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Optimal fusion estimation for stochastic systems with cross-correlated sensor noises

Science China(Information Sciences) 2017年第12期60卷 57-70页

作者： Liping YAN Yuanqing XIA Mengyin FU School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

This paper is concerned with the optimal fusion of sensors with cross-correlated sensor *** taking linear transformations to the measurements and the related parameters, new measurement models are established, where the sensor noises are decoupled. The centralized fusion with raw data, the centralized fusion with transformed data, and a distributed fusion estimation algorithm are introduced, which are shown to be equivalent to each other in estimation precision, and therefore are globally optimal in the sense of linear minimum mean square error(LMMSE). It is shown that the centralized fusion with transformed data needs lower communication requirements compared to the centralized fusion using raw data directly, and the distributed fusion algorithm has the best flexibility and robustness and proper communication requirements and computation complexity among the three algorithms(less communication and computation complexity compared to the existed distributed Kalman filtering fusion algorithms). An example is shown to illustrate the effectiveness of the proposed algorithms.

关键词： optimal estimation distributed fusion Kalman filter cross-correlated noises linear transformation

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A novel task-oriented framework for dual-arm robotic assembly task

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Frontiers of Mechanical engineering 2021年第3期16卷 528-545页

作者： Zhengwei WANG Yahui GAN Xianzhong DAI School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096China

In industrial manufacturing,the deployment of dual-arm robots in assembly tasks has become a ***,making the dual-arm robots more intelligent in such applications is still an open,challenging *** paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm *** this framework,visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces,where the performance of tasks can be abstracted as a high-level state for intelligent *** assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the ***,the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the *** are set up with a dual-arm robotic system(ABB YuMi and an RGB-D camera)to validate the proposed *** results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.

关键词： dual-arm assembly Al reasoning intelligent system task-oriented motion planning visual perception

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Fault Localization and State Estimation of Power Grid under Parallel Cyber-Physical Attacks

arXiv

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arXiv 2025年

作者： Ren, Junhao Zhao, Kai Zhang, Guangxiao Liu, Xinghua Zhai, Chao Xiao, Gaoxi School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Institute of Catastrophe Risk Management Nanyang Technological University Singapore639798 Singapore Future Resilient Systems Singapore-ETH Centre Singapore138602 Singapore School of Electrical Engineering Xi’an University of Technology Xi’an710048 China Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

Parallel cyber-physical attacks (PCPA) refer to those attacks on power grids by disturbing/cutting off physical transmission lines and meanwhile blocking transmission of measurement data to dwarf or delay the system protection and recovery actions. Such fierce hostile attacks impose critical threats to the modern power grids when there is a fusion of power grids and telecommunication technologies. In this paper, we investigate the fault diagnosis problem of faulty transmission lines under a broader spectrum of PCPA for a linearized (or DC) power flow model. The physical attack mechanism of PCPA includes not only disconnection but also admittance value modification on transmission lines, for example, by invading distributed flexible AC transmission system (D-FACTS). To tackle the problem, we first recover the information of voltage phase angles within the attacked area. Using the information of voltage phase angle and power injection of buses, a graph attention network-based fault localization (GAT-FL) algorithm is proposed to find the locations of the physical attacks. By capitalizing on the feature extraction capability of the GAT on graph data, the fault localization algorithm outperforms the existing results when under cyber attacks, e.g., denial of service (DoS) attacks. A line state identification algorithm is then developed to identify the states of the transmission lines within the attacked area. Specifically, the algorithm restores the power injection of buses within the attacked area and then identities the state of all the transmission lines within the attacked area by solving a linear programming (LP) problem. Experimental simulations are conducted on IEEE 30/118 bus standard test cases to demonstrate the effectiveness of the proposed fault diagnosis algorithms. Copyright © 2025, The Authors. All rights reserved.

关键词： Cyber attacks

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A novel deep denoising model integrating transformer and time–frequency loss for gearbox fault diagnosis

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Advanced engineering Informatics 2025年 66卷

作者： Fan, Caizi Zhang, Yongchao Ma, Hui Ma, Zeyu School of Mechanical Engineering and Automation Northeastern University Shenyang Liaoning110819 China Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China Northeastern University Shenyang Liaoning110819 China Foshan Graduate School of Innovation Northeastern University Foshan Guangdong528312 China

Gearbox fault diagnosis is crucial for the stable operation of rotating machinery in industrial systems. Due to transmission path modulation and interference from complex environmental factors, vibration signals collected from machinery are often severely contaminated by noise. As a typical data-driven model, the diagnostic accuracy of deep learning model will decrease greatly when faced with noisy data. To address the above problems, a novel ResTransUnet noise reduction model is proposed. Firstly, Transformer layers are integrated within the convolutional module to enhance the model's global feature modeling capability, improving its ability to capture long distant features. Secondly, improved residual connections are applied in the intermediate layers to capture multi-level features within the signal. Additionally, a time–frequency hybrid loss function is constructed to optimize the model's training process, preserving the frequency characteristics of the denoised signal. Finally, a cosine annealing warm up strategy is used during training to adaptively adjust the learning rate. The effectiveness of the proposed model is validated on a single-stage gear transmission test rig. The experimental results show that the proposed model can effectively reconstruct the noise signal under the condition of 10 dB to -20 dB SNR interference, and shows good robustness. © 2025 Elsevier Ltd

