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第35届中国控制会议

作者： DU Xiaolong WANG Shoukun ZONG Xiaoyan WANG Junzheng State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

Currently,the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of *** at the problem of energy consumption for mobile robots,this paper provides the analysis in terms of the gait ***,two kinds of gait curves respectively,cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction(SLR).The length of step(S),the height of step(H) and the duty ratio of gait cycle(P) are set as the primary research points about the gait of mobile *** this work,we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait ***,the results provide some recommendations for the gait planning of the quadruped robot,that is,the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.

关键词： Energy consumption Multi-legged robot Gait planning SLR Gait parameters

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An Adversarial Video Moment Retrieval Algorithm 41

An Adversarial Video Moment Retrieval Algorithm

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第41届中国控制会议

作者： Mohan Jia Zhongjian Dai Yaping Dai Zhiyang Jia School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In one-stage methods for video moment retrieval,the common representations indirectly supervised by boundary prediction fail to fully preserve the inherent characteristic of the video and query,which limits the retrieval *** solve this problem,an Adversarial Video Moment Retrieval(AVMR) algorithm is proposed to learn the common representations with modality invariance and cross-modal *** is implemented through the process of adversarial learning between a feature projector and a modality *** feature projector tries to generate a modality-invariant common representation and to confuse the modality *** modality classifier tries to discriminate between different modalities based on the generated representation by the feature *** triplet constraints are further imposed on the feature projector to preserve the underlying cross-modal semantic structure of *** experimental results show that AVMR surpasses the baseline Attentive Cross-modal Relevance Matching(ACRM) by 1.10% and 1.73% in the "mIoU" metric on two public datasets Charades-STA and TACoS,respectively.

关键词： Video Moment Retrieval Cross-modal Retrieval Deep learning Adversarial Learning

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Fault Detection of a 6-DOF Hydraulic Platform Based on Equivalent-Input-Disturbance Approach 29

Fault Detection of a 6-DOF Hydraulic Platform Based on Equiv...

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第29届中国控制与决策会议

作者： Qianqiu Li Jinhua She Min Wu Pingping Lin School of Information Science and Engineering Central South University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

ISBN: (纸本)9781509046584

This paper presents a method of fault detection for a 6-degree-of-freedom hydraulic platform based on the equivalent-input-disturbance(EID) ***,a model of the platform is derived based on the Lagrange ***,the types of actuator faults are ***,an optimal feedback controller is designed and the EID approach is incorporated to detect and suppress actuator *** results demonstrate the effectiveness of the method.

关键词： Equivalent input disturbance 6 degrees of freedom Fault detection Optimal feedback controller

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Modeling for coke quality prediction using Gaussian function and SGA

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Science China(Information Sciences) 2022年第1期65卷 282-284页

作者： Yan YUAN Qilin QU Weihua CAO Min WU School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Dear editor,Recently, we made some new attempts at predicting coke quality. Coke quality prediction provides important guidance for coal blending, improving the quality of coke, and reducing the cost. Prediction usually involves selection of the coal blending parameters and selection of the modeling methods. In recent years, traditional coal quality indicators such as coal impurity(ash Ad, sulfur St.d),

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Decoupling control for Parallel Robot Based on Equivalent-Input-Disturbance Approach 29

Decoupling Control for Parallel Robot Based on Equivalent-In...

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第29届中国控制与决策会议

作者： Pingping Lin Jinhua She Min Wu Qianqiu Li School of Information Science and Engineering Central South University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

ISBN: (纸本)9781509046584

This paper discusses the problem of posture control for a parallel *** parallel robot features multiple variables and large *** control accuracy is strongly affected by the parameters which are coupled with each other,and by exogenous disturbances.A decoupling control strategy is presented based on the equivalent-inputdisturbance(EID) approach to improve control ***,decoupling control is used to eliminate the main coupling effect between multiple ***,the EID method is used to further improve decoupling effect and suppress the external *** results show that the control strategy is effective for the decoupling control of parallel robot.

关键词： Parallel Robot Decoupling control Equivalent Input Disturbance(EID) PID

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A survey on the security of cyber-physical systems

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control Theory and Technology 2016年第1期14卷 2-10页

作者： Guangyu WU Jian SUN Jie CHEN School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

Cyber-physical systems （CPSs） are integrations of computation, communication, control and physical processes. Typical examples where CPSs are deployed include smart grids, civil infrastructure, medical devices and manufacturing. Security is one of the most important issues that should be investigated in CPSs and hence has received much attention in recent years. This paper surveys recent results in this area and mainly focusses on three important categories： attack detection, attack design and secure estimation and control. We also discuss several future research directions including risk assessment, modeling of attacks and attacks design, counter-attack strategy and testbed and validation.

关键词： Security cyber-physical systems attack detection secure estimation and control

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The Energy Consumption Analysis of Hydraulic Quadruped Robot based on Gait Parameters 34

The Energy Consumption Analysis of Hydraulic Quadruped Robot...

