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arXiv 2023年

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

In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike previous works, our proposed approach can control both linear and angular velocity to avoid collision with obstacles, overcoming the limitation of confined control performance due to the lack of control variable. To ensure that the robot reaches its destination, we also design a control Lyapunov function (CLF). Our safety-critical controller is formulated as a quadratic program (QP) optimization problem that incorporates CLF and CBFs as constraints, enabling real-time application for navigation and dynamic collision avoidance. Numerical simulations are conducted to verify the effectiveness of our proposed approach. Copyright © 2023, The Authors. All rights reserved.

关键词： controllers

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A Multi-stage Quantitative Resilience Optimization Model of Power systems Subjected to Hurricane Hazards 9

A Multi-stage Quantitative Resilience Optimization Model of ...

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9th International Symposium on System Security, Safety, and Reliability, ISSSR 2023

作者： Wang, Feng Shi, Chenli Ling, Jiamu Xu, Zhengguo Zhejiang University The State Key Laboratory of Industrial Control Technology Hangzhou310027 China The Huzhou Institute of Zhejiang University Huzhou313000 China

ISBN: (纸本)9798350302479

Power systems are essential to national security, economic prosperity, public health, and safety. However, as the frequency of extreme events and man-made attacks has increased dramatically in recent years, making resilience theory has become a new direction for responding to low-probability high-impact events. In power systems, resilience is essential in maintaining functionality, reducing losses, and speeding up recovery when encountering a disruptive event. This study develops a resource optimization allocation framework based on multiple resilience objectives by understanding the relationship between resilience performance and dynamic decisions. A multi-resilience-objective mixed-integer linear programming (MROMILP) model is formulated to optimize the resource allocation scheme for each resilience stage under limited internal resources of power systems under hurricane hazards. The IEEE 30-bus test system is used to validate the usability of the model. © 2023 IEEE.

关键词： Hurricanes

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DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognition

DeepRING: Learning Roto-translation Invariant Representation...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Sha Lu Xuecheng Xu Li Tang Rong Xiong Yue Wang State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Alibaba Group Hangzhou China

LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable feature extraction. However, these methods degenerate when the robot re-visits previous places with a large perspective difference. To address the challenge, we propose DeepRING to learn the roto-translation invariant representation from LiDAR scan, so that robot visiting the same place with a different perspective can have similar representations. There are two keys in DeepRING: the feature is extracted from sinogram, and the feature is aggregated by magnitude spectrum. The two steps keep the final representation with both discrimination and roto-translation invariance. Moreover, we state place recognition as a one-shot learning problem with each place being a class, leveraging relation learning to build representation similarity. Substantial experiments are carried out on public datasets, validating the effectiveness of each proposed component, and showing that DeepRING outperforms the comparative methods, especially in dataset level generalization.

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Accurate and straightforward symplectic approach for fracture analysis of fractional viscoelastic media

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Applied Mathematics and Mechanics(English Edition) 2022年第3期43卷 403-416页

作者： Chenghui XU Sen LENG Zhenhuan ZHOU Xinsheng XU Zichen DENG MIIT Key Laboratory of Dynamics and Control of Complex Systems Department of Engineering MechanicsNorthwestern Polytechnical UniversityXi'an 710072China State Key Laboratory of Structure Analysis of Industrial Equipment Department of Engineering MechanicsDalian University of TechnologyDalian 116024Liaoning ProvinceChina

An accurate and straightforward symplectic method is presented for the fracture analysis of fractional two-dimensional(2D)viscoelastic *** fractional Kelvin-Zener constitutive model is used to describe the time-dependent behavior of viscoelastic *** the framework of symplectic elasticity,the governing equations in the Hamiltonian form for the frequency domain(s-domain)can be directly and rigorously *** the s-domain,the analytical solutions of the displacement and stress fields are constructed by superposing the symplectic eigensolutions without any trial function,and the explicit expressions of the intensity factors and J-integral are derived *** studies are provided to validate the accuracy and effectiveness of the present solutions.A detailed analysis is made to reveal the effects of viscoelastic parameters and applied loads on the intensity factors and J-integral.

关键词： symplectic approach viscoelastic material fractional Kelvin-Zener model crack fracture parameter

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Design of Gravity Compensation Scheme for Passive Lifting Method of Multi-degree Freedom Robotic Arm 18

Design of Gravity Compensation Scheme for Passive Lifting Me...

