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PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

Control Theory and Technology 2024年第4期22卷 552-567页

作者： Peng Huang Yawu Wang Yue Zhang Jundong Wu Chun-Yi Su School of Automation China University of GeosciencesWuhan430074HubeiChina Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074HubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan430074HubeiChina Gina Cody School of Engineering and Computer Science Concordia UniversityMontrealQCH3G 1M8Canada

Smart soft dielectric elastomer actuators(SSDEAs)possess wide applications in soft robotics due to their properties similar to natural muscles,including large deformation ratio,high energy density,and fast response ***,the complicated asymmetric and rate-dependent hysteresis property,creep property and quadratic input property of the SSDEA pose enormous challenges to its dynamic modeling and motion *** this paper,first,we construct the dynamic model of the SSDEA by connecting a square module,a one-sided Prandtl–Ishlinskii(OSPI)model and a linear system in series to describe the above *** key and innovative aspect of the dynamic modeling lies in cascading the square module in series with the OSPI model to construct the asymmetric hysteresis ***,a PI-funnel and inverse hysteresis compensation(PIFIHC)cascade control method of the SSDEA is proposed to actualize its tracking control *** performing the inversion operation on the asymmetric hysteresis model,the inverse hysteresis compensation controller(IHCC)is designed to compensate the asymmetric hysteresis property and quadratic input property of the *** addition,a PI-funnel controller is designed to cascade with the IHCC to construct the PIFIHC cascade controller to obtain a good tracking ***,the stability analysis of the PIFIHC cascade control system of the SSDEA is performed to theoretically prove that the tracking error can be controlled within the performance funnel and the steady-state error converges to ***,several practical tracking control experiments of the SSDEA are conducted,and RRMSEs are less than 2.30%for all *** experimental results indicate the effectiveness and feasibility of the proposed PIFIHC cascade control method of the SSDEA.

关键词： Smart soft dielectric elastomer actuator Dynamic modeling Inverse hysteresis compensation controller PI-funnel controller Cascade controller

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Network Structure Governs Drosophila Brain Functionality

arXiv

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arXiv 2024年

作者： Zhang, Xiaoyu Yang, Pengcheng Feng, Jiawei Wen, Kang Luo, Qiang Lin, Wei Lu, Xin College of Systems Engineering National University of Defense Technology Changsha410073 China Research Institute of Intelligent Complex Systems Fudan University Shanghai200433 China

How intelligence emerges from living beings has been a fundamental question in neuroscience. However, it remains largely unanswered due to the complex neuronal dynamics and intricate connections between neurons in real neural systems. To address this challenge, we leveraged the largest available adult Drosophila connectome data set, and constructed a comprehensive computational framework based on simplified neuronal activation mechanisms to simulate the observed activation behavior within the connectome. The results revealed that even with rudimentary neuronal activation mechanisms, models grounded in real neural network structures can generate activation patterns strikingly similar to those observed in the actual brain. A significant discovery was the consistency of activation patterns across various neuronal dynamic models. This consistency, achieved with the same network structure, underscores the pivotal role of network topology in neural information processing. These results challenge the prevailing view that solely relies on neuron count or complex individual neuron dynamics. Further analysis demonstrated a near-complete separation of the visual and olfactory systems at the network level. Moreover, we found that the network distance, rather than spatial distance, is the primary determinant of activation patterns. Additionally, our experiments revealed that a reconnect rate of at least 1‰ was sufficient to disrupt the previously observed activation patterns. We also observed synergistic effects between the brain hemispheres: Even with unilateral input stimuli, visual-related neurons in both hemispheres were activated, highlighting the importance of interhemispheric communication. These findings emphasize the crucial role of network structure in neural activation and offer novel insights into the fundamental principles governing brain functionality. Copyright © 2024, The Authors. All rights reserved.

关键词： Neurons

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Distributed Finite-Time Anti-Disturbance Secondary Voltage Regulation for Islanded Alternating-Current Microgrids 41

Distributed Finite-Time Anti-Disturbance Secondary Voltage R...

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第41届中国控制会议

作者： Xuechao Qiu Guanjun Li Xiangyu Wang School of Automation Southeast Universityand Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education China Electric Power Research Institude Company Ltd.

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,a distributed finite-time anti-disturbance secondary voltage regulation problem is investigated for islanded alternating-current(AC) microgrids with unmeasurable states and *** combining the integral-type nonsingular terminal sliding-mode control and finite-time extended-state observer technique together,distributed finite-time anti-disturbance secondary voltage regulation protocols are *** order to estimate the unmeasurable states and disturbances,some finite-time extended-state observers are constructed at ***,according to the estimates of disturbances and unmeasurable states,some integral-type nonsingular terminal sliding-mode surfaces are designed for the ***,secondary voltage regulation protocols are proposed based on the *** the islanded AC microgrid system,these protocols achieve the output voltage consensus in finite *** demonstrate the effectiveness of the proposed secondary voltage regulation protocols.

