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arXiv 2024年

作者： Xu, Haotian Liu, Shuai Wang, Bohui Wang, Jingcheng School of Control Science and Engineering Shandong University Jinan250061 China The School of Aerospace Science and Technology Xidian University Xi’an710071 China Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

The distributed observer design problem holds significant importance in cases in which the output information of a system is decentralized across different subsystems. Each subsystem has a local observer and access to one part of the measurement outputs and information exchanged through communication networks. This paper focuses on the design of distributed observer with jointly connected directed switching networks. The problem presents challenges due to passive switching modes and the open-loop unboundedness that results from local observability. To overcome these challenges, we develop a network transformation mapping method whereby each local observer can classify itself into an independent subgraph based on independent judgment. Next, an observable decomposition and reorganization method is developed for the digraph case to ensure that each subgraph possesses independent dynamic properties. Asymptotic omniscience is then proven using a developed recursive proof method. This paper includes many previous results as special cases, because most are only suitable for undirected switching topologies or fast-switching cases. An adaptive coupling gain design is proposed to simplify the calculation and verification of conditions that guarantee asymptotic omniscience. Finally, simulation results with the power system show the validity of the developed theory. © 2024, CC BY.

关键词： Continuous time systems

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An Improved Method for Approximating the Infinite-horizon Value Function of the Discrete-time Switched LQR Problem

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IFAC-PapersOnLine 2023年第2期56卷 4138-4143页

作者： Tan Hou Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 U.S.A.

This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR problem. In particular, we propose a new value iteration method to generate a sequence of monotonically decreasing functions that converges exponentially to the value function. This method facilitates us to use coarse approximations resulting from faster but less accurate algorithms for further value iteration, and thus, our method is capable of achieving a better approximation for a given computation time compared with the existing methods. Two numerical examples are presented in this paper to illustrate the effectiveness of our method.

关键词： Switched linear systems optimal control switched LQR problem

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Modeling and Analysis of Pumping Cell of Nox Sensor - Part Ii: Nox Pumping Cell

SSRN

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SSRN 2022年

作者： Wang, Zhen Deng, Zhong-Hua Wang, Jie Lin, Wei-Xun Fu, Xiao-Wei Li, Xi School of Artificial Intelligence and Automation Key Laboratory of Imaging Processing and Intelligent Control Education Ministry Huazhong University of Science and Technology Hubei Wuhan430074 China Shenzhen Huazhong University of Science and Technology Research Institute Guangdong Shenzhen518055 China Lambda Company Jiangsu Changzhou213100 China College of Computer Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan430081 China

To improve the performance of the NOx sensor, a combined model based on the electrochemical model and the diffusion model is developed for the NOx pumping cell of the NOx sensor. Considering that a small amount of oxygen enters the third chamber and part of NO is decomposed in the second chamber, the electrochemical model simultaneously considers the reactions of NO and oxygen at cathode, and the diffusion model additionally considers the diffusion of oxygen and the decomposition of NO. To validate the model at different gas concentrations, the sensor is mounted on the designed test rig. Then, the simulation results are compared with experimental data from the test rig and good agreement is obtained. In addition, three key parameters of the model of the NOx pumping cell are analyzed. The values and changing trends of these three parameters are given in the paper. © 2022, The Authors. All rights reserved.

关键词： Diffusion

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Spatial non-locality induced non-markovian EIT in a single giant atom

arXiv

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arXiv 2021年

作者： Zhu, Y.T. Wu, R.B. Xue, S. Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Department of Automation Tsinghua University Beijing100084 China Beijing National Research Center for Information Science and Technology Beijing100084 China

In recent experiments, electromagnetically induced transparency (EIT) were observed with giant atoms, but nothing unconventional were found from the transmission spectra. In this letter, we show that unconventional EIT does exist in giant atoms, and indicate why it has not been observed so far. Different from these existing works, this letter presents a consistent theory including a real space method and a time delayed master equation for observing unconventional EIT. We discover that this phenomenon is a quantum effect which cannot be correctly described in a semi-classical way as those in recent works. Our theory shows that it can be observed when the time delay between two neighboring coupling points is comparable to the relaxation time of the atom, which is crucial for a future experimental observation. This new phenomenon results from inherent non-locality of the giant atom, which physically forces propagating fields to be standing waves in space and the atom exhibiting retardations in time. Our theory establishes a framework for application of nonlocal systems to quantum information processing. Copyright © 2021, The Authors. All rights reserved.

