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2024 China Automation Congress, CAC 2024

作者： Li, Haolin Yi, Peng Wei, Dixiao Bai, Wenyan The Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai201203 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9798350368604

The problem of confrontation games between multi-agent teams has attracted considerable interest, and the question of how to ensure effective coordination of heterogeneous agents in dynamic and adversarial environments remains a significant challenge. In this paper, we present a decision-making methodology for a confrontation game between two teams, which is based on large language models (LLMs). The game is designed as a competitive Seek-and-Take task comprising three distinct robot types: reconnaissance, grabbing, and blocking robots. The LLMs enhance the robot team’s decision-making efficiency, delivering high-level commands that significantly improve coordination and adversarial performance. The game is initially formalized as a partially observable Markov decision process. Subsequently, a systematic construction of the LLM agents is provided, enabling real-time decisions based on the state information of a heterogeneous robot team (HRT). Detailed prompt design and the "Zero-shot-CoT" procedure are provided, and a cue word iteration method with reflections is proposed as a means of enhancing the decision-making efficiency of the LLMs and generating optimal collaboration strategies. Finally, the efficacy of the methodology is validated through experimentation with multiple LLMs in a multi-robot simulation environment. The results demonstrate that LLMs improve the efficiency and adaptability of decision-making in dynamic environments by serving as a core decision module, generating optimal strategies through real-time analysis. © 2024 IEEE.

关键词： Efficiency

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A Data-Driven Closed-Loop System Identification Approach Using Canonical Correlation Analysis 25

A Data-Driven Closed-Loop System Identification Approach Usi...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Qiao, Xinyu Li, Xianling Zheng, Wei Huo, Mingyi Jiang, Yuchen Luo, Hao Harbin Institute Of Technology Department Of Control Science And Engineering Harbin China Wuhan 2ndShip Design And Research Institute Science And Technology On Thermal Energy And Power Laboratory Wuhan China

ISBN: (纸本)9798350340266

In this paper, a data-driven closed-loop system identification approach using canonical correlation analysis (CCA) is proposed. Based on the subspace identification methods (SIM), an auxiliary matrix is constructed by utilizing known controller information in the structure of the closed-loop system. With the help of the projection, the equivalent relationship between past input and future output is found, and the optimal identification of system parameters is implemented by using the CCA method. The proposed method solves the biased identification problem caused by the correlation between closed-loop input and noise. The main results are tested and verified via the numerical example, and the superiority of the identification estimation results of the proposed method is compared through different methods. © 2024 IEEE.

关键词： Closed loop systems

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Autonomous landing scene recognition based on transfer learning for drones

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Journal of Systems engineering and Electronics 2023年第1期34卷 28-35页

作者： DU Hao WANG Wei WANG Xuerao WANG Yuanda School of Automation Southeast UniversityNanjing 210096China Autonomous Control Robot Laboratory Jiangsu Zhongke Institute of Applied Research on Intelligent Science and TechnologyChangzhou 213164China Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Nanjing University of Information Science and TechnologyNanjing 210044China

In this paper, we study autonomous landing scene recognition with knowledge transfer for drones. Considering the difficulties in aerial remote sensing, especially that some scenes are extremely similar, or the same scene has different representations in different altitudes, we employ a deep convolutional neural network(CNN) based on knowledge transfer and fine-tuning to solve the problem. Then, LandingScenes-7 dataset is established and divided into seven classes. Moreover, there is still a novelty detection problem in the classifier, and we address this by excluding other landing scenes using the approach of thresholding in the prediction stage. We employ the transfer learning method based on ResNeXt-50 backbone with the adaptive momentum(ADAM) optimization algorithm. We also compare ResNet-50 backbone and the momentum stochastic gradient descent(SGD) optimizer. Experiment results show that ResNeXt-50 based on the ADAM optimization algorithm has better performance. With a pre-trained model and fine-tuning, it can achieve 97.845 0% top-1 accuracy on the LandingScenes-7dataset, paving the way for drones to autonomously learn landing scenes.

关键词： landing scene recognition convolutional neural network(CNN) transfer learning remote sensing image

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Image stitching method based on improved optimal seam

Image stitching method based on improved optimal seam

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2022 International Conference on Electronic Information engineering and Computer science, EIECS 2022

作者： Ji, Xiu Wang, Yan Li, Cong Hou, Faming Guo, Shuanghao National Local Joint Engineering Research Center for Smart Distribution Grid Measurement and Control with Safety Operation Technology Changchun Institute of Engineering Changchun China

ISBN: (纸本)9781510663312

In order to improve the running time of image stitching and remove the phenomenon of ghosting, this paper proposes an image stitching method based on the improved optimal seam ***, the two input images are preprocessed using a median filter ***, image registration is performed using the ORB algorithm. Finally, the best seam method based on the Canny operator is *** experimental results show that when stitching images, whether for large scale or small scale images, the algorithm in this paper has faster running speed and better stitching effect. © 2023 SPIE.

