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2025 IEEE International Conference on Acoustics, Speech, and Signal processing, ICASSP 2025

作者： Liu, Qiang Soleymani, Mahdi Mahdavifar, Hessam National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Halıcıoğlu Data Science Institute University of California La Jolla San DiegoCA92093 United States Department of Electrical and Computer Engineering Northeastern University BostonMA02115 United States

ISBN: (纸本)9798350368741

In real-world datasets, leveraging the low-rank and sparsity properties enables developing efficient algorithms across a diverse array of data-related tasks, including compression, compressed sensing, matrix completion, etc. Notably, these two properties often coexist in certain real-world datasets, especially in Boolean datasets and quantized real-valued datasets. To harness the advantages of low-rank and sparsity simultaneously, we adopt a technique inspired by compressed sensing and Boolean matrix completion. Our approach entails compressing a low-rank sparse Boolean matrix by performing inner product operations with a randomly generated Boolean matrix. We then propose a decoding algorithms based on message-passing techniques to recover the original matrix. Our experiments demonstrate superior recovery performance of our proposed algorithms compared to Boolean matrix completion, with equal measurement requirements. © 2025 IEEE.

关键词： Belief Propagation Boolean Matrix Compressed Sensing Matrix Completion

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UKF-Based Multi-sensor Data processing Algorithm for SLAM 9

UKF-Based Multi-sensor Data Processing Algorithm for SLAM

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9th International Conference on control Science and Systems Engineering, ICCSSE 2023

作者： Xu, Kun Zhang, Boheng Li, Jiangang Wang, Guizhong Sun, Mingjian School of Information Science and Engineering Harbin Institute of Technology Weihai China Harbin Institute of Technology Department of Control Science and Engineering Harbin China Co. Ltd. Shenzhen China Hebei Key Laboratory of Grid Advanced Measurement Monitor Jinyanhagong Industrial Technology Research Institute Zhangjiakou China

ISBN: (纸本)9798350339055

Simultaneous localization and mapping (SLAM) algorithm is widely used in unmanned and robotic applications. SLAM usually uses sensor data, which are from the LiDAR, the inertial measurement unit (IMU) and the wheeled odometry, to build maps of the surrounding environment. However, the motion distortion of LiDAR data and the error accumulation of wheeled odometry can affect the accuracy of the front-end odometry of the SLAM algorithm, which can lead to serious errors in the maps created. Therefore, in order to solve the problem of poor map construction results of SLAM algorithm due to various types of sensor errors. we propose the traceless Kalman filtering based (UKF-based) multi-sensor data processing algorithm. Firstly, the proposed algorithm uses the UKF to fuse IMU and wheeled odometry data to reduce the cumulative error of wheeled odometry. And then the algorithm uses IMU and corrected wheeled odometry data and combines with the motion states of the robot to solve the motion distortion problem of LiDAR data. Finally, we verified the effectiveness of the proposed algorithm for wheeled odometry data correction in Gazebo simulation environment and real environment experiments, and compared the mapping effectiveness of SLAM by using the original data and the data processed by our algorithm. The experimental results show that the map construction effect of SLAM algorithm is significantly improved when using the sensor data processed by the algorithm. Experimental validation on the robot shows that the proposed algorithm has universal applicability and good compatibility. © 2023 IEEE.

关键词： Sensor data fusion

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ω-3 Rich Tetracarpidum conophorum Oil Exhibits Better Prevention Effects for Cardiovascular Risk Factors than Corn Oil in Adult of Albinos Wistar Male Rats

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Food and Nutrition Sciences 2024年第8期15卷 663-680页

作者： Nzali Horliane Ghomdim Kenfack Laurette Blandine Mezajoug Eric Serge Ngangoum Stève Djiazet Clergé Tchiegang Bioprocess Laboratory Department of Food Process and Quality Control University Institute of Technology University of Ngaoundere Adamaoua Cameroon School of Agriculture and Natural Resources Catholic University Institute of Buea Buea Cameroon Department of Food Sciences and Nutrition National Advanced School of Agro-Industrial Sciences (ENSAI) University of Ngaoundere Ngaoundere Cameroon

Cardiovascular diseases are serious pathologies that affect an increasing number of people. Several preventive measures are generally used, including supplementing of oils in foods. Our objective was to compare the effects of Tetracarpidum conophorum oil (TC) and corn oil (CO) on serum lipid profiles of normal male rats. 42 Wistar rats were divided into 7 groups. Diets included TC oil (groups TC5, TC10 and TC20) and corn oil (groups CO5, CO10 and CO20) in proportions of 5%, 10% and 20%, with a control group (T). After 5 weeks of feeding, several parameters were measured during and after the study, including body weight, food intake and organ weights (kidney, liver and fat). Lipid profiles (total cholesterol, TG, HDL and LDL), glucose and protein levels were measured in the serum. The increase in body mass was inversely proportional to the amount of oil in the food. The decrease in body mass and adiposomatic index of group TC10 was significant (p < 0.05) compared with the other groups. The lowest glycaemia (64.17 ± 5.14 mg/dl) was noted with the diet containing 20% TC oil. A significant reduction in total cholesterol, LDL fraction and blood triglycerides was observed in the groups supplemented with TC and corn oils compared to controls. Results were also more beneficial for the TC10 group. HDL-cholesterol levels were significantly higher (p < 0.05) in the oil-supplemented groups than in the control group. Castelli’s risk indices decrease significantly (p < 0.05) with increasing oil content for TC. The oils had no impact on blood protein contents. One can conclude that a diet containing 10% crude oil from TC kernels could prevent or alleviate cardiovascular diseases and glycemia.

