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Nonconvex Noise-Tolerant Neural Model for Repetitive Motion of Omnidirectional Mobile Manipulators

IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1766-1768页

作者： Zhongbo Sun Shijun Tang Jiliang Zhang Junzhi Yu the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE College of Information Science and Engineering Northeastern UniversityShenyang 110819China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered t... 详细信息

关键词： directional programming hardware

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Equivalent input disturbance-based load frequency control for smart grid with air conditioning loads

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Science China(Information Sciences) 2022年第2期65卷 106-123页

作者： Li JIN Yong HE Chuan-Ke ZHANG Xing-Chen SHANGGUAN Lin JIANG Min WU School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Electrical Engineering and Electronics University of Liverpool Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

Integrating intermittent wind power into power systems results in low or zero inertia, threatening their frequency stability. To accommodate intermittent generations, the demand response(DR) is introduced, and air conditioning loads(ACs) account for an increasing proportion of all loads. The replacement of traditional generators with wind turbines and the ACs user uncertainties produce parameter uncertainties. This paper aims to construct an equivalent input disturbance(EID)-based load frequency control(LFC) strategy for the power system by considering wind power and ACs. First, an open-loop model is constructed for the LFC scheme with parameter uncertainties. Then, the parameter uncertainties and external disturbance are lumped into a fictitious disturbance, which is estimated using an EID *** incorporating the estimation of disturbance into the control input, the disturbance-rejection performance is achieved. Next, the Lyapunov theory is used to derive the two linear-matrix-inequality-based asymptotic stability criteria. A design algorithm is developed for the EID-based LFC scheme by exploiting an overall performance evaluation index. Finally, simulation results for the single-area and two-area LFC schemes show that, compared with the existing approaches, the method presented realizes the better disturbance rejection and higher robustness against parameter uncertainties, wind power fluctuation, and tie-line power ***, its robustness to time delays is verified.

关键词： equivalent input disturbance load frequency control parameter uncertainties wind power air conditioning loads

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Robust Car-Following Control of Connected and Autonomous Vehicles: A Stochastic Model Predictive Control Approach

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-14页

作者： Zhang, Peiyu Tian, Daxin Zhou, Jianshan Chang, Mai Duan, Xuting Zhao, Dezong Cao, Dongpu Leung, Vicor C.M. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing China James Watt School of Engineering University of Glasgow Glasgow U.K Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Computer Science and Software Engineering Shenzhen University Shenzhen China

Vehicle platooning has attracted growing attention for its potential to enhance traffic capacity and road safety. This paper proposes an innovative distributed Stochastic Model Predictive Control (SMPC) for a vehicle platoon system to enhance the robustness and safety of the vehicles in uncertain traffic environments. In particular, considering the similarity between the acceleration or deceleration behaviour of neighbouring vehicles and the spring-scale properties, we use a two-mass spring system for the first time to construct an uncertain dynamic model of a formation system. In the presence of uncertain perturbations with known distributional attributes (expectation, variance), we propose an objective function in the form of expectation along with probabilistic chance constraints. Subsequently, a state feedback control mechanism is devised accordingly. Under the cumulative probability distribution function of stochastic perturbations, we theoretically derive a computationally tractable equivalent of the SMPC model. Finally, simulation experiments are designed to validate the control performance of the SMPC platoon controllers, along with an analysis of the stability performance under varying probabilities. The experimental findings demonstrate that the model can be efficiently solved in real-time with appropriately chosen prediction horizon lengths, ensuring robust and safe longitudinal vehicle formation control. IEEE

关键词： Random processes

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

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Frontiers of Mechanical engineering 2023年第3期18卷 123-143页

作者： Yiming YAN Shuting WANG Yuanlong XIE Hao WU Shiqi ZHENG Hu LI School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China

To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is *** address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)***,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different *** formulation guarantees rapid convergence and simultaneous chattering *** introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle *** experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance

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Pager Explosion:Cybersecurity Insights and Afterthoughts

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2359-2362页

作者： Chuan Sheng Wanlun Ma Qing-Long Han Wei Zhou Xiaogang Zhu Sheng Wen Yang Xiang Fei-Yue Wang Swinburne University of Technology Hawthorn VIC 3122Australia IEEE the School of Computer and Mathematical Sciences the University of AdelaideAdelaideSouth Australia 5005Australia the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 the Department of Engineering Science Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China

PAGER EXPLOSION:THE *** 2024 Lebanon pager explosions represent one of the most unexpected and devastating technological incidents in recent *** September 17 and 18,2024,thousands of pagers and walkie-talkies exploded simultaneously across Lebanon and parts of Syria,resulting in 42 deaths and more than 3500 *** handheld communication devices,previously regarded as secure and low-profile,were rigged with concealed explosives and remotely triggered by attackers.

