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Learning-based tracking control of AUV:Mixed policy improvement and game-based disturbance rejection

CAAI Transactions on Intelligence Technology 2025年第2期10卷 510-528页

作者： Jun Ye Hongbo Gao Manjiang Hu Yougang Bian Qingjia Cui Xiaohui Qin Rongjun Ding State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle EngineeringHunan UniversityChangshaChina School of Information Science and Technology and Institute of Advanced TechnologyUniversity of Science and Technology of ChinaHefeiChina Nanyang Technological University SingaporeSingapore Wuxi Intelligent Control Research Institute of Hunan University Hunan UniversityWuxiChina

A mixed adaptive dynamic programming(ADP)scheme based on zero-sum game theory is developed to address optimal control problems of autonomous underwater vehicle(AUV)systems subject to disturbances and safe *** combining prior dynamic knowledge and actual sampled data,the proposed approach effectively mitigates the defect caused by the inaccurate dynamic model and significantly improves the training speed of the ADP ***,the dataset is enriched with sufficient reference data collected based on a nominal model without considering modelling ***,the control object interacts with the real environment and continuously gathers adequate sampled data in the *** comprehensively leverage the advantages of model-based and model-free methods during training,an adaptive tuning factor is introduced based on the dataset that possesses model-referenced information and conforms to the distribution of the real-world environment,which balances the influence of model-based control law and data-driven policy gradient on the direction of policy *** a result,the proposed approach accelerates the learning speed compared to data-driven methods,concurrently also enhancing the tracking performance in comparison to model-based control ***,the optimal control problem under disturbances is formulated as a zero-sum game,and the actor-critic-disturbance framework is introduced to approximate the optimal control input,cost function,and disturbance policy,***,the convergence property of the proposed algorithm based on the value iteration method is ***,an example of AUV path following based on the improved line-of-sight guidance is presented to demonstrate the effectiveness of the proposed method.

关键词： adaptive dynamic programming autonomous underwater vehicle game theory optimal control reinforcement learning

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Hybrid Decision-making Strategy Combining Reinforcement Learning and Decision Rules for Highway Unmanned Driving

Hybrid Decision-making Strategy Combining Reinforcement Lear...

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2024 IEEE International Conference on Unmanned Systems, ICUS 2024

作者： Zhang, Lele Yang, Zeyu Yu, Caocao Hu, Ziniu Zhou, Yunshui Cui, Qingjia State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan University Changsha China Wuxi Intelligent Control Research Institute of Hunan University Wuxi China

ISBN: (纸本)9798350384185

In recent years, reinforcement learning has been employed to address the challenge of unmanned driving decision-making, due to its ability to handle uncertainty and continuous optimization. However, compared with rule-based algorithms, its training time is considerable and the reliability of its results is difficult to guarantee. To enhance the security of decision-making processes, this paper proposes a hybrid decision-making algorithm designed to accelerate the training process of reinforcement learning and enhance the reliability of decision-making. The method first evaluates the confidence levels of both rule-based and learning-based strategies by leveraging the data collected throughout the training phase. Subsequently, an activation function is crafted to determine the final strategy with the greatest level of confidence. This guarantees that the final strategy performs at least on par with the rule-based approach. A simulation focused on highway driving was conducted as a case study to illustrate the effectiveness of the proposed method. The results demonstrate that the proposed approach offers greater profitability than the rule-based method and higher reliability compared to the learning-based method. © 2024 IEEE.

关键词： Reinforcement learning

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Noise Detection and Removal for Underground Communication Systems Based on L2 N onnal Inner Product 6

Noise Detection and Removal for Underground Communication Sy...

