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SA-U-Net++: SAR marine floating raft aquaculture identification based on semantic segmentation and ISAR augmentation

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Journal of Applied Remote Sensing 2021年第1期15卷

作者： Wang, Deyi Han, Min Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Ganjingzi District Dalian China Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Ganjingzi District Dalian China

Marine floating raft aquaculture (FRA) monitoring is vital for environment protection and mariculture management. Synthetic aperture radar (SAR) could provide high-quality remote sensing images under all weather conditions compared with the existing optical remote-sensing-based methods. Traditional SAR monitoring methods extract the pixel feature of marine FRA in single patches, which commonly leads to poor generalization. We propose a self-Attention semantic segmentation method based on modified U-Net++ (SA-U-Net++) for FRA segmentation, which could automatically extract semantic feature information, and provide superior performance under complicated scenes. The proposed self-Attention backbone could help to extract more precise features and enhance the overall accuracy. Furthermore, we propose a FRA-ISAR data generation method based on inverse SAR (ISAR) imaging to alleviate the sample shortage problem. We introduce the semantic segmentation method into FRA-SAR segmentation for the first time. The experiments verify the effectiveness and superiority of SAR FRA segmentation based on the proposed SA-U-Net++ model compared with the existed semantic segmentation approaches. © 2021 Society of Photo-Optical Instrumentation Engineers (SPIE).

关键词： Deep learning

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Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

Kinematic and Kinetic Analysis of 3-RRS Parallel Manipulator

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Sara Ashrafi S. Ali A. Moosavian Department of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper presents the Kinematic and Kinetic properties of the 3-RRS parallel manipulator that has been designed and prototyped at the ARAS lab. together with an extensive experimental setup. Inverse and forward kinematics of the mechanism are studied, which leads to the attainment of eight possible solutions in each case, of which just one is physically acceptable and maintains its consistency in both analyses. In addition, the Jacobian matrix of the manipulator is derived for various operational scenarios. In this most recent update, a linear actuator under the moving platform is added to cancel the effect of the mass of the plate and the ball for enhancing the responsiveness of the system. Dynamic and kinetic equations are updated based on reduced gravitational effects.

关键词： Jacobian matrices Actuators Mechatronics System dynamics Dynamics Kinematics Kinetic theory Manipulator dynamics

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Shape Estimation of Continuum Arms Based on Inverse Kinematics Data-Driven Modeling

Shape Estimation of Continuum Arms Based on Inverse Kinemati...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Saeedeh Shekari S. Ali A. Moosavian Dept of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

In recent decades, soft robotic arms inspired by biological organisms with flexible structures have enabled significant advancements in robotics, particularly by allowing robots to navigate in complex and unknown environments. Tendon-driven continuum robotic arms, as a type of such systems, are characterized by their infinite degrees of freedom and the inherent complexity of their nonlinear systems, while the analysis of their configurations is highly challenging. In this study, a data-driven inverse kinematics model is developed to estimate the shape of a two-segment continuum robot called RoboArm in ARAS lab. The robot's final configuration was recorded using two cameras, and the shape estimation was performed by tracking the position of each segment's end along a given dynamic path. The experimental results were compared with software simulations which demonstrate high accuracy in predicting the arm's configuration. By comparing the estimated shapes from the simulations with the robot's actual shape during movement, we validated the effectiveness of this approach for accurately modeling the robot's configuration in real-time.

关键词： Data-driven modeling Accuracy Shape Tracking Estimation Kinematics Soft robotics Real-time systems Software Continuum robots

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Compensation's Method of Collector Load's Parasitic Components in SiGe and SOI Cascode Amplifiers Operating at High Temperatures

Compensation's Method of Collector Load's Parasitic Componen...

