作者： Zhiyue Shao1;Jinhui Zhang1; （1School of Automation, Beijing Institute of Technology, Beijing, China）
出处： IEEE/ASME Transactions on Mechatronics 2024 Vol.29 No.1 P358-365
关键词： Mobile robots;Cameras;Robot vision systems;Visualization;Trajectory;Robots;Robot kinematics;Unknown Parameters;Adaptive Control;Tracking Control;Mobile Robot;External Parameters;Translation Parameters;Adaptive Tracking;Trajectory Tracking Control;Adaptive Tracking Control;Adaptive Trajectory Tracking;Adaptive Trajectory Tracking Control;Simulation Results;Control Method;Optimal Control;Adaptive Method;Control Problem;Tracking Error;Adaptive Control Method;Convergence Of The Tracking Error;Coordinate System;Current Trajectory;Visual Control;Visual Servoing;Internal Parameters;Feature Points;Homography Matrix;Camera Coordinate System;Camera Frame;Blue Dotted Line;Motion Trajectory
摘要： In this article, the vision-based trajectory tracking control problem of wheeled mobile robot is addressed, and different from the traditional vision- ...
作者： Sheng Yu1;Di-Hua Zhai1,2;Yuanqing Xia1; （1School of Automation, Beijing Institute of Technology, Beijing, China 2Yangtze Delta Region Academy of Beijing Institute of Technology, Jiaxing, China）
出处： IEEE/ASME Transactions on Mechatronics 2024 Vol.29 No.1 P625-635
关键词： Pose estimation;Point cloud compression;Robots;Solid modeling;Deformation;Feature extraction;Task analysis;Pose Estimation;Self-supervised Learning;Human Pose Estimation;Object Pose;Robotic Grasping;Category-level Object;Category-level Object Pose;Large Datasets;Point Cloud;RGB Images;Target Object;Series Of Methods;Objects In The Scene;Unknown Objects;Pose Estimation Methods;Object Point Cloud;Local Features;Network Performance;Global Features;Bounding Box;Pose Tracking;Point Cloud Features;Feature Fusion;Latent Vector;Self-supervised Training;RGB-D Images;Depth Images;Final Pose;Object Size;Synthetic Images
摘要： 6-D object pose estimation is widely used in the robotic grasp, and a series of object pose estimation methods have been proposed. Among them, categor ...
作者： Min Lin1;Zhongqi Sun1,2;Yuanqing Xia1;Jinhui Zhang1; （1School of Automation, Beijing Institute of Technology, Beijing, China 2Yangtze Delta Region Academy of Beijing Institute of Technology, Jiaxing, China）
出处： IEEE Transactions on Neural Networks and Learning Systems 2024 Vol.35 No.3 P3312-3324
关键词： Costs;Predictive control;Discrete-time systems;Stability criteria;Convergence;Task analysis;Sun;Predictive Control;Model Predictive Control;Value Function;Linear System;Computational Burden;Prediction Horizon;Model Predictive Control Strategy;Terminal Cost;Terminal Constraint;Training Data;Optimal Control;State Space;Stability Analysis;Nonlinear Systems;Control Input;Control Performance;Weight Vector;Optimal Policy;Termination Condition;Running Costs;Temporal Difference Learning;Optimal Value Function;Reinforcement Learning Agent;Input Constraints;Theoretical Guarantees;Iterative Sampling;Value Function Approximation;Update Law;Nonholonomic;Policy Evaluation
摘要： This article proposes a novel reinforcement learning-based model predictive control (RLMPC) scheme for discrete-time systems. The scheme integrates mo ...
作者： Yongkang Wang1;Di-Hua Zhai1,2;Yuanqing Xia1;Danyang Liu1; （1School of Automation, Beijing Institute of Technology, Beijing, China 2Yangtze Delta Region Academy Beijing Institute of Technology, Jiaxing, China）
出处： IEEE Transactions on Industrial Informatics 2024 Vol.20 No.3 P4930-4939
关键词： Training;Data models;Clustering algorithms;Internet of Things;Informatics;Electronic learning;Behavioral sciences;Internet Of Things;Internet Of Things Applications;Backdoor Attacks;Data Distribution;Individual Learning;Heterogeneous Data;Robust Algorithm;Model Of Personality;Virtual Learning;Federated Learning;Attack Scenarios;Federated Learning Framework;Learning Rate;Local Data;Global Model;Teacher Model;Ablation Experiments;Clean Samples;Chameleon;Self-supervised Learning;Attack Success Rate;Virtual Data;Clean Dataset;Global Task;Clear Model;CIFAR-100 Dataset;Impact Of Attacks;Trigger Type;StyleGAN;Diverse Clients
摘要： Robustness and attacks have become prominent concerns in federated learning (FL)-based Internet of Things (IoT). Our focus primarily lies on robustnes ...
作者： Juncheng Lin1;Di-Hua Zhai1,2;Yuhan Xiong1;Yuanqing Xia1; （1School of Automation, Beijing Institute of Technology, Beijing, China 2Yangtze Delta Region Academy of Beijing Institute of Technology, Jiaxing, China）
出处： IEEE Transactions on Industrial Electronics 2024 Vol.71 No.6 P6150-6160
关键词： Robots;Safety;Kinematics;Collision avoidance;Optimization;Torque control;Service robots
摘要： In robotics field, safety is an extensively researched subject. This article proposes an approach, which is based on high-order control barrier functi ...
