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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Wei, Feili Gu, Chaochen Wu, Kaijie Cheng, Hao Department of Automation Shanghai Jiao Tong University Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350327182

The utilization of impedance control is capable of achieving excellent force tracking performance. However, the balance between stability and flexibility is seldom considered in current methods. To address this issue, a novel adaptive variable impedance controller for contact force tracking is proposed in this study. Lyapunov theory is applied to develop an adaptive adjustment law of damping parameter in impedance control to enhance the robot's adaptability to uncertain environment and dynamic desired force. Additionally, a force compensator is designed based on direct adaptive control to expedite the response of force tracking. What sets this proposed method apart is that it does not require an accurate understanding of environmental parameters. Instead, it dynamically modifies the impedance parameters based on the force error to guarantee the stability and coordination of the system. Simulation results indicate that the proposed controller improves the flexibility and robustness of the force tracking capability of the robot system when compared to existing variable impedance control methods and effectively diminishes force overshoot. © 2023 IEEE.

关键词： Uncertainty analysis

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Building Temperature and Humidity Adaptive control for a Multi-Zone HVAC system Using Hybrid Modeling Method

Building Temperature and Humidity Adaptive Control for a Mul...

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2022 IEEE International Conference on Industrial Technology, ICIT 2022

作者： Jiang, Yuliang Zhu, Shanying Xu, Qimin Yang, Bo Guan, Xinping Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China 200240 Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China 200240

ISBN: (纸本)9781728119489

In this paper, the heating, ventilation and air conditioning (HVAC) system as the contributor of building climate management is studied on multi-zone climate dynamics modelling and control for occupancy comfort. The first-principles model together with data-driven model as the hybrid model is proposed for comprehensive multi-zone hygro-thermal dynamics. The unmodeled climate dynamics such as unknown nonlinearity and uncertainty is modeled in a linear form based on the compact form dynamic linearization (CFDL) method. Then model free adaptive control (MFAC) scheme including controller design and parameter estimation is proposed to realize multi-zone climate control and occupancy comfort. The dynamic response performance of the hybrid model-based adaptive control and the first-principles model-based adaptive control has been tested in a multi-zone building with four different zones. The results show that the proposed hybrid model-based adaptive control scheme can achieve obvious performance improvement in minimizing steady-state error. © 2022 IEEE.

关键词： controllers

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IEEE Transactions on Aerospace and Electronic systems 2025年第3期61卷 7597-7609页

作者： Wu, Wenjing Fu, Hanjing Cui, Kaixin Liu, Zhigang Yang, Dong Shi, Dawei Beijing Institute of Technology MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

Data limitation caused by the difficulty of data acquisition, the high cost of data collection, and the changes of working conditions is a serious obstacle to the accurate lithium-ion battery SOH estimation for spacecrafts system. To achieve accurate few-shot lithium-ion battery state of health(SOH) estimation and enhance the adaptability of learning methods across varying working conditions, a domain similarity model agnostic meta-learning method (DS-MAML) is proposed. First, we design a dynamic-static feature extraction method to adequately exploit information from the limited battery data and link the obtained features by gray correlation coefficients to collect sufficient information. Then, by calculating the domain similarity between the training tasks through the maximum mean discrepancy algorithm, the training tasks are ranked to reduce the re-training time. Finally, an LSTM model is added to the meta-learning framework to capture the long-term dependency relationships between SOH and time series of the voltage, and the ranked tasks are embedded in the meta-training process to improve adaptability in different working conditions. The effectiveness of the proposed method is validated by NASA and MIT datasets, and comparative experimental results illustrate that the proposed method average error is reduced by 73%, and the running speed is increased by 20% compared with traditional MAML in few-shot scenarios. © 1965-2011 IEEE.

关键词： State of charge

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Nonlinear Dynamic Behavior and Vibration Mechanism of a Large Range Rotating Elastic Beam Under Parallel Misalignment Constraints 10

Nonlinear Dynamic Behavior and Vibration Mechanism of a Larg...

