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European control Conference

作者： Fumiya Watanabe Tomonori Sadamoto Takayuki Ishizaki Jun-ichi Imura Department of Control and Systems Engineering Tokyo Institute of Technology Department of Mechanical and Environmental Informatics Graduate School of Information Science and Engineering Tokyo Institute of Technology

ISBN: (纸本)9781467371605

In this paper, we propose a design method of average state Kalman filters for networked linear systems with stochastic noises. The average state Kalman filter is a low-dimensional estimator capturing the average behavior of systems from a macroscopic point of view. In general, it is nontrivial to find a set of states that captures the average behavior of systems. To overcome this difficulty, using the notion of clustering, we devise a systematic design procedure of average state Kalman filters while determining states that capture the average behavior of systems. Furthermore, deriving a tractable representation of the estimation error system, we derive an estimation error bound for the proposed method in a theoretical way. The efficiency of the proposed method is shown by a power system example in smart grid applications.

关键词： Estimation error Kalman filters Systematics Symmetric matrices Design methodology Power systems Linear systems

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Towards ISAC-Empowered Vehicular Networks: Framework, Advances, and Opportunities

arXiv

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arXiv 2023年

作者： Du, Zhen Liu, Fan Li, Yunxin Yuan, Weijie Cui, Yuanhao Zhang, Zenghui Masouros, Christos Ai, Bo School of Electronic and Information Engineering Nanjing University of Information Science and Technology Nanjing210044 China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Electronic and Electrical Engineering University College London LondonWC1E 7JE United Kingdom State Key Lab of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China

Connected and autonomous vehicle (CAV) networks face several challenges, such as low throughput, high latency, and poor localization accuracy. These challenges severely impede the implementation of CAV networks for immersive metaverse applications and driving safety in future 6G wireless networks. To alleviate these issues, integrated sensing and communications (ISAC) is envisioned as a game-changing technology for future CAV networks. This article presents a comprehensive overview on the application of ISAC techniques in vehicle-to-infrastructure (V2I) networks. We cover the general system framework, representative advances, and a detailed case study on using the 5G New Radio (NR) waveform for sensing-assisted communications in V2I networks. Finally, we highlight open problems and opportunities in the field. Copyright © 2023, The Authors. All rights reserved.

关键词： 5G mobile communication systems

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Robust Beamforming for Localization-Aided Millimeter Wave Communication Systems

arXiv

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arXiv 2022年

作者： Sun, Junchang Ma, Shuai Li, Shiyin Yang, Ruixin Min, Minghui Seco-Granados, Gonzalo The School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China The Department of Telecommunications and Systems Engineering Universitat Autònoma de Barcelona Barcelona08193 Spain The Engineering Research Center of Intelligent Control for Underground Space Ministry of Education China University of Mining and Technology Xuzhou221116 China The National Mobile Communications Research Laboratory Southeast University Nanjing210096 China The Shanxi Key Laboratory of Information Communication Network and Security Xian University of Posts and Telecommunications Xian710121 China

In this letter, we investigate a robust beamforming problem for localization-aided millimeter wave (mmWave) communication systems. To handle this problem, we propose a novel restriction and relaxation (R&R) method. The proposed R&R method aims at minimizing the total transmit power while the positioning error follows a Gaussian distribution. Specifically, in the restriction phase of R&R, the probabilistic constraint is transformed into the deterministic form by using the Bernstein-type inequality. In the relaxation phase of R&R, the non-convex optimization problem is reformulated into a convex semidefinite program (SDP) by using semidefinite relaxation (SDR) and first-order Taylor expansion methods. To the best of our knowledge, we first consider the impact of the distribution of the positioning error on the channel state information (CSI), which further influences the data rate. Numerical results present the trade-off of the beamforming between the communication and positioning. © 2022, CC BY.

关键词： Beamforming

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A GM-TCN based Hybrid Prediction Method for Ash Fouling Prediction in Coal-fired Power Plant Boiler

A GM-TCN based Hybrid Prediction Method for Ash Fouling Pred...

