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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Typical Scene Material Classification Based on Remote Sensing Image Data 12

Typical Scene Material Classification Based on Remote Sensin...

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SPIE 12th International Symposium on Multispectral Image Processing and Pattern Recognition, MIPPR 2023

作者： Gao, Yang Dai, Ling Li, Haipeng Zhang, Yini Wang, Feng Beijing Aerospace Automatic Control Institute Beijing100854 China School of Electrical and Automation Engineering Nanjing Normal University Jiangsu Nanjing210023 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Hubei Wuhan430074 China

ISBN: (数字)9781510675001

ISBN: (纸本)9781510674998

In spectral scene simulation applications, it is necessary to recognize and detect desert satellite images and satellite images containing water. However, previous network models such as AlexNet, VggNet, and GoogleNet have gradually fallen behind the trend of the times. Compared with the latest network models, they not only have slow training speeds but also do not achieve high accuracy. Therefore, this study adopts a series of the latest network models to solve this problem and compare and analyze the results. © 2024 SPIE.

关键词： Semantic Segmentation

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SAR performance-based fault diagnosis for electrohydraulic control system:A novel FDI framework for closed-loop system

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Chinese Journal of Aeronautics 2022年第10期35卷 381-392页

作者： Yang ZHANG Shaoping WANG Jian SHI Xinyu YANG Jiarui ZHANG Xi WANG School of Energy and Power Engineering Beihang UniversityBeijing 100191China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Institute for Automatic Control and Complex Systems(AKS) University of Duisburg-EssenDuisburg 47057Germany

Model-based fault diagnosis serves as an efficient and powerful technique in addressing fault detection and isolation(FDI)issues for control ***,the standard methods and their modifications still encounter some difficulties in algorithm design and application for complex higher-order *** avoid these difficulties,a novel fault diagnosis framework based on multiple performance indicators of closed-loop control system is *** this framework,a socalled performance residual vector is constructed to measure the differences between the real system and the nominal model in terms of system stability,accuracy,and rapidity(SAR)*** criteria for quantification,normalization of the SAR residuals and the explicit mappings between the thresholds and the required performance are *** can be easily achieved simultaneously by monitoring the normalized residual vector length and direction in the SAR performance residual space.A case study on electro-hydraulic servo control system of turbofan engine is adopted to demonstrate the effectiveness of the proposed method.

关键词： Electro-hydraulic servo valve(EHSV) Fault diagnosis Fuel metering unit Performance degradation Performance residual Stability,accuracy,and rapidity(SAR)

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Spacecraft Integrated Pose Determination with Unknown Noise Covariances

Spacecraft Integrated Pose Determination with Unknown Noise ...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Chen, Hang Hu, Qinglei Wu, Huai-Ning Duan, Chao Chen, Bin Zhang, Peng School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Beihang Hangzhou Innovation Institute Yuhang Hangzhou310023 China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Peng Cheng Laboratory Shenzhen518000 China Beijing Institute of Control Engineering Beijing100094 China

ISBN: (纸本)9789811966125

A novel robust unscented Kalman filter (UKF) is developed for orbiting spacecraft pose determination without knowing prior noise statistical characteristics by using dual quaternion formulation. First, an adjustment coefficient multiplied by a predesigned positive definite matrix is updated iteratively for the process noise covariance adaptation and the moving window of the measurement innovation are adopted for the measurement noise covariance estimation. Then, the adaptation method is incorporated into the dual-quaternion-based UKF procedure where the dual modified Rodrigues parameters (MRPs) are adopted for sigma points description to avoid violating the quaternion normalization constraint. Finally, the effectiveness and practical usefulness of the developed algorithm are verified via numerical simulation examples. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Covariance matrix

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Terahertz Spectroscopic Characterization and Thickness Evaluation of Internal Delamination Defects in GFRP Composites

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Chinese Journal of Mechanical engineering 2023年第1期36卷 190-210页

作者： Walter Nsengiyumva Shuncong Zhong Manting Luo Bing Wang Fujian Provincial Key Laboratory of Terahertz Functional Devices and Intelligent Sensing School of Mechanical Engineering and AutomationFuzhou UniversityFuzhou350108China Institute of Precision Instrument and Intelligent Measurement&Control Fuzhou UniversityFuzhou350108P.R.China School of Mechanical and Electrical Engineering Putian UniversityPutian351100China

