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A Spiral Coverage Path Planning Algorithm for Nonomnidirectional Robots

Journal of Field Robotics 2025年第0期

作者： Hou, Taogang Li, Jiaxin Pei, Xuan Wang, Hao Liu, Tianhui Institute of Advanced Control Systems School of Automation and Intelligence Beijing Jiaotong University Beijing Beijing China Institute of Robotics School of Mechanical Engineering and Automation Beihang University Beijing Beijing China

The limited steering capabilities of nonomnidirectional robots introduce significant complexity into complete coverage tasks, often leading to increased path overlap or incomplete coverage of certain areas. Although recent research has made progress in optimizing coverage path planning, redundant coverage or omissions are still prone to occur in the target area to be covered. To address these persistent challenges, we propose a novel spiral coverage method. This approach not only conforms to the kinematic constraints of nonomnidirectional robots but also enhances coverage efficiency by dividing the target area into center and boundary regions and devising tailored coverage strategies for each. This method effectively reduces path redundancy and improves overall area coverage. Furthermore, we introduce a comprehensive metric that combines total path length and area coverage ratio to evaluate coverage efficiency, overcoming the limitations and computational complexity associated with existing metrics. For scenarios where maximizing the area coverage ratio is critical, we have developed a high-coverage-rate turning strategy that ensures 100% coverage. Through simulation tests in six representative areas and actual experiments on airport runways, our method shows an improvement of 0.238%–14.538% in coverage efficiency compared with parallel coverage method and 60.548%–76.339% compared with deep reinforcement learning-based method. Additionally, implementing high-coverage-rate turning strategies improves the area coverage ratio by 2.021%–6.732%. In field experiments, our method reduces execution time by 1.61% compared with parallel coverage method. These results show that our method has a significant effect in improving coverage efficiency and achieving complete coverage goals. © 2025 Wiley Periodicals LLC.

关键词： Robot programming

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Certificated Actor-Critic: Hierarchical Reinforcement Learning with control Barrier Functions for Safe Navigation

arXiv

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arXiv 2025年

作者： Xie, Junjun Zhao, Shuhao Hu, Liang Gao, Huijun Department of Automation School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

control Barrier Functions (CBFs) have emerged as a prominent approach to designing safe navigation systems of robots. Despite their popularity, current CBF-based methods exhibit some limitations: optimization-based safe control techniques tend to be either myopic or computationally intensive, and they rely on simplified system models;conversely, the learning-based methods suffer from the lack of quantitative indication in terms of navigation performance and safety. In this paper, we present a new model-free reinforcement learning algorithm called Certificated Actor-Critic (CAC), which introduces a hierarchical reinforcement learning framework and well-defined reward functions derived from CBFs. We carry out theoretical analysis and proof of our algorithm, and propose several improvements in algorithm implementation. Our analysis is validated by two simulation experiments, showing the effectiveness of our proposed CAC algorithm. Copyright © 2025, The Authors. All rights reserved.

关键词： Adversarial machine learning

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Thermal constraint control of reversible solid oxide cell for optimal system efficiency

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International Journal of Hydrogen Energy 2025年 134卷 198-211页

作者： Xu, Yuanwu Yin, Jie Wang, Jingjing Wu, Xiao-long Peng, Jingxuan Tang, Ruifeng Zou, Suhang Fu, Xiaowei Li, Xi School of Artificial Intelligence and Automation Wuhan University of Science and Technology Hubei Wuhan430081 China School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control of Education Ministry Huazhong University of Science and Technology Hubei Wuhan430074 China School of Information Engineering Nanchang University Jiangxi Nanchang330031 China School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore China-Poland Belt and Road Joint Laboratory on Measurement and Control Technology Huazhong University of Science and Technology Hubei Wuhan430074 China Shenzhen Huazhong University of Science and Technology Research Institute Shenzhen518055 China

