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42nd Chinese control Conference, CCC 2023

作者： Huang, Zhihui Tang, Yifeng Tang, Chuancong Xu, Yifan Luo, Chuanshang Liu, Bin Zhang, Hai-Tao School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9789887581543

Deep perception of the unmanned surface vehicle's surroundings is an inaccessible part of its fully autonomous navigation mission. The existing methods, whether based on traditional stereo matching or deep learning, do not fully consider the characteristics of water environment, resulting in severe error depths in weak textures (sky, calm lake) and water reflections regions, that increases the risk of running aground or collision. What is worse that there is not a public dataset for depth estimation in the water environment. Therefore, this work proposes a self-supervised model for depth estimation named Water Depth Perception Network (WDNet) to address these problems. The decoder of this network has a wider receptive field and can effectively handle the depth error in the weak texture region. Besides, the WDNet is trained with a novel and effective loss function which assist the network to reduce errors in sky and water region, and some indexes are proposed to evaluate the model's performances in sky and water region. Finally, our proposed WDNet achieves a 0.1056 absolute relative error in ranging, the average number of error pixels in the sky area drops from 15803.87 to 580.91, which only accounted for 0.29% of the image, and the error in water region drops from 51.04 to 6.75, all of them are superior to the performance of baseline model. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Errors

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Asymptotic sampling behavior for a class of nonlinear robot systems in multirate case

Asymptotic sampling behavior for a class of nonlinear robot ...

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2024 China Automation Congress, CAC 2024

作者： Zeng, Cheng Chi, Nan School of Science GuiZhou Institute of Technology Guizhou GuiYang550000 China Special Key Laboratory of Artifificial Intelligence and Intelligent Control of Guizhou Province GuiYang Guizhou550000 China

ISBN: (纸本)9798350368604

The manuscript aims the stability of the two degree of freedom robot systems based on the corresponding discrete-time plant, which can generate from the sampling in the case of a new multirate input and hold. Furthermore, the asymptotic expression and stable conditions of discretization robot model and corresponding sampling zero dynamics are also desired. Moreover, the control strategy of the corresponding robot plant is acquired by using the sampling zero dynamic stable approach. © 2024 IEEE.

关键词： Microrobots

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Application Analysis and Development Recommendations for the Generative Adversarial Networks in Enhancing Automobile Data Security 5

Application Analysis and Development Recommendations for the...

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5th International Conference on Computer Engineering and intelligent control, ICCEIC 2024

作者： Ji, Haojie Yao, Yuchi Chen, Yupeng He, Peng Wang, Jingyan Wang, Jiangyue Tian, Liangliang State Key Laboratory of Intelligent Vehicle Safety Technology Chongqing China Ministry of Education Beijing Information Science & Technology University Key Laboratory of Modern Measurement & Control Technology Beijing China China Automotive Engineering Research Institute Co. Ltd Chongqing China

ISBN: (纸本)9798331507992

The security of data generated by vehicles during operation is critically important, especially as the number of intelligent and connected vehicle users continues to rise, leading to the rapid increase of automobile communication data. In response, researchers have employed GAN s to address data security challenges within this domain, achieving significant outcomes. This paper primarily focuses on personal information identification, data desensitization, and secure transmission of data within the framework of automobile data security. The latest research on GAN s is reviewed and analyzed to assess the feasibility, strengths, and limitations for automotive data security, and the insights into future development recommendations are also provided in this domain. © 2024 IEEE.

关键词： Generative adversarial networks

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An Assist-as-Needed Variable Admittance controller for Adaptive Support of Mobile Walking Assistive Robots 30

An Assist-as-Needed Variable Admittance Controller for Adapt...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Chen, Xinxing Zheng, Yue Su, Zongming Leng, Yuquan Huang, Jian Fu, Chenglong Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Huawei Technologies Technology Planning Department Shenzhen China Key Laboratory for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798350391916

Mobile walking assistive robots have been widely used for monitoring patients' gait patterns and providing support to prevent falls. Traditional approaches often separate the operational modes of these robots into human-following and supporting modes, which can lead to discontinuities in assistance and potentially compromise safety. This paper proposes a novel assist-as-needed control strategy that incorporates a Balance Index (BI) to dynamically adjust the robot's support based on the user's balance capability. The BI is calculated using the interaction force between the user and the robot along the z-axis and the gait symmetry index (GSI). The proposed variable admittance controller modifies its parameters based on the BI, ensuring seamless transitions between compliance and support modes. Experimental validation was conducted with a healthy subject walking both with and without a knee fixation brace. The results demonstrate that the robot provides minimal interference during natural gait and increased support during impaired gait, validating the effectiveness of the proposed control strategy in enhancing user safety and promoting natural walking patterns. © 2024 IEEE.

关键词： Assistive technology

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Scattering Characteristics-guided Self-supervised Learning for Target Classification in SAR Images 24

Scattering Characteristics-guided Self-supervised Learning f...

