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2nd International Conference of Mechanical system Dynamics, ICMSD 2023

作者： Lu, Hanjing Ma, Ziyao College of Engineering Peking University Beijing China Institute of Launch Dynamics Nanjing University of Science and Technology Nanjing China National Key Laboratory of Complex Multibody System Dynamics Nanjing China

ISBN: (纸本)9789819980475

In this study, we have devised an innovative strategy for active vibration control in plates by harnessing modal space control techniques. Our methodology encompasses the creation of a dynamic model to capture the plate's vibrational dynamics and subsequent simulation of its behavior. Building upon this, we have established a streamlined state-space representation, thereby simplifying the integration of control methodologies. To further optimize the control system's performance, we have meticulously optimized the placement of actuators and sensors. The culmination of our efforts is reflected in compelling numerical findings, underscoring the efficacy of our proposed active vibration control system. Notably, our system exhibits a remarkable ability to effectively curtail vibration displacement in the plate, reinforcing its potential impact in practical applications. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Vibration control

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An Effective Method for Constructing Knowledge Graph to Search Reusable ROS Nodes 35

An Effective Method for Constructing Knowledge Graph to Sear...

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35th International Conference on software engineering and Knowledge engineering, SEKE 2023

作者： Zhao, Yuxin Mao, Xinjun Bo, Sun Zhang, Tanghaoran Yang, Shuo College of Computer National University of Defense Technology Changsha China Key Laboratory of Software Engineering for Complex Systems National University of Defense Technology Changsha China

Developing robot software is difficult for most software engineers as it requires multi-discipline knowledge such as robotics, AI, and software engineering. Robot Operating systems (ROS) provides a software development framework and lots of reusable ROS Nodes that encapsulate various robotics functions, which can simplify robot software development in terms of software reuse. However, searching and reusing required ROS Nodes from thousands of ROS Nodes is still challenging due to the scattered distribution of ROS Node information and the need for adequate search methods. In this paper, we present an effective method to construct a ROS Node knowledge graph in support of searching and reusing ROS Nodes. Our method uses multiple data sources, including open-source ROS software in Github and ROS wiki community. We extract two-tuple functional information and task-related noun phrases from the ROS Node description and ROS communication interactions from the ROS Node source code. The constructed ROS Node knowledge graph (RNKG) contains 14,065 entities and 15,767 relations. It provides rich semantic information to comprehensively and precisely describe ROS Nodes, their services, and related interaction topics and messages. © 2023 Knowledge systems Institute Graduate School. All rights reserved.

关键词： Knowledge graph

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Bearing fault signal detection based on whale algorithm to optimize stochastic resonance parameters 34

Bearing fault signal detection based on whale algorithm to o...

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第34届中国控制与决策会议

作者： Huang Weichao Zhang Ganggang Faculty of automation and Information Engineering Xi'an University of Technology Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing

ISBN: (纸本)9781665478977

Aiming at the problem that the traditional stochastic resonance system cannot adaptively adjust the structural parameters in the bearing fault signal detection,this paper proposes a parameter adaptive stochastic resonance bearing fault signal detection method based on the whale optimization *** method is based on the bistable stochastic resonance system model,and the structural parameters of the bistable stochastic resonance are optimized through the adaptive whale algorithm,so that the fault signal is enhanced,and the bearing fault signal detection is *** method was verified by actual bearing fault signals,and a series of comparative experiments were carried *** results show that the method in this paper has a simple model,few algorithm parameters,fast convergence speed,and a large output signal-to-noise ratio of the stochastic resonance system,which can accurately and efficiently detect bearing fault signals.

