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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yang, Fanhang Dong, Enzeng Tong, Jigang Yang, Sen Du, Shengzhi Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory 391 Binshui West Road Xiqing District Tianjin China Tshwane University of Technology Department of Electrical Engineering Pretoria0001 South Africa

ISBN: (纸本)9798350320831

We present a two-stage 3D object detection framework from point clouds, named Point Density-aware Channel-wise Transformer (PD-CT3D), which investigate the property of point density. This architecture uses 3D sparse CNN to effectively generate high-quality proposals at the first stage, then integrates the inherent property of point density and 3D CNN-based voxel features by density-aware proposal grid pooling. Specifically, each generated proposal from the first stage is divided into grids to aggregate corresponding voxel-wise features and raw point-based features for encoding the representative features from the whole scene. Subsequently, a channel-wise encoder-decoder transformer is adopted to extract the encoded density-aware features and decode them into a global representation for final refinement. Experiments on the widely used KITTI dataset show that the PD-CT3D achieves competitive performance among state-of-the-art methods. © 2023 IEEE.

关键词： Object detection

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Enhanced breakdown strength and energy storage density of AgNbO_(3)ceramics via tape casting

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Rare Metals 2023年第2期42卷 495-502页

作者： Ming-Yuan Zhao Jing Wang Lin Chen Hao Yuan Mao-Hua Zhang Su-Wei Zhang Lei Zhao Key Laboratory of High-Precision Computation and Application of Quantum Field Theory of Hebei Province College of Physics Science and TechnologyHebei UniversityBaoding071002China State Key Laboratory of Mechanics and Control of Mechanical Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Department of Materials and Earth Sciences Nonmetallic Inorganic MaterialsTechnical University of DarmstadtDarmstadt64287Germany State Key Laboratory of New Ceramics and Fine Processing School of Materials Science and EngineeringTsinghua UniversityBeijing100084China

Antiferroelectric materials are promising candidates for energy-storage applications due to their double hysteresis loops,which can deliver high power *** the antiferroelectric materials,AgNbO_(3)is proved attractive due to its environmental-friendliness and high potential for achieving excellent energy storage ***,the recoverable energy storage density of AgNbO_(3)ceramics is limited by their relatively low breakdown ***,the breakdown strength of the pure AgNbO_(3)ceramics prepared using the tape casting method is enhanced to 307 kV·cm^(-1),which is,to the best of our knowledge,among the highest values reported for pure AgNbO-3bulk *** high breakdown strength may be due to its dense microstructure and good crystallinity obtained by the tape casting method and the optimized sintering *** to its enhanced breakdown strength,AgNbO_(3)ceramics show high recoverable energy storage density of 2.8 J·cm^(-3).These results have led to the development of lead-free antiferroelectric materials and devices with high energy storage density.

关键词： AgNbO_(3) Energy storage performance Antiferroelectric Tape casting

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On Uniform Observability of Linear Time-varying Systems with respect to Subspaces and Its Applications

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IEEE Transactions on Automatic control 2025年

作者： Liu, Tao Huang, Jie Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Shatin Hong Kong

Recently, the notion of uniform observability with respect to a subspace was proposed in [21] and was utilized to solve the synchronization problem for single-integrator multi-agent systems with time-varying matrix-weighted couplings. This paper further explores the concept of uniform observability of a linear time-varying system with respect to a subspace. We will first establish the invariance property of uniform observability with respect to some invariant subspace under time-varying output feedback control. Then, based on this invariance property, we will establish an exponential convergence result with respect to an invariant subspace for a class of linear switched systems. Leveraging this exponential convergence result, we will solve the exponential synchronization problem for general linear multi-agent systems over jointly connected switching networks. It is noted that the exponential synchronization problem was also studied recently by some more sophisticated methods. Compared with these methods, our method is much simpler. Moreover, our method leads to an explicit characterization of the exponential synchronization rate. © 1963-2012 IEEE.

关键词： Linear time-invariant system

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Identifiability and Solvability in Inverse Linear Quadratic Optimal control Problems

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Journal of Systems Science & Complexity 2021年第5期34卷 1840-1857页

作者： LI Yibei WAHLBERG Bo HU Xiaoming Optimization and Systems Theory Department of MathematicsKTH Royal Institute of TechnologySE-10044StockholmSweden Division of Decision and Control School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologySE-10044StockholmSweden

In this paper, the inverse linear quadratic(LQ) problem over finite time-horizon is *** the output observations of a dynamic process, the goal is to recover the corresponding LQ cost function. Firstly, by considering the inverse problem as an identification problem, its model structure is shown to be strictly globally identifiable under the assumption of system invertibility. Next, in the noiseless case a necessary and sufficient condition is proposed for the solvability of a positive semidefinite weighting matrix and its unique solution is obtained with two proposed algorithms under the condition of persistent excitation. Furthermore, a residual optimization problem is also formulated to solve a best-fit approximate cost function from sub-optimal observations. Finally, numerical simulations are used to demonstrate the effectiveness of the proposed methods.