关键词： injuries thoughts explosion

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Exploring Problems and Solutions About Launch Files in ROS from Q&A Community 3

Exploring Problems and Solutions About Launch Files in ROS f...

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3rd International Conference on Big Data and Artificial Intelligence and software engineering, ICBASE 2022

作者： Jiang, Guangjun Mao, Xinjun College of Computer National University of Defense Technology Changsha China Key Laboratory of Software Engineering for Complex Systems National University of Defense Technology Changsha China

Robot Operating System (ROS) is a widely used software architecture for robotic systems, which provides hardware abstractions and common functions in robotics. Launch files, as one of the configuration files in the actual program development of ROS, provide a method to start multiple nodes and set global parameters on the local or multiple machines at the same time. For launch files with complex and complex content, we need to get the questions we encounter in writing and using launch files from the Q&A community. We crawled 854 Q&A posts about Launch files from SO and ROS Answers respectively, and conducted in-depth empirical research. Based on the content of the Q&A posts, we roughly divided them into five topics, including syntax specification, function implementation, running error, dependency related and environment configuration. We used topic modelling LDA to categorize Q&A posts by topics, and segmented them by combining the five topics already obtained. Through the results, we found that parameter configuration and syntax errors were the main problems, and then we made a rough analysis of the answer content of the post, and found that the quality of the ROS-related Q&A posts was not high. The above findings inspired us to develop a template tool to simplify the writing of Launch flies and use the node information in the Launch files to recommend ROS nodes to lay a good foundation. © 2022 Copyright for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0)

关键词： Robot Operating System

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Spherical Particles Growth with Dynamic Oscillation during Lithium Electrodeposition

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Energy Material Advances 2023年第1期4卷 112-119页

作者： Hanxu Jing Hui Xing Bohan Li Yongsheng Han MOE Key Laboratory of Material Physics and Chemistry under Extraordinary Northwestern Polytechnical University710129 Xi’anChina Shaanxi Basic Discipline(Liquid Physics)Research Center Northwestern Polytechnical University710129 Xi’anChina State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of Sciences100190 BeijingChina

In this paper,the spherical particles growth during lithium electrodeposition was investigated by directly solving the governing equations based on the Landau transformation *** basic growth kinetic characteristics of a spherical particle during electrodeposition was *** results show that the dynamic oscillation of the growth velocity occurs during the spherical particle *** was found from numerical simulations that applied electrical potential difference,electrolyte concentration,and diffusion coefficient are 3 main factors influencing the spherical growth and the existence of the dynamic oscillation state of the growth velocity during *** increase in both the applied electrical potential difference and the electrolyte concentration can lead to the increase of the growth velocity of the spherical particle,while the growth velocity is independent of the diffusion ***,it was found that the wavelength and the amplitude of the dynamic oscillation of the growth velocity can be influenced by the applied electrical potential difference,the electrolyte concentration,and the diffusion *** determined that the dynamic competition between electrochemical reactions and ion transport in the electrodeposition is the reason for the existence of the oscillation of the growth velocity.

关键词： coefficient. method. oscillation

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Dynamic apertures with diffusion-regulatory functionality in soft porous crystals:A key to solving the century puzzle on isotopologues separation

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Nano Research 2023年第2期16卷 3254-3255页

作者： Yanhong Li Jianze Xiao Yangyang Guo Ning Han Fangli Yuan Yunfa Chen Ming-Shui Yao State Key Laboratory of Multi-phase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China CAS Key Laboratory of Green Process and Engineering Institute of Process EngineeringInnovation Academy for Green ManufactureChinese Academy of SciencesBeijing 100190China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesChinese Academy of SciencesBeijing 100049China Key Laboratory of Science and Technology on Particle Materials Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China

The separation of water isotopologues has been a“century-old”challenge,also known as“the Holy Grail”in separation *** water(D2O)is a stable non-radioactive water isotopologue that plays a critical role in scientific research,military,nuclear energy,and medical *** water was first reported in 1931 when *** discovered D2 and D2O,for which he was awarded the Nobel Prize in Chemistry in *** in 1933,*** et *** 0.5μL of heavy water at a concentration of around 65.7%when electrolyzing 10 liters of *** 1935,the world's first heavy water plant was built in Norway,producing 2 tons of heavy water by electrolysis,but the separation factor was merely 1.05,which was extremely *** 1943,the first heavy water plant employing the distillation method was built in the United States.

