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Computer Modeling in engineering & Sciences 2021年第5期127卷 599-620页

作者： Dequan Guo Qiao yang Yu-Dong zhang Tao Jiang Hanbing Yan School of control engineering Chengdu University of Information TechnologyChengdu610225China college of automation Chongqing University of Posts and TelecommunicationsChongqing400065China department of Informatics University of LeicesterLeicesterLE17RHUK

The problem of domestic refuse is becoming more and more serious with the use of all kinds of equipment in medical *** matter arouses people’s *** artificial waste classification is subjective and cannot be put accurately;moreover,the working environment of sorting is poor and the efficiency is ***,automated and effective sorting is *** view of the current development of deep learning,it can provide a good auxiliary role for classification and realize automatic *** this paper,the resNet-50 convolutional neural network based on the transfer learning method is applied to design the image classifier to obtain the domestic refuse classification with high *** comparing the method designed in this paper with back propagation neural network and convolutional neural network,it is concluded that the CNN based on transfer learning method applied in this paper with higher accuracy rate and lower false detection ***,under the shortage situation of data samples,the method with transfer learning and resNet-50 training model is effective to improve the accuracy of image classification.

关键词： Domestic refuse image classification deep learning transfer learning convolutional neural network

Finite-Time Sideslip Differentiator-Based LOS Guidance for robust path Following of Snake robots

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IEEE/CAA Journal of automatica Sinica 2023年第1期10卷 239-253页

作者： yang Xiu Dongfang Li Miaomiao zhang Hongbin Deng rob Law Yun Huang Edmond Q.Wu Xin Xu the School of Mechatronical engineering Beijing Institute of TechnologyBeijing 100081China the School of Electrical engineering and automation Fuzhou UniversityFuzhou 350108 the Antai college of Economics&Management Shanghai Jiao Tong UniversityShanghai 200240China the department of automation Shanghai Jiao Tong UniversityShanghai 200240China the Asia-pacific Academy of Economics and Management University of MacaoMacao 999078China the department of Decision Science Macao University of Science and TechnologyMacao 999078China the department of automation Shanghai Jiao Tong Universityand also with the Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240China the college of mechatronics and automation National University of Defense TechnologyChangsha 410073China IEEE

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake ***,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track *** proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle *** our method,the designed piecewise auxiliary function guarantees the finite-time stability of position ***,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s *** uniform ultimate boundedness of the closed-loop system is proved by analyzing ***,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential *** last,the availability and superiority of this work are shown through simulation and experiment results.

关键词： Line-of-sight(LOS) path following sideslip snake robot

Autonomous navigation for a wolfberry picking robot using visual cues and fuzzy control

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Information processing in Agriculture 2021年第1期8卷 15-26页

作者： Yue Ma Wenqiang zhang Waqar S.Qureshi Chao Gao Chunlong zhang Wei Li college of engineering China Agricultural UniversityChina department of mechatronics engineering National University of Sciences and TechnologyH-12 IslamabadPakistan

Lycium barbarum commonly known as wolfberry or Goji is considered an important ingredient in Japanese,Korean,Vietnamese,and Chinese food and *** is cultivated extensively in these countries and is usually harvested manually,which is laborintensive and tedious *** improve the efficiency of harvesting and reduce manual labor,automatic harvesting technology has been investigated by many researchers in recent *** this paper,an autonomous navigation algorithm using visual cues and fuzzy control is proposed for Wolfberry *** first,we propose a new weightage(2.4B-0.9G-r)to convert a color image into a grayscale image for better identification of the trunk of Lycium barbarum,the minimum positive circumscribed rectangle is used to describe the ***,using the contour points the least square method is used to fit the navigation line and a region of interest(rOI)is computed that improves the realtime accuracy of the ***,a set of fuzzy controllers,for pneumatic steering system,is designed to achieve real-time autonomous navigation in wolfberry *** image experiments show that the average accuracy rate of the algorithm is above 90%,and the average time consumption is approximately 162 ms,with good robustness and real-time *** experimental results show that when the speed is 1 km/h,the maximum lateral deviation is less than 6.2 cm and the average lateral deviation is 2.9 cm,which meets the requirements of automatic picking of wolfberry picking robot in real-world environments.

