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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023年第3期18卷 123-143页

作者： Yiming YAN Shuting WANG Yuanlong XIE Hao WU Shiqi ZHENG Hu LI School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China

To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is *** address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)***,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different *** formulation guarantees rapid convergence and simultaneous chattering *** introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle *** experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance

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Protecting Multiple Types of Privacy Simultaneously in EEG-Based Brain-Computer Interfaces

Protecting Multiple Types of Privacy Simultaneously in EEG-B...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Meng, Lubin Jiang, Xue Jia, Tianwang Wu, Dongrui School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Wuhan China

ISBN: (纸本)9781665410205

A brain-computer interface (BCI) enables direct communication between the brain and an external device. Electroencephalogram (EEG) is the preferred input signal in non-invasive BCIs, due to its convenience and low cost. EEG-based BCIs have been successfully used in many applications, such as neurological rehabilitation, text input, games, and so on. However, EEG signals inherently carry rich personal information, necessitating privacy protection. This paper demonstrates that multiple types of private information (user identity, gender, and BCI-experience) can be easily inferred from EEG data, imposing a serious privacy threat to BCIs, To address this issue, we design perturbations to convert the original EEG data into privacy-protected EEG data, which conceal the private information while maintaining the primary BCI task performance. Experimental results demonstrated that the privacy-protected EEG data can significantly reduce the classification accuracy of user identity, gender and BCI-experience, but almost do not affect at all the classification accuracy of the primary BCI task, enabling user privacy protection in EEG-based BCIs. © 2024 IEEE.

关键词： Differential privacy

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Improved target detection algorithm based on YOLOv5s 24

Improved target detection algorithm based on YOLOv5s

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6th International Conference on control and Computer Vision, ICCCV 2024

作者： Chen, Boyang Han, Chunxiao Wu, Han Tianjin Key Laboratory of Information Sensing & Intelligent Control School of Automation and Electrical Engineering Tianjin University of Technology and Education China

ISBN: (纸本)9798400718045

Target detection is a research hotspot in the field of computer vision and machine learning, and the deep learning model greatly improves the efficiency of target detection and classification by obtaining feature information and classification through multi-layer neural networks, which is the mainstream algorithm for target detection at present. In this paper, YOLOv5s target detection algorithm is improved, and the SIoU loss function is chosen to replace the CIoU loss function used in the original model, while the SimAM attention mechanism is added to the Neck module of the YOLOv5s model, and it is proved through experiments that the improved model improves the average precision (mAP@0.5) by 0.2% over the original model, and the recall rate (Recall) is improved by 0.8%. The faster convergence and improved precision of the model further improves the performance of the model. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Adversarial machine learning

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A novel theoretical analysis method for the longitudinal cascaded piezoelectric transducer based on equivalent circuit

A novel theoretical analysis method for the longitudinal cas...

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2023 International Congress on Ultrasonics, ICU Beijing 2023

作者： Li, Guo Lei, Ming Xu, Huan Han, Shuyang Zeng, Yan Li, Yujiao School of Automation Xi'an Key Laboratory of Advanced Control and Intelligent Processing Xi'an University of Posts &Telecommunications Xi'an710121 China

High power ultrasonic transducers are widely used in the fields of ultrasonic cleaning, ultrasonic welding and therapeutic ultrasound. To further improve the ultrasonic intensity and power of piezoelectric transducers for power ultrasound applications, the cascaded piezoelectric transducer have received tons of attention. The electromechanical equivalent circuit, as a classical transducer analysis method, translates the structural and mechanical parameters into the corresponding circuit parameters and helps us to better understand and analyze the performance characteristics of the transducer, which is of great significance for the design and optimization of the transducer. In this paper, a new theoretical analysis method based on the equivalent circuit is proposed for cascaded piezoelectric transducer. In this method, the equivalent circuit of each component of the longitudinal piezoelectric transducer is cascaded, and equivalent circuit is analyzed using the Kirchhoff's law to obtain the frequency resonance equation of the piezoelectric transducer. This analysis method avoids the complex equivalent transformation of the equivalent circuit including multiple excitation sources and also obtains the vibration velocity of the piezoelectric transducer radiation surfaces, more information on the vibration characteristics of the transducer was gained from the theoretical aspect. Finally, the theoretical analysis results are compared with the finite element simulation analysis and the traditional analysis results for verification. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Piezoelectric transducers

