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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Qian, Tangyu Zhou, Zhangli Wang, Shaocheng Li, Zhijun Su, Chun-Yi Kan, Zhen University of Science and Technology of China Department of Automation Hefei China School of Automation Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou China

ISBN: (纸本)9798350300178

Quadruped robots have received increasing attention for the past few years. However, existing works primarily focus on static environments or assume the robot has full observations of the environment. This limits their practical applications since real-world environments are often dynamic and partially observable. To tackle these issues, vision-based reactive planning and control (V-RPC) is developed in this work. The V-RPC comprises two modules: offline pre-planning and online reactive planning. The pre-planning phase generates a reference trajectory over continuous workspace via sampling-based methods using prior environmental knowledge, given an LTL specification. The online reactive module dynamically adjusts the reference trajectory and control based on the robot's real-time visual perception to adapt to environmental changes. © 2023 IEEE.

关键词： Robot programming

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Efficient Fabric Defect Detection Algorithm Based on Improved YOLOv5

Efficient Fabric Defect Detection Algorithm Based on Improve...

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2023 China Automation Congress, CAC 2023

作者： Tian, LiHua Wang, AoZe Sun, ZhiGang Xiao, Li Huazhong University of Science and Technology Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China School of Artificial Intelligence and Automation Wuhan China

ISBN: (纸本)9798350303759

In order to address the issues of real-time performance and the low dependency between feature channels in fabric defect detection networks, this paper proposes the ESE-YOLOv5 network based on YOLOv5. Firstly, to address the relative redundancy of the neck detection network feature channels, a relatively lightweight and efficient convolution module is adopted to ensure accuracy while reducing computation and parameter volume. Furthermore, the Efficient Squeeze-Excitation (ESE) module is introduced into the backbone to optimize the dependency of feature channels, which enhances the model's feature extraction capacity and improves detection accuracy. Experimental results show that compared to YOLOv5, the proposed ESE-YOLOv5 model reduces computation and parameter volume while improving accuracy, meeting the needs of fabric defect detection for recognizing fabric defects that have similar characteristics to the background while maintaining real-time performance. © 2023 IEEE.

关键词： Feature extraction

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THE TRUNCATED EM METHOD FOR JUMP-DIFFUSION SDDES WITH SUPER-LINEARLY GROWING DIFFUSION AND JUMP COEFFICIENTS

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Journal of Computational Mathematics 2024年第1期42卷 178-216页

作者： Shounian Deng Chen Fei Weiyin Fei Xuerong Mao Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Educationand School of Mathematics-Physics and FinanceAnhui Polytechnic UniversityWuhu 241000China Business School University of Shanghai for Science and TechnologyShanghai 200093China Department of Mathematics and Statistics University of StrathclydeGlasgow G11XHUK

This work is concerned with the convergence and stability of the truncated EulerMaruyama(EM)method for super-linear stochastic differential delay equations(SDDEs)with time-variable delay and Poisson *** constructing appropriate truncated functions to control the super-linear growth of the original coefficients,we present two types of the truncated EM method for such jump-diffusion SDDEs with time-variable delay,which is proposed to be approximated by the value taken at the nearest grid points on the left of the delayed *** first type is proved to have a strong convergence order which is arbitrarily close to 1/2 in mean-square sense,under the Khasminskii-type,global monotonicity with U function and polynomial growth *** second type is convergent in q-th(q<2)moment under the local Lipschitz plus generalized Khasminskii-type *** addition,we show that the partially truncated EM method preserves the mean-square and H∞stabilities of the true ***,we carry out some numerical experiments to support the theoretical results.

