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2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Wang, Yutao Fang, Fang Liu, Chenyang Fan, Tao Li, Yi The Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

Service robots must navigate efficiently and harmoniously in human-robot coexistence environments. Previous studies often treated pedestrians as independent entities, ignoring human intentions and leading to group intersections and performance issues. We introduce HarmonyNav, a crowd navigation algorithm that enhances human-robot harmony. Our method uses Human-Robot Interaction sub-networks to account for indirect group impacts on pedestrians and predicts pedestrian trajectories to infer intentions. Employing proximal policy optimization (PPO) in reinforcement learning, we develop a harmonious navigation policy. In simulation experiments, our results show improved navigation performance, reducing group intersections and individual intrusions. © The Institution of Engineering & Technology 2024.

关键词： Reinforcement learning

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Interactions Among Food systems,Climate Change,and Air Pollution:A Review

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工程（英文） 2025年第1期44卷 215-233页

作者： Chaopeng Hong Rui Zhong Mengyao Xu Peidong He Huibin Mo Yue Qin Danna Shi Xinlei Chen Kebin He Qiang Zhang Shenzhen Key Laboratory of Ecological Remediation and Carbon Sequestration Institute of Environment and EcologyShenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing 100084China Shenzhen Key Laboratory of Ecological Remediation and Carbon Sequestration Institute of Environment and EcologyShenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055China College of Environmental Sciences and Engineering Peking UniversityBeijing 100871China Institute of Data and Information Shenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing 100084China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System ScienceTsinghua UniversityBeijing 100084China

Food systems are deeply affected by climate change and air pollution,while being key contributors to these environmental *** the complex interactions among food systems,climate change,and air pollution is crucial for mitigating climate change,improving air quality,and promoting the sustainable development of food ***,the literature lacks a comprehensive review of these interactions,particularly in the current phase of rapid development in the *** address this gap,this study systematically reviews recent research on the impacts of climate change and air pollution on food systems,as well as the greenhouse gas and air pollutant emissions from agri-food systems and their contribution to global climate change and air *** addition,this study summarizes various strategies for mitigation and adaptation,including adjustments in agricultural practices and food supply *** changes in food systems are urgently needed to enhance adaptability and reduce *** review offers a critical overview of current research on the interactions among food systems,climate change,and air pollution and highlights future research directions to support the transition to sustainable food systems.

关键词： Food systems Climate change Air pollution Interactions systematic review

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A probe into the acid deposition mitigation path in China over the last four decades and beyond

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National Science Review 2024年第4期11卷 84-92页

作者： Qian Yu Xiaodong Ge Haotian Zheng Jia Xing Lei Duan Dongwei Lv Dian Ding Zhaoxin Dong Yisheng Sun Posch Maximilian Danni Xie Yu Zhao Bin Zhao Shuxiao Wang Jan Mulder Thorj?rn Larssen Jiming Hao State Key Laboratory of Environmental Simulation and Pollution Control School of EnvironmentTsinghua University State Key Laboratory of Pollution Control &Resource Reuse and School of the Environment Nanjing University State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex School of EnvironmentTsinghua University International Institute for Applied System Analysis(IIASA) School of Land Engineering Chang'an University Faculty of Environmental Sciences and Natural Resource Management Norwegian University of Life Sciences Norwegian Institute for Water Research

China currently has the highest acid deposition globally, yet research on its status, impacts, causes and controls is lacking. Here, we compiled data and calculated critical loads regarding acid deposition. The results showed that the abatement measures in China have achieved a sharp decline in the emissions of acidifying pollutants and a continuous recovery of precipitation p H, despite the drastic growth in the economy and energy consumption. However, the risk of ecological acidification and eutrophication showed no significant decrease. With similar emission reductions, the decline in areas at risk of acidification in China(7.0%) lags behind those in Europe(20%) or the USA(15%). This was because, unlike Europe and the USA, China's abatement strategies primarily target air quality improvement rather than mitigating ecological impacts. Given that the area with the risk of eutrophication induced by nitrogen deposition remained at 13%of the country even under the scenario of achieving the dual targets of air quality and carbon dioxide mitigation in 2035, we explored an enhanced ammonia abatement pathway. With a further 27% reduction in ammonia by 2035, China could largely eliminate the impacts of acid deposition. This research serves as a valuable reference for China's future acid deposition control and for other nations facing similar challenges.

