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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023年第3期18卷 123-143页

作者： Yiming YAN Shuting WANG Yuanlong XIE Hao WU Shiqi ZHENG Hu LI School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China

To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is *** address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)***,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different *** formulation guarantees rapid convergence and simultaneous chattering *** introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle *** experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance

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A noise reduction method based on PSR-fastICA for spectrum-induced polarization data 2

A noise reduction method based on PSR-fastICA for spectrum-i...

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2nd International Conference on Electronic Information Technology, EIT 2023

作者： Cen, Wei Li, Zhihua School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (数字)9781510666627

ISBN: (纸本)9781510666610

Spectrum-induced polarization (SIP) is a widely used geophysical exploration approach, but it is prone to noise. To address this issue, this paper proposes a noise reduction method that combines phase space reconstruction (PSR) and fast independent component analysis (fastICA). The proposed approach enhances the signal-to-noise ratio of SIP data by effectively removing noise. Experimental results show that the PSR-fastICA method significantly reduces noise in SIP signals. © 2023 SPIE.

关键词： Signal to noise ratio

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An ensemble multivariate detection method for steady-state drift in process industries

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Science China(Information Sciences) 2025年

作者： Wenshuo SONG Weihua CAO Yan YUAN Wenkai HU 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

In process industries, it is crucial to maintain operational parameters within a designated steady-state operating point to ensure product quality and operational efficiency. However,steady-state drift(a gradual shift in key parameters occurs over time even when the system is intended to be under stable conditions) can lead to significant production losses,safety risks, and increased operational costs. Therefore, accurately detecting steady-state drift is essential for maintaining stable, safe, and optimized operating conditions.

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PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

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control Theory and Technology 2024年第4期22卷 552-567页

作者： Peng Huang Yawu Wang Yue Zhang Jundong Wu Chun-Yi Su School of Automation China University of GeosciencesWuhan430074HubeiChina Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074HubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan430074HubeiChina Gina Cody School of Engineering and Computer Science Concordia UniversityMontrealQCH3G 1M8Canada

Smart soft dielectric elastomer actuators(SSDEAs)possess wide applications in soft robotics due to their properties similar to natural muscles,including large deformation ratio,high energy density,and fast response ***,the complicated asymmetric and rate-dependent hysteresis property,creep property and quadratic input property of the SSDEA pose enormous challenges to its dynamic modeling and motion *** this paper,first,we construct the dynamic model of the SSDEA by connecting a square module,a one-sided Prandtl–Ishlinskii(OSPI)model and a linear system in series to describe the above *** key and innovative aspect of the dynamic modeling lies in cascading the square module in series with the OSPI model to construct the asymmetric hysteresis ***,a PI-funnel and inverse hysteresis compensation(PIFIHC)cascade control method of the SSDEA is proposed to actualize its tracking control *** performing the inversion operation on the asymmetric hysteresis model,the inverse hysteresis compensation controller(IHCC)is designed to compensate the asymmetric hysteresis property and quadratic input property of the *** addition,a PI-funnel controller is designed to cascade with the IHCC to construct the PIFIHC cascade controller to obtain a good tracking ***,the stability analysis of the PIFIHC cascade control system of the SSDEA is performed to theoretically prove that the tracking error can be controlled within the performance funnel and the steady-state error converges to ***,several practical tracking control experiments of the SSDEA are conducted,and RRMSEs are less than 2.30%for all *** experimental results indicate the effectiveness and feasibility of the proposed PIFIHC cascade control method of the SSDEA.

关键词： Smart soft dielectric elastomer actuator Dynamic modeling Inverse hysteresis compensation controller PI-funnel controller Cascade controller

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Study on Landslide Susceptibility Evaluation Based on Improved Multivariable Weighted Model: A Case Study of Lushan County, China 3

Study on Landslide Susceptibility Evaluation Based on Improv...

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3rd IEEE International Conference on Software Engineering and Artificial Intelligence, SEAI 2023

作者： Zhao, Li Duan, Gonghao Wuhan Institute of Technology School of Computer Science and Engineering Wuhan China Automation for Complex Systems Hubei Key Laboratory of Advanced Control and Intelligent Wuhan China

ISBN: (纸本)9798350337952

The evaluation of regional geological hazard susceptibility is of great significance to the prevention and control of geological hazard. In this paper, the "4-20"Lushan earthquake disaster area as the research area, combined with GIS and characteristics of the research area, through correlation analysis, selected 9 influencing factors as the evaluation factors. The study was conducted using a weighted information volume-logistic regression model (WI-LR). The results were classified into five sensitivity levels: very low, low, medium, high and very high. The results show that the landslide prone areas in Lushan County are concentrated in the area below the middle of the county seat, mostly near rivers, faults and areas with peak acceleration greater than 0.4. Among them, WI-LR model (AUC=0.918) > deterministic factor model (CF =0.908) > weighted information quantity model (WI) (AUC=0.896) > information quantity model I (AUC=0.853) > information quantity logistic regression model I-LR (AUC=0.799). It indicates that WI-LR model has high evaluation accuracy. © 2023 IEEE.

