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Hierarchical finite-time optimization regulation of multiple autonomous surface vehicles for time-varying target cooperative tracking

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Kongzhi yu Juece/control and Decision 2025年第1期40卷 279-284页

作者： Ge, Ming-Feng Li, Yi-Fan Liu, Zhi-Wei Gu, Zhi-Wei Chen, Qian School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan430074 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Imaging Processing and Intelligent Control Ministry of Education Huazhong University of Science and Technology Wuhan430074 China

We propose a novel hierarchical finite-time optimization regulation algorithm for multiple autonomous surface vehicles (ASVs) to achieve cooperative tracking of a time-varying target. An objective function reflecting the energy consumption of the multiple ASVs system in the tracking process is designed, and a finite-time optimal estimator (FTOE) is developed to minimize the objective function in the case that ASVs form a specified formation while following the desired trajectory. Meanwhile, the target trajectory can be variable instead of constant. In the finite-time local controller (FTLC), the sailing states of the multiple ASVs system can be stabilized to the vicinity of the multiple various predefined time-varying trajectories in finite time in a way that minimizes the objective function by tracking the FTOE. The proof of the finite-time stability is provided and the settling time is calculated. Finally, simulation results demonstrate the effectiveness of the proposed hierarchical algorithm. © 2025 Northeast University. All rights reserved.

关键词： Target tracking

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Direction-Constrained control for Efficient Physical Human-Robot Interaction under Hierarchical Tasks

arXiv

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arXiv 2024年

作者： Xu, Mengxin Wan, Weiwei Wang, Hesheng Harada, Kensuke Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of System Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka560-0043 Japan Department of Automation the Key Laboratory of System Control and Information Processing of Ministry of Education the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which, however, cannot be directly applied to human interaction due to its allowance of arbitrary velocity direction adjustments. To resolve this limitation, we introduce the concept of directional constraints and develop a direction-constrained optimization algorithm to handle the nonlinearities induced by these constraints. The algorithm solves two sub-problems, minimizing the error and minimizing the deviation angle, in parallel, and combines the results of the two sub-problems to produce a final optimal outcome. The mutual influence between these two sub-problems is analyzed to determine the best parameter for combination. Additionally, the velocity objective in our control framework is computed using a variable admittance controller. Traditional admittance control does not account for constraints. To address this issue, we propose a variable admittance control method to adjust control objectives dynamically. The method helps reduce the deviation between robot velocity and human intention at the constraint boundaries, thereby enhancing interaction efficiency. We evaluate the proposed method in scenarios where a human operator physically interacts with a 7-degree-of-freedom robotic arm. The results highlight the importance of incorporating directional constraints in pHRI for hierarchical tasks. Compared to existing methods, our approach generates smoother robotic trajectories during interaction while avoiding interaction delays at the constraint boundaries. Copyright © 2024, The Authors. All rights reserved.

关键词： Constrained optimization

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Active Damping control Used for Servo system of Satellite Payload with Deteriorating Friction

Active Damping Control Used for Servo System of Satellite Pa...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Jialin Li Zhen Chen Hengzai Hu Xiangdong Liu School of Automatic Beijing Institute of Technology Key Laboratory of Drive and Control of Servo Motion System Ministry of Industry and Information Technology Beijing China

Due to the non-volatile property, the molybdenum disulfide solid lubrication is widely used in various bearings of spacecraft. Spot flaking of the lubricating material appearing at the end of life will cause the deterioration of friction characteristic and degrade the positioning performance of high precision satellite servo system. To solve this problem, the control model of the servo system based on permanent magnet synchronous machine (PMSM) including friction model is built, and the influence on servo system performance with variation of friction characteristic is investigated in this paper. And then, an active damping control strategy is proposed to improve the precision and speed of response of servo system in the case of deteriorating friction characteristic, and compared with the conventional PI control strategy. Finally, the effectiveness of the active damping control strategy is verified by the simulations and the experimental results on the PMSM driver of the DQ-1 satellite payload.

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A Study on Citation Impact with Age Diversity between Disciplines

SSRN

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SSRN 2024年

作者： Sheng, Jingran Liang, Bo Wang, Lin Wang, Xiaofan Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China School of Mechatronic Engineering and Automation Shanghai University Shanghai China School of Electrical and Electronic Engineering Shanghai Institute of Technology Shanghai China

With the ongoing evolution of scientific research collaboration in depth and breadth, the age distribution among paper collaborators is becoming increasingly varied. Consequently, the question of whether this age distribution affects the quality of collaborative papers has emerged as a significant topic in recent research. In this study, we have compiled and established a comprehensive scientific database, comprising more than 3.5 million papers. These papers, featuring multiple attribute information, originate from over 180 countries. We define the age diversity of a paper based on the academic ages of its co-authors and examine the relationship between age diversity and citation impact using regression analyses. Our findings reveal a clear upward trend in the age diversity of authors over time. The results indicate that the average age diversity of highly cited papers is consistently higher than that of general papers across the entire timeline, spanning four disciplines: economics, engineering, computer science, and physics. Moreover, we demonstrate a significantly positive correlation between age diversity and citation impact. In the aforementioned four disciplines, an increase in the collaborators’ age diversity is associated with a corresponding rise in the paper’s citation impact. This study contributes to a deeper understanding of age-related dynamics in scientific collaboration. It also offers insights into the age distribution of teams, providing practical suggestions for researchers engaged in collaborative endeavors. © 2024, The Authors. All rights reserved.

