检索结果-内蒙古大学图书馆

Cognitive Navigation for Intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru Cui Zhe Liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

来源：评论

学校读者我要写书评

暂无评论

Reinforcement learning-based unknown reference tracking control of HMASs with nonidentical communication delays

引用

Science China(Information Sciences) 2023年第7期66卷 46-57页

作者： Yong XU Zheng-Guang WU Wei-Wei CHE Deyuan MENG School of Automation Beijing Institute of Technology Institute of Cyber-Systems and Control Zhejiang University College of Mathematics and Computer Science Zhejiang Normal University Department of Automation Qingdao University School of Automation Science and Electrical Engineering Beihang University(BUAA)

This paper focuses on the optimal output synchronization control problem of heterogeneous multiagent systems(HMASs) subject to nonidentical communication delays by a reinforcement learning *** with existing studies assuming that the precise model of the leader is globally or distributively accessible to all or some of the followers, the leader's precise dynamical model is entirely inaccessible to all the followers in this paper. A data-based learning algorithm is first proposed to reconstruct the leader's unknown system matrix online. A distributed predictor subject to communication delays is further devised to estimate the leader's state, where interaction delays are allowed to be nonidentical. Then, a learning-based local controller, together with a discounted performance function, is projected to reach the optimal output synchronization. Bellman equations and game algebraic Riccati equations are constructed to learn the optimal solution by developing a model-based reinforcement learning(RL) algorithm online without solving regulator equations, which is followed by a model-free off-policy RL algorithm to relax the requirement of all agents' dynamics faced by the model-based RL algorithm. The optimal tracking control of HMASs subject to unknown leader dynamics and communication delays is shown to be solvable under the proposed RL algorithms. Finally, the effectiveness of theoretical analysis is verified by numerical simulations.

关键词： heterogeneous multiagent systems HMAS reinforcement learning RL optimal output synchronization communication delays

来源：评论

学校读者我要写书评

暂无评论

Dynamic Event-Triggered Fixed-Time Consensus Analysis of Multi-Agent systems Under Input Delays and Switching Topologies 3

Dynamic Event-Triggered Fixed-Time Consensus Analysis of Mul...

引用

3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Zhang, Yu Li, Yajing Ran, Guangtao Yu, Hao Ma, Guangfu Department of Automation Shenzhen518055 China Shanghai Institute of Aerospace System Engineering Shanghai200241 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China School of Automation Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798331540319

This paper proposes a dynamic event-triggered control method for first-order multi-agent systems with input delays and disturbances under switching topologies. The controller design and its properties of dynamic event-triggered fixed-time consensus are presented in detail. Furthermore, agents can achieve consensus in a fixed time for any initial conditions and topologies that comply with the control protocol. Zeno behavior is avoided. Simulation examples demonstrate the effectiveness of the proposed algorithm and simulate scenarios in which the communication environment deteriorates due to external disturbances affecting the MASs. © 2024 IEEE.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Development of a cable-driven redundant space manipulator with large bending angle by combining quaternion joints and segmented coupled linkages mechanism

引用

Chinese Journal of Aeronautics 2023年第11期36卷 483-499页

作者： Taiwei YANG Jian HUANG Wenfu XU Ke SHAO Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100854China

A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement *** number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.

关键词： Cable-driven Mechanism design Redundant manipulators Segmented linkages Kinematics

来源：评论

学校读者我要写书评

暂无评论

Targets capture by distributed active swarms via bio-inspired reinforcement learning

引用

Science China(Physics,Mechanics & Astronomy) 2025年第1期68卷 206-217页

作者： Kun Xu Yue Li Jun Sun Shuyuan Du Xinpeng Di Yuguang Yang Bo Li Institute of Biomechanics and Medical Engineering Applied Mechanics LaboratoryDepartment of Engineering MechanicsTsinghua UniversityBeijing 100084China Institute of Nuclear and New Energy Technology Tsinghua UniversityBeijing 100084China Shanghai Aerospace Control Technology Institute Shanghai 201109China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai 201109China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Natural swarms arranged from cells to herds are usually decentralized but display intriguing collective intelligence in coordinating individuals across large scales to efficiently achieve their common *** from nature may provide new strategies for controlling collective dynamics of synthetic swarms to accomplish specific ***,we present a bioinspired computational framework that steers distributed active swarms to collectively capture and merge targets via reinforcement *** exploit collective milling structures of natural herds to cage the targets,and adopt a switching control policy inspired by sperms’chiral dynamics to optimize the trajectories of individuals,through which the active swarms can selforganize to enclose single or multiple distant targets in a dynamical,adaptive and scalable *** exists a critical swarm size,beyond which the excessive competition between agents would generate large mechanical forces,leading to capture instability but enabling the transition from short-distance to long-distance merging capture of multiple *** work provides physical insights into distributed active swarms and could offer a multilevel,decentralized strategy toward controlling swarm robotics in wide applications such as bio-medical devices,machine immunity,and target clearance.

