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41st Chinese control Conference, CCC 2022

作者： Chen, Kairui Van, Chuance Zhu, Zhangmou Li, Ping Ren, Qijun Wang, Junwei School of Mechanical and Electrical Engineering Guangzhou University Guangzhou510006 China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China School of Mathematics and Statistics Guangdong University of Foreign Studies Guangzhou510006 China

ISBN: (数字)9789887581536

ISBN: (纸本)9789887581536

This paper investigates a leader-following consensus problem for high-order linear multi-agent systems under a directed graph topology, containing a spanning tree. It is supposed that each agent can obtain full state of itself and receive its neighbors' state with noises, where the intensities of noises are vector functions of relative states of agents. To achieve leader-following consensus in this scene, a consensus protocol is designed, where the gain matrix is obtained by the algebraic Riccati equation and the coupling strength should be restricted in a given interval. Specifically, the lower bound of the interval ensures the consensus and the upper bound of the interval is devoted to limit the effects of noises, then the designed protocol could attenuate the noises while driving the multi-agent systems to consensus. Finally, a simulation example is given to show the correctness of the proposed results. © 2022 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Directed graphs

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A Reinforcement Learning Approach for Robust Restoration of Generators in Power system

A Reinforcement Learning Approach for Robust Restoration of ...

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2022 Chinese Automation Congress, CAC 2022

作者： Li, Huimiao Yang, Xiaozhou Zhai, Chao Hubei Key Laboratory of Advanced Control and Intelligent Automation Fo Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Future Resilient Systems Singapore-ETH Centre Create Campus Singapore

ISBN: (纸本)9781665465335

In the past decades, cascading blackouts have caused serious damages to power systems and affected the normal operation of society, so it is crucial to quickly restore the damaged power system to normal state. In this paper, a reinforcement learning (RL) approach is developed to achieve the robust restoration of generators in power systems. Firstly, the performance recovery of damaged power system is modeled as markov decision process, and constraints such as line voltage and active power output of generators are considered. Secondly, a RL algorithm is proposed to search the optimal control strategy for generator units recovery. Based on the proposed restoration approach, Q-learning algorithm is employed to obtain the optimal strategy for power supply of generaors in power grids. Finally, numerical simulations are carried out on IEEE 9-bus system under different scenarios of external disturbances and certainties. The simulation results demonstrate the effectiveness and feasibility of the proposed approach. © 2022 IEEE.

关键词： Reinforcement learning

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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IEEE International Conference on Robotics and Biomimetics

作者： Muyang Hou Zhenya Lei Haidong Hu Zhong Wang Yong Wang Le Xie Hesheng Wang Department of Automation Shanghai Jiao Tong University Shanghai China School of Information and Control Engineering China University of Mining and Technology Xuzhou China Beijing Institute of Control Engineering Beijing China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant; on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A* which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion.

关键词： Hands Trajectory tracking Trajectory planning Service robots Stability analysis Safety Mobile robots Resource management Splines (mathematics) Trajectory optimization

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Secrecy Performance Analysis of RIS Assisted Ambient Backscatter Communication Networks

arXiv

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arXiv 2024年

作者： Pei, Yingjie Yue, Xinwei Huang, Chongwen Lu, Zhiping The Key Laboratory of Information and Communication Systems Ministry of Information Industry The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The State Key Laboratory of Integrated Service Networks Xidian University Xi’an710071 China The Key Laboratory of Information and Communication Systems Ministry of Information Industry China The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 China The School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China Beijing100191 China

Reconfigurable intelligent surface (RIS) and ambient backscatter communication (AmBC) have been envisioned as two promising technologies due to their high transmission reliability as well as energy-efficiency. This paper investigates the secrecy performance of RIS assisted AmBC networks. New closed-form and asymptotic expressions of secrecy outage probability for RIS-AmBC networks are derived by taking into account both imperfect successive interference cancellation (ipSIC) and perfect SIC (pSIC) cases. On top of these, the secrecy diversity order of legitimate user is obtained in high signal-to-noise ratio region, which equals zero and is proportional to the number of RIS elements for ipSIC and pSIC, respectively. The secrecy throughput and energy efficiency are further surveyed to evaluate the secure effectiveness of RIS-AmBC networks. Numerical results are provided to verify the accuracy of theoretical analyses and manifest that: i) The secrecy outage behavior of RIS-AmBC networks exceeds that of conventional AmBC networks;ii) Due to the mutual interference between direct and backscattering links, the number of RIS elements has an optimal value to minimise the secrecy system outage probability;and iii) Secrecy throughput and energy efficiency are strongly influenced by the reflecting coefficient and eavesdropper’s wiretapping ability. Copyright © 2024, The Authors. All rights reserved.