关键词： Median filters

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Modeling and sliding mode control based on inverse compensation of piezo-positioning system

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中国光学(中英文) 2025年第1期18卷 170-185页

作者： LI Zhi-bin XIN Yuan-ze ZHANG Jian-qiang SUN Chong-shang College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Center for Advanced Control and Smart Operations Nanjing UniversitySuzhou 215163China

In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are *** model is used to represent the dynamic hysteresis nonlinear characteristics of piezo-positioning *** static nonlinear part and dynamic linear part of the Hammerstein model are represented by models obtained through the Prandtl-Ishlinskii(PI)model and Hankel matrix system identification method,*** model demonstrates good generalization capability for typical input frequencies below 200 Hz.A sliding mode inverse compensation tracking control strategy based on P-I inverse model and integral augmentation is *** results show that compared with PID inverse compensation control and sliding mode control without inverse compensation,the sliding mode inverse compensation control has a more ideal step response and no overshoot,moreover,the settling time is only 6.2 *** the frequency domain,the system closed-loop tracking bandwidth reaches 119.9 Hz,and the disturbance rejection bandwidth reaches 86.2 *** proposed control strategy can effectively compensate the hysteresis nonlinearity,and improve the tracking accuracy and antidisturbance capability of piezo-positioning system.

关键词： piezo-positioning system hysteresis nonlinearity Hammerstein model Prandtl-Ishlinskii(P-I)model system identification sliding mode control

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Hypergraph Edge Representations with the Use of Homological Paths

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Journal of Applied and Industrial Mathematics 2023年第3期17卷 678-686页

作者： Vyalyi, M.N. Karpov, V.E. Moscow Institute of Physics and Technology Moscow oblast Dolgoprudnyi141701 Russia Federal Research Center "Computer Science and Control " Russian Academyof Sciences Moscow119333 Russia National Research University Higher School of Economics Moscow101000 Russia

Abstract: We consider the problem of realization of hypergraphs on a graph provided each hyperedgeis realized by a subgraph in which exactly two vertices have odd degree. This problem is related toCycle Double Cover conjecture. We prove that checking the existence of realization iscomputationally hard. The hardness is proved in various settings: for realizations on all graphs,on simple graphs, and on graphs from several restricted classes. © 2023, Pleiades Publishing, Ltd.

关键词： Graph theory

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Velocity-free Formation control for Quadrotors Using High-order Sliding Mode Differentiator

Velocity-free Formation Control for Quadrotors Using High-or...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Lin, Qiong Miao, Zhiqiang Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China National Engineering Research Center for Robot Visual Perception and Control Changsha China

ISBN: (纸本)9798350327182

This paper deals with the problem of achieving formation control for underactuated multiple quadrotors without velocity measurements by employing the higher-order sliding mode (HOSM) differentiator. The primary objective of this work is to attain a coordinated formation behavior among the quadrotor group. In this paper, the dynamics of each quadrotor are transformed into a new form, wherein the attitude is described using rotation matrices. Subsequently, an intermediate guide is designed using the HOSM differentiator, taking into account the desired relative positions between the quadrotors and their actual positions. Next, the actual control thrusts and torques for each quadrotor are designed and solved by the intermediate guide. Finally, rigorous theoretical analysis and multiple simulations are performed to ensure that the multiple quadrotors converge asymptotically and accurately to the desired formation shape. © 2023 IEEE.

关键词： Sliding mode control

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Microstructure and texture evolution of Cu-Cr-Co-Ti alloys during the two-stage cryorolling

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Rare Metals 2024年第9期43卷 4535-4547页

作者： Jia-Jun Zhang Long-Jian Li Zhi-Feng Liu Zong-Ning Chen En-Yu Guo Hui-Jun Kang Ren-Geng Li Tong-Min Wang Key Laboratory of Solidification Control and Digital Preparation Technology(Liaoning Province) School of Materials Science and EngineeringDalian University of TechnologyDalian 116024China Center of Hyper-Gravity Experimental and Interdisciplinary Research Zhejiang UniversityHangzhou 310058China Ningbo Institute of Dalian University of Technology Ningbo 315000China Key Laboratory for Light-Weight Materials Nanjing Tech UniversityNanjing 210009China

This study entailed an investigation of the mechanical properties,microstructural and texture orientation evolutions of Cu-Cr-Co-Ti alloys prepared via twostage cryorolling and intermediate aging *** this end,X-ray diffraction and electron backscatter diffraction were *** results indicate that the two-stage cryorolling and intermediate aging treatments led to the development of profuse twin bundles and significantly enhanced the mechanical *** initial cryorolling led to coplanar slip and developed a strong Y({111}<112>)orientation,accelerating the formation of Goss({011}<100>)orientation and a Brass-type *** intermediate aging treatment relieved the restriction on dislocation slip and reoriented the grains toward the Copper({112}<111>)and Z({111}<110>)*** Z orientation,with a relatively high volume fraction,dominated the *** cryorolling intensified twinning and shear banding,transforming the Copper-type shear bands into Brass-type shear bands with rhomboidal prism *** areas inside the Brasstype shear bands exhibited a Y orientation,and the areas outside the shear bands exhibited a stable Brass-type *** evident decrease in the weighted Schmid factors demonstrated that the two-stage cryorolling and intermediate aging treatment can modify the texture evolution and aid the design of high-performance Cu alloys.

