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arXiv 2019年

作者： Liang, Shu Zeng, Xianlin Chen, Guanpu Hong, Yiguang Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China

Distributed optimization for resource allocation problems is investigated and a sub-optimal continuous-time algorithm is proposed. Our algorithm has lower order dynamics than others to reduce burdens of computation and communication, and is applicable to weight-balanced graphs. Moreover, it can deal with both local constraints and coupled inequality constraints, and remove the requirement of twice differentiability of the cost function in comparison with the existing sub-optimal algorithm. However, this algorithm is not easy to be analyzed since it involves singular perturbation type dynamics with projected non-differentiable righthand side. We overcome the encountered difficulties and obtain results including the existence of an equilibrium of the algorithm, the sub-optimality in the sense that the solution approaches to the optimal solution as an adjustable parameter tends to zero, and the convergence of the algorithm. Copyright © 2019, The Authors. All rights reserved.

关键词： Resource allocation

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Driving Performance Analysis for Connected Vehicle Platoons: Velocity Perturbation and Fuel Consumption

Driving Performance Analysis for Connected Vehicle Platoons:...

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IEEE International Conference on Unmanned Systems (ICUS)

作者： Yihan Zhao Xuting Duan Jianshan Zhou Long Zhang State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing China State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Zhongguancun Laboratory School of Transportation Science and Engineering Beihang University Beijing China National Key Laboratory of Science and Technology on Information System Security Institute of Systems Engineering Beijing China

Vehicle platoon is one of the concrete manifestations of multi-vehicle cooperative control and intelligent transportation. However, the velocity perturbation in the driving process will bring about stability and safety problems. The connected autonomous vehicles (CAVs) can obtain the motion status of the lead vehicle in real time and respond to it in time, which is of far-reaching significance to platoon control. Based on this, this paper focuses on the longitudinal driving strategy of connected autonomous vehicle platoons. Specifically, we provide a discrete double-integral model controller for each vehicle in a generic scenario, and the controller performs acceleration and deceleration control at each timeslot according to the state of the vehicle in front and its own state. Simulation experiments are designed by varying the size of the platoon and the number of connected autonomous vehicles. The experimental results show that the introduction of connected autonomous vehicles can effectively suppress the platoon velocity perturbation, increase the stability of the platoon driving, and significantly reduce the fuel consumption at the same time.

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An Improved Data-Driven Adaptive Dynamic Programming Approach for Cooperative Games

An Improved Data-Driven Adaptive Dynamic Programming Approac...

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Chinese control Conference (CCC)

作者： Yi-Min Wang Tao Sun Song Ma Lei-Ming He Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian China School of Control Science and Engineering Dalian University of Technology Dalian China Department of Automation Tsinghua University Beijing China Chinese Aeronautical Establishment Beijing China

In this paper, we consider a continuous system cooperative dynamic game problem with two players. Through the introduction of dynamic programming concept, a Hamilton-jacobi-Belman equation for two players is designed. By introducing detection noises and using the basis function approximation method, a data-driven adaptive dynamic programming method is proposed and an iterative equation is obtained. Then, by introducing two detection noises and using the basis function approximation method, an iterative equation is obtained. It is note-worthy that we can obtain the Nash equilibrium solution of the cooperative game. Finally, a numerical simulation example is given to demonstrate the effectiveness of the proposed adaptive dynamic programming approach.

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Imitation Learning of Robotic Arm with Hierarchical Training Based on Human Videos

Imitation Learning of Robotic Arm with Hierarchical Training...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Jichuan Liu Jun Shi Jingyi Hou Zhijie Liu Wei He Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China Chinese Aeronautical Establishment Beijing P. R. China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

Human videos encapsulate a diverse spectrum of operational behaviors, serving as invaluable pedagogical resources for imitation learning. In this paper, we introduce an algorithmic framework aimed at emulating expert operational skills gleaned from human videos. The proposed algorithm computes the positional movements of individual steps within a robotic arm by quantifying the disparities between successive frames of the videos, which enables the emulation of skills exhibited in the demonstrations. In detail, we begin by utilizing image translation to seamlessly transition human demonstrations into the realm of the robotic arm, mitigating morphological differences across the multi-joint mechanical structure. Subsequently, we incorporate a keypoint detection network to extract structured information from the transformed images, generating a latent representation that encapsulates motion details for the learning process of the policy network. Experimental results affirm the efficacy of our approach in replicating operational skills.

