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arXiv 2025年

作者： Zhang, Chengjie Pan, Wenda Han, Xinyang Kong, He Shenzhen Key Laboratory of Control Theory and Intelligent Systems The Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology The Southern University of Science and Technology Shenzhen518055 China

Accurate calibration of acoustic sensing systems made of multiple asynchronous microphone arrays is essential for satisfactory performance in sound source localization and tracking. State-of-the-art calibration methods for this type of system rely on the time difference of arrival and direction of arrival measurements among the microphone arrays (denoted as TDOA-M and DOA, respectively). In this paper, to enhance calibration accuracy, we propose to incorporate the time difference of arrival measurements between adjacent sound events (TDOA-S) with respect to the microphone arrays. More specifically, we propose a two-stage calibration approach, including an initial value estimation (IVE) procedure and the final joint optimization step. The IVE stage first initializes all parameters except for microphone array orientations, using hybrid TDOA (i.e., TDOA-M and TDOA-S), odometer data from a moving robot carrying a speaker, and DOA. Subsequently, microphone orientations are estimated through the iterative closest point method. The final joint optimization step estimates multiple microphone array locations, orientations, time offsets, clock drift rates, and sound source locations simultaneously. Both simulation and experiment results show that for scenarios with low or moderate TDOA noise levels, our approach outperforms existing methods in terms of accuracy. All code and data are available at https://***/AISLABsustech/Hybrid-TDOA-Multi-Calib. © 2025, CC BY.

关键词： Microphone array

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PI Tuning and Optimization for Speed control of PMSM Based on Multivariable Sliding-Mode Extremum Seeking

PI Tuning and Optimization for Speed Control of PMSM Based o...

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第34届中国控制与决策会议

作者： Fan Li Wei Shen Chuanyu Ge Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781665478977

The PI controller is the most basic and widely used for the permanent magnet synchronous motor speed *** cumbersome parameter adjustment process makes it difficult for the PI controller to balance convenience and *** this end,this paper presents a new PI tuning and optimization scheme based on multivariable sliding-mode extremum ***,by analyzing the frequency domain model of permanent magnet synchronous motor,the analytical calculation formulas of controller parameters and motor parameters are derived as the initial value of PI parameter ***,a multivariable sliding-mode extremum seeking optimizer is designed to optimize the control parameters by minimizing the cost function based on the feedback error *** feasibility of the above scheme is proved by theoretical derivation,and the simulation and experimental results also verify the feasibility and effectiveness of the proposed method.

关键词： permanent-magnet synchronous motor(PMSM) multivariable sliding mode extremum seeking(MSME) self-tuning parameter optimization

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A fault isolation method using kernel canonical variate analysis-based contribution

A fault isolation method using kernel canonical variate anal...

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第35届中国过程控制会议

作者： Hongxin Wang Lingxia Mu Nan Feng Han Liu Ding Liu Department of Information and Control Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology School of Intelligence Science and Technology University of Science and Technology Beijing

Fault diagnosis and isolation is important for industrial system. In this paper, a kernel canonical variate analysis(KCVA) is proposed for fault isolation. KCVA is originally used as a data dimension reduction technique which can account for nonlinearity and correlations in the industrial dynamical process data. But there are some difficulties using KCVA in the construction of the contribution for the fault isolation. On the one hand, it is difficult to compute the contributions of individual variables because it is scarcely possible to find an inverse mapping from the feature space to the original space. On the other hand, a smearing effect is hardly avoided. To solve the problem, a KCVA-based contributions is proposed using the state subspace and the residual subspace which can isolate the faulty variables effectively. Simulations are conducted on the Tennessee Eastman process to verify the performance of the proposed method.

关键词： Kernel canonical variate analysis contribution plot fault isolation

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A Secure Parameter Self-Tuning control Scheme for Vehicle Platoons under DoS Attacks 13

A Secure Parameter Self-Tuning Control Scheme for Vehicle Pl...

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13th IEEE International Conference on CYBER Technology in Automation, control, and intelligent systems, CYBER 2023

作者： Han, Qiaoni Cheng, Guowen Tang, Zhenning Liu, Chang School of Electrical and Information Engineering Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin University Tianjin300072 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Center for Biomedical Engineering School of Information Science and Technology Fudan University Shanghai200433 China

ISBN: (纸本)9798350315196

In order to mitigate the adverse impact of denial of service (DoS) attacks, this work designs a parameter self-tuning controller based on fuzzy rules for vehicle platoons with vehicle-to-vehicle (V2V) communications. Aiming at achieving the cooperative adaptive cruise control (CACC) of the vehicles with a required inter-vehicle distance and the same velocity, while considering the possible DoS attacks, we propose a parameter self-tuning longitudinal controller combining linear control and fuzzy control to enhance the stability and resilience of the platoon systems. Firstly, by analyzing the dynamic characteristics of vehicles and the mechanism of DoS attacks, we establish the dynamic model of vehicle platoons and model the impact of random DoS attacks as a constant data transmission delay, whose probability distribution can be defined using the Bernoulli random variable. Then, a linear controller based on fuzzy control is designed for longitudinal control to guarantee that the platoon keeps a reference velocity and the specified inter-vehicle distance under DoS attacks. Finally, thorough simulations are performed and the detailed results show the performance of the secure longitudinal control scheme for vehicle platoons in terms of stability and security. © 2023 IEEE.