关键词： SDDEs Truncated EM method Time-variable delay Poisson jumps

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Uniform Solution to QSAT by P Systems with Proteins

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Chinese Journal of Electronics 2023年第4期21卷 667-672页

作者： Chun LU Xiaolong SHI Department of Control Science and Engineering Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

P systems are distributed parallel computing models in the area of membrane computing, which are inspired by the structure and the functioning of living cells, as well as the organization of cells in tissues, organs, and other higher order structures. P systems with proteins on membranes are a class of P systems, which have proved to be very efficient computing devices. Specifically, it was known that the Quantified satisfiability problem (QSAT) of a Boolean formula can be solved by a semi-uniform family of P systems with proteins on membranes and with membrane division. However, it remains open whether a uniform families of P systems with proteins on membranes can solve in polynomial time exactly the class of problems Pspace. In this work, we present a uniform solution to QSAT problem by P systems with proteins on membranes in a linear time with respect to both the number $n$ of Boolean variables and the number $m$ of clauses of the instance, which answers the above open problem.

关键词： Proteins Image processing Computational modeling Organizations Parallel processing intelligent control

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Static output feedback control for uncertain Roesser-type continuous-time two-dimensional piecewise affine systems

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science China(Information sciences) 2022年第11期65卷 305-306页

作者： Meng WANG Jianbin QIU Huaicheng YAN Zhichen LI Yue LI Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology Research Institute of Intelligent Control and Systems Harbin Institute of Technology School of Astronautics Northwestern Polytechnical University

Dear editor,Many physical processes are of two-dimensional(2-D) characteristics and can be modeled by the celebrated Roessertype 2-D systems [1,2]. Due to the approximating capability of piecewise affine(PWA) dynamic ... 详细信息

关键词： Asymptotic stability

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A Review of Spiking Neural Network Research in the Field of Bearing Fault Diagnosis 1

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TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Wang, Yusen Wang, Hongjun Xie, Long Ge, Henglin Zhou, Mingyang Chen, Tao Shi, Yuxing School of Mechanical and Electrical Engineering Beijing Information Science & Technology University Beijing100192 China Key Laboratory of Modern Measurement and Control Technology Ministry of Education BISTU Beijing100192 China Beijing International Science Cooperation Base of High-End Equipment Intelligent Perception and Control BISTU Beijing100192 China

ISBN: (数字)9783031694837

ISBN: (纸本)9783031694820

In view of the bearing fault diagnosis problem, in order to better deal with the temporal data, extract nonlinear features, enhance the model robustness and adaptability, and realize efficient distributed computing, the spiking neural network is introduced to improve the accuracy and efficiency in the process of bearing fault diagnosis. In recent years, after a series of studies, the spiking neural network has developed in supervised learning, unsupervised learning, semi-supervised learning, and some other derived methods, such as reinforcement learning and transfer learning, for its applicable scenarios with different advantages. From the perspective of learning principle, method advantages and practical applications, we introduced several spiking neural network for bearing fault diagnosis, discussed the advantages, disadvantages and applicable scenarios of each learning method, discussed the application prospect of spiking neural network for bearing fault diagnosis, and proposed the spiking neural network for bearing fault diagnosis in future research, so as to provide reference for subsequent research. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Self-supervised learning

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Research on active disturbance rejection control scheme of auxiliary power unit 41

Research on active disturbance rejection control scheme of a...

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第41届中国控制会议

作者： Jijun Li Jianyi Zhang Si-Xin Wen Kun-Zhi Liu Xi-Ming Sun School of Control Science and Engineering Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology DUT Artificial Intelligence Institute

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

As an important secondary power source of the aircraft,the control performance of the Auxiliary Power Unit(APU)will directly affect the working efficiency of the aero-engines and the aircraft ***,APU has complex nonlinear characteristics and faces the influence of various inevitable and uncertain ***,the design of its highperformance control system is extremely challenging,and the traditional gain-scheduling PI control method cannot meet this *** resolve this problem,we design an Active Disturbance Rejection control(ADRC) scheme for APU *** the same time,the parametric design method of the proposed ADRC is given,so that the corresponding control parameters can be set according to the linearized model in engineering ***,a numerical comparison simulation is carried out on a certain auxiliary power unit model to verify the effectiveness and superiority of the proposed method.

