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第三十九届中国控制会议

作者： Dong-Liang Chen Guo-Ping Liu College of Mechanical and Electronic Engineering Dalian Minzu University Center for Control Theory and Guidance Technology Harbin Institute of Technology Key Laboratory of Intelligent Perception and Advanced Control of State Ethnic Affairs Commission Department of Artificial Intelligence and Automation Wuhan University

The rapid development of embedded systems and IT makes electrical devices functional and tiny. This progress is especially reflected in the smartphone industry. In this paper, a novel applicable wireless control platform based on smartphones is proposed. The system is of high value due to the advantages of smartphones such as mobility, resourcefulness, tiny and *** are designed in this paper to guarantee the real-timeness of the controller. To ease the controller implementation,code auto-generation technique is integrated to the platform, which is able to convert Simulink block diagrams to executable files for Android smartphones. In addition, protocols are designed to transfer data to remote workstations such that the control system can be supervised and monitored on-line. At last, the control platform is tested on a spacecraft simulator. The experimental results validate the effectiveness and reliability of the designed platform.

关键词： Networked Control Platform Smartphones Real Time Control

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Dynamic modeling of NH 3 concentration-driven SCR denitrification processes for control optimization

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Process Safety and Environmental Protection 2025年 200卷

作者： Zhenlong Wu Shaoyong Sui Bingnan Li Yanhong Liu YangQuan Chen School of Electrical and Information Engineering Zhengzhou University Zhengzhou 450001 China State Key Laboratory of Intelligent Agricultural Power Equipment Zhengzhou University Luoyang 471000 China Rundian Energy Science and Technology Company Ltd. Zhengzhou Henan 450000 China Mechatronics Embedded Systems and Automation (MESA) Lab Department of Mechanical Engineering School of Engineering University of California Merced CA 95343 USA

Selective Catalytic Reduction (SCR) is widely adopted as the flue gas denitrification method in coal-fired power plants. For the denitrification process in coal-fired power plants, the amount of ammonia injected is crucial for controlling nitrogen oxide concentrations in the flue gas. This paper adjusts the denitrification process model of SCR by analyzing its internal structure characteristics. It establishes a hierarchical change calculation SCR dynamic model by improving the method for calculating changes in flue gas concentration inside the SCR reactor. Simulation results demonstrate that the improved SCR mechanism model maintains fitting accuracy within 10% across diverse actual operating data. Based on the denitrification system’s characteristics, a modified active disturbance rejection control(MADRC) is designed and applied to the actual denitrification system. The running data indicate that replacing the ammonia spray valves on both sides of the SCR with MADRC and running for some time, the positive and negative deviations of the NO concentration at the SCR outlet on both sides remained within 20 mg/m 3 , indicating that the application of MADRC in the denitrification system has significant potential.

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Learning robust features by extended generative stochastic networks

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International Journal of Modeling, Simulation, and Scientific Computing 2018年第1期9卷 135-145页

作者： Da Teng Xiao Song Guanghong Gong Junhua Zhou School of Automation Science and Electrical Engineering Beihang University P.R.China State Key Laboratory of Intelligent Manufacturing System Technology P.R.China

Deep neural networks have achieved state-of-the-art performance on many object recognition tasks,but they are vulnerable to small adversarial *** this paper,several extensions of generative stochastic networks(GSNs)are proposed to improve the robustness of neural networks to random noise and adversarial *** results show that compared to normal GSN method,the extensions using adversarial examples,lateral connections and feedforward networks can improve the performance of GSNs by making the models more resistant to overfitting and noise.

关键词： Machine learning deep learning neural networks adversarial examples

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Learning of long-horizon sparse-reward robotic manipulator tasks with base controllers

arXiv

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arXiv 2020年

作者： Wang, Guangming Xin, Minjian Wu, Wenhua Liu, Zhe Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Department of Computer Science and Engineering University of California San Diego La Jolla CA92093 United States Department of Computer Science and Technology University of Cambridge CambridgeCB2 1TN United Kingdom

Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting causes exploration inefficient. On the other hand, exploration using physical robots is of high cost and unsafe. In this paper, we propose a method of learning long-horizon sparse-reward tasks utilizing one or more existing traditional controllers named base controllers in this paper. Built upon Deep Deterministic Policy Gradients (DDPG), our algorithm incorporates the existing base controllers into stages of exploration, value learning, and policy update. Furthermore, we present a straightforward way of synthesizing different base controllers to integrate their strengths. Through experiments ranging from stacking blocks to cups, it is demonstrated that the learned state-based or image-based policies steadily outperform base controllers. Compared to previous works of learning from demonstrations, our method improves sample efficiency by orders of magnitude and improves the performance. Overall, our method bears the potential of leveraging existing industrial robot manipulation systems to build more flexible and intelligent controllers. Copyright © 2020, The Authors. All rights reserved.

