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Asymptotical event-based input-output constrained boundary control of flexible manipulator agents under a signed digraph

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science China(Information sciences) 2025年第4期68卷 319-335页

作者： Xiangqian YAO Xiangmin XU Wei HE Yu LIU School of Future Technology South China University of Technology School of Automation and Institute of Artificial Intelligence Beijing Information Science and Technology University School of Intelligence Science and Technology University of Science and Technology Beijing School of Automation Science and Engineering South China University of Technology

This article tackles the boundary event-based bipartite consensus tracking control problem for the flexible manipulator multi-agent network over a signed diagraph. Each follower agent is the flexible manipulator with unknown disturbances,modeling uncertainties, input saturations and backlashes, and asymmetric output constraints. To reduce the continuous updating of control inputs, a new dynamic event-triggering mechanism is used. Under multiple constraints, achieving the asymptotic convergence point by point in space of the manipulator's vibration state is a control challenge. To solve this issue, we propose a new asymptotic convergence lemma. In control design, radial basis neural networks are employed to estimate nonlinear uncertain terms and the barrier Lyapunov function is used to accomplish the output constraints. Based on the Lyapunov direct method, a novel distributed boundary event-based control algorithm is designed to guarantee that the closed-loop network can reach the asymptotical bipartite consensus tracking and vibration suppression. Moreover, Zeno behaviors can be excluded for each agent. Finally, some numerical results are presented to demonstrate the validity and superiority of the designed control algorithm.

关键词： flexible-link manipulator input-output constraint event-based asymptotical bipartite tracking vibrationprotectłinebreak control

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Improved dynamic regret of distributed online multiple Frank-Wolfe convex optimization

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science China(Information sciences) 2024年第11期67卷 164-179页

作者： Wentao ZHANG Yang SHI Baoyong ZHANG Deming YUAN School of Automation Nanjing University of Science and Technology Department of Mechanical Engineering University of Victoria

In this paper, we explore a distributed online convex optimization problem over a time-varying multi-agent network. The network aims to minimize a global loss function through local computation and communication with neighboring agents. To effectively handle the optimization problem which involves highdimensional and structural constraint sets, we develop a distributed online multiple Frank-Wolfe algorithm that circumvents the expensive computational cost associated with projection operations. The dynamic regret bounds are established as O(T1-γ+ HT) with the linear oracle number O(T1+γ), which depends on the horizon（total iteration number） T, the function variation HT, and the tuning parameter 0 < γ < *** particular, when the prior knowledge of HTand T is available, the bound can be enhanced to O（1 +HT）. Moreover, we explore the significant advantages provided by the multiple iteration technique and reveal a trade-off between dynamic regret bound, computational cost, and communication cost. Finally,the performance of our algorithm is validated and compared through the distributed online ridge regression problems with two constraint sets.

关键词： distributed online convex optimization multiple iterations Frank-Wolfe algorithm dynamic regret gradient tracking method

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Noise-induced phase transition in the Vicsek model through eigen microstate methodology

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Chinese Physics B 2024年第9期33卷 327-338页

作者： Yongnan Jia Jiali Han Qing Li School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083China

This paper presents a comprehensive framework for analyzing phase transitions in collective models such as theVicsek model under various noise types. The Vicsek model, focusing on understanding the collective behaviors of socialanimals, is known due to its discontinuous phase transitions under vector noise. However, its behavior under scalar noiseremains less conclusive. Renowned for its efficacy in the analysis of complex systems under both equilibrium and nonequilibriumstates, the eigen microstate method is employed here for a quantitative examination of the phase transitions inthe Vicsek model under both vector and scalar noises. The study finds that the Vicsek model exhibits discontinuous phasetransitions regardless of noise type. Furthermore, the dichotomy method is utilized to identify the critical points for thesephase transitions. A significant finding is the observed increase in the critical point for discontinuous phase transitions withescalation of population density.

关键词： Vicsek model phase transitions eigen microstate method noise

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Cloud edge integrated security architecture of new cloud manufacturing system

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Journal of Systems engineering and Electronics 2024年第5期35卷 1177-1189页

作者： ZHAO Longbo LI Bohu YUAN Haitao School of Automation Science and Electrical Engineering Beihang UniversityBeijing100191China

With the rapid development of cloud manufacturing technology and the new generation of artificial intelligence technology,the new cloud manufacturing system(NCMS)built on the connotation of cloud manufacturing 3.0 presents a new business model of“Internet of everything,intelligent leading,data driving,shared services,cross-border integration,and universal innovation”.The network boundaries are becoming increasingly blurred,NCMS is facing security risks such as equipment unauthorized use,account theft,static and extensive access control policies,unauthorized access,supply chain attacks,sensitive data leaks,and industrial control vulnerability *** security architectures mainly use information security technology,which cannot meet the active security protection requirements of *** order to solve the above problems,this paper proposes an integrated cloud-edge-terminal security system architecture of *** adopts the zero trust concept and effectively integrates multiple security capabilities such as network,equipment,cloud computing environment,application,identity,and *** adopts a new access control mode of“continuous verification+dynamic authorization”,classified access control mechanisms such as attribute-based access control,rolebased access control,policy-based access control,and a new data security protection system based on blockchain,achieving“trustworthy subject identity,controllable access behavior,and effective protection of subject and object resources”.This architecture provides an active security protection method for NCMS in the digital transformation of large enterprises,and can effectively enhance network security protection capabilities and cope with increasingly severe network security situations.

