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第43届中国控制会议

作者： Zhiqiang Miao Jianlei Zhang Chunyan Zhang Chen Wang Guangming Xie State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design LabCollege of EngineeringPeking University

Collaborative hunting,also known as Multi-Agent Pursuit Evasion(MAPE),is a crucial aspect of swarm *** main obstacles in MAPE research involve making real-time decisions in dynamic environments,efficient task allocation,collision avoidance among multiple agents,planning and tracking prey in unknown environments,and information sharing under communication *** paper presents the Dual-Layer Collaborative Hunting Algorithm Using Virtual Wolf Pack(DLCH-VWP),which utilizes biomimetic principles,specifically leveraging the advantages and hunting strategies of wolf packs,to enhance collaborative efficiency and adaptability in complex environments within *** algorithm employs a two-tier strategy,with the strategy planning center using biomimetic wolf pack algorithm to manage environment perception,state assessment,prey movement prediction,and inter-robot *** local response center treats each wolf as an independently operating sub-pack,utilizing a combination of Grey Wolf Optimizer(GWO) and the local A-star algorithm to provide each wolf with individual *** allows for efficient dynamic path planning by determining the path for each wolf based on joint decision-making of the group and *** experiments have confirmed the effectiveness and feasibility of this algorithm for collaborative hunting in multi-agent systems,presenting a novel strategy for addressing MAPE challenges.

关键词： Virtual wolf pack Swarm intelligence Collaborative hunting

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Dynamic Performance Prediction in Batch-Based Assembly System with Bernoulli Machines and Changeovers

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complex System Modeling and Simulation 2022年第3期2卷 224-237页

作者： Zunjun Wang Zhiyang Jia Xiuxuan Tian Jingchuan Chen Bei Pan State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Industrial and Manufacturing Systems Engineering University of Hong KongHong Kong 999077China School of Engineering Tokyo University of TechnologyTokyo 192-0982Japan

Worldwide competition and diverse demand of customers pose great challenges to manufacturing enterprises. How to organize production to achieve high productivity and low cost becomes their primary task. In the mean time, the rapid pace of technology innovation has contributed to the development of new types of flexible automation. Hence, increasing manufacturing enterprises convert to multi-product and small-batch production, a manufacturing strategy that brings increased output, reduced costs, and quick response to the market. A distinctive feature of small-batch production is that the system operates mainly in the transient states. Transient states may have a significant impact on manufacturing systems. It is therefore necessary to estimate the dynamic performance of systems. As the assembly system is a typical class of production systems, in this paper, we focus on the problem of dynamic performance prediction of the assembly systems that produce small batches of different types of products. And the system is assumed to be characterized with Bernoulli reliability machines, finite buffers, and changeovers. A mathematical model based on Markovian analysis is first derived and then, the analytical formulas for performance evaluation of three-machine assembly systems are given. Moreover, a novel approach based on decomposition and aggregation is proposed to predict dynamic performance of large-scale assembly systems that consist of multiple component lines and additional processing machines located downstream of the assemble machine. The proposed approach is validated to be highly accurate and computationally efficient when compared to Monte Carlo simulation.

关键词： flexible assembly system dynamic performance Bernoulli machines finite buffers changeovers

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Asynchronous Spatial-Temporal Allocation for Trajectory Planning of Heterogeneous Multi-Agent systems

Asynchronous Spatial-Temporal Allocation for Trajectory Plan...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yuda Chen Haoze Dong Zhongkui Li Department of Mechanics and Engineering Science State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous spatial-temporal allocation method. Specifically, between a pair of agents, the allocation is proposed to determine their corresponding derivable time-stamped space and can be updated in an asynchronous way, by inserting a waiting duration between two consecutive replanning steps. It is theoretically shown that the inter-agent collision is avoided and the allocation ensures timely updates. Comprehensive simulations and comparisons with state-of-the-art baselines validate the effectiveness of the proposed method and illustrate its improvement in completion time and moving distance. Finally, hardware experiments are carried out, where 8 heterogeneous unmanned ground vehicles with onboard computation navigate in cluttered scenarios with high agility.

关键词： Trajectory planning Navigation Numerical simulation Hardware Land vehicles Trajectory Resource management Synchronization Vehicle dynamics Multi-agent systems

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Research on Application of Innovative Linear Active Disturbance Rejection Control in Three-Phase Four-Wire System DSTATCOM

Research on Application of Innovative Linear Active Disturba...

