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Design and implementation of intelligent LiDAR SLAM for autonomous mobile robots using evolutionary normal distributions transform

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Soft Computing 2024年第6期28卷 5321-5337页

作者： Huang, Hsu-Chih Xu, Sendren Sheng-Dong Lin, Hsien-Chan Xiao, Yuan-Sheng Chen, Yu-Xiang Department of Electrical Engineering National Ilan University Yilan260007 Taiwan Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei106335 Taiwan Advanced Manufacturing Research Center National Taiwan University of Science and Technology Taipei106335 Taiwan

This paper presents a method that employs an evolutionary normal distributions transform (NDT) for simultaneous localization and mapping (SLAM) using light detection and ranging (LiDAR) for autonomous mobile robots. An adaptive inertia weight and two genetic operators were employed in the Taguchi-based whale optimization algorithm (WOA) to improve the search diversity and avoid local optima. NDT was used to model the environment of differential-drive mobile robots and WOA was applied to optimize the scan matching for the robotic SLAM problem. The NDT-WOA determines the SLAM pose estimation using sensed data from the physical world. A nonholonomic mobile robot was steered to achieve the NDT-WOA SLAM task with the derived robot kinematics and actuator dynamics. The proposed method was implemented in a TurtleBot3 Burger robotic development kit, which includes a single-board computer and an OpenCR control board. The Robot Operating System (ROS) was utilized to implement the evolutionary NDT-WOA SLAM system due to its flexibility, open source, and client library. Simulation and comparisons were conducted to illustrate the efficiency of the proposed NDT-WOA SLAM method compared to other SLAM paradigms. The experimental results show the effectiveness of the proposed evolutionary NDT-WOA SLAM for autonomous mobile robots. The results could have theoretical and practical significance for robotics research. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2023.

关键词： Mobile robots

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Deep Eutectic Solvent Pretreatment of Durian Peel for Enhanced Bioethanol Production 7th

Deep Eutectic Solvent Pretreatment of Durian Peel for Enhanc...

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7th Asia Conference on Environment and Sustainable Development, ACESD 2022

作者： Panakkal, Elizabeth Jayex Theegala, Manvitha Chaparla, Srihita Grashma Katam, Keerthi Kitiborwornkul, Nichaphat Sriariyanun, Malinee Department of Chemical and Process Engineering The Sirindhorn International Thai-German Graduate School of Engineering King Mongkut’s University of Technology North Bangkok Bangkok Thailand Department of Civil Engineering Ecole Centrale School of Engineering Mahindra University Telangana India Department of Electrical and Electronics Engineering Ecole Centrale School of Engineering Mahindra University Telangana India Biorefinery and Process Automation Engineering Center The Sirindhorn International Thai-German Graduate School of Engineering King Mongkut’s University of Technology North Bangkok Bangkok Thailand

ISBN: (纸本)9789819941001

Increased demand for energy coupled with the depletion of fossil fuels has shifted the focus on producing biofuel and other value-added products from the waste biomass. Being the largest exporter of durian, a huge amount of durian peel generated as waste has been a critical concern in Thailand causing environmental and health issues. As a step toward a greener economy, this study has aimed at utilizing durian peel for producing bioethanol from it. The durian peel was pretreated with acidic deep eutectic solvent, choline chloride: lactic acid (ChCl/LA) at a solid loading of 1:6.5 (w/w), at 80 ℃ for 5 h. The pretreatment was effective by retaining almost 63% cellulose in biomass which when hydrolyzed resulted in 88.7% glucose yield from the pretreated biomass. In addition to this, fermentation studies of pretreated biomass could generate 8.4 g/L bioethanol confirming the potential of durian peel in producing value-added chemicals from it. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Bioethanol

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Adaptive Sliding Mode Quantized control under Hybrid Cyber-Attacks 43

Adaptive Sliding Mode Quantized Control under Hybrid Cyber-A...

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43rd Chinese control Conference, CCC 2024

作者： Mao, Dancheng Niu, Yugang Li, Jiarui Xu, Kun East China University of Science and Technology The Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education Shanghai200237 China Logistics Engineering College Shanghai Maritime University Department of Electrical Automation Shanghai201306 China

ISBN: (纸本)9789887581581

This work investigates the sliding mode quantized control problem for networked control system (NCS) under Markov-conforming hybrid cyber-attacks. The system state is first quantized via a dynamic uniform quantizer, whose parameter is adaptively updated via a state-dependent adjusting strategy. A one-to-one mapping technique is used to cope with the hybrid attacks obeying Markov chains in sensor-controller (S-C) and controller-actuator (C-A) channel. And then, a sliding mode control (SMC) scheme is designed by means of the available quantized state signals via a compensation method. Furthermore, sufficient conditions are derived to attain the stability of the closed-loop system and the reachability of the specified sliding surface simultaneously. Finally, the practical simulation results are provided to illustrate the proposed security control strategy. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Cyber attacks

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A Novel Hybrid Transformer-Based Framework for Solar Irradiance Forecasting under Incomplete Data Scenarios

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IEEE Transactions on Industrial Informatics 2024年第6期20卷 8605-8615页

