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arXiv 2024年

作者： Wang, Chaoqian Su, Qi Department of Computational and Data Sciences George Mason University FairfaxVA22030 United States Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

Understanding the emergence of cooperation in spatially structured populations has advanced significantly in the context of pairwise games, but the fundamental theory of group-based public goods games (PGGs) remains less explored. Here, we provide theoretical conditions under which cooperation thrive in spatial PGGs on any population structure, which are accurate under weak selection. We find that PGGs can support cooperation across all kinds of model details and on almost all network structures in contrast to pairwise games. For example, a class of networks that would otherwise fail to produce cooperation, such as star graphs, are particularly conducive to cooperation in spatial PGGs. This fundamental advantage of spatial PGGs derives from reciprocity through second-order interactions, allowing local structures such as the clustering coefficient to play positive roles. We also verify the robustness of spatial PGGs on empirical networks where pairwise games cannot support cooperation, which implies that PGGs could be a universal interaction mode in real-world systems. © 2024, CC BY.

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High-order Fully-actuated controller Design for a Dual-Quadrotor Suspension system

High-order Fully-actuated Controller Design for a Dual-Quadr...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Zhipeng Jiang Xianwei Li Department of Automation Shanghai Jiao Tong University Shanghai P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai P. R. China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

In this paper, the mathematical model of dual-quadrotor suspension system is established, and the high-order fully-actuated (HOFA) model of the system is derived. Then the direct parametric control method of HOFA nonlinear systems is used to design a controller of the dual-quadrotor suspension system. Simulation results about tracking a circle of the suspension system are presented, which show that HOFA controller have good control effects with relatively smaller tracking errors, while the thrusts of the two quadrotors are within a reasonable range. Compared with a benchmark PD controller in [1], the HOFA controller designed in this paper can mitigate the drastic oscillation in positions of the quadrotor and the load, while the fluctuation of the load attitudes are maintained within a reasonable range.

关键词： Fluctuations Attitude control Simulation Kinematics Mathematical models PD control Nonlinear systems

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Digital-Twin-Based Clock Synchronization in Industrial IoT systems

Digital-Twin-Based Clock Synchronization in Industrial IoT S...

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IEEE International Conference on Cyber Technology in Automation, control, and intelligent systems

作者： Ting Cheng Shuai Liu Qimin Xu Shanying Zhu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China School of Control Science and Engineering Shandong University Jinan China

Close and efficient cooperation between devices in the Industrial Internet of Things (IIoT) requires precise clock synchronization as a prerequisite. The uncertainty of IIoT networks and the complexity of industrial environments have led to less precise clock synchronization achieved by traditional algorithms and higher network resource consumption. This paper proposes a digital-twin-based clock synchronization scheme for IIoT systems. By building the digital model for each local clock to predict their clock skew, the information interaction required to achieve synchronization is reduced. In order to model the clock accurately, this paper proposes to use the extended state Kalman filter to handle uncertain dynamics and unknown measurement bias to improve the estimation accuracy of clock skew further. The simulation results show that the proposed algorithm can achieve high- precision clock synchronization while reducing the consumption of network resources.

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LU2Net: A Lightweight Network for Real-time Underwater Image Enhancement

arXiv

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arXiv 2024年

作者： Yang, Haodong Xu, Jisheng Lin, Zhiliang He, Jianping The Department of Computer Science Shanghai Jiao Tong University China The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The School of Ocean and Civil Engineering Shanghai Jiao Tong University State Key Laboratory of Ocean Engineering Shanghai200240 China

Computer vision techniques have empowered underwater robots to effectively undertake a multitude of tasks, including object tracking and path planning. However, underwater optical factors like light refraction and absorption present challenges to underwater vision, which cause degradation of underwater images. A variety of underwater image enhancement methods have been proposed to improve the effectiveness of underwater vision perception. Nevertheless, for real-time vision tasks on underwater robots, it is necessary to overcome the challenges associated with algorithmic efficiency and real-time capabilities. In this paper, we introduce Lightweight Underwater Unet (LU2Net), a novel U-shape network designed specifically for real-time enhancement of underwater images. The proposed model incorporates axial depthwise convolution and the channel attention module, enabling it to significantly reduce computational demands and model parameters, thereby improving processing speed. The extensive experiments conducted on the dataset and real-world underwater robots demonstrate the exceptional performance and speed of proposed model. It is capable of providing well-enhanced underwater images at a speed 8 times faster than the current state-of-the-art underwater image enhancement method. Moreover, LU2Net is able to handle real-time underwater video enhancement. Copyright © 2024, The Authors. All rights reserved.

