jianfei Hangzhou Canc Hosp Internal Med Oncol Hangzhou Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Informat Proc & Intelligent Control Luoyu Rd 1037 Wuhan 430074 Peoples R China

Increasing evidence has demonstrated that lncRNAs are critical regulators in diverse biological processes, but the function of lncRNA in metabolic regulation remains largely unexplored. In this study, we evaluated the association between lncRNA and metabolic pathways and identified metabolism-related lncRNAs. Gastric cancer can be mainly subdivided into 2 clusters based on these metabolism-related lncRNA regulators. Comparative analysis shows that these subtypes are found to be highly consistent with previously identified subtypes based on other omics data. Functional enrichment analysis shows that they are enriched in distinct biological processes. Mutation analysis shows that ABCA13 is a protective factor in subtype C1 but a risk factor in C2. Analysis of chemotherapeutic and immunotherapeutic sensitivity shows that these subtypes tend to display distinct sensitivity to the same chemical drugs. In conclusion, these findings demonstrated the significance of lncRNA in metabolic regulation. These metabolism-related lncRNA regulators can improve our understanding of the underlying mechanism of lncRNAs and advance the research of immunotherapies in the clinical management of gastric cancer.

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Multitasking Genetic Algorithm (MTGA) for Fuzzy System Optimization

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2020年第6期28卷 1050-1061页

作者： Wu, Dongrui Tan, Xianfeng Huazhong Univ Sci & Technol Minist Educ Key Lab Image Proc & Intelligent Control Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China

Multitask learning uses auxiliary data or knowledge from relevant tasks to facilitate the learning in a new task. Multitask optimization applies multitask learning an optimization to study how effectively and efficiently tackle the multiple optimization problems, simultaneously. Evolutionary multitasking, or multifactorial optimization, is an emerging subfield of multitask optimization, which integrates evolutionary computation and multitask learning. This article proposes a novel and easy-to-implement multitasking genetic algorithm (MTGA), which copes well with significantly different optimization tasks by estimating and using the bias among them. Comparative studies with eight state-of-the-art single-task and multitask approaches in the literature on nine benchmarks demonstrated that, on average, the MTGA outperformed all of them and had lower computational cost than six of them. Based on the MTGA, a simultaneous optimization strategy for fuzzy system design is also proposed. Experiments on simultaneous optimization of type-1 and interval type-2 fuzzy logic controllers for couple-tank water level control demonstrated that the MTGA can find better fuzzy logic controllers than other approaches.

关键词： Task analysis Biological cells Optimization Sociology Statistics Evolutionary computation Genetic algorithms Evolutionary multitasking fuzzy logic controller (FLC) genetic algorithm multifactorial optimization (MFO) multitask learning

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Dynamic event-triggered control for singularly perturbed systems

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2021年第13期31卷 6410-6421页

作者： Hua, Tong Xiao, Jiang-Wen Lei, Yan Yang, Wu Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Minist Educ Wuhan Peoples R China Guangxi Univ Coll Elect Engn Nanning Peoples R China

In this paper, we consider event-triggered control for linear singularly perturbed systems. A composite event-triggered controller is proposed based on the decoupled slow and fast subsystems which are triggered simultaneously. Two internal dynamic variables are introduced in the event-triggered mechanism. The results indicate that the systems can achieve asymptotic stability with the proposed event-triggered control. In addition, the triggering time intervals have a finite lower bound independent of the initial states, thus Zeno phenomenon is excluded. The efficiency of the approach is illustrated through simulation examples.

关键词： event-triggered control singularly perturbed system triggering time interval

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Large-scale Multiobjective Optimization via Problem Decomposition and Reformulation

Large-scale Multiobjective Optimization via Problem Decompos...

