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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Zheng, Haonan Zhao, Jiajia Tan, Wei School of Electronics and Information Northwestern Polytechnical University Shaanxi Xi'an710072 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

In the field of artificial intelligence, neural network is one of the key technologies used for image classification and recognition. However, recent work has demonstrated that deep neural networks are easily attacked by adversarial examples to make misjudgments. Adversarial examples are almost indistin-guishable from normal examples and yet cannot be classified correctly by neural networks. The existence of adversarial examples is a major obstacle to the practical application and deployment of neural networks, so the research on adversarial defense algorithms is an important topic in the field of AI security. This paper proposes an adversarial example defense algorithm based on a triplet network and voting decision mechanism. Firstly, two neural networks with different structures are trained based on normal dataset. Secondly, the first network is fine-tuned using the adversarial examples generated by these two networks, resulting in a third neural network. Then, these three neural networks are used as sub-networks in parallel to construct a triplet network. Through adversarial training and differences in structures, the transferability of adversarial examples among the three sub-networks is weakened. Finally, the final classification result is obtained by majority voting, based on the parallel output results of the three sub-networks. Through the complementarity between these three sub-networks, the defense against adversarial examples is realized. The experimental results demonstrate the effectiveness of this algorithm. © 2022 IEEE.

关键词： Deep neural networks

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Reinforcement learning-based three-dimensional cooperative guidance law

Reinforcement learning-based three-dimensional cooperative g...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Zhen Gu Zeqi Zhang Honglong Kang Jianfeng Li keyuan Yue Shenmin Song Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

An innovative three-dimensional cooperative guidance law for striking stationary target, based on proximal policy optimization (PPO), is introduced. This novel guidance law directly correlates engagement state information with the navigation ratio of proportional navigation guidance (PNG). Initially, the cooperative homing guidance problem is transformed into a Markov decision process, and the reward function incorporates considerations for the zero-effort-miss (ZEM) and the consensus error of time-to-go. Subsequently, the cooperative homing guidance problem is transposed into the framework of reinforcement learning (RL). Ultimately, the effectiveness of the cooperative homing guidance solution is validated through numerical simulations, encompassing agent model training and Monte Carlo cases.

关键词： Training Monte Carlo methods Navigation Markov decision processes Reinforcement learning Numerical simulation Robustness

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An-Improved α-Shapes Algorithm for Solving Collaborative Workspaces of Dual SCARA Robots Based on Monte Carlo Method 42

An-Improved α-Shapes Algorithm for Solving Collaborative Wo...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Feng-Yu Yu, Gang He, Shu-Han He, Wang-Yong School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Co. Ltd. Wuhan430074 China

ISBN: (纸本)9789887581543

Given the dual robots play a key role for collaborative work. In this paper, an improved method is proposed to find the kinematic positive solution based on its D-H parameters, model the dual SCARA robot in MATLAB environment, and solve the collaborative workspace point cloud map by Monte Carlo method. The proposed method extracts and plots the boundary curves of the collaboration space by improved the α-Shapes algorithm, and obtains the shape of the common region of the collaboration space of the dual SCARA robots and the limit position parameters in the collaboration space. It provides a theoretical basis for the research of path planning, trajectory planning, dynamics analysis, mechanism parameter optimization, self-avoidance, and anti-collision problems of the dual-robot collaborative system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Monte Carlo methods

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A Comparative Study on Adversarial Attacks for Visible and Infrared Images

A Comparative Study on Adversarial Attacks for Visible and I...

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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Guo, Haiwang Tan, Wei Zhao, Jiajia School of Electronics and Information Northwestern Polytechnical University Shaanxi Xi'an710072 China Agent Cooperation Laboratory Science and Technology on Complex System Control and Intelligent Beijing100074 China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

In recent years, the booming development of artificial intelligence has driven the development and progress of society. With its excellent performance, deep learning has been widely used in many fields, including some security-sensitive fields such as unmanned systems, auto-driving and so on. Research has found that deep neural networks are vulnerable to adversarial samples, which can lead to misclassification of neural networks and can cause serious safety incidents. Hence, the study of adversarial samples has received increasing attention, and researchers have conducted studies from different perspectives, and relevant research results have emerged. However, most of these studies have focused on visible images, and few have studied infrared images, which play an important role in military and other important fields. In this paper, a comparative study on adversarial attacks for visible and infrared images is presented. A number of adversarial attack experiments are conducted on ResNet18 and VGG16 models for visible and infrared images. By comparing the experimental results, the characteristics of infrared adversarial samples are derived relative to those with visible adversarial samples. Then, a gradient attack method from a frequency domain perspective is proposed. The adversarial perturbation noise is added to the low frequency component of images. It is verified experimentally that the proposed method improves the transferability of infrared adversarial samples compared to some baseline methods. © 2022 IEEE.

