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arXiv 2024年

作者： Wang, Pengyu Tang, Jiawei Lin, Hin Wang Zhang, Fan Wang, Chaoqun Wang, Jiankun Shi, Ling Meng, Max Q.-H. Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong The Department of Electrical and Computer Engineering The University of Alberta Canada The School of Control Science and Engineering Shandong University Shandong China

—Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the speed of generating efficient trajectories. In this paper, we present a novel hierarchical trajectory planning framework to reduce computational time and memory usage called MINER-RRT*, which consists of two main components. First, we propose a sampling-based path planning method boosted by neural networks, where the predicted heuristic region accelerates the convergence of rapidly-exploring random trees. Second, we utilize the optimal conditions derived from the quadrotor’s differential flatness properties to construct polynomial trajectories that minimize control effort in multiple stages. Extensive simulation and real-world experimental results demonstrate that, compared to several state-of-the-art (SOTA) approaches, our method can generate high-quality trajectories with better performance in 3D cluttered environments. (Video1) Note to Practitioners—The motivation is the problem of planning trajectories for quadrotor autonomous flight in 3D cluttered and complex scenarios such as wild forest exploration and subterranean environment search-and-rescue. Sampling-based path planning methods are suitable for dealing with the complexity of the physical environment but are not convenient for computing dynamics and their differentials. Optimization-based trajectory generation methods are appropriate for handling various high-order constraints but rely on high-quality initial path solutions. Therefore, this paper combines the advantages of the two methods to propose a novel trajectory planning framework that can generate high-quality trajectories for quadrotors faster than many previous algorithms. We conduct numerous simulations and real-world experiments to verify that our method can be effectively deployed in real scenarios and empo

关键词： Deep neural networks

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Skeleton-based Action Recognition Using Two-stream Graph Convolutional Network with Pose Refinement 41

Skeleton-based Action Recognition Using Two-stream Graph Con...

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第41届中国控制会议

作者： Biao Zheng Luefeng Chen Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer Engineering University of Alberta Tokyo Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development of science and technology,graph convolutional network has made great progress in improving the accuracy of action ***,there still exists some deficiencies in current ***,the human skeleton point coordinates entering into the network are barely refined,which may cause large ***,the second-order information(the length and direction of bones),which can reflect action characteristics discriminatively,is rarely *** solve the above issues,a two stream graph convolutional network with pose refinement for skeleton based action recognition is ***,we use an adaptive block to to help improve the *** test our method on Kinetics dataset and the experiment show it can get better results than some recent methods,which plays a positive role in future research.

关键词： Graph convolutional network Pose refinement Skeleton based action recognition Adaptive block

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Fast Subdomain Approximation of Brushless electrical Machines with Spoke-Hub Permanent Magnets

Fast Subdomain Approximation of Brushless Electrical Machine...

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Iranian Conference on electrical engineering (ICEE)

作者： Meisam Pourahmadi-Nakhli Seyed Hassan Daryanavard Masoud Jokar-Kohanjani Sina Soltani Department of Electrical and Computer Engineering University of Hormozgan Bandar Abbas Iran Department of Power Shiraz Electric Distribution Company Shiraz Iran Department of Instrument and Control Engineering Piramoon Pardazesh Qeshm Tehran Iran

ISBN: (数字)9798350376340

ISBN: (纸本)9798350376357

Fast calculation is the major advantage of the subdomain analytical modeling of electrical Machines when compared to Finite Element modeling (FEM). However, for some permanent magnet (PM) arrangements inconsistent to a single coordinate, the FEM is more accurate and so more trusted. In this research a fast subdomain approximation of brushless electrical machines with spoke-hub PMs on rotor is developed for calculation of the rotor and stator fields and the resulted torque. Comparison with FEM results shows that for common arrangements of rectangle and arc-formed PMs, the two-dimensional (2-D) analytic modeling can accurately calculate electromagnetic quantities and the electromagnetic torque.

