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43rd Chinese control Conference, CCC 2024

作者： Liu, Shuqi Wang, Jinhuan Wang, Lin Hebei University of Technology Institute of Mathematics School of Science Tianjin300401 China Shanghai Jiaotong University Key Laboratory of System Control and Information Processing Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9789887581581

This paper investigates the pricing problem of transportation based on a framework of network congestion game with both player and resource failures. Firstly, the traffic pricing problem is modeled as a network congestion game by redefining the player's cost function in the event of player and resource failures. Secondly, by using the method of semi-tensor product of matrices, the game with player and resource failures is algebraized and verified to be a weighted potential game. The weighted potential function is also obtained. Then, the impact of player and resource failures on Nash equilibria (NEs) is studied, and the condition on keeping the NE of the original game unchanged is discussed. Finally, the theoretical results are verified by numerical examples. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Tensors

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Joint Optimization of Energy Consumption and Truck Transfer by Stack Allocation in Steel Warehouses

Joint Optimization of Energy Consumption and Truck Transfer ...

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2024 China automation Congress, CAC 2024

作者： Wang, Hongwei Xu, Zhezhuang Wang, Jinlong Chen, Boyu Zhang, Qingdong Wu, Xiuren Xia, Yuxiong College of Electrical Engineering and Automation Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China Sansteel Minguang Co. Ltd. Sanming365000 China Fujian Huading Intelligent Manufacturing Technology Co. Ltd. Fuzhou350000 China

ISBN: (纸本)9798350368604

Due to the continuous growth in steel market demand and the shift towards small batches and multiple varieties, efficient storage management has become a key factor in increasing the profitability of logistics parks. However, the current storage methods, due to the unreasonable allocation of stack positions, still result in energy waste during the dispatch phase and the need for trucks to pick up goods across multiple yards. To address these challenges, this paper proposes a comprehensive optimization scheme to reduce truck transfers and energy consumption in steel product dispatch. First, we constructed an optimization problem model that integrates the spatial layout of the logistics park and order data, aiming to maximize the correlation between steel products within the same yard and reduce the total energy consumption during the dispatch phase. Subsequently, a new algorithm called Enhanced Greedy and Tabu-Assisted Adaptive Large Neighborhood Search (EGTA-ALNS) is introduced. Experimental results demonstrate that the proposed algorithm outperforms existing ones in terms of solving speed and scale. It effectively optimizes energy consumption during steel dispatch and reduces the number of truck transfers. © 2024 IEEE.

关键词： Tabu search

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Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Driving

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第5期9卷 1-19页

作者： Li, Yueyuan Yuan, Wei Zhang, Songan Yan, Weihao Shen, Qiyuan Wang, Chunxiang Yang, Ming Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Innovation Center of Intelligent Connected Vehicle Global Institute of Future Technology Shanghai Jiao Tong University Shanghai China Global Institute of Future Technology Shanghai Jiao Tong University Shanghai China

Simulators play a crucial role in autonomous driving, offering significant time, cost, and labor savings. Over the past few years, the number of simulators for autonomous driving has grown substantially. However, there is a growing concern about the validity of algorithms developed and evaluated in simulators, indicating a need for a thorough analysis of the development status of the simulators. To address existing gaps in research, this paper undertakes a comprehensive review of the history of simulators, proposes a utility-based taxonomy, and investigates the critical issues within open-source simulators. Analysis of the past thirty years' development trajectory reveals a trend characterized by an increase in open-source simulators and an expansion of their functionality scope. The categorization of simulators based on feature functionalities delineates five primary classes: traffic flow, sensory data, driving policy, vehicle dynamics, and comprehensive simulators. Furthermore, the paper identifies critical unresolved issues in open-source simulators, including concerns regarding the fidelity of sensory data, representation of traffic scenarios, and accuracy in vehicle dynamics simulation, all of which have the potential to undermine experimental confidence. Additionally, challenges in data format inconsistency, labor-intensive map construction processes, sluggish step updating, and insufficient support for Hardware-In-the-Loop testing are discussed as hindrances to experimental efficiency. In light of these findings, the survey furnishes task-oriented recommendations to aid in the selection of simulators, taking into account factors such as accessibility, maintenance status, and quality, while highlighting the inherent limitations of existing open-source simulators in validating algorithms and facilitating real-world experimentation. IEEE

关键词： Autonomous vehicles

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Optimization of Crane Scheduling Time for Steel Plate Outbound Operations Based on Backtracking Algorithm

Optimization of Crane Scheduling Time for Steel Plate Outbou...

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2024 China automation Congress, CAC 2024

作者： Xiang, Jiang Xu, Zhezhuang Wang, Jinlong Chen, Boyu Zhang, Qingdong Wu, Xiuren Xia, Yuxiong College of Electrical Engineering and Automation Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China Sansteel Minguang Co. Ltd. Sanming365000 China Fujian Huading Intelligent Manufacturing Technology Co. Ltd. Fuzhou350000 China

ISBN: (纸本)9798350368604

Steel plate is a highly customized product, and steel plates from the same order may be stored in different stacks. However, during the outbound process, the steel plates of the next order can only be dispatched from the warehouse once all plates from the preceding order have been fully completed. In this case, the outbound scheduling of steel plates is a challenging problem since its efficiency and complexity are affected by the shuffling of steel plates. In order to address the challenge, this paper formulates the steel plate outbound scheduling as a dynamic programming model with the aim of minimizing the crane operation time. To solve the problem, an decision tree-based backtracking search algorithm (DTBSA) is developed, in which the search tree is pruned through lower bound functions and dominance rules, so as to reduce the search range of the solution space. Experimental results prove that the proposed method can obtain optimal scheduling results within a reasonable time range. © 2024 IEEE.

