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Influence of the Kalman Filtering Initial Setting on SINS Initial Alignment and an Improved Method for the Alignment of Large Misalignment Angles 30

Influence of the Kalman Filtering Initial Setting on SINS In...

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30th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2023

作者： Ning, Xiaoge Huang, Jixun Li, Jianxun Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Department of Automation Shanghai China Beijing Aerospace Times Optical-Electronic Co. Ltd Beijing China Beijing Institute of Aerospace Control Devices Beijing China

ISBN: (纸本)9785919950950

This paper analyzes the instability of the filtering system of the initial alignment under a quasi-static base and points out the great influence of Kalman filtering initial value setting on the filtering results. This is instructive for many conditions under initial alignment and integrated navigation. Meanwhile, an improved method for the alignment of large misalignment angles is proposed by replacing the body-frame bias state with the geographic-frame bias state. Simulation experiments show that it can improve the horizontal alignment accuracy by 0.1°and vertical alignment accuracy by 1.6°. © 2023 Concern CSRI Elektropribor, JSC.

关键词： Alignment

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Pointer Meter Reading Under Noise Based on Virtual Data Generation

Pointer Meter Reading Under Noise Based on Virtual Data Gene...

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Chinese automation Congress (CAC)

作者： Jinyang Zhu Zhezhuang Xu Ye Lin College of Electrical Engineering and Automation Fuzhou University Fuzhou China Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Using machine vision for meter reading significantly enhances the efficiency of industrial monitoring. However, meters in outdoor environment are often subject to the noise such as rain and fog, which affect the accuracy of meter readings. Additionally, the meter images and labels under noise are hard to obtain. To address these challenges, We propose a method for pointer meter reading under noise based on virtual data generation. Firstly, We utilize Unity to construct an industrial meter scene, which generates the images of meter under noise and theri labels. Secondly, we develop a U-Net network with an ASPP module, which expands the receptive field of network and enhances the ability of segmentation network to capture global semantic information under noise. Finally, the angular method is used to calculate the meter readings. Experimental results show that this method can effectively read meters under noise in outdoor environments.

关键词： Meters Image segmentation Rain Accuracy Noise Semantics Object segmentation Data collection Meter reading Monitoring

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Distributed Coordinated Optimal control for Synchronous Operation of Virtually Coupled Train Set 27

Distributed Coordinated Optimal Control for Synchronous Oper...

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27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Luo, Xiaolin Wang, Dongming Wang, Wei Ji, Yindong Liu, Hongjie Beijing Jiaotong University State Key Laboratory of Advanced Rail Autonomous Operation Beijing100044 China University of California Department of Electrical and Computer Engineering RiversideCA92521 United States Traffic Control Technology Co. Ltd Beijing100070 China Tsinghua University Department of Automation Beijing100084 China School of Automation and Intelligence Beijing Jiaotong University Beijing100044 China

ISBN: (纸本)9798331505929

Virtual coupling technologies have been widely studied in recent years, due to their merits of flexibility and efficiency. However, to operate a virtually coupled train set (VCTS) as a single train, the synchronous operation is still a critical problem to be addressed, especially in arriving. To this end, we propose a distributed coordinated optimal control (DCOC) approach integrated with distributed optimization and model predictive control. First, we formulate a globally coordinated optimal control problem for VCTS, where the states of units in VCTS are coupled in the cost and constraints. Then, we design a distributed algorithm to solve the global problem, where local problems are decoupled into ones with fewer dimensions. Next, we employ distributed model predictive control to guarantee the satisfaction of safety constraints before the convergence of the distributed algorithm. Finally, experimental results demonstrate that our approach can achieve stable and synchronous operation for VCTS and save by 90% computation time than existing centralized approaches. © 2024 IEEE.

关键词： Predictive control systems

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Target recognition technology for unmanned ships based on improved YOLOv5 4

Target recognition technology for unmanned ships based on im...