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7th International Conference on Image and Graphics Processing, ICIGP 2024

作者： Zhong, Honghu Li, Jianhao Shi, Hao Fang, Zhonghao Chen, Liang Institute of Radar Technology Beijing Institute of Technology Beijing China National Key Laboratory of Science and Technology on Space-Born Intelligent Information Processing China Innovation Center of Beijing Institute of Technology Chongqing Chongqing401120 China

ISBN: (纸本)9798400716720

With the advancement of science and technology, the spatial resolution of spaceborne Synthetic Aperture Radar (SAR) images has achieved sub-meter precision, enabling the classification and identification of targets. Notably, the rapid and accurate classification of aircraft targets using SAR images has become a significant application requirement. Nevertheless, challenges persist in the classification of targets within aircraft remote sensing images. This paper introduces a novel method aimed at enhancing the scattering characteristics in SAR images to address issues associated with discrete imaging pixels, strong scattering characteristics, and the consequent difficulty in distinguishing aircraft features. The proposed method systematically correlates the discrete SAR image scattering characteristics, thereby facilitating the extraction of characteristic information pertaining to the edge contours of aircraft targets. Recognizing the limitations of traditional supervised classification methods, which often demand substantial manually labeled information, this study integrates self-supervised contrastive learning to mitigate labeling costs. Additionally, acknowledging the imbalanced distribution of samples across different categories and the prevalent "long tail"effect, a weighted loss function is introduced to rectify the imbalance and enhance the network's focus on the learning of underrepresented samples. The efficacy of the proposed method is evaluated using a self-established dataset. The results demonstrate a 1.48% increase in accuracy compared to the original self-supervised method, indicating an improvement in the classification performance for categories characterized by an imbalanced sample distribution. © 2024 ACM.

关键词： Image classification

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Acute Effects of Exposure to Fine Particulate Matter and Its Constituents on Sex Hormone Among Postmenopausal Women — Beijing, Tianjin, and Hebei PLADs, China, 2018–2019

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China CDC weekly 2024年第13期6卷 249-253,I0001-I0004页

作者： Yanlin Tian Jiaonan Wang Jianlong Fang Chen Chen Feng Zhao Yi Zhang Peng Du Yawei Li Wanying Shi Yuanyuan Liu Enmin Ding Song Tang Xu Yue Xiaoming Shi Chinese Research Academy of Environmental Sciences BeijingChina Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control(AEMPC)Nanjing University of Information Science&TechnologyNanjing CityJiangsu ProvinceChina China CDC Key Laboratory of Environment and Population Health National Institute of Environmental HealthChinese Center for Disease Control and PreventionBeijingChina Department of Epidemiology and Health Statistics School of Public HealthCapital Medical Universityand Beijing Municipal Key Laboratory of Clinical EpidemiologyBeijingChina National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases National Institute of Environmental HealthChinese Center for Disease Control and PreventionBeijingChina

What is already known on this topic?Exposure to fine particulate matter(PM_(2.5))was linked to endocrine hormone disruption in the reproductive ***,it was unclear which specific components of PM_(2.5) were primarily responsible for these *** is added by this report?The study presented the initial epidemiological evidence that brief exposure to PM_(2.5) can elevate estradiol levels in postmenopausal *** particle components had unique effects,with watersoluble ions and specific inorganic elements like Ag,As,Cd,Hg,Ni,Sb,Se,Sn,and Tl potentially playing significant roles in increasing estradiol *** are the implications for public health practice?The study established that the prevalence of air pollution,along with its specific components,has been recognized as a novel risk factor affecting the balance of sex hormones.

关键词： pollution Particulate primarily

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Generation Maintenance Scheduling for Power Systems Considering the Risk Quantification of Hybrid Uncertainty

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IEEE Transactions on Power Systems 2025年第4期40卷 3499-3512页

作者： Yang, Xiao Zhao, Yong Li, Yuanzheng Huang, Cheng Ding, Qiang Key Laboratory of Image Information Processing and Intelligent Control of Ministry of Education of China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Wuhan430074 China Power Science Research Institute of State Grid Jiangsu Electric Power Company China China Electric Power Research Institute Company China

The accurate quantification of risk caused by uncertainty forms a crucial foundation for formulating the generation maintenance scheduling (GMS) of power systems. However, the probability distribution functions (PDFs) of uncertain variables such as wind power and load are challenging to model accurately or are unknown, which makes it difficult to measure their economic risk and formulate appropriate GMS for power systems. To address this issue, we consider hybrid uncertainty from wind power and load, and propose a novel interval-probabilistic worst conditional value-at-risk (IP-WCVaR)-based generation maintenance scheduling method. Firstly, a novel IP-WCVaR method is proposed to measure the risk of the interval and probabilistic hybrid uncertainty, and the analytical mathematical model of the IP-WCVaR is derived through typical scenarios of probability correction. On this basis, the positive and negative spinning reserve models are established using the IP-WCVaR and then integrated into the GMS model, which enhances the resilience of the power system. Finally, the new risk-averse GMS model is formulated as the lower and upper boundary optimal models, which are transformed into tractable mixed integer linear programming problems based on the interval extreme value theory. The effectiveness and superiority of the proposed IP-WCVaR method are verified on the modified IEEE 24-bus and IEEE 118-bus power systems. © 1969-2012 IEEE.

