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Chinese automation Congress (CAC)

作者： Zhijing Huang Kang Chen Zhezhuang Xu Qinbo Zeng Zhibin Xu Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Fuzhou University Fuzhou China

Aiming at the problem that the traffic flow has an low prediction accuracy due to varying randomness and high nonlinearity, an improved TSK fuzzy neural network prediction model by singular spectrum analysis is ***, the original traffic flow time series can be decomposed into several subseries by singular spectrum analysis (SSA). Then, the Takagi-Sugeno-Kang (TSK) fuzzy system was trained using simulated annealing genetic algorithm (SAGA) and minibatch gradient descent method (MBGD) combined with three techniques (RDA) of regularization, DropRule and *** prediction model of TSK fuzzy neural network is established to predict each subseries independently, and the forecasted traffic flow is obtained by superimposing the prediction results of each subseries. Finally, the traffic flow dataset of expressway tunnels in a city is used to verify the effectiveness of the model. Experimental results can show high traffic flow prediction accuracy of the model, and the model can accurately predict multiple different highway tunnels.

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Surface Defect Detection of Wooden Boards Based on Multi-Modal Fusion

Surface Defect Detection of Wooden Boards Based on Multi-Mod...

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Chinese automation Congress (CAC)

作者： Hongchuan Zhang Song Zheng Yuhang Zhu Ye Lin Zhijie Ai Zhezhuang Xu Education Department of Fujian Province College of Electrical Engineering and Automation Fuzhou University and Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou China

Automated wood defect detection is of great significance for improving wood utilization. However, the stains on the wood surface resemble defect features and it is difficult to distinguish the appearance of wane from defect-free regions. Relying solely on machine vision for extracting surface features of wood makes it difficult to achieve accurate defect detection. To address these challenges, we propose MMDNet, a multimodal detection network that combines point cloud and image data. By adaptively fusing point cloud and image features at multiple stages, the network effectively highlights wood surface defect regions. Additionally, we introduce an Atrous Spatial Pyramid Pooling (ASPP) module into the network, which expands the network's receptive field and enables a comprehensive perception of the defects. Furthermore, we employ a deep supervision strategy to encourage the network to learn discriminative feature representations, enhancing the model's ability to differentiate defect regions. Experimental results validate the effectiveness of our method in detecting defects that are similar to the background and reducing interference from stains.

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Analyzing Behavior Data of Students in the Classroom with Association Rule Mining

Analyzing Behavior Data of Students in the Classroom with As...

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Chinese automation Congress (CAC)

作者： Qingbo Zeng Zhezhuang Xu Song Zheng Chi Liu Qinqin Chai Ying Zhang Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Fuzhou University Fuzhou China

Students behavior in the classroom has a close relation with the academic performance of students. With the widespread use of mobile phones, the students are easily distracted by mobile phones during the class. Therefore, analyzing the students behavior in the classroom becomes important to improve the quality of teaching. However, the existing methods for analyzing students behavior in the classroom, such as facial recognition, has low efficiency with large amounts of irrelevant data. And it also raises concerns about privacy and ethical issues. To solve this problem, in this paper, a novel mobile software called EasyClass has been developed to collect and quantify students behaviors. Based on the data collected by EasyClass, we propose to utilize user profiling to study students behavior in the classroom. The clustering algorithm is firstly employed to classify the data and generate semantically tags which describe students behavior in the classroom. Then a sequence and association rule analysis method is used to analyze the behavior tags and generated association rules. The results enable educators and non-expert users to gain a deeper understanding of students behavior in the classroom, and further improve the quality of the classroom teaching.

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PI2-CMA Based Trajectory Planning Method for the Tractor-Trailer Vehicle 6

PI2-CMA Based Trajectory Planning Method for the Tractor-Tra...

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6th IEEE International Conference on Pattern Recognition and Artificial Intelligence, PRAI 2023

作者： Wang, You Wang, Zehao Wang, Jingchuan Guo, Rui Xiao, Peng Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China State Grid Intelligence Technology CO. LTD China

ISBN: (纸本)9798350325485

The motion primitive-based state lattice trajectory planning method has been widely used in the field of trajectory planning. However, due to the limitations of the search space and resolution of motion primitives, and the lack of consideration of scenario information during offline generation of motion primitives, the tractor-Trailer vehicles can easily fall into "jackknife phenomenon"when making large pose adjustments in narrow scenarios, which brings dilemma for trajectory planning. In this paper, a trajectory planning algorithm is proposed based on a general model of tractor-Trailer vehicle, which combines global planning and local optimization. The method first generates a series of motion primitives, including forward and backward driving conditions, and then an A based global state lattice planner is used to obtain a planning result, which is imported as the initial solution into the local trajectory optimizer based on PI2-CMA (Path Integral Policy Improvement with Covariance Matrix Adaptation) algorithm and dynamic potential method. Experiments show that this method significantly improves the performance in the obstacle avoidance, "jackknife phenomenon"avoidance and curvature compared to traditional motion primitive-based state lattice planning methods. © 2023 IEEE.