关键词： Visual navigation Chinese wolfberry picking Fuzzy control

robust stabilization of uncertain quantum open systems

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Robust stabilization of uncertain quantum open systems

robust adaptive control of hypersonic flight vehicle with asymmetric AOA constraint

第36届中国控制会议

作者： Kai Li Ming zhang department of automatic control College of Mechatronic Engineering and AutomationNational University of Defense Technology

ISBN: (纸本)9781538629185

We exploit how to overcome phase damping decoherence when the phase damping parameters are *** is shown that the "relaxed" control goal may be achieved by combing simple open-loop coherent control with periodic projective *** the sufficient conditions and constructive design procedures are *** control design is reduced to selecting the period of projective measurements and fidelity-truncated time based on two lower-bound functions for both probability and fidelity *** both probability and fidelity performances are specified,the stabilization time is further maximized by searching the "optimal" period of projective *** is also exemplified that larger uncertainties may lead to shorter stabilization time for the given performance level.

关键词： uncertain quantum systems robust control decoherence projective measurement

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Science china(Information Sciences) 2020年第11期63卷 195-207页

作者： Yuyan GUO Bin XU Weixin HAN Shuai LI Yueping WANG Yu zhang School of automation Northwestern Polytechnical University department of Computing The Hong Kong Polytechnic University Flight automatic control research Institute State Key Laboratory of Industrial control technology College of Control Science and EngineeringZhejiang University

This paper investigates the state-constrained controller design of a hypersonic flight vehicle(HFV) based on an asymmetric barrier Lyapunov function(ABLF). The robust adaptive back-stepping controller with integral terms is applied for the HFV longitudinal dynamics. Considering the asymmetric angle of attack(AOA) constraint caused by the unique structure and scramjet, the controller is modified by constructing an ABLF, where the asymmetric constraint on AOA tracking error is introduced. Combined with the constraint on virtual control, the AOA is restricted to a predefined asymmetric interval. The system stability and the AOA constraint are guaranteed via Lyapunov analysis. Simulation results verify that the AOA can be kept in the given asymmetric interval while the altitude reference signal is tracked.

关键词： hypersonic flight vehicle HFV integral back-stepping control adaptive control asymmetric barrier Lyapunov function ABLF angle of attack (AOA) constraint

Identification of Markovian open system dynamics for qubit systems

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Chinese Science Bulletin 2012年第18期57卷 2242-2246页

作者： ZHOU WeiWei SCHIrMEr Sophie GONG ErLing XIE HongWei zhang Ming department of automatic control College Mechatronics and AutomationNational University of Defense TechnologyChangsha 410073China department of Applied Mathematics and Theoretical physics University of CambridgeWilberforce RoadCB3 OWAUK physics department College of ScienceSwansea UniversitySingleton ParkSwanseaSA2 8PPUK

We discuss the problem of identification of the dynamical generators for open two-level quantum systems in a Markovian *** on Bloch sphere representation,the identification problem is converted to the estimation of a 3-dimensional real process matrix A and an inhomogeneous term *** parameter identifiability and sufficient conditions for completely identification of A and c are *** discussion shows that the obtained sufficient conditions are not always *** approach can be generalized to finite-level open quantum systems in an arbitary Markovian environment.

关键词：系统动力学量子位量子系统马氏环境问题转换充分条件参数辨识环境系统

Autonomous Landing on Ground Target of UAV by Using Image-Based Visual Servo control

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Autonomous Landing on Ground Target of UAV by Using Image-Ba...

O-glycan profiling of serum glycan for potential renal cancer biomarkers

第36届中国控制会议

作者： Yongwei zhang yangguang Yu Shengde Jia xiangke Wang college of mechatronics ＆ automation National University of Defense Technology

ISBN: (纸本)9781538629185

This paper addresses the auto landing problem of a quadrotor unmanned aerial vehicle（UAV） equipped with a single down-looking vertically camera on the ground target using image-based visual servo（IBVS） *** features on a ground guidance cooperation mark flat are exploited to recognize and obtain the center pixel position of the mark,without the position and attitude estimation process,and direct compute flight control commands based on pixel level in image by control law,which all running on an onboard *** exploited two control schemes include visual velocity landing control and VICON position landing control to compare the control *** results are provided to illustrate and assess the performance of the proposed visual control strategy.

