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Leader-Following Entrapping control of AUVs Using Bearing Measurements in Local Coordinate Frames

Guidance, Navigation and control 2022年第4期2卷 85-121页

作者： Yingbo Fu Ziwen Yang Shanying Zhu Cailian Chen Department of Automation Shanghai Jiao Tong UniversityShanghai 200240P.R.China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240P.R.China Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240P.R.China

In this paper,the entrapping control problem of discrete-time AUVs with local coordinate frames is *** achieve entrapment in arbitrarily shaped orbits and formations,we design a bearingbased leader-following framework fully in the discrete-time domain with four parts:the orientation estimation unit,estimator unit,controller unit and parameters tuning *** bearing measurements and communication information,the orientation estimation unit can estimate orientations of local coordinate frames infinite time,and the estimator unit can achieve local *** on estimation,the controller unit can drive each AUV to track the desired orbit or formation with an arbitrary *** present su±cient conditions under which stability of the overall system is proved using the theorem offinite-time stability and LaSalle's theorem for the discrete-time ***,the parameters tuning unit can calculate optimal parameters to improve overall ***,we extend our schemes to nonholonomic AUVs with unicycle ***,simulation results demonstrate the effectiveness of the proposed scheme.

关键词： Entrapping control discrete-time AUVs bearing measurements local coordinate frames

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Screening of Areas with High Risk of Short-Circuit Current Exceedance in Power systems with Renewable Energy Integration

Screening of Areas with High Risk of Short-Circuit Current E...

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IEEE Asia Power and Energy Engineering Conference (APEEC)

作者： Jian Wang Haoran Chen Hang Qi Changgang Li Wei Dong Yi Lu Wen Hua Zhengyang Zhou Longfei Wang Ying Cheng Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan China State Grid Zhejiang Electric Power Co. Ltd. Research Institute Hangzhou China

ISBN: (数字)9798350373479

ISBN: (纸本)9798350373486

The efficient short circuit calculation is the basis of short circuit current control. Commonly, the iterative calculation method of short-circuit current is adopted in power systems containing renewable energy sources. However, the detailed short-circuit current screening for all areas in power systems is time-consuming. To address this problem, this paper proposes an efficient screening method for areas with high risk of short-circuit current exceedance. Firstly, this paper builds the short-circuit models of synchronous generator and renewable energy source. Then, an efficient approximate calculation method of the maximum short-circuit current is proposed. Finally, a screening method for high-risk areas with short-circuit current exceeding limit is proposed, and an index of screening performance is defined. The validity of the proposed method is verified with a modified New England 39-bus power system.

关键词： Electrical engineering Renewable energy sources Power transmission lines Short-circuit currents Asia Synchronous generators Power systems

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Prediction and Preventive control Scheme for Wind and PV Power Ramp Events

Prediction and Preventive Control Scheme for Wind and PV Pow...

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IEEE International Conference on Power and Power and Renewable Energy (ICPRE)

作者： Yifei Zhai Zengwei Wang Kunpeng Zhang Huan Ma Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan China Power Grid Technology Center State Grid Shandong Electric Power Research Institute Jinan China

ISBN: (数字)9798350377460

ISBN: (纸本)9798350377477

As the large scale integration of photovoltaic and wind power into the grid increases, renewable energy ramp events have become a potential threat to the secure operation of the power grid. To effectively address renewable energy power ramp events, this paper proposes a prediction and preventive control scheme. First, a rolling warning approach is achieved by the long short-term memory network and fuzzy logic, which provides warning levels and guides decision-making for preventive control. Second, a two-stage optimization scheduling model is proposed, including a day-ahead and an intra-day sub-model. The two-stage scheduling model comprehensively considers power support from interconnectors and preventive control costs. Simulation results demonstrate that the proposed scheme can provide adaptive preventive control strategies for power ramp events with varying risk levels, thereby enhancing the utilization of renewable energy and improving the security of power system.

关键词： Photovoltaic systems Renewable energy sources Adaptation models Costs Simulation decision making Power system stability Wind power generation Wind forecasting Transient analysis

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Real-Time Driver Distraction Detection Using Lightweight Convolution Neural Network with Cheap Multi-scale Features Fusion Block 17th

Real-Time Driver Distraction Detection Using Lightweight Con...

