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Chinese Automation Congress (CAC)

作者： Ziai Zhou Hao Wu Ya Zhang School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9781665426480

This paper mainly studies the distributed robust filtering problem for wireless sensor networks without knowing the variance of the driving noise and measuring noise. A distributed filtering algorithm based on leader-follower consensus strategy is developed. Firstly, from limited sampling data of noises, the empirical distribution of the noises which play a critical role in filtering is given. Secondly, by formulating the problem as a zero-sum game problem and using dynamic programming approach, an optimal distributed robust filtering policy with Wasserstein penalty for the leader is obtained. Then, by using an adaptively weighting average consensus protocol, the filtering algorithm for followers is given. The effectiveness of the proposed filter is demonstrated through simulations.

关键词： Wireless sensor networks Costs Estimation Switches Filtering algorithms Information filters Robustness

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GPIO Based Iterative Learning control for Manipulators with Time-Varying Disturbances

GPIO Based Iterative Learning Control for Manipulators with ...

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Chinese control Conference (CCC)

作者： Huangyuwei Lu Zuo Wang Jiankun Sun Xi Xiao Shihua Li School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex systems of Engineering Ministry of Education Nanjing China Shenzhen Research Institute Southeast University Shenzhen China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing China

To improve the disturbance rejection ability and repetitive tracking accuracy of manipulators, a composite iterative learning control (ILC) scheme via generalized proportional integral observer (GPIO) is proposed. A high-order polynomial is first employed to model the time-varying disturbances that include unmodeled dynamics, parameter uncertainties and load fluctuations. A GPIO is then designed to estimate the disturbances and high-order time derivatives. By introducing estimations into a PD-type ILC at each iteration, a composite control scheme is obtained, such that the undesirable influence of time-varying disturbances can be effectively attenuated in the repetitive tracking process of manipulators. In this paper, the rigorous stability analysis of the closed-loop system is presented to guarantee that the tracking error exponentially converges to zero as the iteration number tends to infinity. The effectiveness of the proposed control scheme is finally verified by simulation results.

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Variable impedance control method for robot contact force based on TD3 algorithm

Variable impedance control method for robot contact force ba...

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Chinese Automation Congress (CAC)

作者： Xin Shen Kaiwei Ma Mingxing Yang Shuang Gao Shuo Chao Fengyu Xu College of Automation and College of Artificial Intelligence Nanjing University of Posts and Telecommunications Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China Anhui Province Key Laboratory of Special Heavy Load Robot Maanshan China

As a common method of traditional force control, impedance control has been widely used in robot machining field. However, impedance control with fixed parameters cannot dynamically adapt to the manufacturing environment. This paper presents a variable impedance control method for contact forces based on the TD3 (Twin Delayed Deep Deterministic Policy Gradient) algorithm. The method builds on the original impedance model to obtain the optimal impedance parameters for each stage by stochastic exploration of the continuous action space, redu.ing the reliance on human experience and multiple attempts in the selection of traditional impedance parameters. In this paper, gantry robot is taken as the research object. The simulation results show that the variable impedance control method has faster adjustment time and more stable, and the average position tracking error is about 0.11cm and the force tracking error is about 0.01N.

关键词： Adaptation models Heuristic algorithms Simulation Force Neural networks Stochastic processes Process control

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Efficient IoT Devices Localization Through Wi-Fi CSI Feature Fusion and Anomaly Detection

arXiv

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arXiv 2024年

作者： Li, Yan Yang, Jie Shih, Shang-Ling Shih, Wan-Ting Wen, Chao-Kai Jin, Shi The National Mobile Communications Research Laboratory Southeast University Nanjing210096 China Frontiers Science Center for Mobile Information Communication and Security Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China The Institute of Communications Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan The National Mobile Communications Research Laboratory Southeast University Frontiers Science Center for Mobile Information Communication and Security Nanjing210096 China