关键词： Stochastic Resonance Whale Optimization Algorithm Bearing Failure Signal

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Anti-Jamming Null Space Projection Beamforming Based on Symbiotic Radio

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Computer Modeling in engineering & Sciences 2024年第1期138卷 679-689页

作者： Baofeng Ji Yifan Liu Tingpeng Li Ling Xing Weixing Wang Shahid Mumtaz Xiaolong Shang Wanying Liu Congzheng Han State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System(CEMEE) Luoyang471000China Research and Innovation Center of Intelligent System Longmen LaboratoryLuoyang471000China College of Information Engineering Henan University of Science and TechnologyLuoyang471000China Institute of Atmospheric Physics Chinese Academy of Sciences(LAGEO)Beijing100000China Instituto de Telecomunicaes Aveiro3800-005Portugal Chinese Academy of Agricultural Mechanization Sciences Beijing100000China

With the development of information technology,more and more devices are connected to the Internet through wireless communication to complete data *** to the broadcast characteristics ofwireless channels,wireless networks have suffered more and more malicious *** layer security has received extensive attention from industry and *** is considered to be one of the most important technologies related to physical layer *** beamforming technology,messages can be transmitted to legitimate users in an offset direction that is as orthogonal as possible to the interference channel to ensure the reception SINR by legitimate *** the symbiotic radio(SR)technology,this paper considers a symbiotic radio antijamming MIMO system equipped with a multi-antenna system at the main base *** order to avoid the interference signal and improve the SINR of the signal received by the *** base station is equipped with a uniform rectangular antenna array,and using Null Space Projection(NSP)Beamforming,Intelligent Reflecting Surface(IRS)can assist in changing the beam’s *** simulation results show that NSP Beamforming could make a better use of the null space of interference,which can effectively improve the received SINR of users under directional interference,and improve the utilization efficiency of signal energy.

关键词： Symbiotic radio anti-jamming MIMO NSP Beamforming physical layer security

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High-Precision Sub-Seafloor Velocity Building Based on Joint Tomography and Deep Learning on OBS Data in the South China Sea

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Journal of Earth Science 2025年第2期36卷 830-834页

作者： Guoxin Chen Jun Li Jinxin Chen Rongsen Du Yutao Liu Yuli Qi Chun-Feng Li Xingguo Huang Department of Marine Sciences Zhejiang UniversityZhoushan 316021China Hainan Institute Zhejiang UniversitySanya 572025China Chinese Academy of Sciences Institute of SoftwareNational Key Laboratory of Space Integrated Information SystemBeijing 100190China College of Instrumentation and Electrical Engineering Jilin UniversityChangchun 130026China

*** velocity model is crucial for describing the subsurface composition and structure,and has significant implications in offshore oil and gas exploration and marine geophysical engineering(Xie et al.,2024).Currently,travel time tomography is the most commonly used method for velocity modeling based on ocean bottom seismometer(OBS)data(Zhang et al.,2023;Sambolian et al.,2021).This method usually assumes that the sub-seafloor structure is layered,and therefore faces challenges in high-precision modeling with strong lateral discontinuities.

关键词： velocity modeling time tomography marine geophysical engineering xie joint tomography describing subsurface composition structureand high precision velocity modeling offshore oil gas exploration ocean bottom seismometer obs data zhang

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A Survey of Underwater Multi-Robot systems

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 1-18页

作者： Ziye Zhou Jincun Liu Junzhi Yu State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and RoboticsBeijing Innovation Center for Engineering Science and Advanced TechnologyCollege of EngineeringPeking UniversityBeijing 100871China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China

As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent *** this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new *** specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their ***,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of *** conclude,we have discussed related promising directions for future *** survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.

关键词： Cooperation formation control multi-robot systems(MRS) taxonomy underwater robots underwater tasks

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FedWNS: Data Distribution-Wise Node Selection in Federated Learning via Reinforcement Learning 26

FedWNS: Data Distribution-Wise Node Selection in Federated L...

