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IEEE Transactions on Intelligent Vehicles 2024年 1-16页

作者： Tang, Hui Chen, Yong Ali, Ikram School of Automation Engineering and Sichuan Province Engineering Technology Research Center for Electric Vehicle Driving System and Safety Chengdu University of Electronic Science and Technology of China China

This study addresses the issue of time-varying output formation (TVOF) tracking in cross-dimensional heterogeneous unmanned aerial vehicle and unmanned ground vehicle (UAV-UGV) systems under the influence of nonzero leader inputs, parameter uncertainties, and external disturbances. Initially, we devise fully distributed adaptive observers to estimate the leader's information for both IFs (informed followers) and UFs (uninformed followers). Subsequently, we introduce an observer-based distributed control strategy enhanced with adaptive updating to manage cross-dimensional TVOF challenges. The strategy is characterized by three key features: it accommodates non-autonomous leader dynamics with non-zero inputs;it mitigates the negative effects of uncertainties and disturbances without requiring their upper bounds or global network topology information;and it adapts TVOF to cross-dimensional contexts via a novel output formation regulation matrix. Additionally, we present an algorithm to determine the necessary parameters for the control strategy. We employ Lyapunov methods to prove the asymptotic stability of the distributed observers and the composite cross-dimensional TVOF tracking system. The efficacy of the proposed approach is validated through application to heterogeneous UAV-UGV systems. IEEE

关键词： Unmanned aerial vehicles (UAV)

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Short-term Trajectory Prediction of USV Based on Multi-source Data

Short-term Trajectory Prediction of USV Based on Multi-sourc...

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2024 China automation Congress, CAC 2024

作者： Yang, Wenxiong Xue, Zhengfeng Fan, Li School of Engineering Huzhou University Huzhou China School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9798350368604

In recent years, research on Unmanned Surface Vessel (USV) trajectory prediction has gained attention due to its potential to reduce voyage time and eliminate collision hazards in maritime transportation. Deep learning, particularly Convolutional Neural Network (CNN) and Long Short-Term Memory Network (LSTM), has shown promise in this field. CNN is effective at extracting spatial features from time series data, while LSTM is adept at handling long-term dependencies. The combination of these models can enhance prediction efficiency and accuracy. This paper puts forward a data-driven deep learning approach to USV trajectory prediction, utilizing a CNN+LSTM model. Tests conducted with simulated unmanned vessel data from three trajectories revealed a reduction in RMSE errors by 60.08% and 37.15% in comparison to LSTM and CNN methods, respectively, which indicates that this model can fully consider the influence of external environmental factors on the system and verifies the effectiveness of the USV trajectory prediction model. © 2024 IEEE.

关键词： Convolutional neural networks

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Isogeometric Analysis of Hyperelastic Material Characteristics for Calcified Aortic Valve

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Computer Modeling in engineering & Sciences 2024年第6期139卷 2773-2806页

作者： Long Chen Ting Li Liang Liu Wenshuo Wang Xiaoxiao Du Wei Wang School of Mechanical Engineering University of Shanghai for Science and TechnologyShanghai200093China Department of Cardiac Surgery Zhongshan HospitalFudan UniversityShanghai200093China School of Mechanical Engineering and Automation Beihang UniversityBeijing100191China

This study explores the implementation of computed tomography(CT)reconstruction and simulation techniques for patient-specific valves,aiming to dissect the mechanical attributes of calcified valves within transcatheter heart valve replacement(TAVR)*** order to facilitate this exploration,it derives pertinent formulas for 3D multi-material isogeometric hyperelastic analysis based on Hounsfield unit(HU)values,thereby unlocking foundational capabilities for isogeometric analysis in calcified aortic valves.A series of uniaxial and biaxial tensile tests is executed to obtain an accurate constitutive model for calcified active *** mitigate discretization errors,methodologies for reconstructing volumetric parametric models,integrating both geometric and material attributes,are *** these analytical formulas,constitutive models,and precise analytical models to isogeometric analyses of calcified valves,the research ascertains their close alignment with experimental results through the close fit in displacement-stress curves,compellingly validating the accuracy and reliability of the *** study presents a step-by-step approach to analyzing themechanical characteristics of patient-specific valves obtained fromCT images,holding significant clinical implications and assisting in the selection of treatment strategies and surgical intervention approaches in TAVR procedures.