关键词： Deep learning

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Integration of Perylene Diimide into a Covalent Organic Framework for Photocatalytic Oxidation

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Angewandte Chemie 2024年第46期136卷

作者： Zhenping Li Junqiang Jiao Wenlong Fu Ke Gao Xinyuan Peng Zhiwei Wang Huagui Zhuo Chao Yang Mingyu Yang Gang Chang Lei Yang Xinglong Zheng Yang Yan Feng Chen Mingming Zhang Prof. Zheng Meng Prof. Xiaobo Shang State Key Laboratory for Mechanical Behavior of Materials Shaanxi International Research Center for Soft Matter School of Materials Science and Engineering Xi'an Jiaotong University Xi'an 710049 P. R. China These authors contributed equally to this work Key Laboratory of Precision and Intelligent Chemistry Department of Chemistry University of Science and Technology of China Hefei 230026 P. R. China Instrumental Analysis Center of Xi'an Jiaotong University Xi'an 710049 P. R. China Department of Cardiovascular Surgery The First Affiliated Hospital of Xi'an Jiaotong University Xi'an 710061 P. R. China State Key Laboratory for Manufacturing System Engineering and Shaanxi Key Laboratory of Photonics Technology for Information School of Electronic Science and Engineering Xi'an Jiaotong University Xi'an 710049 P. R. China

Perylene diimides (PDIs) have garnered considerable attention due to their immense potential in photocatalysis. However, manipulating the molecular packing within their aggregates and enhancing the efficiency of photogenerated carrier recombination remain significant challenges. In this study, we demonstrate the incorporation of a PDI unit into a covalent organic framework (COF), named PDI-PDA, by linking an ortho-substituted PDI with p -phenylenediamine (PDA) to control its intermolecular aggregation. The incorporation enables precise modulation of electron-transfer dynamics, leading to a ten-fold increase in the efficiency of photocatalytic oxidation of thioether to sulfoxide with PDI-PDA compared to the PDI molecular counterpart, with yields exceeding 90 %. Electron property studies and density functional theory calculations show that the PDI-PDA with its well-defined crystal structure, enhances π–π stacking and lowers the electron transition barrier. Moreover, the strong electron-withdrawing ability of the PDI unit promotes the spatial separation of the valency band maximum and conduction band minimum of PDI-PDA, suppressing the rapid recombination of photogenerated electron-hole pairs and improving the charge-separation efficiency to give high photocatalytic efficiency. This study provides a brief but effective way for improving the photocatalytic efficiency of commonly used PDI-based dyes by integrating them into a framework skeleton.

关键词： Perylene Diimide Covalent Organic Framework Photocatalysis Electron Transfer Superoxide Radical Anion

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Self-Tuning Asynchronous Filter for Linear Gaussian system and Applications

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1054-1061页

作者： Wenjun Lv Yu Kang Yunbo Zhao Department of Automation University of Science and Technology of ChinaHefei 230027China State Key Laboratory of Fire Science Department of Automation and Institute of Advanced TechnologyUniversity of Science and Technology of ChinaHefei 230027China Key Laboratory of Technology in GeoSpatial Information Processing and Application System Chinese Academy of SciencesBeijing 100190China College of Information Engineering Zhejiang University of TechnologyHangzhou 310023China

In this paper, optimal filtering problem for a class of linear Gaussian systems is studied. The system states are updated at a fast uniform sampling rate and the measurements are sampled at a slow uniform sampling rate. The updating rate of system states is several times the sampling rate of measurements and the multiple is constant. To solve the problem,we will propose a self-tuning asynchronous filter whose contributions are twofold. First, the optimal filter at the sampling times when the measurements are available is derived in the linear minimum variance sense. Furthermore, considering the variation of noise statistics, a regulator is introduced to adjust the filtering coefficients adaptively. The case studies of wheeled robot navigation system and air quality evaluation system will show the effectiveness and practicability in engineering.

关键词： Air quality evaluation system linear Gaussian system wheeled robot navigation system

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Development and implementation of a dynamic and 4D GIS based on semantic location model

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Geo-Spatial Information Science 2019年第3期22卷 193-213页

作者： Xinyan Zhu Tao Hu Xinyue Ye Wei Guo Liang Huang Hanjiang Xiong Haojun Ai Bing She Qing Xiong Lian Duan State Key Laboratory of Information Engineering in Surveying Mapping and Remote SensingWuhan UniversityWuhanChina Collaborative Innovation Center of Geospatial Technology Wuhan UniversityWuhanChina Center for Geographic Analysis Harvard UniversityCambridgeMAUSA Department of Informatics New Jersey Institute of TechnologyNewarkNJUSA Intelligent Transportation System Research Center Wuhan University of TechnologyWuhanChina University of Michigan Ann ArborUSA Geography Science and Planning School Guangxi Normal UniversityNanningChina Key Laboratory of Environment Change and Resources Use in Beibu Gulf Guangxi Teachers Education UniversityNanningChina

In the big data era,robust solutions are obliged to be proposed to integrate and represent data from different formats and with different contents to assist the *** cartographic and geographic information systems have limited capabilities for solving these *** paper describes an automatic and comprehensive system that conducts data fusion from all potentially related *** this system,a new Semantic Location Model(SemLM)is established to present the semantic concepts and location feature and demonstrate how locations are *** the SemLM,various types of location descriptors in different application scenarios can be analyzed and ***,considering the challenges involved in data-intensive computation and visualization,this paper implements a Place-based Pan-Information system(P2S)as an innovative 4D system that dynamically associates and visualizes place-based information,using public security as the case study.

