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Learning-based tracking control of AUV:Mixed policy improvement and game-based disturbance rejection

CAAI Transactions on Intelligence Technology 2025年第2期10卷 510-528页

作者： Jun Ye Hongbo Gao Manjiang Hu Yougang Bian Qingjia Cui Xiaohui Qin Rongjun Ding State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle EngineeringHunan UniversityChangshaChina School of Information Science and Technology and Institute of Advanced TechnologyUniversity of Science and Technology of ChinaHefeiChina Nanyang Technological University SingaporeSingapore Wuxi Intelligent Control Research Institute of Hunan University Hunan UniversityWuxiChina

A mixed adaptive dynamic programming(ADP)scheme based on zero-sum game theory is developed to address optimal control problems of autonomous underwater vehicle(AUV)systems subject to disturbances and safe *** combining prior dynamic knowledge and actual sampled data,the proposed approach effectively mitigates the defect caused by the inaccurate dynamic model and significantly improves the training speed of the ADP ***,the dataset is enriched with sufficient reference data collected based on a nominal model without considering modelling ***,the control object interacts with the real environment and continuously gathers adequate sampled data in the *** comprehensively leverage the advantages of model-based and model-free methods during training,an adaptive tuning factor is introduced based on the dataset that possesses model-referenced information and conforms to the distribution of the real-world environment,which balances the influence of model-based control law and data-driven policy gradient on the direction of policy *** a result,the proposed approach accelerates the learning speed compared to data-driven methods,concurrently also enhancing the tracking performance in comparison to model-based control ***,the optimal control problem under disturbances is formulated as a zero-sum game,and the actor-critic-disturbance framework is introduced to approximate the optimal control input,cost function,and disturbance policy,***,the convergence property of the proposed algorithm based on the value iteration method is ***,an example of AUV path following based on the improved line-of-sight guidance is presented to demonstrate the effectiveness of the proposed method.

关键词： adaptive dynamic programming autonomous underwater vehicle game theory optimal control reinforcement learning

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Coordinated Optimization of Multi-energy Generation Systems Considering the Health Damages of Coal-fired Pollutant Dispersion

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CSEE Journal of Power and Energy Systems 2022年第6期8卷 1613-1622页

作者： Suhua Lou Yinhao Yang Yanjie Liang Yaowu Wu State Key Laboratory of Advanced Electromagnetic Engineering and Technology Huazhong University of Science and TechnologyWuhan 430074China Power Dispatch and Control Center of China Southern Power Grid Guangzhou 510623China

Pollutants emitted from coal-fired power plants lead to the deterioration of air quality in developing countries,and contribute to both mortality and *** improve air quality from power generation,new dispatch strategies incorporated with air pollution dispersion models should be *** paper takes into account the impact of meteorological variations on spatio-temporal dispersion of *** on the coal-fired pollutant concentration estimated by the Gaussian plume dispersion model,exposure-response functions are used to quantify the resulting health ***,the corresponding economic costs of health damages are incorporated to penalize the power *** generation costs and economic costs of health damages,this paper formulates a twostage stochastic optimization model of a multi-energy generation system including coal units,gas units,and photovoltaic ***,numerical studies based on a modified IEEE 14-node system are performed for illustration and validation.

关键词： Coal-fired pollutant dispersion exposure-response functions Gaussian plume model meteorological variations multi-energy generation system

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An Effective Nuclear Magnetic Resonance Gyroscope control Method based on ESOPI-PLL

An Effective Nuclear Magnetic Resonance Gyroscope Control Me...

