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Chinese control Conference (CCC)

作者： Xiyuan Shan Tao Cai School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

This paper is concerned with the controller design and the theoretical analysis for time-delay systems, a two degree of freedom (feedforward and feedback) control method is proposed, which combines advantages of the Smith predictor and the active disturbance rejection control (ADRC). The feedforward part of controller is used to track the set point, the feedback part of controller (ADRC) is used to suppress interferences and the Smith predictor is used to correct time delay. The proposed control design is easy to tune parameters and has been proved to effectively control systems with large time delay. The bounded input bounded output (BIBO) stability of closed-loop system is verified. Finally, numerical simulations show the effectiveness and practicality of the proposed design.

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Prescribed-Time Clusters Flocking for Multi-Agent systems of UAVs and USVs 6

Prescribed-Time Clusters Flocking for Multi-Agent Systems of...

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6th International Conference on Electronic Engineering and Informatics, EEI 2024

作者： Shang, Hanjun Wang, Zhenhuan Tian, Yingxin Hou, Qimin Kuang, Jiyuan Gao, Yabin School of Astronautics Harbin Institute of Technology Harbin150001 China Elite Engineers School Harbin Institute of Technology Harbin150001 China The National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing100074 China School of Software Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9798350353594

This paper deals with the problem of clusters flocking for a heterogeneous multi-agent system of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vessels (USVs). The dynamics models of the UAVs and USVs are established separately. Due to the different state dimensions and dynamics models of the UAVs and USVs, the two types of agents are formulated with two clusters. Then, the functions of formation errors of the two clusters are constructed. For the two clusters, a new type of prescribed-time formation control laws is designed respectively. Moreover, compared with the conventional formation control that can only ensure that the multi-agent system completes ideal formations without strict time constraints theoretically, the present prescribed-time control laws can enable the multi-agent system to complete ideal formation strictly at a prescribed time independent of initial formation errors. Finally, the effectiveness of the prescribed-time formation control is verified by simulations. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot

Design and locomotion characteristic analysis of a novel ten...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Mo, Jixue Gao, Changqing Fang, Hao Yang, Qingkai Peng Cheng Laboratory Department of Strategic and Advanced Interdisciplinary Research Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Beijing Institute of Technology School of Automation Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9798350325706

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot's hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment. © 2023 IEEE.

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Jichao Pang Dan Liu Xiaoqing Tang Yan Chen Qiang Huang Tatsuo Arai Xiaoming Liu Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand’s two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device’s lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors’ tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand’s lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand.

关键词： Costs Accuracy Fasteners End effectors 6-DOF Mathematical models Biology

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CFSeRec: A Contrastive Framework for Sequential Recommendation

CFSeRec: A Contrastive Framework for Sequential Recommendati...

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Chinese control Conference (CCC)

作者： Tong Wang Yaping Dai Shuai Shao School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

In sequential recommender systems, the main problems are the long-tailed distribution of data and noise interference. A Contrastive Framework for Sequential Recommendation (CFSeRec) is proposed to solve these two problems respectively. Token shuffling and adversarial attack data augmentation methods are used in the framework to improve the quality and quantity of training data, so that the long-tailed problem is mitigated. Through the application of projection head method, the sequence representation becomes more general and robust, rather than just adapted to the task of contrastive learning. Therefore, the impact of noise on sequence recommender systems is effectively alleviated. Experiments on four public datasets show that CFSeRec achieves state-of-the-art performance in the metrics of hit ratio and normalized discounted cumulative gain, when comparing to the seven previous frameworks.

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Prediction of piRNA-mRNA interactions based on an interactive inference network

Prediction of piRNA-mRNA interactions based on an interactiv...

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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Liu, Yajun Li, Ru Li, Aimin Fei, Rong Guo, Xie Wu, Fang-Xiang Xi'an University of Technology Shaanxi Key Laboratory for Network Computing and Security Technology Xi'an China Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China University of Saskatchewan Division of Biomedical Engineering Department of Computer Science Department of Mechanical Engineering Saskatoon Canada

ISBN: (纸本)9798350337488

As the largest class of small non-coding RNAs, piRNAs primarily present in the reproductive cells of mammals, which influence post-transcriptional processes of mRNAs in multiple ways. Effective methods for predicting piRNA and mRNA target relationships can help identify piRNA functions, investigate the possibility of piRNAs as biomarkers and therapeutic targets. In this study, we propose a computational approach for classifying the relationships of piRNA-mRNA pairs based on an interactive inference network (IIN). First, we gather piRNA-mRNA target data, collect sequence data by position alignment, and construct a benchmark dataset. Furthermore, a reliable negative set is constructed by positive-unlabeled learning. Finally, we view a piRNA and a mRNA sequence as a premise and hypothesis sentence, respectively, and IIN model is used to predict the relationship between them. The experiments demonstrate that our method effectively characterizes piRNA-mRNA interaction and could be beneficial for researchers to investigate piRNA functions. © 2023 IEEE.