关键词： Copper alloys Two-stage cryorolling Macrotexture evolution Electron backscatter diffraction Schmid factor

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Direct fabrication of flexible tensile sensors enabled by polariton energy transfer based on graphene nanosheet films

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Nanotechnology and Precision engineering 2023年第1期6卷 1-11页

作者： Xi Zhang Junchi Ma Wenhao Huang Jichen Zhang Chaoyang Lyu Yu Zhang Bo Wen Xin Wang Jing Ye Dongfeng Diao College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Research Center of Medical Plasma Technology Shenzhen UniversityShenzhen 518060China Shenzhen Milebot Robotics Co. Ltd.Shenzhen 518060China

A fundamental problem in the direct manufacturing of flexible devices is the low melting temperature of flexible substrates,which hinders the development of flexible *** here is an electron-cyclotron-resonance sputtering system that can batch-fabricate devices directly on flexible substrates under a low temperature by virtue of the polariton energy transfer between the plasma and the *** graphene nanosheet-embedded carbon(F-GNEC)films are manufactured directly on polyimide,polyethylene terephthalate,and polydimethylsiloxane,and how the substrate bias(electron energy),microwave power(plasma flux and energy),and magnetic field(electron flux)affect the nanostructure of the F-GNEC films is investigated,indicating that electron energy and flux contribute to the formation of standing graphene nanosheets in the *** films have good uniformity of distribution in a large size(17 mm×17 mm),and tensile and angle sensors with a high gauge factor(0.92)and fast response(50 ms)for a machine hand are obtained by virtue of the unique nanostructure of the F-GNEC *** work sheds light on the quantum manufacturing of carbon sensors and its applications for intelligent machine hands and virtual-reality technology.

关键词： Direct flexible fabrication Graphene nanosheets film Polariton energy transfer Flexible sensor Quantum manufacturing

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Diet with high content of advanced glycation end products induces oxidative stress damage and systemic inflammation in experimental mice: protective effect of peanut skin procyanidins

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Food science and Human Wellness 2024年第6期13卷 3570-3581页

作者： Li Zhao Xingxing Zhang Langzhi He Yubing Li Yue Yu Qun Lu Rui Liu College of Food Science and Engineering Shanxi Agricultural UniversityTaigu 030801China College of Food Science and Technology Huazhong Agricultural UniversityWuhan 430070China Wuhan Engineering Research Center of Bee Products on Quality and Safety Control Wuhan 430070China Key Laboratory of Environment Correlative Dietology(Huazhong Agricultural University) Ministry of EducationWuhan 430070China Laboratory of Urban Agriculture in Central China Ministry of Agriculture and Rural AffairsWuhan 430070China

Non-enzymatic glycation reaction in food can produce diet-derived advanced glycation end products(dAGEs),which have potential health ***,it is of great significance to find efficient substances to improve the negative effects induced by dAGEs on human *** study investigated the intervening effects of peanut skin procyanidins(PSP)on the dAGEs-induced oxidative stress and systemic inflammation in experimental mice *** showed that the accumulation of AGEs in serum,liver,and kidney was significantly increased after mice were fed dAGEs(P<0.05).The expression of advanced glycation product receptor(RAGE)was also significantly increased in liver and kidney(P<0.05).PSP could not only effectively reduce the accumulation of AGEs in serum,liver and kidney of mice,but also reduce the expression of RAGE in liver and kidney of *** the levels of pro-inflammatory cytokines interleukin-6(IL-6),tumor necrosis factor(TNF-α),and IL-1βin serum of mice were significantly decreased(P<0.05),while the levels of antiinflammatory factor IL-10 were increased,and the inflammatory injury in mice was *** addition,the levels of superoxide dismutase(SOD),glutathione(GSH),catalase(CAT)in liver and kidney of mice were increased(P<0.05),and the level of malondialdehyde(MDA)was decreased(P<0.05),which enhanced the antioxidant capacity of mice in vivo,and improved the oxidative damage of liver and *** docking technique was used to confirm that the parent compound of procyanidins and its main metabolites,such as 3-hydroxyphenylacetic acid,could interact with RAGE,which might inhibit the activation of nuclear transcription factor(NF-κB),and ultimately reduce oxidative stress and inflammation in mice.

关键词： Peanut skin procyanidins Diet-derived advanced glycation end products Oxidative stress Inflammation Interaction

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