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第41届中国控制会议

作者： Kui Jie Wangyong He Renjie Gui School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.

关键词： Lower limb rehabilitation robot Range of motion Human kinematics

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Secure output synchronization of heterogeneous multi-agent systems against false data injection attacks

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Science China(Information Sciences) 2022年第6期65卷 142-154页

作者： Shicheng HUO Dalin HUANG Ya ZHANG School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Cyber Science and Engineering Southeast University

This paper studies secure output synchronization for heterogeneous multi-agent systems against false data injection(FDI) attacks. Both the sensors and actuators of agents may be injected into FDI *** mitigate the malicious impact of these attacks on synchronization performance, a desired reference model,which is combined with an auxiliary system, is first designed for each agent to simulate its normal system dynamics. Then, based on this reference model, a state feedback cooperative controller and a static output feedback cooperative controller, which consist of adaptive compensators, are proposed, respectively. The integrated control protocols can ensure that the output synchronization error is small by adjusting some designed parameters even in the presence of FDI attacks. An illustrative example is employed to demonstrate the effectiveness of the proposed method.

关键词： output synchronization false data injection attacks adaptive compensators heterogeneous multi-agent systems secure control

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LIFTEDCL: LIFTING CONTRASTIVE LEARNING FOR HUMAN-CENTRIC PERCEPTION 11

LIFTEDCL: LIFTING CONTRASTIVE LEARNING FOR HUMAN-CENTRIC PER...

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11th International Conference on Learning Representations, ICLR 2023

作者： Chen, Ziwei Li, Qiang Wang, Xiaofeng Yang, Wankou School of Automation Southeast University China Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China Y-tech Kuaishou Technology China Institute of Automation Chinese Academy of Sciences China

Human-centric perception targets for understanding human body pose, shape and ***-training the model on large-scale datasets and fine-tuning it on specific tasks has become a well-established paradigm in human-centric ***, self-supervised learning methods have re-investigated contrastive learning to achieve superior performance on various downstream *** handling human-centric perception, there still remains untapped potential since 3D human structure information is neglected during the task-agnostic *** this paper, we propose the Lifting Contrastive Learning (LiftedCL) to obtain 3D-aware human-centric representations which absorb 3D human structure *** particular, to induce the learning process, a set of 3D skeletons is randomly sampled by resorting to 3D human kinematic *** this set of generic 3D samples, 3D human structure information can be learned into 3D-aware representations through adversarial *** results demonstrate that LiftedCL outperforms state-of-the-art self-supervised methods on four human-centric downstream tasks, including 2D and 3D human pose estimation (0.4% mAP and 1.8 mm MPJPE improvement on COCO 2D pose estimation and Human3.6M 3D pose estimation), human shape recovery and human parsing. © 2023 11th International Conference on Learning Representations, ICLR 2023. All rights reserved.

关键词： Large datasets

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An Indoor Positioning Algorithm Against NLOS Error Based on UWB 41

An Indoor Positioning Algorithm Against NLOS Error Based on ...

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第41届中国控制会议

作者： Mingxiang Liao Yongbo Li Guangyao Wang Zhenyu Lei Zihao Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.

关键词： UWB NLOS indoor positioning Chan-Taylor combination algorithm Kalman filter

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MFANet: Mixed Feature Attention Network for Port Lane Detection 42

MFANet: Mixed Feature Attention Network for Port Lane Detect...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Jinwei Su, Jinya Yi, Dewei Yang, Jun Ministry of Education The School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China University of Aberdeen Department of Computing Science AberdeenAB24 3UE United Kingdom

ISBN: (纸本)9789887581543

With the advancement of industrial automation and artificial intelligence technology, unmanned port autonomy has gained increasing attention. Port automatic driving technology is a critical component of unmanned autonomous systems, enabling rubber tire gantry cranes (RTGs) to autonomously navigate by detecting port lanes and implementing control commands. In this study, a deep learning-based method is proposed for detecting port lanes in complex port scenes. The method employs the Inception module and attention mechanism to enhance lane feature extraction, and a structural loss is introduced to explicitly constrain the detection results and incorporate the prior characteristics of port lanes. A novel Mixed Feature Attention Network (MFANet) is proposed to implement the method for port lane detection. Experimental results demonstrate that MFANet effectively improves the accuracy of port lane detection while maintaining high computational efficiency. Furthermore, the performance of MFANet is evaluated in a real-world application scenario. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Computational efficiency

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Lightweight Neural Network-Based Infrared Image and Anomalous Heat Region Recognition for Electrical Equipment 18th

Lightweight Neural Network-Based Infrared Image and Anomalou...

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18th Annual Conference of China Electrotechnical Society, ACCES 2023

作者： Han, Zhikai Zhang, Jinglei Jia, Xin School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory of Complex System Control Theory and Application Tianjin300384 China

ISBN: (纸本)9789819710676

In order to accurately and quickly recognize electrical devices and abnormal heating parts under infrared conditions, we propose a lightweight neural network-based method for identifying electrical devices and their abnormal heating parts. First, we construct a fast target detection network for real-time detection. Second, we propose an efficient feature retention module to avoid the feature loss problem in multi-layer convolutional operations. In addition, we introduce an attention mechanism based on the coordinate information interaction strategy to localize the target more accurately. Finally, we use a lightweight weighted bidirectional feature pyramid network to improve the detection accuracy at different scales. Experimental results on a dataset of 12109 electrical infrared images containing six types of electrical devices and anomalously heated areas show that the proposed method achieves good results, with an average recognition accuracy of 93.9% and a processing speed of 222 frames/second. © Beijing Paike Culture Commu. Co., Ltd. 2024.