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2024 China Automation Congress, CAC 2024

作者： Hu, Pengjie Niu, Dan Yang, Yanlan Liu, Yuansheng Sun, Xiaojie Fu, Qi School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing210096 China Beijing Institute of Aerospace Control Devices Beijing100048 China Quantum Engineering Research Center of CASC Beijing100048 China

ISBN: (纸本)9798350368604

In the design of nuclear magnetic resonance gyroscopes, the closed-loop control of the excitation magnetic field is crucial. Among various control methods, the phase-locked loop (PLL) is widely used to enhance the dynamic characteristics and stability of the gyroscope. This research employs the Second-Order Generalized Integrator (SOGI) as the phase detector, with the loop filter utilizing PI control. However, the system, being of type 2, cannot track acceleration signals without a static error. To address this limitation, we propose a loop filter design based on an Extended State Observer (ESO) integrated with PI control, effectively transforming the system into ESOPI-PLL, which is a type of Type3-PLL. Compared to the traditional SOGI-PLL system, simulation results demonstrate that our proposed scheme extends the gyroscope range to 2000 °/s, with a bandwidth of 30Hz, and achieves zero static error tracking. This advancement presents significant application potential for nuclear magnetic resonance gyroscopes. © 2024 IEEE.

关键词： Phase locked loops

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Numerical simulation study on thermal radiation transmission and suppression in high-temperature sapphire window

Numerical simulation study on thermal radiation transmission...

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2024 Conference on Spectral Technology and Applications, CSTA 2024

作者： Gao, Lei Jiang, Zhongxu Tao, Hongyu Shanghai Institute of Aerospace Control Technology Shanghai201109 China Research and Development Center of Infrared Detection Technology of China Aerospace Science and Technology Corporation Shanghai201109 China

ISBN: (纸本)9781510683082

When an aircraft equipped with infrared guidance systems flies at high Mach numbers through the atmosphere, the infrared window interacts strongly with the incoming flow, resulting in aerodynamic thermal radiation effects. This paper models the thermal radiation transmission for flat-panel side-window infrared windows, captures dynamic thermal noise images under ballistic conditions, and introduces spectral filtering techniques to mitigate intense radiation bands in sapphire windows, addressing varying radiation intensities across different bands. Simulation results indicate that, within this trajectory, the window temperature peaks at approximately 470K at the 9th second, with the highest image irradiance of 0.69W/m2 in the 3-5μm band, and a non-uniformity of 0.0293 in the thermal noise image. After spectral filtering to suppress the 4.6-5μm band, the maximum image irradiance drops to 0.202W/m2, a reduction of 70.7%, with the non-uniformity decreasing to 0.0215, a reduction of 26.6%. The thermal radiation transfer calculation model and the spectral filtering techniques outlined in this paper offer valuable insights for mitigating aerodynamic thermal impacts and enhancing the performance of infrared detection systems by suppressing thermal radiation. © 2024 SPIE.

关键词： Sapphire

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Recommendation Based on Knowledge Graph and Graph Neural Network 7th

Recommendation Based on Knowledge Graph and Graph Neural Net...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Shen, Hongjie Guo, Qiuhao Xu, Hongfeng Jiang, Jixiang Chen, Linxiu Zhejiang Huzhou Aviation Intelligent Technology Research Center Hangzhou310000 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819733231

The recommendation system based on knowledge graph assistance has more advantages than the traditional recommendation system, mainly reflected in: accurate, efficient and explainable. Most of the recommendation methods of existing studies use knowledge graph representation learning for information mining of entity features, but some of them ignore the neighborhood information of knowledge graph entities, resulting in the loss of high-order feature information. Considering the above problem, this study proposes a recommendation method based on graph neural network for the problem that the existing recommendation methods ignore the overall information in the process of knowledge graph entity information mining. The graph attention network is introduced to carry out neighborhood information aggregation to make up for the neighborhood information of missing entities in the process of extracting the features of the knowledge graph in existing research. In this study, the prediction experiments of click rate and top-k recommendation scenarios were carried out on the data under the four backgrounds of movies, books, online courses and music, and the influence of some key parameters and structures in the model on the model was analyzed, compared and discussed. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Recommender systems

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VOC emitted by biopharmaceutical industries:Source profiles,health risks,and secondary pollution

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Journal of Environmental sciences 2024年第1期135卷 570-584页

作者： Jiawei Ma Lin Li State Key Laboratory of Environmental Aquatic Chemistry Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China University of Chinese Academy of Sciences Beijing 100049China National Engineering Laboratory for VOCs Pollution Control Material&Technology University of Chinese Academy of SciencesBeijing 101408China