关键词： Calcified aortic valves tensile test constitutive relations CT reconstruction isogeometric hyperelastic analysis

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Robust facial expression recognition via lightweight reinforcement learning for rehabilitation robotics

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Optoelectronics Letters 2025年第2期21卷 97-104页

作者： CHEN Yifan FAN Weiming GAO Hongwei YU Jiahui JU Zhaojie School of Computing University of PortsmouthPO13HEUK School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang 110159China Department of Biomedical Engineering Zhejiang UniversityHangzhou 310027China

This paper proposes a lightweight reinforcement network (LRN) and auxiliary label distribution learning (ALDL)based robust facial expression recognition (FER) *** designed representation reinforcement (RR) network mainly comprises two modules,i.e.,the RR module and the auxiliary label space construction (ALSC) *** RR module highlights key feature messaging nodes in feature maps,and ALSC allows multiple labels with different intensities to be linked to one ***,LRN has a more robust feature extraction capability when model parameters are greatly reduced,and ALDL is proposed to contribute to the training effect of LRN in the condition of ambiguous training *** tested our method on FER-Plus and RAF-DB datasets,and the experiment demonstrates the feasibility of our method in practice during rehabilitation robots.

关键词： rehabilitation lightweight auxiliary

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Finite-time fault-tolerant control of attitude control system of quadrotor UAV based on neural network disturbance observer

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Neural Computing and Applications 2025年第7期37卷 5597-5606页

作者： Li, Boning Chen, Ming Qi, Shuchang Peng, Kaixiang School of Electronic and Information Engineering University of Science and Technology Liaoning Liaoning Anshan China School of Automation University of Science and Technology Beijing Beijing China

This paper investigates a new finite-time fault-tolerant control scheme for a quadrotor unmanned aerial vehicle (UAV). Firstly, a novel neural network disturbance observer with an auxiliary system is designed to compensate for actuator faults and external disturbances. In addition, in order to ensure the system’s rapidity, the finite-time theory is incorporated into the observer design and the controller design. The hyperbolic tangent function is also introduced to process the input signals, which ensures that the UAV receives relatively the smooth input signals. The design scheme takes into account the rapidity and robustness of the system, which makes the performance of the UAV better. Finally, the advantages of the proposed scheme are demonstrated through comparative experiments and the feasibility of the scheme is further verified through actual physical experiments. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Hyperbolic functions

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Design and kinematics analysis of a cable-stayed notch manipulator for transluminal endoscopic surgery

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Biomimetic Intelligence & Robotics 2024年第4期4卷 99-108页

作者： Yanqiang Lei Fuxin Du Huajian Song Liping Zhang School of Automation and Electrical Engineering Linyi UniversityLinyi 276000China School of Mechanical Engineering Shandong UniversityJinan 25006iChina MH Robot&Automation Co. LTD.Zhucheng 262100China School of Logistics Linyi UniversityLinyi 276000China

The friction between the joints of the continuum manipulator with discrete joints brings great difficulties to kinematic *** traditional driving wire arrangement limits the load capacity of the manipulator.A cable-stayed notch manipulator for transluminal endoscopic surgery is proposed,and a driving force coupling kinematic mode is *** manipulator is fabricated from a superelastic Nitinol tube with bilaterally cut rectangular notches and is actuated by a stay *** applying the comprehensive elliptic integral solution(CEIS)for large deformation beams,the bending angle of each elastic beam is obtained,and the kinematics from the driving space to the joint space is *** to the bending angle of each elastic beam,the expression of the manipulator in Cartesian space can be obtained by geometric *** kinematics from the joint space to the Cartesian space is *** outer diameter of the manipulator is only 3.5 mm,and the inner diameter can reach 2 mm,allowing instruments to pass *** maximum error of the manipulator movement is less than 5%.The load capacity of the manipulator has been verified through the stiffness experiments,and the maximum load of the manipulator can reach 400 *** cable-stayed notch manipulator can be accurately modeled on the base of CEIS,and its motion accuracy can meet the needs of engineering *** compact size and excellent load capacity of the manipulator make it potential for application in transluminal endoscopic surgical robots.

