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17th Annual Conference of China Electrotechnical Society, CES 2022

作者： Sun, Liucun Lou, Zhongkai Li, Jingjing Su, Weijiang China Green Development Investment Group Co. Ltd. Beijing100010 China Key Laboratory for Intelligent Control and Decision on Complex Systems School of Automation Beijing Institute of Technology Beijing100029 China

ISBN: (纸本)9789819904075

Large commercial complex projects have the characteristics of large roof area and high electricity price, and the development of distributed photovoltaic power generation has great potential. In this paper, a feasibility evaluation model of distributed photovoltaic power generation in large commercial buildings is established from the aspects of solar energy resources, power generation, economics and environmental benefits. A commercial complex photovoltaic project in Jinan is used as an example. In the case of fully considering the project operating cost and environmental benefits, the feasibility of the project under different power consumption modes is analyzed. The research results show that the economy of large-scale commercial distributed photovoltaic power generation projects in class III solar resource areas such as Jinan is directly related to the power consumption mode. When the "spontaneous self-use" mode is adopted, the economic benefits of the project are good and the feasibility is strong;When the "excess electricity goes into the power grid" mode is adopted, the economic benefits gradually deteriorate with the increase of the proportion into the power grid, but considering the environmental protection benefits of photovoltaic power generation projects, it is still feasible;When the "full the power goes into the power grid" mode is adopted, the economic benefit is poor, and the project is basically not feasible. © 2023, Beijing Paike Culture Commu. Co., Ltd.

关键词： Electric power utilization

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control of 2-D Semi-Markov Jump systems:A View from Mode Generation Mechanism

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 258-260页

作者： Yunzhe Men Jian Sun Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems the School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-D Markov jump systems(MJSs) or 2-D semi-Markov jump systems(SMJSs).This letter investigates the control of 2-D SMJSs based on a novel mode generation mechanism,which could avoid mode ambiguousness phenomenon caused by the evolution of system mode in two different *** criterion that guarantees the almost surely exponential stability of the system is obtained.A thermal process is studied to demonstrate the availability of the proposed method.

关键词： Markov mode system

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Bearing Fault Diagnosis Under Variable Working Conditions Based on Domain Adaptation and Improved Depthwise Separable Convolution Network 26

Bearing Fault Diagnosis Under Variable Working Conditions Ba...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Kuang, Zehui Mao, Fan Zhao, Xingyu Wan, Xiongbo School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Future Technology China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (纸本)9798331521950

Domain adaptation methods and appropriate feature extractors are usually applied to solve the problem that the variable working conditions of bearings affect the effectiveness of the fault diagnostic framework. However, the existing feature extractors are too complex to be deployed in real industries. In this paper, we propose a lightweight framework called improved depthwise separable convolution network (IDSCN) for the diagnosis of bearing faults in variable operating conditions. IDSCN is built on wavelet convolution and depthwise separable residual convolution (DSRC), where the wavelet convolution is used to extract frequency features from the source and target domains, and DSRC guarantees the performance of feature extraction with reduced parameters and computation. To minimise the distribution difference between the source and target domains, the local maximum mean difference is incorporated into the proposed framework. The performance of the proposed framework is validated on the Paderborn University dataset, involving a total of 6 transfer tasks. The experiment shows that the proposed framework achieves satisfactory results and outperforms other frameworks in bearing fault diagnosis. © 2025 IEEE.

关键词： Bearing fault diagnosis Depthwise separable residual convolution Domain adaptation Wavelet convolution

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PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

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control Theory and Technology 2024年第4期22卷 552-567页

作者： Peng Huang Yawu Wang Yue Zhang Jundong Wu Chun-Yi Su School of Automation China University of GeosciencesWuhan430074HubeiChina Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074HubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan430074HubeiChina Gina Cody School of Engineering and Computer Science Concordia UniversityMontrealQCH3G 1M8Canada

Smart soft dielectric elastomer actuators(SSDEAs)possess wide applications in soft robotics due to their properties similar to natural muscles,including large deformation ratio,high energy density,and fast response ***,the complicated asymmetric and rate-dependent hysteresis property,creep property and quadratic input property of the SSDEA pose enormous challenges to its dynamic modeling and motion *** this paper,first,we construct the dynamic model of the SSDEA by connecting a square module,a one-sided Prandtl–Ishlinskii(OSPI)model and a linear system in series to describe the above *** key and innovative aspect of the dynamic modeling lies in cascading the square module in series with the OSPI model to construct the asymmetric hysteresis ***,a PI-funnel and inverse hysteresis compensation(PIFIHC)cascade control method of the SSDEA is proposed to actualize its tracking control *** performing the inversion operation on the asymmetric hysteresis model,the inverse hysteresis compensation controller(IHCC)is designed to compensate the asymmetric hysteresis property and quadratic input property of the *** addition,a PI-funnel controller is designed to cascade with the IHCC to construct the PIFIHC cascade controller to obtain a good tracking ***,the stability analysis of the PIFIHC cascade control system of the SSDEA is performed to theoretically prove that the tracking error can be controlled within the performance funnel and the steady-state error converges to ***,several practical tracking control experiments of the SSDEA are conducted,and RRMSEs are less than 2.30%for all *** experimental results indicate the effectiveness and feasibility of the proposed PIFIHC cascade control method of the SSDEA.

