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Stability in Inverse Problem of Determining Two Parameters for the Moore-Gibson-Thompson Equation with Memory Terms

Journal of systems Science & complexity 2024年第6期37卷 2368-2389页

作者： FU Songren CHEN Liangbiao ZHANG Ji-Feng Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Automation and Electrical Engineering Zhongyuan University of TechnologyZhengzhou 450007China

In this paper,the authors consider the inverse problem for the Moore-Gibson-Thompson equation with a memory term and variable diffusivity,which introduce a sort of delay in the dynamics,producing nonlocal effects in *** H¨older stability of simultaneously determining the spatially varying viscosity coefficient and the source term is obtained by means of the key pointwise Carleman estimate for the Moore-Gibson-Thompson *** the sake of generality in mathematical tools,the analysis of this paper is discussed within the framework of Riemannian geometry.

关键词： Carleman estimate memory term Moore-Gibson-Thompson equation stability Riemannian geometry

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HarmonyNav: Robot Navigation in Human-Robot Coexistence Environment Considering Group and Pedestrian Intentions

HarmonyNav: Robot Navigation in Human-Robot Coexistence Envi...

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2024 Jiangsu Annual Conference on automation, JACA 2024

作者： Wang, Yutao Fang, Fang Liu, Chenyang Fan, Tao Li, Yi The Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

Service robots must navigate efficiently and harmoniously in human-robot coexistence environments. Previous studies often treated pedestrians as independent entities, ignoring human intentions and leading to group intersections and performance issues. We introduce HarmonyNav, a crowd navigation algorithm that enhances human-robot harmony. Our method uses Human-Robot Interaction sub-networks to account for indirect group impacts on pedestrians and predicts pedestrian trajectories to infer intentions. Employing proximal policy optimization (PPO) in reinforcement learning, we develop a harmonious navigation policy. In simulation experiments, our results show improved navigation performance, reducing group intersections and individual intrusions. © The Institution of engineering & Technology 2024.

关键词： Reinforcement learning

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

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Frontiers of Mechanical engineering 2023年第3期18卷 123-143页

作者： Yiming YAN Shuting WANG Yuanlong XIE Hao WU Shiqi ZHENG Hu LI School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China

To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is *** address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)***,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different *** formulation guarantees rapid convergence and simultaneous chattering *** introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle *** experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance

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A Bio-inspired Mutual-hook Strategy for the Soft Finger to Improve Load-bearing Capacity and Grasping Stability

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Journal of Bionic engineering 2024年第3期21卷 1290-1304页

作者： Jie Huang Lingjie Gai Xiaofeng Zong Yunquan Li School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074China The Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou510641China

Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate ***,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing *** tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft *** novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding ***,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch *** demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed *** proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.

关键词： Soft robotics Soft bionic finger-cot Soft hook actuator Grasping stability Load-bearing capacity

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Silicon Optical Filter With Widely Tunable Bandwidth Driving by Intelligent Algorithms

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Journal of Lightwave Technology 2025年第11期43卷 5358-5365页

作者： Duan, Jiazhu Liu, Cangli Zhang, Dayong Zhao, Xiangjie Liu, Li China Academy of Engineering Physics Institute of Fluid Physics Mianyang621900 China China Academy of Engineering Physics Mianyang621900 China China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Capitalizing two silicon rings assisted a Mach-Zehnder interferometer (MZI) structure, we propose and demonstrate picometer narrowband optical filters featuring widely tunable bandwidths, high extinction ratios and low in-band ripples. By tuning the bandwidth of any ring or the resonance offset between the two rings, the filter bandwidth could be flexibly manipulated. Notably, by controlling the phase of the two rings and the MZI structures, the extinction ratios and shape factors of the filter could be commendably improved. It is worth mentioning that a genetic algorithm is employed to efficiently manipulate the various heaters on the optical filter, enabling the attainment of desired target filtering waveforms. Experimental results demonstrate the filter capability to widely adjust its 3dB-bandwidth while maintaining high extinction ratios, low in-band ripples and favorable shape factors. To the best of our knowledge, it is a record bandwidth tuning range among the algorithm-driven pm-narrowband optical filters. With the dominant advantages and high performance, the proposed optical filters are competent to dynamically process the on-chip narrowband signals. © 1983-2012 IEEE.

关键词： Mach-Zehnder interferometers

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Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 231-239页

作者： Yahui Liu Bin Tian Yisheng Lv Lingxi Li Fei-Yue Wang the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 IEEE the Transportation and Autonomous Systems Institute(TASI)and the Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis(IUPUI)Indianapolis 46202 USA

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://***/yahuiliu99/PointC onT.

关键词： Content-based Transformer deep learning feature aggregator local attention point cloud classification

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Collision-free and Effecient Robotic Grasping based on Hierarchical Reinforcement Learning

Collision-free and Effecient Robotic Grasping based on Hiera...

