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Spatio-temporal decision-making and trajectory planning framework with flexible constraints in closed-loop dynamic traffic

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IET intelligent Transport systems 2023年第4期17卷 704-715页

作者： Zhang, Ting Fu, Mengyin Liu, Tong Song, Wenjie State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

Driving in interactive dynamic traffic is a huge challenge for autonomous vehicles, especially for motion planning. The autonomous vehicle not only needs to predict the future states of the social vehicles to avoid a collision but also realizes the comfort and continuous plan. To deal with the problem, a spatio-temporal decision-making and motion planning framework with flexible constraints based on previous work is proposed. Improvements can be highlighted in three aspects. First, a neural network for trajectory prediction is trained and it is integrated into the framework, which can learn the social vehicles' reactions in the negotiation better and give more accurate predictions. Second, instead of setting the fixed local targets, the flexible-constraint mechanism is introduced to increase the success rate of continuous planning, specifically, the local planning target is determined conditioned on the situation with an elastic factor. Third, two popular simulators with randomly disposed traffic participants are exploited, where vehicles are mutually influenced, more similar to real-world traffic. The closed-loop tests with zero crashes and the comparative experiments with traditional models demonstrate the superior performance and practical significance of the proposed framework. © 2022 The Authors. IET intelligent Transport systems published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

关键词： Autonomous vehicles

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Development of electric cart for improving walking ability — application of control theory to assistive technology

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Science China(Information Sciences) 2017年第12期60卷 262-270页

作者： Jinhua SHE Yasuhiro OHYAMA Min WU Hiroshi HASHIMOTO School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.

关键词： aging Borg’s scale dynamic parallel distributed compensation electrical cart H_∞ control Karvonen formula lower limbs pedaling rating of perceived exertion

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An overview of recent progress in high-order nonholonomic chained system control and distributed coordination

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Journal of control and Decision 2015年第1期2卷 64-85页

作者： Jie Huang Jie Chen Hao Fang Lihua Dou School of Automation Beijing Institute of TechnologyBeijingChina State Key Laboratory of Intelligent Control and Decision of Complex Systems BeijingChina Fujian Institute of Education FuzhouChina

This paper reviews some main results and progress concerning with nonholonomic system control,especially focusing on the networked chained system *** controllability of nonholonomic system,the control method of nonholonomic system,the chained form transformation,the basic graph theory for multi-agent systems are recalled,*** important definitions,lemmas,theorems and dynamics are *** the consensus and formation control problems for networked nonholonomic chained systems are ***,some open questions are proposed.

关键词： distributed coordination multi-agent system nonholonomic system chained system high-order

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Cascade conditional generative adversarial nets for spatial-spectral hyperspectral sample generation

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Science China(Information Sciences) 2020年第4期63卷 81-96页

作者： Xiaobo LIU Yulin QIAO Yonghua XIONG Zhihua CAI Peng LIU School of Automation China University of Geosciences (Wuhan) Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Computer Science China University of Geosciences (Wuhan) The Beibu Gulf Big Data Resources Utilization Laboratory Beibu Gulf University

Sample generation is an effective way to solve the problem of the insufficiency of training data for hyperspectral image classification. The generative adversarial network（GAN） is one of the popular deep learning methods, which utilizes adversarial training to generate the region of samples based on the required class label. In this paper, we propose cascade conditional generative adversarial nets for hyperspectral image complete spatial-spectral sample generation, named C;GAN. The C;GAN includes two stages. The stageone model consists of the spatial information generation with a window size that entails feeding random noise and the required class label. The second stage is the spatial-spectral information generation that generates spectral information of all bands in the spatial region by feeding the label regions. The visualization and verification of generated samples based on the Pavia University and Salinas datasets show superior performance, which demonstrates that our method is useful for hyperspectral image classification.

关键词： hyperspectral image sample generation generative adversarial nets(GAN) deep learning spatial-spectral information

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Retraction notice to "Optimal design and transient simulation next to environmental consideration of net-zero energy buildings with green hydrogen production and energy storage system" [Fuel 336 (2023) 127126] (Fuel (2023) 336, (S0016236122039503), (10.1016/***.2022.127126))

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Fuel 2025年 393卷

作者： Hai, Tao Ali, Masood Ashraf Dhahad, Hayder A. Alizadeh, As'ad Sharma, Aman Almojil, Sattam Fahad Almohana, Abdulaziz Ibrahim Alali, Abdulrhman Fahmi Wang, Dan School of Computer and Information Qiannan Normal University for Nationalities Guizhou Duyun558000 China Key Laboratory of Complex Systems and Intelligent Optimization of Guizhou Guizhou Duyun558000 China Universiti Teknologi MARA Selangor Shah Alam40450 Malaysia Department of Industrial Engineering College of Engineering Prince Sattam bin Abdulaziz University Alkharj16273 Saudi Arabia Mechanical Engineering Department University of Technology Baghdad Iraq Department of Civil Engineering College of Engineering Cihan University-Erbil Erbil Iraq Institute of Engineering and Technology GLA University UP Mathura281406 India Department of Civil Engineering College of Engineering King Saud University P.O. Box 800 Riyadh11421 Saudi Arabia School of Mathematics and Statistics Qiannan Normal University for Nationalities Guizhou Duyun558000 China Key Laboratory of Complex Systems and Intelligent Optimization of Guizhou Province Guizhou Duyun558000 China Key Laboratory of Complex Systems and Intelligent Optimization of Qiannan Guizhou Duyun558000 China

