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2024 IEEE International Conference on Control Science and systems Engineering, ICCSSE 2024

作者： Xu, Yansong Li, Junlin Luo, Haitao Dong, Yuming Wang, Yaowei Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China University of Chinese Academy of Sciences Shenyang China School of Mechanical Engineering Shenyang University of Technology Shenyang China

ISBN: (纸本)9798331517199

This paper conducts an in-depth study on the mobility and stability of lunar exploration robots in the complex lunar environment. By defining the robot's primary geometric parameters and two typical motion configurations, the paper analyzes the distribution of wheel loads, mobility performance, and stability performance. Specifically, considering the characteristics of the soft lunar soil, a contact dynamics model between the wheels and the soft lunar soil is established. The discrete element method (DEM) was used to simulate the lunar soil surface, and multi-body dynamics and DEM coupled simulation experiments were conducted. The experimental results indicate that the robot's mobility and stability are significantly affected by the height of the center of mass and ground clearance. The analysis of traction torque, sinkage, and slip ratio further verifies the accuracy and practicality of the model. This research provides theoretical foundations and technical support for the design and operation of lunar exploration robots. © 2024 IEEE.

关键词： Wheels

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Enhanced Channel-Phase Based Physical-Layer Authentication for Multi-Carriers Transmission 24

Enhanced Channel-Phase Based Physical-Layer Authentication f...

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24th IEEE International Conference on Communication technology, ICCT 2024

作者： Shi, Yuxin Lu, Xinjin Ren, Bingyin Li, Yusheng An, Kang National University of Defense Technology Nanjing210000 China National University of Defense Technology Changsha410000 China State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System Luoyang471003 China

ISBN: (纸本)9798350363760

This paper focuses on the threat that the eavesdropper uses an extremely high transmit power to send the authentication response, which aims to pass the Physical-Layer Authentication (PLA) illegally. To prevent eavesdropper from decreasing the authentication performance, we propose an enhanced channel-phase based PLA for multi-carriers transmission, where a novel two-level decision is used in the channel-phase based PLA scheme. We further derive the optimal threshold for accurately detecting the response signal with high transmit power. Moreover, the theoretical performance analysis is provided for the proposed scheme. Simulation results show that the proposed scheme significantly enhances the authentication performance, and indicates the effectiveness of the theoretical analysis. © 2024 IEEE.

关键词： Authentication Protocol

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Machining Efficiency Optimization in Flank Milling of Curved Thin-walled Workpieces with Target Machining Accuracy 4th

Machining Efficiency Optimization in Flank Milling of Curved...

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4th International Conference on Mechanical Design and Simulation, MDS 2024

作者： Yuan, Xing Fan, Yuqi Ma, Tao Wang, Shuting Mao, Xinyong Zhang, Lei School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430074 China State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System Inner Mongolia Baotou City China

ISBN: (纸本)9789819778867

Curved aluminium alloy thin-walled workpieces are an integral part of essential components in aerospace. Aggressive machining parameters can reduce the machined surface roughness and dimensional accuracy during flank milling for the thin-walled workpiece. However, conservative machining parameters can constrain the machining efficiency. To solve this issue, this article develops a machining parameter optimization method for curved thin-walled workpieces during flank milling. The method comprehensively considers the impact of time-varying deflection and material removal of curved thin-walled workpieces during the flank milling and further analyses the influence of machining parameters on machining surface roughness and dimensional accuracy. The optimized processing parameters can maximize the processing efficiency for curved thin-walled workpiece to satisfy the processing dimensional precision and surface roughness. © The Author(s) 2025.

关键词： Milling (machining)

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A Two-Stage Solution Approach Based on Complementary Constraints and the Transformer Model with a Dummy Node for Dynamic Reactive Power Optimization 9th

A Two-Stage Solution Approach Based on Complementary Constra...

