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2024 China Automation Congress, CAC 2024

作者： Jiao, Ranran Li, Bo Chen, Xiangyong Jiang, Xiaowei School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Finance Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong Linyi University Linyi China

ISBN: (纸本)9798350368604

This paper addresses the problem of leader-following consensus in heterogeneous multi-agent systems (HMAS) with input saturation and communication delay. Given the practical differences between leader and follower dimensions, we design virtual leaders to address this problem by allowing actual leaders and followers to communicate with virtual leaders separately, thus enabling indirect communication between actual leaders and followers. Additionally, the control protocol proposed in this paper takes into account the effects of input saturation and time delay that exist in real communication. At last, a simulation example is presented to demonstrate the effectiveness of the designed control protocol. © 2024 IEEE.

关键词： Multi agent systems

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Few-shot Pose-free View Synthesis with 3D Gaussian Splatting

Few-shot Pose-free View Synthesis with 3D Gaussian Splatting

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2024 China Automation Congress, CAC 2024

作者： Huang, Yuan Xu, Chi 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 Wuhan China

ISBN: (纸本)9798350368604

Recent advancements in Novel View Synthesis using neural radiance fields and 3D Gaussian splatting have demonstrated promising results. However, these methods conventionally rely on accurate initial poses and point clouds from the model of structure from motion, which poses challenges in sparse input views. To addressing these drawbacks, we introduces an novel method for view synthesis based on 3D Gaussian splatting. Our approach operates on sparse input views without the prerequisite of pose priors, achieving reconstruction and real-time rendering of novel perspectives. For the deficiency of camera poses and point cloud, we employ an end-to-end deep learning model to recover the 3D structure from a few of 2D images to initialize the 3D Gaussian point cloud. In addressing the issue with few-shot, we utilize the differentiable rasterization module to render depth map and apply regulation on it. Additionally, we incorporate supervision between input views by interpolating to generate novel perspectives during training. Experimental results demonstrate that our proposed method significantly enhances the capabilities of 3D Gaussian splatting for novel view synthesis in sparse views and without the necessity of camera pose priors. © 2024 IEEE.

关键词： 3D reconstruction

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4D Myocardium Reconstruction with Decoupled Motion and Shape Model

arXiv

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arXiv 2023年

作者： Yuan, Xiaohan Liu, Cong Wang, Yangang Southeast University China The Key Laboratory of Measurement Control of Complex Systems of Engineering Ministry of Education Nanjing China

Estimating the shape and motion state of the myocardium is essential in diagnosing cardiovascular diseases. However, cine magnetic resonance (CMR) imaging is dominated by 2D slices, whose large slice spacing challenges inter-slice shape reconstruction and motion acquisition. To address this problem, we propose a 4D reconstruction method that decouples motion and shape, which can predict the inter-/intra- shape and motion estimation from a given sparse point cloud sequence obtained from limited slices. Our framework comprises a neural motion model and an end-diastolic (ED) shape model. The implicit ED shape model can learn a continuous boundary and encourage the motion model to predict without the supervision of ground truth deformation, and the motion model enables canonical input of the shape model by deforming any point from any phase to the ED phase. Additionally, the constructed ED-space enables pre-training of the shape model, thereby guiding the motion model and addressing the issue of data scarcity. We propose the first 4D myocardial dataset as we know and verify our method on the proposed, public, and cross-modal datasets, showing superior reconstruction performance and enabling various clinical applications. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion estimation

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Moving-Window Integrated Physics-Data-Based Modeling of Four-Wheel Vehicle Lateral Dynamics

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Automotive Innovation 2025年 1-11页

作者： Wei, Wenpeng Wang, Jinxiang Pi, Dawei Zhuang, Weichao He, Tianyi Yin, Guodong School of Mechanical Engineering Southeast University JiangSu Nanjing211189 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University JiangSu Nanjing211189 China Safety and Intelligence of Vehicle Equipment Research Center Nanjing University of Science and Technology JiangSu Nanjing210094 China Department of Mechanical and Aerospace Engineering Utah State University LoganUT84322 United States

