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Meter-Scale Thin-Walled Structure with Lattice Infill for Fuel Tank Supporting Component of Satellite:Multiscale Design and Experimental Verification

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Computer Modeling in Engineering & Sciences 2024年第1期138卷 201-220页

作者： Xiaoyu Zhang Huizhong Zeng Shaohui Zhang Yan Zhang Mi Xiao Liping Liu Hao Zhou Hongyou Chai Liang Gao Beijing Key Laboratory of Lightweight Multi-Functional Composite Materials and Structures Beijing Institute of TechnologyBeijing100081China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing100094China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan430081China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

Lightweight thin-walled structures with lattice infill are widely desired in satellite for their high stiffness-to-weight ratio and superior buckling strength resulting fromthe sandwich *** structures can be fabricated bymetallic additive manufacturing technique,such as selective laser melting(SLM).However,the maximum dimensions of actual structures are usually in a sub-meter scale,which results in restrictions on their appliance in aerospace and other *** this work,a meter-scale thin-walled structure with lattice infill is designed for the fuel tank supporting component of the satellite by integrating a self-supporting lattice into the thickness optimization of the *** designed structure is fabricated by SLM of AlSi10Mg and cold metal transfer welding ***-static mechanical tests and vibration tests are both conducted to verify the mechanical strength of the designed large-scale lattice thin-walled *** experimental results indicate that themeter-scale thin-walled structure with lattice infill could meet the dimension and lightweight requirements of most spacecrafts.

关键词： Thin-walled structure lattice infill supporting component selective laser melting satellite

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GeoPro-VO: Dynamic Obstacle Avoidance with Geometric Projector Based on Velocity Obstacle

arXiv

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arXiv 2024年

作者： Huang, Jihao Chi, Xuemin Zeng, Jun Liu, Zhitao Su, Hongye The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Cruise LLC United States

Optimization-based approaches are widely employed to generate optimal robot motions while considering various constraints, such as robot dynamics, collision avoidance, and physical limitations. It is crucial to efficiently solve the optimization problems in practice, yet achieving rapid computations remains a great challenge for optimization-based approaches with nonlinear constraints. In this paper, we propose a geometric projector for dynamic obstacle avoidance based on velocity obstacle (GeoPro-VO) by leveraging the projection feature of the velocity cone set represented by VO. Furthermore, with the proposed GeoPro-VO and the augmented Lagrangian spectral projected gradient descent (ALSPG) algorithm, we transform an initial mixed integer nonlinear programming problem (MINLP) in the form of constrained model predictive control (MPC) into a sub-optimization problem and solve it efficiently. Numerical simulations are conducted to validate the fast computing speed of our approach and its capability for reliable dynamic obstacle avoidance. Copyright © 2024, The Authors. All rights reserved.

关键词： Constrained optimization

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Adaptive Pre-Processing Linear Output Regulation with Non - Vanishing Measurements

Adaptive Pre-Processing Linear Output Regulation with Non - ...

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American control Conference (ACC)

作者： Qi Han Lei Wang Lorenzo Marconi Zhitao Liu Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University China CASY-DEI University of Bologna Italy

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper studies adaptive pre-processing output regulation problem of linear systems in the presence of non-vanishing measurements and unknown linear exosystems. The proposed regulator is comprised of a washout filter, a pre-processing internal model and a stabilizer, all in continuous-time form and parameterized by parameters acting as the state of a discrete-time identifier. Under a persistency of excitation condition, it is shown that the resulting closed-loop signals are bounded and the regulation error asymptotically converges to zero. Finally, as an extension, we show through an example that the proposed regulator can be applied to a class of nonlinear systems.

关键词： Linear systems Adaptation models Regulators Adaptive systems Measurement uncertainty Regulation Steady-state

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Path Planning for Autonomous Driving with Curvature-considered Quadratic Optimization

Path Planning for Autonomous Driving with Curvature-consider...

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IEEE Symposium on Intelligent Vehicle

作者： Ziang Zhang Ziyi Zou Xiang Li Mingyi Wang Yixu Wang Xiaoqing Guan You Wang Guang Li State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou China

Path planning is a crucial module in motion planning for autonomous driving, aiming at generating kinematically feasible and collision-free paths. Furthermore, the smoothness of generated path is significant for passengers’ comfortable feelings. In this paper, we propose an improved quadratic programming approach that generates optimal paths in urban structure scenarios with the Frenét frame, taking the cost of the path curvature into consideration explicitly. The proposed second-order Taylor-expansion estimation of the path curvature with the lateral spatial parameters can reflect the actual change of path curvature. Various simulated scenarios verify the effectiveness of our proposed method and the improvement of path quality by adding the curvature objective in the optimization procedure. The source code is released as an open-source package for the community.

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Learning Adaptive Manipulation of Objects with Revolute Joint: A case Study on Varied Cabinet Doors Opening

Learning Adaptive Manipulation of Objects with Revolute Join...

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Chinese control Conference (CCC)

作者： Hongxiang Yu Dashun Guo Zhongxiang Zhou Yue Wang Rong Xiong The State Key Laboratory of Industrial Control and Technology The Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

This paper introduces a learning-based framework for robot adaptive manipulating the object with a revolute joint in unstructured environments. We concentrate our discussion on various cabinet door opening tasks. To improve the performance of Deep Reinforcement Learning in this scene, we analytically provide an efficient sampling manner utilizing the constraints of the objects. To open various kinds of doors, we add encoded environment parameters that define the various environments to the input of out policy. To transfer the policy into the real world, we train an adaptation module in simulation and fine-tune the adaptation module to cut down the impact of the policy-unaware environment parameters. We design a series of experiments to validate the efficacy of our framework. Additionally, we testify to the model's performance in the real world compared to the traditional door opening method.

