检索结果-内蒙古大学图书馆

2021 International Conference on Information, cybernetics, and Computational Social systems, ICCSS 2021

作者： Zhang, Kuo Wu, Zheng-Guang Zhejiang University Institute of Cyber-Systems and Control Hangzhou China Zhejiang University The State Key Laboratory of Industrial Control Technology Hangzhou China

ISBN: (纸本)9781665402453

False data injection attack(FDIA) is a traditional attack for the smart grid. There are many methods for the detection of the FDIA, but few of them can send the attack alarm successfully without an attack model. In this paper, we propose a reinforcement learning-based FDIA detection method for the distributed smart grid. The detection problem is formulated as a partially observable Markov decision process(POMDP) problem, and the observation of the POMDP can be obtained from the estimation of state and attack which come from the Kalman filter. By using the Sarsa algorithm, we can get a Q-table through online training. Finally, we use the IEEE-118 bus power system to evaluate the performance of our detector, and numerical results show the accurate response for the FDIA. © 2021 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

CREPES: Cooperative RElative Pose Estimation System

CREPES: Cooperative RElative Pose Estimation System

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhiren Xunt Jian Huang Zhehan Li Zhenjun Ying Yingjian Wang Chao Xu Fei Gao Yanjun Cao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China

Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact hardware design using active infrared (IR) LEDs, an IR fish-eye camera, an ultra-wideband (UWB) module and an inertial measurement unit (IMU). By leveraging IR light communication, the system solves data association between visual detection and UWB ranging. Ranging measurements from the UWB and directional information from the camera offer relative 3-DOF position estimation. Combining the mutual relative position with neighbors and the gravity constraints provided by IMUs, we can estimate the 6-DOF relative pose from a single frame of sensor measurements. In addition, we design an estimator based on the error-state Kalman filter (ESKF) to enhance system accuracy and robustness. When multiple neighbors are available, a Pose Graph Optimization (PGO) algorithm is applied to further improve system accuracy. We conduct enormous experiments to demonstrate CREPES’ accuracy between robot pairs and a team of robots, as well as performance under challenging conditions.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Learning Gait-conditioned Bipedal Locomotion with Motor Adaptation*

Learning Gait-conditioned Bipedal Locomotion with Motor Adap...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Wandi Wei Zhicheng Wang Anhuan Xie Jun Wu Rong Xiong Qiuguo Zhu Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Zhejiang Lab Hangzhou China State Key Laboratory of Industrial Control Technology Hangzhou China

Whole body locomotion in humanoid robots remains a significant challenge due to the requirement of whole body coordination, natural bipedal walking gait, and accurate state estimation to enable them to traverse plain and uneven terrain. In this paper, we propose a learning-based humanoid locomotion controller that can adapt to disturbance and uneven terrain. We leverage the advances in rapid adaptation for quadruped locomotion control, and expend them to the humanoid robots, resulting in a well-performed whole body locomotion policy, gait-conditioned RMA without any reference trajectory during training. In simulation test, our trained policy demonstrates the ability to generalize in unseen turning tasks and showcases its robustness in more complex environment include hill and steps.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Adaptive Fuzzy control With Guaranteed Performance For Electric Vehicles

Adaptive Fuzzy Control With Guaranteed Performance For Elect...

引用

Chinese control and Decision Conference, CCDC

作者： Weijun Huang Hongye Su Yang Zhu Innovation Center Zhejiang University Ningbo China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

In this paper, we propose a new adaptive fuzzy control scheme with a saturator for a class of constrainted uncertain unparametrizable nonlinear electric vehicle (EV) systems. The control scheme effectively addresses the nonlinearities and uncertainties in the EV systems without exact knowledge including variable hill climbing angle and other system parameters, and solves the constraints on the amplitude of input voltage. The techniques of adaptive control, fuzzy logic system, and backstepping design are utilized. With the scheme, the speed tracking error of the system converges to a preset interval asymptotically even in the presence of time-varying hill climbing angle and other system parameters. The control algorithm is illustrated by the simulation results.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Quantification of valve stiction in control loops using adaptive differential evolution algorithm

Quantification of valve stiction in control loops using adap...

