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Simulation and Field Testing of Multiple Vehicles Collision Avoidance Algorithms

IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1045-1063页

作者： Chaoyue Zu Chao Yang Jian Wang Wenbin Gao Dongpu Cao Fei-Yue Wang the College of Computer Science and Technology Jilin UniversityChangchun 130012China Jiangsu XCMG Construction Machinery Research Institute Ltd. Xuzhou 221004China the College of Computer Science and Technology Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of EducationJilin UniversityChangchun 130012 Chongqing Xibu Automobile Proving Ground Management Co.Ltd. Chongqing 404100China the State Grid JIBEI Electric Power Company Limited Management Training Center China the Advanced Vehicle Engineering Center Cranfield UniversityCranfield MK430ALUK the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

A global planning algorithm for intelligent vehicles is designed based on the A* algorithm, which provides intelligent vehicles with a global path towards their destinations. A distributed real-time multiple vehicle collision avoidance(MVCA)algorithm is proposed by extending the reciprocal n-body collision avoidance method. MVCA enables the intelligent vehicles to choose their destinations and control inputs independently,without needing to negotiate with each other or with the coordinator. Compared to the centralized trajectory-planning algorithm, MVCA reduces computation costs and greatly improves the robustness of the system. Because the destination of each intelligent vehicle can be regarded as private, which can be protected by MVCA, at the same time MVCA can provide a real-time trajectory planning for intelligent vehicles. Therefore,MVCA can better improve the safety of intelligent vehicles. The simulation was conducted in MATLAB, including crossroads scene simulation and circular exchange position simulation. The results show that MVCA behaves safely and reliably. The effects of latency and packet loss on MVCA are also statistically investigated through theoretically formulating broadcasting process based on one-dimensional Markov chain. The results uncover that the tolerant delay should not exceed the half of deciding cycle of trajectory planning, and shortening the sending interval could alleviate the negative effects caused by the packet loss to an extent. The cases of short delay(< 100100 ms) and low packet loss(< 5%) can bring little influence to those trajectory planning algorithms that only depend on V2 V to sense the context, but the unpredictable collision may occur if the delay and packet loss are further worsened. The MVCA was also tested by a real intelligent vehicle, the test results prove the operability of MVCA.

关键词： Collision avoidance intelligent vehicles intervehicle communication simulation testing trajectory planning

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A fault-tolerant iterative learning control for Takagi-Sugeno fuzzy systems

A fault-tolerant iterative learning control for Takagi-Sugen...

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Conference on control and Fault-Tolerant Systems (SysTol)

作者： Marcin Pazera Bartłomiej Sulikowski Norbert Kukurowski Marcin Witczak Christophe Aubrun Institute of Control and Computation Engineering University of Zielona Góra 65-516 Zielona Góra Poland Centre de Recherche en Automatique de Nancy CRAN-UMR 7039 Nancy-Universite CNRS F-54506 Vandoeuvre-les-Nancy Cedex France

The paper proposes a control scheme which is a combination of Fault-Tolerant control and Iterative Learning control. The main goal here is to compensate the effect of the actuator fault almost immediately. The control scheme is based on an observer, that estimates both the state and the actuator fault. Moreover, the design proposed guarantees the stability for the observer and the external disturbances influence is attenuated by application of the H ∞ methodology. Finally, in order to evaluate the correctness and the performance of the designed scheme it is applied in Multi-tank system control scenario.

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Two-stage solution of quantum process tomography in the natural basis

Two-stage solution of quantum process tomography in the natu...

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IEEE Conference on Decision and control

作者： Shuixin Xiao Yuanlong Wang Daoyi Dong Jun Zhang School of Engineering and Information Technology University of New South Wales Canberra ACT Australia UMich-SJTU Joint Institute Shanghai Jiao Tong University Shanghai China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China Centre for Quantum Computation and Communication Technology (Australian Research Council) Centre for Quantum Dynamics Griffith University Brisbane Queensland Australia

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Quantum process tomography (QPT) is a critical task for characterizing the dynamics of quantum systems and achieving precise quantum control. In this paper, we propose an effective two-stage solution (TSS) for QPT in the natural basis. Our algorithm has O(d 6 ) computational complexity where d is the dimension of the quantum system. We establish an error bound $O\left( {\frac{{{d^5}}}{{\sqrt N }}} \right)$ where N is the copy number for each output state. The numerical examples compared with a convex optimization algorithm demonstrate the effectiveness of our algorithm.

