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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Chen Wang Liang Peng Zeng-Guang Hou Weiqun Wang Tingting Su State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Department of Mechanical and Electrical Engineering North China University of Technology Beijing P.R. China

ISBN: (数字)9781728124858

ISBN: (纸本)9781728124865

Upper-limb rehabilitation robots are being increasingly included in the rehabilitation after stroke. Clinical studies suggest that the patient's active participation can maximize effectiveness of robot-assisted rehabilitation and result in fastest possible recovery. In order to promote active involvement of the patient, we develop a subject-adaptive controller within the assist-as-needed (AAN) paradigm. The controller employs Recursive Least Square (RLS) algorithm to identify human arm impedance parameters, with aims to quantify the residual motor capability of the patient. According to the upper-limb impedance of the patient in the direction along movements, the reference trajectory can be generated based on the motion patterns in healthy humans. In addition, the fuzzy logic control strategy is implemented in the direction perpendicular to movements, which is capable of adjusting the robotic assistance level by considering both upper-limb impedance of the patient and the variations of deviation between the reference trajectory and actual trajectory. Furthermore, the proposed subject-adaptive AAN controller was validated in the simulation study, and the results demonstrated the capability of the controller to modulate the assistance level in accordance with the subject's instantaneous requirements. Future works will focus on the implementation of the control scheme with post-stroke patients.

关键词： Impedance Trajectory Fuzzy logic Training Rehabilitation robotics Task analysis

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Performance evaluation of a magnetically actuated microrobot with screw jet motion in vertical plane 15

Performance evaluation of a magnetically actuated microrobot...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Fu, Qiang Guo, Shuxiang Guo, Jian Tianjin Key Laboratory for Control Theory Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan

ISBN: (纸本)9781538660720

Various kinds of magnetically actuated microrobot have been proposed to deal with the performance evaluation in medical application and industry application. In this paper, we discuss the mechanical structure design and the control method for obtaining the optimal performance of the microrobot in fluid condition. We analyzed the magnetic field to obtain the relationship between the magnetic flux density and the region of interest in the three-axis Helmholtz coils to adjust the position and posture of the microrobot which is controlled by our proposed magnetic actuation system. This result indicated that the magnetically microrobot has characteristics of multi-functions, controllability, stability. © 2018 IEEE.

关键词： Image segmentation

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String Stability control Strategy Analysis of Mixed Traffic Flow with the CIVs and NCVs

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Journal of Physics: Conference Series 2021年第1期2025卷

作者： Junjie Zhang Can Yang Haiyang Yu Jun Zhang Zixiao Wang Hefei Innovation Research Institute Beihang University Hefei China Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing China School of Computer Science and Technology Anhui University Hefei China

With the development of vehicle-to-infrastructure cooperation system, a mixed traffic phenomenon with non-connected vehicles (NCVs) and connected and intelligent vehicles (CIVs) will exist over a long period of time. Therefore, the mixed traffic flow stability control has become a hot topic in the future. In order to improve the string stability in the complex and changeable internet of vehicles environment, it is necessary to propose the optimal control method of string stability in the mixed traffic flow. In this paper, NCV and CIV car-following modes are employed to propose a local platoon control method of the connected vehicle, which can achieve the purpose of optimizing the mixed traffic flow stability. Two types of local mixed platoon are considered when the effective communication distance with two vehicles in the vehicle-to-vehicle (V2V) communication. Numerical simulations results show that our proposed string stability control strategy has the effectiveness in the improvement of the mixed traffic flow stability.

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Outage behaviors of NOMA-based satellite network over shadowed-rician fading channels

arXiv

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arXiv 2020年

作者： Yue, Xinwei Liu, Yuanwei Yao, Yuanyuan Li, Tian Li, Xuehua Liu, Rongke Nallanathan, Arumugam Key Laboratory of Modern Measurement & Control Technology Ministry of Education School of Information and Communication Engineering Beijing Information Science and Technology University Beijing100101 China School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom 54th Research Institute of China Electronics Technology Group Corporation Shijiazhuang Hebei050081 China Beijing University of Posts and Telecommunications Beijing100876 China School of Electronic and Information Engineering Beihang University Beijing100191 China

This paper investigates the application of non-orthogonal multiple access (NOMA) to satellite communication network over Shadowed-Rician fading channels. The impact of imperfect successive interference cancellation (ipSIC) on NOMA-based satellite network is taken into consideration from the perspective of practical scenarios. We first derive new exact expressions of outage probability for the p-th terrestrial user and provide the corresponding asymptotic analysis results. The diversity order of zero and p are achieved by the p-th terrestrial user with ipSIC and perfect successive interference cancellation (pSIC), respectively. Finally, the presented simulation results show that: 1) On the condition of pSIC, the outage behaviors of NOMA-based satellite network are superior to that of orthogonal multiple access;2) With the value of residual interference increasing, the outage performance of terrestrial users with ipSIC is becoming worse seriously;and 3) Infrequent light shadowing of Shadowed-Rician fading brings the better outage probability compared to frequent heavy and average shadowing. Copyright © 2020, The Authors. All rights reserved.

