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2021 China Automation Congress, CAC 2021

作者： Wang, Jiaqi Xu, Cheng Ji, Hua Science and Technology on Complex System Control and Ietelligent Agent Coopration Laboratory Beijing10074 China Beijing Electro-Mechanical Engineering Institute Beijing10074 China

ISBN: (纸本)9781665426473

To facilitate the precise analysis and judgment of battlefield situation for military stuffs inmodern warfare with abundant information, a modularized two-dimension battlefield situation displaysystem is designed based on ArcGIS Engine in this paper. The functions of each module are analyzed, andkey issues of the design are introduced. The real-time dynamic display of moving objects in the battlefield isachieved by reading data from the battlefield. © 2021 IEEE

关键词： Engines

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Significant Wave Height Prediction Based on VMD-SA-MLP-BP

Significant Wave Height Prediction Based on VMD-SA-MLP-BP

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2023 China Automation Congress, CAC 2023

作者： Wu, Yining Zhang, Runfeng Liu, Fang Liu, Zhenzhong Wu, Jianguo Dong, Haonan School of Mechanical Engineering Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education China Yichang Research Institute of Testing Technology Yichang443003 China Tianjin Hanhailanfan Marine Technology Co. Ltd. Tianjin300457 China School of Computer Science and Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9798350303759

Waves seriously impact port construction, worldwide route planning, military activities, and wave power generation. To improve the accuracy of significant wave height prediction, we proposed a novel prediction method, a multi-layer perceptron combined with a backpropagation adjustment (MLP-BP) prediction model that combines mutation mode decomposition (VMD) and a simulated annealing optimization algorithm (SA). Firstly, we use the variable modulus method to decompose the significant wave height sequence data and transform the wave height sequence into multiple different sub-modes (IMF) to reduce the complexity and non-stationarity of the data. Secondly, the simulated annealing algorithm (SA) is used to optimize the weight and bias of the MLP-BP neural network to find the optimal parameter configuration and improve the performance and generalization ability of the prediction model. Finally, the decomposed sub-modal components of each significant wave height sequence are inserted into the MLP-BP neural network and the predicted values of each element are summed to obtain the final significant wave height prediction. The prediction results of the SSA-MLP-BP, PSO-MLP-BP, SA-MLP-BP, and VMD-SA-MLP-BP were compared and demonstrated that the VMD-SA-MLP-BP model performed best. The MAE, MAPE, MSE, RMSE, and R2 of the prediction evaluation indexes were 0.036 m, 11.7%, 0.004 m2, 0.067 m, and 0.983, respectively, which performed well in predicting significant wave height. © 2023 IEEE.

关键词： Variational mode decomposition

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Forget less,count better:a domain-incremental self-distillation learning benchmark for lifelong crowd counting

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Frontiers of Information technology & Electronic Engineering 2023年第2期24卷 187-202页

作者： Jiaqi GAO Jingqi LI Hongming SHAN Yanyun QU James ZWANG Fei-Yue WANG Junping ZHANG Shanghai Key Laboratory of Intelligent Information Processing School of Computer ScienceFudan UniversityShanghai 200433China Institute of Science and Technology for Brain-inspired Intelligence Fudan UniversityShanghai 200433China Shanghai Center for Brain Science and Brain-inspired Technology Shanghai 201210China School of Information Science and Technology Xiamen UniversityXiamen 361005China College of Information Sciences and Technology the Pennsylvania State UniversityUniversity ParkPA 16802USA State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Crowd counting has important applications in public safety and pandemic control.A robust and practical crowd counting system has to be capable of continuously learning with the newly incoming domain data in real-world scenarios instead of fitting one domain ***-the-shelf methods have some drawbacks when handling multiple domains:(1)the models will achieve limited performance(even drop dramatically)among old domains after training images from new domains due to the discrepancies in intrinsic data distributions from various domains,which is called catastrophic forgetting;(2)the well-trained model in a specific domain achieves imperfect performance among other unseen domains because of domain shift;(3)it leads to linearly increasing storage overhead,either mixing all the data for training or simply training dozens of separate models for different domains when new ones are *** overcome these issues,we investigate a new crowd counting task in incremental domain training setting called lifelong crowd *** goal is to alleviate catastrophic forgetting and improve the generalization ability using a single model updated by the incremental ***,we propose a self-distillation learning framework as a benchmark(forget less,count better,or FLCB)for lifelong crowd counting,which helps the model leverage previous meaningful knowledge in a sustainable manner for better crowd counting to mitigate the forgetting when new data arrive.A new quantitative metric,normalized Backward Transfer(nBwT),is developed to evaluate the forgetting degree of the model in the lifelong learning *** experimental results demonstrate the superiority of our proposed benchmark in achieving a low catastrophic forgetting degree and strong generalization ability.

