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Adaptive control of a Flexible Manipulator With Unknown Hysteresis and Intermittent Actuator Faults

IEEE/CAA Journal of automatica Sinica 2025年第1期12卷 148-158页

作者： Shouyan Chen Weitian He Zhijia Zhao Yun Feng Zhijie Liu Keum-Shik Hong School of Mechanical and Electrical Engineering Guangzhou University the School of Control Science and Engineering Shandong University IEEE the College of Electrical and Information Engineering Hunan University the National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University the School of Intelligence Science and Technology University of Science and Technology Beijing (USTB) the Institute for Future the School of AutomationQingdao University the School of Mechanical Engineering Pusan National University

In this study, we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults. First, an inverse hysteresis dynamics model is introduced, and then the control input is divided into an expected input and an error compensator. Second,a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis. Subsequently,by modifying the adaptive laws and local control laws, a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system. Through the direct Lyapunov theory, the proposed scheme allows the state errors to asymptotically converge to a specified interval. Finally,the effectiveness of the proposed scheme is verified through numerical simulations and experiments.

关键词： Adaptive control flexible manipulator intermittent actuator faults inverse hysteresis dynamics vibration control

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Data-driven output regulation control for constrained linear systems

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science China(Information sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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TSCompiler: efficient compilation framework for dynamic-shape models

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science China(Information sciences) 2024年第10期67卷 67-84页

作者： Xiang LUO Chen ZHANG Chenbo GENG Yanzhi YI Jiahui HU Renwei ZHANG Zhen ZHANG Gianpietro CONSOLARO Fan YANG Tun LU Ning GU Li SHANG School of Computer Science Fudan University School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University School of Computer Science and Technology Harbin Institute of Technology Huawei Technologies Co. Ltd. Huawei Paris Research Center School of Microelectronics Fudan University

Today's deep learning models face an increasing demand to handle dynamic shape tensors and computation whose shape information remains unknown at compile time and varies in a nearly infinite range at runtime. This shape dynamism brings tremendous challenges for existing compilation pipelines designed for static models which optimize tensor programs relying on exact shape values. This paper presents TSCompiler, an end-to-end compilation framework for dynamic shape models. TSCompiler first proposes a symbolic shape propagation algorithm to recover symbolic shape information at compile time to enable subsequent optimizations. TSCompiler then partitions the shape-annotated computation graph into multiple subgraphs and fine-tunes the backbone operators from the subgraph within a hardware-aligned search space to find a collection of high-performance schedules. TSCompiler can propagate the explored backbone schedule to other fusion groups within the same subgraph to generate a set of parameterized tensor programs for fused cases based on dependence analysis. At runtime, TSCompiler utilizes an occupancy-targeted cost model to select from pre-compiled tensor programs for varied tensor shapes. Extensive evaluations show that TSCompiler can achieve state-of-the-art speedups for dynamic shape models. For example, we can improve kernel efficiency by up to 3.97× on NVIDIA RTX3090, and 10.30× on NVIDIA A100 and achieve up to five orders of magnitude speedups on end-to-end latency.

关键词： machine learning tensor compilers dynamic shape operator fusion code generation auto-tuning

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Transaction transmission model for blockchain channels based on non-cooperative games

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science China(Information sciences) 2023年第1期66卷 97-114页

作者： Peiyun ZHANG Chenxi LI Mengchu ZHOU Wenjun HUANG Abdullah ABUSORRAH Omaimah O.BAMASAG Engineering Research Center of Digital Forensics of Ministry of Education School of Computer and SoftwareNanjing University of Information Science and Technology School of Computer and Information Anhui Normal University Department of Electrical and Computer Engineering New Jersey Institute of Technology Center of Research Excellence in Renewable Energy and Power Systems Department of Electrical and Computer Engineering Faculty of Engineering and K.A.CARE Energy Research and Innovation CenterKing Abdulaziz University Department of Computer Science Faculty of Computing and Information Technology Center of Excellence in Smart Environment Research King Abdulaziz University