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2024 International Conference on Electrical engineering and Photonics, EExPolytech 2024

作者： Bugakova, Anna V. Frolov, Ilya V. Ivanov, Yuri I. Dmitrienko, Nadezhda A. Don State Technical University Dept. Scientific Research Dept. Information Systems and Radio Engineering Rostov-on-Don Russia Ulyanovsk Branch of the Kotelnikov Institute of Radioengineering and Elecronics of Russian Academy of Science Lab. Solid-State Electronics Opto- and Nanoelectronics Ulyanovsk Russia Southern Federal University Dept. Automatic Control Systems Rostov-on-Don Russia Dstu in Shakhty Dept. Foreign Languages Shakhty Russia

ISBN: (纸本)9798350388879

This paper considers the circuit method for neutralizing the effect of parasitic components of the collector load in silicon-germanium (SiGe) and silicon-on-insulator (SOI) classical cascade amplifiers and common-base stages on their voltage gain (Gain). The article demonstrates that the incorporation of a dedicated compensating circuit into the original circuits enables the enhancement of their upper frequency limit or gain by a factor of 5 to 10. The conditions for mitigating the impact of resistor parasites, which contribute to losses in planar inductance, on the Q-factor of the RLC-circuit of the selective amplifier are established. It is recommended that the proposed circuit solutions be employed in practical applications involving SiGe and SOI analog chips operating at elevated temperatures. © 2024 IEEE.

关键词： Cascode amplifiers

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Recurrent Sliding Mode-Based State Observer Design for a Subset of Nonlinear systems

Recurrent Sliding Mode-Based State Observer Design for a Sub...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Gael P. Atheupe Bhagyashri T. Gurjar Bruno Monsuez Renault Group and IP Paris Guyancourt FRANCE Department of Aerospace Engineering Intelligent Systems & Control Lab Indian Institute of Technology Bombay Mumbai India Computer science & systems engineering Lab (U2IS) of ENSTA Paris Institute Poly-technique de Paris (IP Paris) Palaiseau FRANCE

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This paper introduces a novel Sliding Mode-Based Observer tailored for a specific subset of nonlinear systems of order $\boldsymbol n$ featuring Lipschitz nonlinearities. The study establishes stability conditions that ensure convergence of the estimation error (s) in finite time until order $\boldsymbol n$ , thus, providing an accurate state (s) estimation without the necessity for disturbance matching conditions. Furthermore, the study presents an extension of the scope of application of the proposed method to tackle a unique scenario characterized by a time-varying and non-invertible function of the output dynamics of the system model. The effectiveness of the proposed observer is showcased through simulation examples.

关键词： Estimation error Automation Accuracy Observers Stability analysis Nonlinear dynamical systems Time-varying systems Robots Convergence

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MIM Waveguide Coupled Resonator Sensing System in the Background of New Energy 2

MIM Waveguide Coupled Resonator Sensing System in the Backgr...

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2022 2nd International Conference on Energy, Power and Electrical engineering, EPEE 2022

作者： Liu, Jilai Zhang, Xiaoyu Shen, Lifang Zhu, Chuanhui Yan, Shubin School of Electrical Engineering Zhejiang University of Water Resources and Electric Power Hangzhou310018 China School of Electrical and Control Engineer North University of China Taiyuan030051 China Zhejiang-Belarus Jt. Lab. of Intelligent Equip. and Syst. for Water Conserv. and Hydropower Safety Monitoring Hangzhou310018 China

In this article, we design a MIM waveguide-coupled resonator system. This resonant cavity has a semicircular ring cavity with the square cavity (SRSC). The effect of that Fano phenomenon on this sensing property on this system is explained in detail by using the finite different time domain method and finite element analysis method. This sensor was analyzed by COMSOL Multiphysics 5.4a simulation software to explore the influences of the structural arguments to the sensitivity. After structure optimization, a sensitivity of the sensor can reach 1640 nm/RIU, and the figure of merit (FOM) of this system is 41. This has great application prospects in the field of integrated optical circuits and biosensing. © Published under licence by IOP Publishing Ltd.

关键词： Multiphysics

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Data-driven control of consensus tracking for discrete-time multi-agent systems

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Journal of the Franklin Institute 2023年第7期360卷 4661-4674页

作者： Xiufeng Zhang Gang Wang Jian Sun Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming 650504 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming 650504 China School of Automation Beijing Institute of Technology Beijing 100081 China Key Lab of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper investigates the consensus tracking problem of leader-follower multi-agent systems. Different from most existing works, dynamics of all the agents are assumed completely unknown, whereas some input-output data about the agents are availab.e. It is well known from the Willems et al. Fundamental Lemma that when inputs of a linear time-invariant (LTI) system are persistently exciting, all possible trajectories of the system can be represented in terms of a finite set of measured input-output data. Building on this idea, the present paper proposes a purely data-driven distributed consensus control policy which allows all the follower agents to track the leader agent’s trajectory. It is shown that for a linear discrete-time multi-agent system, the corresponding controller can be designed to ensure the global synchronization with local data. Even if the data are corrupted by noises, the proposed approach is still applicable under certain conditions. Numerical examples corroborate the practical merits of the theoretical results.