The biopharmaceutical industry contributes substantially to volatile organic compounds(VOCs)emissions,causing growing concerns and social developmental *** study conducted an on-site investigation of the process-based emission of VOCs from three biopharmaceutical *** the workshops of the three enterprises,26 VOCs were detected,which could be sorted into 4 classes:hydrocarbons,aromatic hydrocarbons,oxygen-containing compounds,and nitrogen-containing *** were the main components of waste gases,accounting for 44.13%-77.85%of the overall ***-based source profiles were compiled for each process unit,with the fermentation and extraction units of tiamulin fumarate being the main source of VOC *** heptanone,vinyl acetate,diethylamine,propylene glycol methyl ether(PGME),and benzene were screened as priority pollutants through a fuzzy comprehensive evaluation *** level concentration simulation results of the Gauss plume diffusion model demonstrated that the diffusivity of VOCs in the atmosphere was relatively high,indicating potential non-carcinogenic and carcinogenic risks 1.5-2 km ***,the process-based formation potentials of ozone and secondary organic aerosols(SOAs)were determined and indicated that N-methyl-2-pyrrolidone,dimethyl heptanone,and PGME should be preferentially controlled to reduce the ozone formation potential,whereas the control of benzene and chlorobenzene should be prioritized to reduce the generation of *** results provide a basis for understanding the characteristics of VOC emission by biopharmaceutical industries and their diffusion,potentially allowing the development of measures to reduce health risks and secondary pollution.

关键词： Biopharmaceutical Volatile organic compound Priority pollutant Exposure risk Secondary pollution

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Distributed Optimization of Heterogeneous Linear Multi-Agent Systems with Unknown Disturbances 63

Distributed Optimization of Heterogeneous Linear Multi-Agent...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Duan, Mengmeng Zhu, Shanying Yang, Ziwen Chen, Cailian Guan, Xinping The authors are with the Department of Automation Shanghai Jiao Tong University Shanghai 200240 ChinaKey Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China and also Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798350316339

In this paper, we investigate the distributed optimization problem for heterogeneous linear multi-agent systems with unknown disturbances. By applying the primal-dual method and the time-scale separation technique, a distributed dynamic controller without using any disturbance information is proposed. Based on the optimal condition, the relationship between the optimal solution and the equilibrium point of the system is established, and it is shown that the distributed optimization problem is solved provided that the closed-loop system is stable. Then, inspired by the nonsingular perturbation analysis, it is proved that the closed-loop system is exponentially input-to-state stable with respect to the derivative of the disturbance. Numerical examples are provided to illustrate the theoretical results. © 2024 IEEE.

关键词： Closed loop systems

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A low-resistance elbow with a bionic sawtooth guide vane in ventilation and air conditioning systems

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Building Simulation 2022年第1期15卷 117-128页

作者： Chi Zhang Angui Li Jigang Che Yue Li Qi Liu Yuhang Zhao School of Building Services Science and Engineering Xi'an University of Architecture and Technology(XAUAT)Xi'an 710055China The Artificial Environment Control Technology Achievement Innovation Center of XAUAT and Yantai Yantai 264006China

Elbow resistance is an important part of energy consumption in ventilation and air conditioning(VAC)*** considering the structural characteristics of bat wings and humpback whale pectoral fins,a simplified leading edge for sawtooth guide vanes is *** on the theory of fluid mechanics,the resistance reduction mechanism of the sawtooth guide vane is *** numerical calculation results show that proper sawtooth groove parameters for the guide vane can effectively reduce the elbow *** with that for a normal guide vane,the maximum resistance can be reduced by approximately 9%with the new *** addition,we analyze the influence of the sawtooth guide vane on the entropy production of the duct elbow and the relationship between entropy production and the resistance of the duct ***,the resistance reduction performance of the sawtooth guide vane is verified through full-scale tests.