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Chinese Automation Congress (CAC)

作者： Yuanhao Shi Tianxiang Han Fangshu Cui Jie Wen Gangzhu Qiao School of Electrical and Control Engineering North University of China Taiyuan China Department of Automation Ministry of Education of China Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Shanghai China School of Data Science and Technology North University of China Taiyuan China

In response to the problem that ash deposition in boilers has a great impact on production efficiency as well as production safety, a grey level theory prediction model based on time convolution networks (GM-TCN) is proposed to predict the degree of ash in boiler heated areas by using a cleaning factor to assess the ash deposition condition on the heated surfaces. The accuracy of the prediction model is improved by utilizing the features of grey level theory that can predict the developmental changes in system behavior, combined with the high-precision approximation capability of the time-convolutional network. The modelling prediction of the ash level in the heated area of boilers during the production of coal-fired power stations is investigated. Experiments demonstrate that the model can predict the cleanliness factor with high accuracy, and the predicted values are closest to the true values compared to the other two models, verifying the accuracy and reliability of the model.

关键词： Cogeneration Time series analysis Ash Production Predictive models Boilers Data models

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An Improvement on a Teleoperation System of Robot Arm with Visual Servo Mechanism by Target Selection

An Improvement on a Teleoperation System of Robot Arm with V...

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Society of Instrument and control Engineers Annual Conference

作者： Yoshitaka Matsuda Kenta Tsukamoto Takeo Matsumoto Satoru Goto Takenao Sugi Naruto Egashira Department of Advanced Technology Fusion Graduate School of Science and Engineering Saga University Department of Control and Information Systems Engineering Kurume National College of Technology

ISBN: (纸本)9781467322591

This research is concerned with an improvement on a teleoperation system of robot arm with visual servo mechanism by target selection. The teleoperation system considered in this research is mainly divided into operational side and working side. In the operational side, the command to realize the rough motion of the working robot arm in the working side is generated manually by using not only a robot arm but also a joystick. Web cameras are introduced for the human operator to grasp the circumstance around the working robot arm. The generated command in the operational side is transmitted into the working side through the Internet. The visual servo mechanism is also considered to realize the accurate motion of the working robot arm by a USB camera. In the vision system, the position of a target object is specified to generate the command for the accurate motion by template matching technique with an image obtained from the mouse dragging during operation. Experimental results are shown to confirm the effectiveness of the teleoperation system.

关键词： Teleoperation Robot arm Visual servo control Template matching Target selection The Internet

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Offline Reinforcement Learning via Sequence Modeling for Vision-Based Robotic Grasping

Offline Reinforcement Learning via Sequence Modeling for Vis...

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IEEE International Conference on Cyber technology in Automation, control, and Intelligent Systems

作者： Sheng Zeng Xiao Sun Kang Chen Weibing Huang Yi Chen Dan Chen Zhezhuang Xu Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Fuzhou University Fuzhou China Evomotion Co. Ltd. Shenzhen Guangdong China

High cost of environmental interaction and low data efficiency limit the development of reinforcement learning in robotic grasping. This paper proposes an end-to-end robotic grasping method based on offline reinforcement learning via sequence modeling. It considers the most recent n-step history to assist the agent in making decisions, where a predictive model learns to directly predict actions from raw image inputs. The experimental results show that our method can achieve higher grasping success rate with less training data than traditional reinforcement learning algorithms in offline setting.

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Semantic-Based Road Segmentation for High-Definition Map Construction 5th

Semantic-Based Road Segmentation for High-Definition Map Con...

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5th International Conference on Cognitive Systems and Signal Processing, ICCSIP 2020

作者： Zhuang, Hanyang Wang, Chunxiang Qian, Yuhan Yang, Ming University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China Guangxi Key Laboratory of Automobile Components and Vehicle Technology Guangxi University of Science and Technology Liuzhou545006 China Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789811623356

The development of autonomous driving technology proposes higher requirements of the fidelity of the high-definition maps (HD maps). The construction of HD map based on orthophotos generated from panoramic images is the state-of-the-art approach. However, in this process, the dynamic obstacles and shadows on the road captured by the panoramic camera has significant impact on reducing the map quality. Moreover, the GNSS signal may inevitably unavailable or have jitter error, leading to the unsatisfactory of the orthophoto mosaic. Therefore, an approach is proposed to tackle these problems of HD map construction. The semantic segmentation of the panoramic images is firstly implemented to extract the dynamic obstacles such as vehicles and the road segments. Then the shadows on the road segments are removed through GAN networks to generate clean orthophotos. Afterwards, the clean orthophotos are used for feature extraction and image registration based on the road segmentation to provide finer pose estimations. Finally, the GNSS data, odometer data, and estimated poses are combined to optimize the vehicle pose for orthophoto mosaic. The experimental results illustrate that the proposed approach can improve the HD map construction accuracy under the congested environment. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Image registration

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Enhancing Scheduling Efficiency of Steel Logistics Parks by Optimized Storage Distribution

Enhancing Scheduling Efficiency of Steel Logistics Parks by ...