关键词： acid deposition critical loads acidification eutrophication ammonia abatement

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Prescribed-Time Nash Equilibrium Seeking for Pursuit-Evasion Game

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1518-1520页

作者： Lei Xue Jianfeng Ye Yongbao Wu Jian Liu D.C.Wunsch Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096 School of Automation Southeast UniversityNanjing 210096China Department of Electrical and Computer Engineering Missouri University of Science and TechnologyRollaMO 65409 USA IEEE

Dear Editor,This letter is concerned with prescribed-time Nash equilibrium(PTNE)seeking problem in a pursuit-evasion game(PEG)involving agents with second-order *** order to achieve the prior-given and user-defined convergence time for the PEG,a PTNE seeking algorithm has been developed to facilitate collaboration among multiple pursuers for capturing the evader without the need for any global ***,it is theoretically proved that the prescribedtime convergence of the designed algorithm for achieving Nash equilibrium of ***,the effectiveness of the PTNE method was validated by numerical simulation results.A PEG consists of two groups of agents:evaders and *** pursuers aim to capture the evaders through cooperative efforts,while the evaders strive to evade *** is a classic noncooperative *** has attracted plenty of attention due to its wide application scenarios,such as smart grids[1],formation control[2],[3],and spacecraft rendezvous[4].It is noteworthy that most previous research on seeking the Nash equilibrium of the game,where no agent has an incentive to change its actions,has focused on asymptotic and exponential convergence[5]-[7].

关键词： seeking prescribed convergence

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Collision-free and Effecient Robotic Grasping based on Hierarchical Reinforcement Learning

Collision-free and Effecient Robotic Grasping based on Hiera...

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2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Li, Yi Fang, Fang Liu, Chenyang Wang, Yutao Fan, Tao School of Automation Southeast University China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

In the realm of robotics, grasping within unstructured environments has consistently been a challenging task. Direct grasping often results in failures due to collisions, and some pre-grasping maneuvers can eliminate the tightly stacked state between objects, thereby enhancing the success rate of grasping. In this paper, we opt for pushing as a pre-grasping maneuver. We propose a deep Q-network with a fused convolutional feature enhancement module to improve action value estimation, enhancing the robot’s pushing and grasping abilities. Additionally, a hierarchical reinforcement learning framework optimizes action sequences for better synergy between pushing and grasping. In simulated experiments, the model achieved a high grasp success rate with just a few hours of training, outperforming other methods in the literature. © The Institution of Engineering & Technology 2024.

关键词： Adversarial machine learning

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Thickness measurement of Single-Mode Fiber Coating Layer Based on Forward Brillouin Scattering

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IEEE Sensors Journal 2025年第11期25卷 19332-19340页

作者： Zhang, Yongqi Wang, Tao Liu, Yijia Liu, Li Zhang, Mingjiang Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education College of Physics and Optoelectronic Engineering Taiyuan030024 China Taiyuan University of Technology Shanxi Key Laboratory of Precision Measurement Physics The College of Physics and Optoelectronic Engineering Taiyuan030024 China

The coating layer is essential for protecting and applying optical fibers. Nowadays, the thickness measurement of the coating layer relies on point measurement schemes, such as the side-looking light distribution method and mechanical method. However, there are some problems with the above methods, such as the tradeoff between resolution and field of view (FOV), the cutting of the measurement position, and the long measurement time. To overcome these problems, we propose a new method based on forward Brillouin scattering (FBS), which measures the coating layer thickness of single mode fibers (SMFs). The physical properties of the transverse acoustic field involved in FBS make it possible to measure the thickness of the fiber coating. The corresponding relationship between the transverse acoustic mode frequency and the diameter of the coating layer can be calculated. The coating layer thickness can be measured with high precision by measuring the frequency spectrum of FBS corresponding to multiple transverse acoustic modes at a given temperature. In the verification experiment, three types of SMF coated with polyimide are used as the sensing fiber to measure the thickness of the coating layer at multiple temperatures. The experimental results show that the error in the coating layer thickness obtained is less than 0.05 μm. To the best of our knowledge, this is the first demonstration of nondestructive, high-precision monitoring of fiber coating thickness. © 2025 IEEE.

关键词： Acoustic field measurement

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RESEARCH ON GAIT RECOGNITION BY USING 1DCNN BASED ON LOWER LIMB KINEMATIC POSTURE DATA 10

RESEARCH ON GAIT RECOGNITION BY USING 1DCNN BASED ON LOWER L...

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10th International Symposium on Test Automation and Instrumentation, ISTAI 2024

作者： Li, Mu Ma, Chao Wang, Shaohong Key Laboratory of Modern Measurement and Control Technology Ministry of Edu. Beijing Information Science and Technology University Beijing China Beijing Key Laboratory of Measurement and Control of Mechanical and Electrical System Beijing Information Science and Technology University Beijing China

ISBN: (纸本)9781837242672

Gait recognition refers to the process of realizing the detection of human identity or health status and other information according to the characteristics of human plantar pressure, video images or human dynamics indicators. With the advantages of non-contact, non-aggression, no need for cooperation and easy to collect, gait recognition technology has been widely used in recent years in the field of public security criminal investigation, medical care, intelligent transportation and other fields. In this study, to meet the needs of gait recognition, IMU sensors are used to acquire human lower limb motion posture data and wavelet transform is used to decompose several components. Then the components were determined and the optimized 1DCNN model is used to carry out gait recognition research. The results showed that the optimized 1DCNN model for gait recognition task exhibits excellent performance with up to 95% accuracy, 96% recall and Fl value, as well as good computational efficiency, which is valuable for clinical automatic gait recognition analysis, rehabilitation engineering and criminal investigation work. Although there are some errors in some gait classifications, our study provides directions for further optimization of the algorithm to improve the accuracy and robustness of gait recognition. © The Institution of Engineering & Technology 2024.