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Recognition of Coil Position Information in Dynamic Wireless Charging System Based on Multiple Linear Regression

Recognition of Coil Position Information in Dynamic Wireless...

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Annual Conference of industrial Electronics Society

作者： Xuchi Xue Zhitao Liu Jia Liu Wenjie Chen Mengting Zhang Jiawang Yue State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

The fluctuation in system efficiency caused by coil misalignment in wireless power transfer has drawn the attention of researchers in the ***, this paper proposes a method to obtain coil misalignment. By utilizing the acquired coil position information, anti-misalignment correction can be applied to enhance system efficiency. Firstly, two auxiliary coils are added at the receiving end. Then, the misalignment between the X and Y axes is converted into polar coordinates. The output current and coil position misalignment angle are used as inputs to establish a multiple linear regression model for identifying the receiving end's position information. Finally, a random motion trajectory is set and simulated in the system to validate the feasibility of the proposed model.

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Event-Triggered Fully Distributed control: A Model-Free Adaptive Learning Algorithm

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IEEE Transactions on Automatic control 2025年

作者： Ma, Yong-Sheng Che, Wei-Wei Wu, Zheng-Guang Northeastern University College of Information Science and Engineering Shenyang266071 China Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou310027 China

This paper studies the consensus problem in multi-agent systems (MASs) under the challenge of an unknown system model and limited communication resources. A novel model-free adaptive learning algorithm is developed to learn the controller from system data. A model-based event-triggered fully distributed control (ET-FDC) algorithm is proposed to achieve consensus while saving the limited communication resources. Furthermore, a data-driven systematic learning methodology for the ET-FDC algorithm is introduced to eliminate the need for a system model. Compared with existing approaches, the main advantages of the proposed method are that it not only avoids using the system model and global topology information, but also reduces unnecessary communication. Finally, simulations are presented to illustrate the superiority of the theoretical results. © 2025 IEEE.

关键词： Contrastive Learning

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A Decoupled and Linear Framework for Global Outlier Rejection over Planar Pose Graph

A Decoupled and Linear Framework for Global Outlier Rejectio...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Tianyue Wu Fei Gao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

We propose a robust framework for planar pose graph optimization contaminated by loop closure outliers. Our framework rejects outliers by first decoupling the robust PGO problem wrapped by a Truncated Least Squares kernel into two subproblems. Then, the framework introduces a linear angle representation to rewrite the first subproblem that is originally formulated in rotation matrices. The framework is configured with the Graduated Non-Convexity (GNC) algorithm to solve the two non-convex subproblems in succession without initial guesses. Thanks to the linearity property of the angle representation, our framework requires only a linear solver to optimally solve the optimization problems encountered in GNC. We extensively validate the proposed framework, named DEGNC- LAF (DEcoupled Graduated Non-Convexity with Linear Angle Formulation) in planar PGO benchmarks. It turns out that it runs significantly (sometimes up to over 30 times) faster than the standard and general-purpose GNC while resulting in high-quality estimates.

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Simulated Ising Annealing Algorithm with Gaussian Augmented Hamiltonian Monte Carlo 42

Simulated Ising Annealing Algorithm with Gaussian Augmented ...

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42nd Chinese control Conference, CCC 2023

作者： Li, Langyu Wang, Hao Xie, Zhixin Liu, Zixuan Cui, Wei Pan, Yu Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China School of Automation Science and Engineering South China University of Technology Guangzhou510641 China School of Mechanical Engineering and Automation Harbin Institude of Technology Shenzhen518055 China

ISBN: (纸本)9789887581543

A numerical technique called Simulated Ising Annealing (SIA) uses digital computers to obtain approximations of the ground states of Ising models. The quadratic unconstrained binary optimization (QUBO) problem in combinatorial optimization, which is challenging to solve through exhaustive search, has significant linkages to the Ising model. Therefore, SIA's main objective is to identify a better solution in finite iterations. In order to enhance the performance of the simulated annealing procedure, we adopt a Gaussian augmented Hamiltonian Monte Carlo (GAHMC) method in this study. We contrasted our algorithm with Gibbs sampling and local quantum annealing method. Finally, we discuss its application on QUBO problem. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Simulated annealing

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Hetero-Source Sensors Localization Based on High-Precision Map

Hetero-Source Sensors Localization Based on High-Precision ...

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Chinese Intelligent Automation Conference, CIAC 2023

作者： Cui, Zhuofan Tao, Junyi He, Bin Zhang, Yu State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou China

ISBN: (纸本)9789819961863

High-precision maps and localization techniques are important modules in robot systems. However, the existing simultaneous localization and mapping methods using the same sensors in both localization and mapping tasks suffers from high costs and inflexibility. Therefore, the method of implementing a low-cost visual sensor to achieve indoor localization with the pre-obtained high-precision point cloud maps is proposed in this paper. To find a similar area represented by point cloud of the maps and the sensors, a localization strategy based on ICP for point cloud matching is completed on the premise of giving a rough initial pose. Meanwhile, visual odometry is integrated into the localization framework to conquer the localization failure caused by repeated point cloud features in indoor environments. The sub-meter level localization accuracy in the indoor building environment is achieved in the experiments. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Mapping

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