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2024 China automation Congress, CAC 2024

作者： Wang, Chao Xu, Xiang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

ISBN: (纸本)9798350368604

The integration of multi-agent reinforcement learning (MARL) into complex systems has paved new ways for collaborative problem-solving. However, traditional approaches to MARL frequently encounter the challenge of achieving efficient communication among agents, essential for coordinated action. This paper introduces a region division and leader-follower(RDLF) communication algrithm with the MARL framework. RDLF divides the environment into several regions, each managed by a leader agent that coordinates the actions of follower agents and handling inter-region communication. This hierarchical structure reduces unnecessary communication, enhancing learning efficiency. Experimental results in multi-particle environments demonstrate RDLF’s superiority over existing MARL algorithms, especially with increasing agent numbers. RDLF effectively addresses scalability and communication challenges in large-scale multi-agent systems, providing a robust foundation for its application in complex and dynamic environment. © 2024 IEEE.

关键词： Adversarial machine learning

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An Enhanced Model-Free Predictive Current control for PMSMs Incorporating Discrete Space Vector Modulation 19th

An Enhanced Model-Free Predictive Current Control for PMSMs ...

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19th Annual Conference of China Electrotechnical Society, ACCES 2024

作者： Yang, Yuhui Qin, Qing Qin, Yingmei Che, Yanqiu School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin300222 China Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin University of Technology and Education Tianjin300222 China

ISBN: (纸本)9789819613823

Model-free predictive current control (MFPCC) has excellent parameter robustness owing to unused parameters of the controller. However, the method has the current gradient update stagnation problem due to the limited availability of only 7 voltage vectors, which results in a high current/torque ripple. To address this shortcoming, an enhanced MFPCC for permanent magnet synchronous machines (PMSMs) incorporating discrete space vector modulation (DSVM) is proposed in this paper. First, the basic voltage vectors are expanded from 7 to 37 by DSVM. Then, a novel current gradient updating method is developed to effectively reduce the current/torque ripple caused by current gradient updating stagnation. Finally, a candidate vector preselection method is designed to simplify the calculation process of current gradient updating. The effectiveness of the proposed method is verified on a 2 kW PMSM driving experimental platform. The experimental results show that the THD is reduced from 25.5% to 7.8% while the dq-axes current ripple is respectively reduced from 5.1 A and 5.8 A to 2.2A and 1.5 A. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Permanent magnets

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Acoustic Localization Based on the D-S Evidence Theory for Pressurized Gas Leakage Detection 5

Acoustic Localization Based on the D-S Evidence Theory for P...

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5th International Conference on Industrial Artificial Intelligence, IAI 2023

作者： Wang, Ying-Wang Li, Ji-Gong Yang, Jing Tianjin Key Laboratory of Information Sensing and Intelligent Control China Tianjin University of Technology and Education School of Automation and Electrical Engineering Tianjin300222 China

ISBN: (纸本)9798350325294

The sound source localization of ultrasonic signals generated by pressurized gas leakage was studied. The TDOA based sound source localization algorithm is always used to locate the leakage source. Since the sensors used to locate the sound source are often far from the sound source, and often only far-field models can be applied to estimate the direction of the sound source relative to the sensors. To determine the location of the sound source, it is necessary to take acoustic measurements at different positions around the sound source, such as by using a mobile robot, and fuse the measurement data. In addition, the estimated directions of the sound source usually contain uncertainties due to the noise during the measurements. To localize the sound source precisely and reliably, the D-S evidence theory was carried out in our research, in which an acoustic mass function was constructed to calculate a spatial distribution of the leakage source's location. The proposed method was verified with experiments in which the sound source was simulated with an ultrasonic transmitter, and a linearly and equidistantly distributed microphone linear array was used to estimate the direction where the ultrasonic wave came from. The experimental results show that the proposed method can be used to localize the sound source and has good accuracy and stability. © 2023 IEEE.

关键词： Uncertainty analysis

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An Error Correcting Output Code Algorithm Based on Hierarchical Clustering for Lithology Identification 43

An Error Correcting Output Code Algorithm Based on Hierarchi...