关键词： Crime

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A Model-Based Unmatched Disturbance Rejection control Approach for Speed Regulation of a Converter-Driven DC Motor Using Output-Feedback

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 365-376页

作者： Lu Zhang Jun Yang Shihua Li School of Automation Southeast UniversityKey Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education IEEE Department of Aeronautical and Automotive Engineering Loughborough University

The speed regulation problem with only speed measurement is investigated in this paper for a permanent magnet direct current(DC)motor driven by a buck *** lumping all unknown matched/unmatched disturbances and uncertainties together,the traditional active disturbance rejection control(ADRC)approach provides an intuitive solution for the problem under ***,for such a higher-order disturbed system,the increase of poles for the extended state observer(ESO)therein will lead to drastically growth of observer gains,which causes severe noise *** paper aims to propose a new model-based disturbance rejection controller for the converter-driven DC motor system using *** of estimating lumped disturbances directly,a new observer is constructed to estimate the desired steady state of control signal as well as errors between the real states and their desired steady-state ***,a controller with only speed measurement is proposed by utilizing the *** performance of the proposed method is tested through experiments on *** is further shown via numerical calculations and experimental results that the poles of the observer within the proposed control approach can be largely increased without significantly increasing magnitude of the observer gains.

关键词： Bandwidth widening converter-driven direct current(DC)motor disturbance observer model-based disturbance rejection speed regulation

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Weak signal detection method based on novel composite multistable stochastic resonance

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Chinese Physics B 2023年第5期32卷 178-187页

作者：焦尚彬高蕊薛琼婕史佳强 Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of TechnologyXi’an 710048China School of Electronic and Electrical Engineering Baoji University of Arts and SciencesBaoji 721016China

The weak signal detection method based on stochastic resonance is usually used to extract and identify the weak characteristic signal submerged in strong noise by using the noise energy transfer *** propose a novel composite multistable stochastic-resonance(NCMSR)model combining the Gaussian potential model and an improved bistable *** with the traditional multistable stochastic resonance method,all the parameters in the novel model have no symmetry,the output signal-to-noise ratio can be optimized and the output amplitude can be improved by adjusting the system *** model retains the advantages of continuity and constraint of the Gaussian potential model and the advantages of the improved bistable model without output saturation,the NCMSR model has a higher utilization of *** the output signal-to-noise ratio as the index,weak periodic signal is detected based on the NCMSR model in Gaussian noise andαnoise environment respectively,and the detection effect is *** application of NCMSR to the actual detection of bearing fault signals can realize the fault detection of bearing inner race and outer *** outstanding advantages of this method in weak signal detection are verified,which provides a theoretical basis for industrial practical applications.

关键词： weak signal detection composite multistable stochastic resonance bearing fault detection

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STUDY ON COUPLING FAULT DIAGNOSIS OF THE PLANETARY TRANSMISSION GEARBOX BY USING WAVELET TRANSFORM AND 1DCNN 10

STUDY ON COUPLING FAULT DIAGNOSIS OF THE PLANETARY TRANSMISS...

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10th International Symposium on Test Automation and Instrumentation, ISTAI 2024

作者： Qiu, Baolin Ma, Chao Wang, Shaohong Key Laboratory of Modern Measurement and Control Technology Ministry of Education Beijing Information Science and Technology Beijing China Beijing Key Lab of Measurement and Control of Mechanical and Electrical System Beijing Information Science and Technology Beijing China

ISBN: (纸本)9781837242672

Considering the susceptibility of planetary transmission to strong noise interference, a fault diagnosis method is proposed based on Morlet wavelet transform and 1D Convolutional Neural Network (1DCNN). Firstly, the acceleration captured from the transmission is dealt with angle resampling to reduce the dependence of speed on signal characteristics, and band-pass filtering is performed, which parameter is determined by using the fast spectral kurtosis algorithm. Subsequently, the filtered data is decomposed into several multiple intrinsic mode function (IMF) components with the EEMD algorithm and reconstructed according to the correlation coefficient parameter. Then reconstructed data is subjected to further noise reduction processing using wavelet transform and the amplitude in the scale parameter with the highest kurtosis as the input to 1DCNN for training and fault diagnosis classification. The experimental results show that the proposed method can effectively reduce noise interference, the fault diagnosis accuracy of the processed data is relatively high. The fault diagnosis accuracy of the processed data is significantly higher than that of the raw data. © The Institution of Engineering & Technology 2024.

关键词： Noise abatement

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