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9th Purple Mountain Form on Smart Grid Protection and Control, PMF 2024

作者： Huang, Hua Xu, Taishan Gao, Zonghe Dai, Zemei Chen, Tianhua Bo, Lin Lu, Jinjun Tu, Mengfu State Key Laboratory of Technology and Equipment for Defense Against Power System Operational Risks Jiangsu Nanjing211106 China NARI Technology Co. Ltd. Jiangsu Nanjing211106 China Jiangsu Nanjing211106 China

ISBN: (纸本)9789819616701

A two-stage solution approach based on complementary constraints and The Transformer Model with A Dummy Node is proposed to efficiently solve the large-scale nonlinear dynamic reactive power optimization (DRPO) problem with multi-period period coupled absolute value constraints and integer variables. The model for DRPO problem is represented by adding the voltage of the dummy nodes in the on-load tap changer transformer model to express the power and voltage relations firstly. Then the multi-period coupled absolute value constraints in the model are relaxed by linearization method, and the original model is respectively converted into a continuous mathematical programming model with complementary constraints based on complementary conditions and equivalent conversion of discrete variables. The solution steps are decomposed into two stages which are solved by the interior point method sequentially. In the first stage, the approximate optimization solution for discrete variables is quickly obtained without considering complementary constraints. And in the second stage, the complete model with complementary constraints is solved to obtain accurate optimization solutions for both discrete and continuous variables. Furthermore, a sparse storage and fast calculation method is proposed to reduce the computational complexity of the integrated Hessian matrix during the iteration of the interior point method. The simulation results of standard test systems such as IEEE 118-bus demonstrate the effectiveness and efficiency of the proposed approach. © state Grid Electric Power 2025.

关键词： Integer linear programming

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A Fabric-Based Flexible Actuator for Thumb Joints of Soft Anthropomorphic Hands 23rd

A Fabric-Based Flexible Actuator for Thumb Joints of Soft An...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Zhao, Yi Zhang, Ningbin Feng, Miao Gu, Guoying State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789811993978

Although various advanced anthropomorphic hands have been proposed, the design and fabrication of thumb joints to achieve dexterity function in a limited space is still a great challenge. To promote the dexterity of the anthropomorphic thumb joints in the cramped space of the palm, we present a fabric-based flexible actuator used for thumb joints to realize two degrees of freedom (DOFs): circumduction and adduction. First, we introduce the design concept inspired by muscle groups of the human palm. A kind of pneumatic small-scale actuators that relies on fabric-crease to produce deformation is proposed. Then the properties of flexible lightweight actuators are characterized. The actuators just need ± 10 kPa pressure to realize a flexion range of 90°. Finally, we modularly assemble the actuators to construct a compact two DOFs thumb joints. Experimental results show that the applied fabric-based thumb joints can achieve dexterous manipulation like sliding the smartphone screen. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Degrees of freedom (mechanics)

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Reinforcement Learning Based Airport Runway Risk Decision

Reinforcement Learning Based Airport Runway Risk Decision

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2023 China Automation Congress, CAC 2023

作者： Jiang, Zhiqian Bao, Fan Liang, Yongsheng Hu, Jie Zhang, Mingwei The 28th Research Institute of China Electronics Technology Group Corporation State Key Laboratory of Air Traffic Management System Nanjing China

ISBN: (纸本)9798350303759

The continuous growth of civil airport throughput brings enormous pressure to airport safety management. The existing passive safety management method cannot efficiently control risk in advance and lacks consideration of airport operation efficiency, leading to degradation on airport operation efficiency. To overcome these issues, we propose a reinforcement learning based runway risk decision method which dynamically adjusts the take-off and landing runway for the upcoming flight, based on current pavement crack level and airport operation status. Besides, a risk decision evaluation metrics that can comprehensively reflect the airport operation efficiency and safety is designed to evaluate the pros and cons of risk decision-making. Furthermore, to evaluate the robustness of risk decision, the impact of different parameter settings and network structures on the method performance are compared. Experimental results show that our proposed method improves the comprehensive evaluation of safety and efficiency by 1.50%-37.41%. © 2023 IEEE.