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43rd Chinese control Conference, CCC 2024

作者： Li, Ao Chen, Xi Hunan University of Technology School of Rail Transit Zhuzhou412007 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China

ISBN: (纸本)9789887581581

Lithology identification serves as a crucial foundation for the precise exploration and safe exploitation of geological resources. However, challenges arise from the inherent imbalance and overlap present in logging data, making the accurate identification of lithology a complex task. Addressing these challenges effectively, this paper introduces a novel algorithm, the Error Correcting Output Code algorithm based on Hierarchical Clustering(HC-ECOC). The proposed algorithm initially formulates a coding matrix using distance and overlap measures between class clusters. Subsequently, it extends the length of the coding matrix by considering both the accuracy of the integrated classifier and the diversity among base classifiers. To evaluate the efficacy of the proposed method, comparisons were conducted with alternative algorithms using UCI datasets and an authentic lithology dataset. The results unequivocally demonstrate the superior performance of our algorithm. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Lithology

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Power Switching Based on Trajectory Planning and Sliding Mode control for Solid Oxide Fuel Cell Systems

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Journal of Modern Power Systems and Clean Energy 2024年第6期12卷 1968-1979页

作者： Zhen Wang Guoqiang Liu Xingbo Liu Jie Wang Zhiyang Jin Xiaowei Fu Zhuo Wang Bing Jin Zhonghua Deng Xi Li Key Laboratory of Imaging Processing and Intelligent Control of Ministry of Education School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhanChina Research Institute of Huazhong University of Science and Technology in Shenzhen ShenzhenChina Hubei Huazhong Electric Power Technology Development Co. Ltd.WuhanChina School of Computer Science and Technology Wuhan University of Science and TechnologyWuhanChina School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhanChinaand he is also with the Wuhan Huamao Automation Co.Ltd.WuhanChina

To improve the safety of the solid oxide fuel cell(SOFC)systems and avoid the generation of large amounts of pollutants during power switching,this paper designs a power switching strategy based on trajectory planning and sliding mode control(TP-SMC).The design elements of the power switching strategy are proposed through simulation analysis at ***,based on the gas transmission delay time and the change of gas flow obtained from testing,trajectory planning(TP)is *** with other power switching strategies,it has been proven that the power switching strategy based on TP has significantly better control ***-thermore,considering the shortcomings and problems of TP in practical application,this paper introduces sliding mode control(SMC)on the basis of TP to improve the power switching *** final simulation results also prove that the TP-SMC can effectively suppress the impact of uncertainty in gas flow and gas transmission delay *** with TP,TP-SMC can ensure that under uncertain conditions,the SOFC system does not experience fuel starvation and temperature exceeding limit during power ***,the NOx emissions are also within the normal and acceptable *** paper can guide the power switching process of the actual SOFC sys-tems to avoid safety issues and excessive generation of NOx,which is very helpful for improving the performance and ser-vice lifeof the SOFCsystems.

关键词： Solid oxide fuel cell(SOFC)system power switching safety NOx emission trajectory planning sliding mode control

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Design and Performance Test of an H-shaped Bionic Piezoelectric Robot Based on the Standing Wave Principle

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Journal of Bionic Engineering 2025年第2期22卷 608-625页

作者： Ying Li Chaofeng Li Zhiwei Wu Binbin Zhu Jinghu Tang School of Mechanical Engineering and Automation Northeastern UniversityShenyang110819People’s Republic of China Key Laboratory of Vibration and Control of Aero-propulsion Systems Northeastern UniversityShenyang110819People’s Republic of China State Key Laboratory of Internet of Things for Smart City University of MacaoMacao999078People’s Republic of China

In this paper,inspired by the running motion gait of a cheetah,an H-shaped bionic piezoelectric robot(H-BPR)based on the standing wave principle is proposed and *** piezoelectric robot realizes linear motion,turning motion,and turning motion with different radi by the voltage differential driving method.A prototype with a weight of 38 g and dimensions of 150×80×31 mm^(3) was ***,the dynamics and kinematics of the piezoelectric robot were analyzed to obtain the trajectory of a point at the end of the piezoelectric robot *** motion principle of the piezo-electric robot was analyzed,and then the piezoelectric robot's modal analysis and harmonic response analysis were carried out using finite element analysis ***,an experimental setup was built to verify the effectiveness and high efficiency of the robot's motion,and the effects of frequency,voltage,load,and height of the driving leg on the robot's motion performance were *** performance test results show that the piezoelectric robot has a maximum veloc-ity of 66.79 mm/s at an excitation voltage of 320 V and a load capacity of 55 *** addition,the H-BPR with unequal drive legs has better climbing performance,and the obtained conclusions are informative for selecting leg heights for piezoelectric robots.

