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Autonomous inverse encoding guides 4D nanoprinting for highly programmable shape morphing

International Journal of Extreme Manufacturing 2025年第03期 472-488页

作者： Shuaiqi Ren Zhiang Zhang Ruokun He Jiahao Fan Guangming Wang Hesheng Wang Bing Han Yong-Lai Zhang Zhuo-Chen Ma Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Engineering University of Cambridge Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin University

Highly programmable shape morphing of 4D-printed micro/nanostructures is urgently desired for applications in robotics and intelligent systems. However, due to the lack of autonomous holistic strategies throughout the target shape input, optimal material distribution generation,and fabrication program output, 4D nanoprinting that permits arbitrary shape morphing remains a challenging task for manual design. In this study, we report an autonomous inverse encoding strategy to decipher the genetic code for material property distributions that can guide the encoded modeling toward arbitrarily pre-programmed 4D shape morphing. By tuning the laser power of each voxel at the nanoscale, the genetic code can be spatially programmed and controllable shape morphing can be realized through the inverse encoding process. Using this strategy, the 4D-printed structures can be designed and accurately shift to the target morphing of arbitrarily hand-drawn lines under stimulation. Furthermore, as a proof-of-concept, a flexible fiber micromanipulator that can approach the target region through pre-programmed shape morphing is autonomously inversely encoded according to the localized spatial *** strategy may contribute to the modeling and arbitrary shape morphing of micro/nanostructures fabricated via 4D nanoprinting, leading to cutting-edge applications in microfluidics, micro-robotics, minimally invasive robotic surgery, and tissue engineering.

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Building Temperature and Humidity Adaptive control for a Multi-Zone HVAC system Using Hybrid Modeling Method

Building Temperature and Humidity Adaptive Control for a Mul...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Yuliang Jiang Shanying Zhu Qimin Xu Bo Yang Xinping Guan Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781728119496

In this paper, the heating, ventilation and air conditioning (HVAC) system as the contributor of building climate management is studied on multi-zone climate dynamics modelling and control for occupancy comfort. The first-principles model together with data-driven model as the hybrid model is proposed for comprehensive multi-zone hygro-thermal dynamics. The unmodeled climate dynamics such as unknown nonlinearity and uncertainty is modeled in a linear form based on the compact form dynamic linearization (CFDL) method. Then model free adaptive control (MFAC) scheme including controller design and parameter estimation is proposed to realize multi-zone climate control and occupancy comfort. The dynamic response performance of the hybrid model-based adaptive control and the first-principles model-based adaptive control has been tested in a multi-zone building with four different zones. The results show that the proposed hybrid model-based adaptive control scheme can achieve obvious performance improvement in minimizing steady-state error.

关键词： Adaptation models HVAC Parameter estimation Uncertainty Atmospheric modeling Buildings Ventilation

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Design of magnetic shielding structures for non-contact measurement of current in triangularly arranged cables

Design of magnetic shielding structures for non-contact meas...

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Electrical engineering (CIYCEE), IEEE China International Youth Conference on

作者： Xingyu Zhou Dongsheng Cai Zhengyuan Zhang Peng Wang Arsalan Habib Khawaja Qi Huang College of Nuclear Technology and Automation Engineering Chengdu University of Technology China Sichuan Provincial Key Lab of Power System Wide-Area Measurement and Control School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China School of Information Engineering Southwest University of Science and Technology Mianyang China

The triangular arrangement of cables has the advantages of good magnetic field balance and compact structure, making it a commonly used arrangement in tunnel power cable lines. Accurate measurement of its current helps to make accurate judgment of the line operation status. However, the tunnel transmission method involves a complex line arrangement in a small space. Therefore, non-contact wide-range current measurement based on magnetic sensors is a better solution. In the face of uncertain magnetic interference in transmission tunnels, the use of magnetic shielding can suppress its effect on magnetic sensors. In this paper, an M-shaped magnetic shield structure is proposed for current measurement in a triangular arrangement with strong magnetic interference at random locations. Then, the thickness, position, axial length, gap width and location of the sensing areas of the structure were investigated. The effectiveness of the structure was verified by finite element analysis methods for measured currents of 200 to 2000 A. The structure was also validated by the finite element analysis method. The mean shielding uncertainty (MSU) of the shielding structure is verified to be 0.19% under the uncertainty of strong magnetic interference for a measured current of 2000 A. The M-shaped shielding structure is more resistant to interference than the C-shaped shielding structure and fits better into the triangular arrangement of the cable geometry.