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6th IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2024

作者： Yu, Bangwei Wang, Yong Qi, Liangang Liu, Yang College of Information and Communication Engineering Harbin Engineering University Harbin China Harbin Engineering University Key Laboratory of Advanced Ship Communication and Information Technology Harbin China Sichuan Key Laboratory of Agile Intelligent Computing Chengdu China

ISBN: (纸本)9798350389692

In underground communication systems, continuous mud pulse signals are susceptible to pump noise during transmission, resulting in a high bit error rate(BER). In this paper, a Normal Inner Product Orthogonal Matching Pursuit(NIPOMP) algorithm is proposed for the transmission characteristics of continuous waves in the underground. First, a cyclic prefix(CP) is added in front of the sent data. Then the observation vector is obtained by making a difference between the CP of the latter set of data and the CP of the former set of data. Then, the columns of the sensing matrix that are most correlated with the observation vectors are selected as candidate support sets by calculating the L2 norm. The least squares method was used to solve for the previous set of pump noise estimates. Finally, the pump noise is reconstructed using the correspondence between the time and frequency domains. This paper establishes a complete underground communication system. We discuss the noise characteristics of pump noise and analyze the denoising performance of the NIPOMP algorithm in depth. Simulation results show that the algorithm significantly reduces the system BER in complex channel environments with more drastic fading, including gas-phase, liquid-phase, gas-liquid two-phase, and liquid-solid two-channel environments. © 2024 IEEE.

关键词： Bit error rate

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designing Uncorrelated Address Constrain for DNA Storage by DMVO Algorithm

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IEEE/ACM Transactions on Computational Biology and Bioinformatics 2022年第2期19卷 866-877页

作者： Cao, Ben Ii, Xue Zhang, Xiaokang Wang, Bin Zhang, Qiang Wei, Xiaopeng Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education Ministry of Education School of Software Engineering Dalian University Dalian116622 China School of Computer Science and Technology Dalian University of Technology Dalian116024 China

At present, huge amounts of data are being produced every second, a situation that will gradually overwhelm current storage technology. DNA is a storage medium that features high storage density and long-term stability and is now considered to be a feasible storage solution. Errors are easily made during the sequencing and synthesis of DNA, however. In order to reduce the error rate, novel uncorrelated address constrain are reported, and a Damping Multi-Verse Optimizer (DMVO)algorithm is proposed to construct a set of DNA coding, which is used as the non-payload. The DMVO algorithm exchanges objects through black/white holes in order to achieve a stable state and adds damping factors as disturbances. Compared with previous work, the coding set obtained by the DMVO algorithm is larger in size and of higher quality. The results of this study reveal that the size of the DNA storage coding set obtained by the DMVO algorithm increased by 4-16 percent, and the variance of the melting temperature decreased by 3-18 percent. © 2004-2012 IEEE.

关键词： Damping

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On Simple Perturbation of the α-Universal Triple I Algorithm via Specific Interval Implication Operators 1

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3rd International Conference on Artificial Intelligence Logic and Applications, AILA 2023

作者： Tang, Yiming Guo, Anyi Zhang, Li Gao, Jianwei Li, Shujie Anhui Province Key Laboratory of Affective Computing and Advanced Intelligent Machine School of Computer and Information Hefei University of Technology Hefei230601 China

ISBN: (数字)9789819978694

ISBN: (纸本)9789819978687

Fuzzy reasoning aims to describe things with fuzzy and uncertain concepts and convert them into information that computers can process. Wang thought that the inference algorithm based on Compositional Rule of Inference (CRI) had certain defective nature and proposed the triple I algorithm with fully implication operator. Later, the α-universal triple I (α-UTI) algorithm was proposed. As an important part of the fuzzy inference algorithm, the implication operator directly affects the robustness of the inference algorithm, that is, affects the quality of the inference algorithm. Besides, the quality of fuzzy reasoning algorithm can be partly determined by the robustness of reasoning algorithm. In this paper, the ordinary implication operator is extended to a more general interval implication operator. And the simple perturbation of the α-UTI algorithm is studied for some specific interval implication operators under the interval-valued environment. It is observed that the α-UTI algorithm possesses good simple perturbation performance for single rule or multi-rules, in which specific interval implications are used. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Fuzzy inference

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Effect of Free-End Torsion on the Corrosion and Mechanical Properties for Mg-3Zn-0.2Ca Alloy

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Acta Metallurgica Sinica(English Letters) 2025年第1期38卷 59-70页