作者：
Yijia Zhang1;Qing Fei1;
出处： Journal of Systems Science and Complexity 2024 Vol.37 No.2 P581-608
关键词： Alpine skiing modeling;posture optimization;Three-Rigid-Body-Particle model;trajectory optimization
摘要： This paper presents a new study on modeling and optimization of trajectory and posture for the super-giant (SG) slalom of alpine skiing. It is the fir ...
作者： Yongkang Wang1;Di-Hua Zhai1,2;Dongyu Han1;Yuyin Guan3;Yuanqing Xia1; （1School of Automation, Beijing Institute of Technology, Beijing, China 2Yangtze Delta Region Academy Beijing Institute of Technology, Jiaxing, China 3Beijing Building Materials Academy of Science Research, Beijing, China）
出处： IEEE Internet of Things Journal 2024 Vol.11 No.6 P10115-10132
关键词： Heuristic algorithms;Training;Internet of Things;Data models;Automobiles;Vehicle dynamics;Clustering algorithms;Internet Of Things;Federated Learning;Backdoor Attacks;Attacks In Federated Learning;Global Model;Assembly Process;Robust Algorithm;MNIST Dataset;Gram Matrix;Representative Model;Clean Data;Parametrized;Singular Value Decomposition;Second Moment;Updated Model;Clean Samples;Types Of Attacks;Effects Of Attacks;Central Server;Attack Success Rate;Local Updates;Single Attack;Diverse Clients;Federated Learning Algorithm;Attack Mode;Training Round;Federated Learning Model;Benign Ones;Machine Learning Models
摘要： Federated learning (FL) is widely used in the Internet of Things (IoT) systems. However, FL is susceptible to backdoor attacks due to its inherently d ...
作者： Qichen Dong and Jia Zhang （School of Automation, Beijing Institute of Technology, Beijing 100081, P. R. China National Key Laboratory of Autonomous Intelligent Unmanned Systems, Beijing Institute of Technology, Beijing 100081, P. R. China E-mail Address: lwdqc@qq.com School of Automation, Beijing Institute of Technology, Beijing 100081, P. R. China National Key Laboratory of Autonomous Intelligent Unmanned Systems, Beijing Institute of Technology, Beijing 100081, P. R. China E-mail Address: zhangjia@bit.edu.cn）
出处： Unmanned Systems 2024 Vol.12 No.1 P149-160
关键词： Complete coverage path planning (CCPP);distributed algorithm;multi-unmanned aerial vehicle (UAV) system;AnyLogic;simulation
摘要： This paper proposes a distributed collaborative complete coverage path planning (CCPP) algorithm based on a heuristic method to solve a CCPP problem f ...
作者： Yuhan Suo1;Runqi Chai1;Senchun Chai1;Ishrak MD Farhan1;Yuanqing Xia1;Guo-Ping Liu2; （1School of Automation, Beijing Institute of Technology, Beijing, China 2Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China）
出处： IEEE Transactions on Automatic Control 2024 Vol.69 No.3 P2067-2074
关键词： State estimation;Sensor fusion;Robot sensing systems;Detectors;Detection algorithms;Covariance matrices;Noise measurement;Cyber-physical Systems;Attack Detection;False Data Injection Attacks;Secure State Estimation;Computational Efficiency;Efficient Algorithm;Coefficient Matrix;Estimation Problem;Linear Problem;Lagrangian Method;Fusion Algorithm;State Estimation Problem;Fusion Center;Hypothesis Testing Problem;Power Perspective;Example Of Estimation;Root Mean Square Error;Estimation Error;Covariance Matrix;System State;Sensor Matrix;Impact Of Attacks;Sensor Noise;Wireless Sensor Networks;Error Matrix;High Computational Efficiency;Sensor Networks;Measurement Noise;Network Effects;Standard Notation
摘要： In this technical note, the problem of attack detection and secure state estimation in collectively observable cyber-physical systems is considered. F ...
作者： Fangfei Cao1,2;Fanlin Jia2;Xiao He2; （1School of Automation, Beijing Institute of Technology, Beijing, China 2Department of Automation, Tsinghua University, Beijing, China）
出处： IEEE Transactions on Automatic Control 2024 Vol.69 No.2 P1014-1021
关键词： Observers;Fault detection;Heuristic algorithms;Boundary conditions;Adaptive systems;Radial basis function networks;Fault diagnosis;Fault Diagnosis;Parabolic Equation;Unknown Input;Sensor Faults;Sensor Fault Detection;Neural Network;Simulation Results;Estimation Error;Partial Differential Equations;Radial Basis Function;Function Neural Network;Adaptive Law;Unknown Signal;Presence Of Input;Existence Of Signals;State Estimation Error;Fault Estimation;System Dynamics;Gaussian Kernel;Class Of Systems;Fault Detection Algorithm;Radial Basis Function Network;Observer Output;Square Integrable;State Observer;Dirac Delta;Industrial Systems;Positive Constant;Ordinary Differential Equations;System Of Ordinary Differential Equations
摘要： This article investigates the sensor bias fault detection and diagnosis problem for linear parabolic partial differential equation (PDE) systems under ...