关键词： Islanded Alternating-Current Microgrids Disturbance Rejection Control Secondary Voltage Regulation Output-Feedback Control

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A Task Assignment Scheme Designed for Online Urban Sensing Based on Sparse Mobile Crowdsensing

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IEEE Internet of Things Journal 2025年第11期12卷 17791-17806页

作者： Zeng, Hongjian Xiong, Yonghua She, Jinhua Yu, Anjun China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China Tokyo University of Technology School of Engineering Hachioji Tokyo192-0982 Japan Jiangxi Ganyue Expressway Co. Ltd Jiangxi Nanchang330000 China

Sparse Mobile Crowdsensing (SMCS) achieves urban-scale environmental sensing by assigning tasks to workers in specific subareas and inferring global data from the collected information. However, the effectiveness of SMCS is often limited because many studies overlook workers' mobility and data collection time during subarea selection, as well as the time constraints of the sensing cycle in task assignment. This may affect the task completion timeliness and data quality. To address these issues, we develop a subarea evaluation method based on deep reinforcement learning, considering both the temporal effectiveness of sensing tasks and the importance of subarea selection for data inference. Using the subarea evaluation values derived from this method, we establish an online urban sensing task assignment model which is subject to constraints of sensing cycle time and cost budget. This model aims to find the task assignment result that minimizes data inference error by maximizing the comprehensive utility value. Considering the characteristics of the task assignment model, we propose an evolutionary algorithm named OTA-EA, which is based on an improved genetic algorithm. Its enhanced evolutionary operators can avoid generating infeasible solutions while maintaining robust search and optimization performance. Lastly, we conduct experimental evaluations of these methods on the real-world datasets. The results demonstrate that our subarea evaluation method can significantly reduce the data inference error, and our evolutionary task assignment algorithm can achieve better task assignment results than the baseline algorithms. © 2014 IEEE.

关键词： Genetic algorithms

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Insights into the microstructural design of high-performance Ti alloys for laser powder bed fusion by tailoring columnar prior-βgrains andα-Ti morphology

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Journal of Materials Science & Technology 2024年第20期187卷 156-168页

作者： S.X.Wang S.F.Li X.M.Gan R.D.K.Misra R.Zheng K.Kondoh Y.F.Yang State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Science and Technology on Particle Materials Chinese Academy of SciencesBeijing 100190China Department of Metallurgical Materials and Biomedical EngineeringUniversity of TexasEl Paso TX 79968USA Joining and Welding Research Institution Osaka University11-1 MihogaokaIbarakiOsaka 567-0047Japan

A high-performance Ti-Ni-B alloy with good tensile properties and reduced mechanical anisotropy was developed by promoting the columnar to equiaxed transition(CET)of prior-βgrains and modifyingα-laths to equiaxed *** Ni and B contributed to the refinement of columnar prior-βgrains during the L→βphase transformation by generating constitutional *** with Ni,B had a su-perior capability of generating constitutional undercooling,which not only replaced a significant amount of Ni with a minor addition to reduce the formation of brittle eutectoid,but also reacted with Ti to form TiB to promote heterogeneous nucleation ofα-Ti grains during theβ→αphase *** with the restricted growth ofα-laths induced by the refinement of prior-βgrains,a fully equiaxedα-Ti structure was *** competition between the negative effect of brittle eutectoid and the positive role ofα-lath to equiaxed grain transition on the ductility of as-printed Ti-Ni-B alloys was fundamen-tally governed by the morphology of eutectoid and technically dependent on the Ni-B *** the addition was 1.2Ni-0.06B(wt.%)or less,the positive effect ofα-lath on equiaxed grain transition can effectively mitigate the issue of reduced ductility caused by brittle *** contrast,at 1.8Ni-0.09B or greater,the negative effect of eutectoid *** insights into microstructural design obtained through the aforementioned approach were presented and discussed.