关键词： Tetracarpidium conophorum Oil ω-3 Corn Oil Lipid Profiles Glycemia

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Role of NO and SO_(2)in mercury oxidation over a La_(2)O_(3)/Fe_(2)O_(3)catalyst with high thermal stability

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Journal of Environmental Sciences 2021年第11期33卷 36-44页

作者： Ruihui Liu Yang Yang Tingyu Zhu Wenqing Xu School of Resources and Ciuil Engineering Northeastern UniversityShenyang 110819China Research Center for Process Pollution Control National Engineering Laboratory for Hydrometallurgical Cleaner Production TechnologyInstitute of Process EngineeringChinese Academy of SciencesBeijing 100190China School of Resources and Materials Northeastern University at QinhuangdaoQinhuangdao 066004China National Engineering Laboratory for Flue Gas Pollutants Control Technology and Equipment Tsinghua UniversityBeijing 100084China

In this study,the thermal stability of a ferric oxide catalyst for mercury oxidation was found to be considerably promoted by doping with La_(2)O_(3).The catalysts doped with La_(2)O_(3)maintained a higher surface area when subjected to high-temperature calcination,with lower average pore size and a narrower pore size distribution.X-ray diffraction(XRD)results revealed that La_(2)O_(3)doping hinders the growth of catalyst particles and crystallization of the material at high *** NO and SO_(2)inhibited Hg^(0)oxidation over the La_(2)O_(3)/Fe_(2)O_(3)*** transform infrared(FTIR)spectra revealed that SO_(2)reacts with O_(2)over the catalysts to form several species that are inert for mercury oxidation,such as S042^(-),HS04^(-),or other related species;these inert species cover the catalyst surface and consequently decrease Hg^(0)oxidation *** addition,NO or SO_(2)competed with Hg^(0)for active sites on the La_(2)O_(3)/Fe_(2)O_(3)catalyst and hindered the adsorption of mercury,thereby inhibiting subsequent Hg^(0)***^(0)oxidation on the La_(2)O_(3)/Fe_(2)O_(3)catalyst mainly followed the Eley-Rideal ***,the inhibition effects of NO and SO_(2)were at least partially reversible,and the catalytic activity was temporarily restored after eliminating NO or S0_(2).

关键词： Mercury Flue gas Fe_(2)O_(3) La_(2)O_(3) Thermal stability

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Causal-Transformer: Spatial-temporal causal attention-based transformer for time series prediction

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IFAC-PapersOnLine 2024年第14期58卷 79-84页

作者： Yaqi Zhu Fan Yang Andrei Torgashov Department of Automation Beijing National Research Center for Information Science and Technology Tsinghua University Beijing 100084 China Process Control Laboratory Institute of Automation and Control Processes Far-Eastern Branch Russian Academy of Sciences Vladivostok 690041 Russia

Real-time monitoring and accurate prediction of key variables are indispensable to ensure industrial production activities proceed as expected. With the increase in measurement data volume and the improvement of hardware computing power, the Transformer and its variants, due to their excellent capability in extracting global dependencies, are playing an increasingly important role among deep learning-based multidimensional time series prediction models. In addition, from the perspective of causality, cause variables contain parts of information in effect variables and can reduce the uncertainty of effect variables, which is beneficial for prediction. However, there has been relatively limited research on combining the Transformer and causal feature analysis. To fully use both advantages, this paper introduces the Causal-Transformer (CT) model, which utilizes semi-orthogonal projection to extract causal features from multiple input variables. A multi-head spatial-temporal causal attention mechanism is designed in the encoder block based on the classical Transformer model to simultaneously reduce feature dimensions and extract implicit causal features in both the temporal and spatial dimensions. The CT also utilizes the Granger causality analysis to select the causal teaching indicators of target variables to provide stable assistance by injecting explicit causality into the inputs of the decoder block. By leveraging more condensed and independent causal features, the CT possesses inherent advantages in predicting time series variables. Case study results show that the CT model outperforms the other models on the diesel refinery dataset, especially with a reduction of 46.0% and 30.4% in MSE towards the classic Transformer and informer in five-step prediction.

关键词： Machine learning Time series modelling Transformer Causal analysis Attention machenism

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ADAPTIVE ITERATIVE LEARNING TORQUE control OF ELECTRO-HYDRAULIC LOAD SIMULATOR

ADAPTIVE ITERATIVE LEARNING TORQUE CONTROL OF ELECTRO-HYDRAU...

