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The coupled deep neural networks for coupling of the Stokes and Darcy–Forchheimer problems

Chinese Physics B 2023年第1期32卷 123-136页

作者：岳靖李剑张文陈掌星 School of Electrical and Control Engineering School of Mathematics and Data ScienceShaanxi University of Science and TechnologyXi'an 710021China School of Mathematics and Statistics Xi'an Jiaotong UniversityXi'an 710049China Department of Chemical and Petroleum Engineering Schulich School of EngineeringUniversity of Calgary2500 University Drive N.W.CalgaryAlberta T2 N 1N4Canada

We present an efficient deep learning method called coupled deep neural networks(CDNNs) for coupling of the Stokes and Darcy–Forchheimer problems. Our method compiles the interface conditions of the coupled problems into the networks properly and can be served as an efficient alternative to the complex coupled problems. To impose energy conservation constraints, the CDNNs utilize simple fully connected layers and a custom loss function to perform the model training process as well as the physical property of the exact solution. The approach can be beneficial for the following reasons: Firstly, we sample randomly and only input spatial coordinates without being restricted by the nature of ***, our method is meshfree, which makes it more efficient than the traditional methods. Finally, the method is parallel and can solve multiple variables independently at the same time. We present the theoretical results to guarantee the convergence of the loss function and the convergence of the neural networks to the exact solution. Some numerical experiments are performed and discussed to demonstrate performance of the proposed method.

关键词： scientific computing machine learning the Stokes equations Darcy–Forchheimer problems Beavers–Joseph–Saffman interface condition

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Object recognition and grasp detection in complex scenarios for home service robot

Object recognition and grasp detection in complex scenarios ...

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2024 China Automation Congress, CAC 2024

作者： Xu, Shengjun Bai, Liang Zhong, Huangwei Hu, Yuji Sun, Xiangcai Lyu, Hongqiang School of Information and Control Engineering Xi'an University of Architecture and Technology Xi’an China School of Automation Science and Engineering Faculty of Electronic and Information Engineering Xi’an Jiaotong University Xi’an China

ISBN: (纸本)9798350368604

With the development of artificial intelligence, home service robots have been widely applied in daily life. As one of the fundamental functions of service robots, object grasping helps improve the level of unmanned and intelligent household. However, traditional robots still face challenges in flexibility and accuracy in complex home environments. In this paper, an object recognition and grasp detection system in complex scenarios for home service robots is proposed. The system consists of four modules: image acquisition, human-machine interaction software, RGB-D image processing, and robot control. The image acquisition module captures RGB and depth images of the work area and sends them to the software. The RGB-D image processing module begins with object recognition to obtain object categories and bounding box with the help of YOLOv8. The target point cloud is produced by combining the target subimage and corresponding depth information, followed by depth completion and plane expansion. Then the processed point cloud is fed into a Graspnet pose estimation network to calculate the 6D grasping pose for service robot. And finally, the robot control module is invoked to carry out the corresponding target grasping action. To evaluate the performance, an experimental platform for home service robot is built to grasp various daily necessities. The results tell that the average accuracy for object recognition reaches up to 98.3%, the success rate for single-target grasping is 94.4%, and the success rate for multi-target grasping can achieve 80%. © 2024 IEEE.

关键词： Image acquisition

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Structured controller Design for Interconnected Systems via Nonlinear Programming

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1331-1334页

作者： Yanpeng Guan Junpeng Du Xinchun Jia School of Automation and Software Engineering Shanxi UniversityTaiyuan 030006China School of Control Science and Engineering Dalian University of TechnologyDalian 116024China IEEE

Dear Editor,This letter deals with the structural controller design problem of interconnected systems with unknown feedback ***,under a cardinality constraint on the directed communication links among sub-controllers,a distributed controller’s feedback gain and feedback topology are incorporated in a unified co-design ***,the cardinality constraint introduced in the distributed control is represented by a binary integer *** deal with the complementary constraint,a nonlinear programming(NLP)is proposed to relax the binary integer ***,incorporating the NLP into the standard distributed event-triggered control method,an algorithm is developed for interconnected systems to simultaneously design the feedback topology and controller *** interconnected system is composed of several coupling subsystems,which usually coordinate with each other to accomplish a common task.

