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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Changcong Wang Chongyi Wei Shaoping Bai Yibin Li Xincheng Tian Lelai Zhou the Center for Robotics School of Control Science and Engineering Shandong University Jinan China the Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Department of Materials and Production Aalborg University Aalborg Denmark

Human-Robot Collaboration (HRC) is people and robots work together in the same workspace to achieve shared goals. To ensure safety, robots need to perceive the position of the human body for planning purposes. However, there is no universal method for converting the human body into collision objects. To solve this problem, we propose an interface to convert the human body segments into collision objects in the robot planning scene. The interface estimates the human body Skinned Multi-Person Linear model (SMPL) by RGB image and measures the collision object size of the corresponding body segment. The corresponding size of collision objects are added to the corresponding positions of the human pose estimated by different types of sensors. The accuracy of human size estimation is verified on TotalMocap of AMASS. The interface with OctoMap is compared to evaluate the efficiency and the validity on interface is verified on the robot UR5e.

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Active Target Tracking Using Bearing-only Measurements With Gaussian Process Learning

arXiv

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arXiv 2024年

作者： Fu, Yingbo Yang, Ziwen Zhu, Shanying Guo, Yi Chen, Cailian The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

This paper studies the tracking problem of a target with the partially unknown motion model by an active agent with bearing-only measurements using Gaussian process learning. To address this problem, a learning-planning-control framework is proposed. First, to learn and predict the target motion under mild assumptions, a Gaussian-process-based scheme is proposed, and a probabilistic uniform prediction error bound can be rigorously proved. Second, by analyzing the data dependence of the posterior covariance, we obtain an optimal relative trajectory to achieve efficient sampling. Third, to realize efficient learning, a controller to track the planned path is proposed based on the learned target motion, which can provide guaranteed tracking performance. Theoretical analysis is conducted to prove the the given probabilistic error bounds. Numerical examples and comparison with other typical methods verify the feasibility and superior performance of our proposed framework. Copyright © 2024, The Authors. All rights reserved.

关键词： Target tracking

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Safety-Aware Scheduling of Real-Time control systems with Burst Computing Tasks

SSRN

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SSRN 2024年

作者： Cheng, Ting Liang, Yonghui Xu, Qimin Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

In industrial sites, multiple real-time control systems often share computing resources. However, burst computing tasks may lead to the dropping of control computing subtasks, resulting in potential hazards. To address this issue, we propose a safety-aware task scheduling scheme. When burst computing tasks are triggered, this scheduling scheme adaptively releases resources from low-criticality control computing subtasks, ensuring the timely completion of burst computing tasks and keeping the control system state deviation within a safe threshold. To achieve the scheduling scheme, we propose an efficient algorithm called ADP-Opt. It decouples the complex original problem into multiple subproblems, which greatly reduces the search space and improves the solution efficiency. In the suboptimization problem, safety is maintained by limiting the upper bound of the system state's deviation to below the threshold. By introducing a penalty term in the cost function related to computing resources, we aim to balance the impact of control computing subtasks on control performance and the consumption of computing resources. Consequently, the overall cost of the control system can be minimized while releasing enough resources for burst computing tasks. Simulation results show that the scheduling decisions made by ADP-Opt can approach the optimal decision by approximately 99% efficiently. © 2024, The Authors. All rights reserved.

关键词： Cost functions

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Discrete-time inverse linear quadratic optimal control over fnite time-horizon under noisy output measurements

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control Theory and Technology 2021年第4期19卷 563-572页

作者： Han Zhang Yibei Li Xiaoming Hu Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Department of Mathematics KTH Royal Institute of Technology10044 StockholmSweden

In this paper,the problem of inverse quadratic optimal control over fnite time-horizon for discrete-time linear systems is *** goal is to recover the corresponding quadratic objective function using noisy ***,the identifability of the model structure for the inverse optimal control problem is analyzed under relative degree assumption and we show the model structure is strictly globally ***,we study the inverse optimal control problem whose initial state distribution and the observation noise distribution are unknown,yet the exact observations on the initial states are *** formulate the problem as a risk minimization problem and approximate the problem using empirical *** is further shown that the solution to the approximated problem is statistically consistent under the assumption of relative *** then study the case where the exact observations on the initial states are not available,yet the observation noises are known to be white Gaussian distributed and the distribution of the initial state is also Gaussian(with unknown mean and covariance).EM-algorithm is used to estimate the parameters in the objective *** efectiveness of our results are demonstrated by numerical examples.

关键词： Inverse optimal control Linear quadratic regulator Statistical consistency EM-algorithm

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Task-Level intelligent Human-Robot Interaction for Assisting Multi-objective Autonomous Grasping Decision with Quadruped Robots

Task-Level Intelligent Human-Robot Interaction for Assisting...