作者： Zhang, Hanjin Li, Bin Su, Shun-Feng Yang, Wankou Xie, Liping Southeast University School of Economics and Management Nanjing210096 China National Taiwan University of Science and Technology Department of Electrical Engineering Taipei106 Taiwan Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing210096 China Southeast University Shenzhen Research Institute Shenzhen518063 China

Accurate prediction of solar irradiance is crucial for the effective utilization of solar energy. However, in real-world scenarios, complex irradiance patterns and prevalent incomplete data pose challenges to precise forecasting, resulting in additional uncertainties and instability. To address these issues, this study proposes a novel irradiance forecasting model that integrates a Mask-Transformer data imputation module and a prediction module centered around the typical patterns representation mechanism. The Mask-Transformer leverages a mask modeling mechanism to model the context of missing data, facilitating accurate estimation of missing values and reducing noise and uncertainty in the input data. The typical patterns representation mechanism comprises a series decomposition module and a feature fusion module, providing the module with the capability to mitigate nonlinearity and nonstationarity in solar irradiance data. This enhancement leads to improved short-term forecasting performance while maintaining long-term forecasting capabilities. Experimental results on two datasets demonstrate that the proposed model exhibits sufficient robustness and accuracy, making it effective in scenarios with incomplete data. © 2005-2012 IEEE.

关键词： Forecasting

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Robustness of gross primary production estimation from long-term reconstructed solar-induced chlorophyll fluorescence varies with greenness on a global scale

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Journal of Applied Remote Sensing 2025年第1期19卷

作者： Fu, Lijiang Xia, Qian Tang, Hao Chen, Junqing Tan, Jinglu Guo, Ya Jiangnan University Ministry of Education Key Laboratory of Advanced Process Control for Light Industry Wuxi China Changshu Institute of Technology School of Electrical Engineering and Automation Changshu China University of Missouri Department of Chemical and Biomedical Engineering ColumbiaMO United States

Long-term reconstructed solar-induced chlorophyll fluorescence (SIF) derived from raw gridded SIF has been used for the estimation of gross primary production (GPP), but the robustness of the spatial relationship may vary from location to location. We examined the often-used linear relationship between GPP and SIF in terms of R2 values for varied locations globally using three GPP datasets (FLUXCOM, VPM, PML) and three long-term reconstructed monthly SIF datasets (CSIF, SIF005, and RTSIF). The results show that the R2 value is a concave function of vegetation greenness level (NDVI) on an annual or seasonal basis. The average R2 is over 0.8 in areas where the annual average NDVI is in the range of 0.4 to 0.6, whereas the R2 is much lower where the annual average NDVI is less than 0.2 or greater than 0.8. Prediction of GPP or SIF by three methods from five major environmental variables revealed greater uncertainties in GPP and/or SIF at low or high greenness levels as an apparent cause of the low R2. The results offer useful insights into how global GPP may be effectively estimated from multi-satellite measured SIF. © 2025 Society of Photo-Optical Instrumentation Engineers (SPIE).

关键词： Optical correlation

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Towards Low-Cost and High Precision: Software Enhanced Terrestrial Laser Scanner Consists of Consumer-Grade Multi-Beam LiDAR and Servo Motor

Towards Low-Cost and High Precision: Software Enhanced Terre...

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2023 China automation Congress, CAC 2023

作者： Peng, Pengfei Zhong, Xunyu Xie, Han Chen, Bushi Wang, Ningning Zhong, Xungao Xiamen University Department of Automation Xiamen China School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China

ISBN: (纸本)9798350303759

3D laser scanning technology, as a rapid and non-contact measurement method, enables the acquisition of high-precision 3D data from the real world. It has been widely applied in the Architecture-engineering-Construction (AEC) industry for quality inspection, project progress management, reverse engineering, and building information modeling. However, the prevalent Terrestrial Laser Scanner (TLS) is often too expensive for widespread use. This paper proposes a low-cost TLS that combines multi-beam LiDAR with a high-precision servo motor. The LiDAR is driven by a motor to rotate, accumulating point clouds at different angles and generating dense point clouds. By employing software enhancements such as data time synchronization, calibration, and post-processing of point clouds, we improve the precision of the measurement results. Additionally, we extract planar elements (ceilings, floors, and walls) from the data obtained by the scanner in indoor environments, facilitating subsequent applications and processing. Through a series of qualitative and quantitative experiments, we have demonstrated that our system can achieve measurement data with an error average of 1 cm compared to commercial TLS while maintaining significantly lower costs. © 2023 IEEE.