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Distributed Prescribed-Time Convex Optimization: Cascade Design and Time-Varying Gain Approach

arXiv

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arXiv 2024年

作者： Zuo, Gewei Zhu, Lijun Wang, Yujuan Chen, Zhiyong School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430072 China Key Laboratory of Imaging Processing and Intelligence Control Huazhong University of Science and Technology Wuhan430074 China The State Key Laboratory of Power Transmission Equipment & System Security and New Technology School of Automation Chongqing University Chongqing400044 China School of Engineering The University of Newcastle CallaghanNSW2308 Australia

In this paper, we address the distributed prescribed-time convex optimization (DPTCO) problem for a class of high-order nonlinear multi-agent systems (MASs) under undirected connected graphs. A cascade design framework is proposed, dividing the DPTCO implementation into two parts: distributed optimal trajectory generator design and local reference trajectory tracking controller design. The DPTCO problem is then transformed into the prescribed-time stabilization problem of a cascaded system. Changing Lyapunov function and time-varying state transformation methods together with the sufficient conditions are proposed to prove the prescribed-time stabilization of the cascaded system as well as the uniform boundedness of internal signals in the closed-loop MASs. The proposed framework is then utilized to solve robust DPTCO problem for a class of chain-integrator MASs with external disturbances by constructing a novel sliding-mode variables and exploiting the property of time-varying gains. The proposed framework is further utilized to solve the adaptive DPTCO problem for a class of strict-feedback MASs with parameter uncertainty, in which backstepping method with prescribed-time dynamic filter is adopted. The descending power state transformation is introduced to compensate the growth of increasing rate induced by the derivative of time-varying gains in recursive steps and the high-order derivative of local reference trajectory is not required. Finally, theoretical results are verified by two numerical examples. Copyright © 2024, The Authors. All rights reserved.

关键词： Stabilization

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Cooperative Task Reconstruction Allocation for Unmanned Swarm systems Based on MGGA and SAA

Cooperative Task Reconstruction Allocation for Unmanned Swar...

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International Conference on control and automation (ICCA)

作者： Jintong Yu Yongzhao Hua Xiwang Dong Qingdong Li Zhang Ren Institute of Artificial Intelligence Beihang University Beijing P.R. China Institute of Unmanned System Beihang University Beijing P.R. China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing P.R. China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

Multi-unmanned agent collaboration technology is a key aspect of operations. How to reasonably assign tasks to unmanned agents before operations to maximize the overall benefits is a long-standing problem for researchers. This study systematically addresses the above issues and establishes a multi-agent task reconstruction model based on the reconnaissance, strike and assessment task background. This model includes two types of task allocation algorithms. One is task pre-allocation, which is a static task allocation before task execution. A Multi-Gene Genetic Algorithm (MGGA)is proposed for this purpose. The other is Sequential Auction Algorithm(SAA), which deals with the reallocation of tasks in response to unexpected situations during task execution. Experimental results show that, compared with other algorithms, MGGA can get the lowest fitness value under various experimental conditions. Meanwhile, SAA can handle task reallocation problems caused by various dynamic events.

关键词： Heuristic algorithms Sociology system recovery Reconstruction algorithms Reconnaissance Resource management Time factors

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Prescribed-time Cooperative Output Regulation of Linear Heterogeneous Multi-agent systems

arXiv

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arXiv 2024年

A finite-time protocol for a multi-agent systems (MASs) can guarantee the convergence of every agent in a finite time interval in contrast to the asymptotic convergence, but the settling time depends on the initial condition and design parameters and is inconsistent across the agents. In this paper, we study the prescribed-time cooperative output regulation (PTCOR) problem for a class of linear heterogeneous MASs under a directed communication graph, where the settling time of every agent can be specified a priori and thus consistent. As a special case of PTCOR, the necessary and sufficient condition for prescribed-time output regulation of an individual system is first discussed. Then, the PTCOR problem is converted into two cascaded subsystem, where the first one composed of distributed estimate errors and local estimate errors and the second one is for local tracking errors. The criterion for prescribed-time stabilization of the cascaded system is proposed and is found to be different from that of traditional asymptotic stabilization of a cascaded system. Under the criterion and sufficient condition, the general PTCOR problem is studied in two scenarios including state feedback control and measurement output feedback control. In particular, a distributed prescribed-time observer for each subsystem is explicitly constructed to estimate the exosystem's state. Based on the observer, a distributed controller is proposed to achieve convergence of the regulated output to zero within a prescribed-time. Copyright © 2024, The Authors. All rights reserved.