关键词： Inverse optimal control linear quadratic regulators model identifiability

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LoRD: Adapting Differentiable Driving Policies to Distribution Shifts

arXiv

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arXiv 2024年

作者： Diehl, Christopher Karkus, Peter Veer, Sushant Pavone, Marco Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Germany NVIDIA Research United States Department of Aeronautics and Astronautics Stanford University United States

Distribution shifts between operational domains can severely affect the performance of learned models in self-driving vehicles (SDVs). While this is a well-established problem, prior work has mostly explored naive solutions such as fine-tuning, focusing on the motion prediction task. In this work, we explore novel adaptation strategies for differentiable autonomy stacks (structured policy) consisting of prediction, planning, and control, perform evaluation in closed-loop, and investigate the often-overlooked issue of catastrophic forgetting. Specifically, we introduce two simple yet effective techniques: a low-rank residual decoder (LoRD) and multi-task fine-tuning. Through experiments across three models conducted on two real-world autonomous driving datasets (nuPlan, exiD), we demonstrate the effectiveness of our methods and highlight a significant performance gap between open-loop and closed-loop evaluation in prior approaches. Our approach improves forgetting by up to 23.33% and the closed-loop out-of-distribution driving score by 9.93% in comparison to standard fine-tuning. https://***/rst-tu-dortmund/LoRD Copyright © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Flexible Modeling of High-Definition Matrix Headlights

Flexible Modeling of High-Definition Matrix Headlights

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Mirko Waldner Nathalie Mü ller Torsten Bertram Institute of Control Theory and Systems Engineering (RST) TU Dortmund University Germany

ISBN: (数字)9781665413084

ISBN: (纸本)9781665413091

The contribution at hand presents a novel flexible matrix headlight modeling approach for rapid prototyping that is not based on ray tracing and focuses on parameters which are meant to be intuitive and interpretable. The model parameters are directly linked to the beam pattern of the headlamp. The model is designed to generate illuminations of arbitrary matrix headlights that contain color information and inhomogeneities, making it possible to virtually prototype headlight design concepts in the pre-development phase of the system. The modeling approach is verified by comparing the generated intensity distribution with a real one of low and high resolution systems currently under development. The model has a mean absolute error of about one percent of the maximum intensity for all tested systems.

关键词： Mechatronics Lighting Color Ray tracing Rapid prototyping Nonhomogeneous media

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Construction of Solutions to a Boundary Value Problem with Singularity for a Nonlinear Parabolic System

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Journal of Applied and Industrial Mathematics 2021年第4期15卷 616-626页

作者： Kazakov, A.L. Kuznetsov, P.A. Spevak, L.F. Matrosov Institute for System Dynamics and Control Theory Irkutsk664033 Russia Institute of Engineering Science Ekaterinburg620049 Russia Ural State University of Railway Transport Ekaterinburg620034 Russia

Abstract: We consider a system of two nonlinear second-order parabolic equations with *** of this type are applied in chemical kinetics to describe reaction-diffusion processes. Weprove the existence and uniqueness theorem of an analytic solution having the diffusion-wave typeat a given wave front. The proof is constructive, and the solution had the form of a power serieswith recursively calculated coefficients. Moreover, we propose some numerical algorithm based onthe boundary element method whose verification uses the segments of analytic solutions. © 2021, Pleiades Publishing, Ltd.

关键词： Boundary element method

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EXPLOITING EQUIVARIANCE IN THE DESIGN OF TRACKING controlLERS FOR EULER-POINCARE SYSTEMS ON MATRIX LIE GROUPS

arXiv

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arXiv 2024年

作者： Hampsey, Matthew Banavar, Ravi van Goor, Pieter Mahony, Robert Systems Theory and Robotics Group Australian National University ACT2601 Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the heart of observer design and recent advances in the study of equivariant systems have provided a template for global error construction that exploits the symmetry structure of a group action if such a structure exists. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system and symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie-group and leverage this to define momentum and configuration errors for trajectory tracking drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves "Euler-Poincare like" and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie-group state space. Copyright © 2024, The Authors. All rights reserved.

关键词： Lie groups

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Study on Decentralization of Spherical Amphibious Multi-robot control System Based on Smart Contract and Blockchain

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Journal of Bionic engineering 2021年第6期18卷 1317-1330页

作者： Shuxiang Guo Sheng Cao Jian Guo Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa UniversityTakamatsuKagawaJapan

With the development of intelligent bionic robots and the improvement of military application,a single robot cannot meet the requirements of the tasks of the current *** more complex tasks require not only that the robot be able to pass through the field barriers and the amphibious environment,but also that the robot be able to collaborate in a multi-robot ***,research on the multi-robot control system of spherical amphibious robots is very ***,the main research on amphibious robots is to improve the functions of a single robot,in the absence of the study of the multi-robot control *** systems primarily use a centralized control *** the transfer of central node can be achieved,there is still a problem of Byzantine fault tolerance in military applications,that is,when the amphibious multi-robot system is invaded by the *** central node may not only fail to accomplish the task,but also lose control of other robots,with severe *** solve the above problems,this paper proposed a decentralized method of spherical amphibious multi-robot control system based on blockchain ***,the point-to-point information network based on long range radio technology of low power wide area network was set up,we designed the blockchain system for embedded application environment and the decentralized hardware and software architecture of multi-robot control *** this basis,the consensus plugin,smart contract and decentralized multi-robot control algorithm were designed to achieve *** experimental results of consensus of spherical amphibious multi-robot showed the effectiveness of the decentralization.

关键词： Amphibious robot Blockchain Smart contract control system Decentralization

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Combined Spacecraft Attitude Tracking control with Prescribed Performance via A Fully Actuated System Approach

Combined Spacecraft Attitude Tracking Control with Prescribe...

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第42届中国控制会议

作者： Guang-Quan Duan Guo-Ping Liu Yan-Ming Fu Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Electronic and Electrical Engineering Southern University of Science and Technology

In this paper,a fully-actuated system prescribed performance controller is proposed to achieve attitude tracking control of the combined *** order to make the combined spacecraft satisfy the required steadystate and transient performance in the attitude tracking control process,a fully actuated system controller with prescribed performance is *** attitude dynamics model of the combined spacecraft is transformed into a tracking error ***,the controller of the fully actuated system is designed according to the error function to realize the attitude tracking control of the combined *** function is introduced to prove the stability of the *** the presented way of designing fully actuated system prescribed performance controller,the numerical simulation results verify the effectiveness of the proposed method.

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