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Research on Temperature Error Calibration Method of Fluxgate Sensor

Journal of Advanced Computational Intelligence and intelligent Informatics 2025年第3期29卷 583-591页

作者： Yang, Ruiping Ge, Jian Luo, Wang Hu, Xiangyun She, Jinhua Chugo, Daisuke Dong, Haobin School of Automation China University of Geosciences No.388 Lumo Road Hongshan District Hubei Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems No.388 Lumo Road Hongshan District Hubei Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education No 388 Lumo Road Hongshan District Hubei Wuhan 430074 China School of Engineering Kwansai Gakuin University 1 Gakuen Uegahara Hyogo Sanda 669-1330 Japan School of Geophysics and Geomatics China University of Geosciences No.388 Lumo Road Hongshan District Hubei Wuhan 430074 China Hubei Subsurface Multi-scale Imaging Key Laboratory No.388 Lumo Road Hongshan District Hubei Wuhan 430074 China School of Engineering Tokyo University of Technology 1404-1 Katakuramachi Hachioji Tokyo 192-0982 Japan

The fluxgate sensor is the most widely used sensor in vector magnetic measurement. However, during long-term continuous observation, the fluxgate sensor will produce large measurement errors due to changes in ambient temperature. This paper proposes a temperature calibration method for the fluxgate sensor based on polynomial fitting to address the temperature error of fluxgate sensors. First, the effect of temperature on the performance indicators of the fluxgate sensor was analyzed. Second, according to the existing temperature-magnetic field data, a temperature calibration model of the fluxgate sensor was constructed. Compared with other temperature calibration methods, the result shows that the proposed temperature calibration method is relatively simple and can better achieve real-time calibration for sensor application scenarios. Finally, to verify the effectiveness of the proposed method, numerous laboratory experiments were implemented. The temperature drift was reduced from about 700 nT before calibration to about 1 nT, root mean square error RMSE = 11.7189, indicating that the proposed method has a good temperature calibration effect on the data measured by the fluxgate sensor within the variable temperature background. © Fuji Technology Press Ltd.

关键词： curve fitting error fluxgate sensor magnetic sensor temperature calibration

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Safe Reinforcement Learning for Social Motor Coordination in Two Dimensional Space

Safe Reinforcement Learning for Social Motor Coordination in...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Fan Yang Yuening Huang Chao Zhai Hehong Zhang China University of Geosciences Wuhan Campus School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Rice University George R. Brown School of Engineering and Computing Houston Texas United States Fuzhou University School of Computer and Data Science Fuzhou China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

This paper presents an interactive motion control method based on reinforcement learning, designed to assist children with autism who have social motor impairments through a mirror game intervention. The virtual teacher uses the Deep Deterministic Policy Gradient (DDPG) algorithm to optimize its actions, guiding the participant to follow a Lissajous trajectory. To ensure safety, a motion-correction mechanism was developed, which automatically adjusts actions when the predicted trajectory surpasses predefined safety boundaries. The reward function considers both the distance between the virtual teacher and the target trajectory, as well as the distance between the virtual teacher and the participant, with dynamic adjustments applied by the motion-correction mechanism. Experimental results demonstrate that the virtual teacher effectively guides the participant towards the target trajectory while adhering to safety constraints.

关键词： Autism Filters Reinforcement learning Games Variable speed drives Motors Trajectory Safety Mirrors Motion control

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A memetic algorithm for path planning of curvature-constrained UAVs performing surveillance of multiple ground targets

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Chinese Journal of Aeronautics 2014年第3期27卷 622-633页

作者： Zhang Xing Chen Jie Xin Bin Peng Zhihong School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The problem of generating optimal paths for curvature-constrained unmanned aerial vehicles （UAVs） performing surveillance of multiple ground targets is addressed in this paper. UAVs are modeled as Dubins vehicles so that the constraints of UAVs＇ minimal turning radius can be taken into account. In view of the effective surveillance range of the sensors equipped on UAVs, the problem is formulated as a Dubins traveling salesman problem with neighborhood （DTSPN）. Considering its prohibitively high computational complexity, the Dubins paths in the sense of terminal heading relaxation are introduced to simplify the calculation of the Dubins distance, and a boundary-based encoding scheme is proposed to determine the visiting point of every target neighborhood. Then, an evolutionary algorithm is used to derive the optimal Dubins tour. To further enhance the quality of the solutions, a local search strategy based on approximate gradient is employed to improve the visiting points of target neighborhoods. Finally, by a minor modification to the individual encoding, the algorithm is easily extended to deal with other two more sophisticated DTSPN variants （multi-UAV scenario and multiple groups of targets scenario）. The performance of the algorithm is demonstrated through comparative experiments with other two state-of-the-art DTSPN algorithms identified in literature. Numerical simulations exhibit that the algorithm proposed in this paper can find high-quality solutions to the DTSPN with lower computational cost and produce significantly improved performance over the other algorithms.