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18th IEEE Conference on industrial Electronics and Applications, ICIEA 2023

作者： Sun, Jing Wei, Chaoran Chen, Haotai Wang, Bin Li, Xingguang Zhang, Qiang Beijing Institute of Control Engineering Space Drive and Manipulation Mechanism Laboratory Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350312201

Before launching a spacecraft, it is necessary to undergo micro low gravity simulations on the ground to test its reliability. The lifting method is not limited by movement time and space, and can simulate long-term low gravity environments. However, the degree of freedom of spatial mechanisms is gradually increasing, and the motion is becoming increasingly complex, making traditional lifting methods unable to meet the needs. In response to the above issues, a lifting gravity simulation scheme for a multi degree of freedom robotic arm that can achieve complex motion is proposed. The design adopts a single sling combined with a hanger to avoid interference during the motion process. Finally, simulation and experiments have proven the feasibility of the scheme - it can achieve efficient unloading without affecting the normal movement of the equipment. © 2023 IEEE.

关键词： Robotic arms

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Electroreduction of hexavalent chromium using a porous titanium flow-through electrode and intelligent prediction based on a back propagation neural network

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Frontiers of Environmental Science & Engineering 2023年第8期17卷 69-79页

作者： Xinwan Zhang Guangyuan Meng Jinwen Hu Wanzi Xiao Tong Li Lehua Zhang Peng Chen National Engineering Laboratory for Industrial Wastewater Treatment School of Resources and Environmental EngineeringEast China University of Science and TechnologyShanghai 200237China Continuing Education Center Bozhou UniversityBozhou 236800China State Environmental Protection Key Laboratory of Environmental Risk Assessment and Control on Chemical Process East China University of Science and TechnologyShanghai 200237China Shanghai Institute of Pollution Control and Ecological Security Shanghai 200092China

Flow-through electrodes have been demonstrated to be effective for electroreduction of Cr(VI),but shortcomings are tedious preparation and short ***,porous titanium available in the market was studied as a flow-through electrode for Cr(VI)*** addition,the intelligent prediction of electrolytic performance based on a back propagation neural network(BPNN)was *** studies revealed that Cr(VI)electroreduction was a diffusion-controlled *** of the flow-through mode achieved a high limiting diffusion current as a result of enhanced mass transfer and favorable *** of Cr(VI)in the flow-through system was 1.95 times higher than in a parallel-plate electrode *** the influent(initial pH 2.0 and 106 mg/L Cr(VI))was treated at 5.0 V and a flux of 51 L/(h·m2),a reduction efficiency of~99.9%was obtained without cyclic electrolysis *** served as the supporting electrolyte and pH regulator,as reactive CrSO72−species were formed as a result of feeding HSO4−.Cr(III)was confirmed as the final product due to the sequential three-electron transport or disproportionation of the *** developed BPNN model achieved good prediction accuracy with respect to Cr(VI)electroreduction with a high correlation coefficient(R2=0.943).Additionally,the electroreduction efficiencies for various operating inputs were predicted based on the BPNN model,which demonstrates the evolutionary role of intelligent systems in future electrochemical technologies.

关键词： Flow-through electrode Hexavalent chromium Heavy metals Neural network Artificial intelligence

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CREPES: Cooperative RElative Pose Estimation System

CREPES: Cooperative RElative Pose Estimation System

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhiren Xunt Jian Huang Zhehan Li Zhenjun Ying Yingjian Wang Chao Xu Fei Gao Yanjun Cao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China

Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact hardware design using active infrared (IR) LEDs, an IR fish-eye camera, an ultra-wideband (UWB) module and an inertial measurement unit (IMU). By leveraging IR light communication, the system solves data association between visual detection and UWB ranging. Ranging measurements from the UWB and directional information from the camera offer relative 3-DOF position estimation. Combining the mutual relative position with neighbors and the gravity constraints provided by IMUs, we can estimate the 6-DOF relative pose from a single frame of sensor measurements. In addition, we design an estimator based on the error-state Kalman filter (ESKF) to enhance system accuracy and robustness. When multiple neighbors are available, a Pose Graph Optimization (PGO) algorithm is applied to further improve system accuracy. We conduct enormous experiments to demonstrate CREPES’ accuracy between robot pairs and a team of robots, as well as performance under challenging conditions.

