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arXiv 2024年

作者： Zhu, Yongjian Cheng, Hao Zhang, Feitian State Key Laboratory of Turbulence and Complex Systems the Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China

Miniature robotic blimps, as one type of lighter-than-air aerial vehicles, have attracted increasing attention in the science and engineering community for their enhanced safety, extended endurance, and quieter operation compared to quadrotors. Accurately modeling the dynamics of these robotic blimps poses a significant challenge due to the complex aerodynamics stemming from their large lifting bodies. Traditional first-principle models have difficulty obtaining accurate aerodynamic parameters and often overlook high-order nonlinearities, thus coming to their limit in modeling the motion dynamics of miniature robotic blimps. To tackle this challenge, this letter proposes the Auto-tuning Blimp-oriented Neural Ordinary Differential Equation method (ABNODE), a data-driven approach that integrates first-principle and neural network modeling. Spiraling motion experiments of robotic blimps are conducted, comparing the ABNODE with first-principle and other data-driven benchmark models, the results of which demonstrate the effectiveness of the proposed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Airships

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Short-term Load Forecasting with Transformer Based on Fusion CNN-BiGRU

IAENG International Journal of Computer Science

引用

IAENG International Journal of Computer Science 2025年第5期52卷 1344-1364页

作者： Xie, Tao Xiao, Zhongchuang He, Xiaojun Fan, Yinchun Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing Jiaotong University's School of Electromechanical and Vehicle Engineering Chongqing400065 China SINOPEC Sales Co Ltd's Chongqing EJI branch Chongqing400065 China

To improve the accuracy of short-term power load forecasting, a short-term power load forecasting method based on Transformer with fused CNN-BiGRU is proposed. First, the best input data sequence is selected using the Partial Autocorrelation Function (PACF). Next, the importance scores and rankings of the feature data are obtained through the gradient boosting tree algorithm of CatBoost, and the optimal input features are selected. Then, the feature data and load data are combined. Finally, the combined data is used as input for the Transformer fused with CNN-BiGRU. In model training and forecasting, a hybrid forecasting strategy is employed, incorporating elements of multi-step forecasting into single-step forecasting. For the data of each moment, personalized and independent model training is performed, along with forecasting that include hybrid elements. The model replaces the original word embedding and position encoding components of Transformer. It uses CNN-BiGRU to extract high-dimensional feature representations of latent feature information and relative positional information from the input data. The proposed model demonstrates higher forecasting accuracy through validation on two different datasets and comparison with other forecasting models. Additionally, two ablation experiments are conducted. Through systematic ablation experiments, we demonstrate that modifications to the Transformer input layer significantly improve model performance in time series tasks. These results validate the rationality and effectiveness of the proposed approach. The ablation experiments on the method of PACF selecting the optimal input data sequence and CatBoost filtering the optimal input feature data, as well as the hybrid forecasting strategy, further verify the effectiveness and rationality of the data selection methods and forecasting strategies used in this study for short-term power load forecasting. Moreover, to eliminate the zigzagging jitter phenomenon in the foreca

关键词： CatBoost hybrid forecasting strategy PACF Transformer fuses CNN-BiGRU

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Effectiveness of Koopman Autoencoder Predicting Nonlinear System States: Effect of Latent Layer Neuron Number

Effectiveness of Koopman Autoencoder Predicting Nonlinear Sy...

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2022 Chinese Automation Congress, CAC 2022

作者： Zhou, Jun Jia, Yubin Liu, Zhimin Yong, Panxiao Guo, Jun The School of Automation Southeast University Jiangsu Nanjing210096 China The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

ISBN: (纸本)9781665465335

Researchers have always been popular with analyzing and controlling nonlinear systems, yet most methods are based on local linearized models. As an alternative, Koopman theory was introduced to solve global linearization problems. Koopman operator is infinite-dimensional and has the ability to globally linearize nonlinear systems without information loss. In this work, a Koopman autoencoder, which combines the Koopman operator and autoencoder network, is used for predicting nonlinear systems. The autoencoder network is designed to find an approximate finite-dimensional Koopman operator. An inverted pendulum dynamic system is used to evaluate the effectiveness of the Koopman autoencoder, and accurate prediction results have been achieved. Furthermore, we discussed the effect of latent layer neuron number in the Koopman autoencoder, prediction results are given, and the best number of latent layer neurons for this system is found. © 2022 IEEE.