In blockchain networks, transactions can be transmitted through channels. The existing transmission methods depend on their routing information. If a node randomly chooses a channel to transmit a transaction, the transmission may be aborted due to insufficient funds(also called balance) or a low transmission rate. To increase the success rate and reduce transmission delay across all transactions, this work proposes a transaction transmission model for blockchain channels based on non-cooperative game *** balance, channel states, and transmission probability are fully considered. This work then presents an optimized channel transaction transmission algorithm. First, channel balances are analyzed and suitable channels are selected if their balance is sufficient. Second, a Nash equilibrium point is found by using an iterative sub-gradient method and its related channels are then used to transmit transactions. The proposed method is compared with two state-of-the-art approaches: Silent Whispers and Speedy Murmurs. Experimental results show that the proposed method improves transmission success rate, reduces transmission delay,and effectively decreases transmission overhead in comparison with its two competitive peers.

关键词： Blockchain channel transaction transmission channel balance channel state channel transmission probability non-cooperative game

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Dynamic Layered Clustering Routing Protocol Based on Hybrid-Optimized Neural Networks for UWSNs

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IEEE Internet of Things Journal 2025年第11期12卷 16155-16170页

作者： Lu, Xinmiao Yang, Longyue Wu, Qiong Zhu, Yuna Zou, Yixin Shi, Yunbo Harbin University of Science and Technology School of Measurement-Control Technology and Communications Engineering Harbin150000 China Heilongjiang Network Space Research Center School of Computer Science and Technology Harbin150000 China

To address the limitations of traditional flat routing in large-scale Underwater Wireless Sensor Networks (UWSNs), and to tackle challenges such as long delays, low bandwidth, and high error rates encountered by sensor nodes in underwater environments, this paper proposes a dynamic layered clustering routing protocol based on a hybrid optimized backpropagation neural network (PSB-NN), referred to as PSBDR. The protocol introduces non-uniform vertical layering of the network based on water depth and assigns different communication and sensing radii to nodes according to their initial layer. A trained hierarchical prediction model dynamically adjusts the virtual layer assignments of nodes throughout the network's operation. Additionally, a method is implemented for isolated nodes to join clusters via relay nodes, and a priority mechanism, along with a dynamic weight update strategy, is employed to select the optimal next hop during routing. This protocol effectively balances the workload across nodes at varying depths and maximizes the utilization of residual energy in the nodes, contributing to an extending network lifetime. Simulation results demonstrate that PSBDR enhances network performance by improving load balancing, prolonging network longevity, reducing end-to-end delay, and increasing data collection reliability. © 2014 IEEE.

关键词： Network layers

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Intelligent Predetermination of Generator Tripping Scheme: Knowledge Fusion-based Deep Reinforcement Learning Framework

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 66-75页

作者： Lingkang Zeng Wei Yao Ze Hu Hang Shuai Zhouping Li Jinyu Wen Shijie Cheng State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronics EngineeringHuazhong University of Science and TechnologyWuhan 430074China Dispatching and Control Center Central China Branch of State Grid Corporation of ChinaWuhan 430077China. Department of Electrical Engineering and Computer Science University of TennesseeKnoxvilleTN 37996USA

Generator tripping scheme(GTS)is the most commonly used scheme to prevent power systems from losing safety and ***,GTS is composed of offline predetermination and real-time scenario ***,it is extremely time-consuming and labor-intensive for manual predetermination for a large-scale modern power *** improve efficiency of predetermination,this paper proposes a framework of knowledge fusion-based deep reinforcement learning(KF-DRL)for intelligent predetermination of ***,the Markov Decision Process(MDP)for GTS problem is formulated based on transient instability ***,linear action space is developed to reduce dimensionality of action space for multiple controllable ***,KF-DRL leverages domain knowledge about GTS to mask invalid actions during the decision-making *** can enhance the efficiency and learning ***,the graph convolutional network(GCN)is introduced to the policy network for enhanced learning *** simulation results obtained on New England power system demonstrate superiority of the proposed KF-DRL framework for GTS over the purely data-driven DRL method.

