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IEEE International Conference on Robotics and Biomimetics

作者： Tao Hu Xiaoqing Guan Boyu Lin Yixu Wang Yifan Liu You Wang Guang Li State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665481106

Since the sensors of spherical robots rotate with the longitudinal axis, an efficient velocity controller must also account for robot's attitude. Therefore, this paper proposed an optimal velocity controller for spherical robots based on the offset-free linear model predictive control (LMPC), which controls the velocity while considering robot's attitude, motor's current and other variables. The prediction model of LMPC was generated by linearizing and discretizing the dynamic model and introducing the disturbance model. Then the kalman filter (KF) was used to estimate the states and disturbance. After that, combined with LMPC, the offset-free tracking of different velocities under different terrains was achieved by fully considering velocity, attitude and current in the target function. Finally, a series of physical experiments show that the proposed controller ensures fast convergence, strong stability and no bias, while the velocity changes more smoothly, the attitude changes less and the current output is more stable.

关键词： Target tracking Attitude control Biological system modeling Velocity control Predictive models Robot sensing systems Stability analysis

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Adaptive Sliding Mode control for Trajectory Tracking in Four-Wheeled Mobile Robots Under Uncertainties and External Disturbances

Adaptive Sliding Mode Control for Trajectory Tracking in Fou...

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Chinese control and Decision Conference, CCDC

作者： Naeem Ajilforoushan Saba Ghorbani Barzegar Yongliang Lin Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

In this paper, we propose an adaptive sliding mode control (SMC) design technique to track the desired trajectory of the skid-steering mobile robots in the presence of model uncertainties and perturbations. To enhance the stability of the robot and ensure accurate trajectory tracking, adaptive rules have been employed to estimate the upper bound of perturbations. This estimation, in turn, serves to stabilize the robot and guarantee the desired trajectory. Moreover, we analyze and calculate the convergence time of the sliding surface, ensuring its convergence within finite time. Additionally, efforts have been made to minimize the chattering phenomenon by smoothing the discontinuity of the sliding surface. Simulation results validate the efficacy of the proposed controller, demonstrating its ability to deliver acceptable performance in diverse scenarios.

关键词： Uncertainty Upper bound Trajectory tracking Perturbation methods Estimation Stability analysis Trajectory

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Open-Set Object Detection Using Classification-free Object Proposal and Instance-level Contrastive Learning

arXiv

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arXiv 2022年

作者： Zhou, Zhongxiang Yang, Yifei Wang, Yue Xiong, Rong The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

Detecting both known and unknown objects is a fundamental skill for robot manipulation in unstructured environments. Open-set object detection (OSOD) is a promising direction to handle the problem consisting of two subtasks: objects and background separation, and open-set object classification. In this paper, we present Openset RCNN to address the challenging OSOD. To disambiguate unknown objects and background in the first subtask, we propose to use classification-free region proposal network (CF-RPN) which estimates the objectness score of each region purely using cues from object’s location and shape preventing overfitting to the training categories. To identify unknown objects in the second subtask, we propose to represent them using the complementary region of known categories in a latent space which is accomplished by a prototype learning network (PLN). PLN performs instance-level contrastive learning to encode proposals to a latent space and builds a compact region centering with a prototype for each known category. Further, we note that the detection performance of unknown objects can not be unbiasedly evaluated on the situation that commonly used object detection datasets are not fully annotated. Thus, a new benchmark is introduced by reorganizing GraspNet-1billion, a robotic grasp pose detection dataset with complete annotation. Extensive experiments demonstrate the merits of our method. We finally show that our Openset RCNN can endow the robot with an open-set perception ability to support robotic rearrangement tasks in cluttered environments. More details can be found in https://***/view/openset-rcnn/ Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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Efficient and High-quality Neural Implicit RGB-D Surface Reconstruction with Volume Feature Rendering

Efficient and High-quality Neural Implicit RGB-D Surface Rec...