关键词： Auxiliary power unit(APU) Aero-engine Active disturbance rejection control(ADRC) Extended state observer(ESO)

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Research on Data Security Risk Analysis Method of intelligent and Connected Vehicles Based on Data Asset 24

Research on Data Security Risk Analysis Method of Intelligen...

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24th COTA International Conference of Transportation Professionals: Resilient, intelligent, Connected, and Lowcarbon Multimodal Transportation, CICTP 2024

作者： Wang, Liyong Jin, Long Ji, Haojie Chen, Yupeng He, Peng Wang, Jingyan Fang, Junzhe State Key Laboratory of Intelligent Vehicle Safety Technology Chongqing China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science & Technology Univ. Beijing China China Automotive Engineering Research Institute Co. Ltd. Chongqing China

ISBN: (数字)9780784485484

ISBN: (纸本)9780784485484

The diversity and complexity of typical scenarios of intelligent and connected vehicles (ICVs) bring serious risks to the data security of vehicles. To avoid the potential data security risks of ICVs effectively, this paper proposes a data risk analysis method for vehicles based on the characteristics of data assets. Considering the similarity between the internet of things (IoT) system and the internet of vehicles system, this method organizes the data assets of the vehicles combined with the layered architecture of the IoT system. The data security risks of vehicles are analyzed from the aspects of threat analysis, vulnerability analysis, and risk quantification. The risk points of vehicles are analyzed, so as to provide model design and verification methods for data security risk analysis of ICVs. © ASCE.

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Novel camera self-calibration method with clustering prior and nonlinear optimization from an image sequence

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Multimedia Tools and Applications 2024年第42期83卷 90553-90572页

作者： Jiang, Xiaohui Zhu, Haijiang An, Ning Xie, Binjian Wei, Hao Tang, Fulin Wu, Yihong College of Information Science and Technology Beijing University of Chemical Technology Beijing100029 China State Key Laboratory of Multimodal Artificial Intelligence Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory of Intelligent Coal Mining and Strata Control Beijing100013 China Research Institute of Mine Big Data China Coal Research Institute Beijing100013 China

In many 3D reconstruction, Simultaneous Localization and Mapping (SLAM), AR, and VR systems, the camera focal length constantly changes slightly due to loose hardware, causing their performances to deteriorate. To address this problem, we propose a novel camera self-calibration method that incorporates clustering prior and nonlinear optimization. By leveraging the Kruppa equation, we roughly estimate multiple analytical solutions for the camera focal length from an image sequence. Then, robust clustering based on the Gaussian mixture model is introduced to obtain an initial camera focal length value. Finally, a nonlinear cost function is proposed to refine the initial camera focal length value. Extensive experimental results on simulation and real data demonstrate that the proposed method outperforms the state-of-the-art methods, exhibiting good robustness and high accuracy. Moreover, the proposed method can be used in real-time videos for SLAM systems. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2024.

关键词： Cost functions

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Variational Mode Decomposition Guided by Time-Frequency Domain Difference Information 1

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TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Fei, Hongbo Zhang, Chao Xu, Shuai Zhang, Jing Wu, Le School of Mechanical Engineering Inner Mongolia University of Science and Technology Baotou014010 China Key Laboratory of Intelligent Diagnosis and Control of Electromechanical Systems in Inner Mongolia Autonomous Region Baotou014010 China

ISBN: (数字)9783031694837

ISBN: (纸本)9783031694820

To address the difficulty of extracting fault features of rolling bearings in noisy environments, and the issues where the main effects of Variational Mode Decomposition (VMD) are influenced by the decomposition level and penalty factor, a method based on time-frequency domain difference information-guided Variational Mode Decomposition for rolling bearing fault feature extraction is proposed. Initially, the constraints in VMD decomposition are utilized as discrimination conditions, constructing similarity coefficient differences and energy difference ratios as convergence criteria to find the optimal parameter combination. The IMF component with the maximum envelope peak factor is selected for envelope demodulation to determine the fault type. Simulation and experimental results demonstrate that this method can extract fault features from noise interference, confirming its effectiveness. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Variational mode decomposition

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