关键词： Nonlinear systems

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Nonrigid Object Contact Estimation With Regional Unwrapping Transformer

arXiv

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arXiv 2023年

作者： Xie, Wei Zhao, Zimeng Li, Shiying Zuo, Binghui Wang, Yangang Southeast University China The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

Acquiring contact patterns between hands and nonrigid objects is a common concern in the vision and robotics community. However, existing learning-based methods focus more on contact with rigid ones from monocular images. When adopting them for nonrigid contact, a major problem is that the existing contact representation is restricted by the geometry of the object. Consequently, contact neighborhoods are stored in an unordered manner and contact features are difficult to align with image cues. At the core of our approach lies a novel hand-object contact representation called RUPs (Region Unwrapping Profiles), which unwrap the roughly estimated hand-object surfaces as multiple high-resolution 2D regional profiles. The region grouping strategy is consistent with the hand kinematic bone division because they are the primitive initiators for a composite contact pattern. Based on this representation, our Regional Unwrapping Transformer (RUFormer) learns the correlation priors across regions from monocular inputs and predicts corresponding contact and deformed transformations. Our experiments demonstrate that the proposed framework can robustly estimate the deformed degrees and deformed transformations, which makes it suitable for both nonrigid and rigid contact. © 2023, CC BY-NC-SA.

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A Secure Clock Synchronization Scheme for Wireless Sensor Networks Against Malicious Attacks

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Journal of systems Science & complexity 2021年第6期34卷 2125-2138页

作者： ZHANG Xuxin LIU Yanzhang ZHANG Ya School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096China China Electric Power Research Institute Nanjing 210003China

This paper studies the secure and accurate clock synchronization problem for sensor networks with time-varying delays and malicious attacks.A novel clock synchronization scheme based on the attack detection mechanism,attack compensation,and maximum consensus protocol is *** proposed scheme starts with the detection of the malicious attacks and the clock data under attacks is *** the basis,software clock parameters are updated so that all the nodes in the network can have the same software skew and offset,so the clock synchronization can be ***,it is theoretically proved that the proposed scheme can achieve the attack detection correctly,and further can guarantee a secure and accurate clock *** addition,extensive simulations are also conducted to validate the effectiveness of the proposed scheme.

关键词： Clock synchronization communication delays consensus malicious attacks wireless sensor networks

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4D Myocardium Reconstruction with Decoupled Motion and Shape Model

arXiv

引用

arXiv 2023年

作者： Yuan, Xiaohan Liu, Cong Wang, Yangang Southeast University China The Key Laboratory of Measurement Control of Complex Systems of Engineering Ministry of Education Nanjing China

Estimating the shape and motion state of the myocardium is essential in diagnosing cardiovascular diseases. However, cine magnetic resonance (CMR) imaging is dominated by 2D slices, whose large slice spacing challenges inter-slice shape reconstruction and motion acquisition. To address this problem, we propose a 4D reconstruction method that decouples motion and shape, which can predict the inter-/intra- shape and motion estimation from a given sparse point cloud sequence obtained from limited slices. Our framework comprises a neural motion model and an end-diastolic (ED) shape model. The implicit ED shape model can learn a continuous boundary and encourage the motion model to predict without the supervision of ground truth deformation, and the motion model enables canonical input of the shape model by deforming any point from any phase to the ED phase. Additionally, the constructed ED-space enables pre-training of the shape model, thereby guiding the motion model and addressing the issue of data scarcity. We propose the first 4D myocardial dataset as we know and verify our method on the proposed, public, and cross-modal datasets, showing superior reconstruction performance and enabling various clinical applications. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion estimation