关键词： Energy efficiency

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Human-like Walking of Biped Robot with Foot Rotation Using Passive Metatarsophalangeal Joint 12

Human-like Walking of Biped Robot with Foot Rotation Using P...

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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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Review on Dynamic Modeling and Vibration Characteristics of Rotating Cracked Blades

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Journal of Dynamics, Monitoring and Diagnostics 2023年第4期2卷 207-227页

作者： Hui Ma Zhiyuan Wu Jin Zeng Weiwei Wang Hongji Wang Hong Guan Wenming Zhang School of Mechanical Engineering and Automation Northeastern UniversityShenyangLiaoning 110819People’s Republic of China Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China Northeastern UniversityShenyangLiaoning 110819People’s Republic of China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China School of Mechanics and Engineering Southwest Jiaotong UniversityChengdu 610031People’s Republic of China

As one of the most important parts in the engine,the structure and state of the rotating blade directly affect the normal performance of the *** order to monitor engine crack failure and ensure flight safety,it is necessary to carry out research on the dynamic modeling of the cracked blade and breathing crack-induced vibration *** paper summarizes the current research status on the dynamics of cracked blade,and the related topics mainly include four aspects:crack propagation path,mechanical model of open and breathing cracks,dynamic modeling methods of cracked blades such as lumped mass model,semi-analytical model and finite element model,and dynamic characteristics of cracked *** review will provide valuable references for future studies on dynamics and fault diagnosis of cracked blade in aeroengine.

关键词： breathing crack crack propagation cracked blade dynamic characteristics dynamic modeling

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采用高导热金刚石基底的高效散热钙钛矿激光

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Science China Materials 2023年第6期66卷 2400-2407页

作者：李国辉侯缜魏衍福赵若凡冀婷王文艳温荣郑凯波于盛旺崔艳霞 College of Physics and Optoelectronics Key Laboratory of Interface Science and Engineering in Advanced MaterialsKey Lab of Advanced Transducers and Intelligent Control System of Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan 030024China Division of Chemical Physics and NanoLund Lund UniversityBox 12422100LundSweden

具有低温升的高效散热方案是实现电泵浦激光的关键因素之一.高导热金刚石有望克服钙钛矿激光的散热限制.本文中,我们展示了一种可以将光泵浦过程中产生热量高效耗散的金刚石基底钙钛矿纳米片激光.此外,紧密光学束缚可以通过在纳米片和... 详细信息

具有低温升的高效散热方案是实现电泵浦激光的关键因素之一.高导热金刚石有望克服钙钛矿激光的散热限制.本文中,我们展示了一种可以将光泵浦过程中产生热量高效耗散的金刚石基底钙钛矿纳米片激光.此外,紧密光学束缚可以通过在纳米片和金刚石基底之间引入一层薄SiO_(2)间隔层而实现.该激光的品质因子高达~1962,激光阈值为52.19μJ cm^(-2).受益于金刚石基底,其泵浦能量密度相关温度灵敏度较低(~0.56±0.01 K cm~2μJ^(-1)).本工作有望促进电泵浦钙钛矿激光的发展.

关键词：金刚石钙钛矿温度灵敏度高效散热品质因子高导热激光阈值光泵浦

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Aggregating Correlation Filter with Multiple Kernels Learning for Robust Visual Object Tracking 22

Aggregating Correlation Filter with Multiple Kernels Learnin...