关键词： Approximate gradient Dubins traveling salesmanproblem with neighborhood Local search Memetic algorithm Unmanned aerial vehicles

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Online adaptive Q-learning method for fully cooperative linear quadratic dynamic games

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Science China(Information Sciences) 2019年第12期62卷 164-177页

作者： Xinxing LI Zhihong PENG Lei JIAO Lele XI Junqi CAI School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

A model-based offline policy iteration(PI) algorithm and a model-free online Q-learning algorithm are proposed for solving fully cooperative linear quadratic dynamic games. The PI-based adaptive Q-learning method can learn the feedback Nash equilibrium online using the state samples generated by behavior policies, without sending inquiries to the system model. Unlike the existing Q-learning methods, this novel Q-learning algorithm executes both policy evaluation and policy improvement in an adaptive *** prove the convergence of the offline PI algorithm by proving its equivalence to Newton's method while solving the game algebraic Riccati equation(GARE). Furthermore, we prove that the proposed Q-learning method will converge to the Nash equilibrium under a small learning rate if the method satisfies certain persistence of excitation conditions, which can be easily met by suitable behavior policies. Our simulation results demonstrate the good performance of the proposed online adaptive Q-learning algorithm.

关键词： adaptive dynamic programming reinforcement learning Q-learning fully cooperative linear quadratic dynamic games policy iteration off-policy

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Further results on cloud control systems

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Science China(Information Sciences) 2016年第7期59卷 232-236页

作者： Yuanqing XIA Yongming QIN Di-Hua ZHAI Senchun CHAI School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

This paper is devoted to further investigating the cloud control systems(CCSs). The benefits and challenges of CCSs are provided. Both new research results of ours and some typical work made by other researchers are p... 详细信息

关键词： cloud control systems cloud computing cyber-physical systems networked control systems big data

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A-STC: auction-based spanning tree coverage algorithm for motion planning of cooperative robots

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 18-31页

作者： Guan-qiang GAO Bin XIN School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems

The multi-robot coverage motion planning(MCMP) problem in which every reachable area must be covered is common in multi-robot systems. To deal with the MCMP problem, we propose an efficient, complete, and off-line algorithm, named the "auction-based spanning tree coverage(A-STC)" algorithm. First, the configuration space is divided into mega cells whose size is twice the minimum coverage range of a robot. Based on connection relationships among mega cells, a graph structure can be obtained. A robot that circumnavigates a spanning tree of the graph can generate a coverage trajectory. Then, the proposed algorithm adopts an auction mechanism to construct one spanning tree for each robot. In this mechanism, an auctioneer robot chooses a suitable vertex of the graph as an auction item from neighboring vertexes of its spanning tree by heuristic rules. A bidder robot submits a proper bid to the auctioneer according to the auction vertexes' relationships with the spanning tree of the robot and the estimated length of its trajectory. The estimated length is calculated based on vertexes and edges in the spanning tree. The bidder with the highest bid is selected as a winner to reduce the makespan of the coverage task. After auction processes, acceptable coverage trajectories can be planned rapidly. Computational experiments validate the effectiveness of the proposed MCMP algorithm and the method for estimating trajectory lengths. The proposed algorithm is also compared with the state-of-the-art algorithms. The comparative results show that the A-STC algorithm has apparent advantages in terms of the running time and the makespan for large crowded configuration spaces.