关键词： Asymptotic analysis

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On compression rate of quantum autoencoders: control design, numerical and experimental realization

arXiv

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arXiv 2020年

作者： Ma, Hailan Huang, Chang-Jiang Chen, Chunlin Dong, Daoyi Wang, Yuanlong Wu, Re-Bing Xiang, Guo-Yong School of Engineering and Information Technology University of New South Wales CanberraACT2600 Australia Key Laboratory of Quantum Information University of Science and Technology of China CAS Hefei230026 China CAS Center for Excellence in Quantum Information and Quantum Physics China Department of Control and Systems Engineering School of Management and Engineering Nanjing University Nanjing210093 China Centre for Quantum Dynamics Griffith University BrisbaneQLD4111 Australia Department of Automation Tsinghua University Beijing100084 China

Quantum autoencoders which aim at compressing quantum information in a low-dimensional latent space lie in the heart of automatic data compression in the field of quantum information. In this paper, we establish an upper bound of the compression rate for a given quantum autoencoder and present a learning control approach for training the autoencoder to achieve the maximal compression rate. The upper bound of the compression rate is theoretically proven using eigen-decomposition and matrix differentiation, which is determined by the eigenvalues of the density matrix representation of the input states. Numerical results on 2-qubit and 3-qubit systems are presented to demonstrate how to train the quantum autoencoder to achieve the theoretically maximal compression, and the training performance using different machine learning algorithms is compared. Experimental results of a quantum autoencoder using quantum optical systems are illustrated for compressing two 2-qubit states into two 1-qubit states. Copyright © 2020, The Authors. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Preprocessing method of night vision image application in apple harvesting robot

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International Journal of Agricultural and Biological engineering 2018年第2期11卷 158-163页

作者： Weikuan Jia Yuanjie Zheng De’an Zhao Xiang Yin Xiaoyang Liu Ruicheng Du School of Information Science and Engineering Shandong Normal UniversityJinan 250358China Key Laboratory of Facility Agriculture Measurement and Control Technology and Equipment of Machinery Industry Jiangsu UniversityZhenjiang 212013China School of Agricultural Engineering and Food Science Shandong University of TechnologyZibo 255000China Institute of Life Sciences and Key Lab of Intelligent Information Processing Shandong Normal UniversityJinan 250014China

Due to the low working efficiency of apple harvesting robots,there is still a long way to go for *** machine performance and extended operating time are the two research aspects for improving efficiencies of harvesting robots,this study focused on the extended operating time and proposed a round-the-clock operation *** to the influences of light,temperature,humidity,etc.,the working environment at night is relatively complex,and thus restricts the operating efficiency of the apple harvesting *** different artificial light sources(incandescent lamp,fluorescent lamp,and LED lights)were selected for auxiliary light according to certain rules so that the apple night vision images could be *** addition,by color analysis,night and natural light images were compared to find out the color characteristics of the night vision images,and intuitive visual and difference image methods were used to analyze the noise *** results showed that the incandescent lamp is the best artificial auxiliary light for apple harvesting robots working at night,and the type of noise contained in apple night vision images is Gaussian noise mixed with some salt and pepper *** preprocessing method can provide a theoretical and technical reference for subsequent image processing.