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International Joint Conference on Energy, Electrical and Power engineering, CoEEPE 2021

作者： Ma, Youjie Jiang, Xinyu Zhou, Xuesong Tianjin Key Laboratory of Control Theory and Application for Complex Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9789811919213

In order to improve the compensation accuracy and speed of the static synchronous compensator (DSTATCOM) for the unbalanced load, a novel linear active disturbance rejection controller is proposed in this paper. The controller is applied to the current tracking control of DSTATCOM, and its mathematical model is derived. The performance of the new linear active disturbance rejection controller is analyzed by frequency domain analysis to prove its correctness. Finally, the operation performance of DSTATCOM under the action of the new controller is verified by MATLAB/Simulink simulation platform, and compared with the traditional ADRC controller. The results show that the capacitive split DSTATCOM controller has better compensation performance and is more practical. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Controllers

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A Nonsmooth Observer Based on Friction Model Compensation for Sensorless Permanent Magnet Synchronous Motor 42

A Nonsmooth Observer Based on Friction Model Compensation fo...

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42nd Chinese Control Conference, CCC 2023

作者： Zhang, Zaishan Zhu, Wenwu Yu, Ke Wang, Xiangyu Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China School of Electrical Engineering and Automation Hefei University of Technology Hefei230009 China

ISBN: (纸本)9789887581543

In this paper, a nonsmooth observer considering friction compensation is proposed for the sensorless permanent magnet synchronous motor (PMSM) to estimate the rotor position and speed. Friction is one of the main factors affecting the tracking accuracy of the motor at low speed, especially in the back and forth motion of the motor. Firstly, based on the Stribeck friction model, a nonlinear friction model of the motor is established. Secondly, a nonsmooth observer with friction compensation is designed to estimate the position and speed of the rotor, and the lumped disturbance of the system at the same time. Further, the stability analysis of this nonsmooth observer is given. Finally, the effectiveness of the proposed method is verified by the simulation results. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Sensorless control

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MoB-NetV2-RVFL: Diagnosis of Coronavirus (COVID-19) from CT images via a Deep Learning Architecture

MoB-NetV2-RVFL: Diagnosis of Coronavirus (COVID-19) from CT ...

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2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Tang, Xiaoyu Chai, Lin Song, Chengze School of Automation Southeast University Jiangsu Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Jiangsu Nanjing210096 China School of Sino-french Engineering Institute Nanjing University of Science and Technology Jiangsu Nanjing China

ISBN: (纸本)9781837242689

Computer-aided diagnosis has emerged as a crucial trend in modern medicine. Recently, CT-based automatic detection algorithms for lung infectious diseases suffer from issues of low accuracy and complex architecture. In this paper, three MoB-NetV2 models (MoB-NetV2-SNN, MoB-NetV2-ELM, and MoB-NetV2-RVFL) for the detection of COVID-19 in CTs are proposed. the MoB-NetV2 model is proposed by inserting batch normalization layers between bottlenecks in MobileNetV2 and substituting the fully connected layer with the Net-1 model (SNN, ELM, RVFL), i.e. MoB-NetV2-SNN, MoB-NetV2-ELM, and MoB-NetV2-RVFL. After comparison, it is found that the proposed MoB-NetV2-RVFL achieves an average accuracy of 93.42% on a private dataset comprising of 2392 images, while the precision is reached at 97.33%. Furthermore, it is demonstrated that our MoB-NetV2-RVFL outperforms other existing algorithms in the literature. High classification accuracy and precision and low computing amount are achieved, thereby enhancing the potential application of the model in the field of medical image-aided diagnosis of COVID-19 virus. © The Institution of engineering & Technology 2024.

关键词： COVID-19

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Evaluating the usage of fault localization in automated program repair:an empirical study

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Frontiers of Computer Science 2021年第1期15卷 53-67页

作者： Deheng YANG Yuhua QI Xiaoguang MAO Yan LEI College of Computer National University of Defense TechnologyChangsha 410073China Laboratory of Software Engineering for Complex Systems Changsha 410073China Beijing Institute of Tracking and Communication Technology Beijing 100094China School of Big Data&Software Engineering Chongqing UniversityChongqing 400044China

Fault localization techniques are originally proposed to assist in manual debugging by generally producing a rank list of suspicious *** the increasing popularity of automated program repair,the fault localization techniques have been introduced to effectively reduce the search space of automated program *** developers who mainly focus on the rank information,current automated program repair has two strategies to use the fault localization information:suspiciousness-first algorithm(SFA)based on the suspiciousness accuracy and rank-first algorithm(RFA)relying on the rank ***,despite the fact that the two different usages are widely adopted by current automated program repair and may result in different repair results,little is known about the impacts of the two strategies on automated program *** this paper we empirically compare the performance of SFA and RFA in the context of automated program ***,we implement the two strategies and six well-studied fault localization techniques into four state-of-the-art automated program repair tools,and then use these tools to perform repair experiments on 60 real-world bugs from *** study presents a number of interesting findings:RFA outperforms SFA in 70.02%of cases when measured by the number of candidate patches generated before a valid patch is found(NCP),while SFA performs better in parallel repair and patch diversity;the performance of SFA can be improved by increasing the suspiciousness accuracy of fault localization techniques;finally,we use SimFix that deploys SFA to successfully repair four extra Defects4J bugs which cannot be repaired by SimFix originally using *** observations provide a new perspective for future research on the usage and improvement of fault localization in automated program repair.