Reversible solid oxide cell (RSOC) demonstrates considerable promise in multimodal energy conversion architectures, particularly as a technology for hydrogen-based energy storage systems. Nevertheless, under dynamic operating regimes with time-varying current inputs, realizing time-efficient and reliable transitions to steady-state operation remains difficult. This difficulty arises from the intricate coupling of thermal, electrical, and gaseous processes within the RSOC system. This study aims to address these challenges by developing a 5 kW mathematical model of the RSOC system. The proposed model enables systematic investigation of thermal safety issues arising during current switching operations while introducing a thermal constraint control strategy to enhance both system efficiency and thermal safety performance. This efficiency-driven study employs the Grid Search algorithm to identify optimal steady-state operating points for the RSOC system, ensuring strict adherence to safety constraints across varying current inputs. Furthermore, by integrating the pre-identified optimal operating points as feedforward control with Model Predictive control (MPC)-based feedback correction, this hybrid strategy effectively mitigates stack temperature gradient overshoot while synchronously ensuring optimal system efficiency throughout current transition processes. Under simulated variable current inputs, the proposed RSOC system model and control strategy demonstrate the capability to constrain stack temperature gradient overshoot within 2.3K while enhancing transient efficiency by 5 %–8 %, achieving a peak system efficiency of 85 %. It provides a novel methodology for safe and efficient working with intermittent renewable energy. © 2025 Hydrogen Energy Publications LLC

关键词： Thermal variables control

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Dynamic modeling and simulation of blade-casing system with rubbing considering time-varying stiffness and mass of casing

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Applied Mathematics and Mechanics(English Edition) 2025年第5期46卷 849-868页

作者： Hui MA Hong GUAN Lin QU Xumin GUO Qinqin MU Yao ZENG Yanyan CHEN School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of ChinaNortheastern UniversityShenyang 110819China Sunny Optical Technology(Group)Co.Ltd. Ningbo 315400Zhejiang ProvinceChina Aircraft Strength Institute of China Xi’an 710065China AECC Sichuan Gas Turbine Research Institute Chengdu 610500China

As a common fault of the aero-engine,the blade-casing rubbing(BCR)has the potential to cause catastrophic *** this paper,to investigate the dynamic responses and wear characteristics of the system,the laminated shell element is used to establish the finite element model(FEM)of a flexibly coated casing *** the shell element,the blade is modeled,and the surface stress of the blade is *** stress-solving method of the blade is validated through comparisons with the measured time-domain waveform of the ***,a dynamic model of a blade-flexibly coated casing system with rubbing is proposed,accounting for the time-varying mass and stiffness of the casing caused by coating *** effects of the proposed flexible casing model are compared with those of a rigid casing model,and the stress changes induced by rubbing are *** results show that the natural characteristics of the coated casing decrease due to the coating *** flexibly coated casing model is found to be more suitable for studying casing ***,the stress changes caused by rubbing are slight,and the change in the stress maximum is approximately 5%under the influence of the abrasive coating.

关键词： dynamic modeling flexibly coated casing rubbing coating wear nonlinear vibration

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Future Engineers and Their Necessary Skills: A Study of Students’ Ideas and Solutions for a Sustainable Future World 27th

Future Engineers and Their Necessary Skills: A Study of Stud...

引用

27th International Conference on Interactive Collaborative Learning, ICL 2024

作者： Jäggle, Georg Koppensteiner, Gottfried Beranek, Gerald Buchberger, Daniel Zakall, Stefan Lepuschitz, Wilfried Merdan, Munir Vincze, Markus ACIN Institute of Automation and Control Vienna University of Technology Vienna Austria TGM Vienna Institute of Technology Vienna Austria MFE Vocational School for Mechanical Engineering Production Engineering and Electronics Vienna Austria EVITA Vocational School for Electrical Event and Information Technology Vienna Austria Bee Produced GmbH Vienna Austria

