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Semi-supervised feature contrast incremental learning framework for bearing fault diagnosis with limited lab.led samples

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Applied Soft Computing 2025年 176卷

作者： Tao, Xuyang Shen, Changqing Li, Lin Wang, Dong Shi, Juanjuan Zhu, Zhongkui School of Rail Transportation Soochow University Suzhou215131 China Space Optoelectronic Measurement and Perception Lab. Beijing Institute of Control Engineering Beijing100190 China The State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong University Shanghai200240 China

In real-world scenarios, rotating machinery consistently introduces new fault classes, but intelligent fault diagnosis methods mostly rely on the closed-world assumption, expecting only known fault classes during testing. Moreover, obtaining a sufficient number of lab.led samples is often challenging. These challenges constrain the application and reliability of intelligent diagnosis models in real-world scenarios. Semi-supervised incremental learning enables continuous learning of new fault classes in an open environment, relying on a small number of lab.led samples and a certain number of unlab.led samples. To address the semi-supervised incremental learning problem of fault classes, semi-supervised feature contrast (SSFC) is proposed, a new approach for bearing fault diagnosis with limited lab.led samples. Specifically, a feature contrastive loss incorporating enhancement strategies is designed, independent of lab.led sample information. This approach enables the model to retain knowledge of old classes while learning about new ones. A lab.l reconstruction mechanism based on class centroids is utilized, effectively leveraging the structural information inherent in the samples to support supervised training. A dynamic class prototype cosine classifier initialized by class centroids is devised to mitigate interference between knowledge of fault classes. Finally, two incremental fault diagnosis case studies are designed to evaluate the effectiveness of the proposed method. The fault diagnosis results indicate that SSFC can continuously learn knowledge of new fault classes with limited lab.led samples and effectively alleviate catastrophic forgetting. © 2025 Elsevier B.V.

关键词： Self-supervised learning

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Robotic Etiquette:Socially Acceptable Navigation of Service Robots with Human Motion Pattern Learning and Prediction

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Journal of Bionic engineering 2010年第2期7卷 150-160页

作者： Kun Qian,Xudong Ma,Xianzhong Dai,Fang Fang key lab.of measurement and control of complex systems of engineering (Ministry of Education,China), Southeast University,Nanjing 210096,P.R.China [a] Key Lab of Measurement Control of Complex Systems of Engineering (Ministry of Education China) Southeast University Nanjing 210096 P. R. China

Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions *** this paper, a novel human-mimic mechanism of robot’s navigational skills was proposed for developing sociallyacceptable robotic *** on the sociological and physiological concerns of interpersonal interactions in movement,several criteria in navigation were represented by constraints and incorporated into a unified probabilistic cost grid for safemotion planning and control, followed by an emphasis on the prediction of the human’s movement for adjusting the robot’spre-collision navigational *** human motion prediction utilizes a clustering-based algorithm for modeling humans’indoor motion patterns as well as the combination of the long-term and short-term tendency prediction that takes into accountthe uncertainties of both velocity and heading *** simulation and real-world experiments verified the effectivenessand reliability of the method to ensure human’s safety and comfort in navigation.A statistical user trials study was also given tovalidate the users’favorable views of the human-friendly navigational behavior.

关键词： robotic etiquette navigation human motion prediction human-robot interaction service robot

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An Enhanced Local Ternary Patterns Method for Face Recognition 33

An Enhanced Local Ternary Patterns Method for Face Recogniti...

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第三十三届中国控制会议

作者： WANG Zhenyu HUANG Rong YANG Wankou SUN Changyin School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

Feature descriptor based methods(*** Binary Patterns,Local Ternary Patterns) have gained encouraging results in face *** one needs to manually set the threshold in Local Ternary Patterns(LTP).The threshold in LTP is not data adaptive and not robust to *** some cases,we may not give a suitable threshold for *** by Weber's Law,here a data adaptive threshold strategy is prosed for LTP and an enhanced LTP is given for face *** evaluate the enhanced LTP on ORL and FERET face databases and the results demonstrate that the enhanced LTP significantly improves the performances.

关键词： local ternary patterns,Weber's Law,feature descriptor,face recognition

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Distributed MPC with Application to AGC of Power System with Wind-Photovoltaic Hybrid Generation 36

Distributed MPC with Application to AGC of Power System with...

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第36届中国控制会议

作者： Yubin Jia Changyin Sun School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781538629185

In modern power system,renewable energy（e.g.,wind and solar energy） is an essential part of the smart *** problem of the fluctuate output of renewable energy generation and cooperation with traditional energy generation present significant challenges to the automatic generation control（AGC） in future smart *** paper presents a distributed model of AGC that contains thermal,hydro and wind-solar power *** on this model,we formulate a distributed model predictive control（DMPC） problem and propose a quadratic programming（QP） based approach to solve *** performance of the proposed method is demonstrated through simulations.