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2024 Jiangsu Annual Conference on automation, JACA 2024

作者： Li, Yi Fang, Fang Liu, Chenyang Wang, Yutao Fan, Tao School of Automation Southeast University China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

In the realm of robotics, grasping within unstructured environments has consistently been a challenging task. Direct grasping often results in failures due to collisions, and some pre-grasping maneuvers can eliminate the tightly stacked state between objects, thereby enhancing the success rate of grasping. In this paper, we opt for pushing as a pre-grasping maneuver. We propose a deep Q-network with a fused convolutional feature enhancement module to improve action value estimation, enhancing the robot’s pushing and grasping abilities. Additionally, a hierarchical reinforcement learning framework optimizes action sequences for better synergy between pushing and grasping. In simulated experiments, the model achieved a high grasp success rate with just a few hours of training, outperforming other methods in the literature. © The Institution of engineering & Technology 2024.

关键词： Adversarial machine learning

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Position Regulation of Industrial Robots via Bounded Integral Terminal Sliding Mode control Algorithm

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IEEE Transactions on Industrial Electronics 2024年第7期71卷 7403-7412页

作者： Cong, Yongzheng Du, Haibo Zhu, Wenwu Chen, Chih-Chiang Hefei University of Technology School of Electrical Engineering and Automation Hefei230009 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan

For the position regulation problem of six degrees of freedom (6-DOF) industrial robots, a novel bounded finite-time position regulate algorithm is developed and employed to improve the dynamic performance of the industrial robots. First, based on the model feature, a bounded finite-time position regulate law is proposed to overcome input saturation constraints for the considered systems. Rigorous analysis guarantees the finite-time stability of the closed-loop system in the absence of disturbance. Then, to improve the disturbance rejection property of the robot systems in the presence of disturbance, an improved bounded finite-time control law based on the integral terminal sliding mode is constructed. Finally, simulations and experimental results are provided to show the effectiveness of the proposed bounded control law. © 1982-2012 IEEE.

关键词： Asymptotic stability

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Optimal Strategy for Aircraft Pursuit-evasion Games via Self-play Iteration

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Machine Intelligence Research 2024年第3期21卷 585-596页

作者： Xin Wang Qing-Lai Wei Tao Li Jie Zhang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing100049China Institute of Systems Engineering Macao University of Science and TechnologyMacao999078China

In this paper,the pursuit-evasion game with state and control constraints is solved to achieve the Nash equilibrium of both the pursuer and the evader with an iterative self-play *** the condition where the Hamiltonian formed by means of Pontryagin’s maximum principle has the unique solution,it can be proven that the iterative control law converges to the Nash equilibrium ***,the strong nonlinearity of the ordinary differential equations formulated by Pontryagin’s maximum principle makes the control policy difficult to figured *** the system dynamics employed in this manuscript contains a high dimensional state vector with *** practical applications,such as the control of aircraft,the provided overload is ***,in this paper,we consider the optimal strategy of pursuit-evasion games with constant constraint on the control,while some state vectors are restricted by the function of the *** address the challenges,the optimal control problems are transformed into nonlinear programming problems through the direct collocation ***,two numerical cases of the aircraft pursuit-evasion scenario are given to demonstrate the effectiveness of the presented method to obtain the optimal control of both the pursuer and the evader.

关键词： Differential games pursuit-evasion games nonlinear control optimal control Nash equilibrium solution

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Nonlinear stress analysis of aero-engine pipeline based on semi-analytical method

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Applied Mathematics and Mechanics(English Edition) 2025年第3期46卷 521-538页

作者： Weijiao CHEN Xiaochi QU Ruixin ZHANG Xumin GUO Hui MA Bangchun WEN School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China Northeastern UniversityShenyang 110819China

Fatigue failure caused by vibration is the most common type of pipeline *** core of this research is to obtain the nonlinear dynamic stress of a pipeline system accurately and efficiently,a topic that needs to be explored in the existing *** shell theory can better simulate the circumferential stress distribution,and thus the Mindlin-Reissner shell theory is used to model the *** this paper,the continuous pipeline system is combined with clamps through modal expansion for the first time,which realizes the coupling problem between a shell and a *** the Bouc-Wen model is used to simulate the nonlinear external force generated by a clamp,the nonlinear coupling characteristics of the system are effectively ***,the dynamic equation of the clamp-pipeline system is established according to the Lagrange energy *** on the resonance frequency and stress amplitude obtained from the experiment,the nonlinear parameters of the clamp are identified with the semi-analytical method(SAM)and particle swarm optimization(PSO)*** study provides a theoretical basis for the clamp-pipeline system and an efficient and universal solution for stress prediction and analysis of pipelines in engineering.

关键词： pipeline modeling stress analysis nonlinear-clamp support nonlinear vibration

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