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A Novel Data-Based Fault-Tolerant control Method for Multicontroller Linear systems via Distributed Policy Iteration

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2023年第5期53卷 3176-3186页

作者： Wei, Qinglai Li, Hongyang Li, Tao Wang, Fei-Yue Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China

This article presents a novel data-based fault-tolerant control method for multicontroller linear systems via distributed policy iteration. The traditional fault-tolerant control methods based on policy iteration may cause a huge-computational burden under the situation of high-dimension control laws. In order to solve this problem, a novel distributed policy iteration method is presented, where only one iterative control law is updated in each iteration, to realize the fault-tolerant control of multicontroller linear systems. The main contributions can be highlighted as follows: 1) a novel data-based distributed policy iteration method is presented to reduce the computational burden;2) the fault-tolerant control method is presented via designing fault compensators;and 3) the developed data-based method only requires the partial system information. First, the model-based fault-tolerant control via distributed policy iteration and fault compensation is provided. Based on the model-based method, a data-based fault-tolerant control method is presented. Finally, numerical experiments are given to show the performance of the presented method.

关键词： Fault tolerant systems Fault tolerance Linear systems control systems Actuators Optimal control Mathematical models Distributed policy iteration fault-tolerant control multicontroller linear systems optimal control

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A Neural-Network-Based controller for Piezoelectric-Actuated Stick-Slip Devices

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2018年第3期65卷 2598-2607页

作者： Cheng, Long Liu, Weichuan Yang, Chenguang Huang, Tingwen Hou, Zeng-Guang Tan, Min State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Zienkiewicz Centre for Computational Engineering Swansea University Swansea U.K. Texas A&M University at Qatar Doha Qatar State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Piezoelectric-actuated stick-slip device (PASSD) is a highly promising equipment that is composed of one end-effector, one piezoelectric actuator (PEA) and one driving object adhered to the PEA. Since the endeffector can slip on the surface of the driving object, the PASSD is capable of realizing the macrolevel motion with the microlevel precision. Due to the following two reasons: the complicated relative motion between the end-effector and the driving object, and the inherent hysteresis nonlinearity in the PEA, the ultraprecision displacement control of the end-effector of PASSDs raises a real challenge, which is rarely reported in the literature. Toward solving this challenge, a neural-network-based controller is proposed in this paper. First, a neural-network-based model is proposed to capture the relative motion between the end-effector and the driving object. Second, a neural-network-based inversion model is developed to online calculate the desired position of the PEA under the predesigned reference of the end-effector. Third, a dynamic linearized neural-network-based model predictive control method, which can effectively handle the hysteresis nonlinearity, is employed to implement the displacement control of the PEA, which finally results in an overall high-precision controller of the end-effector. Finally, a PASSD prototype has been implemented and tested through experimental studies to demonstrate the effectiveness of the proposed approach.

关键词： End-effector neural network piezoelectric actuator (PEA) stick-slip

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Towards an Esox lucius inspired multimodal robotic fish

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Science China(Information Sciences) 2015年第5期58卷 182-194页

作者： WU ZhengXing YU JunZhi SU ZongShuai TAN Min LI ZhenLong State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences College of Electronic Information and Control Engineering Beijing University of Technology

In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics,the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator(CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and *** found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin(BCF) locomotion.

关键词： bio-inspired robot robotic fish CPG multimodal swimming motion control

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Design and attitude control of a novel robotic jellyfish capable of 3D motion

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Science China(Information Sciences) 2019年第9期62卷 182-184页

作者： Junzhi YU Xiangbin LI Lei PANG Zhengxing WU State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Aquatic creatures such as fish, cetaceans, and jellyfish could inspire innovative designs to improve the ways that manmade systems operate in and interact with aquatic environments [1, 2]. Jellyfish in nature use jet propulsion to move through the water, which have been proven to be one of the most energetically efficient swimmers on the planet [3]. Researchers are making an integrated effort to develop smart actuators to fabricate var-

关键词： bar Design and attitude control of a novel robotic jellyfish capable of 3D motion

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Scene Text Recognition Using Structure-Guided Character Detection and Linguistic Knowledge

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IEEE TRANSACTIONS ON CIRCUITS AND systems FOR VIDEO TECHNOLOGY 2014年第7期24卷 1235-1250页

作者： Shi, Cun-Zhao Wang, Chun-Heng Xiao, Bai-Hua Gao, Song Hu, Jin-Long CASIA State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Scene text recognition has inspired great interests from the computer vision community in recent years. In this paper, we propose a novel scene text-recognition method integrating structure-guided character detection and linguistic knowledge. We use part-based tree structure to model each category of characters so as to detect and recognize characters simultaneously. Since the character models make use of both the local appearance and global structure informations, the detection results are more reliable. For word recognition, we combine the detection scores and language model into the posterior probability of character sequence from the Bayesian decision view. The final word-recognition result is obtained by maximizing the character sequence posterior probability via Viterbi algorithm. Experimental results on a range of challenging public data sets (ICDAR 2003, ICDAR 2011, SVT) demonstrate that the proposed method achieves state-of-the-art performance both for character detection and word recognition.

