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25th IEEE China Conference on system Simulation Technology and its Application, CCSSTA 2024

作者： Cheng, Zikang Xue, Jingbo Wang, Bo Dong, Guangzhong Wei, Jingwen Chen, Chunlin Nanjing University Department of Control Science and Intelligence Engineering Naning China Harbin Institute of Technology Shenzhen School of Mechanical Engineering and Automation Shenzhen China

ISBN: (纸本)9798350366600

The Hybrid A∗ algorithm is suitable for Ackermann-type mobile robots with nonholonomic constraints. However, in practical path planning, such issues as long search times, inefficient search efficiency, and excessive planning path changes causing unstable robot motion still exist. To improve the effectiveness of path planning, this paper optimizes the Hybrid A∗ algorithm by using variable search step size and designing a path evaluation function during node expansion. Path planning experiments are conducted based on simulation and physical experimental platforms. The results show that the improved algorithm reduces the search nodes and planning time, effectively enhancing the algorithm's search performance and efficiency. In addition, it avoids pose errors caused by reverse driving, ensuring the priority and smoothness of forward driving, and achieves efficient and stable path planning for Ackermann-type mobile robots. © 2024 IEEE.

关键词： Mobile robots

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Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 70-76页

作者：茅天阳赵文韬王景川陈卫东 Department of Automation Institute of Medical RoboticsShanghai 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

To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.

关键词： autonomous vehicles multi-sensor fusion online calibration

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An adaptive large neighborhood search for the multi-point dynamic aggregation problem

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control Theory and Technology 2024年第3期22卷 360-378页

作者： Shengyu Lu Bin Xin Jie Chen Miao Guo School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

The multi-point dynamic aggregation(MPDA)problem is a challenging real-world *** the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required to travel between these tasks to change the time-varying state of each *** robots are allowed to collaborate on the same task or work separately until all tasks are *** is challenging to generate an effective task execution plan due to the tight coupling between robots abilities and tasks'incremental rates,and the complexity of robot *** effectiveness consideration,we use the variable length encoding to avoid redundancy in the solution *** creatively use the adaptive large neighborhood search(ALNS)framework to solve the MPDA *** the proposed algorithm,high-quality initial solutions are generated through multiple problem-specific solution construction *** heuristics are also used to fix the broken solution in the novel integrated decoding-construction repair process of the ALNS *** results of statistical analysis by the Wilcoxon rank-sum test demonstrate that the proposed ALNS can obtain better task execution plans than some state-of-the-art algorithms in most MPDA instances.

关键词： Adaptive large neighborhood search(ALNS) Multi-point dynamic aggregation(MPDA) Heuristic solution construction Multi-robot collaboration

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Real-time Image Identification for Vehicle Positioning system 4

Real-time Image Identification for Vehicle Positioning Syste...

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4th IEEE International Conference on Electronic Communications, Internet of Things and Big Data, ICEIB 2024

作者： Liu, Chun-Yu Huang, Ching-Huei Juang, Rong-Terng Feng Chia University Department of Automatic Control Engineering Taichung City Taiwan Institute of Aerospace and System Engineering Taipei Tech Taipei City Taiwan

ISBN: (纸本)9798350360721

An innovative vehicle real-time positioning method was developed to maximize the use of existing visible light camera systems on vehicles, especially in areas without Global Positioning system (GPS) signals or blind spots. This approach eliminates the need for additional positioning devices and leverages the potential of existing vehicle driver assistance systems. As vehicles are equipped with cameras for monitoring the surrounding environment, we optimized the use of these existing resources for an efficient and accurate innovation in vehicle positioning. Firstly, we used cameras in four directions (the front, rear, left, and right) of the vehicle to capture images. By integrating images in four directions and using a transformation algorithm, a complete top-down view was formed with geographic information to enhance positioning accuracy. The integrated top-down view image is useful for obtaining information on surrounding environments and identifying the vehicle's real-time location in parking lots. The developed method serves as a foundation for future applications in automated driving planning and positioning. © 2024 IEEE.

关键词： Global positioning system

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Networked control Synthesis of Micro-Grid system Based on Switching Theory 42

Networked Control Synthesis of Micro-Grid System Based on Sw...

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42nd Chinese control Conference, CCC 2023

作者： Luo, Jinming Yao, Lei Xu, Sibo Wang, Hongtao Gao, Jing College of Automation Shenyang Institute of Engineering Key Laboratory of Regional Multi-energy System Integration and Control Shenyang110136 China

ISBN: (纸本)9789887581543

A large number of sensors and controllers in the micro-grid system transmit signals through the network, however, due to the physical limitations of the network bandwidth and service capacity, data transmission in the network will have delays, packet loss and time disorder, which will damage the performance of the system, and even lead to instability of the system. Therefore, in this paper, the switching fuzzy time-delay micro-grid system is established, and the Fuzzy controller of the micro-grid subsystem is designed according to the PDC method, and the switching law is designed, the asymptotic stability condition of the system is given by using the method of single Lyapunov function and convex combination, and the stability of the system is analyzed. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Asymptotic stability

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Grey-box Modeling for IPMSMs Considering Nonlinearity of Torque and Current 50