关键词： Quantum system Error analysis Heuristic algorithms Process control Tomography Quantum state Convex functions

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Unveiling the origin of unconventional moiré ferroelectricity

arXiv

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arXiv 2024年

作者： Niu, Ruirui Li, Zhuoxian Han, Xiangyan Liu, Qianling Qu, Zhuangzhuang Wang, Zhiyu Han, Chunrui Watanabe, Kenji Taniguchi, Takashi Liu, Kaihui Mao, Jinhai Shi, Wu Peng, Bo Han, Zheng Vitto Gan, Zizhao Lu, Jianming State Key Laboratory for Mesoscopic Physics School of Physics Peking University Beijing100871 China Institute of Microelectronics Chinese Academy of Sciences Beijing100029 China University of Chinese Academy of Sciences Beijing100049 China National Institute for Materials Science 1-1 Namiki Tsukuba305-0044 Japan School of Physical Sciences CAS Center for Excellence in Topological Quantum Computation University of Chinese Academy of Sciences Beijing China State Key Laboratory of Surface Physics Institute for Nanoelectronic Devices and Quantum Computing Fudan University Shanghai200433 China Zhangjiang Fudan International Innovation Center Fudan University Shanghai201210 China National Engineering Research Center of Electromagnetic Radiation Control Materials School of Electronic Science and Engineering University of Electronic Science and Technology of China Chengdu China State Key Laboratory of Quantum Optics and Quantum Optics Devices Institute of Opto-Electronics Shanxi University Taiyuan030006 China Collaborative Innovation Center of Extreme Optics Shanxi University Taiyuan030006 China

Interfacial ferroelectricity emerges in heterostructures consisting of non-polar van der Waals (vdW) layers, greatly expanding the scope of two dimensional ferroelectrics. In particular, the unconventional moiré ferroelectricity observed in bilayer graphene/boron nitride (BN) heterostructures, exhibits promising functionalities with topological current, superconductivity and synaptic responses. However, the debate about its mechanism – correlation driven charge transfer between two graphene layers – limits device reproducibility and hence large-scale production. Here by designing a single-layer graphene encapsulated by lattice-mismatched WSe2, we identify the ferroelectricity as stemming from – instead of graphene moiré bands – the particular BN, where interfacial sliding ferroelectricity must play a role. With similar structures, multilayer twisted MoS2 is found to reproduce the ferroelectricity. The key is a conductive moiré ferroelectric, where the screened gate and the pinned domain wall together result in unchanged electronic states, i.e. anomalous screening. The intimate connection to interfacial sliding ferroelectricity thus provides advantages of diverse choices of constituent materials and robust polarization switching while preserving the unique anomalous screening, paving the way to reproducible and reliable memory-based devices in artificial intelligence. © 2024, CC BY.

关键词： Ferroelectricity

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Reachability tree in liveness analysis of Petri net-based cyber-physical systems

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AIP Conference Proceedings 2022年第1期2611卷

作者： Mateusz Popławski Marcin Wojnakowski Grzegorz Bazydło Remigiusz Wiśniewski Institute of Control and Computation Engineering University of Zielona Góra ul. prof. Z. Szafrana 2 65-516 Zielona Gora Poland

Liveness is one of the crucial properties in the analysis of the Petri net-based cyber-physical systems. The paper proposes two algorithms related to the analysis of the liveness. The first one is dedicated to the construction of the reachability tree of the analysed Petri net, and the second one to the analysis of the liveness of the net (based on the generated reachability tree). Operation of both algorithms was explained with the use of the multi-robot CPS case-study.

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线性连续重复过程的区域极点约束迭代学习控制

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华南理工大学学报（自然科学版） 2020年第1期48卷 114-122页

作者：汪磊杨慧中陶洪峰 Wojciech Paszke 江南大学教育部轻工过程先进控制重点实验室江苏无锡214122 Institute of Control and Computation Engineering University of Zielona Goraul.Szafrana 265-516 Zielona GoraPoland

现有的迭代学习控制研究关注于迭代学习控制系统在迭代批次方向的鲁棒收敛性,对控制系统在时间方向上的性能关注较少,没有展现出控制系统的动态特征。文中研究了有限频域范围线性连续重复过程在区域极点约束下的迭代学习控制问题。首先... 详细信息

现有的迭代学习控制研究关注于迭代学习控制系统在迭代批次方向的鲁棒收敛性,对控制系统在时间方向上的性能关注较少,没有展现出控制系统的动态特征。文中研究了有限频域范围线性连续重复过程在区域极点约束下的迭代学习控制问题。首先,结合二维系统理论,在时域中建立迭代学习控制系统的二维连续Roesser模型;然后基于Kalman-Yakubovich-Popov(KYP)引理,分析迭代学习控制系统的跟踪性能和区域极点约束问题;进而以线性矩阵不等式的形式给出控制器存在的充分条件,保证系统在批次方向和时间方向的性能,并将结果扩展到结构不确定性模型中;最后,通过典型的跟踪伺服系统执行机构的控制仿真验证了设计方案的有效性和可行性。

关键词：线性连续重复过程区域极点约束迭代学习控制 Kalman-Yakubovich-Popov引理

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KartalOl: Transfer learning using deep neural network for iris segmentation and localization: New dataset for iris segmentation

arXiv

引用

arXiv 2021年

作者： Khiarak, Jalil Nourmohammadi Nasab, Samaneh Salehi Jaryani, Farhang Moafinejad, Seyed Naeim Pourmohamad, Rana Amini, Yasin Noshad, Morteza Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland School of Engineering Lorestan University Aleshtar Campus Aleshtar Iran Faculty of Engineering Arak University Arak Iran Department of Physics Shahid Beheshti University Tehran Iran School of Computing Informatics and Decision Systems Engineering Arizona State University AZ United States Faculty of Electrical and Computer Engineering University of Kharazmi Iran Stanford University Stanford United States