关键词： Calibration

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Information Presentation Strategies to Promote Pedestrian Behavior Change in Mixed Spaces with Automated Vehicle

Information Presentation Strategies to Promote Pedestrian Be...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Nishiura, Yuki Yamada, Hiroyuki Kurazume, Ryo Graduate School of Information Science and Electrical Engineering Kyushu University Japan Center for Sustainability - Connective Automation Hitachi Ltd. Research and Development Group Autonomous Control Research Department Ibaraki312-0034 Japan Kyushu University Faculty of Information Science and Electrical Engineering Fukuoka819-0395 Japan

ISBN: (纸本)9798350312072

This paper introduces an information presentation strategy for pedestrians, aiming to enhance traffic efficiency in a mixed pedestrian-automated vehicle environment, such as a public road. While automated driving technology has made remarkable progress, interactions with pedestrians on regular roads have mostly been studied in virtual environments using virtual reality goggles. According to these studies, potential traffic efficiency and safety issues arise from pedestrians' limited understanding of automated vehicle behavior. To address this, we propose a human-machine interface employing a head-mounted display (HMD) to mitigate traffic efficiency degradation caused by pedestrians. The proposed system draws upon behavioral economics principles to encourage pedestrians to modify their behavior and develop better interactions with automated vehicles. Simulations were conducted to identify an information presentation strategy that strongly supports learning, and its effectiveness was further validated through experiments involving a real vehicle. Notably, the experimental results confirmed that the information presentation strategies proven effective in simulations also facilitated pedestrian learning during real-world interactions. © 2024 IEEE.

关键词： Virtual reality

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Internet of Things Based Smart Irrigation System Using ESP WROOM32

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Journal on Internet of Things 2023年第1期5卷 45-55页

作者： Krish R.Mehta K.Jayant Naidu Madhav Baheti Dev Parmar A.Sharmila Department of Control and Automation School of Electrical EngineeringVellore Institute of TechnologyVellore632014India

Farming has been the most prominent and fundamental activity for *** the population has been mul-tiplying exponentially,the demand for agricultural yield is growing *** high demand in production through traditional farming methodologies often falls short in terms of efficiency due to the limitations of manual *** the era of digitization,smart agricultural solutions have been emerging through the windows of Internet of Things and Artificial Intelligence to improve resource management,optimize the process of farming and enhance the yield of crops,hence,ensuring sustainable growth of the increasing *** implementing modern technologies in the field of farming we can enable telemetry through which farmers can remotely monitor and gather real time data on the desired *** also gives accurate and precise measurements when compared to traditional measurement *** research paper focuses on an IoT based approach for smart monitoring using ESP WROOM 32 microcontroller that helps farmers identify real-time parameters of temperature,moisture and humidity of their ***-time data on temperature,moisture,and humidity enables farmers to make informed decisions about irrigation and crop ***,the use of smart monitoring ensures accurate and precise measurements,surpassing the limitations of traditional techniques.

关键词： Smart monitoring IoT ESP WROOM 32 DHT11 soil moisture sensor smart agriculture

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Research on two-dimensional code scanning and automatic recording device for human body temperature measurement based on stm32 2

Research on two-dimensional code scanning and automatic reco...

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2nd International Conference on Electronic Information engineering and Computer Technology, EIECT 2022

作者： Lie, XueYan Huang, XiaoPeng Liu, HuanYu Li, YanLong Zhong, Hua Gao, FeiFei University of South China Department of Electrical Engineering and Automation China University of South China Department of Measurement and Control Technology China

ISBN: (纸本)9798350399561

With the outbreak and normal development of COVID-19, the effective detection and recording of body temperature has become a new focus of our attention. At present, there is no complete system to measure temperature, automatic record and specific information at home and abroad. To this end, combined with professional knowledge, our team designed a two-dimensional code scanning and human body temperature automatic recording device with STM32F1 as the core. The device STM32F1 development board is the main control chip. By connecting the WIFI module through the serial port, STM32F1 uses the function of wireless communication. Through the communication protocol, the link between the router and the ESC cloud server of Ali Cloud is utilized. The router or mobile data is transmitted to the user side (APP, applets) according to the specified communication protocol. Inside the development board, the code of each part is written to complete the device integrating code scanning and temperature measurement, which can be displayed and alarm through the node (OLED display screen). This will play a good role in preventing the spread of COVID-19. The system can be used in hospitals, communities, railway stations, shopping malls and many other public places. © 2022 IEEE.

关键词： Temperature measurement

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Robust Consensus Tracking control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 427-438页

作者： Pan Yu Kang-Zhi Liu Xudong Liu Xiaoli Li Min Wu Jinhua She the Faculty of Information Technology and the Beijing Institute of Artificial Intelligence Beijing University of TechnologyBeijing 100124China IEEE the Department of Electrical and Electronic Engineering Chiba UniversityChiba 263-8522Japan the Beijing Aerospace Automatic Control Institute Beijing 100854China the School of Automation China University of GeosciencesWuhan 430074China the School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan

In this paper,a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed *** is of two-degree-of-freedom ***,a robust distributed controller is designed for consensus tracking,while a local disturbance estimator is designed for each agent without requiring the input channel information of *** condition for asymptotic disturbance rejection is ***,even when the disturbance model is not exactly known,the developed method also provides good disturbance-rejection ***,a robust stabilization condition with less conservativeness is derived for the whole multi-agent ***,a design algorithm is ***,comparisons with the conventional one-degree-of-freedombased distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.

关键词： Directed graph distributed control disturbance rejection dynamic uncertainties multi-agent systems robust control

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