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26th International Conference on Computer Supported Cooperative Work in Design, CSCWD 2023

作者： Tu, Chengwu Zhao, Shengjie Deng, Hao Tongji University School of Software Engineering Shanghai201800 China Key Laboratory of Embedded System and Service Computing Shanghai201800 China Engineering Research Center of Key Software Technologies for Smart City Perception and Planning Ministry of Education Shanghai201800 China

ISBN: (纸本)9798350331684

To deal with the discrepancy between global and local objectives in the federated learning invoked by the non-independent, identically distributed (non-IID) data and mitigate the impact of catastrophic forgetting in the training phase, we propose a federated learning framework with data distribution-wise reinforcement learning to perform node selection to accelerate the convergence process and alleviate the accuracy degradation. In this framework, the agent on the central server observes the number of samples every node owns, the derived distribution information of every dataset, and the current local and global accuracy. Then infer the selected node-set to participate in the current federated learning round through policy network in reinforcement learning. Finally, we conduct simulations with publicly data sets. Simulation results indicate that our FedWNS outperforms the existing FedAvg and CSFedAvg on the testing accuracy and the communication rounds to reach target accuracy under different settings. © 2023 IEEE.

关键词： Reinforcement learning

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Underwater SLAM Implementation for a Bionic Robotic Dolphin

Underwater SLAM Implementation for a Bionic Robotic Dolphin

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

作者： Ma, Shaoxuan Wang, Jian Yan, Shuaizheng Wu, Zhengxing Yu, Junzhi Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Peking University State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering Science BIC-ESAT College of Engineering China

ISBN: (纸本)9798350327182

This paper aims to implement a simultaneous localization and mapping (SLAM) algorithm for a bionic robotic dolphin in underwater simulation environment. Through combining UWSim with ROS, an underwater simulation environment is constructed through importing various environmental models including coral, tropical fish, gullies, and so on. Thereafter, as an autonomous platform for underwater SLAM, a bionic robotic dolphin with its dynamic model is particularly built in the environment to perform dolphin-like swimming. Based on the sensor information from an onboard camera and an inertial measurement unit, the VINS-Mono algorithm is employed and implemented by the robotic dolphin to position itself underwater. Extensive simulations are conducted to validate the effectiveness of the employed SLAM algorithm in various dolphin-like motions of the robotic dolphin, such as linear, circular, and spiral motions. The obtained results provide valuable guidance for the underwater SLAM research. © 2023 IEEE.

关键词： Robotics

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Method for Evaluating the Performance of Aircraft Collaborative Decision-Making Based on Dynamic Bayesian Network

Method for Evaluating the Performance of Aircraft Collaborat...

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2024 International Conference on Electronics and Devices, Computational Science, ICEDCS 2024

作者： Zhang, Wenbo Yu, Boxiao Tong, Jiahui Li, Jing Beijing Electro-Mechanical Engineering Institute National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China Beijing Institute of Technology School of Computer Science and Technology Beijing China

ISBN: (纸本)9798331527624

This research addresses the challenge of assessing equipment decision-making effectiveness in environments characterized by uncertainty and multiple influencing factors. We propose a novel approach involving the creation and optimization of a dynamic Bayesian network-based model tailored for equipment decision-making processes. The model facilitates a systematic evaluation of decision-making effectiveness by incorporating various factors, including equipment performance, environmental conditions, and enemy defensive capabilities. A comprehensive assessment system has been developed to simulate the penetration capabilities of different equipment through enemy defenses. Moreover, this study identifies potential errors in the effectiveness evaluation model by analyzing its performance in typical scenarios, pinpointing areas for enhancement. © 2024 IEEE.

关键词： Decision-making Dynamic Bayesian networks Equipment Simulation Uncertainty Management

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

A SINS Error Correction Approach Based on Dual-Threshold ZV ...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Xu, Ruijie Chen, Shichao Sun, Wenqiao Lv, Yisheng Luo, Jialiang Tang, Ying Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences China University of Geosciences Beijing School of Information Engineering The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Rowan University Department of Electrical and Computer Engineering Glassboro United States

ISBN: (纸本)9798350337020

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation system (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance. © 2023 IEEE.

关键词： Cubature Kalman Filter Inertial Pedestrian Navigation Zero-Velocity Update

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