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arXiv 2025年

作者： Du, Kaixin Meng, Min Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai200092 China Department of Control Science and Engineering College of Electronics and Information Engineering National Key Laboratory of Autonomous Intelligent Unmanned System Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai Research Institute for Intelligent Autonomous Systems Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai China

This paper investigates online stochastic aggregative games subject to local set constraints and time-varying coupled inequality constraints, where each player possesses a time-varying expectation-valued cost function relying on not only its own decision variable but also an aggregation of all the players’ variables. Each player can only access its local individual cost function and constraints, necessitating partial information exchanges with neighboring players through time-varying unbalanced networks. Additionally, local cost functions and constraint functions are not prior knowledge and only revealed gradually. To learn generalized Nash equilibria of such games, a novel distributed online stochastic algorithm is devised based on push-sum and primal-dual strategies. Through rigorous analysis, high probability bounds on the regret and constraint violation are provided by appropriately selecting decreasing stepsizes. Moreover, for a time-invariant stochastic strongly monotone game, it is shown that the generated sequence by the designed algorithm converges to its variational generalized Nash equilibrium (GNE) almost surely, and the time-averaged sequence converges sublinearly with high probability. Finally, the derived theoretical results are illustrated by numerical simulations. Copyright © 2025, The Authors. All rights reserved.

关键词： Nash equilibrium

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Adaptive Stiffness control of Series Elastic Actuator Manipulators Based on Dynamic system

Adaptive Stiffness Control of Series Elastic Actuator Manipu...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Kunlin Guo Chao Zeng Weiyong Si Ning Wang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China Department of Computer Science University of Liverpool Liverpool UK School of Computer Science and Electronic Engineering University of Essex Colchester Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.

关键词： Actuators Computer aided software engineering Automation Adaptive systems control systems End effectors Hardware Dynamical systems Manipulator dynamics

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Modified Hough Transform Based Registration Method for Heavy-haul Railway Rail Profile with Intensive Environmental Noise

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IEEE Transactions on Instrumentation and Measurement 2025年

作者： An, Yuntong Cao, Yuan Sun, Yongkui Su, Shuai Wang, Feng Beijing Jiaotong University National Engineering Research Center of Rail Transportation Operation Control System School of Automation and Intelligent Beijing100044 China Beijing Jiaotong University Frontiers Science Center for Smart High-speed Railway System Beijing100044 China Beijing Jiaotong University State Key Laboratory of Advanced Rail Autonomous Operation Beijing100044 China

In heavy-haul railway inspections, accurate rail profile registration is essential for assessing wear and deformation of tracks. In this process, identifying the rail waist arc as key segments and determining the center of the arc as feature points are crucial steps for rough rail profile registration, often affected by noise from sensors, surface contaminants, and environmental factors. To address these challenges, a profile registration method is proposed, with the Modified Hough Transform (MHT) as a core component. The method first segments key profile sections using curvature thresholds to identify arc segments. For each point in these segments, MHT constructs circles with fixed radius and calculates their intersection points. A distance matrix based on Euclidean distances between intersection points is generated. By sorting and normalizing these distances, the method identifies local density variations and calculates density coefficients to find the circle center, without manual thresholding. Comparative experiments on simulated and field data show that the proposed method achieves high accuracy and robustness in noisy environments. The dual validation confirms its reliability, making this method effective for rail profile registration in heavy-haul railway inspections. © 1963-2012 IEEE.

关键词： Hough transforms

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Frame analysis based real time related indicators measurement of industrial ethernet Powerlink

Frame analysis based real time related indicators measuremen...

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Science and Technology Innovation (IAECST), International Academic Exchange Conference on

作者： Jian Wang Chuang Xie Ce Dong Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences ShenYang China

The protocol Powerlink which is one of real-time Ethernet protocols included in the Standard IEC FDIS61784-2, has been widely used for the communication of both IO devices in industrial fields and drives for motor control applications to provide deterministic data transmission. When the Powerlink network is running in the industrial field environment, the online measurement of time related indicators is an appropriate method to evaluate the performance of the network in real time and detect communication faults between devices. In this paper, several time related indicators are proposed and analyzed to estimate the real time performance of the network when all devices get into the operate state. Further more, an efficient method to measure the proposed indicators based on frame analysis is presented and implemented on a PC-based monitor station that stores all the frames which transfer in the network and contain timestamp added by an FPGA-based probe. The measurement method is tested on a real network consisting of one master node and two slave nodes, and some experimental results are presented.