作者： Li-Lan Gao Jiang Ma Yan-Song Tan Xiao-Hao Sun Qi-Jun Gao De-Bao Liu Chun-Qiu Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China School of Materials Science and Engineering Tianjin University of TechnologyTianjin300384China

Magnesium alloys with excellent degradability and biocompatibility are promising materials for biomedical implants,saving patients the burden of second ***,their mechanical properties and corrosion resistance are significantly below the requirements for implant *** study aims to improve the mechanical and corrosion resistance properties of Mg-3Zn-0.2Ca alloy by pre-torsion treatment,and find out the optimal shear *** rod-shaped Mg-3Zn-0.2Ca alloy specimens were pre-torsion treated at different torsion *** effect of free-end torsion on Mg-3Zn-0.2Ca alloy was characterized through microstructure analysis,mechanical testing,and corrosion ***-torsion treatment can refine grain and induce twins and dislocations in Mg-3Zn-0.2Ca *** surface hardness increases with the increase in torsion *** yield strength and ultimate strength initially increase and then decrease with increasing torsion angle,while ductility decreases with increasing torsion *** with a shear strain of 30%exhibit the highest tensile strength,reaching 284.78±10.62 MPa,with an elongation of 19.37±1.66%.Furthermore,they show a significant improvement in fatigue lives both before and after *** the stress amplitude is 120 MPa,the fatigue lives for specimens without pre-torsion treatment are 54,275 cycles and 4324 cycles before and after pre-corrosion,while they increased significantly to 92,015 cycles and 5050 cycles with the 30%shear strain,***,the 30%shear strain specimens show a significant reduction in corrosion *** conclusion,pre-torsion treatment can effectively modify the microstructure of Mg-3Zn-0.2Ca alloy,enhancing both mechanical properties and corrosion *** optimal shear strain for this improvement is 30%.This study provides a practical method to enhance the mechanical properties and corrosion resistance of Mg-3Zn-0.2Ca alloy,making it more suitable for biomedical implan

关键词： Magnesium alloy Pre-torsion Microstructure Mechanical property Corrosion resistance

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Multi-Scale Time Series Segmentation Network Based on Eddy Current Testing for Detecting Surface Metal Defects

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 528-538页

作者： Xiaorui Li Xiaojuan Ban Haoran Qiao Zhaolin Yuan Hong-Ning Dai Chao Yao Yu Guo Mohammad S.Obaidat George Q.Huang the School of Intelligence Science and Technology University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering the Key Laboratory of Intelligent Bionic Unmanned Systems and the Institute of Materials Intelligent Technology Liaoning Academy of Materials IEEE the Department of Computer Science Hong Kong Baptist University the School of Computer and Communication Engineering Key Laboratory of Advanced Materials and Devices for Post-Moore Chips Ministry of Education University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing the School of Computer and Communication Engineering University of Science and Technology Beijing the King Abdullah Ⅱ School of Information Technology The University of Jordan the Department of Computational Intelligence the School of Computing SRM University the School of Engineering The Amity University The Hong Kong Polytechnic University

In high-risk industrial environments like nuclear power plants, precise defect identification and localization are essential for maintaining production stability and safety. However, the complexity of such a harsh environment leads to significant variations in the shape and size of the defects. To address this challenge, we propose the multivariate time series segmentation network(MSSN), which adopts a multiscale convolutional network with multi-stage and depth-separable convolutions for efficient feature extraction through variable-length templates. To tackle the classification difficulty caused by structural signal variance, MSSN employs logarithmic normalization to adjust instance distributions. Furthermore, it integrates classification with smoothing loss functions to accurately identify defect segments amid similar structural and defect signal subsequences. Our algorithm evaluated on both the Mackey-Glass dataset and industrial dataset achieves over 95% localization and demonstrates the capture capability on the synthetic dataset. In a nuclear plant's heat transfer tube dataset, it captures 90% of defect instances with75% middle localization F1 score.