关键词： Crowd counting Knowledge distillation Lifelong learning

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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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Human-like Walking of Biped Robot with Foot Rotation Using Passive Metatarsophalangeal Joint 12

Human-like Walking of Biped Robot with Foot Rotation Using P...

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12th International Conference on CYBER technology in Automation, control, and intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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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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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Jichao Pang Dan Liu Xiaoqing Tang Yan Chen Qiang Huang Tatsuo Arai Xiaoming Liu Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand’s two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device’s lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors’ tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand’s lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand.

关键词： Costs Accuracy Fasteners End effectors 6-DOF Mathematical models Biology

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Tightly-Coupled Lidar-Visual-Inertial Odometry and Mapping in Real Time

Tightly-Coupled Lidar-Visual-Inertial Odometry and Mapping i...

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Chinese control Conference (CCC)

作者： Wenyu Ma Bailing Tian 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

We proposed a tightly-coupled Lidar-visual-inertial odometry and mapping method, which takes advantage of measurement of Lidar, visual and inertial sensors to achieve highly accurate, real-time 6DoF state estimation and map-building in GNSS-denied environments. The proposed odometry is a tightly-coupled optimization-based method, obtains robust and low drift odometry by fusing pre-integrated IMU measurements, visual features from the image, and geometric features from Lidar data. Further, we adapt an online method to mitigate degeneracy in optimization problems to improve robustness in environmentally degenerate cases. Simulation and real-world experiments show that the proposed method exhibits similar or better robustness and accuracy with the state-of-the-art SLAM methods.

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Research and Application of Composite Stochastic Resonance In Enhancement Detection

SSRN

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SSRN 2023年

作者： Gao, Rui Jiao, Shangbin Xue, Qiongjie Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi’an710048 China School of Electronic and Electrical Engineering Baoji University of Arts and Sciences Baoji721016 China

Aiming at the problem that the intermediate potential part of the traditional tristable method cannot be adjusted independently, a new composite stochastic resonance (NCSR) model is proposed by combining the Woods Saxon (WS) model and the improved piecewise bistable model. All the parameters in the new model have no coupling characteristics. Moreover, the model retains the characteristics of the independent parameters of WS model and the improved piecewise model has no output saturation. Understable noise environment, the new model is used to detect periodic signal and aperiodic signal, the detection results indicate that the new model has better noise utilization and better detection effect. Finally, through image denoising experiments, the output signal-to-noise ratio (SNR) and correlation number of NCSR method is higher than that of other commonly used linear denoising methods and classical SR methods under the same conditions, the effectiveness of the new model is verified. © 2023, The Authors. All rights reserved.

关键词： Image denoising

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Reinforcement Learning-Enhanced Dynamic Multi-Objective Evolutionary Algorithm for Cooperative Shovel Scheduling in Open-Pit Mining

Reinforcement Learning-Enhanced Dynamic Multi-Objective Evol...

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Chinese Automation Congress (CAC)

作者： Zihao Zhang Changhe Li Shengxiang Yang Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration School of Automation China University of Geosciences Ministry of Education Wuhan China School of Artificial Intelligence Anhui University of Science & Technology Hefei China School of Computer Science and Informatics De Montfort University Leicester UK

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Aiming at the ore blending problem in the open-pit mining scenario, the optimization objective is to minimize the grade variance of the sliding window of the ore flow, and a cooperative shovel scheduling model for real-time ore blending is established. A reinforcement learning-enhanced dynamic multi- objective evolutionary algorithm is proposed, where a Q-learning operator selection mechanism is introduced to reuse the information from the previous environment for tracking the optimal solution in the dynamic environment. Experimental results show that the proposed method can effectively control the grade fluctuation of the ore flow and dynamically respond to external events, and can find a better solution in real time compared with the traditional operator selection algorithm.

关键词： Q-learning Ores Heuristic algorithms Process control Evolutionary computation Production Dynamic scheduling Real-time systems Windows Optimization

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