关键词： Regression analysis

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Source Separation of Piano Concertos Using Hybrid LSTM-Transformer Model

Source Separation of Piano Concertos Using Hybrid LSTM-Trans...

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Culture-Oriented Science and Technology (CoST), International Conference on

作者： JingYu Liu Wei He Jingjing Zhou Wei Jiang State Key Laboratory of Media Convergence and Communication Beijing China Key Laboratory of Acoustic Visual Technology and Intelligent Control System Ministry of Culture and Tourism Beijing China School of Information and Communication Engineering (Communication University of China) Beijing China

ISBN: (数字)9798350380347

ISBN: (纸本)9798350380354

Music source separation, the process of extracting independent audio streams from a complex mix, has traditionally focused on isolating vocals, drums, bass, and other primary sources. This study tackles the more intricate task of separating the piano component from a piano concerto-a challenge compounded by the diverse range of instruments and the dynamic shifts in volume and timbre. Unlike traditional music separation tasks, the piano’s distinct characteristics and its interaction with the orchestra demand a more nuanced *** address the scarcity of multi-track recordings for piano concertos, this research pioneers an artificial data synthesis strategy to create a robust training dataset. We introduce a novel hybrid deep learning model that integrates Long Short-Term Memory (LSTM) networks with Transformer architecture, capitalizing on their complementary strengths to distinguish piano melodies from the rich tapestry of orchestral sounds. Our experiments demonstrate that this hybrid approach significantly outperforms conventional methods, with an improvement of 3.18 dB in signal-to-distortion ratio. These results not only validate the efficacy of proposed method but also pave the way for innovative applications in classical music source separation.

关键词： Training Deep learning Source separation Instruments Transformers Recording Timbre

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Disentangle Nighttime Lens Flares: Self-supervised Generation-based Lens Flare Removal

arXiv

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arXiv 2025年

作者： He, Yuwen Wang, Wei Wang, Wanyu Jiang, Kui Wu, Wanyu Computer Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology China School of Computer Science and Technology Harbin Institute of Technology China

Lens flares arise from light reflection and refraction within sensor arrays, whose diverse types include glow, veiling glare, reflective flare and so on. Existing methods are specialized for one specific type only, and overlook the simultaneous occurrence of multiple typed lens flares, which is common in the real-world, e.g. coexistence of glow and displacement reflections from the same light source. These co-occurring lens flares cannot be effectively resolved by the simple combination of individual flare removal methods, since these coexisting flares originates from the same light source and are generated simultaneously within the same sensor array, exhibit a complex interdependence rather than simple additive relation. To model this interdependent flares’ relationship, our Nighttime Lens Flare Formation model is the first attempt to learn the intrinsic physical relationship between flares on the imaging plane. Building on this physical model, we introduce a solution to this joint flare removal task named Self-supervised Generation-based Lens Flare Removal Network (SGLFR-Net), which is self-supervised without pre-training. Specifically, the nighttime glow is detangled in PSF Rendering Network(PSFR-Net) based on PSF Rendering Prior, while the reflective flare is modelled in Texture Prior Based Reflection Flare Removal Network (TPRR-Net). Empirical evaluations demonstrate the effectiveness of the proposed method in both joint and individual glare removal tasks. Copyright © 2025, The Authors. All rights reserved.

关键词： Glare

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DCSF-KD: Dynamic Channel-wise Spatial Feature Knowledge Distillation for Object Detection 39

DCSF-KD: Dynamic Channel-wise Spatial Feature Knowledge Dist...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Dai, Tao Lin, Yang Guo, Hang Wang, Jinbao Zhu, Zexuan College of Computer Science and Software Engineering Shenzhen University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Tsinghua Shenzhen International Graduate School Tsinghua University Shenzhen China Shenzhen City Key Laboratory of Embedded System Design Shenzhen China Guangdong Provincial Key Laboratory of Intelligent Information Processing Shenzhen China