关键词： Performance evaluation Technological innovation Protocols Stability criteria Ethernet Real-time systems Time measurement

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Image Quality Assessment Based on Sparse Reference Information 18th

Image Quality Assessment Based on Sparse Reference Informati...

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18th International Forum of Digital Multimedia Communication, IFTC 2021

作者： Lian, Xinkang Xie, Shuangyi Shi, Shuang Zhou, Chengxu Guo, Nan Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China Beijing Laboratory of Smart Environmental Protection Beijing China Faculty of Information Technology Beijing University of Technology Beijing China Beijing Artificial Intelligence Institute Beijing China

ISBN: (纸本)9789811922657

The last few years have seen the appearance of a new sparse reference-based free energy principle, which demonstrates that an input visual signal was always strived to be comprehend by the human visual system (HVS) through removing the undetermined portions. By this inspiration, we in this paper put forward an image quality assessment (IQA) model based on sparse reference information. In essential, as compared with the classical good-performance FEDM model that was developed with a linear local autoregressive (AR) model, the proposed sparse reference (SR) IQA model is a simplified version of FEDM, achieving comparable performance but hundreds of times faster implementation. More specifically, this paper introduces the extremely sparse random sampling method into the FEDM model. Experimental results on the most well-known LIVE IQA database illustrate the effectiveness along with efficiency of our SR-IQA model as compared with the typical full-reference IQA models and the cutting-edge SR IQA models. © 2022, Springer Nature Singapore Pte Ltd.

关键词： Free energy

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Virtually coupled train set control subject to space-time separation:A distributed economic MPC approach with emergency braking configuration

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High-Speed Railway 2024年第3期2卷 143-152页

作者： Xiaolin Luo Tao Tang Le Wang Hongjie Liu State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China Department of Electrical and Computer Engineering University of CaliforniaRiversideCA 92521USA Beijing Zongheng Electro-Mechanical Technology Development Co. Ltd.Beijing 100081China School of Automation and Intelligence Beijing Jiaotong UniversityBeijing 100044China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong UniversityBeijing 100044China

The emerging virtual coupling technology aims to operate multiple train units in a Virtually Coupled Train Set(VCTS)at a minimal but safe *** guarantee collision avoidance,the safety distance should be calculated using the state-of-the-art space-time separation principle that separates the Emergency Braking(EB)trajectories of two successive units during the whole EB *** this case,the minimal safety distance is usually numerically calculated without an analytic ***,the constrained VCTS control problem is hard to address with space-time separation,which is still a gap in the existing *** solve this problem,we propose a Distributed Economic Model Predictive control(DEMPC)approach with computation efficiency and theoretical ***,to alleviate the computation burden,we transform implicit safety constraints into explicitly linear ones,such that the optimal control problem in DEMPC is a quadratic programming problem that can be solved *** theoretical analysis,sufficient conditions are derived to guarantee the recursive feasibility and stability of DEMPC,employing compatibility constraints,tube techniques and terminal ingredient ***,we extend our approach with globally optimal and distributed online EB configuration methods to shorten the minimal distance among ***,experimental results demonstrate the performance and advantages of the proposed approaches.

关键词： Virtually coupled train set Space-time separation Economic model predictive control Distributed model predictive control Emergency braking configuration

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Robot-CT Scanning Oriented Synchronous Trajectory Planning of a Dual-Manipulator system

Robot-CT Scanning Oriented Synchronous Trajectory Planning o...

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Chinese control Conference (CCC)

作者： Shuaikang Zhang Mingxing Yuan Xuebo Zhang Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin P. R. China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing P. R. China

At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator.

