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Research of line-of-sight angle on aero-optic imaging deviation for vehicles flying at 40—60 km

Optoelectronics Letters 2023年第4期19卷 242-247页

作者： XU Liang ZHAO Shiwei WANG Tao Tianjin Key Laboratory of Complex Control Theory and Application School of Electronic Engineering and AutomationTianjin University of TechnologyTianjin 300384China Foreign Cooperation Projects Department PetroChina Dagang Oilfield CompanyTianjin 300280China

Aero-optical imaging deviation is a kind of optical effect,aiming at a conical *** paper analyzes the influence of the aircraft on the imaging deviation with the change of altitude and line-of-sight *** this paper,the relationships between imaging deviation and altitude as well as line-of-sight angle are analyzed,and the coupling relationship between altitude and line-of-sight angle is *** give the imaging deviation results of 5°—75°line-of-sight *** analysis shows that when the line-of-sight angle is in the range of 5°—35°,the imaging deviation is more sensitive,while the line-of-sight angle is in the range of 35°—75°,the imaging deviation is relatively flat,and the imaging deviation does not gradually decrease with the increase of line-of-sight angle,but there is a turning point in the middle of 5°—75°.The imaging deviation decreases first and then increases,and the turning point of line-of-sight angle is closely related to height.

关键词： deviation angle turning

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Next-Best-Trajectory Planning of Robot Manipulators for Effective Observation and Exploration

arXiv

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arXiv 2025年

作者： Renz, Heiko Krämer, Maximilian Hoffmann, Frank Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but require vast data sets, which are costly and time-intensive to collect. Automated strategies for observation and exploration are crucial to enhance the efficiency of data gathering. Therefore, a novel strategy utilizing the Next-Best-Trajectory principle is developed for a robot manipulator operating in dynamic environments. Local trajectories are generated to maximize the information gained from observations along the path while avoiding collisions. We employ a voxel map for environment modeling and utilize raycasting from perspectives around a point of interest to estimate the information gain. A global ergodic trajectory planner provides an optional reference trajectory to the local planner, improving exploration and helping to avoid local minima. To enhance computational efficiency, raycasting for estimating the information gain in the environment is executed in parallel on the graphics processing unit. Benchmark results confirm the efficiency of the parallelization, while real-world experiments demonstrate the strategy’s effectiveness. Copyright © 2025, The Authors. All rights reserved.

关键词： Robot applications

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Fractional order PID control of quadrotor UAV based on SA-PSO algorithm 3

Fractional order PID control of quadrotor UAV based on SA-PS...

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3rd International Conference on Computer Science and Communication Technology, ICCSCT 2022

作者： Shao, Keyong Liu, Jiaxin Li, Mingxue Department of Control Theory and Control Engineering Faculty of Electrical and Information Engineering Northeast Petroleum University Heilongjiang Daqing China Department of Control Science and Engineering Faculty of Electrical and Information Engineering Northeast Petroleum University Heilongjiang Daqing China Department of Control Engineering Faculty of Electrical and Information Engineering Northeast Petroleum University Heilongjiang Daqing China

ISBN: (纸本)9781510661240

The stability control of quadrotor UAV system is a challenging problem due to its nonlinearity, strong coupling and underactuation characteristics. In this paper, a fractional order PID control strategy (FOPID) is proposed to realize the high-precision control of UAV system by utilizing the multi-degree of freedom characteristic of FOPID, SA-PSO is used to tune the parameters of FOPID. Compared with the standard PSO optimization process, the convergence speed is faster and the accuracy is higher. Simulation results show that the proposed PSO parameter optimization based on SA algorithm makes FOPID controller have better performance than traditional integer order PID controller. © 2022 SPIE.

关键词： Simulink

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Early Detection of Bearing Failures Based on Temperature Trends Deviations Analysis 26

Early Detection of Bearing Failures Based on Temperature Tre...

