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A Noise-Excitation Generative Adversarial Network for Actuator Fault Diagnosis of Multi-legged Robot

无人系统（英文） 2023年第2期11卷 159-173页

作者： Liling Ma Jian Guo Jiehao Li Junzheng Wang State Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China

This research provides a novel approach for detecting multi-legged robot actuator *** most significant concept is to design the Fault Diagnosis Generative Adversarial Network(FD-GAN)to fully adapt to the fault diagnosis problem with insufficient *** found that it is difficult for methods based on classification and prediction to learn failure patterns without enough data.A straightforward solution is to use massive amounts of normal data to drive the diagnostic *** introduce frequency-domain information and fuse multi-sensor data to increase the features and expand the difference between normal data and fault data.A GAN-based framework is designed to calculate the probability that the enhanced data belongs to the normal *** uses a generator network as a feature extractor,and uses a discriminator network as a fault probability evaluator,which creates a new use of GAN in the field of fault *** the many learning strategies of GAN,we find that a key point that can distinguish the two types of data is to use the hidden layer noise with appropriate discrimination as the *** also design a fault location method based on binary search,which greatly improves the search efficiency and engineering value of the entire *** have conducted a lot of experiments to prove the diagnostic effectiveness of our architecture in various road conditions and working *** compared FD-GAN with popular diagnostic *** results show that our method has the highest accuracy and recall rate.

关键词： Actuator fault diagnosis multi-legged robot generative adversarial network attention mechanism

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Interval analysis for neural networks with application to fault detection

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Science China(Information Sciences) 2024年第11期67卷 222-237页

作者： Zhenhua WANG Youdao MA Song ZHU Thach Ngoc DINH Yi SHEN Department of Control Science and Engineering Harbin Institute of Technology National Key Laboratory of Complex System Control and Intelligent Agent Cooperation School of Mathematics China University of Mining and Technology The CEDRIC-Lab Conservatoire National des Arts et Métiers (CNAM)

This paper investigates an interval analysis method for neural networks and applies it to fault detection for systems with unknown but bounded measurement noise. First, a novel interval analysis method is presented, which can compute the bounds of the output of a feedforward neural network subject to a bounded input. By applying the proposed interval analysis method to a network trained with fault-free system data, adaptive thresholds for fault detection are computed. Finally, one can acquire fault detection results via a fault detection strategy. The proposed method can achieve tight bounds of the network output and employ simple operations, which leads to accurate fault detection results and a low computational burden.A numerical simulation and an experiment on an AC servo motor are given to illustrate the effectiveness and superiority of the proposed method.

关键词： interval analysis feedforward neural network fault detection adaptive thresholds

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Linear-quadratic and norm-bounded combined differential game guidance scheme with obstacle avoidance for attacking defended aircraft in three-player engagement

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Defence Technology（防务技术） 2024年第12期42卷 136-155页

作者： Xintao Wang Ming Yang Songyan Wang Mingzhe Hou Tao Chao Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes a pursuer,an interceptor,and an *** confrontation between the players is divided into four phases(P1-P4)by introducing the switching time,and proposing different guidance strategies according to the phase where the static obstacle is located:the linear quadratic game method is employed to devise the guidance scheme for the energy optimization when the obstacle is located in the P1 and P3 stages;the norm-bounded differential game guidance strategy is presented to satisfy the acceleration constraint under the circumstance that the obstacle is located in the P2 and P4 ***,the radii of the static obstacle and the interceptor are taken as the design parameters to derive the combined guidance strategy through the dead-zone function,which guarantees that the pursuer avoids the static obstacle,and the interceptor,and attacks the ***,the nonlinear numerical simulations verify the performance of the game guidance strategy.

关键词： Active defense aircraft Differential game theory Three-player confrontation Energy optimization Acceleration constraint Obstacle avoidance

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Optimized Gaussian kernel regression for X-ray pulsar signal profile construction 3

Optimized Gaussian kernel regression for X-ray pulsar signal...

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3rd International Conference on Environmental Remote Sensing and Geographic Information Technology, ERSGIT 2024

作者： Dong, Yan Zhuang, Yutao Wang, Ruoning National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing100071 China

ISBN: (纸本)9781510690219

With the continuous advancement of pulsar-based navigation technology, signal processing issues in X-ray pulsar navigation applications have received increasing attention. One of the key factors limiting the improvement of navigation accuracy is the low signal-to-noise ratio (SNR) of epoch-folded profiles. Pulsar profiles contain many important characteristic features, such as pulse shape symmetry and multi-pulse structures. To facilitate further study, it is necessary to reduce noise and obtain high-SNR pulsar profiles. This study addresses this issue by proposing a method for high-precision pulsar profile construction based on optimized Gaussian kernel regression. The constructed profiles are evaluated and analyzed in terms of profile quality and phase information estimation based on the profile. The results show that the SNR of the epoch-folded profiles after denoising is significantly better than that of the original profiles, providing an important reference for signal processing in X-ray pulsar navigation applications. © 2025 SPIE.

关键词： Image denoising

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Effective distributed algorithm for solving linear matrix equations

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Science China(Information Sciences) 2023年第8期66卷 265-266页

作者： Songsong CHENG Jinlong LEI Xianlin ZENG Yuan FAN Yiguang HONG Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Department of Control Science and Engineering Tongji University Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Dear editor,Solving linear matrix equations is a basic and important problem in many fields such as the computation of generalized inverses of matrices and(generalized) Sylvester equations. Also, the linear algebraic ...