关键词： Character recognition cropped word recognition part-based tree-structured models (TSMs) posterior probability scene text recognition word spotting

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Action Recognition Using Context-Constrained Linear Coding

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IEEE SIGNAL PROCESSING LETTERS 2012年第7期19卷 439-442页

作者： Zhang, Zhong Wang, Chunheng Xiao, Baihua Zhou, Wen Liu, Shuang CASIA State Key Lab Management & Control Complex Syst Beijing Peoples R China

Although traditional bag-of-words model has shown promising results for action recognition, it takes no consideration of the relationship among spatio-temporal points;furthermore, it also suffers serious quantization error. In this letter, we propose a novel coding strategy called context-constrained linear coding (CLC) to overcome these limitations. We first calculate the contextual distance between local descriptors and each codeword by considering the spatio-temporal contextual information. Then, linear coding using contextual distance is adopted to alleviate the quantization error. Our method is verified on two challenging databases (KTH and UCF sports), and the experimental results demonstrate that our method achieves better results than previous methods in action recognition.

关键词： Action recognition context-constrained linear coding contextual distance

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PLS-CCA Heterogeneous Features Fusion-based Low-resolution Human Detection Method for Outdoor Video Surveillance

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International Journal of Automation and computing 2017年第2期14卷 136-146页

作者： Hong-Kai Chen Xiao-Guang Zhao Shi-Ying Sun Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

In this paper, we focus on low-resolution human detection and propose a partial least squares-canonical correlation analysis （PLS-CCA） for outdoor video surveillance. The analysis relies on heterogeneous features fusion-based human detection method. The proposed method can not only explore the relation between two individual heterogeneous features as much as possible, but also can robustly describe the visual appearance of humans with complementary information. Compared with some other methods, the experimental results show that the proposed method is effective and has a high accuracy, precision, recall rate and area under curve （AUC） value at the same time, and offers a discriminative and stable recognition performance.

关键词： Low-resolution human detection partial least squares canonical correlation analysis heterogeneous features outdoorvideo surveillance.

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A survey on fabrication,control,and hydrodynamic function of biomimetic robotic fish

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Science China(Technological Sciences) 2017年第9期60卷 1365-1380页

作者： YU JunZhi WEN Li REN ZiYu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Mechanical Engineering and Automation Beihang University

Understanding and replicating the locomotion principles offish are fundamental in the development of artificial fishlike robotic systems,termed robotic *** paper has two objectives:(1) to review biological clues on biomechanics and hydrodynamic flow control offish swimming and(2) to summarize design and control methods for efficient and stable swimming in robotic *** review of state-of-the-art research and future-oriented new directions indicates that fish-inspired biology and engineering interact in mutually beneficial *** strong interaction offers an important insight into the design and control of novel fish-inspired robots that addresses the challenge of environmental uncertainty and competing objectives;in addition,it also facilitates refinement of biological knowledge and robotic strategies for effective and efficient swimming.

关键词： fish swimming robots robotic fish hydrodynamics motion control

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A real-time and robust feature detection method using hierarchical strategy and modified Kalman filter for thick plate seam tracking

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INTERNATIONAL JOURNAL OF AUTOMATION AND control 2017年第4期11卷 428-446页

作者： Kiddee, Prasarn Fang, Zaojun Tan, Min Inst Automat Chinese Acad Sci IACAS State Key Lab Management & Control Complex Syst Control Sci & Engn Beijing 100190 Peoples R China IACAS State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China IACAS State Key Lab Management & Control Complex Syst Lab Complex Syst & Intelligence Sci Beijing 100190 Peoples R China