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Robotics, control and Automation (ICRCA), International Conference on

作者： Jintao Wan Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Key Laboratory of Collaborative sensing and autonomous unmanned systems of Zhejiang Province Hangzhou China

ISBN: (数字)9798350344721

ISBN: (纸本)9798350344738

Acquiring high-quality 3D surfaces of indoor scenes is essential for applications in VR/ AR and robotics. Recent advancements in neural implicit surface learning and differ-entiable volume rendering methods have significantly improved the accuracy and completeness of geometry. In our work, we propose a volumn feature rendering method for fast and detailed surface reconstruction from muti-view RGB-D frames. We adopt a hybrid scene representation utilizing muti-resolution hash encoding and two shallow MLPs for fast convergence. We suggest improvements by replacing standard volume rendering with vol-ume feature rendering to optimize speed. Additionally, we employ an adaptive sampling strategy guided by dynamic occupancy grids to accelerate training. We introduce a curvature term to promote surface smoothness and hole filling in untexture areas. Experiments on standard benchmarks show that our method can process room-scale scenes in approximately 10 minutes, achieving a 2x speedup compared to Go-Surf [14] in a memory-efficient way, while maintaining comparable or superior reconstruction quality.

关键词： Training Geometry Surface reconstruction Three-dimensional displays Accuracy Rendering (computer graphics) Surface treatment

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Multi-Objective Optimization of Operation of Power-Traffic systems Considering Dynamic Wireless Charging

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IFAC-PapersOnLine 2023年第2期56卷 6654-6659页

作者： Ze Zhou Zhitao Liu Hongye Su Liyan Zhang Wenhai Wang State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China School of Automation Wuhan University of Technology Wuhan 430070 China Zhejiang University NGICS Platform Hangzhou 310027 China

To reduce the consumption of fossil fuels, improve the environment, and optimize the energy structure, electric vehicles (EVs) have been developed rapidly. At the same time, to alleviate the range anxiety of EV users, the corresponding dynamic wireless charging (DWC) technology has also attracted extensive attention. Driven by EVs and DWC, the interdependency between the power system and transportation system becomes tighter. To improve the operation of the power-traffic system, we propose a multi-objective optimization problem incorporating transportation system congestion, power system generation cost, and total EV user charging cost. Assuming that the energy provided by the DWC can meet the consumption in EV travel, we construct a power demand model for grid buses. Furthermore, we model the microscopic characteristics of vehicle behaviors and propose an adaptive route recommendation algorithm. To solve the multi-objective problem, we adopt a non-dominated sorting genetic algorithm II. Finally, the case studies demonstrate the feasibility of the proposed multi-objective optimization problem and the effectiveness and superiority of the proposed algorithm.

关键词： Dynamic wireless charging electric vehicles multi-objective optimization power-traffic systems route recommendation algorithm

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Research on optical properties of human hepatoma cells using terahertz time-domain spectroscopy

Research on optical properties of human hepatoma cells using...

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2023 International Symposium on Ultrafast Phenomena and Terahertz Waves, ISUPTW 2023

作者： Guan, Hanxiao Qiu, Weihang Ma, Yehao Tian, Liangfei Cao, Yuqi Zhang, Guangxin College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou China Zhejiang University College of Biomedical Engineering and Instrument Science Hangzhou China Ningbo University of Technology Robotics Institute Ningbo China

ISBN: (纸本)9798350317473

Terahertz technology is a non-invasive and label-free inspection method, promising for applications in various fields, especially in biomedical diagnosis. Terahertz radiation is capable for cell physiological and pathological status recognition due to its sensitivity to cell composition and structural information of biomacromolecular. In this paper, the transmission properties of glass, polymethyl methacrylate and polypropylene in THz regime were compared and polypropylene was selected as the petri dish material for cell adhesion due to its high transmission of terahertz wave. The time-domain and frequency-domain spectra, refractive index and absorption coefficient of hepatoma cell line Huh7 and normal cell line MIHA were analyzed. The experimental results showed significant distinction between the terahertz characteristic spectra of hepatoma cells and normal cells. This work can be helpful for applying terahertz technology in cancer detection at the cellular level. © 2023 IEEE.