关键词： constraint integer topology

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A new noise network and gradient parallelisation‐based asynchronous advantage actor‐critic algorithm

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IET Cyber-Systems and Robotics 2022年第3期4卷 175-188页

作者： Zhengshun Fei Yanping Wang Jinglong Wang Kangling Liu Bingqiang Huang Ping Tan Provincial Key Institute of Robotics School of Automation and Electrical EngineeringZhejiang University of Science and TechnologyHangzhouChina State Key Lab of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina

Asynchronous advantage actor‐critic(A3C)algorithm is a commonly used policy opti-mization algorithm in reinforcement learning,in which asynchronous is parallel inter-active sampling and training,and advantage is a sampling multi‐step reward estimation method for computing *** order to address the problem of low efficiency and insufficient convergence caused by the traditional heuristic exploration of A3C algorithm in reinforcement learning,an improved A3C algorithm is proposed in this *** this algorithm,a noise network function,which updates the noise tensor in an explicit way is constructed to train the *** advantage estimation(GAE)is also adopted to describe the dominance ***,a new mean gradient parallelisation method is designed to update the parameters in both the primary and secondary networks by summing and averaging the gradients passed from all the sub‐processes to the main *** experiments were conducted in a gym environment using the PyTorch Agent Net(PTAN)advanced reinforcement learning library,and the results show that the method enables the agent to complete the learning training faster and its convergence during the training process is *** improved A3C algorithm has a better performance than the original algorithm,which can provide new ideas for sub-sequent research on reinforcement learning algorithms.

关键词： asynchronous advantage actorcritic (A3C) generalised advantage estimation (GAE) parallelisation reinforcement learning

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Broadband low-frequency sound absorption of multifunctional composite metastructure

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science China(Technological sciences) 2025年第2期68卷 114-124页

作者： Yilong YANG Shanshan LIU Yan LI Tong GAO Yongdong PAN Yong LI Yabin JIN School of Aerospace Engineering and Applied Mechanics Tongji UniversityShanghai 200092China State International Joint Research Center of Aerospace Design and Additive Manufacturing Northwestern Polytechnical UniversityXi’an 710072China Institute of Acoustics School of Physics Science and EngineeringTongji UniversityShanghai 200092China Shanghai Key Laboratory of Intelligent Sensing and Detection Technology School of Mechanical and Power EngineeringEast China University of Science and TechnologyShanghai 200237China Shanghai Institute of Aircraft Mechanics and Control Shanghai 200092China

In this study,we fabricated multifunctional metastructures from carbon fiber-reinforced plastic composites using additive manufacturing *** metastructures are characterized by their lightweight,load-bearing capacity,and broadband low-frequency sound absorption *** metastructure consists of 36 unit cells,and non-local coupling mechanism was considered for designing the sound absorption *** developed an acoustic impedance theory tailored for the metastructure,facilitating an analysis of thermal and viscous dissipation *** is proven theoretically and experimentally that the proposed composite metastructure can achieve a noise reduction with an average sound absorption coefficient greater than 0.9 across frequencies in the rage of 330-1500 *** also studied the metastructure’s quasi-static and cyclic compression performance,confirming its efficient absorption capabilities after cyclic *** proposed design and additive manufacturing method for composite metastructures provides a novel pathway for creating lightweight,multifunctional structures with diverse applications,such as aerospace engineering.

关键词： composite metastructure broadband sound absorption additive manufacturing

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Social Radars: Finding Targets in Cyberspace for Cybersecurity

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 279-282页

作者： Lili Fan Changxian Zeng Yutong Wang Jiaqi Ma Fei-Yue Wang School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China School of Science Dalian Minzu UniversityDalian 116600China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Department of Civil and Environmental Engineering University of CaliforniaLos AngelesCA 90024 USA IEEE State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China

INSPIRED by the insight from American political scientist Lasswell, who summarized the environmental role in societal surveillance [1], Schramm coined the term “social radar” [2] as it resembles the activities of radar in collecting and processing information, playing a crucial role in helping humans perceive changes in the internal and external environment and promptly adjusting adaptive behaviors.

关键词： prompt summarized insight

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Robust Command-Filtered control of Compliant Actuator-Driven Robotic Manipulators by Employing Beneficial Disturbances

Robust Command-Filtered Control of Compliant Actuator-Driven...

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2024 International Convention on Rehabilitation engineering and Assistive Technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Zhang, Yang Du, Fuxin Yin, Changwei Zhang, Menghua Song, Rui Li, Yibin School of Mechanical Engineering Shandong University Jinan250061 China School of Electrical Engineering University of Jinan Jinan250022 China School of Control Science and Engineering Shandong University Jinan250061 China

ISBN: (纸本)9798350355123

A novel tracking control method is proposed for compliant actuator-driven robots in presence with parameter uncertainties, unknown nonlinear system dynamics, and external disturbances. The main feature of the proposed method is that beneficial parts of the lumped disturbances are retained to further improve tracking performance, rather than disturbances being fully seen as harmful elements to eliminate. Besides, its implementation requires only one system parameter, i.e., the motor inertia, which greatly eliminates the requirement for a priori knowledge of model parameters. Firstly, two extended state observers are designed to estimate unknown disturbances and unmeasurable system states. With the help of estimated information, disturbance effect indicators are constructed to evaluate whether the disturbance is beneficial or detrimental concerning current system motion. Then, a novel disturbance effect-triggered backstepping controller is proposed, in which the output tracking error of the system is guaranteed to converge into a small neighborhood of origin. In addition, it should be pointed out that the problem of 'complexity explosion' is successfully avoided by introducing the filters into each step of the backstepping controller. Finally, the excellence of the recommended control method is validated by experiments. © 2024 IEEE.