关键词： Piezoelectric Standing wave principle Bionic Differential driving method Robot

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Two Degree of Freedom Active Disturbance Rejection control Strategy for Time Delay Systems 42

Two Degree of Freedom Active Disturbance Rejection Control S...

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42nd Chinese control Conference, CCC 2023

作者： Shan, Xiyuan Cai, Tao School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

This paper is concerned with the controller design and the theoretical analysis for time-delay systems, a two degree of freedom (feedforward and feedback) control method is proposed, which combines advantages of the Smith predictor and the active disturbance rejection control (ADRC). The feedforward part of controller is used to track the set point, the feedback part of controller (ADRC) is used to suppress interferences and the Smith predictor is used to correct time delay. The proposed control design is easy to tune parameters and has been proved to effectively control systems with large time delay. The bounded input bounded output (BIBO) stability of closed-loop system is verified. Finally, numerical simulations show the effectiveness and practicality of the proposed design. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Time delay

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Efficient Mobile Deployment of Lightweight CNN-Transformer Model for Crop Disease Diagnosis in Smart Agriculture 4

Efficient Mobile Deployment of Lightweight CNN-Transformer M...

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4th Asia Conference on Information Engineering, ACIE 2024

作者： Lv, Zirong China University of Geosciences Hubei Key Lab. of Adv. Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation Wuhan China

ISBN: (纸本)9798350371925

Crop disease diagnosis is of great significance for crop yield and agricultural production. Deep learning methods have become a major research direction for solving crop disease diagnosis. However, recent studies have shown that deploying complex neural network models on mobile devices poses a significant challenge to mobile hardware performance. To address this issue, this paper proposes a lightweight network model based on the Transformer and deploys it on mobile devices. Compared to other lightweight network models, our approach significantly reduces computational complexity using Transformer modules and exhibits a particular advantage in recognition accuracy. It achieves a recognition rate of 97.76% for ten categories of tomato diseases, while the model size is only 3.86 MB. Furthermore, we deploy the model on embedded devices and apply it to tomato crop recognition, enabling farmers to monitor crop conditions in real-time and realizing smart agriculture. © 2024 IEEE.

关键词： Deep learning

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Lightweight Human Pose Estimation Using Loss Weighted by Target Heatmap 26th

Lightweight Human Pose Estimation Using Loss Weighted by Ta...

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26th International Conference on Pattern Recognition, ICPR 2022

作者： Li, Shiqi Xiang, Xiang Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9783031376597

Recent research on human pose estimation exploits complex structures to improve performance on benchmark datasets, ignoring the resource overhead and inference speed when the model is actually deployed. In this paper, we lighten the computation cost and parameters of the deconvolution head network in SimpleBaseline and introduce an attention mechanism that utilizes original, inter-level, and intra-level information to intensify the accuracy. Additionally, we propose a novel loss function called heatmap weighting loss, which generates weights for each pixel on the heatmap that makes the model more focused on keypoints. Experiments demonstrate our method achieves a balance between performance, resource volume, and inference speed. Specifically, our method can achieve 65.3 AP score on COCO test-dev, while the inference speed is 55 FPS and 18 FPS on the mobile GPU and CPU, respectively. © 2023, Springer Nature Switzerland AG.

关键词： Benchmarking

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Detection and Positioning of Workpiece Grinding Area in Dark Scenes with Large Exposure 1

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Guo, Zhentao Zhao, Guiyu Bian, Jinyue Ma, Hongbin School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Workpiece grinding is a crucial process in the smart manufacturing chain. In order to meet the requirements of industrial precision and relieve heavy work, researchers have developed a vision-based grinding robot. However, the problem of workpiece grinding area detection and positioning is difficult to be solved in dark scenes with large exposure. This paper proposes a method that fuses technologies such as processing of the image, coordinate and point cloud, which can accurately detect and locate the workpiece grinding area. Firstly, A method based on YOLOv7 and improved image preprocessing is used to detect labels of the grinding area. Secondly, A model for the prediction of the coordinates based on multiple linear regression was used to predict the coordinates of missing labels for the same grinding area. Finally, Data processing of the point cloud and transformation of the system of coordinates are used to achieve the acquisition of the coordinates of positioning vertices in the grinding area and conversion from the camera coordinate system to the world coordinate system. We used several sets of data for evaluation in our experiments, and the experimental results show that our proposed method can effectively detect the workpiece grinding area. At the same time, our method can also predict the coordinates of missing labels, which provides a more stable and reliable guarantee for industrial production. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Multiple linear regression

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