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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Li, Jianguo Zhang, Pengcheng Hao, Renze North Automatic Control Technology Institute Software System Research and Development Department Taiyuan China

ISBN: (纸本)9798350316308

To solve the problem of dynamic and sequential air combat intention recognition in complex battlefield environment, a target tactical intention recognition method based on the extended multi-entities Bayesian network (EMEBN) is proposed in this paper. First the dynamic series Bayesian network (DSBN) model is established to describe the process of intention representation and reasoning, the deficiency of the multi-entities Bayesian network (MEBN) in expressing the probability inference knowledge of the planning process is analyzed. Then the probability transfer MEBN fragments (PT-MFrags) and the series relation MEBN fragments (SR-MFrags) are introduced to depict the probability transfer and series relationship of rule knowledge. Finally, the feasibility and effectiveness of this method is verified by an experimental example. © 2023 IEEE.

关键词： Bayesian networks

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Parallel Manufacturing for Industrial Metaverses:A New Paradigm in Smart Manufacturing

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IEEE/CAA Journal of automatica Sinica 2022年第12期9卷 2063-2070页

作者： Jing Yang Xiaoxing Wang Yandong Zhao The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Beijing SANBODY Technology Company LtdBeijing 214000China North Automatic Control Technology Institute Taiyuan 030006China

To tackle the complexity of human and social factors in manufacturing systems, parallel manufacturing for industrial metaverses is proposed as a new paradigm in smart manufacturing for effective and efficient operations of those systems, where Cyber-Physical-Social systems(CPSSs) and the Internet of Minds(Io M) are regarded as its infrastructures and the "Artificial systems", "Computational experiments"and "Parallel execution"(ACP) method is its methodological foundation for parallel evolution, closed-loop feedback, and collaborative optimization. In parallel manufacturing, social demands are analyzed and extracted from social intelligence for product R&D and production planning, and digital workers and robotic workers perform the majority of the physical and mental work instead of human workers, contributing to the realization of low-cost, high-efficiency and zero-inventory manufacturing. A variety of advanced technologies such as Knowledge Automation(KA), blockchain, crowdsourcing and Decentralized Autonomous Organizations(DAOs) provide powerful support for the construction of parallel manufacturing, which holds the promise of breaking the constraints of resource and capacity, and the limitations of time and space. Finally, the effectiveness of parallel manufacturing is verified by taking the workflow of customized shoes as a case,especially the unmanned production line named Flex Vega.

关键词： Parallel Manufacturing Digital Workers CPSS Smart Manufacturing Industrial Metaverses

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Iterative weakly supervised semantic segmentation network with fused superpixel clues 19

Iterative weakly supervised semantic segmentation network wi...

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19th International Conference on Natural Computation, Fuzzy systems and Knowledge Discovery, ICNC-FSKD 2023

作者： Xiaoning, Wu Ruixin, Li Xinli, Zhu Siyan, Zhu Daowang, Cui North Automatic Control Technology Institute Third R&d Department Taiyuan China

ISBN: (纸本)9798350304398

Most weakly supervised semantic segmentation networks lack semantic information between pixels, resulting in incomplete segmentation of targets. In this paper, we propose an iterative weakly supervised semantic segmentation network with fused superpixel clues. First, we generate attention class activation maps from the intermediate layers of the classification network, then use superpixel clues to optimize the class attention region and generate pseudo-labels with pixel correlations. After training the semantic segmentation network on these pseudo-labels, we continue to input the predicted pixel map iteratively into the superpixel network and the semantic segmentation network until the entire process is complete and the final semantic segmentation map is obtained. Results on PASCAL VOC 2012 demonstrate that the proposed method has superior segmentation performance compared with other weakly supervised semantic segmentation methods. © 2023 IEEE.

关键词： Superpixels

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Improved hybrid Gaussian process regression Model for State-of-health Estimation of Li-ion Batteries

Improved hybrid Gaussian process regression Model for State-...

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2024 China Automation Congress, CAC 2024

作者： An, Tao Liu, Zhitao Yan, Chizhou Xu, Ke Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Wanxiang A123 Systems Corp. Hangzhou China

ISBN: (纸本)9798350368604

Accurate State-of-health (SOH) estimation contributes to the healthy and stable operation of the Li-ion batteries. This paper proposes an improved hybrid Gaussian process regression (GPR) method incorporating physical information for the high-accuracy estimation of battery SOH. The estimation process considers the effects of temperature, discharge rate, and depth of discharge (DOD) on the battery health, and the relevant features of the electrode degradation process are extracted for battery SOH estimation. The kernel function of GPR comprehensively considers the mechanical characteristics of battery degradation and can effectively track the battery degradation process. The validation experiments were conducted on the A123 LFP/Graphite battery dataset. Sufficient comparative experiments have validated the accuracy and robustness of the proposed method. © 2024 IEEE.