引用

2024 China Automation Congress, CAC 2024

作者： Yang, Dong Lang, Xun Wu, Jiande Yu, Wanke Liu, Songhua Xie, Lei Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

Accurately and promptly quantifying stiction is crucial for valve maintenance in industrial settings and ensuring the stability of control loop performance. However, current Hammerstein-based stiction quantification methods overlook valve dynamics, potentially leading to inaccurate quantification. Therefore, this paper proposes a novel stiction quantification method based on an adaptive differential evolution algorithm. In addition to considering the impact of valve dynamics on stiction, the proposed method demonstrates a certain level of robustness against the interference of unknown noise. Finally, the effectiveness of the proposed method is demonstrated through a series of simulations and industrial case studies. © 2024 IEEE.

关键词： Adaptive algorithms

来源：评论

学校读者我要写书评

暂无评论

引用

2024 China Automation Congress, CAC 2024

作者： Lang, Yumin Wu, Jiande Lang, Xun Yu, Wanke Yang, Chuanyan Su, Hongye Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

Oscillation is a significant indication of the deterioration of control system performance and needs to be carefully monitored to ensure safe and stable process operations. However, industrial processes are often prone to noisy artifacts and nonstationary trends, resulting in low signal-to-noise ratios. In order to tackle this problem, this study introduces a novel framework for enhanced trend removal and noise reduction, which is featured by the following steps:(i) The circulant singular spectrum analysis (CiSSA) is used to decompose oscillation data into several reconstructed components (RCs). (ii) The estimated power spectral density (PSD) ofthese RCs is then smoothed using the Savitzky-Golay filter (SGF) to eliminate noise and identify the RCs corresponding to oscillatory components. (iii) These identified RCs are subsequently reconstructed to produce purified oscillatory data. The effectiveness of the suggested approach is validated using simulations and real-world industrial case studies. The findings indicate that the method notably enhances the quality of oscillatory data. © 2024 IEEE.

关键词： Power spectral density

来源：评论

学校读者我要写书评

暂无评论

Designing edge-based and node-based fully distributed algorithms for aggregative games with the adaptive technique

引用

Automatica 2025年 179卷

作者： Wang, Dong Chen, Mingfei Lian, Jie Lin, Peng Wu, Zhengguang Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian China School of Automation Central South University Changsha China Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

This paper focuses on aggregative games with local feasibility decision sets in a partial-decision information scenario. To seek the Nash equilibrium in a fully distributed manner, adaptive algorithms with edge-based and node-based control gains are designed. In the edge-based adaptive algorithm, an auxiliary dynamics is developed with the consensus protocol and adaptively adjusts the edges’ weights. In the node-based adaptive algorithm, fully distributed decision-seeking is achieved by dynamically modifying the player's weight based on the overall consensus error. By virtue of the designed adaptive parameters, players update decisions without any global information. Utilizing Lyapunov stability theory and the comparison lemma, the proposed algorithms converge exponentially to a small neighborhood of the Nash equilibrium. Furthermore, the proposed adaptive algorithms are extended to the prescribed-time case by combining the prescribed-time gain function and exponential adaptive parameters. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed algorithms. © 2025 Elsevier Ltd

关键词： Adaptive algorithms

来源：评论

学校读者我要写书评

暂无评论

EMV-LIO: An Efficient Multiple Vision aided LiDAR-Inertial Odometry

arXiv

引用

arXiv 2023年

作者： Shen, Bingqi Chen, Yuyin Han, Fuzhang Dai, Shuwei Xiong, Rong Wang, Yue The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Hangzhou Iplus Technology Co. Ltd Hangzhou China

