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All Outputs (10)

ESO-Based Antisaturation Motion Control for Cable-Driven Continuum Robots (2024)
Journal Article
Zhang, K., Liu, Y., Huo, B., Wu, Z., Yang, L., & Yu, H. (online). ESO-Based Antisaturation Motion Control for Cable-Driven Continuum Robots. IEEE/ASME Transactions on Mechatronics, https://doi.org/10.1109/tmech.2024.3402369

High precision motion control is the key to complete the refined operation tasks for cable-driven continuum robots. However, the existence of model inaccuracy and actuator saturation pose great challenges to the high precision motion control of cable... Read More about ESO-Based Antisaturation Motion Control for Cable-Driven Continuum Robots.

Data-based adaptive predictive bipartite consensus for nonlinear multiagent systems against DoS attacks (2024)
Journal Article
Halimu, Y., Zhao, H., Yu, H., Ding, S., & Qiao, S. (in press). Data-based adaptive predictive bipartite consensus for nonlinear multiagent systems against DoS attacks. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and

This article investigates a Denial-of-Service (DoS) attack problem for nonlinear unknown discrete-time multiagent systems (MASs) to implement bipartite consensus tracking tasks with fixed and switching topologies. Firstly, an equivalent linearization... Read More about Data-based adaptive predictive bipartite consensus for nonlinear multiagent systems against DoS attacks.

DIBNN: A Dual-Improved-BNN Based Algorithm for Multi-Robot Cooperative Area Search in Complex Obstacle Environments (2024)
Journal Article
Chen, B., Zhang, H., Zhang, F., Jiang, Y., Miao, Z., Yu, H., & Wang, Y. (in press). DIBNN: A Dual-Improved-BNN Based Algorithm for Multi-Robot Cooperative Area Search in Complex Obstacle Environments. IEEE Transactions on Automation Science and Engineerin

Aiming at the area search task of a multi-robot system in an unknown complex obstacle environment, we propose a cooperative area search algorithm based on a dual improved bio-inspired neural network (DIBNN). First, we improve the BNN model to reduce... Read More about DIBNN: A Dual-Improved-BNN Based Algorithm for Multi-Robot Cooperative Area Search in Complex Obstacle Environments.

DBMA-Net: A Dual-Branch Multi-Attention Network for Polyp Segmentation (2024)
Journal Article
Zhai, C., Yang, L., Liu, Y., & Yu, H. (2024). DBMA-Net: A Dual-Branch Multi-Attention Network for Polyp Segmentation. IEEE Transactions on Instrumentation and Measurement, 73, Article 2512316. https://doi.org/10.1109/tim.2024.3379418

In the early prevention stage of colorectal cancer, the utilization of automatic polyp segmentation techniques from colonoscopy images has demonstrated efficacy in mitigating the misdiagnosis rate. Nonetheless, accurate polyp segmentation is always a... Read More about DBMA-Net: A Dual-Branch Multi-Attention Network for Polyp Segmentation.

A Transformer-based Gesture Prediction Model via sEMG Sensor for Human-robot Interaction (2024)
Journal Article
Liu, Y., Li, X., Yang, L., & Yu, H. (2024). A Transformer-based Gesture Prediction Model via sEMG Sensor for Human-robot Interaction. IEEE Transactions on Instrumentation and Measurement, 73, Article 2510615. https://doi.org/10.1109/tim.2024.3373045

As one of the most direct and pivotal modes of human-computer interaction (HCI), the application of surface electromyography (sEMG) signals in the domain of gesture prediction has emerged as a prominent area of research. To enhance the performance of... Read More about A Transformer-based Gesture Prediction Model via sEMG Sensor for Human-robot Interaction.

Dual-blockchain based multi-layer grouping federated learning scheme for heterogeneous data in industrial IoT (2024)
Journal Article
Wang, X., Zhang, H., Wu, H., & Yu, H. (in press). Dual-blockchain based multi-layer grouping federated learning scheme for heterogeneous data in industrial IoT. Blockchain: Research and Applications, Article 100195. https://doi.org/10.1016/j.bcra.2024.100

Federated Learning (FL) allows data owners to train neural networks together without sharing local data, allowing the Industrial Internet of Things (IIoT) to share a variety of data. However, traditional federated learning frameworks suffer from data... Read More about Dual-blockchain based multi-layer grouping federated learning scheme for heterogeneous data in industrial IoT.

Data-based bipartite formation control for multi-agent systems with communication constraints (2024)
Journal Article
Wang, J., Zhao, H., Yu, H., Yang, R., & Li, J. (2024). Data-based bipartite formation control for multi-agent systems with communication constraints. Science Progress, 107(1), https://doi.org/10.1177/00368504241227620

This article investigates data-driven distributed bipartite formation issues for discrete-time multi-agent systems with communication constraints. We propose a quantized data-driven distributed bipartite formation control approach based on the plant’... Read More about Data-based bipartite formation control for multi-agent systems with communication constraints.

Dynamic Event-Triggered Resilient Heading Control for Unmanned Surface Vehicle With Encrypted Data (2024)
Journal Article
Zhao, H., Xu, D., Zhou, Z., & Yu, H. (in press). Dynamic Event-Triggered Resilient Heading Control for Unmanned Surface Vehicle With Encrypted Data. IEEE Transactions on Intelligent Vehicles, https://doi.org/10.1109/tiv.2024.3358789

This paper studies data-driven dynamic event-triggered heading control issues for an unmanned surface vehicle (USV) with enciphered data and aperiodic denial of service (DoS) attacks. First, we establish a compact form dynamic linearization model for... Read More about Dynamic Event-Triggered Resilient Heading Control for Unmanned Surface Vehicle With Encrypted Data.