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DIRECT　FUZZY　NEURAL　CONTROL　FOR　TRAIN　TRAVELING　PROCESS

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中国有色金属学会会刊：英文版 1997年第1期7卷 147-151页

作者： Wang, Jing cai, zixing Jia, Limin Central South Univ of Technology Changsha China

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关键词： ATO(automatic train operation) fuzzy controller train traveling process process partition

Multi-objective optimization sensor node scheduling for target tracking in wireless sensor network

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High Technology Letters 2014年第3期20卷 267-273页

作者：文莎 cai zixing Hu Xiaoqing School of Information Science and Engineering Central South University School of Automation Science and Engineering South China University of Technology

Target tracking in wireless sensor network usually schedules a subset of sensor nodes to constitute a tasking cluster to collaboratively track a target.For the goals of saving energy consumption,prolonging network lifetime and improving tracking accuracy,sensor node scheduling for target tracking is indeed a multi-objective optimization problem.In this paper,a multi-objective optimization sensor node scheduling algorithm is proposed.It employs the unscented Kalman filtering algorithm for target state estimation and establishes tracking accuracy index,predicts the energy consumption of candidate sensor nodes,analyzes the relationship between network lifetime and remaining energy balance so as to construct energy efficiency index.Simulation results show that,compared with the existing sensor node scheduling,our proposed algorithm can achieve superior tracking accuracy and energy efficiency.

关键词：无线传感器网络多目标优化问题传感器节点调度算法目标跟踪卡尔曼滤波算法目标状态估计网络寿命

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面向增材制造的数字孪生实施方法综述

计算机集成制造系统 2024年第4期30卷 1171-1188页

作者：孟德状杨伟东蔡子行郭智河北工业大学机械工程学院天津300103 国家技术创新方法与实施工具工程技术研究中心河北工业大学天津300401 北京机科国创轻量化科学研究院有限公司北京100083

增材制造以其全数字化加工方式可为数字孪生模型提供可靠的数据支撑;数字孪生有助于增材制造在设计、制造、服务等过程中充分发挥其不同于传统制造的优势,二者的结合在工业制造领域受到广泛关注。以总结数字孪生在增材制造中的实施方法... 详细信息

增材制造以其全数字化加工方式可为数字孪生模型提供可靠的数据支撑;数字孪生有助于增材制造在设计、制造、服务等过程中充分发挥其不同于传统制造的优势,二者的结合在工业制造领域受到广泛关注。以总结数字孪生在增材制造中的实施方法为目的,介绍了数字孪生的概念和发展历程,分析了增材制造中实施数字孪生的关键技术;基于数字孪生对于增材制造全生命周期过程的应用潜力,从设计、制造、质量检测以及服务4个阶段阐述了国内外相关研究的方法和侧重点。展望了粘结剂喷射工艺中实施数字孪生的挑战,并提出了针对其的一种数字孪生技术路线。最后总结了增材制造中实现数字孪生存在的难题以及未来的发展方向。

关键词：数字孪生增材制造工业4.0 人工智能粘结剂喷射

An adaptive particle filter for soft fault compensation of mobile robots

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Science in China(Series F) 2008年第12期51卷 2033-2046页

作者： DUAN ZhuoHua cai zixing YU JinXia School of Information Engineering Shaoguan University Shaoguan 512003 China School of Information Science and Engineering Central South University Changsha 410083 China College of Computer Science and Technology Henan Polytechnic University Jiaozuo 454003 China

Soft fault compensation plays an important role in mobile robot locating, mapping, and navigating. It is difficult to achieve fast and accurate compensation for mobile robots because they are usually highly non-linear, non-Gaussian systems with limited computation and memory resources. An adaptive particle filter is presented to compensate two kinds of soft faults for mobile robots, i.e., noise or factor faults of dead reckoning sensors and slippage of wheels. Firstly, the kinematics models and the fault models are discussed, and five kinds of residual features are extracted to detect soft faults. Secondly, an adaptive particle filter is designed for fault compensation, and two kinds of adaptive scheme are discussed： 1） the noise variances of linear speed and yaw rate are adjusted according to residual features; 2） the particle number is adapted according to Kullback-Leibler divergence （KLD） of two approximate distribution denoted with two particle sets with different particles, i.e., increasing particle number if the KLD is large and decreasing particle number if the KLD is small. The theoretic proof is given and experimental results show the efficiency and accuracy of the presented approach.

关键词： soft fault detection and compensation adaptive particle filter mobile robots

A spatial orthogonal allocation and heterogeneous cultural hybrid algorithm for multirobot exploration mission planning

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控制理论与应用（英文版） 2011年第2期9卷 171-176页

作者： Yu, Lingli cai, zixing Gao, Ping'an Liu, Xiaoying School of Information Science and Engineering Central South University Changsha Hunan 410083 China

A spatial orthogonal allocation method is devised for multirobot tasks allocation.A 3D space model is adopted to describe exploration mission;meanwhile spatial orthogonal tentative technology is utilized to update the attractor position for load balance.Heterogeneous interactive cultural hybrid architecture is proposed to solve a robot route planning problem;it utilizes good-point-set to initialize population spaces,redefine novel evolution model and particle evolution ability,and introduce near-neighbor local search strategy in order to enhance search capability.Finally,spatial orthogonal allocation and heterogeneous cultural hybrid algorithm (SOAHCHA) are verified by simulation analysis and MORCS2 planning experiments;those results show that the proposed algorithm is efficient because of its successful performance and balanced allocation.