关键词： Trajectories

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Adaptive fuzzy security control of uncertain semi-Markov jump cyber-physical systems with stochastic perturbation

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Cyber-Physical Systems 2025年

作者： Xun, Tengteng Liu, Zhen Jiang, Baoping School of Automation Shandong Key Laboratory of Industrial Control Technology Qingdao University Qingdao China School of Electronic and Information Engineering Suzhou University of Science and Technology Suzhou China

A novel adaptive secure control strategy is proposed for uncertain stochastic semi-Markov jump cyber-physical systems utilizing fuzzy sliding mode control (FSMC) technology, where the studied plants are affected by actuator attacks (AAs), actuator failures (AFs), stochastic perturbations and unknown transition rates. This strategy not only constrains the state trajectory to the constructed sliding mode surface (SMS) during limited period, but also ensures that the uncertain system operates with control requirements against unknown AAs and AFs, and the stochastic stability condition is derived by integrating SMS reachability with stochastic control theory. Finally, simulation results exhibit the feasibility of the proposed algorithm. © 2025 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Markov processes

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Inspection Area Allocation for Forest Surveillance Based on Different Starting Points of Multi-UAVs 7th

Inspection Area Allocation for Forest Surveillance Based on ...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhou, Zhengjun Mu, Lingxia Ning, Kaikai Zhang, Youmin Xue, Xianghong Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Department of Mechanical Industrial and Aerospace Engineering Concordia University MontrealQCH3G 1M8 Canada

ISBN: (纸本)9789819733392

An inspection allocation algorithm based on different starting points and endurance capabilities of unmanned aerial vehicles (UAVs) is proposed for the multi-UAVs forest inspection process. Firstly, the area map to be inspected is rasterized, and the distances between the starting points of each UAV and individual grid cells are computed, which will be used for area decomposition. Subsequently, an evaluation function is employed to allocate individual grid cells reasonably to each UAV. Then, the boundary lines of the allocated sub-regions are generated, by which the raster map is converted into an inspection map with continuous boundaries. This ultimately yields the sub-regions for inspection by each UAV. Simulation results demonstrate that this method effectively allocates the forest inspection area to the various UAVs in a rational manner. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Inspection

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Distributed Differential Game for Formation control of Multi-UAV with Obstacle Avoidance

Distributed Differential Game for Formation Control of Multi...

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2022 Chinese automation Congress, CAC 2022

作者： Li, Zeyi Xue, Wenyan Li, Dongfang Lin, Dingci Huang, Jie College of Electrical Engineering and Automation Fuzhou University Fuzhou350108 China 5G+Industrial Internet Institute Fuzhou University Fuzhou350108 China Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou350108 China

ISBN: (纸本)9781665465335

For the multi-unmanned aerial vehicle formation control (MUAVFC) in obstacle environments, this work proposes a new distributed non-cooperative differential game framework. This scheme adequately reflects the dynamic interaction of each UAV in the formation control process and effectively reflects the interaction of individual strategies and behaviors. Meanwhile, the game model is added with obstacle avoidance penalty constraints to achieve obstacle avoidance in the UAV formation flight and ensure flight safety. Each UAV needs to obtain the information of its neighbors following the communication topology to minimize the cost function, so that all strategy converges to Nash equilibrium. Based on the existing differential game method that only considers the formation goal, this work adds a penalty function term representing the distance between obstacles in the game model to achieve flight obstacle avoidance. In addition, this work strictly proves the existence of Nash equilibrium. The simulation results verify that the UAVs in this scheme have successfully formed a formation. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Vehicle Scheduling for Steel Logistics Based on Vehicle Batching

Vehicle Scheduling for Steel Logistics Based on Vehicle Batc...

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2022 IEEE International Conference on industrial technology, ICIT 2022

作者： Wen, Weixiang Chen, Kang Wang, Jinlong Xu, Zhezhuang Wang, Rong Chen, Boyu Zhang, Qingdong Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Education Department of Fujian Province Fuzhou350000 China Sansteel Minguang Co. Ltd. Fujian Sanming353000 China

ISBN: (纸本)9781728119489

The vehicle scheduling in the logistics system of the steel park is a critical factor determining the scheduling efficiency and logistics throughput. The limited space resources at the entrance of the steel park make vehicles shall be arranged in reasonable batches to guarantee the scheduling consistency. To achieve the purpose, the paper first formulates the model of vehicle batching. Then, the algorithm CCVB (constrained clustering of vehicle batching) is proposed to solve the problem from a clustering perspective. Comparative experiments are carried out to verify the effectiveness of the proposed algorithm. The experimental results show that the proposed mechanism can sufficiently improve the scheduling efficiency of steel logistics under limited time and space resources. © 2022 IEEE.

关键词： Vehicles

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Optimization of Stacking Location for Mixed Loading of Steel Products

Optimization of Stacking Location for Mixed Loading of Steel...

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2022 IEEE International Conference on industrial technology, ICIT 2022

作者： Wang, Rong Zheng, Song Wang, Jinlong Xu, Zhezhuang Wen, Weixiang Chen, Boyu Zhang, Qingdong Fuzhou University College of Electrical Engineering and Automation Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China Sansteel Minguang Co. Ltd. Sanming Fujian353000 China

ISBN: (纸本)9781728119489

In the steel logistics park, the operational efficiency is repeatedly compromised due to excessive truck turnaround. For solving this problem fundamentally, the mixed loading relationship of multi-type steel products is excavated and the optimum solution for storage yard is proposed in the paper. Due to the limited stacking space, some products with small outbound demand have to be stacked together. A two-stage model is established to meet the stacking requirements for different outbound quantity of steel products. In the first stage, products with a small amount of stock will be mixed and stacked together according to certain rules. Then all products are allocated to specific yards in the second stage with the goal of maximizing the mixed correlation of steel products in the same yard to reduce the number of transitions for pick-up trucks. At the end, products in large quantities are placed in the stacking position close to the pick-up position. Experiments demonstrate that the proposed scheme is of great benefit to improve the operation efficiency of the logistics park. © 2022 IEEE.

关键词： Trucks

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