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Distributed Optimization and Scaling Design for Solving Sylvester Equations

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Journal of systems Science & complexity 2024年第6期37卷 2487-2510页

作者： CHENG Songsong YU Xin ZENG Xianlin LIANG Shu HONG Yiguang Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 201210China

This paper develops distributed algorithms for solving Sylvester *** authors transform solving Sylvester equations into a distributed optimization problem,unifying all eight standard distributed matrix *** the authors propose a distributed algorithm to find the least squares solution and achieve an explicit linear convergence *** results are obtained by carefully choosing the step-size of the algorithm,which requires particular information of data and Laplacian *** avoid these centralized quantities,the authors further develop a distributed scaling technique by using local information *** a result,the proposed distributed algorithm along with the distributed scaling design yields a universal method for solving Sylvester equations over a multi-agent network with the constant step-size freely chosen from configurable ***,the authors provide three examples to illustrate the effectiveness of the proposed algorithms.

关键词： Distributed optimization least squares solution linear convergence rate step-size interval Sylvester equation

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A Regional Necessity Based Multi-agent Target Search Strategy for Post-earthquake Rescue 41

A Regional Necessity Based Multi-agent Target Search Strateg...

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第41届中国控制会议

作者： Xi Luo School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The damage caused by the earthquake is *** the purpose of post-earthquake rescue is to reduce *** it is necessary to improve the efficiency of rescue as much as *** paper focuses on multi-agent cooperative target search in the post-earthquake rescue and how to exploit the prior information of post-disaster building to improve the searching efficiency.A regional necessity based searching strategy is proposed which utilizes pre-disaster building information and adapts to dynamic ***,the target probability map is estimated according to the distribution information of pre-disaster ***,the regional necessity map is constructed by integrating the target probability map and the perception of the environment during the search ***,the search strategy is proposed based on the regional necessity map and the particle swarm optimization *** the gradient direction of regional necessity and local optimal velocity,the agent dynamically selects the search *** comparing with other search strategies in simulation experiments,the proposed strategy could shorten the searching time and improve the searching efficiency in the small and medium-scale task ***,the search strategy can adapt to the post-earthquake dynamic environment,which is confirmed by dynamic experiments.

关键词： multi-agent cooperative target search post-earthquake rescue regional necessity particle swarm optimization

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Dynamic Scheduling for Airport Special Vehicles Based on a Multi-strategy Hybrid Algorithm 41

Dynamic Scheduling for Airport Special Vehicles Based on a M...

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第41届中国控制会议

作者： Wei Quan Chen Chen Zhuang Shao Kai Meng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

When arriving at the airport,flight needs to be served by special *** at the dynamic time window scheduling problem of airport refueling vehicles,this paper establishes a vehicle routing problem model with time window to minimize the operating ***,a multi-strategy genetic algorithm is designed to gain the solve time window scheduling problem,which employs the crossover based on particle swarm optimization to accelerate the early search capability,and the local search method based on simulated annealing to increase the local optimization *** aiming at dynamically adjusting vehicle routes on the basis of static scheduling,a local replanning strategy based on a dynamic time window is introduced,which uses the original route matching and rescheduling *** results show that the multi-strategy hybrid algorithm can effectively reduce the number of routes and vehicles the airport *** different scales' dynamic changes of time windows,the algorithm could enable vehicles to still meet time constraints and effectively minimize the change of routes.

关键词： vehicle scheduling multi-strategy genetic algorithm dynamic scheduling local replanning strategy

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Coverage Path Planning of Multiple Disconnected Convex Polygons Based on Improved Genetic Algorithm 1

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12th China Conference on Command and control, C2 2024

作者： Hu, Tianmi Wang, Shuyue Lyu, Yang Liang, Xinkai Pan, Quan Northwestern Polytechnical University Shaanxi Xi’an710129 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China

ISBN: (数字)9789819777747

ISBN: (纸本)9789819777730

This paper considers the energy-constrained multi-UAV multi-area coverage path planning problem which is a generic technology backbone of many survey applications using multiple UAVs. The problem is usually NP-hard and may not be solved efficiently taking into consideration the scale of the areas to survey. In this paper, we present a two-step strategy to solve this problem approximately. In the first step, we compute coverage paths controlled by different enter/exit points for each polygon area. In the second step, we propose a genetic algorithm-based approach to determine the access order of multiple areas while simultaneously determining the entry point for each area. The above problem can be modeled as a variant of the vehicle routing problem (VRP) taking into account the limitation of the maximum flight distance of each UAV. The simulation experiment results indicate that our approach is able to plan proper paths for the multi-UAV multi-area coverage mission, while the energy constraint is satisfied at the same time. © Chinese Institute of Command and control 2024.

关键词： Genetic algorithms

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Linear Quadratic Pursuit and Evasion Differential Game Guidance Strategy with Obstacle Avoidance 34th

Linear Quadratic Pursuit and Evasion Differential Game Guida...

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34th Congress of the International Council of the Aeronautical Sciences, ICAS 2024

作者： Wang, Xintao Yang, Ming Ma, Ping Chao, Tao Control and Simulation Center Harbin Institute of Technology Harbin150080 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin150080 China

In this paper, a class of linear quadratic differential game guidance scheme is presented to study the pursuit and evasion conflict scenario that an evader establishes a static obstacle and performs the evasion maneuver to avoid a pursuer. First of all, the engagement kinematic model among the obstacle, the pursuer, and the evader is linearized according to the assumption. The issue of the pursuit and evasion game is transformed into a linear quadratic differential game through the dead zone and the cost functions. Furthermore, the linear quadratic differential game approach is utilized to obtain the guidance strategy with obstacle avoidance. Numerical simulation results are employed to validate the performance of the guidance policy. © 2024, International Council of the Aeronautical Sciences. All rights reserved.

关键词： Cost functions

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