关键词： Mixed-integer linear programming

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A Production Plan and Error Feedback DBN-DNN based prediction method for LDG Generation in steel industry 41

A Production Plan and Error Feedback DBN-DNN based predictio...

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第41届中国控制会议

作者： Xu Han Feng Jin Jun Zhao Wei Wang Key Laboratory of Intelligent Control and Optimization for Industrial Equipment (Dalian University of Technology) Ministry of Education School of Control Science and Engineering Dalian University of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Linz Donawiz converter Gas(LDG) is a kind of important secondary energy source in iron and steel *** prediction of LDG generation may provide guidance for scheduling *** this paper,a two-stage method for predicting LDG generation is *** to the characteristics of LDG generation data,an improved k-means clustering integrating dynamic time warping is proposed to divide the time series data into typical characteristic ***,an error feedback deep belief network(EF-DBN-DNN) model is established to predict the starting time of LDG generation by considering the relationship between production plan and the actual performance,Actual data of LDG system in an iron and steel enterprise are employed to verify the effectiveness of the proposed method,and the results show that the prediction accuracy of the proposed one is suitable for practical application.

关键词： LDG generation production plan improved k-means clustering error feedback DBN-DNN

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Research on adaptive and differentiated control method of drive controller in Wentian and Mengtian experimental cabin of space station

Research on adaptive and differentiated control method of dr...

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2022 Chinese Automation Congress, CAC 2022

作者： Meng, Qichen Shen, Yiwei Liang, Juping Xiang, Kun Zhang, Guozhu Shanghai Institute of Aerospace Control Technology Shanghai201109 China Shanghai Key Laboratory of Space Intelligent Control Technology Shanghai201109 China

ISBN: (纸本)9781665465335

Focused on the key single machine of the Alpha sun orientation subsystem in the power sub-system of the Wentian and Mengtian experimental cabin of the space station - the in-cabin and extra-vehicle drive controller which needed to autonomously complete the cabin segment (Wentian, Mengtian) and cabin space (inside and outside the cabin) identification and independently fulfill the needs of the differentiated control of flexible sailboards in the Wentian and Mengtian experimental cabins by receiving the commands of the space station digital management sub-system and the GNC sub-system according to the requirements of the space station's energy assurance tasks, this paper proposed an in-cabin and extra-cabin drive controller autonomous identification and differentiated control method. At the same time, combined with the different working modes inside and outside the cabin, the drive controller executed the information collection and processing of other functional components in the Alpha sun orientation subsystem, and completed the closed-loop control and fault detection processing of the Alpha sun orientation device, and sent the different processing information to the GNC sub-system and digital tube sub-system. As a key single machine of the power supply subsystem which was a key sub-system of China's space station, an important national project, the in-cabin and out-cabin drive controller was very important to ensure the energy security of the entire space station. © 2022 IEEE.

关键词： controllers

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Recent advances in precision measurement & pointing control of spacecraft

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Chinese Journal of Aeronautics 2021年第10期34卷 191-209页

作者： Lin LI Li YUAN Li WANG Ran ZHENG Yanpeng WU Xiaoyan WANG Space Optoelectronic Measurement and Perception Lab. Beijing Institute of Control EngineeringBeijing 100190China Science and Technology on Space Intelligent Control Laboratory Beijing 100094China China Academy of Space Technology Beijing 100094China

There exists an increasing need for precision measurement&pointing control and extreme motion stability for current and future space systems,e.g.,Ultra-Performance spacecraft(UPS).Some notable technologies of realizing Ultra-Pointing(UP)ability have been developed particularly for Ultra-accuracy Ultra-stability Ultra-agility(3 U)spacecraft over recent ***,Multilevel Compound Pointing control Techniques(MCPCTs)are deployed in aerospace engineering,especially in astronomical observation satellites and Earth observation *** controllers and/or algorithms,which are a key factor of MCPCTs for 3 U spacecraft,especially the jitter phenomena that commonly exist in a UPS Pointing control System(PCS),have also been effectively used in some UP spacecraft for a number of ***-vibration suppression approaches,however,are often proposed to deal with low-level mechanical vibration or disturbance in the microgravity environment that is common for *** latter approach potentially is one of the most practical UP techniques for 3 U *** emerging advanced Disturbance-Free Payload(DFP)satellites that exploit the benefits of non-contact actuators have also been reported in the *** represents an interesting and highly promising approach for solving some challenging problems in the *** paper serves as a state-of-the-art review of UP technologies and/or methods which have been developed,mainly over the last decade,specifically for or potentially could be used for 3 U spacecraft pointing *** problems discussed in this paper are of reference significance to UPS and millisecond optical sensors,which are involved in Gaofeng Project,deep space exploration,manned space flight,and gravitational wave detection.

关键词： Disturbance-free payload Micro-vibration suppression Modern controllers or algorithms Pointingcontrol system Ultra-performance spacecraft

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