关键词： Hazards

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Few-shot Pose-free View Synthesis with 3D Gaussian Splatting

Few-shot Pose-free View Synthesis with 3D Gaussian Splatting

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2024 China Automation Congress, CAC 2024

作者： Huang, Yuan Xu, Chi 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 Wuhan China

ISBN: (纸本)9798350368604

Recent advancements in Novel View Synthesis using neural radiance fields and 3D Gaussian splatting have demonstrated promising results. However, these methods conventionally rely on accurate initial poses and point clouds from the model of structure from motion, which poses challenges in sparse input views. To addressing these drawbacks, we introduces an novel method for view synthesis based on 3D Gaussian splatting. Our approach operates on sparse input views without the prerequisite of pose priors, achieving reconstruction and real-time rendering of novel perspectives. For the deficiency of camera poses and point cloud, we employ an end-to-end deep learning model to recover the 3D structure from a few of 2D images to initialize the 3D Gaussian point cloud. In addressing the issue with few-shot, we utilize the differentiable rasterization module to render depth map and apply regulation on it. Additionally, we incorporate supervision between input views by interpolating to generate novel perspectives during training. Experimental results demonstrate that our proposed method significantly enhances the capabilities of 3D Gaussian splatting for novel view synthesis in sparse views and without the necessity of camera pose priors. © 2024 IEEE.

关键词： 3D reconstruction

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Frequency Domain-Based Low-Rank Approximation for Magnetic Anomaly Detection 5

Frequency Domain-Based Low-Rank Approximation for Magnetic A...

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5th International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2024

作者： Lv, Yumeng Liao, Congyu Liu, Huan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Stanford University Department of Radiology CA94305 United States

ISBN: (纸本)9798331529192

Current magnetic anomaly detection (MAD) methods prioritize signal-to-noise ratio (SNR) over signal features and edge information, leading to signal distortion. To address this issue, a new MAD approach utilizes structured lowrank approximation and block singular value decomposition based on the spatial frequency domain, dubbed FL-BSVD is proposed. First, the low-rankness structure of the magnetic anomaly signal is obtained through 2D Discrete Fourier Transform (2D-DFT) and structured Hankel transformation. Then, block singular value decomposition is applied to the Hankel matrix to reduce noise while preserving more signal edge features and enhancing detection accuracy. Finally, a field experiment comparing FL-BSVD with four commonly used methods is conducted. The experiment confirms that FL-BSVD can effectively recover magnetic anomaly signal features and edge information in a strong noisy environment. © 2024 IEEE.

关键词： Frequency domain analysis

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Design of Load Frequency controller for Power System Based on Equivalent Input Disturbance Method 4

Design of Load Frequency Controller for Power System Based o...

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4th IEEE New Energy and Energy Storage System control Summit Forum, NEESSC 2024

作者： Zhang, Jianrong Xu, Hang Wang, Hongzhang Zhang, Chuanke 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 School of Automation Wuhan China

ISBN: (纸本)9798350389012

In the power system, due to the instability of the external environment, safe and stable operation cannot always be guaranteed, as it frequently encounters varying degrees of external disturbances. In order to mitigate the effects of these disturbances on the system, the power system can operate safely and stably, In this paper, a power system load frequency control (LFC) based on Equivalent Input Disturbance (EID) method is proposed from the perspective of active disturbance suppression. Firstly, the disturbances present in the environment are unified as external disturbances, and then a single area the electric power system model with external disturbance was constructed. Then, a controller algorithm based on EID was designed using EID equivalent processing method and linear matrix inequality method to address the issue of external interference in the power system. Finally, a numerical example is used to validate the effectiveness and accuracy of the controller by simulating with two aspects, fixed perturbation and random perturbation, respectively. © 2024 IEEE.

关键词： Linear matrix inequalities

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Multiscale Feature Fusion Module for Prohibited Item Detection 9

Multiscale Feature Fusion Module for Prohibited Item Detecti...

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9th International Conference on Intelligent Computing and Signal Processing, ICSP 2024

作者： Xu, Ruiqi Zhang, Chirui School of Automation China University of Geosciences Hubei Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Hubei Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Wuhan430074 China

ISBN: (纸本)9798350376548

X-ray security check is a prevalent placement measure that plays a vital role in ensuring public safety. However, detecting prohibited items poses a complex challenge due to their variable sizes within X-ray images. In this study, we tackle this issue by curating a novel dataset through the integration of open-source data and introducing a Multiscale Feature Fusion Module. This module facilitates robust detection by amalgamating features across different scales. Extensive experiments verified that the superiority of our method compared to existing methods on the prohibited items test set constructed in this paper demonstrates extremely well the practical effectiveness of our proposed method. © 2024 IEEE.

关键词： component Environmental Security Prohibited Items Security Inspection X-ray Images

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Simulation and optimization of inchworm-like pneumatic crawling actuator based on ABAQUS software 7

Simulation and optimization of inchworm-like pneumatic crawl...

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7th International Conference on Robotics, control and Automation Engineering, RCAE 2024

作者： Mu, Junqi Zong, Xiaofeng Wei, Yiyang Hou, Xuping 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 School of Automation Wuhan430074 China

ISBN: (纸本)9798350355642

The actuator, serving as the fundamental power source of a soft robot, functions as its central component. The field of soft robotics has garnered increasing research attention since its inception. Pneumatic crawling robots, being an essential branch within the realm of soft robotics, possess notable characteristics such as rapid response time, cost-effectiveness, and human-computer interaction safety. Consequently, they hold significant research value. Among various types of crawling robots that have garnered considerable interest from researchers is the inchworm crawling robot. This paper aims to address the design and development aspects pertaining to inchworm actuators. By utilizing ABAQUS simulation software and taking displacement as the reference parameter, an analysis was conducted to investigate the impact of various geometric parameters on actuator displacement. Additionally, optimization of these geometric parameters was performed. The values of aspect ratio, length-to-width ratio, vertex angle and gap depth suitable for inchworm-like actuator are obtained. These findings are presented for the first time in the field of crawling soft robots and provide a theoretical basis for the development of pneumatic inchworm-like actuators. © 2024 IEEE.

关键词： Aspect ratio

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