关键词： Motion planning

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Direction-Constrained control for Efficient Physical Human-Robot Interaction under Hierarchical Tasks

arXiv

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arXiv 2024年

作者： Xu, Mengxin Wan, Weiwei Wang, Hesheng Harada, Kensuke Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of System Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka560-0043 Japan Department of Automation the Key Laboratory of System Control and Information Processing of Ministry of Education the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which, however, cannot be directly applied to human interaction due to its allowance of arbitrary velocity direction adjustments. To resolve this limitation, we introduce the concept of directional constraints and develop a direction-constrained optimization algorithm to handle the nonlinearities induced by these constraints. The algorithm solves two sub-problems, minimizing the error and minimizing the deviation angle, in parallel, and combines the results of the two sub-problems to produce a final optimal outcome. The mutual influence between these two sub-problems is analyzed to determine the best parameter for combination. Additionally, the velocity objective in our control framework is computed using a variable admittance controller. Traditional admittance control does not account for constraints. To address this issue, we propose a variable admittance control method to adjust control objectives dynamically. The method helps reduce the deviation between robot velocity and human intention at the constraint boundaries, thereby enhancing interaction efficiency. We evaluate the proposed method in scenarios where a human operator physically interacts with a 7-degree-of-freedom robotic arm. The results highlight the importance of incorporating directional constraints in pHRI for hierarchical tasks. Compared to existing methods, our approach generates smoother robotic trajectories during interaction while avoiding interaction delays at the constraint boundaries. Copyright © 2024, The Authors. All rights reserved.

关键词： Constrained optimization

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Bionic Geomagnetic Navigation for Autonomous Underwater Vehicle with Temporal Attention-based Data-Driven Dead Reckoning

TechRxiv

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TechRxiv 2023年

作者： Yang, Songnan Zhang, Xiaohui Liu, Ding Bai, Wenqi Liu, Fan The School of Automation and Information Engineering Xi’an University of Technology Shaanxi 710048 China The Institute of Advanced Navigation and Electromagnetics Xi’an University of Technology Shaanxi 710048 China The State Key Laboratory of Eco-Hydraulics in the Northwest Arid Region of China Xi’an University of Technology Shaanxi 710048 China The Shaanxi Key Laboratory of Complex System Control with the Intelligent Information Processing Xi’an University of Technology Shaanxi 710048 China

Numerous studies have demonstrated that numerous animal species are capable of goal-directed navigation using environmental information for dead reckoning. The stable magnetic field of the earth provides important information for the migration of animals over long distances. Inspired by the goal-directed navigation of animals, a novel Geomagnetic Navigation with Temporal Attention-based Data-Driven Dead Reckoning (Attention-DR) method for Autonomous Underwater Vehicles (AUV) is presented in this article, which only utilizes the inclination angle (I) and the declination angle (D) of the Geomagnetic Field (GF) for underwater navigation without any prior knowledge of the geographical location or geographic map. This article proposes a Temporal Attention-based Long Short-Term Memory (TA-LSTM) neural network by combining history, GF information, and location in time series to achieve the optimization heading angle of underwater dead reckoning. Due to its ability to adjust the utilization weights of local and global temporal information in the path, TA-LSTM possesses the capability to continually update neural network model parameters through a data-driven process during the navigation process. This enables the Attention-DR to achieve efficient navigation in regions without prior magnetic maps and overcome navigation failures caused by magnetic field anomalies. The simulation outcomes confirm the efficiency, precision, and practicability of the proposed algorithm. © 2023, CC BY.

关键词： Navigation

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Simulation study on control characteristics of semiconductor grade monocrystalline silicon growth process

Simulation study on control characteristics of semiconductor...