This paper presents an Integrated physics-data-based (IPDB) modeling of lateral vehicle dynamics with moving-window data snapshots. The IPDB model encodes the fundamental physical principle of four-wheel vehicle motions and simultaneously carries out the adaptiveness of the data-driven approach. Specifically, the traditional physics-based lateral dynamics considering four-wheel interaction are first derived into an affine linear-parameter-varying model, in which the vehicle-related parameters and motion variables are separated. Then, by using the Kronecker product, the IPDB model, directly formulated by the data snapshots in the moving-window fashion, is obtained for system representation. As a result, the IPDB technique rendered model is physically interpretable. The impacts of moving window length on modeling performance are numerically studied. The IPDB model accuracy is validated with data from CarSim simulations and experiments with passenger vehicles under various scenarios. It is further demonstrated that the proposed IPDB model is more data-efficient than other data-driven methods since it only uses the data snapshot in the moving window to update the model recursively. This characteristic enables the IPDB method with online modeling capability to adapt to varying driving scenarios. © The Author(s) 2025.

关键词： Autonomous vehicles

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Design of Load Frequency controller for Power System Based on Equivalent Input Disturbance Method 4

Design of Load Frequency Controller for Power System Based o...

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4th IEEE New Energy and Energy Storage System control Summit Forum, NEESSC 2024

作者： Zhang, Jianrong Xu, Hang Wang, Hongzhang Zhang, Chuanke 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 School of Automation Wuhan China

ISBN: (纸本)9798350389012

In the power system, due to the instability of the external environment, safe and stable operation cannot always be guaranteed, as it frequently encounters varying degrees of external disturbances. In order to mitigate the effects of these disturbances on the system, the power system can operate safely and stably, In this paper, a power system load frequency control (LFC) based on Equivalent Input Disturbance (EID) method is proposed from the perspective of active disturbance suppression. Firstly, the disturbances present in the environment are unified as external disturbances, and then a single area the electric power system model with external disturbance was constructed. Then, a controller algorithm based on EID was designed using EID equivalent processing method and linear matrix inequality method to address the issue of external interference in the power system. Finally, a numerical example is used to validate the effectiveness and accuracy of the controller by simulating with two aspects, fixed perturbation and random perturbation, respectively. © 2024 IEEE.

关键词： Linear matrix inequalities

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Fixed-Time Cooperative Tracking for Delayed Disturbed Multi-Agent systems Under Dynamic Event-Triggered control

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IEEE/CAA Journal of Automatica Sinica 2022年第5期9卷 930-933页

作者： Jian Liu Yongbao Wu Mengwei Sun Changyin Sun School of Automation Southeast UniversityNanjing 210096 Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China Institutes of Physical Science and Information Technology Anhui UniversityHefei 230601China IEEE

Dear editor,Recently,researchers have obtained many new results about the multi-agent systems(MASs)[1]-[3].In[1],the fixed-time cooperative control(FTCC)algorithm of linear MASs with matched disturbances was *** nonholonomic chained-form dynamics case was considered in[2].In[3],the output tracking problem with data packet dropout was solved for high-order ***,delay frequently occurs because of the non-ideal data transmission[4],and the corresponding FTCC algorithm of MASs with delay was given in[5].

关键词： editor Dynamic Trigger Event

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Secure output synchronization of heterogeneous multi-agent systems against false data injection attacks

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Science China(Information Sciences) 2022年第6期65卷 142-154页

作者： Shicheng HUO Dalin HUANG Ya ZHANG School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Cyber Science and Engineering Southeast University

This paper studies secure output synchronization for heterogeneous multi-agent systems against false data injection(FDI) attacks. Both the sensors and actuators of agents may be injected into FDI *** mitigate the malicious impact of these attacks on synchronization performance, a desired reference model,which is combined with an auxiliary system, is first designed for each agent to simulate its normal system dynamics. Then, based on this reference model, a state feedback cooperative controller and a static output feedback cooperative controller, which consist of adaptive compensators, are proposed, respectively. The integrated control protocols can ensure that the output synchronization error is small by adjusting some designed parameters even in the presence of FDI attacks. An illustrative example is employed to demonstrate the effectiveness of the proposed method.