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Chinese Automation Congress (CAC)

作者： Zhibin Xu Song Zheng Jinlong Wang Zhezhuang Xu Boyu Chen Qingdong Zhang Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Fuzhou University Fuzhou China Sansteel Minguang Co. Ltd. Sanming China

The efficient management of storage has become a critical determinant of operational efficiency due to the growing and diverse demand for steel logistics parks. However, the current storage methods consistently result in significant imbalances in the loading of steel products and operating times across multiple yards. To address this challenge, we propose optimizing the distribution of steel products based on demand levels and retrieval efficiency. Firstly, we present an optimization problem that employs demand-driven storage principles to formulate the scheduling of steel product storage. Then, we introduce a novel algorithm called the Adaptive Preferred Evolutionary Heuristic (APEH) to tackle this problem. The results from our experiments indicate that this model effectively enhances the storage structure, and the proposed algorithm consistently yields optimal solutions within a reasonable timeframe.

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Language Reasoning in Vision-Language-Action Model for Robotic Grasping

Language Reasoning in Vision-Language-Action Model for Robot...

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Chinese Automation Congress (CAC)

作者： Lingling Fan Kang Chen Zhezhuang Xu Meng Yuan Ping Huang Weibing Huang Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing College of Electrical Engineering and Automation Fuzhou University Fuzhou China Evomotion Co. Ltd. Guangdong Shenzhen China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Grasping tasks are crucial for the interaction between the robot and environment, requiring the robot to make autonomous decisions based on environmental conditions and instructions. Recently, multimodal Vision Language Models (VLMs) have demonstrated significant potential for robotic grasping. However, previous work has often been confined to high-level planning due to the gap between the text output of VLMs and the numerical predictions of robot actions, as well as the challenges of transferring rich semantic information from large models to the prediction of grasping actions. In this paper, we co-fine-tune a pre-trained VLM using the mix of large-scale visual language data and robotic grasping trajectory data, integrating model into an end-to-end robot control system to construct a Vision Language Action Model (VLA) capable of generating the robot's underlying actions. Simultaneously, to fully leverage the prior knowledge and reasoning capabilities of the pre-trained model, we insert a language reasoning structure to bridge the mapping from high-level tasks to low-level actions. This method first deduces the relevant information regarding the target object and the end-effector motions, followed by predicting the grasping actions value with finer granularity based on the language reasoning, thereby enhancing the accuracy of action predictions. A series of grasping experiments demonstrate that our method achieves a high grasping success rate under flexible language instructions and exhibits strong generalization capabilities for unseen objects and scenes.

关键词： Bridges Visualization Grasping Transforms Predictive models Cognition Data models Numerical models Trajectory Robots

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An Improved Natural Frequency Based Line Fault Location Method on Untransposed Lines

An Improved Natural Frequency Based Line Fault Location Meth...

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IEEE PES Asia-Pacific Power and Energy engineering Conference (APPEEC)

作者： Yuan Nie Yu Liu Xiaodong Zheng Dayou Lu School of Information Science and Technology ShanghaiTech University Shanghai China Key Laboratory of Control of Power Transmission and Conversion Ministry of Education Shanghai China Department of Electrical Power Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728157481

ISBN: (纸本)9781728157498

Accurate fault location method reduces power outage time and operational costs. In this paper, a novel natural frequency based fault location method is proposed for untransposed transmission lines. The new method is without the assumption that the transmission line is geometrically symmetrical by reconstructing the new phase to model transformation matrix. The connections of mode networks during faults with the new transformation matrix are also derived, to ensure validity of the fault location method. Numerical experiments prove that the proposed fault location approach presents higher fault location accuracy compared to existing natural frequency based fault location method during phase faults with different fault types, locations and impedances.

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