关键词： Distributed model predictive control wind and solar generation system automatic generation control

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Emulating manual welding process by two cooperative robots 33

Emulating manual welding process by two cooperative robots

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第三十三届中国控制会议

作者： GAN Yahui DAI Xianzhong DA Qi School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

The problem of how to emulate a manual welding process by two cooperative robotic manipulators is investigated in this *** emulating process is intrinsically a trajectory planning process for the two cooperative *** of skilled welders and technical requirements in a welding process have been modeled and integrated into the robot trajectory planning *** model of trajectory planing for two cooperative robots doing a welding task is in a constrained optimization form.A Genetic Algorithm solver has been adopted to solve such an optimization ***-connect-pipe welding experiment has been carried out at the end of the paper and the weld results verified the effectiveness of our method.

关键词： emulate manual welding,cooperative robot,Genetic Algorithm,Pipe-connect-pipe welding

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Human-like Manipulation Planning for Articulated Manipulator

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Journal of Bionic engineering 2012年第4期9卷 434-445页

作者： Yahui Gan Xianzhong Dai School of Automation Southeast UniversityNanjing 210096P.R.China Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096P.R.China

A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a con- strained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment （RULA） in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom （DOF） planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.

关键词： manipulation planning human likeness rapid upper limb assessment applied ergonomics task compatibilitymeasurement velocity transmission ratio

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Position and Attitude Tracking control for a Quadrotor UAV via Double-loop controller 29

Position and Attitude Tracking Control for a Quadrotor UAV v...

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第29届中国控制与决策会议

作者： Hairong Yin Qingling Wang Changyin Sun School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (纸本)9781509046584

To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle(UAV),the proportional-derivative(PD) and integral sliding mode techniques are adapted to design a double-loop controller in this ***,the system model of quadrotor is established according to the Lagrange ***,a PD control method is put forward in the outer-loop to achieve the position ***,an integral sliding mode control method is adapted in the inner-loop to ensure the quadrotor track the desired attitude angles in the presence of external ***,a double-loop controller is ***,simulation results are presented to verify the effectiveness and robustness of the proposed control laws.

关键词： quadrotor PD control integral sliding mode control double-loop controller tracking

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Hybrid genetic-ant colony algorithm based job scheduling method research of arc welding robot

Hybrid genetic-ant colony algorithm based job scheduling met...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Meng, Zhengda Chen, Qinqi Key Lab. of Measurement and Control of Complex System of Engineering School of Automation Southeast University Nanjing China

ISBN: (纸本)9781424457021

Research of job scheduling methods of arc welding robot is focused in this paper. The job scheduling of arc welding robot is considered as a Traveling-salesman-Problem. Welding job scheduling is modeled and relevant job scheduling optimization methods are designed. Genetic algorithm and ant colony algorithm are applied to robot welding job scheduling first. Then, based on the characteristics of both algorithms, hybrid genetic ant colony algorithm is designed to improve optimization performance. With simulated weldment as the subject, genetic algorithm, ant colony algorithm and hybrid genetic ant colony algorithm are analyzed and compared by simulation. Validity of above methods is verified. ©2010 IEEE.

关键词： Genetic algorithms

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Supervisory and energy management system of large public buildings

Supervisory and energy management system of large public bui...

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International Conference on Mechatronics and Automation

作者： Ma, Xudong Cui, Ran Sun, Yu Peng, Changhai Wu, Zhishen Key Lab. of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Nanjing 210096 China International Institute for Urban Systems Engineering Southeast University Nanjing 210096 China

ISBN: (纸本)9781424451418

Buildings are important contributors to energy consumption accounting for around one-third of energy consumed in cities, where large public buildings are the dominant energy consumers and energy consumption might be significantly decreased through Building Energy Management systems (BEMS). A supervisory and management system for energy conservation in large public buildings is presented in this paper, with a PC or a embedded computer system running a BEMS software designed to connected to distributed energy metering system, wireless sensor networks, even conventional building automation (BA) systems. The supervisory and management software consists of information inquiry, energy consumption metering, energy efficiency analysis and decision support subsystems. The system framework is introduced with development and application of the software described in detail. © 2010 IEEE.

关键词： Energy utilization

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A multi-channel projection haar features method for face detection 32

A multi-channel projection haar features method for face det...

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32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017

作者： Li, Tianhuang Jian, Dong Yang, Wankou School of Automation Southeast University Nanjing210096 China Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781538629017

The face detection algorithm based on multi-channel map discriminant projection Haar feature is proposed in this paper. The multi-channel map is extracted from the face image, which can reduce the influence of the illumination and the noise in the image. Based on the positive and negative training samples, the enhanced Haar feature are obtained by the linear discriminant projection, which can improve the distinguishing ability of the feature. The response in multi-channel map of the augmented Haar feature in the training samples is calculated based on the two steps mentioned previously. After that, the non-symmetric quick boosting method is used to generate a set of weak classifiers. The weight and threshold of the strong classifier are adjusted by the linear non symmetric classifier. This method not only improves the distinguishing ability of the feature, but also realizes the reasonable division of the non-balanced positive and negative sample space. The experiment indicates that the detection rate using the proposed method increases compared to the original method, which shows more competitiveness than conventional algorithms on FDDB dataset. © 2017 IEEE.

关键词： Face recognition

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