关键词： Signal to noise ratio

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Additive manufacturing of silicon carbide microwave-absorbing metamaterials

Additive Manufacturing Frontiers

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Additive Manufacturing Frontiers 2025年第1期4卷

作者： Zhao, Hanqing Liao, Qingwei Li, Yinghao Chu, Xiangcheng Yuan, Songmei Qin, Lei Key Laboratory of Sensors Beijing Information Science and Technology University Beijing 100192 China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science & Technology University Beijing 100192 China State Key Laboratory of New Ceramics and Fine Processing School of Material Science and Engineering Tsinghua University Beijing 100084 China School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

SiC is a wave-absorbing material with good dielectric properties, high-temperature resistance, and corrosion resistance, which has great potential for development in the field of high-temperature wave-absorbing. However, SiC is limited by its low impedance-matching performance and single wave-absorbing mechanism. Therefore, compatible metamaterial technologies are required to enhance its wave-absorbing performance further. The electromagnetic wave (EMW) absorbing metamaterials can realize perfect absorption of EMWs in specific frequency bands and precise regulation of EMW phase, propagation mode, and absorption frequency bands through structural changes. However, the traditional molding methods for manufacturing complex geometric shapes require expensive molds, involve process complexity, and have poor molding accuracy and other limitations. Therefore, additive manufacturing (AM) technology, through material layered stacking to achieve the processing of materials, is a comprehensive multidisciplinary advanced manufacturing technology and has become the core technology for manufacturing metamaterials. This review introduces the principles and applications of different AM technologies for SiC and related materials, discusses the current status and development trends of various AM technologies for fabricating silicon–carbon-based wave-absorbing metamaterials, summarizes the limitations and technological shortcomings of existing AM technologies for fabricating silicon–carbon-based wave-absorbing metamaterials, and provides an outlook for the future development of related AM technologies. © 2024 The Author(s)

关键词： Additive manufacturing Electromagnetic absorption Metamaterials SiC

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Thick 3D-Printed Hierarchical Li4Ti5O12@MOF anode and Grid-Lined micropores for High-Performance Lithium-Ion batteries

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Journal of Colloid and Interface Science 2025年 696卷 137883页

作者： Mwizerwa, Jean Pierre Li, Jie Nsengiyumva, Walter Li, Chen Xu, Kun Rasaki, Sefiu Abolaji Liu, Changyong School of Materials Science and Engineering Fujian University of Technology Fuzhou350118 China Additive Manufacturing Institute College of Mechatronics & Control Engineering Shenzhen University Shenzhen518060 China Fujian Provincial Key Laboratory of Terahertz Functional Devices and Intelligent Sensing School of Mechanical Engineering and Automation Fuzhou University Fuzhou China The Institute of Precision Instrument and Intelligent Measurement & Control Fuzhou University Fuzhou China Institute: Department of Chemical and Petroleum Engineering University of Calgary AlbertaT2N 1N4 Canada

Li4Ti5O12 (LTO) anode is a promising candidate for high-energy–density lithium-ion batteries (LIBs), but achieving high mass loading, a porous structure, and efficient ion transport remains a challenge. Herein, we present a high-mass-loading, hierarchically porous LTO anode with a conductive network and grid-lined micropores, embedded with a metal–organic framework (MOF) as both an electrode additive and surface protective layer. This novel structure is fabricated using extrusion-based three-dimensional (3D) printing technology. The self-standing framework provides mechanical stability and high conductivity, enabling a thick (316 μm) 3D-printed LTO@UiO-66-MOF (3D-LTO@U) anode with a mass loading of 11 mg/cm2. It delivers a high-rate capability of 161 mAh/g at 5C, an areal specific capacity of 5.37 mAh/cm2, and 78.9 % areal capacity retention after 150 cycles. Additionally, it achieves a high specific energy density of 382.35 Wh/kg. The UiO-66 MOF provides strong binding affinity, suppressing side reactions and enhancing Li-ion/electron transport within the 3D-printed interconnected channels. This improves active material utilization during charge and discharge. Furthermore, a 3D-printed full cell integrating a grid-lined 3D-LTO@U anode and a 3D-printed LiFePO4 cathode exhibits enhanced electrochemical performance. This work demonstrates an effective strategy for designing thick, high-mass-loading, and porous conductive network anodes for advanced LIBs. © 2025 Elsevier Inc.