关键词： interactive inference network noncoding RNA piRNA-mRNA interactions positive-unlabeled learning

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A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot 16th

A Modified Artificial Potential Field Method Based on Subgoa...

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Mo, Jixue Gao, Changqing Liu, Fei Yang, Qingkai Fang, Hao Department of Mathematics and Theories Pengcheng Laboratory Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Industrial Training Center Shenzhen Polytechnic Shenzhen518055 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819964826

In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force;the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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A Multi-Kernel Principal Component Analysis Method for Quality-Related Fault Detection 37

A Multi-Kernel Principal Component Analysis Method for Quali...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Mu, Lingxia Lei, Biyu Liu, Ding Xi'An University of Technology School of Automation and Information Engineering Xi'an China Xi'An University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China

ISBN: (纸本)9781665465366

In this paper, a multi-kernel principal component analysis (MKPCA) method for quality-related fault detection is proposed. The initial space is firstly mapped to a new space. The correlated information between the new space and output quality is then obtained by the kernel function. Meanwhile, with consideration of the advantage of global function and local function, a weight factor which combines them together is introduced to construct a multi-kernel function. In this way, the algorithm achieves better learning ability. The new space is projected to two mutually orthogonal subspaces, i.e., quality-related part and quality-unrelated part. In each subspace, fault information is expressed by different statistical indicators. The numerical example is presented to evaluate the performance of the MKPCA. The results show better reliability and high fault detection rate through proper spatial decomposition and kernel function construction. © 2022 IEEE.

关键词： Fault detection

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A Novel Power Switching control Method of the Wind Power MPPT system Based on the Switching system Theory 24

A Novel Power Switching Control Method of the Wind Power MPP...

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24th International Electronics Symposium, IES 2022

作者： Guo, Xin Li, Wei-Peng Pan, Yuan Liu, Jun Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China Xi'an University of Technology School of Automation and Information Engineering Xi'an China

ISBN: (数字)9781665489713

ISBN: (纸本)9781665489713

In order to effectively utilize the wind energy, the max power point tracking (MPPT) control method has been extensively used in the wind power system. The MPPT control in the wind power system is actually to control the power electronic converters connected with the wind turbine. However, due to the existing of the power switching devices, the converters were the typical nonlinear system. The traditional linearization modeling methods of the converters cannot represent the working process of the system accurately and the control strategies based on the linearization model of the converters only guarantee the satisfactory performance of system near the predefined working point. They were not suitable to the wind power MPPT system, which has the variable wind speeds and the variable max power points. This paper proposes a power switching control method based on a novel power switched model of the wind power MPPT system with Boost converter. The main contributions of the work are: (1) The proposed power switched model realizes the accurate description of the converter working process, which directly focus on the power states of the wind power system. (2) The proposed switching control method realizes the direct power switching control of the converter of the wind power MPPT system. The merits of the proposed method are simple control structure, no control parameter, no pulse width modulation block and strong robustness under circuit parameters uncertainty. The simulation results verify the effectiveness and the superiority of the proposed methods. © 2022 IEEE.

关键词： Wind power

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A comparative study of four nonlinear dynamic methods and their applications in classification of ship-radiated noise

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Defence Technology（防务技术） 2022年第2期18卷 183-193页

作者： Yu-xing Li Shang-bin Jiao Bo Geng Qing Zhang You-min Zhang School of Automation and Information Engineering Xi’an University of TechnologyXi’an710048China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of TechnologyXi’an710048China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontrealQuebec H3G 1M8Canada

Refined composite multi-scale dispersion entropy(RCMDE),as a new and effective nonlinear dynamic method,has been applied in the field of medical diagnosis and fault *** this paper,we first introduce RCMDE into the field of underwater acoustic signal processing for complexity feature extraction of ship radiated noise,and then propose a novel classification method for ship-radiated noise based on RCMDE and k-nearest neighbor(KNN),termed *** results of a comparative experiment show that the proposed RCMDE-KNN classification method can effectively extract the complexity features of ship-radiated noise,and has better classification performance under one and two scales than the other three classification methods based on multi-scale permutation entropy(MPE)and KNN,multi-scale weighted-permutation entropy(MW-PE)and KNN,and multi-scale dispersion entropy(MDE)and KNN,termed MPE-KNN,MW-PE-KNN,and *** is proved that the RCMDE-KNN classification method for ship-radiated noise is feasible and effective,and can obtain a very high recognition rate.

关键词： Nonlinear dynamic Refined composite multi-scale dispersion entropy(RCMDE) Multi-scale dispersion entropy(MDE) Multi-scale weighted-permutation entropy (MW-PE) Multi-scale permutation entropy(MPE) Classification of ship-radiated noise

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