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IEEE Congress on Evolutionary Computation (IEEE CEC)

作者： Li, Lianghao He, Cheng Cheng, Ran Pan, Linqiang Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Informat Proc & Intelligent Control Educ Minist China Wuhan Peoples R China Southern Univ Sci & Technol Guangdong Prov Key Lab Brain Inspired Intelligent Dept Comp Sci & Engn Shenzhen Peoples R China

ISBN: (纸本)9781728183923

Large-scale multiobjective optimization problems (LSMOPs) are challenging for existing approaches due to the complexity of objective functions and the massive volume of decision space. Some large-scale multiobjective evolutionary algorithms (LSMOEAs) have recently been proposed, which have shown their effectiveness in solving some benchmarks and real-world applications. They merely focus on handling the massive volume of decision space and ignore the complexity of LSMOPs in terms of objective functions. The complexity issue is also important since the complexity grows along with the increment in the number of decision variables. Our previous study proposed a framework to accelerate evolutionary large-scale multiobjective optimization via problem reformulation for handling largescale decision variables. Here, we investigate the effectiveness of LSMOF combined with decomposition-based MOEA (MOEA/D), aiming to handle the complexity of LSMOPs in both the decision and objective spaces. Specifically, MOEA/D is embedded in LSMOF via two different strategies, and the proposed algorithm is tested on various benchmark LSMOPs. Experimental results indicate the encouraging performance improvement benefited from the solution of the complexity issue in large-scale multi-objective optimization.

关键词： Multiobjective optimization problem decomposition large-scale optimization offspring generation problem reformulation

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The pth moment asymptotical ultimate boundedness of pantograph stochastic differential equations with time-varying coefficients

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APPLIED MATHEMATICS LETTERS 2021年 121卷

作者： Song, Yinfang Zeng, Zhigang Zhang, Tao Yangtze Univ Sch Informat & Math Jingzhou 434023 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Educ Minist China Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

This article examines the pth moment asymptotical ultimate boundedness of highly nonlinear pantograph stochastic differential equations. By Lyapunov function approach and stochastic analysis techniques, several novel criteria on the pth moment asymptotical boundedness are acquired. The proportional delays and different orders of nonlinearities have been considered and the diffusion operator is allowed to satisfy a weaker assumption including time-varying coefficients, which results in the improvements of the existing theory. (C) 2021 Elsevier Ltd. All rights reserved.

关键词： Asymptotical ultimate boundedness Pantograph stochastic differential equations Lyapunov function Time-varying coefficients

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Research on the detection method of alignment beacon based on the spatial structure feature of train bogies

Research on the detection method of alignment beacon based o...

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2022 Chinese Automation Congress, CAC 2022

作者： Cao, Chong Wan, Shaowei Peng, Gang He, Dingxin Zhong, Sheng Deng, Zhang Guo, Wentao School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan430074 China Beijing Railway Institute of Mechanical & Electrical Engineering Group Co. Ltd. Beijing100071 China Wuhan Lisai Technology Co. Ltd. Wuhan430073 China

ISBN: (纸本)9781665465335

The high-speed train inspection robot needs to perform alignment parking and image acquisition at the position of the train bogie, and reliable alignment identification marks are the basis for the inspection robot to achieve highprecision alignment parking. The existing alignment method is mainly based on the way of artificial beacons, in the inspection workshop through manual laying of additional identification marks such as QR codes, magnetic stripes, RFID electronic tags, auxiliary robot alignment parking, but this type of method in beacon maintenance, laying costs and other aspects have certain limitations. Aiming at the problem, this paper proposes a vision-based bogie beacon detection method, which combines the target detection technology with the unique bogie spatial structure feature of the train, and provides reliable identification marks for the alignment and parking of the inspection robot. This method improves the alignment accuracy, reduces the cost of laying and maintaining artificial beacons, and has high application value. © 2022 IEEE.

关键词： Railroads

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6-DOF grasp planning of manipulator combined with self-supervised learning 33

6-DOF grasp planning of manipulator combined with self-super...

