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Multi-Targets Visiting Orbit Design Based on Numerical Method

Guidance,Navigation and control 2025年第1期05卷 139-148页

作者： Zenan Zhong Zhengxiang Sun Songyan Wang Tao Chao Ming Yang Control and Simulation Center Harbin Institute of Technology National Key Laboratory of Modeling and Simulation for Complex Systems Harbin Institute of Technology Beijing Institute of Space Long March Vehicle

In this paper, for the two/three targets in the circle orbit with the same altitude, a numerical method is presented to design an orbit for a spacecraft to visit multiple targets without maneuvering. First,for the two targets' case, an equation is established by the relationship of the two angles that both are the function of the time, one of the angles is the angle between two targets' geocentric position vectors at two times, and another one is the spacecraft flight angle during the two times. The visit time can be solved by the assumption that one of the visit times is known in the equation, and the orbit element can be transferred from the position and velocity vector determined by the solved visit time. Then, for the three targets' case, the problem is decoupled into two cases of two targets, and there is a public target in each case. Based on the method for two targets, two different orbits can be obtained by determining the visit time of the public target. The difference between two orbits can be expressed by the difference in velocity vectors of the public target at different times. A sampling method is utilized to select two velocity vectors with relatively small differences as initial values, the Newton iteration method is used to obtain visit times with higher accuracy. Simulation results illustrate the effectiveness of the orbit design methods.

关键词： Orbit design method multiple targets visit circle orbit non-maneuvering

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Optimal Deployment of Target Localization With Distance-Dependent Noise

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IEEE Internet of Things Journal 2025年

作者： Tian, Junxi Yang, Ming Chao, Tao Harbin Institute of Technology Control and Simulation Center National Key Laboratory of Modeling and Simulation for Complex Systems Harbin150001 China

The cooperative localization of radio-based distance measurement is one of the methods to effectively suppress the nonline of sight (NLOS) ranging errors and as a complement to visual/global navigation satellite system (GNSS) localization for unmanned aerial vehicle (UAV) in GNSS challenging or denied environments due to its motility. Target localization can be regarded as a special case of cooperative localization. Meanwhile, the UAV can be considered as a ranging node when the ranging terminal is rigidly mounted on the UAV. To improve the target localization accuracy, the optimal deployment of anchor UAVs is one of the factors we consider when the noise characteristics are different. In this paper, the range-dependent noise in a real flight environment is considered and modeled separately according to the difference in noise characteristics. Subsequently, based on this correlation model, the Fisher information matrix (FIM) and a cost function derived from the A-optimal criterion are provided. Finally, the optimal deployment conditions and the minimum mean square error (MMSE) can be derived by minimizing the cost function as the objective. Through simulation and localization experiments, the validity of the optimal deployment conditions and the corresponding MMSE are verified. Meanwhile, it is concluded that when the noise is range-dependent, it will not affect the optimal deployment result but will significantly change the value of MMSE. © 2014 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Enhancing realism in LiDAR scene generation with CSPA-DFN and linear cross-attention via Diffusion Transformer model

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Neural Networks 2025年 189卷 107503页

作者： Ye, Shaoxun Di, Xiaoguang Liao, Ming Li, Ximing Control and Simulation Center Harbin Institute of Technology Harbin150080 China National Key Laboratory of Modeling and Simulation for Complex Systems Harbin150080 China

Point cloud diffusion models have found extensive applications in autonomous driving and robotics. However, there is still a big gap between their generated LiDAR scene samples and real-world data in terms of visual quality. This discrepancy primarily arises from the loss of detailed information during the decoding process from latent space and the lack of guidance from global 3D structural information in the point cloud generation process, leading to distortions and artifacts in LiDAR scene samples. In this paper, we propose a novel LiDAR Diffusion Transformer Model that integrates Channel-Spatial Parallel Attention and Dilation Fusion Network (CSPA-DFN) with a linear cross-attention post-processing module to refine the generated LiDAR scene samples. Specifically, CSPA-DFN is designed to simultaneously emphasize detailed features across different channels and spatial locations in parallel, leveraging multi-scale dilated convolutions and channel grouping to preserve and enhance these detailed features. In order to provide global 3D structural information and balance performance and efficiency, we design a post-processing module that fuses voxelized features and range images using a linear ReLU cross-attention mechanism. Our approach is evaluated on the unconditional generation task using the KITTI-360 and nuScenes datasets, achieving the state-of-the-art results in LiDAR scene's generation quality. Furthermore, by incorporating semantic labels and camera views into the latent space, in addition to enhancing the model's semantic understanding capability for LiDAR scenes, our method also demonstrates additional performance improvements compared to previous works in terms of LiDAR scene's visual quality. The code implementation has been released on https://***/HITysx/LiDAR-Scene-Generation. © 2025 Elsevier Ltd