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17th Chinese intelligent systems Conference, CISC 2021

作者： Li, Yuanyuan Xu, Peng Zhu, Zhiqin Huang, Xinghua Qi, Guanqiu Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Complex System Safety and Control Ministry of Education Chongqing University Chongqing400044 China Computer Information Systems Department Buffalo State College BuffaloNY14222 United States

ISBN: (纸本)9789811663239

Degraded driving performance is closely related to distracted driving behavior. Therefore, in this paper we introduce a fast and accurate convolution neural network (CNN) architecture named CMFFNet, which is designed for the edge devices with limited computational resources and application scenario of detecting driver distraction. CMFFNet is built on a multi-branch architecture that uses CMFF blocks to guarantee efficiency. CMFF block is based on depth-wise separable convolution, which consists of a CMFF module, a multi-branch structure fuses filtered multi-scale spatial information to enhance feature representation capability, followed by a MAPGC bottleneck, utilizing two point-wise group convolutions and a channel shuffle operation to implement efficient channel projection. Compare with recently proposed lightweight CNNs, CMFFNet can achieve better performance on StateFarm’s Dataset, e.g. higher accuracy (absolute 5.5%) and lower latency (about 18 ms) compared with MobileNetV3-Large. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolution

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A 4-Channel Ultrafast Wavelength-Swept REC-DFB Laser Array for Fiber Bragg Grating Interrogation

A 4-Channel Ultrafast Wavelength-Swept REC-DFB Laser Array f...

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2023 Asia Communications and Photonics Conference/2023 International Photonics and Optoelectronics Meetings, ACP/POEM 2023

作者： Meng, Lingxin Dai, Pan Ban, Qilu Xu, Kaichuan Wang, Jiacheng Li, Zhen Wang, Feng Zeng, Jie Li, Shaobo Ma, Xiang Chen, Xiangfei Res. Center of Precision Photonics Integration and System Application of the Ministry of Education College of Engineering and Applied Sciences Nanjing University Key Lab. of Intelligent Optical Sensing and Manipulation of the Ministry of Education Engineering National Laboratory of Solid State Microstructures Nanjing210023 China Nanjing University of Aeronautics and Astronautics State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing210016 China The 54th Research Institute of China Electronics Technology Group Corporation Optical Communication Research and Development Center Shijiazhuang050081 China

ISBN: (纸本)9798350312614

We present a four-channel ultrafast wavelength-swept distributed feedback (DFB) semiconductor laser array based on the reconstruction-equivalent-chirp (REC) technique using instantaneous injection current modulation. With the aid of our designed laser driving circuit system consists of the microcontroller unit (MCU), field-programmable gate array (FPGA) and negative metal-oxide-semiconductor field effect transistors (n-MOSFETs), the precise pulse driving current for the 4-channel wavelength-swept REC-DFB laser array can be generated and a fast tuning of 16.424 nm within 10 μs is achieved. To further investigate the tuning performance of the proposed wavelength-swept laser source, we then applied it to the fiber Bragg grating (FBG) interrogation system and four FBG temperature sensor arrays were successfully demodulated. The development of high-efficient optical sensing systems heavily relies on the significance of the ultrafast wavelength-swept laser source, which has the potential to greatly enhance FBG interrogator performance in the future. © 2023 IEEE.

关键词： DFB laser array fast wavelength-swept fiber Bragg grating interrogation REC technique

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Oscillation Trajectory Optimization and control Method for Two-link Underactuated Manipulators

Oscillation Trajectory Optimization and Control Method for T...

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第42届中国控制会议

作者： Lejun Wang Huiming Wang Xianlun Tang Zixin Huang Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University School of Electrical and Information Engineering Wuhan Institute of Technology

This paper provides an oscillation trajectory optimization and control method for two-link underactuated manipulators(UMs) in a vertical *** proposed method solves the problem that the UMs cannot always enter the balance region in the partitioning ***,we establish the system dynamic model,and analyze the system couple ***,we program an oscillation trajectory for the active link,and use the intelligent method to obtain the trajectory parameters,so ensuring the system can reach the area adjacent to the target position through tracking ***,we design the controller to realize the stable control at the target ***,the simulation results show the effectiveness and generality of the control strategy.

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Image Quality Assessment Based on Sparse Reference Information 18th

Image Quality Assessment Based on Sparse Reference Informati...

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18th International Forum of Digital Multimedia Communication, IFTC 2021

作者： Lian, Xinkang Xie, Shuangyi Shi, Shuang Zhou, Chengxu Guo, Nan Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China Beijing Laboratory of Smart Environmental Protection Beijing China Faculty of Information Technology Beijing University of Technology Beijing China Beijing Artificial Intelligence Institute Beijing China

ISBN: (纸本)9789811922657

The last few years have seen the appearance of a new sparse reference-based free energy principle, which demonstrates that an input visual signal was always strived to be comprehend by the human visual system (HVS) through removing the undetermined portions. By this inspiration, we in this paper put forward an image quality assessment (IQA) model based on sparse reference information. In essential, as compared with the classical good-performance FEDM model that was developed with a linear local autoregressive (AR) model, the proposed sparse reference (SR) IQA model is a simplified version of FEDM, achieving comparable performance but hundreds of times faster implementation. More specifically, this paper introduces the extremely sparse random sampling method into the FEDM model. Experimental results on the most well-known LIVE IQA database illustrate the effectiveness along with efficiency of our SR-IQA model as compared with the typical full-reference IQA models and the cutting-edge SR IQA models. © 2022, Springer Nature Singapore Pte Ltd.