关键词： Training Automation Imitation learning Semantics Emulation Manipulators Feature extraction

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Adsorption of Hydrogen Sulfide on 12.5% Ag-Graphene Substrate by Ti, Fe and Ti-Fe Co-Doped:A Dft Study

SSRN

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SSRN 2022年

作者： Wang, Zhenjia Liu, Chi Liu, Xin Feng, Yue Gong, Aina Shen, Tao Heilongjiang Province Key Laboratory of Laser Spectroscopy Technology and Application Harbin University of Science and Technology Harbin150080 China Key Laboratory of Engineering Dielectrics and Its Application Ministry of Education Harbin University of Science and Technology Harbin150080 China Heilongjiang Provincial Key Laboratory of Quantum Control Harbin University of Science and Technology Harbin150080 China Key Laboratory of Intelligent Optical Sensing and Manipulation Nanjing University Ministry of Education China

Density functional theory was used to study the adsorption effect of Ti, Fe doping and Ti, Fe co-doping on H2S at 12.5% Ag concentration. From the amount of electron transfer, it can be seen that the system charge conservation of 12.5%Ag based Ti, Fe co-doped adsorb H2S indicating the system is more stable and only an additional 0.2e active electron diffused into graphene. At 2Fe atoms doped, 2e electronic quantity flow out of the graphene and this will lead to instability of the graphene structure. In the case of 2Ti, 1.1e electrons are flowing into Ti, which will make the system unstable as well. To the optical properties, indacating in the high energy range of 30ev-50eV energy loss spectrum and absorption spectrum are Fe, Ti co-doped effect is the best There is little difference between refraction spectrum and reflection among three systems. For the magnetic properties © 2022, The Authors. All rights reserved.

关键词： Sulfur compounds

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Characteristic model-based attitude control of satellites subject to input saturation

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (science and technology) 2013年第SUPPL.1期44卷 142-146页

作者： Yu, Haixiang Beijing Institute of Control Engineering Beijing 100190 China Science and Technology on Space Intelligent Control Laboratory Beijing 100190 China

For solving the problem of large-angle maneuvering control of satellites subject to input saturation, a control law of characteristic model-based low gain feedback is established. The characteristic model is established in the form of a second-order time-variable difference equation according to the dynamic model of the initial system, and the range of characteristic model parameters is calculated. The low-gain feedback law is instructed and is designed based on the characteristic model to deal with the performance deterioration or instability caused by input saturation. Characteristic model extends the application range of low-gain feedback law to some complex systems. By simulating large-angle attitude maneuver of the satellites subject to input saturation, availability of the low-gain control law based on the characteristic model is validated.

关键词： Satellites

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The highly stable air-operating ionic polymer metal composite actuator with consecutive channels produced by copper foam

The highly stable air-operating ionic polymer metal composit...

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第六届国际仿生工程学术大会暨2019年自然启迪科技国际研讨会

作者： Qingsong He Zhigang Liu Min Yu Keju Ji Qi Shen Zhendong Dai Jiangsu Provincial Key Laboratory of Bionic Functional Materials College of Mechanical and Electrical Engineering Nanjing University of Aeronautics & Astronautics College of Material Science and Technology Nanjing University of Aeronautics & Astronautics Shanghai Aerospace Control Technology Institute

A highly stable air-operating ionic polymer metal composite(IPMC) actuator with consecutive channels, suitable for transportation of cations and anions of ionic liquid, was prepared by introducing and removing copper foam in this work. The electro-chemical-mechanical properties of this novel porous IPMC were investigated. Scanning electron microscopy observation shows that the channels and pores ranging from ～ 100 nm to ～ 50 μm are distributed in the Nafion membrane. This porous IPMC was doped with 1-ethyl-3-methylimidazolium thiocyanate(EMImSCN) ionic liquid(IL). A larger capacitance(285.00 m F cm-2) is obtained, which is attributed to the electric double layer generated at the interface between the ionic polymer membrane and the platinum electrode under the input voltages. The fast ion migration channels, high conductivity and large capacitance enable us to achieve high strain of 0.051 to 0.666 %, relatively large blocking force(17.63 mN), and excellent actuation durability(more than 180,000 cycles). Furthermore, a highly stable air-working soft gripper, consisting of a bio-inspired micro-pillar dry adhesive glued on one surface of this novel porous Nafion/IL-IPMC, is succefully developed.

关键词： IPMC ionic liquid copper foam migration channels soft gripper

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Ultra-wideband Dual-layer Magnetic Absorber with Active Impedance Matching

Ultra-wideband Dual-layer Magnetic Absorber with Active Impe...