The use of terahertz time-domain spectroscopy(THz-TDS)for the nondestructive testing and evaluation(NDT&E)of materials and structural systems has attracted significant attention over the past two decades due to its superior spatial resolution and capabilities of detecting and characterizing defects and structural damage in non-conducting *** this study,the THz-TDS system is used to detect,localize and evaluate hidden multi-delamination defects(i.e.,a three-level multi-delamination system)in multilayered GFRP composite *** obtain accurate results,a wavelet shrinkage de-noising algorithm is used to remove the noise from the measured time-of-flight(TOF)*** thickness and location of each delamination defect in the z-direction(i.e.,through-the-thickness direction)are calculated from the de-noised TOF signals considering the interaction between the pulsed THz waves and the different interfaces in the GFRP composite laminates.A comparison between the actual and the measured thickness values of the delamination defects before and after the wavelet shrinkage denoising process indicates that the latter provides better results with less than 3.712%relative error,while the relative error of the non-de-noised signals reaches 16.388%.Also,the power and absorbance levels of the THz waves at every interface with different refractive indices in the GFRP composite laminates are evaluated based on analytical and experimental *** present study provides an adequate theoretical analysis that could help NDT&E specialists to estimate the maximum thickness of GFRP composite materials and/or structures with different interfaces that can be evaluated by the ***,the accuracy of the obtained results highlights the capabilities of the THz-TDS for the NDT&E of multilayered GFRP composite laminates.

关键词： Glass-fiber-reinforced polymer-matrix(GFRP)composites Terahertz time-domain spectroscopy(THz-TDS) Nondestructive testing and evaluation(NDT&E) Stationary wavelet transform(SWT) Thickness evaluation Delamination defects

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Single-ended protection method for hybrid HVDC transmission line based on transient voltage characteristic frequency band

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Protection and control of Modern Power Systems 2023年第2期8卷 207-217页

作者： Hongchun Shu Shixin Wang Shunguang Lei Yunnan Key Laboratory of Green Energy Electric Power Measurement DigitalizationControl and ProtectionKunming University of Science and TechnologyKunming 650500Yunnan ProvinceChina School of Electrical Engineering and Automation Harbin Institute of TechnologyHarbin 150001Heilongjiang ProvinceChina

Hybrid high-voltage direct current(HVDC)transmission has the characteristic of long transmission distance,complex corridor environment,and rapid fault evolution of direct current(DC)*** high fault current can easily cause irreversible damage to power devices,rapid and reliable line protection and isolation are necessary to improve the security and reliability of hybrid HVDC transmission *** address such requirement,this paper proposes a single-ended protection method based on transient voltage frequency band ***,the frequency characteristics of the smoothing reactor,DC filter,and DC line are analyzed,and the characteristic frequency band is defined.A fault criterion is then constructed based on the voltage characteristic frequency band energy,and faulty pole selection is performed according to the fault voltage characteristic frequency band energy *** proposed protection method is verified by simulation,and the results show that it can rapidly and reliably identify internal and external faults,accurately select faulty poles without data communication synchronization,and has good fault-resist-ance and anti-interference performance.

关键词： Boundary frequency characteristics Characteristic frequency band Hybrid HVDC Single-end protection Transient voltage

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Data augmentation method for light guide plate based on improved CycleGAN

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Optoelectronics Letters 2024年

作者： GONG Yefei YAN Chao XIAO Ming LU Mingli GAO Hua School of Electrical and Automation Engineering，Changshu Institute of Technology Jiangsu Engineering Research Center of Industrial Robot Complex Process Intelligent Control School of Electrical Engineering， Yancheng Institute of Technology Wuxi Novo Automation Technology Corp

An improved CycleGAN network method for defect data augmentation based on feature fusion and self attention residual module is proposed to address the insufficiency of defect sample data for light guide plate(LGP) in production， as well as the problem of minor defects. Two optimizations are made to the generator of CycleGAN: 1) Fusion of low resolution features obtained from partial up-sampling and down-sampling with high-resolution features. 2) Combine self attention mechanism with residual network structure to replace the original residual module. Qualitative and quantitative experiments were conducted to compare different data augmentation methods， and the results showed that the defect images of the LGP generated by the improved network were more realistic， and the accuracy of the YOLOv5 detection network for the LGP was improved by 5.6%， proving the effectiveness and accuracy of the proposed method.