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10th International Conference on Advances in Machinery, Material Science and engineering Application, MMSE 2024

作者： Zhao, Lei Xu, Meiye Zhai, Ran Jiao, Likuan Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China School of Mechanic Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781643685465

Large rotating flexible machines are prone to vibration at high speeds, which is a difficult engineering problem. In this study, we have deeply explored its nonlinear dynamic behavior and vibration mechanism, especially considering the effect of parallel misalignment. Through mathematical modeling and MATLAB simulations, we found that the rotational speed and the amount of misalignment are the key parameters affecting the stability of the system. The results show that the rotational speed and parallel misalignment are the sensitive parameters of the system. When the amount of misalignment is 0.002 mm, with the increase of rotational speed, the elastic beam exhibits nonlinear M-type vibration, doubly periodic and chaotic behaviors, which show high-frequency abrupt excitation;when the angular speed is 50 rad/s, with the increase of the amount of misalignment from 0.001 mm to 0.1 mm, the system exhibits the transformation of doubly periodic, chaotic and proposed periodic motions, and the characteristics of intermittent vibration are significant. These results provide an important theoretical basis for suppressing its nonlinear vibration. © 2024 The Authors.

关键词： Rotating machinery

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Construction and Application of the Teaching Cloud Platform for engineering Drawing Course 12

Construction and Application of the Teaching Cloud Platform ...

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12th IEEE International Conference on Educational and Information Technology, ICEIT 2023

作者： Xue, Yahong Mu, Haozhi Xue, Lijun Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9781665475518

A cloud platform for engineering drawing course teaching was proposed based on cloud station. The cloud station can solve the common problems existed in engineering drawing course, such as the difficulty of teaching, the heavy work of tutorship, the poor teaching effect, the weak spatial imagination of students, as well as the current difficulty to develop the virtual model resource base and the interaction is not strong. The platform uses Solidworks software to build 3D model library, and combines with CADbro's powerful cloud service and 3D file viewing function to realize the interaction and sharing with cloud model by using web browser. At the same time, we choose bilibili, a popular cultural site for teenagers, to release the explanation videos of exercises, and make use of the convenient way to build the cloud station to integrate, release and manage the resources. The platform realizes self-study and self-test at anytime and anywhere on both PC and mobile devices, and fast jumps the corresponding explanation video and cloud virtual model according to the demand. The virtual model in the cloud can be rotated, cut, distance measured, exploded, parts hidden, moved, 2D viewed and so on by touch. The platform is innovative, extensible, interesting and practical, which can greatly enhance the students' enthusiasm for independent learning, and it can be used reference to the development of engineering drawing teaching resources. © 2023 IEEE.

关键词： 3D modeling

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Multipath planning based on multimodal optimization slime mold algorithm

Multipath planning based on multimodal optimization slime mo...

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2024 International Conference on Culture-Oriented Science and Technology, CoST 2024

作者： Gao, Luli Ren, Hui Communication University of China School of Information and Communication Engineering Bejing China Key Laboratory of Acoustic Visual Technology and Intelligent Control System Communication University of China Ministry of Culture and Tourism Bejing China Beijing Key Laboratory of Modern Entertainment Technology Communication University of China Bejing China

ISBN: (纸本)9798350380347

Multipath planning aims to find multiple optimal paths simultaneously, and its essence is a multimodal optimization problem. In recent years, swarm intelligence (SI) optimization algorithms have provided effective solutions for multimodal optimization. In this paper, the multimodal optimization slime mold algorithm (MOSMA) based on master-slave structure and local search strategy (LS) is proposed to solve multipath planning problems in small cultural complex. Firstly, a local search strategy is introduced to eliminate the influence of the 'centerbias' operator and improve the quality of solutions. Secondly, the master-salves structure is introduced to preserve the diversity of the population and enable it to simultaneously locate multiple solutions. Finally, the performance of MOSMA is analyzed on several multimodal functions, and an example of path planning in a small cultural complex is given. © 2024 IEEE.