关键词： Atoms

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NeRF in Robotics: A Survey

arXiv

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arXiv 2024年

作者： Wang, Guangming Pan, Lei Peng, Songyou Liu, Shaohui Xu, Chenfeng Miao, Yanzi Zhan, Wei Tomizuka, Masayoshi Pollefeys, Marc Wang, Hesheng The University of Cambridge ETH Zurich Switzerland The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China ETH Zurich Zurich Switzerland Mechanical Systems Control Laboratory University of California Berkeley United States

Meticulous 3D environment representations have been a longstanding goal in computer vision and robotics fields. The recent emergence of neural implicit representations has introduced radical innovation to this field as implicit representations enable numerous capabilities. Among these, the Neural Radiance Field (NeRF) has sparked a trend because of the huge representational advantages, such as simplified mathematical models, compact environment storage, and continuous scene representations. Apart from computer vision, NeRF has also shown tremendous potential in the field of robotics. Thus, we create this survey to provide a comprehensive understanding of NeRF in the field of robotics. By exploring the advantages and limitations of NeRF, as well as its current applications and future potential, we hope to shed light on this promising area of research. Our survey is divided into two main sections: The Application of NeRF in Robotics and The Advance of NeRF in Robotics, from the perspective of how NeRF enters the field of robotics. In the first section, we introduce and analyze some works that have been or could be used in the field of robotics from the perception and interaction perspectives. In the second section, we show some works related to improving NeRF's own properties, which are essential for deploying NeRF in the field of robotics. In the discussion section of the review, we summarize the existing challenges and provide some valuable future research directions for reference. © 2024, CC BY-NC-ND.

关键词： Robotics

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New approach for constructing BDD from a complex fault tree

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Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2007年第SUPPL. 1期27卷 140-144页

作者： Zhu, Lin Chen, Jie Chen, Wen-Jie Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

A new conversion method for fault tree (FT) to binary decision diagram (BDD) was introduced. Firstly, FT was reduced and the reduction rule was proposed, share-node conception was introduced on the basis of FT decomposition, then the rules of connection of component BDD was proposed. Furthermore the route-based BDD reduction rule was proved, with which reduction can be done at the same time with BDD composition, and the route sequence and cut sets can be obtained, while computation and storage is greatly reduced during the process. Finally, the procedure of the transformation is presented. The affectivity effectiveness and practicability is thereby proved.

关键词： Fault tree analysis

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Backlash neural network model for hysteresis nonlinearity

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Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2007年第SUPPL. 1期27卷 226-230页

作者： Liao, Xiao-Zhong Lu, Guo-Hui Liu, Xiang-Dong Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

A Backlash neural network model is proposed for the systems with hysteresis nonlinearity. In order to approximate the hysteresis nonlinearity, Backlash-type operators are used as one layer of the neural network. Then, the number of Backlash operators and neurons of hidden layer are gotten through simulation. Compared with the normal BP network, the results show the improvement validity of the proposed Backlash neural network model for describing the hysteresis nonlinearity.