Internet of Things (IoT) device localization is fundamental to smart home functionalities, including indoor navigation and tracking of individuals. Traditional localization relies on relative methods utilizing the positions of anchors within a home environment, yet struggles with precision due to inherent inaccuracies in these anchor positions. In response, we introduce a cutting-edge smartphone-based localization system for IoT devices, leveraging the precise positioning capabilities of smartphones equipped with motion sensors. Our system employs artificial intelligence (AI) to merge channel state information from proximal trajectory points of a single smartphone, significantly enhancing line of sight (LoS) angle of arrival (AoA) estimation accuracy, particularly under severe multipath conditions. Additionally, we have developed an AI-based anomaly detection algorithm to further increase the reliability of LoS-AoA estimation. This algorithm improves measurement reliability by analyzing the correlation between the accuracy of reversed feature reconstruction and the LoS-AoA estimation. Utilizing a straightforward least squares algorithm in conjunction with accurate LoS-AoA estimation and smartphone positional data, our system efficiently identifies IoT device locations. Validated through extensive simulations and experimental tests with a receiving antenna array comprising just two patch antenna elements in the horizontal direction, our methodology has been shown to attain decimeter-level localization accuracy in nearly 90% of cases, demonstrating robust performance even in challenging real-world scenarios. Additionally, our proposed anomaly detection algorithm trained on Wi-Fi data can be directly applied to ultra-wideband, also outperforming the most advanced techniques. Copyright © 2024, The Authors. All rights reserved.

关键词： Smartphones

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Fourier Transform-based Wavenumber Domain 3D Imaging in RIS-aided Communication systems

arXiv

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arXiv 2024年

作者： Huang, Yixuan Yang, Jie Tang, Wankai Wen, Chao-Kai Jin, Shi The National Mobile Communications Research Laboratory Southeast University Nanjing210096 China The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education The Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing210096 China The National Mobile Communications Research Laboratory The Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing210096 China The Institute of Communications Engineering National Sun Yat-Sen University Kaohsiung80424 Taiwan

Radio imaging is rapidly gaining prominence in the design of future communication systems, with the potential to utilize reconfigurable intelligent surfaces (RISs) as imaging apertures. Although the sparsity of targets in three-dimensional (3D) space has led most research to adopt compressed sensing (CS)-based imaging algorithms, these often require substantial computational and memory burdens. Drawing inspiration from conventional Fourier transform (FT)-based imaging methods, our research seeks to accelerate radio imaging in RIS-aided communication systems. To begin, we introduce a two-stage wavenumber domain 3D imaging technique: first, we modify RIS phase shifts to recover the equivalent channel response from the user equipment to the RIS array, subsequently employing traditional FT-based wavenumber domain methods to produce target images. We also determine the diffraction resolution limits of the system through k-space analysis, taking into account factors including system bandwidth, transmission direction, operating frequency, and the angle subtended by the RIS. Addressing the challenge of limited pilots in communication systems, we unveil an innovative algorithm that merges the strengths of both FT- and CS-based techniques by substituting the expansive sensing matrix with FT-based operators. Our simulation outcomes confirm that our proposed FT-based methods achieve high-quality images while demanding few time, memory, and communication resources. Copyright © 2024, The Authors. All rights reserved.

关键词： Fourier transforms

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RIS-aided Single-frequency 3D Imaging by Exploiting Multi-view Image Correlations

arXiv

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arXiv 2024年

作者： Huang, Yixuan Yang, Jie Wen, Chao-Kai Jin, Shi The National Mobile Communications Research Laboratory Southeast University Nanjing210096 China The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education The Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing210096 China The Institute of Communications Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan The National Mobile Communications Research Laboratory The Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing210096 China

Retrieving range information in three-dimensional (3D) radio imaging is particularly challenging due to the limited communication bandwidth and pilot resources. To address this issue, we consider a reconfigurable intelligent surface (RIS)-aided uplink communication scenario, generating multiple measurements through RIS phase adjustment. This study successfully realizes 3D single-frequency imaging by exploiting the near-field multi-view image correlations dedu.ed from user mobility. We first highlight the significance of considering anisotropy in multi-view image formation by investigating radar cross-section properties and diffraction resolution limits. We then propose a novel model for joint multi-view 3D imaging that incorporates occlusion effects and anisotropic scattering. These factors lead to slow image support variation and smooth coefficient evolution, which are mathematically modeled as Markov processes. Based on this model, we employ the Expectation Maximization-Turbo-Generalized Approximate Message Passing algorithm for joint multi-view single-frequency 3D imaging with limited measurements. Simulation results reveal the superiority of joint multi-view imaging in terms of enhanced imaging ranges, accuracies, and anisotropy characterization compared to single-view imaging. Combining adjacent observations for joint multi-view imaging enables a redu.tion in the measurement overhead by 80%. Copyright © 2024, The Authors. All rights reserved.

关键词： Anisotropy

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Multi-segment Bidding Behaviors of Power Units: Price-capacity-pair Analysis and Modeling 36

Multi-segment Bidding Behaviors of Power Units: Price-capaci...