ISBN: (纸本)9783031835223

The escalating problem of e-waste, highlighted by projections of its significant increase by 2045, underscores the urgency of integrating sustainable practices into engineering education. This study evaluates the impact of a learner-centered design approach in educational robotics activities on students’ environmental awareness and the development of skills necessary for sustainable product design. On the one hand, this research aimed to develop technical skills and an understanding of ecological design through hands-on activities by involving 82 students in dedicated robotics workshops. The methodology combined quantitative and qualitative data, including surveys and student-produced artefacts, to assess changes in students’ self-efficacy regarding robotics and their understanding of sustainability. The core of the study was to determine how educational robotics could influence students’ knowledge of recycling and sustainable design. On the other hand, the research provided a framework for students to exercise their creativity and design their own potential solutions to solve the E-waste problem and support the SDGs. This research study underscores the effectiveness of a constructivist approach in education, where learning is an active, experiential process that prepares students to meet the demands of contemporary environmental and technological challenges. The findings suggest that such activities enhance creativity and environmental consciousness, with students developing prototypes that address real-world problems. This experiential learning not only improved their self-efficacy in handling technology but also motivated them to become proactive contributors to a sustainable future. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Sustainable development goals

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Small-Signal Stability Analysis of Flux-controlled Grid-Forming DFIG Under Symmetrical Fault

Small-Signal Stability Analysis of Flux-Controlled Grid-Form...

引用

International Conference of Electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Li, Weibing Wang, Wenhe Hu, Yufei Li, Junxian Hua, Xiaojun Jiang, Dingguo Huang, Meng Tian, Zhen Laboratory of Hydro-Wind-Solar Multi-Energy Control Coordination Wuhan430014 China School of Electrical Engineering and Automation Wuhan University Wuhan430072 China Institute of Science and Technology China Three Gorges Corporation Beijing100038 China

ISBN: (纸本)9789819620791

Due to the dislocation distribution of wind resources and load centers in China, large-scale wind power stations usually need long-distance transmission to connect with the load center, which leads to the weakening of the power grid strength at the access point of wind power stations and frequent short-circuit faults. In this paper, a small signal state space model of flux-controlled grid-forming DFIG grid-connected system is constructed for the continuous condition of symmetrical fault in weak grid scenario, and the oscillation mode analysis of the system is carried out. Based on the fault ride-through requirements and electromagnetic equations of wind turbines, the calculation method of the balanced operating point of DFIG during symmetrical fault duration is derived. Then, based on the system characteristic root trajectory and the participation factor matrix, the small-disturbance stability of the system under different fault conditions and converter control parameters is analyzed, and the influence of each dynamic link on the small-disturbance stability of the system is explored. Finally, the accuracy of the theoretical analysis results in this paper is verified by simulation analysis and comparison, which provides guidance for parameter optimization of DFIG during fault duration. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Wind turbines

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Consensus controllability for Node and Edge Multiagent Systems

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IEEE Transactions on control of Network Systems 2025年

作者： Kang, Lifan Ji, Zhijian Liu, Yungang Lin, Chong Qingdao University Institute of Complexity Science College of Automation China Shandong Key Laboratory of Industrial Control Technology China Shandong University School of Control Science and Engineering China

The multiagent controllability of both node and edge dynamics depends on the communication topology, leader selection, as well as the weight adjustments. This paper deals with the controllability relationship between node dynamics and edge dynamics using an edge dynamics model that describes the states of nodes and edges. According to the number of nodes N and edges M , topology graphs are divided into three categories: N > M , N = M , and N M , the uncontrollable node and edge dynamics are converted to a controllable situation by adding leaders or adjusting weights. Finally, algorithms are provided to validate the effectiveness of the outcomes. © 2025 IEEE. All rights reserved.

关键词： controllability

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EDB-Net: An Edge-Guided Dual-Branch Neural Network for Skin Cancer Classification 27th

EDB-Net: An Edge-Guided Dual-Branch Neural Network for Skin...

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Ray, Amartya Gayen, Soumyajit Kaplun, Dmitrii Sarkar, Ram Department of Computer Science and Engineering Jadavpur University Kolkata India Artificial Intelligence Research Institute China University of Mining and Technology Xuzhou China Department of Automation and Control Processes Saint Petersburg Electrotechnical University "LETI" Saint Petersburg Russia