关键词： Medical robot Comprehensive elliptic integral solution Kinematics Notch continuum manipulator Transluminal endoscopic surgery

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Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1007-1021页

作者： Yunjun Zheng Jinchuan Zheng Ke Shao Han Zhao Hao Xie Hai Wang the School of Mechanical Engineering Hefei University of TechnologyHefei 230009China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyHawthorn VIC 3122Australia the School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China the Shanghai Aerospace Control Technology Institute Shanghai 201109 the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the College of Science HealthEngineering and EducationMurdoch UniversityPerth WA6150Australia

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external *** paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for *** with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances *** advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier *** benefit is that the overestimation of control gain can be eliminated,resulting in chattering ***,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the *** stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

关键词： Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control

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Analysis and Design of Nonisolated Inverting DC–DC Converter for Multiport Output Applications

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 7811-7822页

作者： Li, Yiliang Wang, Yijie Guan, Yueshi Zhu, Junjie Xu, Dianguo Harbin Institute of Technology School of Electrical Engineering and Automation Harbin150000 China Zhongxing Telecom Equipment Shenzhen518000 China

This study presents a hybrid multiport dc-dc converter (MPC) that enables a single negative voltage input and multiple positive voltage outputs, providing power to vehicle electronic devices with different voltage levels. The circuit uses multiple sets of switches in a shared configuration, featuring a simple circuit structure, fewer switches, and smaller inductors. This article categorizes the operating modes and introduces the working principle of the stable operating mode. Through linear piecewise time-domain analysis, the circuit characteristics such as output power, current stress, and soft-switching range are analyzed in detail. For both single-branch and multibranch modes, this work proposes corresponding optimized modulation strategies, which can reduce inductor current stress and expand the soft-switching range. In the experimental section, this work built a two-branch, four-port experimental prototype and conducted experimental tests under wide gain range and multiport output conditions. The experimental results validate the feasibility of the theoretical analysis. © 2015 IEEE.

关键词： DC-DC converters

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RECOVERY MODELING AND ROBUSTNESS STUDY AFTER CASCADING FAILURES IN LOGISTICS-BASED NETWORKS

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Scalable Computing 2025年第1期26卷 136-150页

作者： QIAN, XIAODONG WANG, SICHEN School of Economics and Management Lanzhou Jiaotong University Lanzhou730070 China School of Automation and Electrical Engineering Lanzhou Jiaotong University Lanzhou730070 China

In order to ensure the normal operation of the logistics network and improve the robustness of the network in case of cascading failure faults, this study introduces the concept of node recovery threshold based on the existing failure model to optimize the recovery time lag. Further, a criticality-first recovery model is proposed, which defines the capacity of a recovery node as a function related to its original capacity and opens the recovery node selectively to critical neighboring nodes to reduce the risk of secondary failure. Finally, a postal logistics network in Northwest China is used as a case study to investigate the recovery robustness of this network when it encounters cascading failures. The effects of various parameter variations on the network robustness are examined through experimental simulations. The experimental results show that timely recovery measures can significantly reduce the number of failed nodes when cascade failure occurs in the logistics network;setting a higher recovery threshold can reduce the impact of cascade failure on the network, effectively reduce the scale of network failure, and thus significantly improve the robustness of the logistics network;at the same time, increasing the capacity parameter can effectively delay the time of cascade failure in the network, and can slightly improve the robustness of the network. © (2025), (West University of Timisoara). All rights reserved.

关键词： Time-to-failure

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Distributed Adaptive Cooperative Control for Human-in-the-Loop Heterogeneous UAV-UGV Systems with Prescribed Performance

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Liang, Hongjing Yang, Shoufeng Li, Tieshan Zhang, Huaguang School of Automation Engineering University of Electronic Science and Technology of China Chengdu China College of Control Science and Engineering Bohai University Jinzhou China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China

This paper focuses on the distributed adaptive cooperative control problem for human-in-the-loop (HiTL) heterogeneous unmanned aerial vehicle-unmanned ground vehicle (UAV-UGV) systems via an improved prescribed performance approach. A novel human motion recognition system (HMRS) is designed and integrated into the HiTL strategy. Specifically, the leader trajectory can be changed in real time based on HMRS and the leader signal library to cope with various unexpected situations. This HiTL strategy solves the discontinuity and non-differentiability problems that may exist before and after human modification of leader signals within the extremely short time in conventional HiTL strategies. Moreover, an improved predefined-time prescribed performance approach is proposed, in which the performance function only needs to be first-order continuous differentiable instead of infinite-order continuous differentiable. This approach can greatly broaden the selection range of performance functions. Furthermore, a unified model of heterogeneous UAV-UGV systems is established to avoid designing UAV and UGV systems separately, which improves the universality of the control algorithm. Finally, the proposed HiTL control scheme is applied to a simulation example to verify its feasibility and effectiveness. IEEE

关键词： Intelligent vehicle highway systems

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