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2024 4th International Conference on Intelligent Traffic Systems and Smart City, ITSSC 2024

作者： Yuan, Mingkai Liang, Bingnan Wang, Haoliang Dong, Yixuan School of Marine Engineering Dalian Maritime University Dalian116026 China Department of Automation Shanghai Jiaotong University Shanghai200240 China Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships Dalian116026 China State Key Laboratory of Maritime Technology and Safety Dalian116026 China

ISBN: (纸本)9781510686304

To enable safe and efficient autonomous navigation of unmanned ships in complex marine environments, particularly when encountering overtaking, head-on, or crossing scenarios, it is crucial to accurately identify and detect unknown unmanned vessels. This paper proposes a lightweight object detection algorithm tailored to these challenges. The lightweight network Ghostnet is used to improve the backbone network of the YOLOv5s algorithm, achieving lightweight target detection. By introducing the ECA attention mechanism, the model can better focus on important information in the image, enhancing the ability of feature representation, and improving the model's capability for complex scene understanding and target recognition and localization. Finally, the MPDIoU is used as the bounding box loss function for the YOLOv5s algorithm, which not only improves convergence speed but also obtains more accurate regression results. Comparative experiments show that the proposed improved algorithm outperforms models such as YOLOv5-BiFPN, YOLOv5-CBAM, and YOLOv5-SE in terms of model size, computational complexity, parameter count, detection speed, and average precision. © 2025 SPIE.

关键词： Marine navigation

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无人飞行器在不确定扰动下的动态目标跟踪

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engineering 2024年第4期35卷 74-85页

作者： Yanjie Chen Yangning Wu Limin Lan Hang Zhong Zhiqiang Miao Hui Zhang Yaonan Wang School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350108China Department of Computer Science Aberystwyth UniversityAberystwyth SY233DBUK School of Robotics Hunan UniversityChangsha 410082China College of Electrical and Information Engineering Hunan UniversityChangsha 410082China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan UniversityChangsha 410082China

This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied *** proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is *** depth model ensures image feature accuracy and image trajectory smoothness in rotating target *** relative velocities of the UAV and the dynamic target are estimated using the proposed velocity *** to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is *** integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance *** stability of the velocity observer and IBVS controller is analyzed using the Lyapunov *** simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.

关键词： Unmanned aerial vehicle Visual servoing Velocity observer Target tracking

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A Low-Carbon Planning Strategy for Integrated Energy System and Hydrogen Refueling Stations with the Retirement of Oil Stations

SSRN

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SSRN 2023年

作者： Zhang, Xian Yin, Yue Wu, Ting Qiu, Jing Wang, Guibin Department of Mechanical Engineering and Automation Harbin Institute of Technology China Department of Electrical and Information Engineering The University of Sydney Australia College of Mechatronics and Control Engineering Shenzhen University China

Hydrogen vehicles (HVs) are believed to be an effective alternative to fossil fuel vehicles for carbon emission reduction. However, the advantage of HVs highly depends on the carbon emissions in the process of hydrogen production. In this paper, a novel two-milestone collaborative planning model is proposed to achieve carbon reduction by integrated energy network transformation. Firstly, in milestone Ⅰ, a low-carbon power system is established by dynamically retiring coal-fired power plants and promoting renewable energy. In milestone Ⅱ, with the help of the carbon emission flow model, hydrogen production stations are innovatively constructed at the nodes with extremely low carbon emission intensity in the power system. Different methods of hydrogen production are adopted, and the coupling of the power and hydrogen networks are effectively employed. Additionally, oil stations are constantly withdrawing under the construction of hydrogen refueling stations for further emission reduction, where the dilemma of cost and environmental concerns is addressed by minimizing the average cost of carbon emission reduction. Finally, the simulation results of a coupled 24-bus power system, 7-point natural gas system, and 9-node hydrogen system verify the effectiveness of the proposed model in establishing an eco-friendly energy system. © 2023, The Authors. All rights reserved.

关键词： Hydrogen production

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Data-Driven Dynamic Event-Triggered Sliding-Mode Heading control for Unmanned Surface Vehicles with Uncertainties

Data-Driven Dynamic Event-Triggered Sliding-Mode Heading Con...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Zhao, Huarong Shan, Jinjun Li, Xing Yu, Hongnian School of Internet of Things Engineering Jiangnan University Wuxi214122 China York University Department of Earth and Space Science and Engineering TorontoONM3J 1P3 Canada School of Electrical Engineering and Intelligentization Dong-guan University of Technology Dongguan523000 China Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Liaoning Shenyang110819 China School of Computing Engineering and the Built Environment Edinburgh Napier University EdinburghEH10 5DT United Kingdom

ISBN: (纸本)9781665410205

This paper investigates a data-driven dynamic event-triggered sliding mode heading control problem for un-manned surface vehicles with uncertain dynamics models. First, a virtual sensor is introduced to establish a compact dynamic linearization model for the unmanned surface vehicle. Then, a dynamic event-triggered scheme is developed to alleviate the communication burden. Moreover, a sliding mode surface is designed, and a data-driven dynamic event-triggered sliding mode heading control approach is formulated. Finally, rigorous mathematical proofs are given, and several simulations demon-strate the effectiveness and superiority of the proposed method compared to existing approaches. © 2024 IEEE.