引用

Chinese Automation Congress (CAC)

作者： Yuyu Liu Ding Liu Zezhong Song Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xiàn University of Technology Xiàn China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xiàn University of Technology Xiàn China

The growth of Czochralski(CZ) monocrystalline silicon is a nonlinear dynamic time-varying system with complex physical changes and multi-field and multi-phase coupling. In order to meet the needs of information development, it is urgent to develop large-scale, high-quality monocrystalline silicon. However, it is extremely difficult to establish an accurate control system model. Therefore, this paper considers the complex physical changes of multi-field coupling and non-linear processes in the growth of CZ monocrystalline silicon, a lumped parameter model for the growth of monocrystalline silicon is established based on energy balance model, fluid mechanics model, and geometry model, according to the internal mechanism of the monocrystalline silicon growth and the transfer mechanism of internal material flow. According to the model, a CZ monocrystalline silicon growth simulation control system is established under the Matlab/Simulink environment, and the real-time simulation data of each state variable of crystal growth is obtained. So that the control characteristics of each state variable in the crystal growth process can be analyzed. Finally, the validity of the established model is checked by the records evaluation of the semiconductor industry production process. Finally, the validity of the established model is verified based on the data analysis of the semiconductor industry production process. The results show that the model has high accuracy and can better describe the dynamic behavior of the actual monocrystalline silicon growth system.

关键词： Semiconductor device modeling Crystal growth Analytical models Electronics industry Process control Production Crystals

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Surface Defect Detection Based on Deep Learning and Collaborative Cloud-edge Computation 7

Surface Defect Detection Based on Deep Learning and Collabor...

引用

7th International Conference on Computer and Communications, ICCC 2021

作者： He, Shunjie Yang, Bo Zhu, Dafeng Li, Cheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Industrial Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9781665409506

Surface defect detection is a fundamental step of quality management. Nowadays, surface defect detection system based on machine vision technology has made great progress which can gradually replace the human inspector. With the help of convolutional neural networks, the accuracy and stability of the surface defect detection algorithm are improving rapidly. However, it is difficult to process the images which have small defect areas and complex backgrounds. Furthermore, lacking defective samples and limited computation resources are also tough problems. To deal with these problems, a two-stage algorithm combined with object detection and classification networks is proposed. Transform learning and data augmentation are used to deal with the problem of lacking defect samples. Besides, a detection system based on collaborative cloud-edge computation is designed to improve the performance of the algorithm. The result shows that the proposed method has high performance and low requirements of computation resources. © 2021 IEEE.

关键词： Computer vision

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Inferring Topology of Networked Dynamical systems by Active Excitations

arXiv

引用

arXiv 2022年

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

Topology inference for networked dynamical systems (NDSs) has received considerable attention in recent years. The majority of pioneering works have dealt with inferring the topology from abundant observations of NDSs, so as to approximate the real one asymptotically. Leveraging the characteristic that NDSs will react to various disturbances and the disturbance’s influence will consistently spread, this paper focuses on inferring the topology by a few active excitations. The key challenge is to distinguish different influences of system noises and excitations from the exhibited state deviations, where the influences will decay with time and the exciatation cannot be arbitrarily large. To practice, we propose a one-shot excitation based inference method to infer h-hop neighbors of a node. The excitation conditions for accurate one-hop neighbor inference are first derived with probability guarantees. Then, we extend the results to h-hop neighbor inference and multiple excitations cases, providing the explicit relationships between the inference accuracy and excitation magnitude. Specifically, the excitation based inference method is not only suitable for scenarios where abundant observations are unavailable, but also can be leveraged as auxiliary means to improve the accuracy of existing methods. Simulations are conducted to verify the analytical results. Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

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Energy management of solid oxide fuel cell/lithium battery hybrid system

引用

CSEE Journal of Power and Energy systems 2022年 1-14页

作者： Li, Dong Zhong, Xiao Bo Xu, Yuan Wu Wei, Chong Yang Zhao, Song Jiang, Jianhua Deng, Zhonghua Fu, Xiaowei Li, Xi School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control of Education Ministry Huazhong University of Science and Technology Hubei Wuhan430074 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

The research of fuel cell and lithium battery hybrid system has attracted more and more researchers because of its advantages of low emission. However, the lower efficiency of energy management has been a critical factor that obstruct the commercialization of hybrid system. In this work, based on finite element ideas, a solid oxide full cell node model is developed to accurately estimate the operating status of the fuel cell. As for lithium battery, previous energy management studies generally only focused on state of charge, however, state of health is also a key parameter for lithium battery. In this paper, considering the strong coupling between variables we use particle filter algorithm to jointly estimate the state of charge and state of health. To reasonably distribute and manage the energy in the hybrid system, a T-S fuzzy controller for the hybrid system is designed by controlling the state variables in the SOFC model and the state of lithium battery. Finally, our algorithm is verified by DSPACE simulation platform. The result shows that the hybrid system with the energy management strategy not only meets the real-time sharply changing demand but also ensures the hybrid system working efficiently and safely. © 2022 China Electric Power Research Institute. All rights reserved.

关键词： Hybrid systems

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