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Fast-Tracker 2.0:Improving autonomy of aerial tracking with active vision and human location regression

IET cyber-systems and Robotics 2021年第4期3卷 292-301页

作者： Neng Pan Ruibin Zhang Tiankai Yang Can Cui Chao Xu Fei Gao State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhouChina Huzhou Institute of Zhejiang University HuzhouChina

In recent years,several progressive studies promote the development of aerial *** of the representative studies is our previous work Fast-Tracker which is applicable to various challenging tracking ***,it suffers from two main drawbacks:(1)the oversimplification in target detection by using artificial markers and(2)the contradiction between simultaneous target and environment perception with limited onboard *** this study,we upgrade the target detection in Fast-Tracker to detect and localise a human target based on deep learning and non-linear regression to solve the former *** the latter one,we equip the quadrotor system with 360°active vision on a customised gimbal ***,we improve the tracking trajectory planning in Fast-Tracker by incorporating an occlusion-aware mechanism that generates observable tracking *** real-world tests confirm the proposed system's robustness and real-time *** comparisons with Fast-Tracker validate that the proposed system presents better tracking performance even when performing more difficult tracking tasks.

关键词： autonomous aerial vehicles motion planning navigation path planning

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Simulated Ising Annealing Algorithm with Gaussian Augmented Hamiltonian Monte Carlo

Simulated Ising Annealing Algorithm with Gaussian Augmented ...

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第42届中国控制会议

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

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.

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Robust Nonlinear Self-Triggered control Policy for a Novel Fully Actuated UAVs

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IFAC-PapersOnLine 2023年第2期56卷 2506-2512页

作者： Zhangzhen Zhu Yongliang Lin Yu Zhang 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

This paper proposes a self-triggered control policy for a general kind of nonlinear system, ensuring robust performance under various perturbations and alleviating communication burden simultaneously. A novel fully actuated multirotors applied this method shows great robustness to perturbations and is able of tracking six dimensional decoupled trajectories without continuous background sensor monitoring. Rigorous input-to-state stability analysis is deduced and numerical simulations confirm the validity of the policy.

关键词： UAVs fully actuated event-triggered robustness nonlinear systems

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Multi-Robot Path Planning in Narrow Warehouse Environments with Fast Feasibility Heuristics 41

Multi-Robot Path Planning in Narrow Warehouse Environments w...

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第41届中国控制会议

作者： Jiaxi Huo Ronghao Zheng Senlin Zhang Meiqin Liu College of Electrical Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Zhejiang University Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we present a novel method for solving the multi-robot path planning problem in narrow warehouse *** may have to be operated in close proximity to each other in narrow lanes between pod clusters,which challenges robot-robot collision *** motivates us to consider an efficient algorithm to generate collision-free robot paths in narrow warehouse *** algorithm builds a two-stage scheme based on integer programming:(i) multirobot path planning under one-way constraints;and(ii) fast feasibility *** developed algorithm has two advantages:(i) the proposed scheme successfully avoids the situation where the robots collide in narrow lanes;and(ii) by using the fast feasibility heuristics which replaces the integer programming solver's built-in feasibility heuristics,the feasibility heuristics' running time can be effectively reduced while producing better initial feasible solutions for the integer programming model solving *** with the existing optimal,sub-optimal,and polynomial-complexity algorithms,our developed algorithm can leverage the advantage of integer programming to effectively reach a balance between running time and optimality in narrow warehouse *** point is demonstrated in the simulations.

关键词： Path planning Multi-robot or multi-agent systems Collision avoidance Logistics

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ColAG: A Collaborative Air-Ground Framework for Perception-Limited UGVs’ Navigation

arXiv

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arXiv 2023年

作者： Li, Zhehan Mao, Rui Chen, Nanhe Xu, Chao Gao, Fei Cao, Yanjun State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Dalian University of Technology Dalian116024 China

Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It’s challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a blind robot, and becomes more difficult when comes to a group of robots. However, it could be costly to equip all robots with expensive perception or SLAM systems. In this paper, we propose a novel system named ColAG, to solve the problem of autonomous navigation for a group of blind UGVs by introducing cooperation with one UAV, which is the only robot that has full perception capabilities in the group. The UAV uses SLAM for its odometry and mapping while sharing this information with UGVs via limited relative pose estimation. The UGVs plan their trajectories in the received map and predict possible failures caused by the uncertainty of its wheel odometry and unknown risky areas. The UAV dynamically schedules waypoints to prevent UGVs from collisions, formulated as a Vehicle Routing Problem with Time Windows to optimize the UAV’s trajectories and minimize time when UGVs have to wait to guarantee safety. We validate our system through extensive simulation with up to 7 UGVs and real-world experiments with 3 UGVs. © 2023, CC BY.