关键词： Optimization algorithms

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A Singing Formant Extraction Method Based on Peak Fitting

A Singing Formant Extraction Method Based on Peak Fitting

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2024 International Conference on Culture-Oriented Science and Technology, CoST 2024

作者： Liu, Jingyu Wu, Jiawei Jiang, Wei State Key Laboratory of Media Convergence and Communication Communication University of China 100024 China Key Laboratory of Acoustic Visual Technology and Intelligent Control System Ministry of Culture and Tourism Communication University of China 100024 China Communication University of China School of Information and Communication Engineering 100024 China

ISBN: (纸本)9798350380347

Analyzing the timbre characteristics of different singing genres is an important issue in the field of singing acoustics. Formants are an important characteristic parameter for timbre perception, but classical acoustic formant extraction methods lack accuracy and applicability in the analysis of singing genres. In order to solve the problem of insufficient accuracy and applicability of singing formants in singing genre analysis, this paper proposes a singing formant extraction method based on peak fitting. The paper summarizes the theory and methods of extracting vocal formants and based on a large amount of experimental data analysis, proposes a vocal formant feature extraction method based on peak fitting;The effectiveness of the singing formant extraction method based on peak fitting was verified through comparative experiments with existing formant algorithms. This article provides new research ideas and methods for extracting acoustic features in singing. © 2024 IEEE.

关键词： audio feature extraction formant peak fitting singing acoustic singing genre

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Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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AoI-Reliability Analysis with Block Length over Erasure Channels Using Rateless Codes 24

AoI-Reliability Analysis with Block Length over Erasure Chan...

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24th IEEE International Conference on Communication Technology, ICCT 2024

作者： Huang, Haobo Fu, Yusun Qiao, Yue Yin, Junpeng Yan, Weiwu Shanghai Jiao Tong University Ningbo Artificial Intelligence Institute Ningbo China Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798350363760

As a metric to measure the information freshness, Age of Information (AoI) is widely used to evaluate low-latency high-reliability communication. Since the communication in Industrial Internet of Things (IIoT) often has the special requirements, the relationship among AoI, reliability and block length in time-critical scenarios with bounded latency and non-time-critical scenarios without bounded latency is explored respectively in this paper, based on erasure channels using rateless codes. We build a model using LT codes over erasure channels and consider two metrics: average AoI and bounded AoI. Theoretical analysis and simulation results show that AoI has a minimum value with different block lengths. Furthermore, we draw a conclusion that the minimum value of AoI under different reliability is monotonically decreasing functioned with reliability. Finally, the impact of overhead on reliability and AoI of LT codes in time-critical scenarios is studied. © 2024 IEEE.

关键词： Turbo codes

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Association between Timbre Perception Features and Fine-Grained Emotions in Film and Television Music

Association between Timbre Perception Features and Fine-Grai...

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2024 International Conference on Culture-Oriented Science and Technology, CoST 2024

作者： Ren, Xiaomeng Su, Zhibin Jiang, Wei Liu, Jingyu State Key Laboratory of Media Convergence and Communication Communication University of China 100024 China Ministry of Culture and Tourism Communication University of China Key Laboratory of Acoustic Visual Technology and Intelligent Control System 100024 China School of Information and Communication Engineering Communication University of China 100024 China

ISBN: (纸本)9798350380347

As an integral component of modern cultural works, the role of film and television music in artistic expression and emotional communication has become increasingly significant. Timbre, as a crucial attribute of music, has primarily been studied in terms of the influence of its fundamental objective parameters on coarse-grained emotions. However, there is a lack of in-depth exploration of the association between timbre perception features and fine-grained emotion. Consequently, this paper approaches from the perspective of timbre perception features and fine-grained emotions in film and television music. By conducting perceptual evaluation and subjective emotional annotation experiments, it analyzes the correlation between timbre perception features and fine-grained emotions, confirming that timbre perception features significantly influence musical emotions. Furthermore, a multivariate linear regression model was employed to construct a fine-grained emotion prediction model, which has demonstrated good predictive ability for most musical emotions. This research provides a new perspective on understanding the relationship between timbre and emotion in film and television music, offering a scientific basis for its creation and performance. © 2024 IEEE.

关键词： fine-grained emotion multiple linear regression timbre emotion association timbre perception features

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