Feature detection is an essential and important part in weld seam tracking of automated welding robots. In thick plate seam tracking, a profilometer based on structured light is commonly employed. Features from light stripe of the structured light will be extracted and used as primary information in visual servoing control. The accuracy, robustness, and computational cost are the main aspects of the feature detection. They directly affect the quality of the tracking. In this paper, cross mark created by cross line structured light (CLSL) is taken into account, and handled as the feature. It can be used as a pinpoint for seam tracking. Firstly, the cross mark is hierarchically estimated by coarse-to-fine strategy. In coarse estimation step, the random sample consensus (RANSAC) algorithm is applied to compute the feature position. Subsequently, the mean shift algorithm is used to estimate the precise feature position in the fine estimation step. Finally, the robustness of the detection is improved by the modified Kalman filter algorithm. The experimental results verify that the feature position estimated by the proposed method is robust. Moreover, the coarse-to-fine strategy can reduce a huge computational cost in the detection. And therefore, the detection method is proper for being used in real-time thick plate seam tracking.

关键词： real time robustness feature detection coarse-to-fine strategy modified Kalman filter seam tracking

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Anthropogenic land consolidation intensifies zoonotic host diversity loss and disease transmission in human habitats

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NATURE ECOLOGY & EVOLUTION 2025年第1期9卷 99-110页

作者： Pei, Shan Yu, Pengbo Raghwani, Jayna Wang, Yuxin Liu, Ziyan Li, Yidan Cheng, Yanchao Lin, Qiushi Song, Chuliang Dharmarajan, Guha Faust, Christina L. Tian, Yunyu Xu, Yiting Liang, Yilin Qu, Jianhui Wei, Jing Li, Shen Zhang, Tongjun Ma, Chaofeng Bharti, Nita Cazelles, Bernard Yang, Ruifu Pybus, Oliver G. Dobson, Andrew P. Stenseth, Nils Chr. Tian, Huaiyu Beijing Normal Univ Ctr Global Change & Publ Hlth Beijing Res Ctr Resp Infect Dis State Key Lab Remote Sensing Sci Beijing Peoples R China Beijing Normal Univ Sch Natl Safety & Emergency Management Natl Key Lab Intelligent Tracking & Forecasting In Zhuhai Peoples R China Shaanxi Prov Ctr Dis Control & Prevent Xian Peoples R China Royal Vet Coll Dept Pathobiol & Populat Sci London England Princeton Univ Dept Ecol & Evolutionary Biol Princeton NJ USA Krea Univ Sch Interwoven Arts & Sci Div Sci Sri City India Univ Glasgow Sch Biodivers Hlth & Vet Med 1 Glasgow Scotland Xian Blood Ctr Shaanxi Blood Ctr Xian Peoples R China Penn State Univ Ctr Infect Dis Dynam Dept Biol University Pk PA USA Ecole Normale Super Ecoevolutionary Math Inst Biol UMR 8197 Paris France Sorbonne Univ Unite Mixte Int 209 Math & Computat Modeling Complex Syst Paris France Acad Mil Med Sci State Key Lab Pathogen & Biosecur Beijing Peoples R China Univ Oxford Dept Biol Oxford England Univ Oslo Dept Biosci Ctr Ecol & Evolutionary Synth Fac Math & Nat Sci Oslo Norway Univ Oslo Fac Med Ctr Pandem & Hlth Res 1 Sustainable Hlth Unit SUSTAINIT Oslo Norway Tsinghua Univ Vanke Sch Publ Hlth Beijing Peoples R China

Anthropogenic land-use change is an important driver of global biodiversity loss and threatens public health through biological interactions. Understanding these landscape-ecological effects at local scales will help achieve the United Nations Sustainable Development Goals by balancing urbanization, biodiversity and the spread of infectious diseases. Here, we address this knowledge gap by analysing a 43-year-long monthly dataset (1980-2022) of synanthropic rodents in Central China during intensive land-use change. We observed a notable increase in the mean patch size, coinciding with a substantial change in rodent community composition and a marked decline in rodent diversity;eight of the nine local rodent species experienced near-extirpation. Our analysis reveals that these irregular species replacements can be attributed to the effect of land consolidation on species competition among rodents, favouring striped field mice, a critical reservoir host of Hantaan virus (HTNV). Consequently, land consolidation has facilitated the proliferation of striped field mice and increased the prevalence of HTNV among them. This study highlights the importance of considering both direct and indirect effects of anthropogenic activities in the management of biodiversity and public health. A 43-year dataset of rodents in the Hu region of China reveals how urbanization-induced changes to land-use configuration affect rodent community composition, including benefitting striped field mice, the primary local hosts of the zoonotic pathogen Hantaan virus.

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