关键词： Laser powder bed fusion Titanium alloys Grain refinement Powder processing Anisotropy

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Digital Influencer's choice of product endorsement:A perspective of congruence

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Journal of Management Science and engineering 2023年第3期8卷 305-324页

作者： Nan Feng Wenfan Zhao Haiyang Feng Minqiang Li Liang Xian Collge of Management and Economics Tianjin UniversityTianjin300072China Tianjin University(Qingdao)Ocean Engineering Research Institute Co.LTD Qingdao266000China Laboratory of Computation and Analytics of Complex Management Systems(CACMS) Tianjin UniversityTianjin300072China

To infer product fitness information,consumers often consult digital influencers who exert effort to learn and evaluate product features and then propagate information to their ***,influencers'recommendations are not limited to products that exactly match their expertise,which may lead followers to unfollow *** study investigates which product(high or low congruence)an influencer should endorse and how much endorsement effort should be *** a theoretical model,we obtain several interesting ***,endorsing a low-congruence product can surprisingly benefit the influencer if the penalty per lost follower is moderate or if the influencer has sufficiently high efficiency in reducing the perception error of this ***,although the influencer has high expertise in the high-congruence product,she will lose more followers when endorsing it than when endorsing the low-congruence product if a particularly small or large proportion of her followers are potential consumers of the low-congruence ***,when the influencer endorses the low-congruence product,the number of new followers increases with the size of the influencer's follower base only when the follower base is small and a large proportion of followers are potential consumers of the low-congruence ***,as the size of the follower base increases,the influencer always exerts more effort when endorsing the high-congruence product but will exert less effort in learning about the low-congruence product if a sufficiently small proportion of followers are potential ***,after taking consumers'knowledge about product features into account,the main results still hold,and when considering the competition between influencers,we uncover the conditions under which both influencers will choose to endorse the high-congruence product.

关键词： Social media Influencer marketing Product congruence Endorsement choice

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Haptic-Aided Navigation Vehicle: Enhancing Obstacle Detection in Blind Spots and Transparent Object Scenarios

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Journal of Shanghai Jiaotong University (Science) 2025年 1-9页

作者： Li, Mingwang Li, Xinde Zhang, Zhentong Zhang, Zeyu Zhao, Haoming School of Software Southeast University Suzhou Jiangsu215000 China School of Automation Southeast University Nanjing210018 China School of Cyber Science and Engineering Southeast University Nanjing211102 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education Nanjing214135 China Nanjing Center for Applied Mathematics Nanjing211135 China Southeast University Shenzhen Research Institute Shenzhen Guangdong518063 China

As autonomous mobile robots are increasingly deployed in complex environments, traditional vision sensors and LiDAR encounter considerable limitations, particularly in detecting obstacles in blind spots or transparent objects. To address the issue of blind spots, we design a specialized haptic sensing structure and develop the haptic-aided navigation vehicle (HANV). This system integrates haptic sensors and LiDAR to deliver comprehensive perception, significantly enhancing close-range obstacle detection in areas that are typically beyond the range of conventional sensors. To tackle the challenge of transparent obstacles, which are often undetected by both vision and LiDAR sensors, we employ a fusion of haptic sensors and LiDAR. The haptic system provides physical contact feedback, ensuring reliable detection of transparent obstacles such as glass, while LiDAR offers long-range sensing capabilities. This combination enables HANV to navigate effectively in environments with transparent obstacles, overcoming the limitations of traditional sensing systems. Experiment results indicate that the proposed haptic and LiDAR integration substantially improves obstacle detection in both blind spots and environments with transparent obstacles. HANV achieves high success rates, minimal collisions, and efficient obstacle avoidance, particularly excelling in complex, confined spaces where conventional systems prove inadequate. These findings emphasize the efficacy of our approach in enhancing navigation performance in dynamic and challenging environments. (Figure presented.) © Shanghai Jiao Tong University 2025.

关键词： Mobile robots

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An Artificial Immune System Algorithm for the Permutation Flow Shop Scheduling Problem with Sequence Dependent Setup Times 10

An Artificial Immune System Algorithm for the Permutation Fl...

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10th International Conference on Optimization and Applications, ICOA 2024

作者： Mesmar, Khadija Lebbar, Maria Aqil, Said Asebriy, Zahra Allali, Karam National School of Mines of Rabat Rosdm Research Team Lmaid Laboratory of Applied Mathematics and Business Intelligence Rabat Morocco Ensam Casablanca Hassan Ii University Laboratory Artificial Intelligence and Complex Systems Engineering Casablanca Morocco Est Essaouira Cadi Ayyad University Laboratory mathematics Computer sciences and modeling of complex systems Essaouira Morocco Fst Mohammadia Hassan Ii University Laboratory of Mathematics Computer Science and Applications Mohammadia Morocco