关键词： Free energy

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Securing Mobile Robotic Networks Against Replacement Attack

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IEEE Transactions on Automatic control 2025年第7期70卷 4424-4438页

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping Cai, Lin Shanghai Jiao Tong University Dept. of Automation China Ministry of Education of China The Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China University of Victoria Dept. of Electrical and Computer Engineering BC Canada

The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper aims to secure the ubiquitous formation control of MRNs against the replacement attack, where an external robot can replace a formation robot by compromising the communication and physically interfering with the victim simultaneously. To counter this advanced attack, the novel idea of this work is to leverage the physical proximity of the formation shape and the interaction topology among robots for defense design. First, from the physical proximity perspective, we propose the convex neighbor polygon (CNP) to capture the geometric characteristic of the formation robots, and design a CNP-based security mechanism for the robots during the replacement attack. Then, from the interaction perspective, we introduce the indirect controllability to characterize the possibility that the attacker leverages the interaction between robots to deactivate the CNP mechanism, and establish the conditions regarding the topology structure and the attack input to counter the replacement. Finally, based on the obtained conditions, we demonstrate how to design the initiatory topology among the formation robots to enhance the defense performance. Comparative simulations verify the effectiveness of the proposed method. © 1963-2012 IEEE.

关键词： Topology

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Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 957-968页

作者： Jinhua She Kou Miyamoto Qing-Long Han Min Wu Hiroshi Hashimoto Qing-Guo Wang School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan K.Miyamoto is with the Institute of Technology Shimizu CorporationKotoTokyo 135-0044Japan School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China School of Industrial Technology Advanced Institute of Industrial TechnologyTokyo 140-0011Japan Institute of Artificial Intelligence and Future Networks Beijing Normal UniversityZhuhai 519087 Guangdong Key Lab of AI and Multi-Modal Data Processing Guangdong Provincial Key Laboratory of Interdisciplinary Research and Application for Data Science BNUHKBU United International College Zhuhai 519087China

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state *** paper presents a deep observation on and a comparison between two of those methods:the generalized extended-state observer(GESO)and the equivalent input disturbance(EID)from assumptions,system configurations,stability conditions,system design,disturbance-rejection performance,and extensibility.A time-domain index is introduced to assess the disturbance-rejection performance.A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method.A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.

关键词： Active disturbance-rejection control(ADRC) disturbance observer(DOB) equivalent input disturbance(EID) extendedstate observer(ESO) generalized extended-state observer(GESO)

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3D Gaussian Splatting in Robotics: A Survey

arXiv

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arXiv 2024年

作者： Zhu, Siting Wang, Guangming Kong, Xin Kong, Dezhi Wang, Hesheng Department of Automation Shanghai Jiao Tong University Shanghai China University of Cambridge United Kingdom Imperial College London United Kingdom Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University China

Dense 3D representations of the environment have been a long-term goal in the robotics field. While previous Neural Radiance Fields (NeRF) representation have been prevalent for its implicit, coordinate-based model, the recent emergence of 3D Gaussian Splatting (3DGS) has demonstrated remarkable potential in its explicit radiance field representation. By leveraging 3D Gaussian primitives for explicit scene representation and enabling differentiable rendering, 3DGS has shown significant advantages over other radiance fields in real-time rendering and photo-realistic performance, which is beneficial for robotic applications. In this survey, we provide a comprehensive understanding of 3DGS in the field of robotics. We divide our discussion of the related works into two main categories: the application of 3DGS and the advancements in 3DGS techniques. In the application section, we explore how 3DGS has been utilized in various robotics tasks from scene understanding and interaction perspectives. The advance of 3DGS section focuses on the improvements of 3DGS own properties in its adaptability and efficiency, aiming to enhance its performance in robotics. We then summarize the most commonly used datasets and evaluation metrics in robotics. Finally, we identify the challenges and limitations of current 3DGS methods and discuss the future development of 3DGS in robotics. The paper lists of our survey are available at 3D Gaussian Splatting in Robotics. Copyright © 2024, The Authors. All rights reserved.

关键词： Rendering (computer graphics)

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