To deal with the degeneration caused by the incomplete constraints of single sensor, multi-sensor fusion strategies especially in the LiDAR-vision-inertial fusion area have attracted much interest from both the industry and the research community in recent years. Considering that a monocular camera is vulnerable to the influence of ambient light from a certain direction and fails, which makes the system degrade into a LiDAR-inertial system, multiple cameras are introduced to expand the visual observation so as to improve the accuracy and robustness of the system. Besides, removing LiDAR’s noise via range image, setting condition for nearest neighbor search, and replacing kd-Tree with ikd-Tree are also introduced to enhance the efficiency. Based on the above, we propose an Efficient Multiple vision aided LiDAR-inertial odometry system (EMV-LIO), and evaluate its performance on both open datasets and our custom datasets. Experiments show that the algorithm is helpful to improve the accuracy, robustness, and efficiency of the whole system compared with LVI-SAM [4]. Our implementation is available at https: //***/BingqiShen/EMV-LIO. Copyright © 2023, The Authors. All rights reserved.

关键词： Nearest neighbor search

来源：评论

学校读者我要写书评

暂无评论

Unsupervised learning on particle image velocimetry with embedded cross‐correlation and divergence‐free constraint

引用

IET cyber-systems and Robotics 2022年第3期4卷 200-211页

作者： Yiwei Chong Jiaming Liang Tehuan Chen Chao Xu Changchun Pan College of Control Science and Engineering Zhejiang UniversityHangzhouZhejiangChina School of Mechanical Engineering and Mechanics Ningbo UniversityNingboZhejiangChina Ningbo Artificial Intelligence Institute Shanghai Jiao Tong UniversityNingboZhejiangChina The State Key Laboratory of Industrial Control Technology Institute of Cyber‐Systems and ControlZhejiang UniversityHangzhouZhejiangChina School of Electronic Information and Electrical Engineering Key Laboratory of Shanghai Navigation and Location Based ServicesShanghai Jiao Tong UniversityShanghaiZhejiangChina

Particle image velocimetry(PIV)is an essential method in experimental fluid *** recent years,the development of deep learning‐based methods has inspired new ap-proaches to tackle the PIV problem,which considerably improves the accuracy of ***,the supervised learning of PIV is driven by large volumes of data with ground truth ***,the authors consider unsupervised PIV *** has been some work on unsupervised PIV,but they are not nearly as effective as supervised learning *** authors try to improve the effectiveness and accuracy of unsupervised PIV by adding classical PIV methods and physical *** this paper,the authors propose an unsupervised PIV method combined with the cross‐correlation method and divergence‐free constraint,which obtains better performance than other unsupervised PIV *** authors compare some classical PIV methods and some deep learning methods,such as LiteFlowNet,LiteFlowNet‐en,and UnLiteFlowNet with the authors’model on the synthetic ***,the authors contrast the results of LiteFlowNet,UnLiteFlowNet and the authors’model on experimental particle *** a result,the authors’model shows comparable performance with classical PIV methods as well as supervised PIV methods and outperforms the previous unsupervised PIV method in most flow cases.

关键词： neural network particle image velocimetry unsupervised learning

来源：评论

学校读者我要写书评

暂无评论

Principal Trotter Observation Error with Truncated Commutators

arXiv

引用

arXiv 2024年

作者： Li, Langyu Institute of Cyber-system and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China

Hamiltonian simulation is one of the most promising applications of quantum computers, and the product formula is one of the most important methods for this purpose. Previous related work has mainly focused on the worst-case or average-case scenarios. In this work, we consider the simulation error under a fixed observable. Under a fixed observable, errors that commute with this observable become less important. To illustrate this point, we define the observation error as the expectation under the observable and provide a commutativity-based upper bound using the Baker–Campbell–Hausdorff formula. For highly commuting observables, the simulation error indicated by this upper bound can be significantly compressed. In the experiment with the Heisenberg model, the observation bound compresses the Trotter number by nearly half compared to recent commutator bounds. Additionally, we found that the evolution order significantly affects the observation error. By utilizing a simulated annealing algorithm, we designed an evolution order optimization algorithm, achieving further compression of the Trotter number. The experiment on the hydrogen molecule Hamiltonian demonstrates that optimizing the order can lead to nearly half the reduction in the Trotter number. Copyright © 2024, The Authors. All rights reserved.

关键词： Quantum computers

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：