关键词： Deep reinforcement learning generator tripping scheme graph convolutional network invalid action masking knowledgefusion

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A Zero-Sequence Current Analysis Approach for Rotating Machinery Fault Diagnosis of Induction Motor Drivetrain Based on Sparse Learning

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IEEE Transactions on Power Electronics 2025年第7期40卷 9800-9810页

作者： Liu, Zhao-Hua Long, Jun-Jie Wei, Hua-Liang Liu, Kan Zhang, Ying-Jie Li, Xiao-Hua Hunan University of Science and Technology School of Information and Electrical Engineering Xiangtan411201 China The University of Sheffield School of Electrical and Electronic Engineering Department of Automatic Control and Systems Engineering SheffieldS1 3JD United Kingdom Hunan University College of Mechanical and Vehicle Engineering Changsha410082 China Hunan University College of Computer Science and Electronic Engineering Changsha410082 China

Fault diagnosis of rotating machinery driven by induction motors has received increasing attention. Current diagnostic methods, which can be performed on existing inverters or current transformers of three-phase induction machines, have become a more economical and reliable alternative to vibration diagnostic methods. Existing references mainly focus on the stator current analysis of single-phase, but most single-phase current analysis methods utilize only a fraction of the total information accessible in the three-phase system. Field experience shows that zero-sequence current (ZSC) has more distinctive fault characteristics compared to single-phase current, and therefore it is better to use in mechanical fault detection and diagnostic tasks. This article proposes a novel sparse learning-based method for ZSC analysis for induction rotating motor drive fault diagnosis. First, it elaborates and compares the effectiveness of ZSC in revealing fault characteristics compared with single-phase current by analyzing the fault diagnosis mechanism of ZSC. In addition, the method proposes a correlation entropy-enhanced sparse learning method for the problem of high-frequency noise and interference in the ZSC signals, so as to enhance the learning of the features of the noise-containing signals. The diagnostic efficacy of the proposed method has been verified through experiments on two real datasets. © 1986-2012 IEEE.

关键词： Induction motors

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DISTANCE BETWEEN SPECIES BY CONFUSION OPERATORS OF MULTI-CLASS CLASSIFIERS

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UPB Scientific Bulletin, Series A: Applied Mathematics and Physics 2025年第1期2025卷 171-182页

作者： Tarbă, Nicolae Irimescu, Ionela N. Pleavă, Ana M. Scarlat, Eugen N. Mihăilescu, Mona Doctoral School Computer Science and Engineering Department Faculty of Automatic Control and Computers National University of Science and Technology POLITEHNICA Bucharest Romania Applied Sciences Doctoral School National University of Science and Technology POLITEHNICA Bucharest Romania CAMPUS Research Center National University of Science and Technology POLITEHNICA Bucharest Romania Physics Dept National University of Science and Technology POLITEHNICA Bucharest Romania Physics Dept Research Center for Applied Sciences in Engineering National University of Science and Technology POLITEHNICA Bucharest Romania

We introduce a method to evaluate the similarities between classes of objects based on the confusion matrices coming from the multi-class machine learning (ML) predictors that operate in the vector space generated by the classes. Operation in the confusion domain allows us to use the distance as evaluation metric of the closeness of the relevant properties carried by the classes. We applied the method to semiquantitatively evaluate the effects of X-ray and carbon ion radiation on cultured SW1353 chondrosarcoma cells with respect to the non-irradiated reference. We prove that it is possible to draw useful information on the strength of cells nuclei changes. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Radiation effects

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Adversarial Geometric Attacks for 3D Point Cloud Object Tracking

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IEEE Transactions on Multimedia 2025年 27卷 3144-3157页

作者： Yao, Rui Zhang, Anqi Zhou, Yong Zhao, Jiaqi Liu, Bing ElSaddik, Abdulmotaleb China University of Mining and Technology School of Computer Science and Technology Mine Digitization Engineering Research Center Ministry of Education Xuzhou221116 China University of Ottawa School of Electrical Engineering and Computer Science OttawaONK1N 6N5 Canada