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IEEE International Conference on Robotics and Biomimetics

作者： Qifan Zhang Jiamin Guo Hui Chai Guoxuan Zhang Zhiyuan Yang Ming Yuan Qin Zhang Yueyang Li Yibin Li School of Control Science and Engineering Shandong University Jinan China Engineering Research Center of Intelligent Unmanned System Ministry of Education Shandong University Jinan China School of Electrical Engineering University of Jinan China

In hazardous explosive disposal scenarios, the autonomous grasping system of quadruped robots demonstrated limited task-level decision-making capabilities and exhibited minimal human-robot interaction (HRI). This paper proposes a task-level intelligent HRI approach, aiming to assist the quadruped robots making multi-object grasping decisions. Following the principle of natural HRI, we design a control terminal equipped with a touch screen. The control terminal receives the video stream from the robot’s primary field of view via a video transmitter. We develop a graphical user interface (GUI) that decodes and displays the image, allowing the operator to interact naturally by touch and select a specific point in the image as the search center point. We employ the shortest Euclidean distance principle, enabling the target recognition module to search around the selected center point. Subsequently, the autonomous grasping system determines the grasping target and initiates the tasks of path planning and grasping detection. Real-world experiments involving multi-target autonomous grasping are conducted to validate the effectiveness of the proposed HRI method and address the challenge of decision making in scenarios with multiple targets. Furthermore, this method can be readily extended to other types of mobile robots.

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Bearing-based Formation Tracking of Nonholonomic Agents in the Leader's Local Frame

Bearing-based Formation Tracking of Nonholonomic Agents in t...

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2021 China Automation Congress, CAC 2021

作者： Lv, Ke Yang, Ziwen Zhu, Shanying Wang, Lin 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 Shanghai China

ISBN: (纸本)9781665426473

This paper investigates the formation tracking control problem of nonholonomic agents in the leader's local frame, based on bearing measurements. Most of existing works on formation tracking are aimed at tracking a given formation in the global frame, which cannot meet the needs of many applications such as a fleet of cars driving on the highway. In this case, if the cars cannot keep a fixed formation in the leader's local frame, they may drive off the highway. Thus we propose an integrated approach consisting of a bearing-based estimator and a tracking controller, to track a given formation in the leader's local frame. In order to eliminate the estimation error in formation tracking, a persistently exciting leader is characterized by conditions. The stability of the integrated method is proved rigorously. Simulation results prove the effectiveness of the proposed approach. © 2021 IEEE

关键词： Integrated control

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Pressure-assisted Silver Sintering Structure Optimization for Power Modules 5

Pressure-assisted Silver Sintering Structure Optimization fo...

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5th International Conference on Optoelectronic Science and Materials, ICOSM 2023

作者： Zhang, Hao Xing, Yulong Gao, Lilan Liu, Zheng Tan, Yansong Lu, Guoquan Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China National Demonstration Center or Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Tianjin Yixunyuan New Material Technology Co. Ltd. Tianjin300380 China School of Chemical Engineering Tianjin University Tianjin300350 China School of Materials Science and Engineering Virginia Polytechnic Institute and State University BlacksburgVA24061 United States

ISBN: (纸本)9781510674547

As mobile technology evolves from 5G to 6G, the demand for third-generation semiconductors such as SiC with higher power and frequency capabilities is increasing. Silicon Carbide power modules generate significant heat during operation, requiring large-area nano-silver sintering technology to improve module performance and reliability. However, in large-area sintering processes, low exhaust efficiency of solder paste by-products and uneven sintering pressure of the nano-silver paste result in poor sintering quality of the silver layer. This study aims to improve the sintering quality of interconnected silver layers by optimizing the sintering pressure distribution and adding rubber spacers to the sintering structure. ABAQUS was used to quantitatively analyze the effects of pressure methods and gasket material, diameter, and thickness on the stress distribution in the silver layer. Finally, based on the simulation results, an optimized sintering structure was proposed to unify the pressure and reduce the stress concentration in the silver layer, and verified experimentally by sintering tests. Compared with the traditional sintering structure, the application of a 2 mm thick fluoro rubber gasket with the same surface area as the silver layer in the optimized structure reduced the porosity to 2.15% and achieved a more dense sintered silver layer. © 2024 SPIE.