关键词： Smart soft dielectric elastomer actuator Dynamic modeling Inverse hysteresis compensation controller PI-funnel controller Cascade controller

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A Memristive Spiking Neural Network Circuit for Bio-inspired Navigation Based on Spatial Cognitive Mechanisms

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IEEE Transactions on Biomedical Circuits and systems 2024年第3期19卷 686-698页

作者： Chen, Zhanfei Wang, Xiaoping Wang, Zilu Yang, Chao Huang, Tingwen Lai, Jingang Zeng, Zhigang School of Mechanical Engineering and Automation Shenzhen518055 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation China Hubei Key Laboratory of Brain-inspired Intelligent Systems Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan430074 China Guangxi University of Science and Technology School of Computer Science and Technology Liuzhou545006 China Shenzhen University of Advanced Technology School of Computer Science and Control Engineering Shenzhen518055 China

Cognitive navigation,a high-level and crucial function for organisms' survival in nature,enables autonomous exploration and navigation within the environment. However,most existing works for bio-inspired navigation are implemented with non-neuromorphic computing. This work proposes a bio-inspired memristive spiking neural network (SNN) circuit for goal-oriented navigation,capable of online decision-making through reward-based learning. The circuit comprises three primary modules. The place cell module encodes the agent's spatial position in real-time through Poisson spiking;the action cell module determines the direction of subsequent movement;and the reward-based learning module provides a bio-inspired learning method adaptive to delayed and sparse rewards. To facilitate practical application,the entire SNN is quantized and deployed on a real memristive hardware platform,achieving about a 21× reduction in energy consumption compared to a typical digital acceleration system in the forward computing phase. This work offers an implementation idea of neuromorphic solution for robotic navigation application in low-power scenarios. © 2007-2012 IEEE.

关键词： intelligent robots

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Distributed State Estimation for complex Networks with Periodic Inner Coupling and Mixed Sensors 41

Distributed State Estimation for Complex Networks with Perio...

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第41届中国控制会议

作者： Qian Yang Chengzi Li Ying Wang Hongxia Rao Yong Xu Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control School of AutomationGuangdong University of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The distributed state estimation for a set of complex networks with inner coupling changing periodically and hybrid sensors is investigated in this paper.A state predictor is devised on the basis of the model,where two sensors are used to measure the states.A random sequence following the Bernoulli distribution is employed to represent the selection of measurements.A distributed state estimator is contrived by utilizing the *** the prediction error and the estimation error are ***,the optimal upper bound of the estimation error covariance is solved by contriving the optimal estimation ***,a numerical instance is given to demonstrate the rationality of the distributed estimation.

关键词： complex networks distributed state estimation periodic inner coupling mixed sensors

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Research on path planning of mobile robot based on DWA-IMP-A*algorithm

Research on path planning of mobile robot based on DWA-IMP-A...

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第42届中国控制会议

作者： Zhi Liu Lin Zhang Shoukun Wang Tianwei Niu Yongkang Xu Jin Cao Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

Path planning is one of the most critical links in mobile robots. Its timeliness, security and accessibility are crucial to the development and wide application of mobile robots. However, in solving the problem of path planning, the most popular A* algorithm has some problems, such as heuristic function cannot be estimated accurately, node redundancy, path is not smooth, and obstacle avoidance cannot be achieved in real time. To solve these problems, A fusion algorithm of improved A* combined with reverse path and dynamic window method(DWA-IMP-A*) was proposed. The algorithm refines the heuristic function by incorporating the reverse path. The node optimization algorithm is used to further reduce the path length. The generated trajectories are smoothed by cubic spline interpolation. At the same time, it is integrated with the improved DWA algorithm to improve the efficiency and safety of robot path planning. The algorithm takes ROS mobile robot as the carrier and is tested under typical road conditions. Compared with A* algorithm, the planning time is reduced by 54.6% and the path length is reduced by 6.37%. Experimental results verify the effectiveness and robustness of the algorithm. The research results have certain reference significance for the path planning of various types of mobile robots and the research of driverless vehicles.

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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

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Cyborg and Bionic systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly system,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization system is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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Spatially Dense Multi-Target Track Segment Association Algorithm

Spatially Dense Multi-Target Track Segment Association Algor...

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第42届中国控制会议

作者： Yan Yao Liping Yan Yuanqing Xia Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

In the field of radar data processing, track interruption seriously affects target tracking, track fusion, and other *** existing track segment association algorithms have low correlation accuracy in dense distributed or long-time interruption situations. To this purpose, a dense multi-target track segment association(DMTTSA) algorithm is proposed. Firstly, two identical networks based on the multi-head probability sparse(ProbSparse) self-attention are used to capture the long-term dependencies of the tracks. Then, the bidirectional quadruplet hard sample loss(BiQuaHard loss) is constructed to make the tracks belonging to the same targets closer and the tracks belonging to the different targets farther. Finally, DMTTSA takes the closest track pairs in the feature space as the associated tracks and divides the unassociated tracks into the birth and dead tracks in chronological order. Some comparative experiments are carried out to show the anti-noise performance of the DMTTSA, as well as the effectiveness of solving the problem of dense multi-target track interruption.

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Target tracking trajectory generation for quadrotors in static complex environments 4

Target tracking trajectory generation for quadrotors in stat...

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4th International Conference on Industrial Artificial Intelligence, IAI 2022

作者： Ji, Yang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Beijing100081 China

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

This paper mainly focuses on the problem of target tracking trajectory generation for quadrotors in static complex environments. In this paper, a trajectory planning framework is proposed that can be used to address the occlusion problem caused by obstacles in target tracking situations. The main innovations are: First, a visibility function is introduced that is constructed based on a signed Euclidean distance field (ESDF) map. Based on this function, the favorable view direction is derived to track the target distinctly. Second, the distance between the target and chaser is optimized as one of the cost functions, resulting in a smooth and comfortable distance between them. Finally, the effectiveness of the algorithm is verified on the Rviz platform. © 2022 IEEE.

关键词： Target tracking

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