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Interval analysis for neural networks with application to fault detection

science China(Information sciences) 2024年第11期67卷 222-237页

作者： Zhenhua WANG Youdao MA Song ZHU Thach Ngoc DINH Yi SHEN Department of Control Science and Engineering Harbin Institute of Technology National Key Laboratory of Complex System Control and Intelligent Agent Cooperation School of Mathematics China University of Mining and Technology The CEDRIC-Lab Conservatoire National des Arts et Métiers (CNAM)

This paper investigates an interval analysis method for neural networks and applies it to fault detection for systems with unknown but bounded measurement noise. First, a novel interval analysis method is presented, which can compute the bounds of the output of a feedforward neural network subject to a bounded input. By applying the proposed interval analysis method to a network trained with fault-free system data, adaptive thresholds for fault detection are computed. Finally, one can acquire fault detection results via a fault detection strategy. The proposed method can achieve tight bounds of the network output and employ simple operations, which leads to accurate fault detection results and a low computational burden.A numerical simulation and an experiment on an AC servo motor are given to illustrate the effectiveness and superiority of the proposed method.

关键词： interval analysis feedforward neural network fault detection adaptive thresholds

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Many-to-many GEO on-orbit refueling mission optimization under time-varying fuel demands via modified differential evolution 74

Many-to-many GEO on-orbit refueling mission optimization und...

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74th International Astronautical Congress, IAC 2023

作者： Li, Chuanjiang Han, Peng Zhang, Haibo Guo, Yanning Harbin Institute of Technology China Beijing Institute of Control Engineering National Key Laboratory of Science and Technology on Space Intelligent Control China

As a kind of on-orbit servicing technology, on-orbit refueling (OOR) has essential significance in prolonging the lifetime of satellites and decreasing the generation of space debris, especially for the expensive satellites located in geosynchronous orbit (GEO). Recently, several one-to-one mode-based OOR missions have been successfully conducted in space. To further reduce the economic cost, the mode of using several refuel satellites (RS) to refuel some dozens of client satellites (CS) in one mission has been proposed, that is, the many-to-many OOR mode. To maximize the efficiency of this mode, the mission optimization problem that determines the refueling sequence and time should be further investigated. The mission optimization is usually carried out before the OOR mission starts, and the fuel demand of CS is obtained in advance. However, the OOR mission for multiple GEO CSs usually takes a long time, and some temporarily unrefueled CSs may perform orbit maintenance by consuming the remaining fuel, leading to a time-varying fuel demand change. In this case, performing the initial mission optimization results may lead to efficiency reduction or even mission failure. To address this problem, in this paper, a many-to-many mode-based OOR mission optimization model is established considering the time-varying fuel demands, and a differential evolution (DE) based algorithm is designed to solve the problem. Firstly, a remaining fuel varying law is obtained according to the periodic orbit maintenance strategy of GEO CSs. Based on that, the mission profit model is further established. Then, by additionally considering several constraints like RS fuel capacity, mission duration, and orbital maneuver duration, the mission optimization model is established. Next, by taking the refueling sequence, the instant of refueling begins as the design variable, and a modified DE is designed to solve the problem. Unlike existing DE, a greedy-search-based mechanism generates high-qualit

关键词： differential evolution geosynchronous orbit on-orbit refueling time-varying fuel demands

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Short-Term Residential Load Forecasting via Pooling-Ensemble Model with Smoothing Clustering

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第7期5卷 3690-3702页

作者： Xiao, Jiang-Wen Fang, Hongliang Wang, Yan-Wu Huazhong University of Science and Technology Ministry of Education School of Artificial Intelligence and Automation The Key Laboratory of Image Processing and Intelligent Control Wuhan430074 China

Short-term residential load forecasting is essential to demand side response. However, the frequent spikes in the load and the volatile daily load patterns make it difficult to accurately forecast the load. To deal with these problems, this article proposes a smoothing clustering method for daily load clustering and a pooling-ensemble model for one day ahead load forecasting. The whole short-term load forecasting framework in this article contains three steps. Specifically and first, the states of the residents are obtained by clustering the daily load curves with the proposed smoothing clustering method. Second, a weighted mixed Markov model is built to predict the probability distribution of the load state in the next day. Third, multiple predictors in the pooling-ensemble model are selected for different states and the load is forecasted by weighing the results of the multiple predictors based on the predicted states. Results of the case studies and comparison studies on two public datasets verify the advantages of the smoothing clustering method and the pooling-ensemble model. © 2020 IEEE.