ISBN: (纸本)157735897X

Knowledge distillation (KD) has recently gained great success in the field of object detection. By transferring the knowledge of the spatial or channel domain from the teacher model to the student model, it allows for a more compact representation with minimal performance loss. Despite this progress, existing KD methods typically treat knowledge from spatial or channel domains independently, ignoring the exploitation of the mutual relationship between these domains. In this work, we first explore the connection between spatial and channel domains and find there exists a strong correlation between them, i.e. the salient channels tend to contain significant object regions in the spatial domain. Motivated by this observation, we propose DCSF-KD, a novel Dynamic Channel-wise Spatial Feature Knowledge Distillation framework for object detection by fully exploiting both spatial and channel knowledge. Specifically, we introduce channel-wise spatial feature distillation and global channel attention distillation, using information from both domains to improve the accuracy of the student network. Experiments demonstrate that our DCSF-KD outperforms existing detection methods on both homogeneous and heterogeneous teacher-student network pairs. For example, when using the MaskRCNN-Swin detector as the teacher, and based on RetinaNet and FCOS with ResNet-50 on MS COCO, our DCSF-KD can achieve 41.9% and 44.1% mAP, respectively. © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Students

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Digital-Twin-Based Clock Synchronization in Industrial IoT systems

Digital-Twin-Based Clock Synchronization in Industrial IoT S...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Ting Cheng Shuai Liu Qimin Xu Shanying Zhu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China School of Control Science and Engineering Shandong University Jinan China

Close and efficient cooperation between devices in the Industrial Internet of Things (IIoT) requires precise clock synchronization as a prerequisite. The uncertainty of IIoT networks and the complexity of industrial environments have led to less precise clock synchronization achieved by traditional algorithms and higher network resource consumption. This paper proposes a digital-twin-based clock synchronization scheme for IIoT systems. By building the digital model for each local clock to predict their clock skew, the information interaction required to achieve synchronization is reduced. In order to model the clock accurately, this paper proposes to use the extended state Kalman filter to handle uncertain dynamics and unknown measurement bias to improve the estimation accuracy of clock skew further. The simulation results show that the proposed algorithm can achieve high- precision clock synchronization while reducing the consumption of network resources.

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Domain Adversarial Interaction Network for Cross-Domain Fault Diagnosis 4th

Domain Adversarial Interaction Network for Cross-Domain Fau...

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4th International Conference on Machine Learning for Cyber Security, ML4CS 2022

作者： Lu, Weikai Chen, Jian Zheng, Hao Fan, Haoyi Wei, Eng Yee Cao, Xinrong Zhang, Deyang School of Electronic Electrical Engineering and Physics Fujian University of Technology Fuzhou350118 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Minjiang University Fuzhou350121 China School of Computer and Artificial Intelligence Zhengzhou University Zhengzhou450001 China School of Computer Sciences Universiti Sains Malaysia Penang11800 Malaysia Henan Provincial Institute of Scientific and Technical Information Zhengzhou450003 China

ISBN: (纸本)9783031200984

Intelligent fault diagnosis has been widely used in the industry and plays a crucial role in the health management of machinery. In recent years, unsupervised domain adaptation (UDA) has been applied to fault diagnosis, showing excellent performance under variable working conditions. However, most existing UDA-based methods do not consider the temporal relations in the fault signal, resulting in sub-optimal performance. In this paper, we proposed a domain adversarial interaction network (DAIN) to solve this problem. By downsampling sub-sequences of fault signals and interacting with their features, DAIN can obtain feature representations containing the temporal relations. In addition, domain adversarial learning and maximum mean discrepancy (MMD) are applied to DAIN to align the domain discrepancy and distribution discrepancy of source and target domains. We conducted extensive experiments on the public Paderborn University (PU) dataset, and the results demonstrate that the proposed method can achieve higher cross-domain fault diagnosis accuracy than the existing methods. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Failure analysis

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Learning or Self-aligning? Rethinking Instruction Fine-tuning

arXiv

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arXiv 2024年

作者： Ren, Mengjie Cao, Boxi Lin, Hongyu Liu, Cao Han, Xianpei Zeng, Ke Wan, Guanglu Cai, Xunliang Sun, Le Chinese Information Processing Laboratory Institute of Software Chinese Academy of Sciences China State Key Laboratory of Computer Science Institute of Software Chinese Academy of Sciences China University of Chinese Academy of Sciences China Meituan China Key Laboratory of System Software Chinese Academy of Sciences China

Instruction Fine-tuning (IFT) is a crucial phase in building large language models (LLMs). Previous works mainly focus on the IFT's role in the transfer of behavioral norms and the learning of additional world knowledge. However, the understanding of the underlying mechanisms of IFT remains significantly limited. In this paper, we design a knowledge intervention framework to decouple the potential underlying factors of IFT, thereby enabling individual analysis of different factors. Surprisingly, our experiments reveal that attempting to learn additional world knowledge through IFT often struggles to yield positive impacts and can even lead to markedly negative effects. Further, we discover that maintaining internal knowledge consistency before and after IFT is a critical factor for achieving successful IFT. Our findings reveal the underlying mechanisms of IFT and provide robust support for some very recent and potential future works. We release our experimental dataset and codes to facilitate future work. © 2024, CC BY.

关键词： Contrastive Learning

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