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36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021

作者： Hou, Shuangshuang Wang, Ying Li, Lili Zhao, Jing Ning, Jia Zhang, Kaifeng Southeast University College of Software Suzhou China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China State Grid Electric Power Research Institute Nari Group Corporation Nanjing China Nanjing Institute of Technology School of Electric Power Engineering Nanjing China

ISBN: (纸本)9781665437127

With the deregulation of the power market, power units are allowed to make strategic biddings. The bidding results of the strategic bidding market are substantially different from the ones in the previous regulated market. Such differences in the bidding results will further have impacts on the power flow and system security. Thus, it is important to analyze and establish a model to simulate the bidding behaviors of the power units. This paper proposes a price-capacity-pairs model to simulate multi-segment bidding behavior. We select five vital factors that affect biddings behaviors as input: load, capacity, supply-demand ratio, bidders' bidding tendency and unit type. Based on the three-segment bidding rule, the price-capacity pair is used. For uncertain price or capacity, we choose a truncated normal distribution model. Scenario generation and redu.tion are achieved by Monte Carlo simulation and fuzzy C-means clustering algorithm. We apply our method to a case study based on Guangdong's market in China. The simulation of wind power units, coal power units and gas power units has verified the correctness of the model. © 2021 IEEE.

关键词： Power markets

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Smoke vehicle detection based on multi-feature fusion and hidden Markov model

Smoke vehicle detection based on multi-feature fusion and hi...

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作者： Tao, Huanjie Lu, Xiaobo School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

Existing smoke vehicle detection methods and vision-based smoke detection methods are vulnerable to false alarms. This paper presents an automatic smoke vehicle detection method based on multi-feature fusion and hidden Markov model (HMM). In this method, we first detect moving objects using an improved visual background extractor (ViBe) algorithm and obtain smoke-colored blocks using color histogram features in the HSI (hue, saturation, and intensity) color space. The adaptive scale local binary pattern (AS-LBP) and the discriminative edge orientation histogram (disEOH) are proposed and combined to characterize the smoke-colored blocks. More specifically, the proposed AS-LBP, a texture feature descriptor, is based on the quadratic fitting of our labelled data to obtain the best scale. The proposed disEOH, a gradient-based feature descriptor, is robust to noise by extracting discriminative edge information using Gaussian filters and principal component analysis (PCA). The discrete cosine transform (DCT) is employed to extract frequency domain information from the region fused by smoke blocks. To utilize the dynamic features, the HMMs are employed to analyze and classify the smoke-colored block sequences and region sequences in continuous frames. The experimental results show that the proposed method achieves better performances than existing smoke detection methods, especially achieves lower false alarms. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Smoke

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Efficient Dynamic 3d Shape measurement Technique for Resisting Motion-Induced Error

SSRN

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SSRN 2022年

作者： Yao, Pengcheng Gai, Shaoyan Da, Feipeng The School of Automation Southeast University Jiangsu Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Jiangsu Nanjing210096 China Shenzhen Research Institute of Southeast University Guangdong Shenzhen518000 China

The phase-shifting profilometry is usually used to acquire dynamic 3D scenarios owning to these merits of dense 3D points, high speed, and simple devices. However, the object in motion will introduce an unknown phase shift, inducing the motion error in 3D shape. Eliminating the motion error with high efficiency is still a significant challenge. This paper analyzes the model of motion error and proposes a novel fringe projection strategy to resist the motion error. Unlike the traditional methods, typically compensating for the motion error with supplementary computing, the proposed method can directly obtain the accurate phase since the designed fringe projection strategy possesses the function of resisting motion error. Therefore, it is more efficient without the post-processing procedu.e. Simulations and experiments reveal that the proposed method can improve efficiency by about 300% with reasonable accuracy. © 2022, The Authors. All rights reserved.

关键词： Profilometry

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Global Finite-Time Set Stabilization of Spacecraft Attitude with Disturbances using Second-Order Sliding Mode control

Research Square

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Research Square 2021年

作者： Guo, Zeyu Wang, Zuo 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

The performance of attitude stabilization control algorithms for rigid spacecraft can be limited by disturbances. In this paper, the global finite-time attitude stabilization problem with disturbances is investigated and handled by constructing a second-order sliding mode controller. Firstly, a virtual controller based on set stabilization idea is constructed to globally finite-time stabilize the system. Then, a relay polynomial second-order sliding mode controller is constructed to guarantee that the tracking error towards the virtual controller will converge to zero in finite-time. Finite-time Lyapunov theory is applied to support the proof and stability analysis. The global finite-time stability holds even with bounded disturbances. The effectiveness and feasibility of the controller are illustrated by the numerical simulations. © 2021, CC BY.

关键词： Sliding mode control

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