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Interval Type-2 Fuzzy Hierarchical Adaptive Cruise Following-control for Intelligent Vehicles

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1658-1672页

作者： Hong Mo Yinghui Meng Fei-Yue Wang Dongrui Wu the College of Electric and Information Engineering Changsha University of Science and TechnologyChangsha 410114China the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Qingdao Academy of Intelligent Industries Qingda 266109 the Center of China Economic and Social Security University of Chinese Academy of SciencesBeijing 100190China the Ministry of Education Key Laboratory on Image Information Processing and Intelligent Control the School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

Intelligent vehicles can effectively improve traffic congestion and road traffic *** cruise followingcontrol(ACFC)is a vital part of intelligent *** this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of ***,a traditional variable time headway model is improved considering the acceleration of the lead ***,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating *** reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control ***,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)***,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different ***,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.

关键词： Adaptive cruise following-control(ACFC) feedforward+fuzzy proportion integration(PI)feedback(F+FPIF) type-2 fuzzy control variable time headway

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Design of a High Speed 360-degree Panoramic Video Acquisition System Based on FPGA and USB 3.0

引用

IEEE Sensors Journal 2023年 1-1页

作者： Lyu, Congyi Peng, Jianqing Zhou, Weiguo Yang, Shanshan Liu, Yunhui Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology Beijing China

This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) features. First, the system transfers the images captured by five CMOS sensors to the designed FPGA board through the FMC adapter plate. Then, the system employs the FPGA-based parallel computing to extract the SIFT features and detect the best matching region and points for image registration. Finally, in order to obtain the panoramic image with smooth changes at the junctions, images of the adjacent images are fused. Using the designed FPGA platform makes it possible to extract the SIFT and stitch the images in real-time, which is not realized in most panoramic imaging systems. The panoramic system, developed using the Xilinx Zynq®-7000 all programmable SOC, can capture video of 5*640*480 images at the speed of 60 fps. To enable high-speed image transfer from the imaging system to the host computer, the USB3.0 interface with the transmission speed of 359MB/s has been developed. The real-time efficiency of the parallel system will be demonstrated by the simulations and experiments. IEEE

关键词： Real time systems

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

引用

2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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Finite-time Robust Fault-tolerant Trajectory Tracking control for QUAVs with Actuator Fault 7

Finite-time Robust Fault-tolerant Trajectory Tracking Contro...

引用

7th International Conference on Robotics, control and Automation engineering, RCAE 2024

作者： Xia, Rongsheng Bu, Chunlei Jiang, Han Chery Automobile Stock Limited Company Wuhu241006 China Anhui University of Technology School of Electrical and Information Engineering Ma'Anshan243032 China Anhui University of Technology Key Laboratory of Multidisciplinary Management and Control of Complex Systems of Anhui Higher Education Institutes Ma'Anshan243002 China

ISBN: (纸本)9798350355642

This paper proposed a finite-time robust fault-tolerant trajectory tracking control strategy for quadrotor unmanned aerial vehicles (QUAVs) suffering from actuator saturation, unknown external disturbance and actuator fault. Firstly, robust compensation terms are used to handle unknown external disturbance in position subsystem. On this basis, parameter adaptive method is introduced to remove the adverse effects of actuator saturation in attitude subsystem. Then, a fault detection mechanism is designed to estimate the actuator fault in real time. Subsequently, a finite-time robust fault-tolerant tracking strategy based on backstepping framework are proposed and and the finite-time convergence of all error signals are ensurend. Finally, a numerical simulation result is displayed to validate the effectiveness of the proposed trajectory tracking control scheme for the QUAVs dynamic system. © 2024 IEEE.

关键词： Backstepping

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