关键词： separation porous distillation

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There are More Fish in the Sea: Automated Vulnerability Repair via Binary Templates

arXiv

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arXiv 2024年

作者： Lin, Bo Wang, Shangwen Chen, Liqian Mao, Xiaoguang Key Laboratory of Software Engineering for Complex Systems College of Computer Science and Technology National University of Defense Technology Changsha China

As software vulnerabilities increase in both volume and complexity, vendors often struggle to repair them promptly. Automated vulnerability repair has emerged as a promising solution to reduce the burden of manual debugging and fixing activities. However, existing techniques exclusively focus on repairing the vulnerabilities at the source code level, which has various limitations. For example, they are not applicable to those (e.g., users or security analysts) who do not have access to the source code. Consequently, this restricts the practical application of these techniques, especially in cases where vendors are unable to provide timely patches. In this paper, we aim to address the above limitations by performing vulnerability repair at binary code level, and accordingly propose a template-based automated vulnerability repair approach for Java binaries. Built on top of the literature, we collect fix templates from both existing template-based automated program repair approaches and vulnerability-specific analyses, which are then implemented for the Java binaries. Our systematic application of these templates effectively mitigates vulnerabilities: experiments on the Vul4J dataset demonstrate that TemVUR successfully repairs 11 vulnerabilities, marking a notable 57.1% improvement over current repair techniques. Moreover, TemVUR securely fixes 66.7% more vulnerabilities compared to leading techniques (15 vs. 9), underscoring its effectiveness in mitigating the risks posed by these vulnerabilities. To assess the generalizability of TemVUR, we curate the ManyVuls4J dataset, which goes beyond Vul4J to encompass a wider diversity of vulnerabilities. With 30% more vulnerabilities than its predecessor (increasing from 79 to 103), ManyVuls4J serves as a robust benchmark for evaluating the performance of TemVUR. The evaluation on ManyVuls4J reaffirms TemVUR’s effectiveness and generalizability across a diverse set of real-world vulnerabilities. Copyright © 2024, The Authors.

关键词： Program debugging

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MSEs Credit Risk Assessment Model Based on Federated Learning and Feature Selection

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Computers, Materials & Continua 2023年第6期75卷 5573-5595页

作者： Zhanyang Xu Jianchun Cheng Luofei Cheng Xiaolong Xu Muhammad Bilal School of Computer and Software Nanjing University of Information Science&TechnologyNanjing210044China State Key Laboratory Novel Software Technology Nanjing UniversityNanjing210023China Department of Computer and Electronics Systems Engineering Hankuk University of Foreign StudiesYongin-siGyeonggi-do17035Korea

Federated learning has been used extensively in business inno-vation scenarios in various *** research adopts the federated learning approach for the first time to address the issue of bank-enterprise information asymmetry in the credit assessment ***,this research designs a credit risk assessment model based on federated learning and feature selection for micro and small enterprises(MSEs)using multi-dimensional enterprise data and multi-perspective enterprise *** proposed model includes four main processes:namely encrypted entity alignment,hybrid feature selection,secure multi-party computation,and global model ***,a two-step feature selection algorithm based on wrapper and filter is designed to construct the optimal feature set in multi-source heterogeneous data,which can provide excellent accuracy and *** addition,a local update screening strategy is proposed to select trustworthy model parameters for aggregation each time to ensure the quality of the global *** results of the study show that the model error rate is reduced by 6.22%and the recall rate is improved by 11.03%compared to the algorithms commonly used in credit risk research,significantly improving the ability to identify ***,the business operations of commercial banks are used to confirm the potential of the proposed model for real-world implementation.

关键词： Federated learning feature selection credit risk assessment MSEs

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