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Predefined-Time Distributed Fault-Tolerant control for Nonlinear Multiagent Systems Suffering From Nonaffine Faults

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3300-3311页

作者： Cheng, Shuai Xin, Bin Chen, Jie Deng, Fang Qingdao University School of Automation Qingdao266071 China Beijing Institute of Technology School of Automation Beijing100081 China Beijing Institute of Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing100081 China Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Department of Control Science and Engineering Shanghai200092 China

This article investigates the distributed predefined-time (PT) fault-tolerant control for nonlinear multiagent systems (NNMSs) with nonaffine faults. A novel distributed PT control scheme is proposed based on a new PT theorem. The switching functions are introduced into distributed control signals to avoid the singularity problem. The second-order filter technology is designed to solve "explosion of complexity" issues. The newly designed PT compensation signals are utilized to eliminate filter errors. The proposed distributed PT controller based on local information can guarantee that all signals of the closed-loop system are PT bounded, and consensus errors of NNMSs can be enforced to a small region around the origin within a predefined time. Compared with the finite/fixed time, the predefined time is an exact value given in advance, which remains constant regardless of initial states and control parameters. Finally, two comparative simulations are provided to demonstrate the presented strategy. © 2013 IEEE.

关键词： Adaptive control systems

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A Survey on Negative Transfer

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 305-329页

作者： Wen Zhang Lingfei Deng Lei Zhang Dongrui Wu the Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China IEEE the School of Microelectronics and Communication Engineering Chongqing UniversityChongqing 400044China

Transfer learning(TL)utilizes data or knowledge from one or more source domains to facilitate learning in a target *** is particularly useful when the target domain has very few or no labeled data,due to annotation expense,privacy concerns,***,the effectiveness of TL is not always *** transfer(NT),i.e.,leveraging source domain data/knowledge undesirably reduces learning performance in the target domain,and has been a long-standing and challenging problem in *** approaches have been proposed in the literature to address this ***,there does not exist a systematic *** paper fills this gap,by first introducing the definition of NT and its causes,and reviewing over fifty representative approaches for overcoming NT,which fall into three categories:domain similarity estimation,safe transfer,and NT *** areas,including computer vision,bioinformatics,natural language processing,recommender systems,and robotics,that use NT mitigation strategies to facilitate positive transfers,are also ***,we give guidelines on NT task construction and baseline algorithms,benchmark existing TL and NT mitigation approaches on three NT-specific datasets,and point out challenges and future research *** ensure reproducibility,our code is publicized at https://***/chamwen/NT-Benchmark.

关键词： Domain adaptation domain similarity negative transfer positive transfer transfer learning

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Automatic SOC Equalization Strategy of Energy Storage Units with DC Microgrid Bus Voltage Support

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Energy Engineering 2024年第2期121卷 439-459页

作者： Jingjing Tian Shenglin Mo Feng Zhao Xiaoqiang Chen School of Automation&Electrical Engineering Lanzhou Jiaotong UniversityLanzhou730070China Key Laboratory of Opto-Technology and Intelligent Control(Lanzhou Jiaotong University) Ministry of EducationLanzhou730070China

In this paper,an improved sag control strategy based on automatic SOC equalization is proposed to solve the problems of slow SOC equalization and excessive bus voltage fluctuation amplitude and offset caused by load and PV power variations in a stand-alone DC *** strategy includes primary and secondary *** them,the primary control suppresses the DC microgrid voltage fluctuation through the I and II section control,and the secondary control aims to correct the P-U curve of the energy storage system and the PV system,thus reducing the steady-state bus voltage *** simulation results demonstrate that the proposed control strategy effectively achieves SOC balancing and enhances the immunity of bus *** proposed strategy improves the voltage fluctuation suppression ability by approximately 39.4%and 43.1%under the PV power and load power fluctuation conditions,***,the steady-state deviation of the bus voltage,△U_(dc) is only 0.01–0.1 V,ensuring stable operation of the DC microgrid in fluctuating power environments.

