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arXiv 2024年

作者： Chen, Zhuo Ou, Ni Zhang, Xuyang Luo, Shan The Robot Perception Lab Centre for Robotics Research Department of Engineering King's College London LondonWC2R 2LS United Kingdom The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the costly and time-intensive process of acquiring paired tactile images and force labels. In this study, we introduce a transferable force prediction model, TransForce, designed to leverage collected image-force paired data for new sensors under varying illumination colors and marker patterns while improving the accuracy of predicted forces, especially in the shear direction. Our model effectively achieves translation of tactile images from the source domain to the target domain, ensuring that the generated tactile images reflect the illumination colors and marker patterns of the new sensors while accurately aligning the elastomer deformation observed in existing sensors, which is beneficial to force prediction of new sensors. As such, a recurrent force prediction model trained with generated sequential tactile images and existing force labels is employed to estimate higher-accuracy forces for new sensors with lowest average errors of 0.69N (5.8% in full work range) in x-axis, 0.70N (5.8%) in y-axis, and 1.11N (6.9%) in z-axis compared with models trained with single images. The experimental results also reveal that pure marker modality is more helpful than the RGB modality in improving the accuracy of force in the shear direction, while the RGB modality show better performance in the normal direction. Copyright © 2024, The Authors. All rights reserved.

关键词： RGB color model

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Dynamic power systems line outage detection using particle filter and partially observed states

arXiv

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arXiv 2021年

作者： Yang, Xiaozhou Chen, Nan Zhai, Chao The Department of Industrial Systems Engineering and Management National University of Singapore Singapore117576 Singapore ETH Zurich Future Resilient Systems Singapore-ETH Centre 1 CREATE Way CREATE Tower Singapore138602 Singapore The School of Automation China University of Geosciences Wuhan430074 China The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Real-time transmission line outage detection is difficult because of partial phasor measurement unit (PMU) deployment and varying outage signal strength. Existing detection approaches focus on monitoring PMU-measured nodal algebraic states, i.e., voltage phase angle and magnitude. The success of such approaches, however, is largely predicated on strong outage signals and the presence of PMUs in the outage location's vicinity. To overcome these limitations, a unified framework is proposed in this work by utilizing both nodal voltage information and generator dynamic states, e.g., rotor angular position. The proposed scheme is shown to be faster and more robust to unknown outage locations through the incorporation of generator dynamics. Using the IEEE 39-bus system simulation data, the proposed scheme's properties and performances compared to existing approaches are presented. The new approach could help improve operators' real-time situational awareness by detecting outages faster and providing a breakdown of outage signals for diagnostic purposes, making future power systems more resilient. Copyright © 2021, The Authors. All rights reserved.

关键词： Monte Carlo methods

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Optimize Student Learning via Random Forest-Based Adaptive Narrative Game

Optimize Student Learning via Random Forest-Based Adaptive N...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Ryan Hare Ying Tang Wei Cui Joleen Liang Department of Electrical and Computer Engineering Rowan University Glassboro USA State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Smart Education Qingdao Academy of Intelligent Industries Qingdao China Squirrel AI Learning Shanghai China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

This paper presents an adaptive narrative game system that focuses on sequential logic design. The system adapts a random forest machine learning model to estimate a student's current level of domain knowledge relative to the problem presented to him through his game-playing behavior data, such as time taken to find solutions, errors in solutions, and emotional indicators. Hints, prompts, and/or individualized lessons are then offered to the player to guide their learning in a positive and productive direction. Our preliminary pilot study demonstrates that the model can make accurate classifications, from which proper assistance can then be provided to individual students as they play.

关键词： Games Databases Forestry Education Problem-solving Presses Artificial intelligence

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Exploring the impact of core expansion on the vortex distribution in superconducting–normal-metal hybrid nanostructures

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Physical Review B 2019年第5期100卷 054519-054519页

作者： Ritika Panghotra Matias Timmermans Cun Xue Bart Raes Victor Moshchalkov Joris Van de Vondel Laboratory of Solid State Physics and Magnetism Department of Physics and Astronomy KU Leuven Celestijnenlaan 200D B–3001 Leuven Belgium Catalan Institute of Nanoscience and Nanotechnology (ICN2) CSIC and BIST Campus UAB Bellaterra 08193 Barcelona Spain School of Mechanics Civil Engineering and Architecture and MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi'an 710072 People's Republic of China