Grey-box Modeling for IPMSMs Considering Nonlinearity of Tor...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Ohnuma, Takumi Watanabe, Keiya Mano, Shou Department of Electronic Control System Engineering National Institute of Technology Numazu College Shizuoka Japan Multidisciplinary Engineering Course National Institute of Technology Numazu College Shizuoka Japan

ISBN: (纸本)9781665464543

This paper proposes a grey-box model for IPMSMs (Interior Permanent Magnet Synchronous Motors) that accounts for the nonlinear relationship between currents and torque directly. IPMSMs with high power density typically exhibit complex torque characteristics due to the effects of magnetic saturation and spatial harmonics, necessitating the introduction of various nonlinear compensation tables based on magnetic field analysis to ensure control performance. However, inputting data without considering the physical properties can lead to many variables and increased memory usage, which does not necessarily improve control performance. Consequently, models representing magnetic saturation characteristics with a reduced number of parameters, as well as torque estimation methods, are under investigation. Moreover, advancements in high-precision and rapid-response torque sensors, along with magnetic field analysis technologies, have enabled detailed offline measurements of IPMSM torque, with promising prospects for control applications. In this study, we propose an Extended Torque Coefficient (ETC) matrix to express the grey-box model for control purposes, utilizing accurate map data reflective of the actual machine. In addition, the proposed model can be applied to calculate torque gradient in the current vector space, which is maximize torque control performance, while maintaining the ETC matrix. © 2024 IEEE.

关键词： Permanent magnets

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Dynamical systems Based Compliance control Approach Without Direct Force Information 25

Dynamical Systems Based Compliance Control Approach Without ...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： He, Zongyue Guo, Yi Huang, Tianyi Liu, Weitao Shanghai Jiao Tong University Department Of Automation ShangHai200240 China Shanghai Aerospace System Engineering Institute ShangHai201114 China

ISBN: (纸本)9798350340266

Modern robots must be equipped with compliant interaction strategies to undertake complex human-robot interaction tasks. This paper develops a comprehensive control system blending the dynamical systems approach and the force estimation method. The proposed method allows for the switching between two different compliance control strategies according to task requirements. It can regenerate a compliant dynamical system (DS) motion based on the estimated force, ensuring compliance control along the original set trajectory at the motion level. Unlike existing works that rely on force sensors or additional impedance information, the proposed method achieves ideal compliant behavior with minimal information. Simulation experiment results demonstrate the applicability and stability of the proposed method. © 2024 IEEE.

关键词： Dynamical systems

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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A joint sparse Bayesian learning for wideband DOA estimation

A joint sparse Bayesian learning for wideband DOA estimation

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2024 Conference on Spectral Technology and Applications, CSTA 2024

作者： Zhao, Yonghong Liu, Jisong Wang, Junlong Dong, Shuxin Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing Department of Automation and Information Engineering Xi'an University of Technology Shaanxi Xi'an710048 China

ISBN: (纸本)9781510683082

Wideband direction of arrival (DOA) estimation using sensor array is a noteworthy problem frequently occurring in many applications involving radar, sonar, and communication. We present a wideband DOA method based on a sparse Bayesian learning of multiple sub-bands jointly with the redundant dictionary matrix at the reference frequency. Explicitly enforcing the focusing operation and the singular value decomposition (SVD) to sensor measurements is motivated by a desire to decrease the computational complexity and storage capacity. A joint sparse Bayesian learning framework is proposed to deal with multiple sub-bands under one segment to obtain the DOA information. Moreover, the proposed method can be directly extended to multiple segments. Comparing to other wideband DOA estimation methods, the proposed method has the advantages of increased resolution, higher accuracy, and correlation of the sources, as well as not requiring the initial angles for the focusing matrix. Simulations are provided to show the effectiveness and improved performance of the proposed method. © 2024 SPIE.

关键词： Direction of arrival

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Quality-Relevant Modeling and Monitoring of Industrial Cyber-Physical systems: The Semi-Supervised Dynamic Latent Variable Models

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical systems 2025年 3卷 39-47页

作者： Zhou, Le Wang, Yaoxin Wu, Yuanqing He, Shenghuang Song, Zhihuan Zhejiang University of Science and Technology Department of Automation and Electrical Engineering Hangzhou310023 China Guangdong University of Technology Department of Automation Guangzhou510006 China Dongguan University of Technology Department of Computer Science and Technology Dongguan523808 China Ningbo Industrial Internet Institute Ningbo315012 China Zhejiang University Department of Control Science and Engineering Hangzhou310027 China

In modern industrial cyber-physical systems, a mass of process variables has been obtained by the high-sampling online sensors. Meanwhile, the key quality indexes are usually obtained infrequently from the laboratory. Hence, these quality variables are with low sampling rate. To avail of the complete process and quality variables with various sampling rates in the dynamic processes, a set of semi-supervised dynamic latent variable models are proposed for dynamic modeling and quality-relevant monitoring. The proposed models have built a unified structure to consider both the auto-correlations and cross-correlations between the process and quality variables with unbalanced sampling sizes. Hence, the feature extraction of the time series data is dynamically adjusted under the guidance of the quality variables. Then, the quality-relevant monitoring schemes are proposed, which is validated by a numerical case and an actual wastewater treatment process. © 2024 IEEE. All rights reserved.

关键词： Indexes Probabilistic logic Kalman filters Noise Cyber-physical systems Analytical models Parameter estimation Time series analysis Process monitoring Numerical models

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