关键词：

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Distributed Adaptive Nash Equilibrium Seeking for Multiagent Games Under Time-Varying Networks

Distributed Adaptive Nash Equilibrium Seeking for Multiagent...

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Asian control Conference

作者： Xu Duan Tiantian Xu Zhuping Wang Hao Zhang Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai PR China Department of Control Science and Engineering College of Electronic and Information Engineering Tongji University Shanghai PR China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai Shanghai PR China Frontiers Science Center for Intelligent Autonomous System of Ministry of Education PR China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper examines the Nash equilibrium seeking (NES) problem in non-cooperative games involving multiagent systems operating within time-varying networks. The system being studied encompasses unmeasured states and unknown nonlinear functions. To address this, an adaptive NES algorithm is developed using gradient play and a distributed backstepping approach. Additionally, a fuzzy logic system is employed to compensate external disturbance, and an adaptive distributed observer is proposed to share non-neighbor states and facilitate information sharing within the context of a time-varying network. The convergence of the proposed approach is rigorously proven by leveraging the principles of Lyapunov stability theory. The effectiveness of the proposed method is confirmed through a comprehensive analysis of simulation results and physical experiments.

关键词： Fuzzy logic Backstepping Intelligent vehicles Simulation Games Observers Nash equilibrium

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Double-Layer model predictive control combined with funnel zone control 3

Double-Layer model predictive control combined with funnel z...

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Sun, Haojie Liu, Jianbang Wang, Jingyang Yang, Zhijia Zou, Tao University of Chinese Academy of Sciences Beijing China Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang China Guangzhou University School of Mechanical and Electrical Engineering Guangzhou China

ISBN: (纸本)9781665435178

In order to solve the problem of the high sensitivity of conventional double-layer model predictive control (DLMPC) algorithm to the process white noise and disturbance, we proposed an improved strategy integrating the tunnel control, which sacrifices a small part of the economic performance for a more smooth and stable control effect. By selecting an appropriate robust factor, an allowable economic performance zone is determined. The tunnel control strategy is implemented by selecting an appropriate weighting matrix for the output error in the control cost function. When the economic performance index (EPI) of output prediction is inside its zone, the corresponding weight is zeroed. When the EPI of prediction lies outside the performance zone, the error weight is made equal to a specified value and the distance between the output prediction and the ideal steady-state set-point is minimized. Finally, the feasibility and effectiveness of the proposed algorithm are verified by simulating based on the Wood-Berry model. © 2021 IEEE.

关键词： Model predictive control

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A Multimodal Fault Diagnosis Model Utilizing GAF Transformation for controllable Pitch Propeller Hydraulic system

A Multimodal Fault Diagnosis Model Utilizing GAF Transformat...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Huihuang Cai Wei Chen Huanglong Fu Hua Wang Jingcheng Wang Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Shanghai Marine Equipment Research Institute Shanghai China Department of Automation the Key Laboratory of System Control and Information Processing Ministry of Education of China and the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University Xi'an China

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

The hydraulic system of the controllable pitch propeller (CPP) serves as the power source for adjusting the blade pitch. Due to its structural complexity and harsh operating conditions, any malfunction of this system could significantly impair the vessel's navigation. Apart from the pitch command and the pitch feedback of CPP itself, the number and types of sensors added for fault diagnosis are not fixed. Therefore, this study establishes a multimodal fault diagnosis model based on Gramian angular field(GAF). By considering the deviation values of pitch feedback and pitch command as key variables, this model transforms them into a two-dimensional image using GAF, thereby obtaining more effective feature information. Image features are extracted using ResNet, while the temporal features of additional sensors are extracted using GRU. Finally, a multi-head attention mechanism is employed for feature fusion. This method achieves a classification accuracy of 100% in the classification of four types of hydraulic system faults simulated on the experimental platform.

关键词： Fault diagnosis Propellers Navigation Hydraulic systems Transforms Sensor phenomena and characterization Feature extraction Sensor systems Marine vehicles Load modeling

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