关键词： Probability distributions

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Accuracy Evaluation of Marginalized Unscented Kalman Filter

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space(science & technology) 2023年第1期3卷 597-605页

作者： Han Yan Hanyu Liu Xiucong Sun Ming Xu National Key Laboratory of Space Intelligent Control Beijing Institute of Control EngineeringBeijingChina Beijing Sun Wise Space Technology Ltd BeijingChina Beihang University BeijingChina

Compared with a conventional unscented Kalman filter(UKF),the recently proposed marginalized unscented Kalman filter(MUKF)uses a partially sampling strategy to achieve similar filter accuracy with fewer sigma points,demonstrating its powerful ability to deal with state estimation with mixed linearity and ***,the hypothesis that the accuracy of MUKF is equivalent to that of UKF is not true for all *** this paper,it is proved that when the state equation is expressed as a differential equation,the accuracy of MUKF is equivalent to that of UKF only when the propagations of the states to be sampled and the states not to be sampled in MUKF are independent of each *** above condition corresponds to a common problem in engineering,which is a system with measurement *** theoretical proof and numerical simulation,it is verified in this paper that for the systems with measurement biases,the differences of the computed means and covariances in filtering recursions between MUKF and UKF are restricted to the same order infinitesimal as the square of the scaling *** sum up,this paper evaluates the accuracy of MUKF,providing references for engineers to choose MUKF or UKF in different systems.

关键词： filtering equation scaling

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A Memristive Spiking Neural Network Circuit for Bio-Inspired Navigation Based on Spatial Cognitive Mechanisms

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IEEE Transactions on Biomedical Circuits and Systems 2025年第3期19卷 686-698页

作者： Chen, Zhanfei Wang, Xiaoping Wang, Zilu Yang, Chao Huang, Tingwen Lai, Jingang Zeng, Zhigang School of Mechanical Engineering and Automation Shenzhen518055 China Huazhong University of Science and Technology The Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Hubei Key Laboratory of Brain-Inspired Intelligent Systems School of Artificial Intelligence and Automation Wuhan430074 China Guangxi University of Science and Technology School of Computer Science and Technology Liuzhou545006 China Shenzhen University of Advanced Technology School of Computer Science and Control Engineering Shenzhen518055 China

Cognitive navigation, a high-level and crucial function for organisms' survival in nature, enables autonomous exploration and navigation within the environment. However, most existing works for bio-inspired navigation are implemented with non-neuromorphic computing. This work proposes a bio-inspired memristive spiking neural network (SNN) circuit for goal-oriented navigation, capable of online decision-making through reward-based learning. The circuit comprises three primary modules. The place cell module encodes the agent's spatial position in real-time through Poisson spiking;the action cell module determines the direction of subsequent movement;and the reward-based learning module provides a bio-inspired learning method adaptive to delayed and sparse rewards. To facilitate practical application, the entire SNN is quantized and deployed on a real memristive hardware platform, achieving about a 21 × reduction in energy consumption compared to a typical digital acceleration system in the forward computing phase. This work offers an implementation idea of neuromorphic solution for robotic navigation application in low-power scenarios. © 2007-2012 IEEE.

关键词： intelligent robots

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Analysis of Transceiver RF Impairments on Artificial Noise Suppression in Frequency-Hopping Systems

IEEE Transactions on Sustainable Computing

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IEEE Transactions on Sustainable Computing 2024年第3期10卷 475-490页

作者： Song, Changqing Zhao, Hongzhi Yu, Yong Li, Zhuo Shao, Shihai University of Electronic Science and Technology of China National Key Laboratory of Wireless Communications Chengdu611731 China Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing100089 China Yangzhou Marine Electronic Instrument Institute Yangzhou225101 China

The artificial noise shielded frequency-hopping (ANFH) architecture can secure wireless communications against interference and eavesdropping. However, the AN suppression performance is highly sensitive to the radio frequency (RF) impairments, and the transceiver in-phase and quadrature (IQ) imbalances and phase noise in FH systems are more severe for the wide FH bandwidth. In this study, the AN-FH transceivers under RF impairments are mathematically modeled. Subsequently, distortions for transceiver phase noise are represented by the common phase error, distortions for transceiver IQ imbalances are represented by the mirror image component, and closed-form expressions for their respective power are derived and compared with the thermal noise power. Finally, the AN suppression capability is evaluated via the AN suppression ratio (ANSR), defined as the ratio of the AN-plus-noise power before and after suppression. It is found that when only phase noise exists, shortening the channel compensation cycle can enhance ANSR and reduce ANSR degradation;when the distortions' power is smaller than the thermal noise power, it is also recommended to enhance the transmitting power and the power ratio of AN to information signals. When only IQ imbalances exist, increasing the power ratio of AN to information signals is suggested;when the distortions' power is smaller than the thermal noise power, enhancing the transmitting power is also suggested © 2016 IEEE.

