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Echo state network based symbol detection in chaotic baseband wireless communication

Digital Communications and Networks 2023年第6期9卷 1319-1330页

作者： Huiping Yin Chao Bai Haipeng Ren Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of TechnologyXi'an710048China Xi'an Key Laboratory of Intelligent Equipment Xi'an Technological UniversityXi'an710021China

The Chaotic Baseband Wireless Communication system(CBWCS)is expected to eliminate the Inter-Symbol Interference(ISI)caused by multipath propagation by using the optimal decoding threshold that is the sum of the ISI caused by past decoded bits and the ISI caused by future transmitting ***,the current technique is only capable of removing partial effects of the ISI,because only past decoded bits are available for the suboptimal decoding threshold *** unavailability of the future information needed for the optimal decoding threshold is an obstacle to further improve the Bit Error Rate(BER)*** contrast to the previous method using Echo State Network(ESN)to predict one future bit,the proposed method in this paper predicts the optimal decoding threshold directly using *** proposed ESN-based threshold prediction method simplifies the symbol decoding operation by avoiding the iterative prediction of the output waveform points using ESN and accumulated error caused by the iterative *** this approach,the calculation complexity is reduced compared to the previous ESN-based *** proposed method achieves better BER performance compared to the previous *** reason for this superior result is ***,the proposed ESN is capable of using more future symbols information conveyed by the ESN input to obtain more accurate threshold rather than the previous method in which only one future symbol was ***,the proposed method here does not need to estimate the channel information using Least Squared(LS)method,which avoids the extra error caused by inaccurate channel information *** results and experiment based on a wireless open-access research platform under a practical wireless channel show the effectiveness and superiority of the proposed method.

关键词： Chaotic baseband wireless communication system(CBWCS) Inter-symbol interference(ISI) Echo state network(ESN) Threshold prediction

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Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

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Journal of Bionic Engineering 2024年第5期21卷 2199-2214页

作者： Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关键词： Hexapod robot Fault-tolerant Stability margin Contact force optimization

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Energy-based Directional Pilot Protection for Distribution Networks with IBDGs Considering Unmeasured Load Switching

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CSEE Journal of Power and Energy systems 2024年第1期10卷 139-150页

作者： Chenghan Zhou Guibin Zou Shuo Zhang Xuhui Wen Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong UniversityJinan 250061China

Inverter-based distributed generations(IBDGs)are the main approach to utilizing clean energy in distribution networks(DNs).Compared with synchronous source,fault response of IBDG is very *** a result,in DNs with high penetration of IBDGs,legacy protection schemes will no longer be *** this paper,an energy-based directional pilot protection scheme suitabie for DNs with IBDGs is *** scheme considers the large range of phase angle caused by IBDG integration and uses improved energy polarity criterion to determine fault *** addition,magnitude of energy is used to distinguish between faults and load switching to overcome maloperation of directional pilot protection caused by internal unmeasured load *** proposed scheme first uses local measured information to determine fault direction sign and then exchanges the direction sign with the remote *** scheme does not require high-bandwidth communication and strict data synchronization,so it can be implemented at a low ***,simulation studies verify effectiveness of the proposed scheme.

关键词： Distribution network energy polarity inverterbased distributed generation pilot protection unmeasured load

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Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot

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Journal of Bionic Engineering 2024年第5期21卷 2247-2257页

作者： Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each *** upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and *** applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and *** to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot ***,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling *** paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of ***,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the *** comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关键词： Soft robot Bionic multi-modal movement Laminated plate theory CPG control

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The Current Research Status of Unmanned Aerial Vehicle Maneuver Penetration Decision-Making 5

The Current Research Status of Unmanned Aerial Vehicle Maneu...

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5th International Conference on Artificial Intelligence and Computer Engineering, ICAICE 2024

作者： Zhuang, Yutao National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China

ISBN: (纸本)9798331528911

In modern warfare, maneuver penetration is an essential aspect of unmanned aerial vehicle (UAV) combat operations. As the capabilities of both offensive and defensive sides continue to improve, the operational patterns of maneuver penetration scenarios are constantly evolving. This paper first introduces the maneuver capabilities and detection characteristics of both offensive and defensive systems in contemporary warfare, providing a macro definition of the maneuver penetration problem. Then, it conducts a survey and analysis of the applications of traditional and new artificial intelligence algorithms in maneuver penetration decision-making. Finally, it discusses the future research directions and challenges of artificial intelligence algorithms in this field and envisions the development of maneuver penetration decision-making. © 2024 IEEE.

关键词： Deep reinforcement learning

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Linear-quadratic and norm-bounded combined differential game guidance scheme with obstacle avoidance for attacking defended aircraft in three-player engagement

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Defence Technology（防务技术） 2024年第12期42卷 136-155页

作者： Xintao Wang Ming Yang Songyan Wang Mingzhe Hou Tao Chao Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes a pursuer,an interceptor,and an *** confrontation between the players is divided into four phases(P1-P4)by introducing the switching time,and proposing different guidance strategies according to the phase where the static obstacle is located:the linear quadratic game method is employed to devise the guidance scheme for the energy optimization when the obstacle is located in the P1 and P3 stages;the norm-bounded differential game guidance strategy is presented to satisfy the acceleration constraint under the circumstance that the obstacle is located in the P2 and P4 ***,the radii of the static obstacle and the interceptor are taken as the design parameters to derive the combined guidance strategy through the dead-zone function,which guarantees that the pursuer avoids the static obstacle,and the interceptor,and attacks the ***,the nonlinear numerical simulations verify the performance of the game guidance strategy.