关键词： swarm intelligence robotics multi-tasks artificial intelligence bionics

来源：评论

学校读者我要写书评

暂无评论

Modeling Method of Coaxial Cable Transmission Characteristics Based on Fourier Decomposition 2

Modeling Method of Coaxial Cable Transmission Characteristic...

引用

2nd IEEE International Conference on Electrical, automation and Computer engineering, ICEACE 2024

作者： Li, Hao Zhan, Ziyuan Zhang, Zhizhuo Yang, Zhiming Bao, Liang Sun, Mouxun Beijing Aerospace Automatic Control Institute Beijing Department of System Engineering China

ISBN: (纸本)9798350368208

At present, in the fields of mobile communication, aerospace and et al., the signal transmission quality problems caused by the structural damage of the coaxial cable have become increasingly prominent, and the fault diagnosis methods for the coaxial cable have also received extensive attention in the industrial field. However, most of the commonly used method, such as the numerical modeling-based methods only consider the effect of signal reflection and transmission delays, but the effect of signal attenuation is not discussed, which in turn undermine the effect of cable diagnosis method. In this regard, this paper proposes a method for analyzing the attenuation characteristics of coaxial cables based on Fourier decomposition. First, the attenuation characteristics of the coaxial cable on fixed frequency is measured by the vector network analysis. Then, the transmission attenuation for continuous frequency is modeled using the Support Vector Regression. Next, the arbitrary input signal is decomposed by Fourier Transform and the attenuation of the coaxial cable when any signal is input is finally established. This paper also carried out the pulse attenuation measurement experiment based on the hardware platform, and compared the measured results with the simulation results, which verified the effectiveness of the proposed method. © 2024 IEEE.

关键词： Coaxial cables

来源：评论

学校读者我要写书评

暂无评论

An Attitude control Scheme for Low Redundancy Micro-nano Satellites without Gyroscopes 7

An Attitude Control Scheme for Low Redundancy Micro-nano Sat...

引用

7th International Conference on Intelligent Robotics and control engineering, IRCE 2024

作者： Li, Mingqun Lei, Yongjun Jiang, Qinghua Beijing Institute of Control Engineering Research and Development Center Beijing China Beijing Institute of Control Engineering System Design Department Beijing China

ISBN: (纸本)9798350352399

XX-1 satellite is a micro-nano satellite with low control system redundancy, equipped with only one set of three-axis gyroscopes. How to achieve attitude control during satellite failures has become an important issue in control scheme. This article proposes an attitude control scheme for low redundancy micro-nano satellites under the condition of no gyroscope. When high-value components in the satellite attitude control system, such as gyroscopes, fail and there are no redundant components, the satellite only uses magnetometers to reconstruct the attitude determination system, which can achieve attitude determination under any attitude conditions. This paper divides the working modes of micro-nano satellites into different modes based on the control tasks. Corresponding control laws are adopted in different modes, and magnetic torquers and momentum wheels are used to generate corresponding control torques, thus forming a complete satellite attitude control scheme. This paper further proposes effective discrimination conditions and parameter design methods for various working modes. Mathematical simulation shows that the proposed scheme enables micro-nano satellites to recover from any attitude to a stable operating state without gyroscope, and has the ability to operate stably in orbit for a long time. The attitude control accuracy is better than 2°, and the attitude stability is better than 0.003°/s, greatly improving the satellite's ability to operate safely in orbit. © 2024 IEEE.

关键词： Gyroscopes

来源：评论

学校读者我要写书评

暂无评论

Research on the Method of Remaining Useful Life Prediction of Lithium-Ion Battery Based on LSTM 2

Research on the Method of Remaining Useful Life Prediction o...