关键词： new cloud manufacturing system(NCMS) integrated cloud-edge-terminal security system architecture zero trust

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OCRBench: on the hidden mystery of OCR in large multimodal models

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science China(Information sciences) 2024年第12期67卷 23-35页

作者： Yuliang LIU Zhang LI Mingxin HUANG Biao YANG Wenwen YU Chunyuan LI Xu-Cheng YIN Cheng-Lin LIU Lianwen JIN Xiang BAI School of Artificial Intelligence and Automation Huazhong University of Science and Technology School of Electronic and Information Engineering South China University of Technology Microsoft Research School of Computer & Communication Engineering University of Science and Technology Beijing Institute of Automation Chinese Academy of Sciences School of Software Engineering Huazhong University of Science and Technology

Large models have recently played a dominant role in natural language processing and multimodal vision-language learning. However, their effectiveness in text-related visual tasks remains relatively unexplored. In this paper, we conducted a comprehensive evaluation of large multimodal models, such as GPT4V and Gemini, in various text-related visual tasks including text recognition, scene text-centric visual question answering(VQA), document-oriented VQA, key information extraction(KIE), and handwritten mathematical expression recognition(HMER). To facilitate the assessment of optical character recognition(OCR) capabilities in large multimodal models, we propose OCRBench, a comprehensive evaluation benchmark. OCRBench contains 29 datasets, making it the most comprehensive OCR evaluation benchmark available. Furthermore, our study reveals both the strengths and weaknesses of these models, particularly in handling multilingual text, handwritten text, non-semantic text, and mathematical expression *** importantly, the baseline results presented in this study could provide a foundational framework for the conception and assessment of innovative strategies targeted at enhancing zero-shot multimodal *** evaluation pipeline and benchmark are available at https://***/Yuliang-Liu/Multimodal OCR.

关键词： large multimodal model OCR text recognition scene text-centric VQA document-oriented VQA key information extraction handwritten mathematical expression recognition

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Dynamic event-triggered data-driven iterative learning bipartite tracking control for nonlinear MASs with prescribed performance

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science China(Information sciences) 2025年第1期68卷 292-305页

作者： Tao SHI Wei-Wei CHE School of Mechatronic Engineering and Automation Shanghai University State Key Laboratory of Synthetical Automation for Process Industries Northeastern University College of Information Science and Engineering Northeastern University

This article proposes a distributed dynamic event-triggered data-driven iterative learning control(DET-DDILC)scheme under a predefined performance to tackle the bipartite tracking control problem for multiagent systems(MASs). An improved dynamic linearization technique is utilized to convert the nonlinear MASs into an iterative linear data model. First,a peer-to-peer mapping function is introduced to map the constrained distributed system output homeomorphism to an unconstrained one. In addition, a DET mechanism based on a time-iteration-varying function is devised to conserve network communication resources. Based on the unconstrained transformation and the designed DET mechanism, the DET-DDILC algorithm is devised to ensure that the bipartite tracking performance of MASs can be within the preset range. Finally, the effectiveness and feasibility of the designed control scheme are demonstrated via a simulation case by a comparison.

关键词： bipartite tracking control prescribed performance event-triggered iterative learning control multiagent systems

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Progress in modeling and control of probe-and-drogue autonomous aerial refueling

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Chinese Journal of Aeronautics 2024年第5期37卷 6-26,I0001页

作者： Jinrui REN Quan QUAN School of Automation Xi’an University of Posts&TelecommunicationsXi'an 710072China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

By refueling aircraft while they are in flight,aerial refueling is an efficient technique to extend their endurance and *** Aerial Refueling(AAR)is anticipated to be used to complete aerial refueling for unmanned *** are three aerial refueling methods:the Probe-and-Drogue Refueling(PDR)refueling method,the flying-boom refueling method,and the boom-drogue-adapter refueling *** paper considers the PDR approach,the most challenging of the three,because the flexible hose-drogue assembly has fast dynamics and is susceptible to various kinds of winds,which makes the probe docking with the drogue *** is divided into four phases,namely the rendezvous phase,joining phase,refueling phase,and reform phase,with the refueling phase being the most *** controller design faces the greatest challenge during the docking control of the refueling phase since it calls for a high level of safety,precision,and *** a result,the modeling and control issues encountered during the refueling phase are typical and *** fundamental idea of AAR is presented in the paper first,after which the characteristics and requirements of AAR are *** progress in modeling and control techniques for the AAR’s refueling phase is then systematically ***,potential future work for high safety,precision,and efficiency requirements is examined and suggested.