关键词： Eddy current testing nondestructive testing semantic segmentation time series analysis

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SC-LSTM Based Human Action Recognition

SC-LSTM Based Human Action Recognition

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IEEE International Conference on Signal and Image Processing (ICSIP)

作者： Naixin Kang Pengfei Yi Qingshu Geng Jing Dong Rui Liu Ling Wang Key Laboratory of Advanced Design and Intelligent Computing (Ministry of Education) School of Software Engineering Dalian University Dalian China

ISBN: (数字)9798350350920

ISBN: (纸本)9798350350937

Human Action Recognition is one of the most applied research directions in the field of Computer Vision, which is widely used in human-computer interaction, Augmented Reality (AR) technology, security monitoring, and other scenarios. However, due to the complexity of human action gestures, existing Human Action Recognition methods have certain deficiencies in dealing with variable human gestures and action information, and the accuracy needs to be improved. To improve the accuracy, We propose a multi-dimensional network model based on SC-LSTM(Skip-Connection + LSTM). First, a Temporal Feature Extraction Module is designed based on SC-LSTM, and a Spatial Feature Extraction Module is designed based on CNN and Multi-Attention Mechanism to extract potential human action features from both temporal and spatial dimensions, respectively. Then, a separate SC-LSTM classification network is utilized to process these spatio-temporal features to obtain the final HAR results. The experimental results show that compared to other algorithms, the present model can more fully utilize the information in the temporal dimension, and thus performs better in terms of HAR accuracy.

关键词： Human computer interaction Computer vision Accuracy Image recognition Feature extraction Complexity theory Human activity recognition

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An Active Visual Perception Methodology for the Safety of Human-Robot Collaborations

An Active Visual Perception Methodology for the Safety of Hu...

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IEEE International Conference on Signal and Image Processing (ICSIP)

作者： Siyuan Cheng Pengfei Yi Mengmeng Chen Jing Dong Rui Liu Ling Wang Key Laboratory of Advanced Design and Intelligent Computing (Ministry of Education) School of Software Engineering Dalian University Dalian China

ISBN: (数字)9798350350920

ISBN: (纸本)9798350350937

In industrial settings with multiple robotic arms, ensuring human-robot interaction safety through visual feedback is essential. However, existing methods use multiple pre-set cameras to avoid occlusion, making implementation challenging in compact spaces. We propose an adaptive active visual perception method for safety in human-robot collaboration by equipping a single RGBD camera on an idle robotic arm. This method eliminates the need to add additional brackets, is low cost, and is suitable for compact environments compared to current methods. Firstly, to capture comprehensive and accurate global information as much as possible, an active visual perception strategy integrating static visual perception and proprioceptive pose optimization is designed; then, an optimization-based robot position and pose decision method is proposed by using the real-time robots state and obstacles state, which enables the camera at the end of the robot to acquire more effective views; finally, a dual-robot following strategy is proposed to ensure that it can work in tandem. The validity was proved by experimentation. The video are available at https://***/03lwb.

关键词： Visualization Service robots Robot vision systems Human-robot interaction Streaming media Cameras Manipulators

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Project-guided Teaching Reform of Image Processing and Machine Vision: A Case Study of intelligent Diagnosis of Pulmonary Nodules 24

Project-guided Teaching Reform of Image Processing and Machi...

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3rd International Conference on Artificial Intelligence and Education, ICAIE 2024

作者： Zhang, Guobin Wang, Kexin Wang, Lewen Zhang, Runfeng Yang, Lu Wang, Min Liu, Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China

ISBN: (纸本)9798400712692

This paper explores the innovation of teaching mode of image processing and machine vision courses under project orientation. Traditional image processing courses always lack a proper practical application, leading to some difficulties for students to understand the theoretical knowledge and apply the course content. Therefore, in order to better develop students' abilities in various aspects, this study takes the intelligent diagnosis of lung nodules as an example, and organically combines the theoretical knowledge in the textbook with the practical application in the project. In this paper we firstly discuss the content and importance of the image Processing and Machine Vision course, and review its research progress in related fields. Then we describe the design and implementation of the innovative model, and demonstrate the actual teaching effect under the new model through case studies. The final results show that this project-oriented teaching mode enhances students' learning interest, innovative thinking, practical and teamwork ability, which provides an important reference value for undergraduate talent cultivation. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Machine vision

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