引用

2nd IEEE International Conference on Electrical, automation and Computer engineering, ICEACE 2024

作者： Wang, Shenhang Wang, Junjie Xiang, Gang Lin, Ruishi Peng, Yu Yang, Zhiming Beijing Aerospace Automatic Control Institute Department of System Engineering Beijing China

ISBN: (纸本)9798350368208

Lithium-ion batteries are prone to capacity degradation during use, leading to a decline in their reliability and potentially causing catastrophic failures. This necessitates the study of advanced methods for estimating the lifespan of lithium-ion batteries. To address this need, this paper conducts research in three areas: the extraction of degradation features, the construction of health factors, and the development of predictive models, proposing a comprehensive framework for estimating the remaining useful life of lithium-ion batteries. Firstly, the general trends of external feature parameters as a function of cycling are observed to identify the features that indicate battery degradation. Next, the relationship between these features and battery capacity is determined using Grey Relation Analysis, allowing for the construction of an indirect health factor. Finally, a data-driven prediction method is employed to construct a predictive network model using Long Short-Term Memory networks, with the health factor used for training to accurately predict the health state of the lithium-ion battery. The effectiveness of the proposed remaining life prediction method is validated using the NASA Battery Set dataset from NASA Ames Research Center. © 2024 IEEE.

关键词： NASA

来源：评论

学校读者我要写书评

暂无评论

An Optimal control-Based Distributed Reinforcement Learning Framework for A Class of Non-Convex Objective Functionals of the Multi-Agent Network

引用

IEEE/CAA Journal of Automatica Sinica 2023年第11期10卷 2081-2093页

作者： Zhe Chen Ning Li Department of Automation Shanghai Jiao Tong UniversityShanghai 200240 Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240 Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Department of Automation Tsinghua UniversityBeijing 100084China IEEE

This paper studies a novel distributed optimization problem that aims to minimize the sum of the non-convex objective functionals of the multi-agent network under privacy protection, which means that the local objective of each agent is unknown to others. The above problem involves complexity simultaneously in the time and space aspects. Yet existing works about distributed optimization mainly consider privacy protection in the space aspect where the decision variable is a vector with finite dimensions. In contrast, when the time aspect is considered in this paper, the decision variable is a continuous function concerning time. Hence, the minimization of the overall functional belongs to the calculus of variations. Traditional works usually aim to seek the optimal decision function. Due to privacy protection and non-convexity, the Euler-Lagrange equation of the proposed problem is a complicated partial differential ***, we seek the optimal decision derivative function rather than the decision function. This manner can be regarded as seeking the control input for an optimal control problem, for which we propose a centralized reinforcement learning(RL) framework. In the space aspect, we further present a distributed reinforcement learning framework to deal with the impact of privacy protection. Finally, rigorous theoretical analysis and simulation validate the effectiveness of our framework.

关键词： Distributed optimization multi-agent optimal control reinforcement learning(RL)

来源：评论

学校读者我要写书评

暂无评论

Safety-Critical Randomized Event-Triggered Learning of Gaussian Process With Applications to Data-Driven Predictive control

引用

IEEE Transactions on Automatic control 2024年第6期70卷 3920-3935页

作者： Zheng, Kaikai Shi, Dawei Shi, Yang Beijing Institute of Technology MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China University of Victoria Department of Mechanical Engineering Faculty of Engineering VictoriaBCV8N 3P6 Canada

Safety and data efficiency are important concerns in data-driven control, especially for nonlinear systems with unknown dynamics and subject to disturbances. In this work, we consider a class of control-affine nonlinear systems with partially unknown dynamics and aim to introduce an event-triggered learning-based control approach with guaranteed safety and improved data utilization efficiency. Specifically, a randomized learning approach is employed to evaluate the safety of state trajectories by defining and estimating its confidence interval, with data from a multisample of randomly generated state trajectories. Using the proposed randomized learning algorithm, a nominal trajectory with a high probability safety guarantee is designed, thus ensuring the disturbed system states to remain within a pre-specified range around the nominal trajectory with a sufficiently high probability. Through removing irrelevant data, a local prediction model around the nominal trajectory is learned with satisfactory precision, and is updated online using an event-triggered learning strategy. Based on the learned model, an efficient data-driven predictive controller is designed to force the system states to evolve within the vicinity of the designed safety nominal trajectory. The effectiveness of the proposed event-triggered learning and data-driven control approaches is validated through comprehensive simulation studies. © 1963-2012 IEEE.

关键词： Predictive control systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：