关键词： Aerial refueling Probe-and-drogue refueling Docking Flight controlsystems Unmanned Aerial Vehicles

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Cooperative output regulation of heterogeneous directed multi-agent systems:a fully distributed model-free reinforcement learning framework

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science China(Information sciences) 2025年第2期68卷 170-185页

作者： Xiongtao SHI Yanjie LI Chenglong DU Huiping LI Chaoyang CHEN Weihua GUI Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and AutomationHarbin Institute of Technology (Shenzhen) School of Automation Central South University School of Marine Science and Technology Northwestern Polytechnical University School of Information and Electrical Engineering Hunan University of Science and Technology

In this paper, the cooperative output regulation(COR) problem of a class of unknown heterogeneous multi-agent systems(MASs) with directed graphs is studied via a model-free reinforcement learning(RL) based fully distributed eventtriggered control(ETC) strategy. First, we consider the scenario that the exosystem is accessible globally to all agents, an internal model-based augmented algebraic Riccati equation(AARE) is constructed, and its solution is learned by the proposed model-free RL algorithm via online input-output data. Further, for the scenario that the exosystem is accessible only to its adjacent followers, the distributed observers are designed for each agent to get the state of the exosystem, and an internal modelbased fully distributed adaptive ETC protocol is then synthesized to construct the corresponding AARE, and the feedback gain matrix is learned in a model-free fashion. The model-free RL-based control protocol proposed in this paper can not only remove the prior knowledge of agents' dynamics, but also release the dependence on global information by the adaptive event-triggered mechanism(ETM) and the new graph-based Lyapunov function. Finally, simulation results are illustrated to show the feasibility and effectiveness of the proposed control scheme.

关键词： model-free reinforcement learning unknown heterogeneous multi-agent systems fully distributed event-triggered control directed graph

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Wood Surface Defect Detection Based on Improved YOLOv8s

IAENG International Journal of Computer Science

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IAENG International Journal of Computer science 2024年第3期51卷 186-194页

作者： Zhou, Shunyong Zhu, Hao Liu, Xue Hu, Qin Lu, Huan Peng, Ziyang School of Automation and Information Engineering Sichuan University of Science & Engineering Yinbin China

Wood surface defect detection poses challenges due to the diverse range of defects, making accurate localization and identification difficult. In this study, we introduce an enhanced approach for detecting flaws on wood surfaces by leveraging an augmented version of the YOLOv8s algorithm. To improve the focus on problematic target qualities, we initially constructed a HAM (hybrid attention module) structure within the Backbone. This structure incorporates spatial and channel attention techniques, enhancing the ability to identify defects. Additionally, we enhance the feature fusion capabilities by augmenting the expansion convolution module, reducing information loss during the connection with the Neck network. This augmentation improves the target receptive field, ensuring critical information preservation for effective diagnosis of wood surface defects. Furthermore, we introduce ghost convolution to enhance feature expression while minimizing the number of parameters. This approach optimizes the model’s overall performance. Through extensive testing, our proposed GH-YOLOv8s model demonstrates accurate detection of five distinct types of wood surface defects, including defect types such as Live Knot, Dead Knot, Resin, Knot with crack, and Crack, achieving a mean average precision (mAP) of 98.4%. This performance surpasses the original model by 2.0% and maintains a high FPS (Frames Per Second) rate of 163.9, this means it can achieve efficient object detection in real-time scenarios. Moreover, our approach outperforms commonly used target detection methods, establishing its superiority in wood surface defect detection. © (2024), (International Association of Engineers). All Rights Reserved.

关键词： Surface defects

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Finite-time PID control for nonlinear nonaffine systems

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science China(Information sciences) 2024年第11期67卷 238-251页

作者： Zhiqing LIU Ronghu CHI Biao HUANG Zhongsheng HOU College of Mathematics and Physics Qingdao University of Science and Technology College of Automation and Electronic Engineering Qingdao University of Science and Technology Department of Chemical and Materials Engineering University of Alberta School of Automation Qingdao University

This article proposes a finite-time proportional-integral-derivative(FT-PID) control method to fast stabilize the control system to achieve the desired performance within the predesignated time *** a considered nonaffined nonlinear system, we develop a new dynamic linearization approach to reformulate the system model as a linear data model(LDM) whose arguments are consistent with that used in the PID control law. Then, a projection algorithm is presented to estimate the unknown pseudo gradient vector of the LDM. Subsequently, an adaptive tuning algorithm is designed to update the three PID parameters by solving linear matrix inequalities in terms of the predesignated error precision and the finite-time instant. The finite-time convergence of the proposed FT-PID control system is shown mathematically, which guarantees a pre-specified error precision to be achieved within the predesignated finite-time instants. As a result, not only can the proposed FT-PID control save the control cost but it also improves the production efficiency. The simulation study verifies the results.

关键词： PID control finite-time control nonlinear nonaffine systems linear data model finite-time convergence

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