关键词： Finite element method

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Integrating mobile and fixed monitoring data for high-resolution PM2.5 mapping using machine learning

arXiv

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arXiv 2025年

作者： Xu, Rui Yao, Dawen Pian, Yuzhuang Cao, Ruhui Fu, Yixin Yang, Xinru Gan, Ting Liu, Yonghong School of Intelligent Systems Engineering Sun Yat-sen University Guangdong Shenzhen518107 China Guangdong Provincial Key Laboratory of Intelligent Transportation System Sun Yat-Sen University Guangzhou510275 China Guangdong Provincial Engineering Research Center for Traffic Environmental Monitoring and Control Guangdong Guangzhou510275 China

Constructing high resolution air pollution maps at lower cost is crucial for sustainable city management and public health risk assessment. However, traditional fixed-site monitoring lacks spatial coverage, while mobile low-cost sensors exhibit significant data instability. This study integrates PM2.5 data from 320 taxi-mounted mobile low-cost sensors and 52 fixed monitoring stations to address these limitations. By employing the machine learning methods, an appropriate mapping relationship was established between fixed and mobile monitoring concentration. The resulting pollution maps achieved 500-meter spatial and 5-minute temporal resolutions, showing close alignment with fixed monitoring data (+4.35% bias) but significant deviation from raw mobile data (-31.77%). The fused map exhibits the fine-scale spatial variability also observed in the mobile pollution map, while showing the stable temporal variability closer to that of the fixed pollution map (fixed: 1.12±0.73%, mobile: 3.15±2.44%, mapped: 1.01±0.65%). These findings demonstrate the potential of large-scale mobile low-cost sensor networks for high-resolution air quality mapping, supporting targeted urban environmental governance and health risk mitigation. © 2025, CC BY.

关键词： Environmental monitoring

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Bearing-only Formation control of Nonholonomic Agents with Unknown Dynamic Leaders

Bearing-only Formation Control of Nonholonomic Agents with U...

引用

2021 China Automation Congress, CAC 2021

作者： Su, Haifan Yang, Ziwen Zhu, Shanying Chen, Cailian 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 Shanghai China

ISBN: (纸本)9781665426473

In this paper, the problem of bearing-only formation tracking control of multiple nonholonomic agents is studied. A leader-follower structure is adopted, where the leaders are moving at an unknown constant linear velocity and time-varying orientation. To solve the problem using bearing-only measurements, a finite-time estimator is firstly proposed to estimate the leaders' orientation information. Then, an adaptation law for estimating the leaders' linear velocity is proposed, based on which control inputs for tracking the leaders in a predefined bearing-based formation are designed, so that formation tracking can be achieved asymptotically. Rigorous theoretical analysis of the closed-loop system is given. It is proved that both the estimation errors and formation errors converge to zero under the connectivity of the communication graph and conditions for bearing rigidity. Numerical simulations are presented to testify the effectiveness of the proposed method. © 2021 IEEE

关键词： Closed loop systems

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Trajectory Optimization of Manipulator for Loading and Unloading the Ladle Nozzle Based on Decomposition Multi-Objective Improved Whale Optimization Algorithm

Trajectory Optimization of Manipulator for Loading and Unloa...

引用

IEEE International Conference on Cyber Technology in Automation, control, and intelligent systems

作者： Dongliang Zhao Yiming Fang Chen Yang Jingliang Xin Key Lab of Industrial Computer Control Engineering Yanshan University Qinhuangdao Hebei Province China Engineering Research Center of the Education Ministry for Intelligent Control System and Intelligent Equipment Yanshan University Qinhuangdao Hebei Province China Hebei Iron and Steel Group Tangshan Hebei Province China

In recent years, industrial manipulators are widely used in factories. To solve the problems of low efficiency and high joint jitter in ladle nozzle loading and unloading, a new trajectory optimization method is proposed. Firstly, a manipulator model is established on the base of mechanical construction and parameters of KR1000L750. And the 3-5-3 segmented polynomial interpolation approach is used to design the trajectory. Then a trajectory optimization model is proposed based on time and impact as optimization objectives. Secondly, the traditional whale optimization algorithm is improved by introducing a nonlinear adaptive convergence factor to balance the exploration and development of the algorithm. The improved algorithm has also added a new search mechanism during the exploration phase. To reduce the waste of exploration resources, the information on the current optimal solution is added by the Cauchy mutation method. Then, a decomposition-based multi-objective improved whale optimization algorithm (DMOIWOA) is proposed. The algorithm combines a penalty-based boundary intersection approach with the improved whale optimization algorithm. Six representative optimization algorithms are selected for comparison on the test functions. The DMOIWOA has evident superiority in convergence and distribution. Finally, the algorithm is applied to the trajectory optimization model to obtain a better Pareto front. In conclusion, the DMOIWOA can reasonably optimize the manipulator trajectory, improving the manipulator operation efficiency and reducing the manipulator jitter.

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