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Robust Data-Driven control Against Actuator FDI for Unknown Linear systems

Robust Data-Driven Control Against Actuator FDI for Unknown ...

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International Conference on control and Automation (ICCA)

作者： Wenjie Liu Jian Sun Fang Deng Gang Wang Jie Chen National Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing China Beijing Institute of Technology Chongqing Innovation Center Chongqing China Department of Control Science and Engineering Tongji University Shanghai China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This paper designs a data-driven controller for unknown linear systems whose actuators suffer from false data injection (FDI) attacks, using only noisy input-state data. To achieve this objective, a general FDI attack model is introduced, which imposes constraints only on the switching frequency of attack channels and the magnitude of attack matrices. A time-varying state feedback control law is designed based on offline and online input-state data, which adapts to the channel switching of FDI attacks. This is achieved by solving a data-based semi-definite programs (SDPs) on-the-fly such that stabilizing the set of subsystems consistent with both offline clean data and online attack-corrupted data. It is shown that under mild conditions on the attack and the noise, the feasibility of the proposed SDP guarantees that the controller stabilizes the attack-corrupted system. A numerical example is presented to validate the effectiveness of the proposed method.

关键词： Linear systems Switched systems Actuators State feedback Switching frequency Switches control systems

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Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 957-968页

作者： Jinhua She Kou Miyamoto Qing-Long Han Min Wu Hiroshi Hashimoto Qing-Guo Wang School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan K.Miyamoto is with the Institute of Technology Shimizu CorporationKotoTokyo 135-0044Japan School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China School of Industrial Technology Advanced Institute of Industrial TechnologyTokyo 140-0011Japan Institute of Artificial Intelligence and Future Networks Beijing Normal UniversityZhuhai 519087 Guangdong Key Lab of AI and Multi-Modal Data Processing Guangdong Provincial Key Laboratory of Interdisciplinary Research and Application for Data Science BNUHKBU United International College Zhuhai 519087China

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state *** paper presents a deep observation on and a comparison between two of those methods:the generalized extended-state observer(GESO)and the equivalent input disturbance(EID)from assumptions,system configurations,stability conditions,system design,disturbance-rejection performance,and extensibility.A time-domain index is introduced to assess the disturbance-rejection performance.A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method.A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.

关键词： Active disturbance-rejection control(ADRC) disturbance observer(DOB) equivalent input disturbance(EID) extendedstate observer(ESO) generalized extended-state observer(GESO)

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Preventing String Instability in Altitude control System of UAV by Nonlinear Correction

Preventing String Instability in Altitude Control System of ...

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Saint Petersburg International Conference on Integrated Navigation systems (ICINS)

作者： Iuliia Zaitceva Boris Andrievsky Control of Comlex Systems Lab. Institute of Problems in Mechanical Engineering of RAS St. Petersburg State University St. Petersburg Electrotechnical University "LETI" St. Petersburg Russia Control of Comlex Systems Lab. Institute of Problems in Mechanical Engineering of RAS St. Petersburg State University St. Petersburg Russia

The paper is devoted to maintaining a flight formation with cross-information links between agents while controlling the altitude of nine unmanned aerial vehicles through a standard proportional-integral-differential controller. With an increase in the number of agents, the system oscillations may appear due to the "string instability" phenomenon. Other factors associated with changes in the dynamics of the nonlinear actuator of the UAV control surface can also negatively affect the formation stability. The simulation results show that the actuator saturation for one agent can lead to oscillatory processes of other agents, which can eventually destroy the formation structure. In the paper, it is proposed to introduce a nonlinear corrective device into the actuator control loop to improve the system stability and prevent dangerous oscillations. In the nominal mode, when the saturations of actuators are not active, this corrective device does not affect the operation of the controller and passes the control signal without changes, but it makes an effect when the controlling values of actuator positions and velocities reach the bounds. In the paper, for a flight altitude control problem of the UAVs formation, the corrective device was tested and its efficiency was confirmed by a series of simulations.

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