关键词： Fuzzy control

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Analysis of coupled axial-torsional vibration of drill-string with an inclination angle 41

Analysis of coupled axial-torsional vibration of drill-strin...

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第41届中国控制会议

作者： Jiahao Zhang Chengda Lu Hengyu Huang Jun Gao Min Wu 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 CCTEG Xi'an Research Institute

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Drill-string vibration has a great negative influence on the safety and efficiency of geological *** that the influence of drill-string inclination is not well considered in the literature,this paper develops a novel drill-string vibration model for geological drilling with inclined ***,the correlation between the inclination angle of borehole and the axial and torsional forces on the drill-string is *** on this,a drill-string motion model with the parameters of inclination angle is ***,the bit-rock interaction is considered as two processes,axial cutting and torsional friction,and an axial-torsional coupled bit-rock interaction model with state-dependent time delay is *** combining the established drill-string motion model and bit-rock interaction model,a coupled axial-torsional vibration model of drill-string in inclined borehole is obtained with the effect of borehole wall friction taken into *** drill-string vibration model proposed in this paper is more general,and includes the existing coupled drill-string vibration model of vertical borehole,which is closer to the actual situation.

关键词： drill-string vibration drill-string inclination bit-rock interaction

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Interactive Cloud Detection Based on Dynamic Mode Decomposition

Interactive Cloud Detection Based on Dynamic Mode Decomposit...

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2024 International Conference on Information Technology, Data Science, and Optimization, I-DO 2024

作者： Li, Yilong Yang, Lu Qiu, Xiaobin Bi, Chongke Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China Tianjin Key Laboratory for Oceanic Meteorology and Tianjin Institute of Meteorological Science Tianjin China Tianjin University Tianjin China

ISBN: (纸本)9798400709180

Cloud detection can address data quality and analytical accuracy issues caused by cloud cover in satellite imagery, significantly enhancing image usability. Existing cloud detection methods still have the problem of detecting a certain amount of ground and sea surface as clouds, as well as some cloud regions that are missed, resulting in a decrease in the accuracy of cloud detection. Aiming at the above problems, an interactive cloud detection method based on Dynamic Mode Decomposition is proposed. Based on the fact that clouds are constantly moving, the dynamic mode decomposition can be utilized to detect the characteristics of moving objects, and the dynamic clouds are detected, avoiding the detection of the ground and sea surface as clouds. Although static clouds rarely appear, to ensure the robustness of the algorithm, we design an interactive static cloud detection algorithm for the users, which solve the problem of missed detection and further improves the accuracy of cloud detection. To assess the effectiveness of the algorithm, the four different types of clouds of floccus, undulatus, vortex clouds, and stratocumulus are detected, the experimental outcomes demonstrate the effectiveness and robustness of the algorithm. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Dynamic mode decomposition

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An end-to-end instance segmentation method based on improved ConvNeXt V2

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International Journal of Wireless and Mobile Computing 2024年第4期26卷 384-392页

作者： Wang, Wenlu Sun, Ying Xu, Manman Bai, Dongxu Huang, Li Zou, Chunlong Chen, Baojia Tang, Dalai Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan China College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan China College of Mechanical Engineering Hubei University of Automotive Technology Hubei Shiyan China Hubei Key Laboratory of Hydroelectric Machinery Design and Maintenance China Three Gorges University Hubei Yichang China School of Computer Information Management Inner Mongolia University of Finance and Economics Hohhot China

In order to improve the efficiency of indoor mobile robots in locating and segmenting environmental instances, an instance segmentation method based on RTMDet is proposed. Firstly, the more powerful ConvNeXt V2 is used as the backbone network of the model, which improves the performance of the existing RTMDet model. Subsequently, NAS-FPN is used as a converged network to detect the network at any given time. Finally, AdamW is used as the model optimiser, which effectively solves the problem of excessive memory occupation when updating parameters and improves the performance of the model. The proposed method obtains the highest evaluation index in all cases. After training and testing on the Cityscapes data set, the recognition accuracy reaches 65.0%. © 2024 Inderscience Enterprises Ltd.