关键词： output synchronization false data injection attacks adaptive compensators heterogeneous multi-agent systems secure control

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Rational construction of multiple hollow silicalite-1 zeolite with enhanced quasi acidity for robust vapor-phase Beckmann rearrangement

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Nano Research 2023年第5期16卷 7958-7966页

作者： Peng Zhang Xianfeng Yi Changjiu Xia Xinxin Peng Shuai Zhang Chengxiang Li Anmin Zheng Xiaoxin Zhang Yibin Luo Lifeng Cui Fuhong Yu Xingtian Shu State Key Laboratory of Catalytic Materials and Reaction Engineering Research Institute of Petroleum ProcessingSINOPECBeijing 100083China State Key Laboratory of Magnetic Resonance and Atomic and Molecular Physics National Center for Magnetic Resonance in WuhanWuhan Institute of Physics and MathematicsInnovation Academy for Precision Measurement Science and TechnologyChinese Academy of SciencesWuhan 430071China Shandong Hualu-Hengsheng Chemical Co. Ltd.Dezhou 253024China State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China

Developing efficient and stable zeolites for vapor-phase Beckmann rearrangement of cyclohexanone oxime is still a great challenge to realizeε-caprolactam(CPL)green *** this work,the hierarchical porous silicalite-1 zeolites with multiple hollow structure(S-1-M)are explored by in-situ desilication−recrystallization post-treatment of spongy highway-like zeolites(S-1-S),which are synthesized through silanization synthesis of conventional bulky silicalite-1(S-1).Compared to S-1,S-1-M achieves superior catalytic performance,with improving the CPL selectivity from 85.7%to 94.1%and prolonging the catalyst lifetime from 74 to 126 h at a weight hourly space velocity(WHSV)of 6 h^(−1).Comprehensive physiochemical studies demonstrate that the highly dispersed intracrystalline cavities within S-1-M endow greater mass diffusion and better quasi acidity inducing by the enhanced H-bonds among abundant H-bonded silanols,which is cooperatively responsible for its superior catalytic performance.

关键词： hollow silicalite-1 H-bonded silanols quasi acidity vapor-phase Beckmann rearrangement

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Phase of Multivariable systems: A Revisit via H2T-Dissipativity 62

Phase of Multivariable Systems: A Revisit via H2T-Dissipativ...

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62nd IEEE Conference on Decision and control, CDC 2023

作者： Wang, Dan Chen, Wei Johansson, Karl H. Kth Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden Peking University State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science Beijing China

ISBN: (纸本)9798350301243

A new notion of phase of multi-input multi-output (MIMO) systems was recently defined and studied, leading to new understandings in various fronts including a formulation of small phase theorem, a performance criterion named H∞ phase sector, and a sectored real lemma, etc. In this paper, we define a new notion of H2T-dissipativity and show the connection between the phase of a multivariable linear time-invariant (LTI) system and the H2T-dissipativity. The H2T-dissipativity, roughly speaking, is dissipativity restricted to the time-domain H2 space which consists of L2 signals with only positive frequency components. In addition, by exploiting the newly defined H2T- dissipativity, we also study the phase of a feedback system and provide a physical interpretation of the sectored real lemma. © 2023 IEEE.

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A policy gradient algorithm integrating long and short-term rewards for soft continuum arm control

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Science China(Technological Sciences) 2022年第10期65卷 2409-2419页

作者： DONG Xiang ZHANG Jing CHENG Long XU WenJun SU Hang MEI Tao School of Electrical Engineering and Automation Anhui UniversityHefei 230601China State Key Laboratory for Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Robotics Research Center Peng Cheng LaboratoryShenzhen 518055China

The soft continuum arm has extensive application in industrial production and human life due to its superior safety and flexibility. Reinforcement learning is a powerful technique for solving soft arm continuous control problems, which can learn an effective control policy with an unknown system model. However, it is often affected by the high sample complexity and requires huge amounts of data to train, which limits its effectiveness in soft arm control. An improved policy gradient method, policy gradient integrating long and short-term rewards denoted as PGLS, is proposed in this paper to overcome this issue. The shortterm rewards provide more dynamic-aware exploration directions for policy learning and improve the exploration efficiency of the algorithm. PGLS can be integrated into current policy gradient algorithms, such as deep deterministic policy gradient(DDPG). The overall control framework is realized and demonstrated in a dynamics simulation environment. Simulation results show that this approach can effectively control the soft arm to reach and track the targets. Compared with DDPG and other model-free reinforcement learning algorithms, the proposed PGLS algorithm has a great improvement in convergence speed and performance. In addition, a fluid-driven soft manipulator is designed and fabricated in this paper, which can verify the proposed PGLS algorithm in real experiments in the future.

关键词： soft arm control Cosserat rod deep reinforcement learning policy gradient algorithm high sample complexity

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