关键词： Phase noise

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Novel Sparse Codebook Design for MIMO-SCMA

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IEEE Transactions on Vehicular technology 2025年第5期74卷 8407-8412页

作者： Lei, Tuofeng Luo, Qu Ni, Shuyan Chen, Shimiao Yu, Lisu Xiao, Pei Space Engineering University Key Laboratory of Intelligent Space TTC&O Ministry of Education Beijing101416 China University of Electronic Science and Technology of China National Key Laboratory of Science and Technology on Communications Chengdu610054 China Nanchang University School of Information Engineering Nanchang330031 China Xidian University State Key Laboratory of ISN Xi'an710071 China

The combination of multiple-input multiple-output (MIMO) and sparse code multiple access (SCMA), referred to as MIMO-SCMA, can be leveraged to achieve high spectrum efficiency and provide massive connectivity for future machine-type communication networks. This paper aims to design enhanced sparse codebooks for MIMO-SCMA by jointly combining frequency and spatial diversity over Rayleigh fading channels. First, based on the pairwise error probability (PEP), novel codebook design criteria have been presented, namely the hybrid minimum product distance of the Euclidean distance (MPD-ED) and the minimum Euclidean distance of the superimposed constellation at each frequency element (MED-FE). Then, enhanced mother constellations (MC) are proposed by maximizing the MPD-ED of the MC based on the alternating optimization. Subsequently, the multi-dimensional codebooks are obtained by applying user-specific rotation of the proposed MC to maximize the MED-FE, where the unitary rotations are considered to fully leverage the Euclidean space of the transmit antennas while maintaining the MPD-ED value of the codebook. Finally, numerical results demonstrate that the proposed approach significantly outperforms the state-of-the-art codebooks. © 1967-2012 IEEE.

关键词： Fading channels

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A zeroth-order algorithm for distributed optimization with stochastic stripe observations

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science China(Information sciences) 2023年第9期66卷 297-298页

作者： Yinghui WANG Xianlin ZENG Wenxiao ZHAO Yiguang HONG School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Department of Control Science and Engineering Tongji University

Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed algorithms have been developed for tackling distributed optimization problems. In these algorithms, agents over the network only have access to their own local functions and exchange information with their neighbors.

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Learning Agile Quadrotor Flight in Restricted Environments with Safety Guarantees

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年第9期9卷 1-8页

作者： Chen, Shiyu Li, Yanjie Lou, Yunjiang Lin, Ke Wu, Xinyu Department of Control Science and Engineering Harbin Institute of Technology Shenzhen and Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

With the increasing requirement for agile and efficient controllers in safety-critical scenarios, controllers that exhibit both agility and safety are attracting attention, especially in the aerial robotics domain. This paper focuses on the safety issue of Reinforcement Learning (RL)-based control for agile quadrotor flight in restricted environments. To this end, we propose a unified Adaptive Safety Predictive Corrector (ASPC) to certify each output action of the RL-based controller in real-time, ensuring its safety while maintaining agility. Specifically, we develop the ASPC as a finite-horizon optimal control problem, formulated by a variant of Model Predictive control (MPC). Given the safety constraints determined by the restricted environment, the objective of minimizing loss of agility can be optimized by reducing the difference between the actions of RL and ASPC. As the safety constraints are decoupled from the RL-based control policy, the ASPC is plug-and-play and can be incorporated into any potentially unsafe controllers. Furthermore, an online adaptive regulator is presented to adjust the safety bounds of the state constraints with respect to the environment changes, extending the proposed ASPC to different restricted environments. Finally, simulations and real-world experiments are demonstrated in various restricted environments to validate the effectiveness of the proposed ASPC. IEEE

关键词： Reinforcement learning

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Path Planning and Composite Attitude control for a Satellite with 2-DOF Large-Inertia Turntable 1

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3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Yin, Junxiong Zhu, He Zhang, Hongxing Zhao, Teng Zhou, Wei Shanghai Key Laboratory of Space Intelligent Control Technology Shanghai201109 China Shanghai Aerospace Control Technology Institute Shanghai201109 China

ISBN: (数字)9789819711079

ISBN: (纸本)9789819711062

Aiming at the great disturbance to the satellite attitude caused by the rotation of the two-degree-of-freedom (2-DOF) large-inertia turntable, based on the trajectory planning of the turntable scanning motion and the coupling dynamic modeling of the turntable and the satellite, a feedforward and feedback composite controller is designed. Using Archimedes spiral to plan the trajectory of the sub-satellite point that the turntable load points to can make the turntable’s rotation angle and speed change smoothly, so as to reduce the disturbance of the turntable motion to the satellite attitude, and improve the time uniformity of the load field of view to cover the ground target. According to the accurate dynamic model of the 2-DOF turntable, the disturbance torque caused by the turntable to the satellite is calculated as the feed-forward control torque in real time. The feedback control torque is calculated according to the satellite attitude deviation and angular velocity deviation. The simulation results verify the effectiveness of the composite controller, which effectively reduces the adverse impact of turntable motion, and the high-precision and high-stability attitude control is achieved. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Attitude control

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