关键词： Deep neural networks

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Iteration framework for solving mixed lubrication computation problems

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Frontiers of Mechanical Engineering 2021年第3期16卷 635-648页

作者： Shi CHEN Nian YIN Zhinan ZHANG Xiaojiang CAI State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Aerospace Control Technology Institute Shanghai 201109China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai 201109China

The general discrete scheme of time-varying Reynolds equation loses the information of the previous step,which makes it unreasonable.A discretization formula of the Reynolds equation,which is based on the Crank-Nicolson method,is proposed considering the physical message of the previous ***-Seidel relaxation and distribution relaxation are adopted for the linear operators of pressure during the numerical solution *** addition to the convergent criteria of pressure distribution and load,an estimation framework is developed to investigate the relative error of the most important term in the Reynolds *** surface with frill contacts and mixed elastohydrodynamic lubrication is tested for *** asperity contact and sinusoidal wavy surface are examined by the proposed discrete *** show the precipitous decline in the boundary of the contact *** relative error suggests that the pressure distribution is reliable and reflects the accuracy and effectiveness of the developed method.

关键词： mixed lubrication discretization formula relative error Reynolds equation asperity

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Flow Field Simulation and Nozzle Parameter Optimization of Rust Removal Robot Based on High-Pressure Water Jet Technology 1

Flow Field Simulation and Nozzle Parameter Optimization of R...

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1st International Conference on Applied Physics and Mathematics, ICAPM 2023

作者： Peng, Wei Ma, Yue Li, Bin Wang, Xinjie Peng, Pai Wang, Jinyuan Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

To enhance the safety and longevity of large ships, employing high-pressure water jet technology for rust removal is crucial in this article, the qualitative relationship among the key parameters of high-pressure water jet rust removal is analyzed theoretically. Secondly, the flow field simulation is carried out using Computational Fluid Dynamics (CFD) software to verify the relationship among the key parameters. Finally, the influence of different nozzle length-diameter ratios on jet characteristics is analyzed. The simulation results show that the nozzle end length is 0 mm and the nozzle diameter is 1mm for the straight-cone convergent nozzle with a shrinking angle of 30° when the diameter of the length-diameter ratio remains unchanged and the length of the nozzle end is changed. Simultaneously, the highest values are observed for the nozzle exit velocity and the impact force on the target surface. The impact range of target shear force takes the maximum value when the length-diameter ratio is 1. Further, by changing the length of the nozzle-end and the nozzle diameter in the length-diameter ratio, the influence on the jet characteristics can be concluded that the nozzle diameter has a greater influence on the nozzle exit velocity than the nozzle-end length. On this basis, the optimized nozzle parameters can be obtained i.e., the nozzle-end length is 1 mm and the nozzle diameter is 1 mm, such that the effective striking area of the jet is the largest and the striking effect is the best. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Computational fluid dynamics

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Design of the Slave Hand Structure and Interference Detection for the Master-Slave Craniotomy Surgical Robot 2

Design of the Slave Hand Structure and Interference Detectio...

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2nd International Conference on intelligent Equipment and Special Robots, ICIESR 2023

作者： Zhao, Lei Zhang, Guobin Li, Zehua Liu, Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (纸本)9781643685144

Existing neurosurgical robots are prone to interfering with each other in a narrow operating space due to the overlapping of several arms, which poses a great safety risk during surgery. In this paper, a 7-DOF dual-arm robot is designed to cooperate with the surgeon to complete craniotomy by manipulating the master hand mechanism. Aiming at the pain point that two real-time dynamic slave hands are prone to interference, this paper establishes a simplified model of the robot envelope, and transforms the interference detection problem between the robots into the interference checking of geometric primitives. If the interference between the two arms is detected by the algorithm, the surgical path of the current robotic arm is immediately terminated to ensure the safety of the surgery. Finally, the algorithm is simulated and verified with the robot designed in this paper. The results show that the algorithm is feasible and has high computational efficiency. © 2024 The Authors.

关键词： Structural design

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Voltage-Coupled Cascading Trip-off within Permanent Magnet Synchronous Generator Based Wind Farm during Low Voltage Ride Through 1

Voltage-Coupled Cascading Trip-off within Permanent Magnet S...