关键词： Statistical tests

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Trends and drivers of anthropogenic NOx emissions in China since 2020

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Environmental Science and Ecotechnology 2024年第5期21卷 287-293页

作者： Hui Li Bo Zheng Yu Lei Didier Hauglustaine Cuihong Chen Xin Lin Yi Zhang Qiang Zhang Kebin He Shenzhen Key Laboratory of Ecological Remediation and Carbon Sequestration Institute of Environment and EcologyTsinghua Shenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing 100084China State Environmental Protection Key Laboratory of Environmental Planning and Policy Simulation and Center of Air Quality Simulation and System Analysis Chinese Academy of Environmental PlanningBeijing 100041China Laboratoire des Sciences du Climat et de l’Environnement LSCE/IPSLCEA-CNRS-UVSQUniversite Paris-SaclayGif-sur-YvetteFrance Center for Satellite Application on Ecology and Environment Ministry of Ecology and Environment of ChinaBeijing 100094China Institute of Future Human Habitats Tsinghua Shenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055China Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System ScienceTsinghua UniversityBeijing 100084China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China

Nitrogen oxides(NOx),significant contributors to air pollution and climate change,form aerosols and ozone in the ***,timely,and transparent information on NOx emissions is essential for decision-making to mitigate both haze and ozone ***,a comprehensive understanding of the trends and drivers behind anthropogenic NOx emissions from Chinadthe world's largest emitterdhas been lacking since 2020 due to delays in emissions *** we show a consistent decline in China's NOx emissions from 2020 to 2022,despite increased fossil fuel consumption,utilizing satellite observations as constraints for NOx emission estimates through atmospheric *** reduction is corroborated by data from two independent spaceborne instruments:the TROPOspheric Monitoring Instrument(TROPOMI)and the Ozone Monitoring Instrument(OMI).Notably,a reduction in transport emissions,largely due to the COVID-19 lockdowns,slightly decreased China's NOx emissions in *** subsequent years,2021 and 2022,reductions in NOx emissions were driven by the industry and transport sectors,influenced by stringent air pollution *** satellite-based inversion system developed in this study represents a significant advancement in the real-time monitoring of regional air pollution emissions from space.

关键词： China's NOx emissions Pollution control Socio-economic drivers Atmospheric inversion

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Structure design and analysis of a rigid-soft robotic hand with large load capacity 3

Structure design and analysis of a rigid-soft robotic hand w...

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3rd International Conference on Electrical, Electronics, and Information Engineering, EEIE 2024

作者： Wu, Peichen Lan, Fuming Hong, Wen Chen, Xiaoping Shuai, Wei Cui, Guowei Gao, Yang Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangdong Key Laboratory of Modern Control Technology Guangzhou510070 China Shanghai Institute of Aerospace System Engineering Shanghai201100 China Intelligent Manufacturing Institute of HFUT HeFei230041 China School of Computer Science and Technology University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781510688179

In recent years, soft grippers have gained significant attention due to their adaptability and safety. However, when performing horizontal object grasping, their limited structural stiffness prevents them from withstanding the torque generated by friction between the gripper and the object, leading to a loss of contact and limiting their horizontal load capacity. To address this limitation while preserving the adaptability of soft grippers, this paper proposes a gripper structure called the rigid-soft robotic hand, which incorporates lateral rigid connecting rods outside the soft joints. The paper analyzes the bending capacity of the rigid-soft joint using kinematic methods and investigates the influence of link design parameters on maximum bending angle. Subsequently, a finite element analysis is conducted to study the finger structure with the added connecting rods, aiming to optimize the link design parameters. Experimental results demonstrate the grasping capabilities of the rigid-soft gripper in both vertical and horizontal orientations. The findings show that the rigid-soft gripper significantly improves the load-carrying capacity during horizontal object grasping while maintaining the adaptability of the soft gripper. © The Authors.

关键词： Robotic arms

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STDHL: Spatio-Temporal Dynamic Hypergraph Learning for Wind Power Forecasting

arXiv

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arXiv 2024年

作者： Dong, Xiaochong Zhang, Xuemin Yang, Ming Mei, Shengwei State Key Laboratory of Power System Operation and Control Department of Electrical Engineering Tsinghua University Beijing100084 China Key Laboratory of Power System Intelligent Dispatch and Control Shandong University Jinan250061 China

Leveraging spatio-temporal correlations among wind farms can significantly enhance the accuracy of ultra-short-term wind power forecasting. However, the complex and dynamic nature of these correlations presents significant modeling challenges. To address this, we propose a spatio-temporal dynamic hypergraph learning (STDHL) model. This model uses a hypergraph structure to represent spatial features among wind farms. Unlike traditional graph structures, which only capture pair-wise node features, hypergraphs create hyperedges connecting multiple nodes, enabling the representation and transmission of higher-order spatial features. The STDHL model incorporates a novel dynamic hypergraph convolutional layer to model dynamic spatial correlations and a grouped temporal convolutional layer for channel-independent temporal modeling. The model uses spatio-temporal encoders to extract features from multi-source covariates, which are mapped to quantile results through a forecast decoder. Experimental results using the GEFCom dataset show that the STDHL model outperforms existing state-of-the-art methods. Furthermore, an in-depth analysis highlights the critical role of spatio-temporal covariates in improving ultra-short-term forecasting accuracy. Copyright © 2024, The Authors. All rights reserved.

关键词： Wind forecasting

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