关键词： Reinforcement learning

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Meta-Learning Multi-Scale Radiology Medical Image Super-Resolution

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Computers, Materials & Continua 2023年第5期75卷 2671-2684页

作者： Liwei Deng Yuanzhi Zhang Xin Yang Sijuan Huang Jing Wang Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration School of AutomationHarbin University of Science and TechnologyHarbin150080HeilongjiangChina Department of Radiation Oncology Sun Yat-sen University Cancer CenterState Key Laboratory of Oncology in South ChinaCollaborative Innovation Center for Cancer MedicineGuangdong Key Laboratory of Nasopharyngeal Carcinoma Diagnosis and TherapyGuangzhou510060GuangdongChina Faculty of Rehabilitation Medicine Biofeedback LaboratoryGuangzhou Xinhua UniversityGuangzhou510520GuangdongChina

High-resolution medical images have important medical value,but are difficult to obtain *** by hardware equipment and patient’s physical condition,the resolution of directly acquired medical images is often not ***,many researchers have thought of using super-resolution algorithms for secondary processing to obtain high-resolution medical ***,current super-resolution algorithms only work on a single scale,and multiple networks need to be trained when super-resolution images of different scales are *** definitely raises the cost of acquiring high-resolution medical ***,we propose a multi-scale superresolution algorithm using *** algorithm combines a metalearning approach with an enhanced depth of residual super-resolution network to design a meta-upscale *** meta-upscale module utilizes the weight prediction property of meta-learning and is able to perform the super-resolution task of medical images at any ***,we design a non-integer mapping relation for super-resolution,which allows the network to be trained under non-integer magnification *** to the state-of-the-art single-image super-resolution algorithm on computed tomography images of the pelvic *** meta-learning multiscale superresolution algorithm obtained a surpassing of about 2%at a smaller model *** on different parts proves the high generalizability of our ***-scale super-resolution algorithms using meta-learning can compensate for hardware device defects and reduce secondary harm to patients while obtaining high-resolution medical *** can be of great use in imaging related fields.

关键词： Super resolution deep learning meta learning computed tomography

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Harmonic state-Space Based AC-Side Impedance Model of MMC and High Frequency Oscillation Characteristics Analysis

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Energy Engineering 2023年第4期120卷 831-849页

作者： Hui Fang Jingsen Zhou Haozheng Wang Yanxu Wang Hongji Xiang Yechun Xin State Grid Chongqing Electric Power Company Research Institute Chongqing401120China Key Laboratory of Modern Power System Simulation and Control&Renewable Energy Technology(Northeast Electric Power University) Jilin132012China

Recently,high-frequency oscillation of themodularmultilevel converter(MMC)based high-voltage direct current(HVDC)projects has attracted great *** order to analyze the small-signal stability,this paper uses the harmonic state-space(HSS)method to establish a detailed frequency domain impedance model of the AC-side of the HVDC transmission system,which considers the internal dynamic *** addition,the suggested model is also used to assess the system’s high-frequency oscillationmechanism,and the effects of the MMC current inner loop control,feedforward voltage links,and control delay on the high-frequency impedance characteristics and the effect of higher harmonic ***,three oscillation suppression schemes are analyzed for the oscillation problems occurring in actual engineering,and a simplified impedance model considering only the highfrequency impedance characteristics is established to compare the suppression effect with the detailed impedance model to prove its reliability.

关键词： Modular multilevel converter impedance modeling small-signal stability suppression strategy

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Data-induced learning control for unknown nonlinear systems with full-tracking performances

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Science China(Information Sciences) 2025年

作者： Changxin LU Deyuan MENG Hongyi LI School of Automation Science and Electrical Engineering Beihang University (BUAA) State Key Laboratory of CNS/ATM Seventh Research Division Beihang University (BUAA) College of Electronic and Information Engineering Southwest University Chongqing Key Laboratory of Generic Technology and System of Service Robots Southwest University

In tackling the challenge of achieving high control accuracy while refining control effort in unknown nonlinear systems, this paper presents a novel data-induced learning control (DiLC) method. The DiLC method marks the inaugural use of operational data to iteratively update controller parameters for unknown nonlinear systems, thereby achieving full-tracking performances over the entire operation time interval. The DiLC method enriches the traditional iterative learning control(ILC) paradigm by integrating a feedback control-based approach. This integration enables exploratory trials during the initial iteration process and facilitates the online collection and iterative utilization of operational data from actual operations,thus gradually enhancing control accuracy. Furthermore, it offers a significant advantage over prevalent finite/fixed-time and prescribed performance methods in repeatable tasks. Inspired by leveraging operational data, it effectively mitigates the constraints imposed on the system and adjustment parameters by existing methods, hence providing a more flexible and efficient solution. The efficiency of the DiLC method in accuracy evolution is proven through error reduction profiles,confirming its prospect for full-tracking performances in unknown nonlinear systems.

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