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2024 1st International Conference on Smart Grids and Power systems, ICSGPS 2024

作者： Zhang, Yujiang Ding, Zewen Zhang, Pengcheng Zou, Xin Yao, Ruizhe Wang, Fei Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education School of Electrical Engineering Shandong University Jinan China State Grid Economic and Technological Research Institute CO. Ltd State Grid Corporation of China Beijing China

With the increasing penetration of renewable energy, power electronic interfaced devices have become dominant in power system. It is necessary to investigate the dynamic process of the power grid in a smaller time scale. In case of failing in low voltage ride through (LVRT), the traditional method that treats the response of permanent magnet synchronous generator (PMSG) based wind farm as a one-time trip-off cannot accurately model the cascading failures in such a new-type power system. This paper focuses on this issue and conducts a detailed study of the dynamic process in a PMSG wind farm during LVRT. Firstly, we reveal an evolution mechanism of voltage-coupled cascading trip-offs in PMSG wind farm. Then, the wind farm based on PMSG is modeled in DIgSILENT/PowerFactory. The model takes into account the voltage losses on the power collection line inside the wind farm, and each wind turbine includes an independent control model. Finally, by simulation, we obtain the principle on cascading failures of internal wind turbines in the wind farm, and confirm the interaction mechanism between turbines as well as the detailed process of cascading failures. © 2024 Published under licence by IOP Publishing Ltd.

关键词： Wind turbines

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Research on Hybrid Path Planning Algorithm Based on Anti-Collision

Research on Hybrid Path Planning Algorithm Based on Anti-Col...

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2023 International Conference on Culture-Oriented Science and Technology, CoST 2023

作者： Ren, Penghao Li, Mengnan Su, Zhibin Beijing Radio & Television Station Beijing100022 China Communication University of China Key Laboratory of Acoustic Visual Technology and Intelligent Control System Ministry of Culture and Tourism China Communication University of China Beijing Key Laboratory of Modern Entertainment Technology Beijing100024 China

ISBN: (纸本)9798350357998

In order to solve the problem of fast switching of special equipment in the cultural complex, the improved Moth-Flame Optimization algorithm (MFO) is combined with the improved Dynamic Window Approach (DWA) to realize the hybrid path planning of handling robots in different scenarios of cultural complexes in this paper. Specifically, the traditional Moth-Flame Optimization algorithm is improved and applied to the global path planning problem. On the basis of the planned global path, the intersection of dynamic obstacles with the global path is detected, and the improved Dynamic Window Approach is used for local obstacle avoidance in the section with collision risk, finally, the hybrid path planning in the complex environment of the cultural complex is realized. The simulation experimental results prove the effectiveness of the proposed algorithm. © 2023 IEEE.

关键词： Motion planning

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Feasibility Evaluation and Application Practice of Distributed Photovoltaic Power Generation in Large Commercial Buildings 17th

Feasibility Evaluation and Application Practice of Distribut...

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17th Annual Conference of China Electrotechnical Society, CES 2022

作者： Sun, Liucun Lou, Zhongkai Li, Jingjing Su, Weijiang China Green Development Investment Group Co. Ltd. Beijing100010 China Key Laboratory for Intelligent Control and Decision on Complex Systems School of Automation Beijing Institute of Technology Beijing100029 China

ISBN: (纸本)9789819904075

Large commercial complex projects have the characteristics of large roof area and high electricity price, and the development of distributed photovoltaic power generation has great potential. In this paper, a feasibility evaluation model of distributed photovoltaic power generation in large commercial buildings is established from the aspects of solar energy resources, power generation, economics and environmental benefits. A commercial complex photovoltaic project in Jinan is used as an example. In the case of fully considering the project operating cost and environmental benefits, the feasibility of the project under different power consumption modes is analyzed. The research results show that the economy of large-scale commercial distributed photovoltaic power generation projects in class III solar resource areas such as Jinan is directly related to the power consumption mode. When the "spontaneous self-use" mode is adopted, the economic benefits of the project are good and the feasibility is strong;When the "excess electricity goes into the power grid" mode is adopted, the economic benefits gradually deteriorate with the increase of the proportion into the power grid, but considering the environmental protection benefits of photovoltaic power generation projects, it is still feasible;When the "full the power goes into the power grid" mode is adopted, the economic benefit is poor, and the project is basically not feasible. © 2023, Beijing Paike Culture Commu. Co., Ltd.

关键词： Electric power utilization

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