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8th International Conference on Computing and Artificial Intelligence, ICCAI 2022

作者： Wei, Yanxia Xiao, Hairong Feng, Deying Mu, Jian Yang, Jie School of Mechanical and Automotive Engineering Liaocheng University China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Liaocheng University China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University China

ISBN: (纸本)9781450396110

Recently, Discriminative Correlation Filter based trackers have increasingly become popular in the domain of visual object tracking, which is benefited by their effective and robustness in terms of tracking performance. However, the significant variations of target appearance, such as Occlusion or Deformation, always suppress the performance improvement. Although the multi-feature fusion strategy partly alleviates the above factors, the synthetic scheme also ambiguates the overall presentation ability of multiple features and results in degradation of discriminative power during classification filter learning. In this paper, we present a novel tracking framework based on the correlation filter with multiple kernel learning. Instead of directly integrating different features, we decompose a tracking process into several module, including low-dimension modules and high-dimension modules. The handcraft features extracted from low-dimension modules are robust to the small variation of target while the semantic convolutional features from the high-dimension modules can distinguish the target object from the relative complex tracking environment. In addition, we also design a reliability detection mechanism based on the confidence map to accurately measure the important degree of each kernel learning and precisely estimate the target state in the subsequent frames. For verifying our proposed tracker, we conduct extensive experiments on several standard sequence benchmark. Experiment results show that our proposed trackers perform favorably against other state-of-the-art trackers. © 2022 ACM.

关键词： Semantics

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Copper-catalyzed oxidative phosphonoheteroarylation of alkenes with phosphonates and N-heteroarenes via P-H/C-H functionalization

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Organic Chemistry Frontiers 2022年第2期9卷 476-480页

作者： Chong-Hui Xu Zhi-Qiang Xiong Yang Li Yan-Ping Zhu Jin-Heng Li Key Laboratory of Jiangxi Province for Persistent Pollutants Control and Resources Recycle Nanchang Hangkong UniversityNanchang 330063China School of Pharmacy Key Laboratory of Molecular Pharmacology and Drug EvaluationMinistry of EducationCollaborative Innovation Center of Advanced Drug Delivery System and Biotech Drugs in Universities of ShandongYantai UniversityYantaiShandong264005China State Key Laboratory of Applied Organic Chemistry Lanzhou UniversityLanzhou 730000China School of Chemistry and Chemical Engineering Henan Normal UniversityXinxiangHenan 475004China

A copper-catalyzed oxidative intermolecular phosphonoheteroarylation of alkenes with phosphonates and nucleophilic N-heteroarenes(such as indoles and pyrroles)involving P-H/C-H functionalization for the synthesis of highly valuable β-(N-heteroaryl)-alkylphosphonates is *** method allows the incorporation of two functional groups,a phosphonate and a N-heteroarene,into the alkene in a single reaction step through oxidative formation of the P-centered radicals,addition across the CvC bond,single electron oxidation and C-H functionalization cascades.

关键词： oxidative phosphonate catalyzed

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UW-DNeRF: Deformable Soft Tissue Reconstruction with Uncertainty-Guided Depth Supervision and Local Information Integration

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IEEE Transactions on Medical Imaging 2025年 PP卷 PP页

作者： Shan, Jiwei Zhang, Zixin Li, Hao Hsieh, Cheng-Tai Li, Yirui Wu, Wenhua Wang, Hesheng School of Electronic Information and Electrical Engineering of Shanghai Jiao Tong University Shanghai200240 China Shanghai Jiao Tong University School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China

Reconstructing deformable soft tissues from endoscopic videos is a critical yet challenging task. Leveraging depth priors, deformable implicit neural representations have seen significant advancements in this field. However, depth priors from pre-Trained depth estimation models are often coarse, and inaccurate depth supervision can severely impair the performance of these neural networks. Moreover, existing methods overlook local similarities in input sequences, which restricts their effectiveness in capturing local details and tissue deformations. In this paper, we introduce UW-DNeRF, a novel approach utilizing neural radiance fields for high-quality reconstruction of deformable tissues. We propose an uncertainty-guided depth supervision strategy to mitigate the impact of inaccurate depth information. This strategy relaxes hard depth constraints and unlocks the potential of implicit neural representations. In addition, we design a local window-based information sharing scheme. This scheme employs local window and keyframe deformation networks to construct deformations with local awareness and enhances the model's ability to capture fine details. We demonstrate the superiority of our method over state-of-The-Art approaches on synthetic and in-vivo endoscopic datasets. Code is available at: https://***/IRMVLab/UW-DNeRF. © 2025 IEEE.

关键词： Endoscopy

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