关键词： Backstepping

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Compressor Active Stability control Based on Center Manifold Theorem and Parameter Optimization 41

Compressor Active Stability Control Based on Center Manifold...

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第41届中国控制会议

作者： Chongyi Sun Fuxiang Quan Kun-Zhi Liu Yu Zhang Xi-Ming Sun School of Control Science and Engineering Dalian University of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is concerned with the design scheme of state feedback controller and parameter optimization method for active stability control of the ***,the linearization system of the compressor is proved to be singular,and cannot be used for stability analysis and controller ***,aiming at this problem,the center manifold theorem is used to analyze the stability,and the design scheme of active stability controller based on the center manifold theorem is proposed in this *** that,a projected gradient method for controller parameter optimization based on parameter sensitivity is *** simulation results show that the proposed method can effectively suppress the instability of the compressor under the initial *** addition,this method can also simplify the parameter selection of the controller through parameter optimization.

关键词： Aviation Compressor Active Stability control Center Manifold Theorem Parameter Optimization

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Privacy and Security in Ubiquitous Integrated Sensing and Communication: Threats, Challenges and Future Directions

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IEEE Internet of Things Magazine 2024年第4期7卷 52-58页

作者： Qu, Kaiqian Ye, Jia Li, Xuran Guo, Shuaishuai School of Control Science and Engineering Shandong University China Shandong University Shandong Key Laboratory of Wireless Communication Technologies China School of Electrical Engineering Chongqing University China School of Physics and Electronics Shandong Normal University Shandong Key Laboratory of Medical Physics and Image Processing China

Integrated sensing and communication (ISAC) technology is at the forefront of next-generation communication, enhancing applications from intel-ligent transportation to unmanned aerial vehicle surveillance and healthcare through ubiquitous sensing capability. However, the advent of ISAC brings with it a dual-edged challenge. While it opens up new avenues for application, it also raises significant concerns regarding the privacy of sensitive data and the security of systems in an inherently open environment. To navigate these challenges and unlock ISAC's full potential, this article starts with an analysis of the underlying factors that contribute to privacy and security vulnerabilities. It also identifies the technical obstacles that stand in the way of achieving a secure and private ISAC ecosystem within the confines of conventional network frameworks. As a solution, we introduce a security and privacy-preserving network (SPPN), designed to mitigate these potential threats and tackle the technical challenges through a secure framework for information handling and collaborative efforts among trusted parties, ISAC operators, and users. Central to SPPN's security strategies is an artificial intelligence based system, equipped to detect unauthorized access and coordinate defense mechanisms, including deploying friendly jammers to thwart malicious devices and utilizing reconfigurable intelligent surfaces (RISs) to bolster the network's defense mechanisms against potential attacks. Through detailed analysis and case studies, this article demonstrates the effectiveness of the SPPN framework, which not only strengthens the network's defenses but also significantly improves its sensing and communication capabilities. © 2018 IEEE.

关键词： Sensitive data

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Grid Impedance Estimation and Decoupling through a Series-Parallel Direct-Injection Soft Open Point 10

Grid Impedance Estimation and Decoupling through a Series-Pa...

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10th IEEE International Power Electronics and Motion control Conference, IPEMC 2024 ECCE Asia

作者： Lu, Mowei Mu, Wei Qin, Mengjie Fang, Jingyang Goetz, Stefan M. University of Cambridge Department of Engineering Cambridge United Kingdom Xi'an Jiaotong University School of Electrical Engineering Xi'an China Shandong University School of Control Science and Engineering Shandong China

ISBN: (纸本)9798350351330

The importance of grid impedance in the stability analysis of grid-tied converters is widely acknowledged and studied. However, in meshed distribution grids, it becomes crucial to distinguish feeder impedance from the overall grid impedance to accurately assess power transfer capabilities and overload risks. Traditional research in power flow often treats line or cable impedance as a constant, overlooking its time-varying nature and the necessity for real-time evaluation. This paper presents a novel method to differentiate feeder impedance from total grid impedance, allowing for the estimation of both transformer and feeder impedances. The method uses a series-parallel direct-injection soft open points (SOP) circuit for reactive current injection, enabling precise, real-time impedance measurement without additional equipment. This approach deviates from conventional methods that typically focus on a single grid's impedance by estimating the impedance of both feeders in a two-bus system. It proves particularly effective in separating medium voltage/low voltage (MV/LV) transformers and cable impedance, providing valuable insights for stability and power transfer analysis. © 2024 IEEE.

关键词： Direct injection

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