关键词： Unmanned aerial vehicles (UAV)

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Flooding followed by drought in urban and forest soils:unraveling microbial dynamics and ecological functions

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Science China Life Sciences 2025年

作者： Yilong Hao Yifang Zhang Changyi Lu Anqi Sun Qinglin Chen State Key Laboratory for Ecological Security of Regions and Cities Ningbo Observation and Research StationInstitute of Urban EnvironmentChinese Academy of Sciences University of Chinese Academy of Sciences Zhejiang Key Laboratory of Urban Environmental Processes and Pollution Control CAS Haixi Industrial Technology Innovation Center in Beilun

Dear Editor,Cities are among the most drought-prone areas globally. Meanwhile, the Chinese urban coastal areas face frequent flash droughts and also heightened flood risks,characterized by extreme precipitation and heatwave events exacerbated by tropical intraseasonal oscillations and meandering subtropical currents (Lai et al., 2024; Yuan et al., 2023). Anthropogenic-induced climate change has increased the probability of simultaneous flooding and drought events by tenfold, a trend expected to continue well into the future (Qian et al., 2023). However, there is a significant gap in understanding the effects of compound extreme climate events, challenging urban ecological governance. As a driver and regulator of elemental biogeochemical cycles, the soil microbiome is fundamental to the functional responses of urban ecosystems,including greenhouse gas emissions, organic matter decomposition, and accumulation (Fan et al., 2023). Compared with their natural counterparts, urban soil microbiomes feature an enhanced proportion of genes linked to greenhouse gas tolerance, faster nutrient cycling, and more intense abiotic stress responses caused by a richer history of extreme weather or greater environmental stresses(Delgado-Baquerizo et al., 2021).

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Design and analysis of a whole-body controller for a velocity controlled robot mobile manipulator

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Science China(Information Sciences) 2020年第7期63卷 98-112页

作者： Mantian LI Zeguo YANG Fusheng ZHA Xin WANG Pengfei WANG Ping LI Qinyuan REN Fei CHEN State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Academy of Aerospace Technology Key Laboratory of Industrial Control Technology Zhejiang University

Mobile manipulators, which are intrinsically redundant when the manipulator and mobile base are moving together, are known for their capabilities to carry out multiple tasks at the same time. This paper presents a whole-body control framework, inspired by legged bio-robots, for a velocity controlled non-holonomic mobile manipulator based on task priority. control primitives, such as manipulability optimization, trajectory tracking of the end-effector and mobile base, and collision avoidance, are considered in the framework and arranged at different priorities. Lower priority tasks are projected into the null space of control tasks with higher priorities. As a result, lower level tasks are completed without affecting the performance of higher priority tasks. Several experiments are implemented to verify the effectiveness of the proposed controller. The proposed method is proved to be an effective way to solve the whole-body control problem of velocity controlled mobile manipulators.

关键词： mobile manipulator whole-body control velocity controlled task priority null-space projection

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Dual-Path GAN:A Method for Enhancing Small-scale Defect Detection on Metal Images 41

Dual-Path GAN:A Method for Enhancing Small-scale Defect Dete...

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第41届中国控制会议

作者： Zhuoxun Ye Meiqin Liu Senlin Zhang Ping Wei State Key Laboratory of Industrial Control Technology Zhejiang University College of Electrical Engineering Zhejiang University Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Automated surface inspection(ASI) is an important research content in computer *** recent years,with the application of deep learning models represented by convolutional neural networks(CNN) in computer vision,surface defect detection based on computer vision has made impressive ***,compared with a few or dozens of pictures in real industrial scenes,traditional deep learning methods require a large amount of annotation data for training,so it is quite difficult to adapt to the complex industrial scenarios with varying surface profiles,lighting conditions,imaging angles and *** these difficulties,there is still a wide gap in the performance between the detection of small-scale and large-scale *** Generative Adversarial Nets(GANs) based augmentation method can only be used for classification networks or unsupervised learning,and if applied to detection networks,they need to be labeled,which requires much labor and *** order to solve these problems,a metal surface small-scale defect images augmentation method is *** method contains two parts:generation part and augmentation *** the generation part,two pairs of generators and discriminators are used to generate the defect areas and the background areas of the image,which can not only generate more realistic defect images than others but also save the training process for surface *** the augmentation part,the real defect images and the generated defect images are concatenated before copy-pasting them on background images to generate annotated dataset for *** conduct experiments on our metal surface *** experimental results show that our method can generate highquality defect samples and background samples,which greatly enriches the original *** evaluate different augmentation strategies,and ultimately,we achieve 6.2% improvement on baseline and 4.4% on copy-pasting method.

关键词： Generative adversarial nets automated surface inspection data augmentation few-shot learning small-scale object detection

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Discrete states-Based Trajectory Planning for Nonholonomic Robots

arXiv

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arXiv 2023年

作者： Zou, Ziyi Zhang, Ziang Lu, Zhen Li, Xiang Wang, You Hao, Jie Li, Guang The State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou310027 China The Luoteng Hangzhou Techonlogy Co. Ltd. Hangzhou310027 China

Due to nonholonomic dynamics, the motion planning of nonholonomic robots is always a difficult problem. This letter presents a Discrete states-based Trajectory Planning(DSTP) algorithm for autonomous nonholonomic robots. The proposed algorithm represents the trajectory as x and y positions, orientation angle, longitude velocity and acceleration, angular velocity, and time intervals. More variables make the expression of optimization and constraints simpler, reduce the error caused by too many approximations, and also handle the gear shifting situation. L-BFGS-B is used to deal with the optimization of many variables and box constraints, thus speeding up the problem solving. Various simulation experiments compared with prior works have validated that our algorithm has an order-of-magnitude efficiency advantage and can generate a smoother trajectory with a high speed and low control effort. Besides, real-world experiments are also conducted to verify the feasibility of our algorithm in real scenes. We will release our codes as ros packages. Copyright © 2023, The Authors. All rights reserved.

关键词： Robot programming

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