关键词： Coverage motion planning Multi-robot system Auction algorithm Spanning tree coverage algorithm

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Extended Dissipativity Analysis and Synthesis for Discrete-Time Lur'e Delayed systems: Matrix-Separation-Based Lyapunov Functional Method

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IET control Theory and Applications 2025年第1期19卷

作者： Xie, Ke-You Lee, Sangmoon Zhang, Chuan-Ke Jin, Li Liu, Yajuan He, Yong School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Electronic and Electrical Engineering Kyungpook National University Daegu Korea Republic of School of Control and Computer Engineering North China Electric Power University Beijing China

This paper develops a matrix-separation-based Lyapunov functional method to study the extended dissipativity analysis and synthesis issue of discrete-time Lur'e-type delayed systems. The advanced idea of matrix-separation is reflected in Lyapunov functional candidates and estimates summation terms as precisely as feasible. First, we introduce a novel summation inequality based on the matrix-separation method to provide a bound for the augmented summation that involves common state variables. An improved delay-product-type Lyapunov functional is devised by extending non-positive definite summations as separate subblocks of the state-augmented summation. Then, by using the matrix injection method to handle the cubic delay term in the functional forward difference, a delay-variation-dependent stability criterion and an extended dissipativity criterion are developed under the matrix-separation-based method. Subsequently, sufficient conditions for the control design of Lur'e-type systems are derived. Finally, the effectiveness and superiority of the proposed method are verified through its application to Chua's circuits, neural networks, and a stochastic numerical example. © 2025 The Author(s). IET control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

关键词： Stability criteria

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Multimodal Emotion Recognition Based on Multi-Scale Facial Features and Cross-Modal Attention

Multimodal Emotion Recognition Based on Multi-Scale Facial F...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Chengao Bao Luefeng Chen Min Li Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan China the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation and the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Tokyo Institute of Technology Yokohama Japan Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method.

关键词： Emotion recognition Visualization Accuracy Service robots Semantics Human-robot interaction Speech recognition Feature extraction Data mining Facial features

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Multi-Objective Cooperative Salvo Attack Against Group Target

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Journal of systems Science & complexity 2018年第1期31卷 244-261页

作者： ZENG Jie DOU Lihua XIN Bin School of Automation State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing the time consumption of attack and maximizing the expected damage to group targets are taken into consideration simultaneously. These operational objectives result in a hierarchical mixed-variable optimization problem which includes two types of subproblems, namely the multi-objective missile-target assignment（MOMTA） problem at the upper level and the time-optimal coordinated path planning（TOCPP） problems at the lower level. In order to solve the challenging problem, a recently proposed coordinated path planning method is employed to solve the TOCPP problems to achieve the soonest salvo attack against each target. With the aim of finding a more competent solver for MOMTA, three state-of-the-art multi-objective optimization methods（MOMs）,namely NSGA-II, MOEA/D and DMOEA-εC, are adopted. Finally, a typical example is used to demonstrate the advantage of the proposed method. A simple rule-based method is also employed for comparison. Comparative results show that DMOEA-εC is the best choice among the three MOMs for solving the MOMTA problem. The combination of DMOEA-εC for MOMTA and the coordinated path planning method for TOCPP can generate obviously better salvo attack schemes than the rule-based method.

关键词： Coordinated path planning missile-target assignment multi-missile salvo attack multiobjective optimization

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DYNAMIC REDUNDANCY RESOLUTION FOR MOBILE MANIPULATORS USING POSITION FUZZY controlLER

DYNAMIC REDUNDANCY RESOLUTION FOR MOBILE MANIPULATORS USING ...

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6th International Multi-Conference on systems, Signals and Devices

作者： Boukattaya, M. Jallouli, M. Damak, T. Control of Industrial Process Unit Intelligent Control Design and Optimization of Complex Systems Unit Tunisia

ISBN: (纸本)9781424443451

In this paper, we present a dynamic redundancy resolution technique for mobile manipulators using a position fuzzy controller. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next, a control algorithm is proposed which resolve the redundancy by decoupling the motion of the system into the end-effector motion in the task space and an internal motion in the null space and controls them in prioritized basis with priority given to the primary task. In order to achieve a good end-effector trajectory tracking, a position fuzzy controller is used to provide the torques needed to move the end-effector along the desired trajectory. Simulation results are given to illustrate the coordination of two subsystems in executing the desired trajectories.

关键词： mobile manipulators dynamic redundancy resolution fuzzy controller

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