关键词： Dynamic programming

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A Differential Game Approach to Collision Avoidance in Multi-Agent Systems 41

A Differential Game Approach to Collision Avoidance in Multi...

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第41届中国控制会议

作者： Wenyan Xue Zhihong Wu Siyuan Zhan Yutao Chen Jie Huang College of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Department of Electronic Engineering Maynooth University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper gives a novel differential game scheme to solve the collision avoidance problem for multi-agent *** on the concept of artificial potential field(APF),we combine obstacle avoidance objectives with trajectory optimization targets as the performance *** feedback strategies are based on the solutions of coupled Riccati ***,it is proved that the feedback strategies will converge to a Nash equilibrium(NE).Finally,simulation results are provided to show the advantages,which make agents arrive at the targeted position collision-free with a reduced time.

关键词： Collision avoidance differential game trajectory optimization Nash equilibrium

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Differentiator-Based Adaptive H8 Tracking control of Fully Actuated Systems 3

Differentiator-Based Adaptive H8 Tracking Control of Fully A...

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3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024

作者： Feng, Yuxin Li, Zhiqiang Liu, Yang He, Zhaoshui Li, Hongyi Guangdong University of Technology School of Automation Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangzhou510006 China Qingdao University of Science and Technology School of Automation and Electronics Engineering Qingdao266061 China Guangdong University of Technology School of Automation Guangzhou510006 China Key Laboratory for IoT Intelligent Information Processing and System Integration of Ministry of Education Guangzhou510006 China

ISBN: (纸本)9798350373691

This article addresses an adaptive tracking control problem for uncertain high-order fully actuated (HOFA) systems with unknown parameters and disturbances. Under the framework of backstepping, the unknown parameter is estimated and the external disturbance is handled by using adaptive control and H8 technique, respectively. Moreover, the Levant differentiator is employed to reduce the computation burden. Additionally, the boundedness of signals in the closed-loop system is proven using the Lyapunov theory. Finally, the effectiveness of the proposed scheme is validated through the simulation study. © 2024 IEEE.

关键词： Backstepping

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Resource Allocation and Task Offloading Strategy Base on Hybrid Simulated Annealing-Binary Particle Swarm Optimization in Cloud-Edge Collaborative System 5

Resource Allocation and Task Offloading Strategy Base on Hyb...

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5th IEEE Advanced information Management, Communicates, Electronic and automation control Conference, IMCEC 2022

作者： Chen, Xue Zheng, Song College of Electrical Engineering and Automation Fuzhou University Fuzhou350116 China Fuzhou University of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou350116 China

ISBN: (纸本)9781665479677

Taking the latency, energy consumption and computing resource cost into consideration comprehensively, we construct a single-cell, multi-user cloud-edge collaborative system model and decompose the optimization problem of task offloading and resource allocation aiming at minimizing the total user overhead into three sub-problems: computing resource allocation, uplink power allocation and task offloading. Computing resource and uplink power allocation are optimized by using convex optimization technique and bisection method respectively. To optimize task offloading, we propose a simulated annealing-binary particle swarm optimization algorithm(SA-BPSO). Simulation results show that SA-BPSO can better reduce the total user overhead compared with the other three schemes and ensure user quality of service quality. © 2022 IEEE.

关键词： Resource allocation

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DDoS Attack Detection for Cloud control System Based on BiLSTM Algorithm

DDoS Attack Detection for Cloud Control System Based on BiLS...

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2022 Chinese automation Congress, CAC 2022

作者： Xu, Shengliang Zheng, Song Fuzhou University College of Electrical Engineering and Automation Fuzhou350116 China Fuzhou University of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou350116 China

ISBN: (纸本)9781665465335

The huge advantages of cloud computing technology and the bottlenecks in the development of traditional network control systems have prompted the birth of cloud control systems to address the shortcomings of traditional network control systems in terms of bandwidth and performance. However, the information security issues faced by cloud control systems are more complex, and distributed denial-of-service (DDoS) attacks are a typical class of attacks that may lead to problems such as latency in cloud control systems and seriously affect the performance of cloud control systems. In this paper, we build a single-capacity water tank cloud control semi-physical simulation system with heterogeneous controllers and propose a DDoS attack detection method for cloud control systems based on bidirectional long short-term memory neural network (BiLSTM), study the impact of DDoS attacks on cloud control systems. The experimental results show that the BiLSTM algorithm can effectively detect the DDoS attack on the cloud control system. © 2022 IEEE.

关键词： Denial-of-service attack

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Detecting Defects of Wooden Boards by Improved YOLOv4-tiny Algorithm 17th

Detecting Defects of Wooden Boards by Improved YOLOv4-tiny A...

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17th Chinese Intelligent Systems Conference, CISC 2021

作者： Qiu, Yang Ai, Zhijie Lin, Ye Xu, Zhezhuang Liu, Xinxiang College of Electrical Engineering and Automation Fuzhou University Fuzhou350000 China Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China

ISBN: (纸本)9789811663192

Wooden boards are widely used as raw materials for furniture. Detecting defects on the wooden is significant to improve the quality of products. In this paper, we propose an improved YOLOv4-tiny target detection algorithm with feature extraction and utilization tailored for wood defect recognition. The proposed algorithm replace the residual network of the original algorithm with the Res2Net network to enhance the feature extraction ability, and increase the different scales to improve the prediction accuracy. A testbed is deployed to collect the images of wooden boards, and the performance of the proposed algorithm is evaluated on the testbed. Compared with the original YOLOv4-tiny algorithm, the mean average precision for detecting the three types of defects deadknot, insectpest and crack was 80.06% which was an increase of 5%. Compared with other methods of wood defect detection, the proposed algorithm is more accurate and faster. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Testbeds

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