ISBN: (纸本)9783031781032

Skin cancer poses a serious global health challenge, where timely and precise diagnosis is essential to improve patient outcomes. Recently, neural networks have proven to be highly effective tools for automated skin cancer classification, significantly advancing the field of dermatology. This paper introduces a novel approach to generate edge maps from dermoscopic images using a holistically nested edge detector model. These edge maps enhance the detection of shape and symmetry irregularities, which are key indicators of malignancy, and improve the focus on relevant regions of interest. We then propose an edge-guided dual-branch neural network, called EDB-Net, for the classification task. Branch 1 handles edge maps, while Branch 2 processes original dermoscopic images. To highlight significant regions and focus on specific lesion areas, we incorporate a novel channel-spatial synergistic attention block within Branch 2. Additionally, we introduce a unique strategy to modulate the generated attention maps using edge features extracted from the edge maps in Branch 1, creating edge-guided features that refine the overall feature representation. In the final stage, both edge-guided and attention-aided features are combined, producing more distinct and contextually relevant outputs, thereby significantly enhancing classification performance. Our model achieves accuracies of 0.927 and 0.848 on the challenging HAM10000 and ISIC 2016 datasets, respectively, without employing any data augmentation. The source code of the proposed model is available at: https://***/Cmatermedicalimageanalysis/EDB_Net. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Lung cancer

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Low-Frequency Damping Analysis of Flux-controlled Grid-Forming DFIG

Low-Frequency Damping Analysis of Flux-Controlled Grid-Formi...

引用

International Conference of Electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Hu, Yufei Li, Weibing Deng, Youhan Jiang, Dingguo Huang, Meng Tian, Zhen Laboratory of Hydro-Wind-Solar Multi-Energy Control Coordination Wuhan430014 China School of Electrical Engineering and Automation Wuhan University Wuhan430072 China Institute of Science and Technology China Three Gorges Corporation Beijing100038 China

ISBN: (纸本)9789819620791

To improve the small-signal stability of system, the damping torque model of flux-controlled grid-forming DFIG is constructed based on the small-signal model. And the low-frequency damping characteristics of system are analyzed by adopting the complex torque coefficient method. Then, analogous to the principle of PSS, a low-frequency oscillation damping method is proposed, which can efficiently optimize the low-frequency damping characteristics of system. Finally, based on the simulation results, the accuracy of theoretical analysis results and the effectiveness of proposed method are verified. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Damping

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Haptic-Aided Navigation Vehicle: Enhancing Obstacle Detection in Blind Spots and Transparent Object Scenarios

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Journal of Shanghai Jiaotong University (Science) 2025年 1-9页

作者： Li, Mingwang Li, Xinde Zhang, Zhentong Zhang, Zeyu Zhao, Haoming School of Software Southeast University Suzhou Jiangsu215000 China School of Automation Southeast University Nanjing210018 China School of Cyber Science and Engineering Southeast University Nanjing211102 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education Nanjing214135 China Nanjing Center for Applied Mathematics Nanjing211135 China Southeast University Shenzhen Research Institute Shenzhen Guangdong518063 China

As autonomous mobile robots are increasingly deployed in complex environments, traditional vision sensors and LiDAR encounter considerable limitations, particularly in detecting obstacles in blind spots or transparent objects. To address the issue of blind spots, we design a specialized haptic sensing structure and develop the haptic-aided navigation vehicle (HANV). This system integrates haptic sensors and LiDAR to deliver comprehensive perception, significantly enhancing close-range obstacle detection in areas that are typically beyond the range of conventional sensors. To tackle the challenge of transparent obstacles, which are often undetected by both vision and LiDAR sensors, we employ a fusion of haptic sensors and LiDAR. The haptic system provides physical contact feedback, ensuring reliable detection of transparent obstacles such as glass, while LiDAR offers long-range sensing capabilities. This combination enables HANV to navigate effectively in environments with transparent obstacles, overcoming the limitations of traditional sensing systems. Experiment results indicate that the proposed haptic and LiDAR integration substantially improves obstacle detection in both blind spots and environments with transparent obstacles. HANV achieves high success rates, minimal collisions, and efficient obstacle avoidance, particularly excelling in complex, confined spaces where conventional systems prove inadequate. These findings emphasize the efficacy of our approach in enhancing navigation performance in dynamic and challenging environments. (Figure presented.) © Shanghai Jiao Tong University 2025.

关键词： Mobile robots

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