关键词： Place-based pan-information system(P2S) big data semantic location model ubiquitous information 4D map

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3D Face Reconstruction system From A Single Photo Based On Regression Neural Network

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IFAC-PapersOnLine 2020年第5期53卷 71-76页

作者： Yatai Ji Keqiang Li Huaiyu Wu Gang Xiong Zhen Shen Xiuqin Shang Bangwen Xi The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Automation Tsinghua University Beijing 100084 China University of Chinese Academy of Sciences Beijing 100049 China The Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Donggguan 523808 China The Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing 100190 China

3D human face modeling is one of the most popular research directions in the field of computer stereo vision. On the one hand, the complex physiological structure of human face as well as various expressions and attitude changes bring great challenges to three-dimensional modeling, which makes the modeling method of human face have high research value and reference significance. On the other hand, 3D face reconstruction has a broad application prospect, and the application demand attracts more researchers to invest in it. Based on the 3DMM and 3DDFA method, this paper utilizes regression neural network to realize end-to-end face reconstruction. After that, we build a visualization program with the training model to realize face modeling based on a single face image of any pose or expression. It’s a 3D face reconstruction system which has functions such as face alignment, face rotation and so on.

关键词： face reconstruct 3DMM 3DDFA regression network

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I3−/I−Redox Reaction-mediated Organic Zinc-Air Batteries with Accelerated Kinetics and Long Shelf Lives

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Angewandte Chemie 2023年第26期135卷

作者： Mangwei Cui Ninggui Ma Hao Lei Youfa Liu Wei Ling Sheng Chen Jiaqi Wang Prof. Hongfei Li Zhaohui Li Prof. Jun Fan Prof. Yan Huang State Key Laboratory of Advanced Welding and Joining Sauvage Laboratory for Smart Materials Shenzhen Key Laboratory of Flexible Printed Electronics Technology School of Materials Science and Engineering Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China Department of Materials Science and Engineering City University of Hong Kong 83 Tat Chee Avenue Kowloon Hong Kong 999077 China Key Laboratory of Radiation Physics and Technology of Ministry of Education Institute of Nuclear Science and Technology Sichuan University Chengdu 610064 China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen 518055 China Songshan Lake Materials Laboratory Dongguan 523808 China Shenzhen China Star Optoelectronic Semiconductor Display Technology Co. Ltd. Shenzhen 518055 China

The storage time of Zn-air batteries (ZABs) for practical implementation have been neglected long-lastingly. ZABs based on organic solvents promise long shelf lives but suffer from sluggish kinetics. Here, we report a longly storable ZAB with accelerated kinetics mediated by I 3 − /I − redox. In the charge process, the electrooxidation of Zn 5 (OH) 8 Cl 2 ⋅H 2 O is accelerated by I 3 − chemical oxidation. In the discharge process, I − adsorbed on the electrocatalyst changes the energy level of oxygen reduction reaction (ORR). Benefitting from these advantages, the prepared ZAB shows remarkably improved round-trip efficiency (56.03 % vs. 30.97 % without the mediator), and long-term cycling time (>2600 h) in ambient air without replacing any components or applying any protective treatment to Zn anode and electrocatalyst. After resting for 30 days without any protection, it can still directly discharge continuously for 32.5 h and charge/discharge very stably for 2200 h (440 cycles), which is evidently superior to aqueous ZABs (only 0/0.25 h, and 50/25 h (10/5 cycles) by mild/alkaline electrolyte replenishment). This study provides a strategy to solve both storage and sluggish kinetics issues that have been plaguing ZABs for centuries, opening up a new avenue to the industrial application of ZABs.

关键词： Iodine-Containing Reaction Kinetics Redox Mediators Storage Time Zn-Air Batteries

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Design and Implementation of a Lightweight Lower Extremity Exoskeleton

Design and Implementation of a Lightweight Lower Extremity E...

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作者： Jiamin Mu Hongzhou Jiang Yuxiang Hua Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Fluid Control and Automation Harbin Institute of Technology

This paper summarizes the biomechanics simulation and design of a lightweight lower extremity exoskeleton. The biomechanics simulation was carried out using LifeMOD to obtain joint torques of human body in the condition of its applications including walking on flat ground, ascending stairs, sitting down and standing up which provided the design criteria of actuating torques. The anthropomorphically based exoskeleton has 7 degrees of freedom per leg, two of which are powered by brushless DC motors, and the total mass is less than 12 kg due to the use of carbon fiber material and the compact structural design and optimization. Controlling and sensing system based on CANopen communication protocol is proposed which can provide high communication efficiency and reliability for the control of the exoskeleton.

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