3D point cloud object tracking (3D PCOT) plays a vital role in applications such as autonomous driving and robotics. Adversarial attacks offer a promising approach to enhance the robustness and security of tracking models. However, existing adversarial attack methods for 3D PCOT seldom leverage the geometric structure of point clouds and often overlook the transferability of attack strategies. To address these limitations, this paper proposes an adversarial geometric attack method tailored for 3D PCOT, which includes a point perturbation attack module (non-isometric transformation) and a rotation attack module (isometric transformation). First, we introduce a curvature-aware point perturbation attack module that enhances local transformations by applying normal perturbations to critical points identified through geometric features such as curvature and entropy. Second, we design a Thompson sampling-based rotation attack module that applies subtle global rotations to the point cloud, introducing tracking errors while maintaining imperceptibility. Additionally, we design a fused loss function to iteratively optimize the point cloud within the search region, generating adversarially perturbed samples. The proposed method is evaluated on multiple 3D PCOT models and validated through black-box tracking experiments on benchmarks. For P2B, white-box attacks on KITTI reduce the success rate from 53.3% to 29.6% and precision from 68.4% to 37.1%. On NuScenes, the success rate drops from 39.0% to 27.6%, and precision from 39.9 to 26.8%. Black-box attacks show a transferability, with BAT showing a maximum 47.0% drop in success rate and 47.2% in precision on KITTI, and a maximum 22.5% and 27.0% on NuScenes. © 1999-2012 IEEE.

关键词： Iterative methods

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IRS-enabled NOMA communication systems:A network architecture primer with future trends and challenges

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Digital Communications and Networks 2024年第5期10卷 1503-1528页

作者： Haleema Sadia Ahmad Kamal Hassan Ziaul Haq Abbas Ghulam Abbas Muhammad Waqas Zhu Han Faculty of Electrical Engineering and Telecommunications and Networking(TeleCoN)Research Center Ghulam Ishaq Khan Institute of Engineering and Technology(GIKI)Topi 23640Pakistan Faculty of Computer Science and Engineering GIKITopi 23640Pakistan Department of Computer Engineering College of Information TechnologyUniversity of Bahrain32028Bahrain School of Engineering Edith Cowan UniversityPerth WA6027Australia Department of Electrical and Computer Engineering University of HoustonHoustonTX 77004USA Department of Computer Science and Engineering Kyung Hee UniversitySeoul 446-701South Korea

Non-Orthogonal Multiple Access(NOMA)has already proven to be an effective multiple access scheme for5th Generation(5G)wireless *** provides improved performance in terms of system throughput,spectral efficiency,fairness,and energy efficiency(EE).However,in conventional NOMA networks,performance degradation still exists because of the stochastic behavior of wireless *** combat this challenge,the concept of Intelligent Reflecting Surface(IRS)has risen to prominence as a low-cost intelligent solution for Beyond 5G(B5G)*** this paper,a modeling primer based on the integration of these two cutting-edge technologies,i.e.,IRS and NOMA,for B5G wireless networks is *** in-depth comparative analysis of IRS-assisted Power Domain(PD)-NOMA networks is provided through 3-fold ***,a primer is presented on the system architecture of IRS-enabled multiple-configuration PD-NOMA systems,and parallels are drawn with conventional network configurations,i.e.,conventional NOMA,Orthogonal Multiple Access(OMA),and IRS-assisted OMA *** by this,a comparative analysis of these network configurations is showcased in terms of significant performance metrics,namely,individual users'achievable rate,sum rate,ergodic rate,EE,and outage ***,for multi-antenna IRS-enabled NOMA networks,we exploit the active Beamforming(BF)technique by employing a greedy algorithm using a state-of-the-art branch-reduceand-bound(BRB)*** optimality of the BRB algorithm is presented by comparing it with benchmark BF techniques,i.e.,minimum-mean-square-error,zero-forcing-BF,and ***,we present an outlook on future envisioned NOMA networks,aided by IRSs,i.e.,with a variety of potential applications for 6G wireless *** work presents a generic performance assessment toolkit for wireless networks,focusing on IRS-assisted NOMA *** comparative analysis provides a solid foundation for the dev

关键词： Intelligent reflecting surface Non-orthogonal multiple access 6G Beamforming Sum rate Energy efficiency

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