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Progress in Electromagnetics Research Symposium - Fall (PIERS - FALL)

作者： Wei Hu Haobin Zhang Wenxian Zheng Yongjun Yang Weiwei Gu Daniele Inserra Zhengwu Xu Gui Li Dongliang Zhang Jian Li Yongjun Huang Guangjun Wen School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu China Science and Technology on Electronic Information Control Laboratory Chengdu China Tsinghua Shenzhen International Graduate School Shenzhen China Yibin Intelligent Information System Institute University of Electronic Science and Technology of China Yibin China

ISBN: (数字)9781728153049

ISBN: (纸本)9781728153056

A novel broadband absorber is designed in this paper, which consists of two layers of magnetic materials and metal reflector. In order to achieve broadband performance, the upper layer and the lower layer magnetic material are designed into periodically cylindrically holes with performance multi-resonance frequency. The simulations showed that an absorption more than 90% for normal incident is obtained in the frequency range from 1.62GHz to 18GHz. The absorber has polarization insensitivity when the incident electromagnetic wave is obliquely with TE/TM polarization, and the absorbing is stable within 0-60 degrees incident. The absorber has potential application in radar system and RCS reduced.

关键词： Magnetic materials Absorption Broadband communication Resonant frequency Contracts Permeability

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Numerical solution for time optimal control of elastic satellites

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (science and technology) 2013年第SUPPL.1期44卷 98-102页

作者： Rao, Weidong Beijing Institute of Control Engineering Beijing 100190 China Science and Technology on Space Intelligent Control Laboratory Beijing 100190 China

Optimal control of flexible satellites can be resolved in two ways, direct method and indirect method. In direct method, the problem was converted into two points boundary value problem (TPBVP) whose differential equations were derived by The Maximum Principle. However, it is difficult to achieve convergence of related programs. In indirect methods, the problem is converted to easier optimization problems which can be solved by linear programming or nonlinear programming. The problem here is firstly converted to some nonlinear equations, and then a global convergence homotopy method is introduced to get all feasible solutions, among which the optimal solution can be selected using Maximum Principle. Simulations are carried out based on two dynamics: zero damping and light damping flexible systems. The results give two conclusions. High order flexible modes have very little influence on total slewing time and residual vibration. Little flexible damping is negligible in calculating total slewing times.

关键词： Nonlinear programming

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A Novel YJQR-LSTM Model for Nonparametric Probabilistic Sustainable Agriculture Wind Power Forecasting Based on intelligent IoT

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IEEE Internet of Things Journal 2024年

作者： Wang, Jie Jiang, Junhui Chen, Xinlong Cai, Defu Wu, Yue Lu, Renzhi School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Harbin Engineering University College of Computer Science and Technology Harbin150001 China State Grid Hubei Electric Power Research Institute Hubei Wuhan430079 China School of Technology State Key Laboratory of Efficient Production of Forest Resources Key Laboratory of National Forestry and Grassland Administration on Forestry Equipment and Automation Beijing Forestry University Beijing100083 China Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing400065 China State Key Laboratory of Mechanical Transmission for Advanced Equipment Chongqing University Chongqing400044 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Energy costs associated with the consumption of non-renewable energy sources have become an important issue in improving the international competitiveness of agriculture. Wind power, as a renewable energy source, can replace non-renewable energy sources to reduce energy costs and improve the sustainability of agricultural. However, the inherent intermittency, randomness, and volatility within weather conditions and wind speed presents a substantial challenge in accurately predicting wind power generation. This work proposes a novel YJQR-LSTM algorithm that leverages Yeo-Johnson quantile regression (YJQR) with a long short-term memory (LSTM) network for nonparametric probabilistic forecasting of wind power generation via the intelligent Internet of Things. First, an improved YJQR model based on the YJ transformation is designed to obtain a more precise characterization of wind uncertainty, providing a more flexible probability density function for wind power generation. Then, utilizing the unique structure of the LSTM network to learn the parameters of the YJQR model, temporal features can be extracted from time series data. To mitigate the impact of outliers in the raw data on accuracy and improve computational efficiency, a novel logarithmic likelihood function is developed as the loss function utilized in the training phase. The effectiveness of the proposed algorithm is validated using a real-world dataset from five wind farms from the Global Energy Forecasting Competition. Numerical results demonstrate that the algorithm provides more accurate wind power prediction results in complex wind power data environments, which is important for making full use of wind energy and thus reducing the consumption of non-renewable energy in agriculture. © 2024 IEEE.

关键词： Wind forecasting

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