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IEEE Transactions on intelligent Vehicles 2024年 1-14页

作者： Fang, Qiuyang Zhang, Jianlei Wang, Chen Xie, Guangming Zhang, Chunyan Department of Automation College of Computer and Control Engineering Nankai University Tianjin China National Engineering Research Center of Software Engineering Peking University Beijing China State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this study, we introduce a novel auction-based algorithm modeled as a decentralized coalition formation game, designed for the complex requirements of large-scale multi-robot task allocation under uncertain demand. This context is particularly illustrative in scenarios where robots are tasked to charge electric vehicles. The algorithm begins by partitioning a composite task sequence into distinct subsets based on spatial similarity principles. Subsequently, we employ a coalition formation game paradigm to coordinate the assembly of robots into cooperative coalitions focused on these distinct subsets. To mitigate the impact of unpredictable task demands on allocations, our approach utilizes the conditional value-at-risk to assess the risk associated with task execution, along with computing the potential revenue of the coalition with an emphasis on risk-related outcomes. Additionally, integrating consensus auctions into the coalition formation framework allows our approach to accommodate assignments for individual robot-task pairings, thus preserving the stability of individual robotic decision autonomy within the coalition structure and assignment distribution. Simulative analyses on a prototypical parking facility layout confirm that our algorithm achieves Nash equilibrium within the coalition structure in polynomial time and demonstrates significant scalability. Compared to competing algorithms, our proposal exhibits superior performance in resilience, task execution efficiency, and reduced overall task completion times. The results demonstrate that our approach is an effective strategy for solving the scheduling challenges encountered by multi-robot systems operating in complex environments. IEEE

关键词： Polynomial approximation

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CPG-Inspired Gait Generation and Transition control for Six Wheel-legged Robot

CPG-Inspired Gait Generation and Transition Control for Six ...

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2021 China Automation Congress, CAC 2021

作者： Deng, Chencheng Wang, Shoukun Chen, Zhihua Wang, Junzheng Ma, Liling Li, Jiehao State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665426473

Central pattern generator (CPG) model can form stable periodic signal through self-excited oscillation without high-level central control. Hopf oscillator is an implementation of CPG model, which has the characteristics of clear parameter meaning and easy adjustment. In this paper, a method of gait planning and dynamic gait switching based on Hopf oscillator model is introduced. Firstly, the model and three gait modes of the robot are introduced. Secondly, an improved Hopf oscillator based on CPG is designed, and the signal generated by the oscillator is used to control the robot's legs. Finally, the simulation results of the three basic walking gaits and gait switching verify the feasibility and effectiveness of the algorithm. © 2021 IEEE

关键词： Robots

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Dynamic Performance Prediction in Batch-Based Assembly System with Bernoulli Machines and Changeovers

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complex System Modeling and Simulation 2022年第3期2卷 224-237页

作者： Zunjun Wang Zhiyang Jia Xiuxuan Tian Jingchuan Chen Bei Pan State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Industrial and Manufacturing Systems Engineering University of Hong KongHong Kong 999077China School of Engineering Tokyo University of TechnologyTokyo 192-0982Japan

Worldwide competition and diverse demand of customers pose great challenges to manufacturing enterprises. How to organize production to achieve high productivity and low cost becomes their primary task. In the mean time, the rapid pace of technology innovation has contributed to the development of new types of flexible automation. Hence, increasing manufacturing enterprises convert to multi-product and small-batch production, a manufacturing strategy that brings increased output, reduced costs, and quick response to the market. A distinctive feature of small-batch production is that the system operates mainly in the transient states. Transient states may have a significant impact on manufacturing systems. It is therefore necessary to estimate the dynamic performance of systems. As the assembly system is a typical class of production systems, in this paper, we focus on the problem of dynamic performance prediction of the assembly systems that produce small batches of different types of products. And the system is assumed to be characterized with Bernoulli reliability machines, finite buffers, and changeovers. A mathematical model based on Markovian analysis is first derived and then, the analytical formulas for performance evaluation of three-machine assembly systems are given. Moreover, a novel approach based on decomposition and aggregation is proposed to predict dynamic performance of large-scale assembly systems that consist of multiple component lines and additional processing machines located downstream of the assemble machine. The proposed approach is validated to be highly accurate and computationally efficient when compared to Monte Carlo simulation.

关键词： flexible assembly system dynamic performance Bernoulli machines finite buffers changeovers

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Frequency Domain-Based Low-Rank Approximation for Magnetic Anomaly Detection 5

Frequency Domain-Based Low-Rank Approximation for Magnetic A...

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5th International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2024

作者： Lv, Yumeng Liao, Congyu Liu, Huan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Stanford University Department of Radiology CA94305 United States

ISBN: (纸本)9798331529192

Current magnetic anomaly detection (MAD) methods prioritize signal-to-noise ratio (SNR) over signal features and edge information, leading to signal distortion. To address this issue, a new MAD approach utilizes structured lowrank approximation and block singular value decomposition based on the spatial frequency domain, dubbed FL-BSVD is proposed. First, the low-rankness structure of the magnetic anomaly signal is obtained through 2D Discrete Fourier Transform (2D-DFT) and structured Hankel transformation. Then, block singular value decomposition is applied to the Hankel matrix to reduce noise while preserving more signal edge features and enhancing detection accuracy. Finally, a field experiment comparing FL-BSVD with four commonly used methods is conducted. The experiment confirms that FL-BSVD can effectively recover magnetic anomaly signal features and edge information in a strong noisy environment. © 2024 IEEE.