关键词： Nonlinear network analysis

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Utility-Oriented Underwater Image Quality Assessment Based on Transfer Learning

arXiv

引用

arXiv 2022年

作者： Chen, Weiling Lin, Rongfu Liao, Honggang Zhao, Tiesong Gu, Ke Le Callet, Patrick Fujian Key Lab for Intelligent Processing and Wireless Transmission of Media Information Fuzhou University Fuzhou350108 China Peng Cheng Laboratory Shenzhen518000 China The Faculty of Information Technology Beijing University of Technology Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing Artificial Intelligence Institute Beijing100124 China Équipe Image Perception et Interaction Laboratoire des Sciences du Numérique de Nantes Université de Nantes France

The widespread image applications have greatly promoted the vision-based tasks, in which the Image Quality Assessment (IQA) technique has become an increasingly significant issue. For user enjoyment in multimedia systems, the IQA exploits image fidelity and aesthetics to characterize user experience;while for other tasks such as popular object recognition, there exists a low correlation between utilities and perceptions. In such cases, the fidelity-based and aesthetics-based IQA methods cannot be directly applied. To address this issue, this paper proposes a utility-oriented IQA in object recognition. In particular, we initialize our research in the scenario of underwater fish detection, which is a critical task that has not yet been perfectly addressed. Based on this task, we build an Underwater Image Utility Database (UIUD) and a learning-based Underwater Image Utility Measure (UIUM). Inspired by the top-down design of fidelity-based IQA, we exploit the deep models of object recognition and transfer their features to our UIUM. Experiments validate that the proposed transfer-learning-based UIUM achieves promising performance in the recognition task. We envision our research provides insights to bridge the researches of IQA and computer vision. Copyright © 2022, The Authors. All rights reserved.

关键词： Multimedia systems

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A Many-Objective Evolutionary Algorithm Assisted by Ideal Hyperplane

SSRN

引用

SSRN 2022年

作者： Zhang, Zhixia Wen, Jie Wang, Hui Cai, Xingjuan Cui, Zhihua Zhang, Wensheng School of Computer Science and Technology Taiyuan University of Science and Technology China School of Information Engineering Nanchang Institute of Technology Nanchang330099 China State Key Laboratory of Intelligent Control and Management of Complex System Institute of Automation Chinese Academy of Sciences China State Key Lab. for Novel Software Technology Nanjing University China

In many-objective optimization problems (MaOPs), it is a difficult task for evolutionary algorithms to balance convergence and diversity while rapidly converging to the Pareto front. As the number of objectives increases, the difficulty of evolutionary algorithms increases with individual selection pressure. To address above problems, we propose a many-objective evolution algorithm assisted by an ideal hyperplane (MaOEA-IH). Firstly, the ideal hyperplane as a reference surface to guide the individual to search the Pareto front, which is established from the extremum of each dimension of the objective space. Secondly, a parallel p -norm mating selection strategy is proposed to improve convergence. In addition, two factors are considered in this strategy: 1) different p -norm are used to measure different spatial scales;2) individual selection uncertainty is defined by incorporating a probabilistic perturbation mechanism. Thirdly, the improved shift-based density estimation strategy is used as the evaluation criterion for environmental selection to improve the convergence and diversity of solution sets and enhance selection pressure. To verify the effectiveness of the proposed algorithm, MAOEA-IH is compared with seven excellent algorithms in three benchmark sets (DTLZ, WFG and MaF). The results show that the proposed MAOEA-IH is highly competitive in solving MaOPs. © 2022, The Authors. All rights reserved.

关键词： Geometry

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Algorithm of improved marriage in honey bees optimization and convergence analysis

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Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2007年第SUPPL. 1期27卷 80-84页

作者： Yang, Chen-Guang Cai, Tao Tu, Xu-Yan Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

One problem of marriage in honey bees optimization (MBO) is that its complex computation process will limit its applications. The paper proposed an improved marriage honey bees optimization (IMBO). By randomly initializing drones and restricting the condition of iteration, the calculation process becomes easier. The global convergence characteristic of IMBO is also proved based on the Markov chain theory. With different number of nodes, traveling salesman problem(TSP) is used to compare the IMBO with MBO and genetic algorithm(GA). Simulation results show that IMBO has better convergence performance.

关键词： Genetic algorithms

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