关键词： Analytical models Torque Accuracy Magnetic separation Two-dimensional displays Rotors Stators

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Data-Enabled Finite control-Set Model Predictive control of a Grid-Tied Inverter

Data-Enabled Finite Control-Set Model Predictive Control of ...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Wenjie Wu Lin Qiu Hui Li Xing Liu Chao Du Youtong Fang College of Electrical Engineering Zhejiang University Hangzhou China Department of Electrical and Computer Engineering Florida State University Tallahassee Florida USA College of Electrical and Control Engineering Shaanxi University of Science & Technology Xian China

This paper presents a novel predictive control architecture for power converters that addresses the challenges of model mismatch and parameter sensitivity in the finite control-set model predictive control (FCS-MPC) framework. The proposed method employs a dynamic-linearization-based approach, which replaces the detailed model used in the FCS-MPC controller with a virtual equivalent data model, creating a data-enabled FCS-MPC architecture. By relying solely on input-output data, the proposed method exhibits considerable robustness against parameter perturbations while retaining the attractive features of the conventional FCS-MPC method. The effectiveness of the proposed design is demonstrated through comparative simulations results on a two-level grid-tied inverter.

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel

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Journal of Systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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Efficient Augmentation of Human Action Recognition Datasets with Warped Windows

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Procedia computer Science 2022年 207卷 3018-3027页

作者： Dawid Warchoł Mariusz Oszust Department of Computer and Control Engineering Faculty of Electrical and Computer Engineering Rzeszow University of Technology W. Pola 2 35-959 Rzeszow Poland

In this paper, an approach to augment action recognition time series datasets, devoted to improving the accuracy of deep learning classifiers, is proposed. In the introduced method, two operators are sequentially introduced that perform linear and nonlinear modifications in the time scale of the input time series. The resulting data samples contribute to the variability within classes and allow a deep learning-based classifier to better capture their boundaries, leading to a significant improvement in the classification accuracy. The extensive experiments performed on eight publicly available action recognition datasets using the popular Bidirectional Long Short-Term Memory (BiLSTM) classifier reveal the superiority of the proposed algorithm over related approaches.

关键词： data augmentation time series skeletal data human action recognition long short term memory

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The Goldilocks Framework: Towards Selecting the Optimal Approach to Conducting AI Projects 22

The Goldilocks Framework: Towards Selecting the Optimal Appr...

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1st International Conference on AI engineering - Software engineering for AI, CAIN 2022

作者： Dzhusupova, Rimman Bosch, Jan Olsson, Helena Holmstrom Control & Safety Systems McDermott Dept. of Electrical & Instrumentation The Hague Netherlands Chalmers University of Technology Department of Computer Science and Engineering Gothenburg Sweden Malmö University Department of Computer Science and Media Technology Malmö Sweden

ISBN: (纸本)9781450392754

Artificial intelligence is increasingly becoming important to businesses since many companies have realized the benefits of applying Machine Learning (ML) and Deep Learning (DL) into their operations. Nevertheless, ML/DL technologies' industrial development and deployment examples are still rare and generally confined within a small cluster of large international companies who are struggling to apply ML more broadly and deploy their use cases at a large scale. Meanwhile, current AI market has started offering various solutions and services. Thus, organizations must understand how to acquire AI technology based on their business strategy and available resources. This paper discusses the industrial experience of developing and deploying ML/DL use cases to support organizations in their transformation towards AI. We identify how various factors, like cost, schedule, and intellectual property, can be affected by the choice of approach towards ML/DL project development and deployment within large international engineering corporations. As a research result, we present a framework that covers the trade-offs between those various factors and can support engineering companies to choose the best approach based on their long-term business strategies and, therefore, would help to accomplish their ML/DL project deployment successfully. © 2022 ACM.