关键词： Multirobot system Mission planning Spatial orthogonal allocation Heterogeneous cultural hybrid algorithm

Intelligent Integrated Control of Underactuated Mechanical Systems with Second-order Nonholonomic Constraints

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High Technology Letters 2003年第3期9卷 81-85页

作者：赖旭芝 Wu Min cai zixing She Jinhua School of Information Science & Engineering Central South University Changsha Hunan 410083 P.R.China Mechatronics Department Tokyo University of Technology Hachioji Tokyo 192-8580 Japan

This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.

关键词：机器人移动控制智能综合控制二阶不完整约束模糊控制

An improved Isomap method for manifold learning

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International Journal of Intelligent Computing and Cybernetics 2017年第1期10卷 30-40页

作者： Taiguo Qu zixing cai College of Computer Science and Technology Hengyang Normal UniversityHengyangChina Hunan Provincial Key Laboratory of Intelligent Information Processing and Application HengyangChina School of Information Science and Engineering Central South UniversityChangshaChina

Purpose-Isometric feature mapping(Isomap)is a very popular manifold learning method and is widely used in dimensionality reduction and data visualization.The most time-consuming step in Isomap is to compute the shortest paths between all pairs of data points based on a neighbourhood graph.The classical Isomap(C-Isomap)is very slow,due to the use of Floyd’s algorithm to compute the shortest paths.The purpose of this paper is to speed up Isomap.Design/methodology/approach-Through theoretical analysis,it is found that the neighbourhood graph in Isomap is sparse.In this case,the Dijkstra’s algorithm with Fibonacci heap(Fib-Dij)is faster than Floyd’s algorithm.In this paper,an improved Isomap method based on Fib-Dij is proposed.By using Fib-Dij to replace Floyd’s algorithm,an improved Isomap method is presented in this paper.Findings-Using the S-curve,the Swiss-roll,the Frey face database,the mixed national institute of standards and technology database of handwritten digits and a face image database,the performance of the proposed method is compared with C-Isomap,showing the consistency with C-Isomap and marked improvements in terms of the high speed.Simulations also demonstrate that Fib-Dij reduces the computation time of the shortest paths from O(N3)to O(N2lgN).Research limitations/implications-Due to the limitations of the computer,the sizes of the data sets in this paper are all smaller than 3,000.Therefore,researchers are encouraged to test the proposed algorithm on larger data sets.Originality/value-The new method based on Fib-Dij can greatly improve the speed of Isomap.

关键词： Dijkstra’s algorithm Fibonacci heap Floyd’s algorithm Isomap Manifold learning Shortest path Paper type Research paper

Multi-robot exploration mission planning and stochastic increment replanning for load balance

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Frontiers of Electrical and Electronic Engineering in China 2010年第2期5卷 154-162页

作者： Lingli YU zixing cai School of Information Science&Engineering Central South UniversityChangsha 410083China

Multi-robot mission planning is composed of assignment allocation and mobile-robot route planning in this paper.Multi-robot exploration missions adopts fuzzy c-mean(FCM)algorithm to allocate,and then,heterogeneous interactive cultural hybrid algorithm(HICHA)is devised for route planning in order to optimize mobilerobot execution path.Meanwhile,we design multi-robot mission replanning mechanism based on the rules system of greedy algorithm for dynamic stochastic increment missions.Finally,extensive simulation experiments were shown that FCM for assignment allocation and HICHA for route planning were efficacious for mobile-robot exploration mission planning.Furthermore,the improved greedy algorithm based on experience rules met dynamic stochastic increment missions replanning requirement for load balance.

关键词： multi-robot mission planning heterogeneous interactive cultural hybrid algorithm(HICHA) replanning

Stochastic LQ Control with Extra Measurability Restriction

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Journal of Systems Science & Complexity 2024年第3期37卷 1003-1022页

作者： WANG Hongxia HU Yuxi LI zixing SONG Lianfeng College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China

Different from the standard linear quadratic(LQ)problem for stochastic systems,the LQ problem considered in the paper has extra measurability restrictions.The problem also appears in the LQ control problem for stochastic systems with delays,rational expectations problems,asymmetric information control,and so on.The essential difficulty lies in that one has to optimize the input and its conditional expectations simultaneously.The stochastic maximum principle(SMP)and orthogonal decomposition technique are the key tools.Firstly,the authors establish the SMP and convert the original problem into forward and backward stochastic difference equations(FBSDEs)with extra measurability restrictions.Secondly,the authors resolve the FBSDEs by using the orthogonal decomposition technique and obtain the analytical solution to the underlying problem.Thirdly,the authors explore the essential distinction between the problem and the standard stochastic LQ control problem.Finally,numerical examples are given to illustrate the obtained results.

关键词： Multiplicative noise systems optimal control stochastic maximum principle stochastic systems