关键词： Photointerpretation

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Accuracy analysis of predicted velocity profiles of laminar duct flow with entropy generation method

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Applied Mathematics and Mechanics(English Edition) 2013年第8期34卷 971-984页

作者： J.A.ESFAHANI M.MODIRKHAZENI S.MOHAMMADI Center of Excellence on Modeling and Control Systems (CEMCS) & Department of Mechanical Engineering Faculty of Engineering Ferdowsi University of Mashhad

The objective of this work is to estimate the accuracy of a predicted velocity profile which can be gained from experimental results, in comparison with the exact ones by the methodology of entropy generation. The analysis is concerned with the entropy generation rate in hydrodynamic, steady, laminar, and incompressible flow for Newtonian fluids in the insulated channels of arbitrary cross section. The entropy generation can be calculated from two local and overall techniques. Adaptation of the results of these techniques depends on the used velocity profile. Results express that in experimental works, whatever the values of local and overall entropy generation rates are close to each other, the results are more accuracy. In order to extent the subject, different geometries have been investigated. Also, the influence studied, and the distribution of volumetric geometries is drawn. of geometry on the entropy generation rate is local entropy generation rate for the selected geometries is drawn.

关键词： entropy generation velocity profile duct arbitrary cross section laminarinternal flow

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Robot assisted rehabilitation of the arm after stroke:prototype design and clinical evaluation

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Science China(Information Sciences) 2017年第7期60卷 252-258页

作者： Liang PENG Zeng-Guang HOU Long PENG Lincong LUO Weiqun WANG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control method in the workspace. The "assist-as-needed"(AAN) clinical training principle is implemented through the "virtual tunnel" force field design, the "assistance threshold" strategy, as well as the virtual environment training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and chronic stroke patients, especially for coordinated movements of shoulder and elbow.

关键词： rehabilitation robot passive training active training force feedback impedance control

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Parameter estimation survey for multi-joint robot dynamic calibration case study

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Science China(Information Sciences) 2019年第10期62卷 102-116页

作者： Shaolin ZHANG Shuo WANG Fengshui JING Min TAN The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Accurate model parameters are the basis of robot dynamics. Many linear and nonlinear models have been proposed to calibrate the inertial parameters and friction parameters of multi-joint ***, methods of choosing a model and calculating its parameters still have few summaries. This paper reviews typical linear/nonlinear models and different calculation methods for robot dynamic *** simulations, the features of different methods are analyzed, including torque error, parameter error, model adaptability, solution time, and anti-interference ability of the calibration results. Finally, an experiment performed on a six-degree-of-freedom industrial manipulator is used as an example to illustrate how to select the model for a specified robot. These comparisons and experiments provide references for the parameter calibration of multi-joint robots.

关键词： dynamic parameter calibration friction calibration robot dynamics industrial manipulator dynamic models

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Revealing attributes of an object based on incomplete and inconsistent empirical data 8

Revealing attributes of an object based on incomplete and in...

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8th International Conference on Information Technology and Nanotechnology, ITNT 2022

作者： Semenova, Valentina Smirnov, Sergei Laboratory for Analysis and Modeling of Complex Systems Samara Federal Research Scientific Center RAS Institute for the Control of Complex Systems RAS Samara Russia

ISBN: (数字)9781665485715

ISBN: (纸本)9781665485715

The paper considers the problem of building a semantic model of the object under study, which determines its attributes, *** composition of the properties inherent in the object. The set of these attributes is a subset of all measured (in a broad sense) properties of the object under study. Processing the results of such multidimensional measurements, observations, registration of expert opinions, etc. gives the initial empirical material in the form of generally logically many-valued assessments of judgments truth of the form 'the property x is inherent in the object g'. On the other hand, the subject may have a priori knowledge about the coexistence variants of various attributes in the object under study. For such circumstances, a method is proposed for identifying all admissible sets of object attributes, including a logical-combinatorial method for choosing the 'best' of these sets, which is taken as a semantic model of the object. The paper considers examples of applications of the developed models and methods, indicates the tasks of additional research of the problem to substantiate the proposed methodology for the semantic identification of an object based on empirical data. © 2022 IEEE.