关键词： State of charge

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Multi-Targets Visiting Orbit Design Based on Numerical Method

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Guidance,Navigation and control 2025年第1期05卷 139-148页

作者： Zenan Zhong Zhengxiang Sun Songyan Wang Tao Chao Ming Yang Control and Simulation Center Harbin Institute of Technology National Key Laboratory of Modeling and Simulation for Complex Systems Harbin Institute of Technology Beijing Institute of Space Long March Vehicle

In this paper, for the two/three targets in the circle orbit with the same altitude, a numerical method is presented to design an orbit for a spacecraft to visit multiple targets without maneuvering. First,for the two targets' case, an equation is established by the relationship of the two angles that both are the function of the time, one of the angles is the angle between two targets' geocentric position vectors at two times, and another one is the spacecraft flight angle during the two times. The visit time can be solved by the assumption that one of the visit times is known in the equation, and the orbit element can be transferred from the position and velocity vector determined by the solved visit time. Then, for the three targets' case, the problem is decoupled into two cases of two targets, and there is a public target in each case. Based on the method for two targets, two different orbits can be obtained by determining the visit time of the public target. The difference between two orbits can be expressed by the difference in velocity vectors of the public target at different times. A sampling method is utilized to select two velocity vectors with relatively small differences as initial values, the Newton iteration method is used to obtain visit times with higher accuracy. Simulation results illustrate the effectiveness of the orbit design methods.

关键词： Orbit design method multiple targets visit circle orbit non-maneuvering

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Improving Motor Imagery-Based Brain-Computer Interfaces with Simple EEG Data Augmentation Algorithms: A Comparative Analysis 3

Improving Motor Imagery-Based Brain-Computer Interfaces with...

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3rd IEEE International Conference on Metrology for eXtended Reality, Artificial Intelligence and Neural Engineering, MetroXRAINE 2024

作者： Goswami, Sourojit Phelan, Jacob Anderson, Sean Arvaneh, Mahnaz University of Sheffield Sheffield United Kingdom Automatic Control and Systems Engineering Sheffield Sheffield United Kingdom Insigneo Institute Neuroscience Institute Sheffield United Kingdom

ISBN: (纸本)9798350378009

One of the primary challenges in motor imagery (MI) based brain-computer interfaces (BCIs) is the extensive calibration time required for individual users. This paper systematically reviews and compares various straightforward EEG data augmentation techniques aimed at reducing calibration time and enhancing model performance. We explored several algorithms, including segmentation and recombination in the time-frequency domain using short-time Fourier transform (TFSR), time warping (TW), noise injection (NI), and naïve transfer learning (NTL). Additionally, we introduced a novel algorithm called time instance segment concatenation (TISC), which merges EEG segments from periods immediately before and after the traditional motor imagery segments to capture a broader range of neural dynamics. Our experimental results on the BCI Competition IV dataset 2a indicated that NTL was the top-performing algorithm, achieving average accuracy improvements of 4.9%, 3%, 1.7%, and 3.2% over the baseline model without any data augmentation when 5, 10, 15, and 20 training trials per class were available, respectively. The proposed TISC algorithm showed potential, particularly in scenarios with moderate training trials, e.g., achieving an average accuracy increase of 1.5% over the baseline when 10 training trials per class were available. These findings suggest that TISC could be a useful addition to EEG data augmentation methods to improve the efficiency and usability of MI-based BCIs. © 2024 IEEE.

关键词： Frequency domain analysis

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Longitudinal Trajectory Planning and Attitude control of Hypersonic Morphing Vehicle

Longitudinal Trajectory Planning and Attitude Control of Hyp...

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2024 China Automation Congress, CAC 2024

作者： Dai, Wujie Fang, Zheng Li, Zheng Jia, Zhenyue Yu, Jianqiao Yu, Yong School of Aerospace Engineering Beijing Institute of Technology Beijing China Beijing Aerospace Automatic Control Institute China Academy of Launch Vehicle Technology Beijing China

ISBN: (纸本)9798350368604

Aiming at the strong nonlinearity, strong coupling, uncertainty and other characteristics of hypersonic vehicle under morphing conditions, this paper studied the trajectory planning and attitude control problem of its longitudinal channel, and put forward a combined trajectory planning-open-loop independent morphing/control flight strategy. Firstly, a set of equations of motion for the longitudinal channel of the vehicle was established;then a sequential convex optimization solution method based on a new variable time-domain receding framework was designed for solving the trajectory planning problem of the gliding segment with free terminal time, and then an angle of attack reference command and an open-loop morphing command were obtained;on this basis, a backstepping sliding mode control method based on Extended State Observer was designed, and Particle Swarm Optimization algorithm was introduced to optimize the controller parameters, which further improved the control performance;finally, the effectiveness of the designed combined flight strategy was verified by simulation results. © 2024 IEEE.