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第三十四届中国控制会议

作者： ZONG Xiaoyan Wang Shoukun Wang Junzheng Chen Guangrong Zhang Xiaoling State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped robot under different gait parameters. In this paper, the kinematics and dynamics models of a hydraulic quadruped robot are established firstly. Then, the length of step, the height of step, the height of center of mass, and the duty ratio of gait cycle are set as the primary research points about the energy consumption of mobile robot. In addition, the energy consumptions of the feet with and without mechanical springs are compared and analyzed. In order to get the visual observation of energy cost in the hydraulic quadruped robot during a waking cycle and the best set of locomotion variables that achieve the energy optimization, related simulations are done for gait parameters. Finally, the results provide a recommendation for the gait planning of the hydraulic quadruped robot, that is, the quadruped robot should walk with a relatively long step length, a relatively low height of step, a relatively high height of center of mass, and a relatively small duty ratio of gait cycle.

关键词： Hydraulic quadruped robot Kinematics Dynamics Gait parameters Energy consumption

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Photovoltaic,thermoelectric and electromagnetic generation technologies applied in power systems for mobile unmanned systems

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Science China(Technological Sciences) 2023年第3期66卷 599-629页

作者： DING Ning WANG XiangYang XIAN XiaoYang CAI YeYun LIU DaoMing DENG Fang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

Unmanned systems are increasingly adopted in various fields,becoming an indispensable technology in daily *** systems are the lifeblood of unmanned systems,and affect the working time and task ***,traditional power systems,such as batteries and fuels have a fixed ***,once the power supply is exhausted and cannot be replenished in time,the unmanned systems will stop ***,researchers have increasingly begun paying attention to renewable energy generation *** principles,advantages,and limitations of renewable energy generation technologies are different,and their application effects in different unmanned systems are also *** paper presents a comprehensive study of the application and development status of photovoltaic,thermoelectric,and magnetoelectric generation technologies in four kinds of unmanned systems,including space,aviation,ground,and water,and then summarizes the adaptability and limitations of the three technologies to different ***,future development directions are predicted to enhance the reliability of renewable energy generation technologies in unmanned *** is the first study to conduct a comprehensive and detailed study of renewable energy generation technologies applied in unmanned *** present work is critical for the development of renewable energy generation technologies and power systems for unmanned systems.

关键词： unmanned system renewable energy generation technology photovoltaic generation thermoelectric generation electromagnetic generation

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Enhancing sensitivity of ultrasmall rotation velocity measurements with biased quantum weak measurement 41

Enhancing sensitivity of ultrasmall rotation velocity measur...

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第41届中国控制会议

作者： Guang-Jun Wang Xue-Ying Duan Jing-Hui Huang Xiang-Yun Hu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Institute of Geophysics and Geomatics China University of Geosciences Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Recently,biased quantum weak measurement has shown higher precision than both conventional measurement and standard quantum weak measurement in optical *** this work,a scheme of detecting the ultrasmall rotation velocity in Sagnac's interferometer with biased quantum weak measurement is *** biased quantum weak measurement,additional progress of pre-coupling is introduced in standard quantum weak measurement to enhance the sensitivity for the estimated parameter,and the cost of the reduction of photons in the post-selection by pre-coupling may not impact the measurement because eliminating the saturation effect of the detector *** addition,our numerical results show that the scheme with biased quantum weak measurement can obtain a higher sensitivity for rotation velocity measurement than the scheme with standard quantum weak measurement.

关键词： quantum measurement quantum weak measurement quantum optical rotation velocity sensitivity enhanced

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Study on Landslide Susceptibility Evaluation Based on Improved Multivariable Weighted Model: A Case Study of Lushan County, China 3

Study on Landslide Susceptibility Evaluation Based on Improv...

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3rd IEEE International Conference on Software Engineering and Artificial Intelligence, SEAI 2023

作者： Zhao, Li Duan, Gonghao Wuhan Institute of Technology School of Computer Science and Engineering Wuhan China Automation for Complex Systems Hubei Key Laboratory of Advanced Control and Intelligent Wuhan China

ISBN: (纸本)9798350337952

The evaluation of regional geological hazard susceptibility is of great significance to the prevention and control of geological hazard. In this paper, the "4-20"Lushan earthquake disaster area as the research area, combined with GIS and characteristics of the research area, through correlation analysis, selected 9 influencing factors as the evaluation factors. The study was conducted using a weighted information volume-logistic regression model (WI-LR). The results were classified into five sensitivity levels: very low, low, medium, high and very high. The results show that the landslide prone areas in Lushan County are concentrated in the area below the middle of the county seat, mostly near rivers, faults and areas with peak acceleration greater than 0.4. Among them, WI-LR model (AUC=0.918) > deterministic factor model (CF =0.908) > weighted information quantity model (WI) (AUC=0.896) > information quantity model I (AUC=0.853) > information quantity logistic regression model I-LR (AUC=0.799). It indicates that WI-LR model has high evaluation accuracy. © 2023 IEEE.

关键词： Hazards

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