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Boundary Gap Based Reactive Navigation in Unknown Environments

IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 468-477页

作者： Zhao Gao Jiahu Qin Shuai Wang Yaonan Wang the Department of Automation University of Science and Technology of ChinaHefei 230027China the College of Electrical and Information Engineering Hunan UniversityChangsha 410082 the National Engineering Laboratory for Robot Visual Perception and Control Technology Changsha 410082China

Due to the requirements for mobile robots to search or rescue in unknown environments,reactive navigation which plays an essential role in these applications has attracted increasing ***,most existing reactive methods are vulnerable to local minima in the absence of prior knowledge about the *** paper aims to address the local minimum problem by employing the proposed boundary gap(BG)based reactive navigation ***,the narrowest gap extraction algorithm(NGEA)is proposed to eliminate the improper ***,we present a new concept called boundary gap which enables the robot to follow the obstacle boundary and then get rid of local ***,in order to enhance the smoothness of generated trajectories,we take the robot dynamics into consideration by using the modified dynamic window approach(DWA).Simulation and experimental results show the superiority of our method in avoiding local minima and improving the smoothness.

关键词： Boundary gap local minima reactive navigation unknown environments

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Design Optimization of High Frequency Transformer for Resonant DC/DC Converter 6

Design Optimization of High Frequency Transformer for Resona...

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6th IEEE International Electrical and Energy Conference, CIEEC 2023

作者： Yu, Xiangdong Zhang, Zheng Wang, Xiaozhou Xu, Jian Zhao, Shuang Ding, Lijian Shen, Min Yin, Chenxu School of Electrical Engineering and Automation Hefei University of Technology Hefei China School of Intelligent Manufacturing and Control Engineering Qilu Institute of Technology Jinan China State Grid Anhui Electric Power CO. Ltd Corporate Management Department Hefei China

ISBN: (纸本)9798350346671

Resonant DC/DC converter is extensively applied in the industry due to their superiorities such as zero voltage switching which enables it to operate under higher frequency. As the core component of resonant DC/DC converter, the high-frequency transformer (HFT) is critical to the performance of the converter in regard of power density, efficiency, and reliability. However, as the frequency and power rating increase, the power loss on the wire and core increase as well. It is desired to propose the optimal design process for integrated HFT which considers the tradeoff between volume and power. This paper comprehensively investigates the impact of air gap length, location and winding structure on the transformer. Based on the analytical model, the design flow of a magnetics integrated transformer which incorporates intrinsic magnetizing inductance and leakage inductance for the resonant tank is presented. Finally, the analytical model and the optimization design of HFT are validated with experimental results. © 2023 IEEE.

关键词： High frequency transformers

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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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Infrastructure-Based Vehicle Localization System for Indoor Parking Lots Using RGB-D Cameras

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 61-69页

作者：曹炳全贺越生庄瀚洋杨明 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong UniversityShanghai 200240China

Accurate vehicle localization is a key technology for autonomous driving tasks in indoor parking lots,such as automated valet ***,infrastructure-based cooperative driving systems have become a means to realizing intelligent *** this paper,we propose a novel and practical vehicle localization system using infrastructure-based RGB-D cameras for indoor parking *** the proposed system,we design a depth data preprocessing method with both simplicity and efficiency to reduce the computational burden resulting from a large amount of ***,the hardware synchronization for all cameras in the sensor network is not implemented owing to the disadvantage that it is extremely cumbersome and would significantly reduce the scalability of our system in mass ***,to address the problem of data distortion accompanying vehicle motion,we propose a vehicle localization method by performing template point cloud registration in distributed depth ***,a complete hardware system was built to verify the feasibility of our solution in a real-world *** in an indoor parking lot demonstrated the effectiveness and accuracy of the proposed vehicle localization system,with a maximum root mean squared error of 5 cm at 15Hz compared with the ground truth.

关键词： infrastructure-based RGB-D camera vehicle localization point cloud registration

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An Obstacle Avoidance control Strategy for DELTA Parallel Manipulator via Improved Genetic Algorithm 37

An Obstacle Avoidance Control Strategy for DELTA Parallel Ma...

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37th Youth Academic Annual Conference of Chinese Association of automation, YAC 2022

作者： Zheng, Hao Xu, Yihang Li, Yuantao Ran, Guangtao Liu, Jian Southeast University School of Automation Nanjing210018 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China

ISBN: (纸本)9781665465366

Aiming at the requirement of the DELTA parallel manipulator for performing grasping operations, a method for obstacle avoidance based on a genetic algorithm is proposed. Firstly, the classical DELTA parallel manipulator is analyzed mathematically, and its model is simplified. Then, the motion space and inverse kinematics solutions of the DELTA parallel manipulator are solved by using the spatial geometry method. Secondly, a cylindrical envelope surface is added to the manipulator's end for distance calculation. This envelope surface ensures that obstacles do not collide with the manipulator during obstacle avoidance. Thirdly, an improved genetic algorithm is proposed for obstacle avoidance. Finally, the simulation results are given to verify the effectiveness and reliability of the proposed algorithm. © 2022 IEEE.