The superconducting condensate in a bilayer normal-metal–superconducting film has a nonuniform dependence throughout the layer. For sufficiently thin normal metallic films, the superconducting correlations induced by the contacting superconducting layer result in the formation of a minigap and the characteristic length scales governing the response of the condensate will be different. In this work we use scanning tunneling spectroscopy to visualize the vortex states as a function of the applied magnetic field in a Au-MoGe nanostructure. By comparing the obtained zero-bias conductance maps with time-dependent Ginzburg-Landau simulations, we directly confirm that the observed vortex distributions can only be explained by taking into account the impact of the normal metallic layer. We illustrate this impact on the vortex state for two lithographically fabricated mesoscopic bilayer structures containing an identical antidot array but having different lateral sizes.

关键词： Coherence length Methods in superconductivity Proximity effect Vortices in superconductors

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Remote control of smart sprinkler system based on CAN-BUS

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2013年第SUPPL.1期44卷 292-296页

作者： Zhang, Shuzhe Ye, Hua Mao, Jianliang Shi, Yiwen School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education Southeast University Nanjing 210096 China School of Marketing and Logistics Management Nanjing University of Finance and Economics Nanjing 210046 China

Till now, most lawn is still irrigated manually or timely. That means lack of proper irrigation strategy and information management ability. However, irrational irrigation method will not only lead to unhealthy growth of lawn, but also waste of water. A new idea for lawn intelligent remote irrigation was put forward. The smart sprinkler strategy was created by researching the characters of lawn, such as water demand, heat resistance and diseases law. And the embeded control system can apply the strategy to irrigate intelligently. Tying the urban lawn features, the system was designed to be driven by solar, which makes it an energy self-sufficiency system. What's more, the sprinkler system gains the CAN bus-based network management function, which simplify the user's contol and management. Finally, the experimental results show that the system has the advantages of good effect, low cost, high reliability, easy maintenance, etc. And it will meet the demand of energy saving and environmental protection.

关键词： Remote control

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Q -learning based model-free input-output feedback linearization control method ⋆

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IFAC-PapersOnLine 2023年第2期56卷 9534-9539页

作者： Yipu Sun Xin Chen Wenpeng He Ziying Zhang Edwardo F. Fukushima Jinhua She School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan 430074 China School of Engineering Tokyo University of Technology Hachioji Tokyo 192-0982 Japan School of Arts and Communication China University of Geosciences Wuhan 430074 China

Input-output feedback linearization is a nonlinear control method that relies on a precise dynamical model. Combining Q -learning techniques, an input-output feedback linearization correction framework is presented to accomplish model-free feedback linearization of affine nonlinear systems in order to tackle the problem caused by the unknown dynamics model. This framework formulates a model reference tracking control problem that guides the input-output relationship of the nonlinear system into a linear relationship. Due to the two Lie derivative terms present in the feedback linearized controller, the controller is designed as a dual network structure. To overcome the issue of coupling in the dual-network controller, a model-free Q -learning method is presented to solve the unknown controller network weights. The proposed method is experimentally validated on a single-link flexible joint manipulator system, and the resultant linearized system exhibits dynamics similar to the desired linear system in a new tracking task, proving the effectiveness of the proposed method.

关键词： Input-output feedback linearization unknown nonlinear systems Q-learning model-free nonlinear control method

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Frequent Event Pattern Extraction of Drilling Time Series Using Change Point Detection and Event Sequence Generation

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IFAC-PapersOnLine 2023年第2期56卷 6168-6173页

作者： Yupeng Li Wenkai Hu Weihua Cao R. Bhushan Gopaluni Liang Cao Chao Gan Min Wu School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan 430074 China Department of Chemical and Biological Engineering University of British Columbia Vancouver BC V6T 1Z3 Canada

In drilling processes, non-stationary phases corresponding to shifts between operating conditions and changes in downhole formations typically lead to false alarms. Extracting these frequent event patterns is critical to build drilling process monitoring and fault diagnosis models. This study aims to extract the frequent event patterns associated with non-stationary phases in drilling time series. In this way, diversified information related to signal changes under normal conditions can be obtained, which is beneficial for suppressing false alarms and improving fault detection performance. The main contributions of this study are twofold: 1) a non-stationary phase detection method is proposed to extract drilling frequent event patterns based on t -distributed stochastic neighbor embedding and relative unconstrained least-squares importance fitting; 2) an event sequence generation method is proposed to express drilling frequent event patterns with a group of symbols. The effectiveness of the proposed method is demonstrated by data from a real drilling project.