关键词： Frequency domain analysis

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Chimera-inspired dynamics: When higher-order interactions are expressed differently

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Physical Review E 2024年第4期110卷 044204页

作者： Xinrui Ji Xiang Li Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous Systems The Frontiers Science Center for Intelligent Autonomous Systems and The State key laboratory of Intelligent Autonomous Systems Department of Control Science and Engineering College of Electronics and Information Engineering

The exploration of chimera-inspired dynamics in nonlocally coupled networks of Kuramoto oscillators with higher-order interactions is still in its nascent stages. Concurrently, the investigation of collective phenomena in higher-order interaction networks is gaining attraction. Here, we observe that hypergraph networks tend to synchronize through lower-order interactions, whereas simplicial complex networks exhibit a preference for higher-order interactions. This observation suggests that higher-order representations manifest substantial differences in chimera-inspired synchronization regions. Moreover, we introduce an explicit expression for identifying the chimera state. With a comprehensive basin stability analysis and the interplay of pairwise and higher-order interaction strengths, the emergence of the chimera state is inherent in high-order interaction networks. Our findings contribute to the understanding of chimera-inspired dynamics in higher-order interaction networks.

关键词： Chimera states Continuous phase transition Coupled oscillators Synchronization Synchronization transition

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Reinforcement Learning Applied to Agent Path Planning 41

Reinforcement Learning Applied to Agent Path Planning

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第41届中国控制会议

作者： Fenglan Sun Xiaoshuai Wu Guoxiong Long Key Laboratory of Intelligent Analysis and Decision on Complex Systems School of ScienceChongqing University of Posts and Telecommunications Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of AutomationChongqing University of Posts and Telecommunications Department of Complexity Science Potsdam Institute for Climate Impact Research

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper provides an enhanced Q-learning algorithm for agent path planning in traditional grid maps,which solves the problem of agent path planning in grid *** an unknown environment,the classic Q-learning algorithm addresses the agent's path planning ***,there are several limits to this strategy in terms of path planning:the agent could only move nearby grids,and the step size is only one *** Q-learning algorithm,including changes the agent's direction and step *** action direction of agents is increased from four to *** movement step of agents is raised from one to three *** new method makes the convergence faster and proxy path ***,a set of simulation tests are presented to validate the modified Q-learning algorithm.

关键词： Agent Path planning Q-learning Grid method

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Overview of Research on Transformation of Multi-AUV Formations

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complex System Modeling and Simulation 2021年第1期1卷 1-14页

作者： Bin Xin Junxi Zhang Jie Chen Qing Wang Yun Qu School of Automation and the State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of TechnologyBeijing 100081China

Because of their wide detection range and rich functions,autonomous underwater vehicles(AUVs)are widely used for observing the marine environment,for exploring natural resources,for security and defense purposes,and in many other fields of *** with a single AUV,a multi-AUV formation can better perform various tasks and adapt to complex underwater *** changes in the mission or environment,a change in the UAV formation may also be *** the last decade,much progress has been made in the transformation of multi-AUV *** this paper,we aim to analyze the core concepts of multi-AUV formation transformation;summarize the effects of the AUV model,underwater environment,and communication between AUVs within formations on formation transformation;and elaborate on basic theories and implementation approaches for multi-AUV formation ***,this overview includes a bibliometric analysis of the related literature from multiple ***,some challenging issues and future research directions for multi-AUV formation transformation are highlighted.

关键词： autonomous underwater vehicle multi-AUV formation formation transformation formation control

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Identification and Prediction of Microvascular Invasion in Hepatocellular Carcinoma Based on Multiple Sequence Fusion Images 43

Identification and Prediction of Microvascular Invasion in H...

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43rd Chinese control Conference, CCC 2024

作者： Lu, Mingguang Zhu, Yuan China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China

ISBN: (纸本)9789887581581

Hepatocellular carcinoma (HCC) is one of the most difficult diseases to be treated fundamentally in the medical field in today's world, and the recurrence rate of HCC has been increasing year by year in recent years. The study on the identification and prediction of microvascular invasion phenomenon (MVI) in hepatocellular carcinoma is beneficial to the postoperative prevention of hepatocellular carcinoma patients, which can greatly improve the survival probability of patients after surgery. In this study, a new MVI prediction method (MSF-GWO-GPR) was proposed, which combines the multi-sequence image features of imaging histology, sifts out the unimportant features through the T-test method and the dimensionality reduction of Lasso regression, and establishes the multi-sequence Gaussian process regression (GPR) prediction model for data fusion, and combined with the Gray Wolf Optimization (GWO) algorithm to design a suitable optimization objective function to optimize the hyper-parameters in the GPR, in order to get better prediction results. Compared with the existing methods, the data from different sequences of MRI images are selected for fusion in this study, which makes the feature data richer and more complete, and the model applicability is better;moreover, by optimizing the hyperparameters in the model through the GWO, the model can be made more accurate, reduce the risk of misidentified prediction, and improve the accuracy rate. The experimental results show that MSF-GWO-GPR outperforms widely used machine learning methods in terms of accuracy, F1 score, precision, recall and AUC metrics. This may provide a new idea for the identification and prediction of MVI in hepatocellular carcinoma. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Dimensionality reduction

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Kinematics analysis of lower limb rehabilitation robot based on D-H method 41

Kinematics analysis of lower limb rehabilitation robot based...

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第41届中国控制会议

作者： Kui Jie Wangyong He Renjie Gui School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.

关键词： Lower limb rehabilitation robot Range of motion Human kinematics

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An Indoor Positioning Algorithm Against NLOS Error Based on UWB 41

An Indoor Positioning Algorithm Against NLOS Error Based on ...

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第41届中国控制会议

作者： Mingxiang Liao Yongbo Li Guangyao Wang Zhenyu Lei Zihao Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.

关键词： UWB NLOS indoor positioning Chan-Taylor combination algorithm Kalman filter

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