关键词： Genetic algorithms

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Flight control System Design for Fixed Wing Aircraft

Flight Control System Design for Fixed Wing Aircraft

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International Conference on Recent Advances in Space Technologies (RAST)

作者： Ayşenur Bodur Levent Ucun Department of Control and Automation Engineering Yildiz Technical University Istanbul Türkiye

The aviation sector develops cutting-edge technology and has strategic consequences all around the world. Fighter aircraft is one of the key players in air defense systems. To ensure flight safety and improve the flight capabilities of the aircraft, flight control technologies are being developed. In this study, three degrees of freedom nonlinear mathematical model of the F16 aircraft is utilized, and a flight control system operating on the longitudinal axis is designed. Trim point searching and linearization is carried out during the controller design process. The primary goal of the study is to create an autopilot system for the aircraft to follow the desired altitude and maintain a straight course by using LQR (linear quadratic regulator) and PD (proportional-derivative) controllers. The second goal of the study is to develop an autopilot system that provides control of the airspeed of the aircraft via FOPID (fractional-order proportional-integral-derivative) controller. Finally, the nonlinear model of the aircraft and the designed autopilot system are used for the simulation studies.

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Distributed Optimal Output Consensus control of Heterogeneous Multi-Agent Systems with Safety Constraints

arXiv

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arXiv 2024年

作者： Ma, Ji Liang, Shu Hong, Yiguang The Department of Automation Xiamen Xiamen361005 China The Department of Control Science and Engineering Tongji University Shanghai201210 China

In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to achieve simultaneously safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm with an expanding constraint set in the decision-making layer, while we propose a reference-tracking safety controller to ensure that each agent’s output remains within a shrinking safety set in the control layer. We also establish the convergence and safety analysis of the closed-loop system using the small-gain theorem and time-varying control barrier function (CBF) theory, respectively. Besides, unlike previous works on distributed optimal consensus, our approach does not require prior knowledge of the cost function the local objective or gradient function and adopts a mild assumption on the dynamics of multiagent systems (MASs) by using the transmission zeros condition. Copyright © 2024, The Authors. All rights reserved.

关键词： Multi agent systems

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Recognizing and Tracking Person of Interest: A Real-Time Efficient Deep Learning based Method for Quadcopters

Recognizing and Tracking Person of Interest: A Real-Time Eff...

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International Conference on Recent Advances in Space Technologies (RAST)

作者： Hidayet Ersin Dursun Enes Can Güven Batuhan Avci Tufan Kumbasar Control and Automation Engineering Department Istanbul Technical University Istanbul Türkiye

The recognition and tracking of a person of interest is a crucial task in many applications, including search and rescue, security, and surveillance. This paper presents a distributed system architecture that leverages the asynchronous threading and communication property of ROS2 to develop and implement a real-time efficient Deep Learning (DL) based method for recognizing and tracking a person of interest. The DL model receives snapshots from the quadcopter's camera and sends back an information vector, which includes all recognized persons and their corresponding position information within the camera frame of the quadcopter. The person of interest tracking control system receives face set information about the person of interest and generates reference velocity signals to be tracked by low-level controllers embedded within the drone. Experiments conducted in a cluttered and complex environment demonstrate the efficiency of the DL-based architecture for quadcopters. The presented real- world results validate the effectiveness of the proposed approach in recognizing and tracking a person of interest. The experimental video is available at https://***/i7bYXnRy8Vc.

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RRT Autonomous Detection Algorithm Based on Multiple Pilot Point Bias Strategy and Karto SLAM Algorithm

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Computers, Materials & Continua 2024年第2期78卷 2111-2136页

作者： Lieping Zhang Xiaoxu Shi Liu Tang Yilin Wang Jiansheng Peng Jianchu Zou Key Laboratory of Advanced Manufacturing and Automation Technology(Guilin University of Technology) Education Department of Guangxi Zhuang Autonomous RegionGuilin541006China College of Mechanical and Control Engineering Guilin University of TechnologyGuilin541006China Guilin Mingfu Robot Technology Company Limited Guilin541199China Key Laboratory of AI and Information Processing(Hechi University) Education Department of Guangxi Zhuang Autonomous RegionYizhou546300China

A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile ***,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random *** that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT *** algorithm simulation platform based on the Gazebo platform was *** simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more ***,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different *** experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.

关键词： Autonomous detection RRT algorithm mobile robot ROS Karto SLAM algorithm

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Uncertainty and its Effect on Optimal Multidrug control of Hemodynamic Variables

Uncertainty and its Effect on Optimal Multidrug Control of H...

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American control Conference (ACC)

作者： Teodora Popescu Isabela R. Birs Ghada Ben Othman Erhan Yumuk Marcian Mihai Erwin Hegedus Dana Copot Robin De Keyser Clara M. Ionescu Cristina I. Muresan Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Ghent University Gent Belgium Department of Control and Automation Engineering Istanbul Technical University Maslak Istanbul Turkey

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

Computer aided control in biomedical applications is gaining more and more popularity due to numerous research studies that have proven the efficiency of automatic control over manual dosing, which is highly susceptible to human errors. Optimal drug dosing is best achieved using automatic control, which triggers important benefits in terms of both costs and patient side-effects. However, mathematical models for patients are highly susceptible to large modeling uncertainty. A predictive control algorithm is designed in this paper for optimal multidrug control of hemodynamic variables. Improved closed loop performance is obtained compared to similar control strategies, for $\pm 30\%$ modeling uncertainty. The simulation results demonstrate that predictive control is a feasible solution for optimal drug dosing. An analysis of the closed loop performance for significant patient variability shows that controllers tuned using a nominal patient model often fail to achieve desired robustness. To limit the effect of modeling uncertainty, the prediction model should be updated using an online identification tool to extract patient features.

关键词： Drugs Uncertainty Simulation Europe Predictive models Prediction algorithms Mathematical models

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