关键词： Drilling processes pattern extraction change point detection event sequence generation frequent event pattern

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Robust controller Design for Networked control systems with Nonlinear Uncertainties

Robust Controller Design for Networked Control Systems with ...

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2009 American control Conference (ACC 2009)

作者： Junyan Yu Long Wang Mei Yu Jie Chen Yingmin Jia Intelligent Control Laboratory Center for Systems and Control College of Engineering and Key Laboratory of Machine Perception (Ministry of Education) Peking University Beijing 100871 P.R.China Department of Automation North China Electric Power University Zhuxinzhuang Dewai Beijing 102206 P.R.China Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 P.R.China Seventh Research Division Beihang University Beijing 100083 P.R. China

ISBN: (纸本)9781424445233

We address robust stabilization problem for networked control systems with nonlinear uncertainties and packet losses by modelling such systems as a class of uncertain switched systems. Based on theories on switched Lyapunov functions, we derive the robustly stabilizing conditions for state feedback stabilization and design packet-loss dependent controllers by solving some matrix inequalities. A numerical example and some simulations are worked out to demonstrate the effectiveness of the proposed design method.

关键词： Networked control systems robust controller design Packet loss control systems design approach Switched systems controller design State feedback Uncertainty nonlinearity

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Secrecy Outage Probability Analysis for Downlink RIS-NOMA Networks with On-Off control

arXiv

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arXiv 2024年

作者： Pei, Yingjie Yue, Xinwei Yi, Wenqiang Liu, Yuanwei Li, Xuehua Ding, Zhiguo Key Laboratory of Information and Communication Systems Ministry of Information Industry Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Electrical Engineering Princeton University Princeton United States School of Electrical and Electronic Engineering The University of Manchester Manchester United Kingdom

Reconfigurable intelligent surface (RIS) has been regarded as a promising technology since it has ability to create the favorable channel conditions. This paper investigates the secure communications of RIS assisted non-orthogonal multiple access (NOMA) networks, where both external and internal eavesdropping scenarios are taken into consideration. More specifically, novel approximate and asymptotic expressions of secrecy outage probability (SOP) for the k-th legitimate user (LU) are derived by invoking imperfect successive interference cancellation (ipSIC) and perfect successive interference cancellation (pSIC). To characterize the secrecy performance of RIS-NOMA networks, the diversity order of the k-th LU with ipSIC/pSIC is obtained in the high signal-to-noise ratio region. The secrecy system throughput of RIS-NOMA networks is discussed in delay-limited transmission mode. Numerical results are presented to verify theoretical analysis that: i) The SOP of RIS-NOMA networks is superior to that of RIS assisted orthogonal multiple access (OMA) and conventional cooperative communication schemes;ii) As the number of reflecting elements increases, the RIS-NOMA networks are capable of achieving the enhanced secrecy performance;and iii) The RIS-NOMA networks have better secrecy system throughput than that of RIS-OMA networks and conventional cooperative communication schemes. Copyright © 2024, The Authors. All rights reserved.

关键词： Cooperative communication

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Index modulated OFDM with ICI self-cancellation in underwater acoustic communications

Index modulated OFDM with ICI self-cancellation in underwate...

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Asilomar Conference on Signals, systems & Computers

作者： Miaowen Wen Yuke Li Xiang Cheng Liuqing Yang School of Electronic and Information Engineering South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Electronics Engineering and Computer Science Peking University Beijing China Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA

ISBN: (纸本)9781479982981

OFDM is promising for underwater acoustic (UWA) communications due to its potential to combat the large delay spread. However, the performance of the OFDM system is seriously deteriorated by the inter-carrier interference (ICI) caused by the transmitter/receiver motion and ocean waves. In this paper, we propose a novel ICI countermeasure. The key idea is to inactivate partial subcarriers according to index modulation and meanwhile transmit signals with opposite polarity on two adjacent active subcarriers for ICI self cancellation. Simulation results validate that the proposed scheme achieves much better bit error rate (BER) performance than many existing schemes in UWA communications.

关键词： OFDM Modulation Bit error rate Indexes Receivers Transmitters Sonar equipment

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