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检索条件"机构=Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory"

共 479 条记录，以下是221-230 订阅

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Event Trigger Mechanism-Based Robust control for Cyber-Physical systems under DoS Attack

Event Trigger Mechanism-Based Robust Control for Cyber-Physi...

引用

Chinese Automation Congress (CAC)

作者： Peng Tian Huiling Xu Jiajia Zhao Lewei Dong School of Mathematics and Statistics Nanjing University of Science and Technology Nanjing P-R-China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing P.R.China

In this paper, the event trigger mechanism-based robust control problem is investigated for cyber-physical systems under denial of service attacks and disturbances. The effects of DoS attacks are regarded as a type of data packet loss. An event trigger mechanism is introduced into the control scheme design to effectively compensate the packet loss data. The robust attenuation technology is composited into control scheme to reduce the impact of disterbances. Then, by modeling the cyber-physical systems under denial of service(DoS) attack as a class of bounded sequential switching system, and constructing the corresponding Lyapunov function, the stability of the system is verified and analyzed. Finally, simulation experiments are given to verify the correctness of the above theoretical results.

关键词： Robust control Automation Switching systems Packet loss Switches Cyber-physical systems control systems

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A fault isolation method using kernel canonical variate analysis-based contribution

A fault isolation method using kernel canonical variate anal...

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第35届中国过程控制会议

作者： Hongxin Wang Lingxia Mu Nan Feng Han Liu Ding Liu Department of Information and Control Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology School of Intelligence Science and Technology University of Science and Technology Beijing

Fault diagnosis and isolation is important for industrial system. In this paper, a kernel canonical variate analysis(KCVA) is proposed for fault isolation. KCVA is originally used as a data dimension reduction technique which can account for nonlinearity and correlations in the industrial dynamical process data. But there are some difficulties using KCVA in the construction of the contribution for the fault isolation. On the one hand, it is difficult to compute the contributions of individual variables because it is scarcely possible to find an inverse mapping from the feature space to the original space. On the other hand, a smearing effect is hardly avoided. To solve the problem, a KCVA-based contributions is proposed using the state subspace and the residual subspace which can isolate the faulty variables effectively. Simulations are conducted on the Tennessee Eastman process to verify the performance of the proposed method.

关键词： Kernel canonical variate analysis contribution plot fault isolation

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Prediction of piRNA-mRNA interactions based on an interactive inference network

Prediction of piRNA-mRNA interactions based on an interactiv...

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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Liu, Yajun Li, Ru Li, Aimin Fei, Rong Guo, Xie Wu, Fang-Xiang Xi'an University of Technology Shaanxi Key Laboratory for Network Computing and Security Technology Xi'an China Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China University of Saskatchewan Division of Biomedical Engineering Department of Computer Science Department of Mechanical Engineering Saskatoon Canada

ISBN: (纸本)9798350337488

As the largest class of small non-coding RNAs, piRNAs primarily present in the reproductive cells of mammals, which influence post-transcriptional processes of mRNAs in multiple ways. Effective methods for predicting piRNA and mRNA target relationships can help identify piRNA functions, investigate the possibility of piRNAs as biomarkers and therapeutic targets. In this study, we propose a computational approach for classifying the relationships of piRNA-mRNA pairs based on an interactive inference network (IIN). First, we gather piRNA-mRNA target data, collect sequence data by position alignment, and construct a benchmark dataset. Furthermore, a reliable negative set is constructed by positive-unlabeled learning. Finally, we view a piRNA and a mRNA sequence as a premise and hypothesis sentence, respectively, and IIN model is used to predict the relationship between them. The experiments demonstrate that our method effectively characterizes piRNA-mRNA interaction and could be beneficial for researchers to investigate piRNA functions. © 2023 IEEE.

关键词： interactive inference network noncoding RNA piRNA-mRNA interactions positive-unlabeled learning

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A Hierarchical Graph Search Method for Path Planning of Unmanned Ground Vehicle for Freight Transportation

A Hierarchical Graph Search Method for Path Planning of Unma...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Jianing Hu Zhen Li Sen Guo Weiran Yao School of Astronautics Harbin Institute of Technology Harbin China Beijing Electro-Mechanical Engineering Institute Beijing China CRRC Nanjing Puzhen Co. Ltd Nanjing China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China

ISBN: (数字)9798350384185

ISBN: (纸本)9798350384192

For the problem of collision volume change when forklift unmanned vehicles work in complex storage environments, a multi-level graph search path planning method is proposed. The first level is the path planning of the Unmanned Ground Vehicle (UGV) body, which uses the grid map and the A * algorithm to plan the path of the UGV transferring in the scene; the second level is the joint path planning of the UGV and the object being carried, to avoid overcomplicating this issue, the unmanned vehicle will be limited to pushing the cargo only forwards. The third level is the path planning when the unmanned vehicle carries multiple objects, which decomposes the whole scene into multiple sub-scenes, plans the paths of the unmanned vehicle in the sub-scenes separately, and searches for the optimal combination of sub-scenes. Higher level searches will invoke lower level algorithms and provide a virtual scene and target as input. The experimental results show that this multilevel path planning method is optimal and complete in solving the forklift unmanned vehicle for handling a single object, and can give a feasible solution for handling multiple objects.

关键词： Costs Transportation Search problems Path planning Land vehicles complexity theory Autonomous vehicles

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Influence of aircraft's maneuver flight performance parameters on within visual range air combat effectiveness 3

Influence of aircraft's maneuver flight performance paramete...