关键词： apple harvesting robot night vision image preprocessing method color analysis noise analysis

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${H}_{\infty }$ Filtering for Fuzzy Jumping Genetic Regulatory Networks With Round-Robin Protocol: A Hidden-Markov-Model-Based Approach

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IEEE Transactions on Fuzzy systems 2019年第1期28卷 112-121页

作者： Hao Shen Yunzhe Men Jinde Cao Ju H. Park School of Electrical and Information Engineering Anhui University of Technology Ma’anshan China School of Mathematics Southeast University Nanjing China Key Laboratory of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology Beijing China Jiangsu Provincial Key Laboratory of Networked Collective Intelligence and School of Mathematics Southeast University Nanjing China Department of Electrical Engineering Yeungnam University Kyongsan South Korea

In this article, a method to design the filter for fuzzy jumping genetic regulatory networks is explored. The case when the filters cannot directly utilize the mode information of the plant is taken into account. A hidden Markov model is introduced to address such a problem. Furthermore, a mature scheduling method, namely round-robin protocol, is employed to optimize the data transmission in genetic regulatory networks. On the basis of the fuzzy model approach and the stochastic analysis technique, some novel conditions ensuring the H ∞ performance and stochastic stability of the error system are established. The parameters of the filter can be presented via addressing the convex optimization problem. The feasibility of results is finally illustrated by considering a repressilator model subject to stochastic jumping parameters.

关键词： Hidden Markov models Proteins Genetics Protocols Markov processes Data communication

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Research on Monocular Visual Gesture Positioning based on YOLO v2 37

Research on Monocular Visual Gesture Positioning based on YO...

引用

37th Chinese control Conference, CCC 2018

作者： Jianwei, Leng Kai, Guo School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems Tianjin300384 China

ISBN: (纸本)9789881563941

In order to ensure the speed and accuracy of positioning gestures during the human-computer interaction, YOLO v2 network with the best detection results in the target detection area was adopted in 2016 to generate the target detection data sets of the target areas with obviously different gestures. The YOLO v2 network is improved by the clustering of target box latitude, the pre-training of classification network, the screening training of multi-scale detection and the screening rules of the change candidate box to make it better adapt to the positioning task. It can locate the shooting gesture images acquired by the monocular camera in real time to the target area. The results show that the proposed method is effective and the average accuracy of the detection network in the target detection tasks of the captured images is increased to 79.5%. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Human computer interaction

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How much information is needed in quantized nonlinear control?

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中国科学（信息科学） 2018年第9期61卷 199-211页

作者： Chuang ZHENG Lin LI Leyi WANG Chanying LI School of Mathematical Sciences Beijing Normal University Beijing 100875 China Department of Electrical and Computer Engineering Wayne State University Detroit 48202 USA Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences Beijing 100190 China

Quantization rate is a crucial measure of complexity in determining stabilizability of control systems subject to quantized state *** paper investigates quantization complexity for a class of nonlinear systems which are subjected to disturbances of unknown statistics and unknown *** class of systems includes linear stablizable systems as special *** lower bounds on the quantization rates are derived which guarantee input-to-state stabilizability for continuous-time and sampled-data feedback strategies,*** examples are provided to validate the results.

关键词： nonlinear systems disturbances input-to-state stabilizability sampled systems quantization rate

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Photocatalytic water purification with graphitic C 3 N 4 -based composites: Enhancement, mechanisms, and performance

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Applied Materials Today 2021年 24卷

作者： Songhao Luo Chang Zhang Eydhah Almatrafi Ming Yan Yang Liu Yukui Fu Ziwei Wang Ling Li Chenyun Zhou Piao Xu Zhifeng Liu Guangming Zeng College of Environmental Science and Engineering and Key Laboratory of Environmental Biology and Pollution Control (Ministry of Education) Hunan University Changsha 410082 PR China Center of Research Excellence in Renewable Energy and Power Systems Center of Excellence in Desalination Technology Department of Mechanical Engineering Faculty of Engineering-Rabigh King Abdulaziz University Jeddah 21589 Saudi Arabia

Recently enormous exertions have been dedicated to modify graphitic carbon nitride (g-C 3 N 4 )-based photocatalysts via morphological adjustment and compositional control, providing various ways for the advance of high-efficiency catalysts in the field of photocatalytic water purification. This review summarizes the latest developments in photocatalytic removal of contaminants and sterilization in water with g-C 3 N 4 -based materials, highlighting the performance and mechanism of multi-component cooperative photocatalysis. We review various strategies for improving the catalytic performance of g-C 3 N 4 -based photocatalysts, introducing theoretical calculations to explore the relationships between basic properties and photocatalytic activity. Then the performance and mechanism of photocatalytic water purification with g-C 3 N 4 -based materials are discussed. Finally, we put forward the principles and ways for the enhancement and application of g-C 3 N 4 -based composites in the future, evaluating their full life-cycle in photocatalytic water purification.

关键词： Graphitic carbon nitride Single-atom catalyst Photocatalysis Density functional theory Water purification Life-cycle assessment

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