ISBN: (纸本)9798350387353

This paper is concerned with a set of independent jobs in a permutation flow shop that have setup times on a set of machines. The M-IAIS algorithm, which is based on immunoglobulins and has been modified, is designed to reduce the makespan. A unique procedure known as B cell repertoire updating, which comprises size C of jobs that are taken out of the sequence and reinserted into all possible positions of the remaining sequences of jobs, has an impact on the M-IAIS algorithm's performance. To increase the convergence velocity, three iterations of the algorithm are suggested. Thorough testing was done, and the three versions' performances on a set (benchmark) are compared. Problem instances are described in Sistemas de Optimizacion Aplicada (http://***/problem-instances) In the paper, percentage deviation is considered to evaluate the performance of the proposed algorithms. Furthermore, the ensuing outcomes demonstrate its suitability for addressing for the Permutation Flow Shop Scheduling Problem with Sequence Dependent Setup Times. © 2024 IEEE.

关键词： Scheduling algorithms

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Improving LED-Based Photoacoustic Image Quality Using an Optimized Deconvolution Technique

Improving LED-Based Photoacoustic Image Quality Using an Opt...

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Photons Plus Ultrasound: Imaging and Sensing 2025

作者： Ogawa, Ryuhei Sato, Naoto Saito, Atsushi Singh, Mithun Kuniyil Ajith Kawamoto, Hiroaki Sankai, Yoshiyuki Master’s Program in Intelligent and Mechanical Interaction Systems University of Tsukuba Tsukuba Japan Research & Development Division Cyberdyne Inc. Tsukuba Japan Research & Business Development Division Cyberdyne Inc. Rotterdam Netherlands Institute of Systems and Information Engineering University of Tsukuba Tsukuba Japan

ISBN: (纸本)9781510683860

LED-based photoacoustic imaging (PAI) with linear array ultrasound probes has gained attention due to its cost-effectiveness, safety, and potential for portable applications. However, its low signal-to-noise ratio (SNR) and limited visibility of blood vessel lumens remain challenges. To address these issues, we propose an innovative deconvolution approach that leverages the differential of the LED light pulse to enhance photoacoustic image quality. Our optimized reconstruction algorithm improves blood vessel visualization by applying deconvolution of the PA signals with the differential of the LED pulse, leading to improved lumen visibility and enhanced imaging of peripheral blood vessels in both 2D and potentially 3D. Our method precisely measures the LED pulse profile using the LED arrays integrated into our AcousticX system. The second differential of this pulse is then utilized as the point spread function (PSF) in the deconvolution process. This technique effectively enhances PA signals by emphasizing the leading and trailing edges of the pulse, thereby improving blood vessel visibility and overall image quality. To validate our approach, we conducted experiments using tissue-mimicking phantoms and human volunteers with the AcousticX system. The algorithm was tested offline in MATLAB and in real-time on the AcousticX platform. Results demonstrate substantial artifact suppression, improved SNR, and enhanced image contrast, ultimately enabling clearer visualization of the blood vessels. This advancement improves the competitiveness of LED-based PAI systems compared to laser-based alternatives and broadens their potential for clinical applications, accelerating their translation into medical practice. © 2025 SPIE.

关键词： Ultrasonic imaging

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A General Method for Power Equipment State Classification Using Time Series Data Based on Attention Mechanism

A General Method for Power Equipment State Classification Us...

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2023 IEEE International Conference on Power Science and Technology, ICPST 2023

作者： Zhao, Wenqing Wang, Jifa Chen, Rui Liu, Liang Xu, Lijiao North China Electric Power University School of Control and Computer Engineering Engineering Research Center of Intelligent Computing for Complex Energy Systems Ministry of Education Baoding China North China Electric Power University School of Control and Computer Engineering Baoding China

ISBN: (纸本)9798350311358

With refinement of power equipment, the identification and classification of its operation states is quite important for the stable operation of the system. As the power equipment states are rather complicated, it is difficult to realize general classification due to the limitation of data types and model characteristics when using deep learning. In the light of this, based on the time series data of various power equipment, an equipment state classification method is proposed by combining Recurrent Neural Network (RNN), Long short-term memory (LSTM) and attention mechanism. Firstly, RNN is used as the bottom frame network, and the LSTM core network integrating attention mechanism is added to construct the complex Feature Extraction Module (FEM). Secondly, main feature extraction is implemented in the LSTM network integrated with attention mechanism. Then, the extracted features are input into the complex FEM model and trained to match the evaluation state and obtain the evaluation results. In this paper, confusion matrix, F1micro and accuracy are used as evaluation indexes. Three cases were selected to verify the method and five groups of comparison models were set for each case. Results show that the proposed method has good accuracy in power equipment state classification and also has strong generalization ability in other data classification. © 2023 IEEE.

关键词： Long short-term memory

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