关键词： Active defense aircraft Differential game theory Three-player confrontation Energy optimization Acceleration constraint Obstacle avoidance

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A Tutorial on Quantized Feedback control

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 5-17页

作者： Minyue Fu IEEE the School of System Design and Intelligent Manufacturing Shenzhen Key Laboratory of Control Theory and Intelligent Systems and Centre for Control Science and TechnologySouthern University of Science and TechnologyShenzhen 518055China

In this tutorial paper, we explore the field of quantized feedback control, which has gained significant attention due to the growing prevalence of networked control systems. These systems require the transmission of feedback information, such as measurements and control signals, over digital networks, presenting novel challenges in estimation and control design. Our examination encompasses various topics, including the minimal information needed for effective feedback control, the design of quantizers, strategies for quantized control design and estimation,achieving consensus control with quantized data, and the pursuit of high-precision tracking using quantized measurements.

关键词： Consensus control high-precision control networked control quantized estimation quantized feedback control robust control

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A Noise-Excitation Generative Adversarial Network for Actuator Fault Diagnosis of Multi-legged Robot

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无人系统（英文） 2023年第2期11卷 159-173页

作者： Liling Ma Jian Guo Jiehao Li Junzheng Wang State Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China

This research provides a novel approach for detecting multi-legged robot actuator *** most significant concept is to design the Fault Diagnosis Generative Adversarial Network(FD-GAN)to fully adapt to the fault diagnosis problem with insufficient *** found that it is difficult for methods based on classification and prediction to learn failure patterns without enough data.A straightforward solution is to use massive amounts of normal data to drive the diagnostic *** introduce frequency-domain information and fuse multi-sensor data to increase the features and expand the difference between normal data and fault data.A GAN-based framework is designed to calculate the probability that the enhanced data belongs to the normal *** uses a generator network as a feature extractor,and uses a discriminator network as a fault probability evaluator,which creates a new use of GAN in the field of fault *** the many learning strategies of GAN,we find that a key point that can distinguish the two types of data is to use the hidden layer noise with appropriate discrimination as the *** also design a fault location method based on binary search,which greatly improves the search efficiency and engineering value of the entire *** have conducted a lot of experiments to prove the diagnostic effectiveness of our architecture in various road conditions and working *** compared FD-GAN with popular diagnostic *** results show that our method has the highest accuracy and recall rate.

关键词： Actuator fault diagnosis multi-legged robot generative adversarial network attention mechanism

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Secondary Frequency control Considering Optimized Power Support From Virtual Power Plant Containing Aluminum Smelter Loads Through VSC-HVDC Link

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Journal of Modern Power systems and Clean Energy 2023年第1期11卷 355-367页

作者： Peng Bao Wen Zhang Yuxi Zhang Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Shandong UniversityJinan 250061China

The growing number of renewable energy replacing conventional generators results in a loss of the reserve for frequency control in power systems,while many industrial power grids often have excess energy supply due to abundant wind and solar energy *** paper proposes a secondary frequency control(SFC)strategy that allows industrial power grids to provide emergency high-voltage direct current(HVDC)power support(EDCPS)for emergency to a system requiring power support through a voltage source converter(VSC)HVDC *** architecture including multiple model predictive control(MPC)controllers with periodic communication is designed to simultaneously obtain optimized EDCPS capacity and minimize adverse effects on the providing power support(PPS)***,a model of a virtual power plant(VPP)containing aluminum smelter loads(ASLs)and a high penetration of wind power is established for the PPS *** flexibility and controllability of the VPP are improved by the demand response of the *** uncertainty associated with wind power is considered by chance *** effectiveness of the proposed strategy is verified by simulation results using the data of an actual industrial power grid in Inner Mongolia,*** DC voltage of the VSCs and the DC in the potlines of the ASLs are also investigated in the simulation.

关键词： Secondary frequency control power support voltage source converter(VSC) high-voltage direct current(HVDC) model predictive control(MPC) virtual power plant(VPP) demand response

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Aerial target threat assessment based on gated recurrent unit and self-attention mechanism

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Journal of systems Engineering and Electronics 2024年第2期35卷 361-373页

作者： CHEN Chen QUAN Wei SHAO Zhuang School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China

Aerial threat assessment is a crucial link in modern air combat, whose result counts a great deal for commanders to make decisions. With the consideration that the existing threat assessment methods have difficulties in dealing with high dimensional time series target data, a threat assessment method based on self-attention mechanism and gated recurrent unit(SAGRU) is proposed. Firstly, a threat feature system including air combat situations and capability features is established. Moreover, a data augmentation process based on fractional Fourier transform(FRFT) is applied to extract more valuable information from time series situation features. Furthermore, aiming to capture key characteristics of battlefield evolution, a bidirectional GRU and SA mechanisms are designed for enhanced ***, after the concatenation of the processed air combat situation and capability features, the target threat level will be predicted by fully connected neural layers and the softmax classifier. Finally, in order to validate this model, an air combat dataset generated by a combat simulation system is introduced for model training and testing. The comparison experiments show the proposed model has structural rationality and can perform threat assessment faster and more accurately than the other existing models based on deep learning.

关键词： target threat assessment gated recurrent unit(GRU) self-attention(SA) fractional Fourier transform(FRFT)

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