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33rd Chinese control and Decision Conference (CCDC)

作者： Ren, Zhenyu Peng, Gang Yang, Jin Wang, Hao Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Minist Educ Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

ISBN: (纸本)9781665440899

To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model data for the object are required. To reduce the time cost of data acquisition and labeling and increase the rate of successful grasps, we developed a self-supervised learning mechanism to control grasp tasks performed by manipulators. First, a manipulator automatically collects the point cloud for the objects from multiple perspectives to increase the efficiency of data acquisition. The complete point cloud for the objects is obtained by utilizing the hand-eye vision of the manipulator, and the TSDF algorithm. Then, the point cloud data for the objects is used to generate a series of six-degrees-of-freedom grasp poses, and the force-closure decision algorithm is used to add the grasp quality label to each grasp pose to realize the automatic labeling of grasp data. Finally, the point cloud in the gripper closing area corresponding to each grasp pose is obtained;it is then used to train the grasp-quality classification model for the manipulator. The results of performing actual grasping experiments demonstrate that the proposed self-supervised learning method can increase the rate of successful grasps for the manipulator.

关键词： Manipulator Grasping Self-Supervised Learning 3D Reconstruction

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Exponential stability of singularly perturbed systems with mixed impulses

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NONLINEAR ANALYSIS-HYBRID SYSTEMS 2021年 40卷 101023-101023页

作者： Yang, Wu Wang, Yan-Wu Morarescu, Irinel-Constantin Daafouz, Jamal Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China Guangxi Univ Sch Elect Engn Nanning 530004 Peoples R China Univ Lorraine CRAN CNRS F-54000 Nancy France

This paper investigates the exponential stability problem for a class of singularly perturbed impulsive systems in which the flow dynamics is unstable and is affected at discrete time instants by impulses that have both destabilizing and stabilizing effects. More precisely the impulses have stabilizing effects on the slow variables but destabilizing effects on the fast ones. Thus, a first contribution of our work is related to stability analysis of singularly perturbed impulsive systems in the case when neither the flow dynamics nor the impulsive one is stable. In order to take full advantage of the jump matrix structure and its stabilizing effects on the slow dynamics, we introduce a new impulse-dependent vector Lyapunov function. This function allows us to better describe the behavior between two consecutive impulses as well as the jumps at impulse instants. Several numerically tractable criteria for stability of singularly perturbed impulsive systems are established based on vector comparison principle. Additionally, upper bounds on the singular perturbation parameter are derived. Finally, the validity of our results is verified by two numerical examples. (C) 2021 Elsevier Ltd. All rights reserved.

关键词： Singularly perturbed system Mixed impulse Exponential stability Vector Lyapunov function

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A Visual Kinematics Calibration Method for Manipulator Based on Nonlinear Optimization

A Visual Kinematics Calibration Method for Manipulator Based...

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2022 Chinese Automation Congress, CAC 2022

作者： Peng, Gang Wang, Zhihao Guan, Shangbin Deng, Zhang Guo, Wentao Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Beijing Railway Institute of Mechanical & Electrical Engineering Group Co. Ltd. Beijing China Wuhan Lisai Technology Co. Ltd. Wuhan China

ISBN: (纸本)9781665465335

The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not applicable to all manipulators. Another calibration method uses a camera, but the system error caused by the camera's parameters affects the calibration accuracy of the kinematics of the robot arm. In order to solve this problem, this paper reduces the dimensionality of the experimental data and redesigns the objective function to be optimized. That is, the three-dimensional positions of the feature points of the calibration plate under each manipulator attitude corresponding to the actual kinematic model and the classic D-H kinematic model are mapped into the pixel coordinate system, and the sum of Euclidean distance errors of the pixel coordinates of the two is used as the objective function to be optimized. And then, nonlinear optimization and parameter compensation are performed. The experimental results show that the pixel deviation of the end pose corresponding to the optimized D-H kinematic model proposed in this paper and the end pose corresponding to the actual kinematic model in the pixel coordinate system is 0.99 pixels. Compared with the 7.9 deviation pixels between the pixel coordinates calculated by the classic D-H kinematic model and the actual pixel coordinates, the deviation is reduced by nearly 7 pixels for an 87% reduction in error. Therefore, the proposed method can effectively avoid system errors caused by camera parameters in visual calibration, can improve the absolute positioning accuracy of the end of the robotic arm, and has good economy and universality. © 2022 IEEE.

关键词： Pixels

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