关键词： Convex optimization

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Fault Detection Filter Design for IT2 Fuzzy Multi Agent systems Under Dynamic Event-Triggered Scheme

Fault Detection Filter Design for IT2 Fuzzy Multi Agent Syst...

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2023 China Automation Congress, CAC 2023

作者： Zhao, Siyang Yu, Jinyong Ding, Jingyu Research Institute of Intelligent Control and Systems Harbin Institute of Technology Heilongjiang China

ISBN: (纸本)9798350303759

This paper focuses on the design of fault detection (FD) filter for nonlinear multi-agent systems (MASs) with uncertainty and randomly occurring faults. In order to save network bandwidth occupation, the dynamic event-triggered scheme (DETS) is adopted and an intermediate variable is introduced to make the triggering intervals larger, and still ensure an excellent FD performance. And then, the co-design of DETS and the FD filter is achieved and the robustly stochastically stable of the closed-loop system is guaranteed. Finally, a numerical example is given to illustrate the validity of the proposed method. © 2023 IEEE.

关键词： Multi agent systems

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Dynamic Grasping of Aerial Manipulator Based on Coupling Disturbance Compensation Caused by Manipulator and Load 49

Dynamic Grasping of Aerial Manipulator Based on Coupling Dis...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Li, Hai Liu, Jiayu Li, Zhan Wu, Tong Xu, Quman Dong, Chen Yang, Xuebo The Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350331820

Compared with the grasping of the manipulator on the fixed base, the dynamic grasping of the aerial manipulator on the UAV floating base is a more challenging task. The strong coupling disturbance caused by the manipulator and the load can seriously affect the position tracking performance of the UAV base, leading to the inability of the manipulator's end-effector to accurately reach the grasping position, resulting in the failure of dynamic grasping. To address the issue, this paper presents a coupling disturbance compensation method that comprehensively considers the motion of the manipulator and the load on the end-effector. It can effectively compensate the strong coupling disturbance caused by the manipulator and the load and greatly improve the position tracking performance of the UAV base. In addition, considering that the aerial manipulator is also affected by lumped disturbances such as various uncertainties and wind disturbances, we propose an end-effector position compensation method based on inverse kinematics, so that the end-effector can reach the target position more accurately during the dynamic grasping process. Finally, three sets of comparative simulation results under two scenarios demonstrate the effectiveness of the proposed method. © 2023 IEEE.

关键词： Manipulators

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Graph Neural Networks for Natural Language Processing in Human-Robot Interaction 26

Graph Neural Networks for Natural Language Processing in Hum...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Swietlicka, Aleksandra Haczyk, Dagmara Haczyk, Marcel Poznan University of Technology Institute of Automatic Control and Robotics Poznań Poland Poznan University of Technology Poznań Poland

ISBN: (纸本)9798350304985

Human-robot interaction (HRI) has become a promising field that focuses on developing intelligent systems that are capable of understanding human language. Natural Language Processing (NLP) plays a huge role in enabling robots to interpret and generate natural language, making it easier to effectively communicate. However, traditional NLP approaches sometimes struggle to capture the right structural dependencies and contextual *** overcome these limitations, Graph Neural Networks (GNNs) have emerged as a powerful model for NLP tasks in the context of human-robot interaction. GNNs extend traditional neural network architectures to effectively model and reason about structured data, such as graphs. In the context of NLP, these graphs can represent semantic relationships between words or *** this study, we model human-robot conversations as graphs. The aim of the research is to conduct a test using GNNs to predict personality traits based on conversations between human and robot. Presented results, despite a very small training set, show that GNNs can be effective in capturing the dynamics and context of conversations. GNNs lead then to improved performance in tasks such as predicting personality and estimating engagement levels. These findings suggest that GNNs have the potential to enhance the quality of HRI and improve the overall user experience. © 2023 Division of Signal Processing and Electronic systems, Poznan University of technology (DSPES PUT).

关键词： Human robot interaction

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