关键词： Semantics

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Universal method of accounting the properties existence constraints it problems of deriving formal concepts from fuzzy object-attributive data 7

Universal method of accounting the properties existence cons...

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7th IEEE International Conference on Information Technology and Nanotechnology, ITNT 2021

作者： Samoilov, Alexandr Smirnov, Sergey Samara Federal Research Scientific Center of RAS Institute for the Control of Complex Systems RAS Laboratory for Analysis and Modeling of Complex Systems Samara Russia

ISBN: (纸本)9781665432177

Object of research is the processing of fuzzy object-attributive data - empirically established 'object-properties' relation - in order to identify formal concepts and construct a lattice that fixes a partial ordered generalization relation on a set of formal concepts. The paper is devoted to implementation of the method of preprocessing the initial fuzzy 'object-properties' relation proposed earlier by the authors, which provides for taking into account the properties existence constraints - a priori subjective attitudes that fix the permissible variants of the intent of formal concepts. The method is suitable for all types of biclustering tasks: to derive distinct and fuzzy concepts from the threshold cross-section of the source data, to derive fuzzy concepts based on the fuzzy closure of the source data. Implementation of the method involves the representation of a fuzzy set of properties for each object in the training sample as a composition of a finite kit of distinct sets, filtering this kit of sets for accounting properties existence constraints and approximation of a fuzzy set of properties of the object of training sample based on the composition of the filtered sets of properties. The effectiveness of the proposed implementation provides by the rational organization of each of these actions and in fact their partial combination. © 2021 IEEE.

关键词： Formal concept analysis

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A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery

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Science China(Information Sciences) 2018年第10期61卷 250-252页

作者： Xiaoran CHENG Xiaoliang XIE Guibin BIAN Zengguang HOU Shiqi LIU Zhanjie GAO State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Simulators play an important role in minimally invasive vascular surgery training. A challenging task for the simulator is to model an elastic guidewire and an elastic vascular system, both of which are important aspects for vascular ***, many simulators treat the virtual vascular system as a rigid object, which reduces the immersion of operators. In this study, a virtual guidewire is first modeled based on Cosserat rod

关键词： Pi Figure A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery

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Enhanced adaptive nonlinear extended state observer for pure feedback systems with matched and mismatched disturbances

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control Theory and Technology 2024年第2期22卷 254-268页

作者： Mahtab Delpasand Mohammad Farrokhi School of Electrical Engineering Iran University of Science and TechnologyTehran16846-13114Iran Center of Excellence for Modelling and Control of Complex Systems Iran University of Science and TechnologyTehran16846-13114Iran

In this paper, an enhanced adaptive nonlinear extended state observer (EANESO) for single-input single-output pure feedback systems in the presence of external time-varying disturbances is proposed. In this paper, a nonlinear system with matched and mismatched disturbances is considered. The conventional extended state observer (ESO) can only be applied to systems that are in the form of integral chains. Moreover, this method has limitations in the face of mismatched disturbances. In the presence of time-varying disturbances, the traditional ESOs cannot estimate the disturbances accurately. To overcome this limitation, an EANESO is proposed in this paper. The main idea is to design the nonlinear ESO (NESO) to estimate the states of the system and multiple disturbances simultaneously. The observer gains are considered time-varying and adjusted with adaptation laws to improve the estimation accuracy and overcome the peaking phenomenon. Next, the proposed controller is designed based on output feedback to eliminate the effects of multiple disturbances and stabilize the closed-loop system. Subsequently, the stability analysis of the closed-loop system and convergence of the observer error are discussed. Finally, the proposed method is applied to the inverted pendulum system. The simulated results show good performance of the proposed method as compared with a recently published scheme in the related literature.

关键词： Nonlinear extended state observer Enhanced adaptive extended state observer Adaptation law Multiple-channel disturbances Inverted pendulum system Time-varying gain

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