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3rd International Conference on Unmanned systems, ICUS 2020

作者： Zhen-Ning, Zhang Jia-Ning, W.E.I. Zhen-Biao, T.U. Fei-Fei, L.I. Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728180250

The fighter's war ability is closely related to its maneuver ability. The maneuver measurement index of the new generation fighter changed greatly compared to the traditional rules. This essay firstly introduced the modern fighter's maneuver performance quantized index. According to the built simulation system, take two typical third generation fighter models as the confront sides, built fuzzy control intelligent decision model based on the genetic algorithm, simulated the one-to-one air combat confront process. Under such circumstances, adjusted the maneuver flight performance parameters reasonable and got the confront simulation results, then analyzed and evaluated the influence of the parameterad justed within visual range air combat effectiveness, which provided reference significance to air combat flight's original design and maneuver flight performance parameter optimization. © 2020 IEEE.

关键词： Fuzzy control

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Research on the technology of cooperative dual-station position based on passive radar system 3

Research on the technology of cooperative dual-station posit...

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3rd International Conference on Unmanned systems, ICUS 2020

作者： Siting, Peng Qian, Zhao Yichao, Ma Jixiang, Jiang The Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728180250

When the aircraft adopt passive sensors to detect external conditions, the detection information we can directly get is the aspect Angle of target. However, the position, velocity, acceleration and other information of target need to be calculated through the relevant algorithm estimates. It need more passive sensor to work together in order to get more the target location information, because a single passive sensor can only give the arriving orientation and time of target signal. In view of the complex weather and sea wave situation at marine surrounding, a Cooperative dual-station positioning technology based on passive sensors is studied, and a Cooperative filtering method based on the theory of consensus is adopted to verify the algorithm performance and engineering significance through relevant simulation. © 2020 IEEE.

关键词： Kalman filters

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An autonomous path planning method considering terrain aided navigation constraints

An autonomous path planning method considering terrain aided...

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Chinese Automation Congress (CAC)

作者： Min Jiang Cheng Xu Hua Ji Yuqi Wang Beijing Electro-Mechanical Engineering Institute Bejing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Bejing China

In order to solve the autonomous path planning problem with terrain aided navigation constraints, a navigation-first path planning method was adopted, that is, the distribution of terrain matching regions and the drift of navigation errors were given priority, and the path planning problem was transformed into the shortest path problem of single source directed graph to determine the nodes on the path. Secondly, the path planning between adjacent nodes is transformed into a path planning problem with initial direction constraint and terminal direction freedom/constraint, and the lateral path is smoothed. Finally, for the local path passing through the no-fly zone, the obstacle avoidance path planning with initial and terminal direction constraints is carried out based on convex optimization method. The simulation results show that the autonomous path planning method considering terrain aided navigation constraints can plan the shortest flight path under the constraints of navigation accuracy, maneuverability and no-fly zone.

关键词： Smoothing methods Navigation Trajectory planning Simulation Directed graphs Turning Path planning

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Safe Tracker: A Robust Aerial system for Safe Tracking in Cluttered Environments

Safe Tracker: A Robust Aerial System for Safe Tracking in Cl...

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Chinese control Conference (CCC)

作者： Yulin Hui Bailing Tian Xuewei Zhang Hanchen Lu Hongming Shen School of Electrical and Information Engineering Tianjin University Tianjin P. R. China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing P. R. China

This paper proposes Safe Tracker, an autonomous aerial tracking framework based on vision sensor that can deal with challenging tracking missions and guarantee safety and visibility. Firstly, a RGB-D sensor based segmentation method is employed to locate the target in real-time. Then target motion is predicted for a short time horizon, based on which a heuristic path searching method is applied to generate an occlusion-free path. Finally, particular formulations to balance visibility and safety are designed, and an effective non-linear trajectory optimization method enables to generate an optimal tracking trajectory. Autonomous aerial tracking experiments using a vision sensor are conducted to demonstrate the effectiveness of the proposed Safe Tracker in a challenging cluttered forest and a room full of sharp turns using Gazebo. Benchmark comparisons validate that our method tracks more safely and robustly than the state-of-art method.

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Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Motion primitives-based and Two-phase Motion Planning for Fixed-wing UAV

Motion primitives-based and Two-phase Motion Planning for Fi...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Zheng Tan Yang Lyu Hanchen Lu Quan Pan Faculty of Automation Northwestern Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781665476881

We present an efficient two-phase approach to motion planning for fixed-wing Unmanned Aerial Vehicles (UAV) navigating in complex 3D air slalom environments. Firstly, in discrete 3D workspace, a global planner computer a obstacle-free path roughly which satisfies the kinematic constraints of the UAV. Given a coarse global path, a local planner generate a Dubins curve with collision avoidance based on the UAS's perception constraints, dynamic constraints and the collision perception information received. We also introduce a method of decoupling the horizontal and vertical motion directions of the fixed-wing UAV, realizing the 2D Dubins curve planning in 3D workspace, along with precomputed sets of motion primitives derived from the vehicle dynamics model in order to achieve high efficiency. Finally, the feasibility of two-phase 3D motion planning in appropriate FOV is experimentally demonstrated.

关键词： Solid modeling Three-dimensional displays Navigation Dynamics Organizations Kinematics Autonomous aerial vehicles

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