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2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Shu, Sheng Wu, Shuai School of Automation Science and Electrical Engineering Beihang University Beijing China National Key Laboratory of Aircraft Integrated Flight Control Beihang University Beijing China Key Laboratory of Advanced Aircraft Systems Beihang University Ministry of Industry and Information Technology Beijing China Ningbo Institute of Technology Beihang University Ningbo China

The electro-hydraulic load simulator which can simulate the load executed on the aircraft actuator in the process of flight is an important ground test equipment. The uncertainties of the system including the disturbances caused by the motion of actuator make it challenging to achieve high performance. This study develops an adaptive iterative learning controller for the torque control of electro-hydraulic load simulator utilizing the backstepping method. On the basis of adaptive backstepping control, this controller incorporates iterative learning law to learn unknown nonlinear functions. By utilizing the repetitive characteristic of the test equipment, the iterative learning law sacrifices learning time to achieve enhanced control performance. To handle unknown disturbances, filter error, and learning error, a robust term described by dynamic equations is constructed. The calculation of the derivative of the virtual control law is simplified with a first-order command filter. Simulations with three different controllers are obtained to illustrate the learning ability of the proposed controller. © The Institution of Engineering & technology 2024.

关键词： Backstepping

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Path Preview Tracking for Autonomous Vehicles Based on Model Predictive control

Path Preview Tracking for Autonomous Vehicles Based on Model...

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2022 IEEE International Conference on Unmanned Systems, ICUS 2022

作者： Lu, Yanrong Zhu, Jia Wang, Zhiwen Du, Nan Zhang, Jindou College of Electrical and Information Engineering Lanzhou University of Technology Lanzhou China Lanzhou University of Technology Key Laboratory of Gansu Advanced Control for Industrial Processes Lanzhou China Lanzhou University of Technology National Demonstration Center for Experimental Electrical and Control Engineering Education Lanzhou China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

For the autonomous vehicles path tracking problem, a preview tracking strategy is proposed based on model predictive control (MPC) in this paper. First, under the scenario that the road ahead information is available, an augmented error system is constructed based on the prediction tracking error, state difference and preview information. By introducing an appropriate objective function, the original path preview tracking problem is transformed into an optimization problem of the unconstrained predictive control. Second, the optimal prediction control sequence is obtained according to the minimum value principle, and its first component, which contains the non-causal tracking error, state feedback and preview feedforward, is utilized to perform the receding-horizon control. Furthermore, the optimization problem of the constrained predictive control is also considered. Finally, the platform of CarSim and Simulink is adopted to verify the effectiveness of the path preview tracking. © 2022 IEEE.

关键词： Model predictive control

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Fast Integral Terminal Sliding Mode control with Disturbance Compensation for Permanent Magnet Synchronous Motors

Fast Integral Terminal Sliding Mode Control with Disturbance...

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第43届中国控制会议

作者： Xiaomin Mao Chenglin Liu Liang Shan Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education Institute of AutomationJiangnan University School of Automation Nanjing University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

To enhance the robustness of the permanent magnet synchronous motor(PMSM) speed control system, and reduce the response time of the control system, a composite terminal sliding mode control strategy is proposed. Firstly, a integral terminal sliding surface and a fast reaching law are designed based on the mathematical model of the PMSM to avoid singularity issues,enhance quickness, and reduce chattering. Then, the stability and finite-time convergence of the control system are proved by constructing a Lyapunov function. Considering the system's susceptibility to disturbances, the lumped disturbance is considered in the mathematical model. An extended state observer(ESO) is designed to observe the lumped disturbance and compensate for the lumped disturbance to the controller. Finally, through simulation and experimentation, it is demonstrated that the designed controller exhibits advantages such as fast response, no overshoot, and strong robustness.

关键词： Permanent Magnet Synchronous Motor Speed control System Terminal Sliding-mode control Extended State Observer

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Forming Circle Formations of Multi-agent Systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Extraction of main factors affecting muscle fatigue in lower-limb rehabilitation 41

Extraction of main factors affecting muscle fatigue in lower...

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第41届中国控制会议

作者： Tiecheng Liu Rennong Wang Jinhua She Juan Zhao Hiroshi Hashimoto Daisuke Chugo Graduate 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 Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Industrial Technology Advanced Institute of Industrial Technology Graduate School of Science and Technology Kwansei Gakuin University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This study extracted the main factors from a questionnaire,measurement results,and the analysis of sEMG signals to establish a method of evaluating muscle *** measured factors(rating of perceived exertion,heart rate,mileage) and five factors obtained from the analysis of sEMG signals(root mean square,mean absolute value,variance,times of zero crossing,median frequency) were *** the F-test,the correlation analysis,and the principal component analysis,we finally extracted six factors as the main factors that have a big influence on muscle fatigue.

关键词： correlation analysis F-test lower-limb rehabilitation muscle fatigue principal component analysis rehabilitation statistical analysis surface electromyography(sEMG)

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