关键词： automated program repair fault localization empirical study

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PD-Refiner: An Underlying Surface Inheritance Refiner with Adaptive Edge-Aware Supervision for Point Cloud Denoising 24

PD-Refiner: An Underlying Surface Inheritance Refiner with A...

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32nd ACM International Conference on Multimedia, MM 2024

作者： Zhang, Chengwei Zhang, Xueyi Yue, Xianghu Lao, Mingrui Jiang, Tao Wang, Jiawei Zhang, Fubo Chen, Longyong National Key Laboratory of Microwave Imaging Aerospace Information Research Institute Chinese Academy of Sciences Beijing China Laboratory for Big Data and Decision National University of Defense Technology Hunan Changsha China Department of Electrical and Computer and Engineering National University of Singapore Singapore Singapore National Key Laboratory of Information Systems Engineering National University of Defense Technology Hunan Changsha China School of Software Engineering Tongji University Shanghai China

ISBN: (纸本)9798400706868

Point clouds from real-world scenarios inevitably contain complex noise, significantly impairing the accuracy of downstream tasks. To tackle this challenge, cascading encoder-decoder architecture has become a conventional technical route to iterative denoise. However, circularly feeding the output of denoiser as its input again involves the re-extraction of underlying surface, leading to unstable denoising process and over-smoothed geometric details. To address these issues, we propose a novel denoising paradigm dubbed PD-Refiner that employs a single encoder to model the underlying surface. Then, we leverage several lightweight hierarchical Underlying Surface Inheritance Refiners (USIRs) to inherit and strengthen it, thereby avoiding the re-extraction from the intermediate point cloud. Furthermore, we design adaptive edge-aware supervision to improve the edge awareness of the USIRs, allowing for the adjustment of the denoising preferences from global structure to local details. The results demonstrate that our method not only achieves state-of-the-art performance in terms of denoising stability and efficacy, but also enhances edge clarity and point cloud uniformity. © 2024 ACM.

关键词： edge-aware supervision

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Concentration fluctuation caused by reaction-diffusion coupling near catalytic active sites

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Chinese Journal of Chemical engineering 2022年第10期50卷 254-263页

作者： Haolei Zhang Mingcan Zhao Yanping Li Chengxiang Li Wei Ge State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China School of Chemical Engineering University of the Chinese Academy of SciencesBeijing 100049China Dalian National Laboratory for Clean Energy Chinese Academy of SciencesDalianLiaoning 116023China Innovation Academy for Green Manufacture Chinese Academy of SciencesBeijing 100049China

The coupling of reaction and diffusion between neighboring active sites in the catalyst pore leads to the spatiotemporal fluctuation in component concentration,which is very importa nt to catalyst performance and hence its optimal *** dynamics simulation with hard-sphere and pseudo-particle modeling has previously revealed the non-stochastic concentration fluctuation of the reactant/product near isolated active site due to such coupling,using a simple model reaction of A→B in 2D *** topic is further developed in this work by studying the concentration fluctuation due to such coupling between neighboring active sites in 3D *** 3D pore models containing an isolated active site and two adjacent active sites were constructed,*** the isolated site,the concentration fluctuation intensifies for larger pores,but the product yield decreases,and for a given pore size,the product yield reaches a peak at a certain reactant *** two neighboring sites,their distance(d)is found to have little effect on the reaction,but significant to the *** the same reaction competing at both sites,larger d leads to more efficient diffusion and better overall ***,for sequential reactions at the two sites,higher overall performance presents at a smaller *** results should be helpful to the catalyst design and reaction control in the relevant processes.

关键词： Molecular dynamicssimulation Concentration fluctuation Reaction-diffusion coupling Catalyst

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A comparative study of cluster-based methods at finite strain

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Acta Mechanica Sinica 2022年第4期38卷 104-115,I0003页

作者： Yang Yang Lei Zhang Shaoqiang Tang MoE Key Laboratory of High Energy Density Physics Simulations(HEDPS)and State Key Laboratory of Turbulence and Complex Systems(LTCS) College of EngineeringPeking UniversityBeijing 100871China

Virtual clustering analysis(VCA)is a reduced-order method for numerical *** formulate VCA for finite strain problems,illustrate its implementation,and provide numerical codes for free download and *** for four test examples shows that both VCA and Self-consistent clustering analysis(SCA)excellently approximate FFT-based direct numerical simulation(DNS)results,yet at much reduced numerical *** is actually even faster in the online stage.

关键词： Virtual clustering analysis Finite strain Homogenization Machine learning

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