关键词： Sliding mode control

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Reinforcement Learning of Threshold Policy for Dynamic Wireless Charging with Distributed Energy Resources

Reinforcement Learning of Threshold Policy for Dynamic Wirel...

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IEEE General Meeting Power& Energy Society

作者： Liangliang Hao Yunjian Xu Lang Tong Department of Control Science and Engineering Shandong University Jinan China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong SAR School of Electrical and Computer Engineering Cornell University Ithaca NY USA

ISBN: (数字)9798350381832

ISBN: (纸本)9798350381849

We study dynamic wireless charging for Electric Vehicles (EVs) on electrified highways where EVs are charged while in motion. Our focus is on the cost-minimization scheduling of EV charging based on EV mobility states, charging demands, travel plans, available distributed renewables, and power constraints of the distribution systems. As a Markov decision process with uncountable action space that couples stochasticities in charging demands, vehicle mobilities, and renewable resources, standard dynamic programming and approximation approaches face exponentially growing complexity and modeling uncertainties. By exploiting the linear network topology when EVs are on a highway, this work reveals a threshold structure of the optimal charging policy and develops a reinforcement learning approach for uncertainty models, resulting in a scalable EV charging solution. The proposed EV charging algorithm outperforms multiple charging benchmarks by 4.7-52.4% cost reduction.

关键词： Road transportation Renewable energy sources Uncertainty Costs Markov decision processes Inductive charging Dynamic scheduling Electric vehicle charging Distributed power generation Vehicle dynamics

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Robust Event-Triggered control of Nonlinear Systems Under a Global Sector-Bound Condition

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Guidance, Navigation and control 2022年第2期2卷 59-79页

作者： Pengpeng Zhang Tengfei Liu Zhong-Ping Jiang Department of Control Science&Engineering Frontiers Science Center for Intelligent Autonomous SystemsTongji UniversityShanghai 201804P.R.China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819P.R.China Department of Electrical and Computer Engineering New York University370 Jay StreetBrooklynNY 11201USA

This paper studies an event-tniggered control problem for nonlinear systems subject to both external disturbancoes and dy namic *** is assumed that the system satisfies a global sector bound *** avold infnitely fast samplng,a novel eventriggred sampling mechanism is propoeed,which use8 not only the measuned system state but also an estimation of the inluence of the *** the propoeed design,the intersampling intervals an be lower bounded by a poeitive constant,and it is independent of botb external disturbances and dynamie ***,the doeedl loop event-tniggered system i proved to be input-torstate stable with repect to the extemal *** smalgain techmigues are;used for the stability analysis of the dloeeil-bop system.

关键词： Event-triggered control external disturbance dynamic uncertainty input-to-state stability

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Graph-Based Collision Avoidance Algorithm Among Swarm Agents

Graph-Based Collision Avoidance Algorithm Among Swarm Agents

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International Symposium on electrical and Electronics engineering (ISEEE)

作者： Akif Durdu Mesut Tuncer Berat Yıldız Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkiye Department of Computer Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkiye Department of Electrical and Electronics Engineering Karamanoglu Mehmetbey University Karaman Turkiye

More than one homogenous or heterogenous type unmanned vehicle can work in a coordinated manner and perform large-scale swarm tasks (firefighting, search and rescue, mapping, and military operations, etc.) efficiently in a shorter time by sharing tasks. Collision of these vehicles is among the most significant problems encountered during their work. The crash of the vehicles causes the vehicles to be out of duty and, accordingly, to the mission’s failure. In this study, Quadrotor-type UAVs used as agents can go to any target point by receiving location, speed, and compass information with GPS and IMU sensors. In the application, the agents’ locations were kept and updated in a list in pairs, similar to the traversing process in the Optimized Bubble Sort Algorithm. The projections of the velocity vectors on the agents’ axis (local) on a single coordinate plane are taken to determine the collision situation between these two agents that are traveling instantaneously. These global velocity vectors, whose projections are taken, are re-projected to the edge formed by these two agents in the graph and then subtracted from each other. Suppose the size of the vector is greater than the distance between two agents obtained by any GPS distance algorithm (Pythagoras, Haversine, etc.). In this case, collision is detected, and the separation process is activated. Separation is the process of advancing one agent in the opposite direction of the other until a minimum safe distance is achieved, where one agent entered by the user will not affect the other. Once the separation is complete, the agent moves to the final destination point.

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