This article has been retracted: please see Elsevier Policy on Article Withdrawal (https://***/about/policies/article-withdrawal). This article has been retracted at the request of the Editor in Chief. The decision to retract this article is due to several issues that have arisen in relation to referencing and authorship on this paper. A post on PubPeer raised concerns that there are problems with a number of references on this paper – including the subject, context, relevance, validity, and veracity of references. See here for more details of the issues on Pubpeer: https://***/publications/466490A11516B66D633FBAC5AB6B36. The Editor agreed this could amount to potential citation stuffing to the benefit of certain researchers. In addition, a large number of references (35) were added after the original submission, at revision, without being highlighted to reviewers/editors. There were also serious authorship changes to the paper made during revision, without validation or authorisation. Two authors were removed at the first revision. One author was added at the paper's first revision (As'ad Alizadeh). The Corresponding Author was changed during the production stage without exceptional approval of the Editor (from Dan Wang to Tao Hai, As'ad Alizadeh and Sattam Fahad Almojil). Additionally, the name of an author was changed at the proofing stage, again, without exceptional approval of the Editor (Kamal Sharma to Aman Sharma). This breached the journal's policy on authorship. The Corresponding (and other) Authors responded to requests for clarification on the question of authorship and referencing, but those explanations did not satisfactorily address the concerns. As such and due to the nature of the irregularities uncovered, the Editor has lost confidence in the validity/integrity and findings of the article and decided to retract the article. The scientific community takes a very strong view on this matter and apologies are offered to readers. ©

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A Comprehensive Survey on STP Approach to Finite Games

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Journal of systems Science & complexity 2021年第5期34卷 1666-1680页

作者： CHENG Daizhan WU Yuhu ZHAO Guodong FU Shihua Key Laboratory of Systems and Control Academy of Mathematics and Systems SciencesChinese Academy of SciencesBeijing 100190China. Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of TechnologyDalian 116081China School of Mathematics and Statistics Shandong Normal UniversityJinan 250014China. School of Mathematical Sciences Liaocheng UniversityLiaocheng 252000China

Nowadays the semi-tensor product(STP)approach to finite games has become a promising new *** paper provides a comprehensive survey on this prosperous *** a brief introduction for STP and finite(networked)games,a description for the principle and fundamental technique of STP approach to finite games is *** several problems and recent results about theory and applications of finite games via STP are presented.A brief comment about the potential use of STP to artificial intelligence is also proposed.

关键词： Finite game game-theoretic control potential game semi-tensor product vector space structure of finite game

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Investigation to the use of vibration energy for supply of hearing aids

Investigation to the use of vibration energy for supply of h...

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24th IEEE Instrumentation and Measurement Technology Conference

作者： Ben Amor, N. Kanoun, O. Sfax National School of Engineering Research Unit on Intelligent Control Design and Optimization of Complex Systems (ICOS) BPW 303B Tunisia Department of Metrology University of Kassel Germany

ISBN: (纸本)9781424405886

Using ambient energy, the operation time of batteries in mobile applications can be increased and the acceptability by the user can be improved In this paper we investigate the possibilities to design hearing aids as power aware system scavenging energy directly from its environment. The energy source we consider is vibration produced by movements primarily in the neighbourhood of the ear and other movements of the human body. Experimental measurements of vibration were evaluated by means of a theoretical model. The results show that an interesting improvement of battery operation time can be reached.

关键词： energy autonomous systems power aware systems hearing aid vibration energy

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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 ensemble model based on weighted support vector regression and its application in annealing heating process

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Science China(Information Sciences) 2019年第4期62卷 203-205页

作者： Yongyue ZHANG Weihua CAO Yali JIN Min WU School of Information Science and Engineering Central South University School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences

Dear editor,In the steel industry, the annealing heating production directly impacts the economic benefits of enterprises; hence, accurately predicting the required gas flow is very important [1]. On account of high equipment complexity, it costs lots of time for maintaining a traditional mechanism model at a good working condition; data-driven model, such

关键词： SVR An ensemble model based on weighted support vector regression and its application in annealing heating process

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Mobile sensor network node deployment via Central Voronoi Tessellation

Mobile sensor network node deployment via Central Voronoi Te...

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International Conference on intelligent control and Information Processing

作者： Xiong, R. Bai, Y.Q. Sun, W. Liu, X. Key Laboratory of Complex Systems Intelligent Control and Decision School of Automation Ministry of Education Beijing 100081 China

ISBN: (纸本)9781457708145

The present work focuses on the node deployment algorithm of Wireless Sensor Networks. The Central Voronoi Tessellation algorithm is employed to optimize the node position. The energy consumption of the whole sensor network will be minimized by using this algorithm. Simulation of the proposed algorithm shows the effectiveness of minimizing the energy consumption. © 2011 IEEE.

关键词： Energy utilization

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