关键词： Unmanned Aerial Vehicle(UAV) Image-Based Visual Servo(IBVS) control automatic Landing VICON

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Science china(Life Sciences) 2013年第8期56卷 739-744页

作者： GAO Yi MA Fei zhang Wei ZHONG Fan TANG HaiLin XU DanFeng ZHAO Liang department of Urology Changzheng Hospital of Second Military Medical University State Key Laboratory of proteomics Beijing Proteome Research CenterBeijing Institute of Radiation Medicine Shanghai Key Laboratory of Functional Materials Chemistry School of Chemistry and Molecular EngineeringEast China University of Science and Technology department of automatic control College of Mechatronics and AutomationNational University of Defense Technology Laboratory of Systems Biology Institutes of Biomedical SciencesFudan University

Serum was obtained from 25 male renal cell carcinoma(rCC) patients and 21 healthy males.O-glycans were released by a-elimination reaction and purified by graphitized carbon cartridge solid phase extraction,then profiled by matrix-assisted laser desorption/ionisation-time of flight mass *** noise removal and peak alignment,1372 peaks were extracted from 200000 data *** peaks were analyzed by calculation of differential sensitivity and *** combination of two feature peaks was chosen as a biomarker and could clearly differentiate rCC and normal samples in our study group.

关键词： mass spectrometry glycan renal cell carcinoma biomarkers

prediction Consensus-Based Distributed Kalman Filtering with packet Loss

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Prediction Consensus-Based Distributed Kalman Filtering with...

第36届中国控制会议

作者： Sha Fan Huaicheng Yan Hao zhang Mengling Wang Xisheng Zhan Key Laboratory of Advanced control and Optimization for Chemical process of Ministry of Education East China University of Science and Technology college of mechatronics and control engineering Hubei Normal University department of control Science and engineering Tongji University

ISBN: (纸本)9781538629185

This paper is concerned with the problem of distributed state estimation for linear discrete system with packet loss.A state prediction consensus mechanism is introduced to promote the estimation *** applying matrix theory,a sufficient condition for the convergence of the estimation error system is ***,a numerical example is given to show the algorithm proposed in this paper has better consensus performance compared with a classical Kalman consensus filtering（KCF） by some simulations in real and packet-dropping cases,***,the influence of consensus coefficient and prediction consensus coefficient on the estimation error covariance are presented by simulation.

关键词： Distributed state estimation packet loss Kalman consensus filtering(KCF) State prediction consensus mechanism

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煤矿信息化建设回顾与展望

工矿自动化 2020年第7期46卷 5-11页

作者：丁恩杰廖玉波张雷刘忠育中国矿业大学物联网(感知矿山)研究中心江苏徐州221008 矿山互联网应用技术国家地方联合工程实验室江苏徐州221008 淄博矿业集团有限责任公司装备环保部山东淄博255000 徐州工程学院信息工程学院江苏徐州221008

从煤矿信息化的定义出发,回顾了煤矿信息化建设经历的单机(系统)自动化、综合自动化、矿山物联网、智能矿山、感知矿山等阶段的特征、典型问题及具有代表性的解决方案,指出:单机(系统)自动化矿山仅能够对单一设备或单一系统进行简单控制... 详细信息

从煤矿信息化的定义出发,回顾了煤矿信息化建设经历的单机(系统)自动化、综合自动化、矿山物联网、智能矿山、感知矿山等阶段的特征、典型问题及具有代表性的解决方案,指出:单机(系统)自动化矿山仅能够对单一设备或单一系统进行简单控制,属于煤矿信息化建设的初级阶段;综合自动化矿山实现了多系统间的自动化控制,解决了信息孤岛问题,属于煤矿信息化建设的中级阶段;物联网矿山、智能矿山分别实现了人与人、人与物和物与物相联及深度相联,感知矿山实现了矿山信息与状态的认知与知识集成,属于煤矿信息化建设的高级阶段。梳理了煤矿信息化、数字化、虚拟化和智慧化之间的关系,指出:煤矿信息化包括矿山数字化、虚拟化和智慧化的所有内容;物理矿山、数字矿山、虚拟矿山通过物的集成、数据集成和语义集成形成一个完整的闭合体,智慧矿山是该闭合体的核心。分析了目前煤矿信息化建设在感知层、网络层、平台层、应用层存在的主要问题,探讨了煤矿信息化技术的发展趋势:自治设备大量涌现;煤矿透明化与精准控制;边缘计算与云平台协同;智能App大量涌现。

关键词：煤矿信息化数字矿山虚拟矿山矿山物联网感知矿山智能矿山智慧矿山