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Fault Modeling and Diagnosis for Spacecraft Attitude control System Using Deep Learning

Fault Modeling and Diagnosis for Spacecraft Attitude Control...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Guo, Pengyu Hu, Qinglei Wu, Huai-Ning Duan, Chao Chen, Bin Zhang, Peng School of Automation Science and Electrical Engineering Beihang University Beijing100190 China Beihang Hangzhou Innovation Institute Yuhang Hangzhou310023 China Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100190 China Peng Cheng Laboratory Shenzhen518000 China Beijing Institute of Control Engineering Beijing100094 China

ISBN: (纸本)9789811966125

The health monitoring system is significant for the reliable operation of spacecraft. In this paper, various fault models for controlling torque gyroscopes are established, and the learning network is trained with uniformly sampled data of fault. Then a data-driven fault diagnosis method based on deep learning is proposed. The method fully extracts the features to describe the classification of the multi-modal actuator faults, and trains the fault model with a large amount of spacecraft data under actuator faults. Then the rapid detection and classification of actuator faults are realized by the unknown fault model. Specifically, a spacecraft attitude control model is established to generate the sample data for the problem of insufficient fault data. Besides, the stack encoder is used to automatically reduce the data dimension and extract the main features from each set of data. Further, softmax classifier is introduced for fault model training. Finally, numerical simulations are illustrated to verify the reliability of the fault diagnosis method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Attitude control

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Disagreement and Antagonism in Signed Networks: A Survey

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1166-1187页

作者： Yuxin Wu Deyuan Meng Zheng-Guang Wu Seventh Research Division Beihang University(BUAA)and also with the School of Automation Science and Electrical EngineeringBeihang University(BUAA)Beijing 100191China National Laboratory of Industrial Control Techno-logy Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China IEEE

Signed networks refer to a class of network systems including not only cooperative but also antagonistic interactions among *** to the existence of antagonistic interactions in signed networks,the agreement of nodes may not be established,instead of which disagreement behaviors generally *** paper reviews several different disagreement behaviors in signed networks under the single-integrator linear dynamics,where two classes of topologies,namely,the static topology and the dynamic topology,are *** the static signed networks with the adjacency weights as(time-varying)scalars,we investigate the convergence behaviors and the fluctuation behaviors with respect to fixed topologies and switching topologies,respectively,and give some brief introductions on the disagreement behaviors of general time-varying signed ***,several classes of behavior analysis approaches are also *** the dynamic signed networks with the adjacency weights as transfer functions or linear time-invariant systems,we show the specific descriptions and characteristics of them such that the disagreement behaviors can be obtained by resorting to the derived static signed ***,we give their applications to the behavior analysis of static signed networks in the presence of high-order dynamics or communication delays.

关键词： Antagonistic interaction disagreement behavior dynamic topology signed network static topology

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Research on the Influence of Inventory Optimization Level on System Reliability 3

Research on the Influence of Inventory Optimization Level on...

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3rd International Conference on Electronic Information engineering and Computer Science, EIECS 2023

作者： Wang, Hongyan Xiang, Gang Lin, Ruishi Li, Dongpeng Peng, Yu Zhou, Gongcheng Cui, Langfu Zhang, Qingzhen Li, Liang Beihang University School of Automation Science and Electrical Engineering Beijing China Beijing Aerospace Automatic Control Institute Beijing China High Tech Research Institute Beijing China

ISBN: (纸本)9798350316674

This paper aims to investigate the impact of spare parts management on system reliability in complex equipment systems, primarily focusing on two factors: the system's continuous operational duration and the total cost associated with spare parts storage. By establishing a multi-objective optimization model, we have identified an optimal spare parts storage strategy that strikes a balance between the total cost and the system's continuous operational duration. The experimental results indicate that, within the assumed 3-year effective operational cycle of the complex equipment system, when equipping it with 2, 2, and 3 spare parts for the gyroscope, accelerometer, and servo motor respectively, the system's longest continuous operating duration is 37,300 hours, and the minimum cost is 84,000 RMB. Compared to the single-objective optimization model, this model not only reduces the total cost but also ensures that the system will not be interrupted due to spare parts shortages within its normal lifecycle. This study provides valuable insights and optimization methods for improving the reliability of complex systems. © 2023 IEEE.

关键词： complex systems maintenance support multi-objective optimization spare parts management system reliability

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