关键词： Commerce

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Reinforcement Learning-Enhanced Active Disturbance Rejection control for Mobile Robot Trajectory Tracking

Reinforcement Learning-Enhanced Active Disturbance Rejection...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： H. Usama M. Nasir R. Fareh J. Ghommam S. Khadraoui M. Bettayeb Research Institute of Sciences and Engineering University of Sharjah Sharjah UAE Department of Electrical Engineering University of Sharjah Sharjah UAE Department of Electrical and Computer Engineering Sultan Qaboos University Oman Control and Energy Management Laboratory (CEM Lab) Ecole National d'Ingenieur de Sfax Tunisia

ISBN: (数字)9798331542726

ISBN: (纸本)9798331542733

In recent years, the application of robotics has significantly advanced many fields, providing robust performance and efficiency in complex tasks without the need for human intervention. Robot control is a key area of robotics that has received a lot of interest and technological development. Active Disturbance Rejection controllers (ADRCs) are widely adopted due to several features, including their ability to maintain robust performance and effectively reject disturbances. The manual tuning of controller parameters is time-consuming and highlights the need for automation. This paper presents an innovative approach to tune the parameters of ADRC using Reinforcement Learning (RL) based on Deep Deterministic Policy Gradient (DDPG) for a Differential Drive Mobile Robot (DDMR). The RL agent learns the ideal parameters of the ADRC through real-time, iterative interactions with the simulated environment, improving ADRC's performance without manual tuning. Simulation results demonstrate the effectiveness of the proposed idea in improving the trajectory tracking performance. Combining RL and ADRC provides a promising automated controller tuning solution, opening the door to more intelligent and adaptive robotic systems. 10.0pt.

关键词： Robust control Trajectory tracking Simulation Reinforcement learning Manuals Scattering parameters Mobile robots Artificial intelligence State estimation Tuning

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Neural-iLQR: A Learning-Aided Shooting Method for Trajectory Optimization

Neural-iLQR: A Learning-Aided Shooting Method for Trajectory...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Cheng, Zilong Li, Yulin Chen, Kai Duan, Jianghua Ma, Jun Lee, Tong Heng National University of Singapore Department of Electrical and Computer Engineering Singapore The Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong The Hong Kong University of Science and Technology Division of Emerging Interdisciplinary Areas Hong Kong Robotics and Autonomous Systems Thrust Guangzhou China Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Shenzhen China

ISBN: (纸本)9798350325706

Iterative linear quadratic regulator (iLQR) has gained wide popularity in addressing trajectory optimization problems with nonlinear system models. However, as a model-based shooting method, it relies heavily on an accurate system model to update the optimal control actions and the trajectory determined with forward integration, thus becoming vulnerable to inevitable model inaccuracies. Recently, substantial research efforts in learning-based methods for optimal control problems have been progressing significantly in addressing unknown system models, particularly when the system has complex interactions with the environment. Yet an incremental machine learning method or a deep neural network is normally required to fit a substantial scale of sampling motion data. Existing works mainly focus on capturing the whole picture of the motion pattern from trial data (which is essentially noisy and hard to identify with any simple predefined structures) for complex robot systems. Instead, we present Neural-iLQR, a learning-aided shooting method over the unconstrained control space, in which a neural network with a simple structure is used to drive the optimization process towards optimal direction. Through comprehensive evaluations on two illustrative control tasks using three different kinds of lightweight network structures, the proposed method is shown to outperform the conventional iLQR significantly with fast and continuous cost convergence in the presence of inaccuracies in system models, which demonstrates the generalizability and robustness of the proposed learning-aided method. © 2023 IEEE.

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Synchronous Online Abstract Dynamic Programming

Synchronous Online Abstract Dynamic Programming

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Xiuxian Li Min Meng Lihua Xie Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems and Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This paper addresses the abstract dynamic programming (DP) in the online scenario, where the abstract DP mapping is time-varying, instead of static. In this case, optimal costs and policies at different time instants are not the same in general, and the problem amounts to tracking time-varying optimal costs and policies, which is of interest to many practical problems. It is thus necessary to analyze the performance of classical value iteration (VI) and policy iteration (PI) algorithms in the online case. In doing so, this paper develops and provides the theoretical analysis for several online algorithms, including approximate online VI, online PI, approximate online PI, online optimistic PI, and approximate online optimistic PI algorithms. It is proved that the tracking error bounds for all algorithms critically depend upon the largest difference between any two consecutive abstract mappings. Meanwhile, examples are presented to illustrate the theoretical results.

关键词： Costs Automation Law enforcement Heuristic algorithms Approximation algorithms Dynamic programming Robots

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