Iris segmentation and localization in unconstrained environments is challenging due to long distances, illumination variations, limited user cooperation, and moving subjects. To address this problem, we present a U-Net with a pre-trained MobileNetV2 deep neural network method. We employ the pre-trained weights given with MobileNetV2 for the ImageNet dataset and fine-tune it on the iris recognition and localization domain. Further, we have introduced a new dataset, called KartalOl, to better evaluate detectors in iris recognition scenarios. To provide domain adaptation, we fine-tune the MobileNetV2 model on the provided data for NIR-ISL 2021 from the CASIA-Iris-Asia, CASIA-Iris-M1, and CASIA-Iris-Africa and our dataset. We also augment the data by performing left-right flips, rotation, zoom, and brightness. We chose the binarization threshold for the binary masks by iterating over the images in the provided dataset. The proposed method is tested and trained in CASIA-Iris-Asia, CASIA-Iris-M1, CASIA-Iris-Africa, along the KartalOl dataset. The experimental results highlight that our method surpasses state-of-the-art methods on mobile-based benchmarks. The codes and evaluation results are publicly available at https://***/Jalilnkh/KartalOl-NIR-ISL2021031301. Copyright © 2021, The Authors. All rights reserved.

关键词： Deep neural networks

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Luminescent nanoparticles in a shrinking spherical cavity - probing the evaporating microdroplets of colloidal suspension - optical lattices and structural transitions

arXiv

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arXiv 2022年

作者： Shopa, Iaroslav Kolwas, MacIej Kamińska, Izabela Derkachov, Gennadiy Nyandey, Kwasi Jakubczyk, Tomasz Wojciechowski, Tomasz Derkachova, Anastasiya Jakubczyk, Daniel Faculty of Mathematics and Natural Sciences College of Sciences Cardinal Stefan Wyszyński University in Warsaw Warsaw01-815 Poland Institute of Physics Polish Academy of Sciences Warsaw02-668 Poland Laser and Fibre Optics Centre Department of Physics School of Physical Sciences College of Agriculture and Natural Sciences University of Cape Coast Cape Coast Ghana Institute of Control and Computation Engineering Warsaw University of Technology Warsaw00-665 Poland International Research Centre MagTop Institute of Physics Polish Academy of Sciences Warsaw02-668 Poland

We investigated the possibility of using charged luminescent nanoparticles as nanoprobes for studying the evolution scenarios of surface and internal structure of slowly evaporating free (light-absorbing) microdroplets of suspension. Three concentrations (1, 10 and 50 mg/ml) of luminescent nanoparticles were used. Single microdroplets were kept in a linear electrodynamic quadrupole trap and the luminescence was excited with a CW IR laser with an irradiance of ∼50 W/mm2. Since the microdroplet acted as an optical spherical resonance cavity, the interaction of nanoparticles with light both reflected and modified the internal light field mode structure. Depending on the nanoparticle concentration used, it led, among others, to a very significant increase in modulation depth and narrowing of spherical cavity resonance maxima (morphology dependent resonances - MDRs) observed both in luminescence and scattering, the abrupt changes in the ratio between the luminescence and the scattering and the bi-stability in luminescence signal. The observed phenomena could be attributed to the interaction of optical MDRs with nanoparticle lattice shells forming and changing their structure at the micro-droplet surface. In this way, the formation and collapse of such lattices could be detected. © 2022, CC BY.

关键词： Luminescence

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Neural-network-based high-order iterative learning control

Neural-network-based high-order iterative learning control

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American control Conference

作者： Krzysztof Patan Maciej Patan Institute of Control and Computation Engineering University of Zielona Gora Poland

ISBN: (纸本)9781538679012;9781538679265

The purpose of this work is to develop an effective approach to design the high-order iterative learning control scheme based on neural networks. The idea adopted here is to propose the high-order learning controller which is able to combine the control information from the previous trials and in this way to improve its convergence speed. Sufficient conditions for convergence of the developed ILC scheme are derived and constructively incorporated into training process of neural controller. The efficiency of the proposed approach is illustrated on the example of a pneumatic servomechanism.

关键词： Iterative learning control higher-order Sufficient conditions learning control Converge Information control controllers

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A Gramian Approach to Entanglement in Bipartite Finite Dimensional Systems: The case of pure states

arXiv

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arXiv 2019年

作者： Gielerak, Roman Sawerwain, Marek Institute of Control & Computation Engineering University of Zielona Góra

It is observed that the reduced density matrices corresponding to pure states of bipartite qudits systems possess the Gram matrix structure. This observation has opened a possibility to analyse the entanglement in such systems from the purely geometrical point of view. In particular a new, of the geometrical nature quantitative measure of an entanglement has been proposed. Using the invented Gram matrix approach, a version of non-linear purification of a mixed states describing system analysed has been presented. Copyright © 2019, The Authors. All rights reserved.

关键词： Purification

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