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26th International Conference on Digital Signal Processing and its Applications, DSPA 2024

作者： Nekrasov, Ivan Kukin, Nikolay V.A. Trapeznikov Institute of Control Sciences Ras Moscow Laboratory of Schedule Theory and Discrete Optimization Russia Autonomous Non-Profit Organization 'Institute of Engineering Physics' Serpukhov Russia

ISBN: (纸本)9798350361728

In this paper, we consider a practical problem of detecting upcoming mechanical failures of bearings in industrial pumps and motors equipped with temperature sensors. Several data processing procedures and early failures detection analytics based on temperature trends analysis have been designed and tested in the field. The paper results in a Fourier Transform-based predictive diagnostic algorithm ready to be implemented for any kind of rotating equipment. © 2024 IEEE.

关键词： Failure (mechanical)

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Data-Driven control of Distributed Event-Triggered Network Systems

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 351-364页

作者： Xin Wang Jian Sun Gang Wang Frank Allgower Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China IEEE the Institute for Systems Theory and Automatic Control University of StuttgartStuttgart 70550Germany the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(*** systems).To this end,we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling,under which a model-based stability criterion for the closed-loop network system is derived,by leveraging a discrete-time looped-functional *** the model-based criterion with a data-driven system representation recently developed in the literature,a purely data-driven stability criterion expressed in the form of linear matrix inequalities(LMIs)is ***,the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input ***,numerical results corroborate the efficacy of the proposed distributed data-driven event-triggered network system(ETS)in cutting off data transmissions and the co-design procedure.

关键词： Data-driven control distributed event-triggered network system(ETS) linear matrix inequalitie(LMI) looped-functional stability

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Path Tracking Motion control Method Of Tracked Robot Based On Improved LQR control 41

Path Tracking Motion Control Method Of Tracked Robot Based O...

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第41届中国控制会议

作者： Jianyun Ni Yong Wang Hao Li Helei Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electronic Engineering and Automation Tianjin University of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In order to enhance the trajectory tracking control performance of tracked mobile robot,an improved LQR lateral motion control method is ***,the robot tracking error kinematics model is constructed by using Lagrange function method,and the linear quadratic regulator controller(LQR) and feedforward controller of the tracked mobile robot are ***,the parameters of LQR controller are analyzed,the Q and R weight coefficient matrix of LQR controller is optimized,and the fast rolling optimization algorithm of lateral tracking control based on path tracking error is *** this way,the improvement of the LQR controller is realized,and the adaptability and control accuracy of the controller and the dynamic performance of the system are ***,test the designed controller through Matlab/Simulink *** simulation results show that the improved LQR controller can track the target path well,and can control the distance deviation and heading deviation in a small range.

关键词： Tracked Mobile Robot LQR Path Tracking Motion control

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Composite-mask GAN based on refined optical flow and disparity map for SLAM visual odometry

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Optoelectronics Letters 2025年

作者： JI Yuehui JIANG Jingwei LIU Junjie SONG Yu GAO Qiang School of Electrical Engineering and Automation， Tianjin University of Technology Tianjin Key Laboratory of Control Theory and Application for Complex Systems

Although deep learning methods have been widely applied in slam visual odometry over the past decade with impressive improvements， the accuracy remains limited in complex dynamic environments. In this paper， a composite mask-based generative adversarial network is introduced to predict camera motion and binocular depth maps. Specifically， a perceptual generator is constructed to obtain the corresponding parallax map and optical flow from between two neighboring frames. Then， an iterative pose improvement strategy is proposed to improve the accuracy of pose estimation. Finally， a composite mask is embedded in the discriminator to sense structural deformation in the synthesized virtual image， thereby increasing the overall structural constraints of the network model， improving the accuracy of camera pose estimation， and reducing drift issues in the Visual Odometer. Detailed quantitative and qualitative evaluations on the KITTI dataset show that the proposed framework outperforms existing conventional， supervised learning and unsupervised depth VO methods， providing better results in both pose estimation and depth estimation.