关键词： Lithium-ion batteries

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A survey on fabrication,control,and hydrodynamic function of biomimetic robotic fish

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Science China(Technological Sciences) 2017年第9期60卷 1365-1380页

作者： YU JunZhi WEN Li REN ZiYu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Mechanical Engineering and Automation Beihang University

Understanding and replicating the locomotion principles offish are fundamental in the development of artificial fishlike robotic systems,termed robotic *** paper has two objectives:(1) to review biological clues on biomechanics and hydrodynamic flow control offish swimming and(2) to summarize design and control methods for efficient and stable swimming in robotic *** review of state-of-the-art research and future-oriented new directions indicates that fish-inspired biology and engineering interact in mutually beneficial *** strong interaction offers an important insight into the design and control of novel fish-inspired robots that addresses the challenge of environmental uncertainty and competing objectives;in addition,it also facilitates refinement of biological knowledge and robotic strategies for effective and efficient swimming.

关键词： fish swimming robots robotic fish hydrodynamics motion control

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Oil–water two-phase flow pattern analysis with ERT based measurement and multivariate maximum Lyapunov exponent

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Journal of Central South University 2016年第1期23卷 240-248页

作者：谭超王娜娜董峰 Tianjin Key Laboratory of Process Measurement and Control (School of Electrical Engineering and Automation Tianjin University)

Oil–water two-phase flow patterns in a horizontal pipe are analyzed with a 16-electrode electrical resistance tomography(ERT) system. The measurement data of the ERT are treated as a multivariate time-series, thus the information extracted from each electrode represents the local phase distribution and fraction change at that location. The multivariate maximum Lyapunov exponent(MMLE) is extracted from the 16-dimension time-series to demonstrate the change of flow pattern versus the superficial velocity ratio of oil to water. The correlation dimension of the multivariate time-series is further introduced to jointly characterize and finally separate the flow patterns with MMLE. The change of flow patterns with superficial oil velocity at different water superficial velocities is studied with MMLE and correlation dimension, respectively, and the flow pattern transition can also be characterized with these two features. The proposed MMLE and correlation dimension map could effectively separate the flow patterns, thus is an effective tool for flow pattern identification and transition analysis.

关键词： oil-water two-phase flow flow patterns electrical resistance tomography （ERT） multivariate time-series multivariate maximum Lyapunov exponent correlation dimension

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Effect of carrier gas pressure on vapor condensation and mass flow-rate in sonic nozzle

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Journal of Central South University 2015年第12期22卷 4864-4871页

作者：丁红兵王超陈超 Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

Non-equilibrium vapor condensation of moist gas through a sonic nozzle is a very complicated phenomenon and is related to the measurement accuracy of sonic nozzle.A gas-liquid two-phase model for the moist gas condensation flow was built and validated by moist nitrogen experiment of homogeneous nucleation through a transonic *** effects of carrier gas pressure on position and status of condensation onset in sonic nozzle were investigated in *** results show that condensation process is not easy to occur at lower carrier pressure and throat *** main factors influencing condensation onset are boundary layer thickness,heat capacity of carrier gas and expansion *** of results can be used to further analyze the effect of condensation on mass flow-rate of sonic nozzle.

关键词： condensation gas-liquid flow droplet growth sonic nozzle carrier gas pressure

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An Integrated Intelligent Autonomous Driving Bulldozer System: Pose Estimation, Object Detection, and Work Planning for Dumping Operations

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Journal of Field Robotics 2025年第0期

作者： Peng, Gang Gao, Qiang Liu, Xingyu Zhou, Yicheng Duan, Hangqi Wu, ZhanGang Hu, Bin Zhu, Xukang Xu, Daosheng School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan China Engineering Research Center of Autonomous Intelligent Unmanned Systems Ministry of Education Wuhan China Shantui Construction Machinery Co. Ltd. Jining China

In recent years, the rapid advancement of automation control and intelligent sensing technologies has positioned autonomous driving as a focal point of interest for both academia and industry. As core equipment in modern construction and industrial production, engineering machinery urgently requires intelligent transformation. To promote the intelligent development of engineering machinery, we have designed an integrated intelligent autonomous driving bulldozer system, which can be extended to various types of engineering machinery. For the specific mine dumping operation environment, we propose a multisensor fusion pose estimation algorithm framework based on the Global Navigation Satellite System, inertial measurement unit, visual cameras, and light detection and ranging (LiDAR) to address issues arising from sensor failures under harsh construction conditions. Furthermore, to ensure safety during task execution, we design a three-dimensional object detection method based on the optimal observation plane from LiDAR data. By integrating pose estimation and environmental perception results, we develop a comprehensive work planning and path-tracking algorithm to maintain task efficiency. Experimental results demonstrate that our intelligent autonomous driving bulldozer system performs excellently under various working conditions. The accuracy of its pose estimation, object detection, and path tracking meets the requirements of actual construction environments, showcasing its significant potential in engineering applications. © 2025 Wiley Periodicals LLC.

关键词： Construction equipment

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