关键词： Infrared imaging

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Stackelberg Game Theoretical Learning for Multi-Agent Formation Tracking control

Stackelberg Game Theoretical Learning for Multi-Agent Format...

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Youth Academic Annual Conference of Chinese Association of automation (YAC)

作者： Haichuan Ye Haoyu Zhou Bei Ma Yongbao Wu Lei Xue School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

In this article, the formation tracking problem is discussed within a multi-agent framework. Drawing from the hierarchical model featuring a single leader and multiple followers, we use the Stackelberg game to model the system and prove the Stackelberg-Nash equilibrium exists. The solution of the preceding game is resolved by using the deep reinforcement learning algorithm and a generative communication strategy learning algorithm is proposed. The efficacy of the aforementioned methodology is validated through experimental simulations, substantiating its effectiveness.

关键词： Training automation Network topology Games Deep reinforcement learning Topology Communication networks

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General theory for designing phonon transport in alloyed/doped materials

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Science China(Physics,Mechanics & Astronomy) 2024年第12期67卷 133-140页

作者： Chenhan Liu Chao Wu Wei Liu Yunshan Zhao Gang Zhang Hongmin Yang Yunfei Chen Micro-and Nano-scale Thermal Measurement and Thermal Management Laboratory Key Laboratory of Numerical Simulation for Large Complex SystemsMinistry of EducationSchool of Energy and Mechanical EngineeringNanjing Normal UniversityNanjing210023China School of Electrical and Automation Engineering Nanjing Normal UniversityNanjing210023China Phonon Engineering Research Center of Jiangsu Province Center for Quantum Transport and Thermal Energy ScienceInstitute of Physics Frontiers and Interdisciplinary SciencesSchool of Physics and TechnologyNanjing Normal UniversityNanjing210023China Agency for Science Technology and ResearchInstitute of High-Performance ComputingSingapore138632Singapore Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing211100China

Alloying/doping is a widely used technique for improving the electrical,mechanical,and optical properties of ***,this technology induces significant distortions in the lattice structure,mass distribution,and potential field,greatly enhancing phonon ***,we introduce the concept of alloying/doping path and employ crystal symmetry,lattice deformation,and electron distribution to characterize *** on this new concept,the phonon thermal transport behavior in alloyed/doped materials can be well designed,and along different alloying/doping paths,the difference in thermal conductivity can be up to 45 *** one hand,strategic alloying/doping that combines high crystal symmetry,large lattice contraction,and the same electron distribution suppresses phonon-phonon scattering phase space,induces phonon stiffening,and bolsters electronic structure symmetry,*** synergistic effects significantly improve thermal *** the other hand,random alloying/doping has a low symmetry,leading to the typical“U”shape of alloying/doping level-dependent thermal *** theory is corroborated in three-dimensional(3D)Si,2D MoS_(2),and quasi-1D TiS_(3),affirming its efficacy and broad applicability in controlling phonon transport.

关键词： phonon transport alloyed/doped materials crystal symmetry lattice contraction electronic structure

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Master-slave game-based optimal operation of microgrids containing customer-owned photovoltaics 8

Master-slave game-based optimal operation of microgrids cont...

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8th International Conference on Energy System, Electricity, and Power, ESEP 2023

作者： Liu, Xinyue Ji, Yuehui Shi, Shaobo Liu, Junjie Gao, Qiang Xu, Zhao Tianjin Key Laboratory of Complex System Control Theory and Application TJ 300384 China School of Electrical Engineering and Automation Tianjin University of Technology TJ 300384 China

ISBN: (数字)9781510679801

ISBN: (纸本)9781510679795

Due to the dispersed and disorderly feathers of distributed photovoltaic (PV) power generation on the user side, the difficulties of the low-carbon transformation of the power grid and sustainable development of large-scale distributed PV power generation is increased. Based on a master-slave game, this article proposes an optimizing scheme for the operation of microgrids, where the users built PV and shared energy storages. Firstly, this paper introduces the operational framework of the system and the functions of micro-network operator (MNO) and load aggregator (LA). The optimization operation models for MNO and LA are modelled in the framework of Stackelberg master-slave game. The game relationship between MNO and LA is analyzed. Yalmip tool with the CPLEX solver are introduced to solve the differential evolution algorithm. Final, the effectiveness of the proposed method is verified in numerical examples. © 2024 SPIE.

关键词： Energy storage

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Federated Intelligence for Intelligent Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第5期9卷 1-5页

作者： Zhang, Weishan Zhang, Baoyu Jia, Xiaofeng Qi, Hongwei Qin, Rui Li, Juanjuan Tian, Yonglin Liang, Xiaolong Wang, Fei-Yue School of China University of Petroleum Qingdao China Department of Data Management Big Data Centre Beijing Beijing China Technology Company Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Faculty of Innovation Engineering Macau University of Science and Technology Macao China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

This letter is a brief summary of a series of IEEE TIV's decentralized and hybrid workshops (DHWs) on Federated Intelligence for Intelligent Vehicles. The discussed results are: 1) Different scales of large models (LMs) can be federated and deployed on IVs, and three types of federated collaboration between large and small models can be adopted for IVs. 2) Federated fine-tuning of LMs is beneficial for IVs data security. 3) The sustainability of IVs can be improved through optimizing existing models and continuous learning using federated intelligence. 4) LM-enhanced knowledge can make IVs smarter. IEEE

关键词： Intelligent vehicle highway systems

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