关键词： bionic sawtooth grooves guide vane resistance entropy production

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Increased proline intake during gestation alleviates obesity-related impaired fetal development and placental function in gilts

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Animal Nutrition 2025年第1期20卷 355-365页

作者： Shuangbo Huang Jinfeng Li Hongxuan Ye Zihao Huang JunyiWu Liudan Liu Shuo Ma Hefeng Luo Tanghong Wei Kai Liu Jinping Deng Dingfa Liu Chengquan Tan State Key Laboratory of Swine and Poultry Breeding Industry Guangdong Provincial Key Laboratory of Animal Nutrition ControlNational Engineering Research Center for Breeding Swine IndustryCollege of Animal ScienceSouth China Agricultural UniversityGuangzhou 510642China Dekon Food and Agriculture Group Chengdu 610225China Guangdong Foodstuffs IMP&EXP(Group)Corp Guangzhou 510642China

Maternal proline(Pro)supplementation enhances fetal survival and placental development in ***,the effect of Pro on fetal and placental development in gilts remains to be investigated,particularly in the context of obesity-induced impaired ***,we investigated the effect of dietary Pro on fetal and placental development in obese ***.1:On day 60 of gestation,48 gilts with similar delivery times were selected and followed up until delivery to determine the relationship between maternal obesity,litter performance,and Pro abundance in term *** results showed that impaired reproductive performance was associated with body condition parameters and inadequate placental Pro availability of ***.2:A total of 114 gilts were then used in a 23 factorial design to investigate the interaction between body condition(factor I:normal or obese gilts)and dietary Pro levels(factor II:low[0.89%,L-Pro],medium[1.39%,M-Pro],and high[1.89%,H-Pro])on farrowing performance and placental *** resulted in six treatment combinations:normal-L-Pro,obese-L-Pro,normal-M-Pro,obese-M-Pro,normal-H-Pro,and *** effective number of replicates per group was 17,21,19,21,18,and 18,respectively(1 gilt per replicate).The results showed that increasing Pro intake increased piglet birth weight(P=0.001),litter weight(P<0.001),placental efficiency(P=0.036)and placental vascular density(P<0.001),and decreased the number of mummified fetuses(P=0.001),the rate of low-birth-weight piglets(P=0.005),and the rate of invalid piglets(P=0.029).Interaction effects were observed between body condition and dietary Pro levels on piglet birth weight(P=0.046),within-litter birth weight variation(P=0.012),and placental vascular density(P=0.007).Moreover,the beneficial effect of Pro on farrowing performance may be related to the improvement of sirtuin 1-superoxide dismutase 2-mitochondrial reactive oxygen species axis homeostasis and angiogenesis in the *** r

关键词： Angiogenesis Gilt Obese Oxidative stress Placenta Proline

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Enhanced Nature Inspired-Support Vector Machine for Glaucoma Detection

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Computers, Materials & Continua 2023年第7期76卷 1151-1172页

作者： Jahanzaib Latif Shanshan Tu Chuangbai Xiao Anas Bilal Sadaqat Ur Rehman Zohaib Ahmad Engineering Research Center of Intelligent Perception and Autonomous Control Faculty of Information TechnologyBeijing University of Technology100124BeijingChina College of Information Science Technology Hainan Normal UniversityHainan ProvinceHaikou571158China Department of Computer Science University of SalfordManchesterUK Faculty of Information Technology Beijing University of Technology Chaoyang District BeijingChina

Glaucoma is a progressive eye disease that can lead to blindness if left *** detection is crucial to prevent vision loss,but current manual scanning methods are expensive,time-consuming,and require specialized *** study presents a novel approach to Glaucoma detection using the Enhanced Grey Wolf Optimized Support Vector Machine(EGWO-SVM)*** proposed method involves preprocessing steps such as removing image noise using the adaptive median filter(AMF)and feature extraction using the previously processed speeded-up robust feature(SURF),histogram of oriented gradients(HOG),and Global *** enhanced Grey Wolf Optimization(GWO)technique is then employed with SVM for *** evaluate the proposed method,we used the online retinal images for glaucoma analysis(ORIGA)database,and it achieved high accuracy,sensitivity,and specificity rates of 94%,92%,and 92%,*** results demonstrate that the proposed method outperforms other current algorithms in detecting the presence or absence of *** study provides a novel and effective approach to Glaucoma detection that can potentially improve the detection process and outcomes.

关键词： Glaucoma detection grey golf optimization support vector machine feature extraction image classification

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