关键词： Multi agent systems

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Unsignalized Intersection Management Strategy for Mixed Autonomy Traffic Streams

arXiv

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arXiv 2022年

作者： Zhou, Junjie Shen, Zhaokun Wang, Xiaofan Wang, Lin The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The Department of Automation Shanghai Jiao Tong University The School of Mechatronic Engineering and Automation Shanghai University The School of Electrical and Electronic Engineering Shanghai Institute of Technology Shanghai201418 China

With the rapid development of connected and automated vehicles (CAVs) and intelligent transportation infrastructure, CAVs, connected human-driven vehicles (CHVs), and un-connected human-driven vehicles (HVs) will coexist on the roads in the future for a long time. This paper comprehensively considers the different traffic characteristics of CHVs, CAVs, and HVs, and systemically investigates the unsignalized intersection management strategy from the upper decision-making level to the lower execution level. The unsignalized intersection management strategy consists of two parts: the heuristic priority queues based right of way allocation (HPQ) algorithm and the vehicle planning and control algorithm. In the HPQ algorithm, a vehicle priority management model considering the difference between CAVs, CHVs, and HVs, is built to design the right of way management for different types of vehicles. In the lower level for vehicle planning and control algorithm, different control modes of CAVs are designed according to the upper-level decision made by the HPQ algorithm. Moreover, the vehicle control execution is realized by the model predictive controller combined with the geographical environment constraints and the unsignalized intersection management strategy. The proposed strategy is evaluated by simulations, which show that the proposed intersection management strategy can effectively reduce travel time and improve traffic efficiency. Results show that the proposed method can decrease the average travel time by 5% to 65% for different traffic flows compared with the comparative methods. The intersection management strategy captures the real-world balance between efficiency and safety for future intelligent traffic systems. Copyright © 2022, The Authors. All rights reserved.

关键词： Travel time

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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Cyber-Physical Social Intelligence (ICCSI), International Conference on

作者： Jialiang Luo Shichao Chen Yisheng Lv Wenqiao Sun Fan Yang Ruijie Xu The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University Jinan China Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Hong Kong China

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update Technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field.

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Motion primitives-based and Two-phase Motion Planning for Fixed-wing UAV

Motion primitives-based and Two-phase Motion Planning for Fi...

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International Conference on control, automation, Robotics and Vision (ICARCV)

作者： Zheng Tan Yang Lyu Hanchen Lu Quan Pan Faculty of Automation Northwestern Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781665476881

We present an efficient two-phase approach to motion planning for fixed-wing Unmanned Aerial Vehicles (UAV) navigating in complex 3D air slalom environments. Firstly, in discrete 3D workspace, a global planner computer a obstacle-free path roughly which satisfies the kinematic constraints of the UAV. Given a coarse global path, a local planner generate a Dubins curve with collision avoidance based on the UAS's perception constraints, dynamic constraints and the collision perception information received. We also introduce a method of decoupling the horizontal and vertical motion directions of the fixed-wing UAV, realizing the 2D Dubins curve planning in 3D workspace, along with precomputed sets of motion primitives derived from the vehicle dynamics model in order to achieve high efficiency. Finally, the feasibility of two-phase 3D motion planning in appropriate FOV is experimentally demonstrated.

关键词： Solid modeling Three-dimensional displays Navigation Dynamics Organizations Kinematics Autonomous aerial vehicles

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Experimental Research on Friction and Wear of Axisymmetric Vectoring Exhaust Nozzle 24th

Experimental Research on Friction and Wear of Axisymmetric V...

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24th IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2024

作者： Yao, Sibo Luo, Zhong Zhang, Hongwei Li, Lei Zhao, Jiang Ji, Haiyang Xu, Chunyang School of Mechanical Engineering and Automation Northeastern University Shenyang 110819 China Key Laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education Northeastern University Shenyang 110819 China Foshan Graduate School of Innovation Northeastern University Foshan 528312 China AECC Shenyang Engine Research Institute Shenyang 110015 China

ISBN: (纸本)9789819614660

Axisymmetric Vectoring Exhaust Nozzle (AVEN) of aero-engine undergoes deformation of its roller skeleton components due to thermal aerodynamic load, resulting in component jamming, increasing wear, and reducing lifespan. In order to simulate the working condition of the roller skeleton in the actual AVEN, a roller skeleton principle level experimental system is de-signed and constructed, and wear and friction force experiments are con-ducted. The experimental results indicate that: In room temperature experiments, when the simulated aerodynamic load is light, in some experiments, the roller experienced jamming phenomenon, and even adhesion between the roller and the bushing, causing the motion relationship between the roll-er and the skeleton to change from rolling to sliding, resulting in severe wear of the roller skeleton component, when the simulated aerodynamic load is heavy, the roller undergoes plastic deformation;In the heating experiments, it is found that an increase in thermal load would lead to an increase in the friction force of the roller skeleton component. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Axisymmetric vectoring exhaust nozzle Friction experiment Principle level experimental system Temperature experiment Wear experiment

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