关键词： Automatic equalization independent DC microgrid improve droop control secondary control state of charge

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Research on Automotive Parts Recognition Based on Improved YOLOv5 Algorithm

Research on Automotive Parts Recognition Based on Improved Y...

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2024 International Conference on Remote Sensing, Mapping, and Image Processing, RSMIP 2024

作者： Xu, Yu Hu, Shan Ming, Rui Zhang, Tianzhi School of Automation and Electrical Engineering Tianjin University of Technology and Education Key Laboratory of Information Sensing & Intelligent Control Tianjin China

ISBN: (纸本)9781510680012

With the continuous development of the automotive industry, the target detection and recognition of automotive parts have become crucial factors for automakers to enhance automation levels. In this paper, to ensure improved detection accuracy while meeting real-time detection requirements, we propose an enhanced YOLOv5 model for automotive parts recognition. This method optimizes candidate box parameters using the K-Means algorithm, addresses feature mismatch issues through variational convolution, and optimizes the loss function using GIOU instead of IOU. Experimental results show that the improved YOLOv5 algorithm achieves an average precision of 99.1%, representing a relative improvement of 1.72% over Fast R-CNN and 3.91% over the standard YOLOv5 algorithm. Furthermore, it demonstrates excellent real-time detection performance, meeting the demands of practical application scenarios. © 2024 SPIE.

关键词： Object recognition

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Autonomous Recommendation of Fault Detection Algorithms for Spacecraft

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 273-275页

作者： Wenbo Li Baoling Ning the National Key Laboratory of Science and Technology on Space Intelligent Control Beijing Institute of Control EngineeringBeijing 100094China the School of Data Science and Technology Heilongjiang UniversityHarbin 150001China

Dear Editor, This letter deals with the problem of algorithm recommendation for online fault detection of spacecraft. By transforming the time series data into distributions and introducing a distribution-aware measure, a principal method is designed for quantifying the detectabilities of fault detection algorithms over special datasets.

关键词： fault introducing letter

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Electric Field Simulation and Structure Optimization of 12 kV Environmental-Friendly Gas Insulated Ring Network Cabinet 2

Electric Field Simulation and Structure Optimization of 12 k...

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2nd IEEE International Conference on control, Electronics and Computer Technology, ICCECT 2024

作者： Dongyun, Dai Jiahua, Huang Yimin, You School of Electrical Engineering and Automation Xiamen University of Technology Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China School of Electrical Engineering and Automation Xiamen Institute University of Technology Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China

ISBN: (纸本)9798350380958

The environmental-friendly gas-insulated ring network cabinet is referred to as an environment-friendly cabinet. The high-voltage circuit parts of the environment-friendly cabinet are mainly composed of conductors, VCB, and the knife-brake type three-station disconnector. The insulating support parts are composed of insulating board, insulating arms, and so on. The grounding parts consist of a metal shell and grounding contacts. Simulation of the electrostatic field of the environment-friendly cabinet is during the condition of isolation fracture. Simulation results show that there are local high electric fields on the metal surfaces of the support for VCB, moving contacts, and static contacts, which are 20.7SkV /mm, 10.06kV/mm, and 7.41kV/mm, respectively. Adding a thin metal sheet to the support for the VCB or filling the gap with silicone rubber will reduce the electric field to 4.S1kV/mm and 4.1kV/mm, respectively. The metal shielding structures are installed on both sides of the moving contact and the static contact of the disconnector, and the surface electric field intensity is reduced to 5.25kV/mm and 5.18kV/mm respectively on the disconnector during the state of isolation fracture. The optimized environment-friendly cabinet was tested for power-frequency voltage-withstand test and partial discharge. The results showed that the optimized environment-friendly cabinet passed the power-frequency voltage-withstand test and the magnitude of partial discharge was better than the initial scheme, which verified the feasibility of the optimization. © 2024 IEEE.

关键词： Silicones

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