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Event-triggered H_(∞) PI state estimation for delayed switched neural networks

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Journal of Automation and Intelligence 2024年第1期3卷 26-33页

作者： Yuzhong Wang Changyun Wen Xiaolei Li Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055China School of Electrical and Electronic Engineering Nanyang Technological University639798Singapore School of Electrical Engineering Yanshan UniversityQinhuangdao066004China

On state estimation problems of switched neural networks,most existing results with an event-triggered scheme(ETS)not only ignore the estimator information,but also just employ a fixed triggering threshold,and the estimation error cannot be guaranteed to converge to *** addition,the state estimator of non-switched neural networks with integral and exponentially convergent terms cannot be used to improve the estimation performance of switched neural networks due to the difficulties caused by the nonsmoothness of the considered Lyapunov function at the switching *** this paper,we aim at overcoming such difficulties and filling in the gaps,by proposing a novel adaptive ETS(AETS)to design an event-based H_(∞)switched proportional-integral(PI)state estimator.A triggering-dependent exponential convergence term and an integral term are introduced into the switched PI state *** relationship among the average dwell time,the AETS and the PI state estimator are established by the triggering-dependent exponential convergence term such that estimation error asymptotically converges to zero with H_(∞)performance *** is shown that the convergence rate of the resultant error system can be adaptively adjusted according to triggering ***,the validity of the proposed theoretical results is verified through two illustrative examples.

关键词： Switched neural networks H_(∞)performance PI state estimation Event-triggered scheme

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Named Entity Recognition in Chinese Medical Texts Based on RoBERTa-WWM-IDCNN-CRF 25

Named Entity Recognition in Chinese Medical Texts Based on R...

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25th IEEE China Conference on System Simulation Technology and its Application, CCSSTA 2024

作者： Tang, Lan Kong, Jie Xu, Liang Xi'an Shiyou University School of Computer Xi'an China Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical Engineering and Automation Tianjin China

ISBN: (纸本)9798350366600

Electronic medical records and doctor-patient conversations contain a wealth of useful information, such as disease symptoms, drug names, and cure cycles. Traditional deep learning approaches utilize bidirectional recurrent neural networks to encode text, which cannot effectively capture long-distance dependencies in text. In order to identify medical entity types in various texts more accurately, a named entity recognition approach based on RoBERTa-WWM-IDCNN-CRF is proposed. This approach introduces the RoBERTa-WWM pre-trained model, in order to improve the overall understanding of long Chinese texts for the first time. The model generates semantic representations containing prior knowledge. Then, the generated semantic representations are feed to the IDCNN to extract sentence level characteristics. Finally, the global optimal solution is obtained and the results of the named entity are produced through the CRF. The experiment indicates that the improvement of F1 score, accuracy, and recall of RoBERTa-WWM-IDCNN-CRF model are 7.94%, 4.52% and 10.02% comparing with the classical BiLSTM-CRF model. © 2024 IEEE.

关键词： Convolutional neural networks

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Evaluation on quality and health risk of groundwater in a highly urbanized watershed, China

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Environmental Science and Pollution Research 2024年第18期31卷 27136-27154页

作者： Li, Jingjing Zhang, You-Kuan Zhao, Yuqing College of Environmental Science and Engineering Guilin University of Technology Guilin541004 China Urban Planning & amp Design Institute of Shenzhen Shenzhen518000 China The Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin University of Technology Guilin541006 China Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of Technology Guilin541004 China School of Environmental Science and Engineering Southern University of Science and Technology Shenzhen518055 China

Urbanizations and industrializations may accelerate the contamination and deterioration of groundwater quality. This study aimed to evaluate the quality and potential human health risks associated with shallow groundwater in Shenzhen, China, a city characterized by high levels of urbanization and industrialization. The hydrochemistry characteristics, water quality levels, and human health risks of main ions, nutrient elements, and metals in 220 samples collected from Maozhou River Basin (MRB) located in the northwest of Shenzhen were investigated. It showed that chemical constituents of the groundwater were further complicated by seawater intrusion and urbanization expansion. Water quality evaluated by fuzzy comprehensive method showed that 21.05% of samples distributed around reservoirs were classified into grade II or better. Nearly 79% of samples distributed in the densely populated urban land were classified into grade III or worse, indicating pollution from anthropogenic factors cannot be ignored. For the river tidal reach where river stage fluctuated about 0.5 to 1.5 m within a tidal cycle, the chemical composition of groundwater was influenced by frequent water exchange with the river. The carcinogenic and non-carcinogenic health risks for different age groups, from the high to the low, were children, adult women, adult men, adolescent women, and adolescent men, respectively. Approximately 39% of groundwater samples distributed around the densely populations area with health risk larger than 5 × 10−5 were unacceptable for children. This investigation would be helpful for improving groundwater management and as a practical reference for sustainable groundwater exploitation in the MRB. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Groundwater

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