关键词： Terahertz waves

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Numerical analysis on the transport properties and residence time distribution of ribbon biomass particles in a riser reactor based on CFD-DEM approach

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Particuology 2024年第4期87卷 133-146页

作者： Haichao Zhao Conghui Gu Bingyang Xu Yuan Liu Mingpu Du Kaiyuan Deng Jingyu Zhu Iana Voronina Zhulin Yuan School of Energy and Power Jiangsu University of Science and TechnologyZhenjiang212100China China Tobacco Jiangxi Industrial Co.Ltd. Nanchang330096China Institute of Mechanics and Power Engineering Ogarev Mordovia State UniversitySaransk430005Russia Key Laboratory of Energy Thermal Conversion and Control of Ministry of Education School of Energy and EnvironmentSoutheast UniversityNanjing210096China

A bended ribbon biomass particle model was developed to explore the dynamic transport properties inside a riser *** time distribution(RTD)of the particles was analyzed by using the Eulerian-Lagrange *** effects of sampling height,particle density,particle size and gas-to-solid mass ratio on RTD were *** coupled Computational Fluid Dynamics and Discrete Element Method(CFD-DEM)model was verified firstly by experimental data on pressure drop and residence time distribution density *** simulation results demonstrated that the ribbon biomass particles display a typical annular-core spatial distribution during *** RTD of particles exhibit an approximate single-peaked normal *** mean residence time(MRT)can reach up to 0.7 s when the particle density is 1200 kg/m^(3).Particle with higher density has longer mean residence *** flow patterns are closer to plug flow if particle length over 12 *** particle flow pattern is not sensitive to changes in particle density and size,while the gas-to-material mass ratio has a significant impact on it.

关键词： Riser Gas-solids two-phase flow Ribbon biomass particles Residence time distribution CFD-DEM

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Research on cooperative scheduling of AGV transportation and charging in intelligent warehouse system based on dynamic task chain

Research on cooperative scheduling of AGV transportation and...

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IEEE International Conference on Networking, Sensing and control

作者： Chao Li Weimin Wu The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665472449

Multi-task assignment of multiple Automated Guided Vehicles (AGV) is one of the main processes in an intelligent warehouse. This paper models a dynamic task chain scheduling to improve the energy and time utilization of the system. The charging pile competition prevention mechanism is introduced to solve the problem of unbalanced charging resources allocation in the system. A joint scheduling strategy of charging tasks is proposed to make full use of the information of the destination of the task and shorten the driving distance of AGV. Aiming at the shortcoming of poor local search ability of genetic algorithm, an improved genetic algorithm based on genome is designed. Numerical and simulation experiments show that the proposed algorithm and model perform better than traditional methods.

关键词： Transportation Predictive models System recovery Dynamic scheduling Search problems Multitasking Numerical models

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Research on real-time export container allocation considering loading efficiency

Research on real-time export container allocation considerin...

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IEEE International Conference on Networking, Sensing and control

作者： Jianlin Qian Weimin Wu Yangfei Zhu The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665472449

Determining where to stack the containers on the storage yard of a container terminal is an important problem, because it will make a great importance on the loading efficiency. In order to minimize the container relocation times and the average transportation distance of containers, we propose a penalty based strategy for real-time container allocation. When the sequence of containers arriving at the storage yard is uncertain, this strategy can allocate the location for a single container when it arrives, so as to minimize the container relocation times and transportation distance during shipment as a whole. Experiments show that this strategy can get a relatively good result.

关键词： Loading Stacking Decision making Transportation Containers Real-time systems Sensors

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Efficient Trajectory Planning for Coordinated Arrival of Fixed-Wing UAV Swarm 1

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16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Zhong, Yuhang Hu, Yangxiu Chen, Yang He, Ningyu Xu, Guangtong Xu, Chao Gao, Fei Huzhou Institute Zhejiang University Huzhou313000 China College of Artificial Intelligence Nankai University Tianjin300350 China Shanghai Aerospace Control Technology Institute Shanghai201109 China State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

This paper proposes an efficient centralized trajectory planning algorithm for fixed-wing swarms to address the problem of coordinated arrival. A Dubins-based initial path sampling method is designed in the front end to provide a good initial guess considering kinodynamic feasibility. Then a joint optimization approach is carried out in the back end where constraints are formulated as a penalty in the cost function. Moreover, a well-formed trajectory representation is utilized to realize spatial-temporal optimization with few variables, leading to the high computational efficiency. A replanning strategy is also introduced to handle the situation when the target trajectory changes. Numerous simulation results demonstrate the efficiency and feasibility of the algorithm. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Fixed wings

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