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Green innovation unleashed:Harnessing tungsten-based nanomaterials for catalyzing solar-driven carbon dioxide conversion

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Chinese Chemical Letters 2025年第2期36卷 108-117页

作者： Weidan Meng Yanbo Zhou Yi Zhou State Environmental Protection Key Laboratory of Environmental Risk Assessment and Control on Chemical Process East China University of Science and TechnologyShanghai 200237China National Engineering Research Center of Industrial Wastewater Detoxication and Resource Recovery East China University of Science and TechnologyShanghai 200237China Shanghai Engineering Research Center for Multi-media Environmental Catalysis and Resource Utilization East China University of Science and TechnologyShanghai 200237China Shanghai Institute of Pollution Control and Ecological Security Shanghai 200092China

Carbon dioxide photocatalytic reduction (CO_(2)-PR) is an efficient method for controlling CO_(2)emissions and generating cleaner energy while mitigating global *** oxides (WxOy) have attracted considerable attention for CO_(2)-PR due to their excellent spectral ***,comprehensive reviews are lacking on the use of WxOyfor CO_(2)-***,this review provides a detailed summary of t research progress made with WxOy-based catalysts in CO_(2)-*** also explains the fundamental principles of CO_(2)-PR and evaluates key performance indicators that affect the activity of WxOy-based photocatalysts,including yield,selectivity,stability,and apparent quantum ***,this review explores opportunities for synthesizing high-performance WxOy-based photocatalysts and highlights their potential for the green preparation of C1/C2 products through CO_(2)-*** innovative strategies aim to address the challenges and pressures associated with energy and environmental issues,particularly by enhancing artificial photosynthesis efficiency.

关键词： Carbon dioxide photoreduction Tungsten-based nanocatalyst Mechanism Performance evaluation Selectivity

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A Survey on Design,Actuation,Modeling,and control of Continuum Robot

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Cyborg and Bionic systems 2022年第1期2022卷 22-34页

作者： Jingyu Zhang Qin Fang Pingyu Xiang Danying Sun Yanan Xue Rui Jin Ke Qiu Rong Xiong Yue Wang Haojian Lu State Key Laboratory of Industrial Control and Technology Zhejiang UniversityHangzhou 310027China Institute of CyberSystems and Control The Department of Control Science and Engineering Zhejiang UniversityHangzhou 310027China Department of Plastic Surgery Sir Run Run Shaw HospitalZhejang University of MedicineHangzhou 310016China

Inthis paper,we describethe advances inthe design,actuation,modeling,and controlfield of continuum *** decades ofpioneering research,many innovativeve structural designandUntethered magnetic robots are agood example;its external actuationcharteristigotten a lot of interest ***,modeling approachesbased on continuunnechals after years oof *** when combined withnumerical analytic methodschtFifecodle-b *** the control,*** and hybrid control methodscombined with sensor *** the other hand,tladeg and control of continum *** data-driven modeling technique simplifies modeling aproves anti-interference and generalization *** paper discusses the current development and challenges of continum robots in the above felds and provides prospectsfor the future.

关键词： Robot modeling generalization

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BEV2PR: BEV-Enhanced Visual Place Recognition with Structural Cues

BEV2PR: BEV-Enhanced Visual Place Recognition with Structura...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Fudong Ge Yiwei Zhang Shuhan Shen Weiming Hu Yue Wang Jin Gao State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS) CASIA School of Artificial Intelligence University of Chinese Academy of Sciences School of Information Science and Technology ShanghaiTech University State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird’s-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place recognition methods based on both appearance and structure: 1) For the methods relying on LiDAR sensors, the integration of LiDAR in robotic systems has led to increased expenses, while the alignment of data between different sensors is also a major challenge. 2) Other image-/camera-based methods, involving integrating RGB images and their derived variants (e.g., pseudo depth images, pseudo 3D point clouds), exhibit several limitations, such as the failure to effectively exploit the explicit spatial relationships between different objects. To tackle the above issues, we design a new BEV-enhanced VPR framework, namely BEV 2 PR, generating a composite descriptor with both visual cues and spatial awareness based on a single camera. The key points lie in: 1) We use BEV features as an explicit source of structural knowledge in constructing global features. 2) The lower layers of the pretrained backbone from BEV generation are shared for visual and structural streams in VPR, facilitating the learning of fine-grained local features in the visual stream. 3) The complementary visual and structural features can jointly enhance VPR performance. Our BEV 2 PR framework enables consistent performance improvements over several popular aggregation modules for RGB global features. The experiments on our collected VPR-NuScenes dataset demonstrate an absolute gain of 2.47% on Recall@1 for the strong Conv-AP baseline to achieve the best performance in our setting, and notably, a 18.06% gain on the hard set. The code and dataset will be available at https://***/FudongGe/BEV2PR.

关键词： Image sensors Visualization Laser radar Three-dimensional displays Robot vision systems Cameras Sensor systems Sensors Streams Visual place recognition

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