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13th IEEE Data Driven control and Learning systems Conference, DDCLS 2024

作者： Zhang, Yanchao Geng, Hao Liu, Bin Zhang, Yinlong Yuan, Xudong Zhang, Sichao School of Information Science and Engineering Shenyang University of Technology Shenyang110020 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350361674

In order to solve the problems of long-term cumulative error and the absence of absolute pose in the existing Lidar-Inertial Measurement Unit (IMU) fusion methods for Automated Guided Vehicle (AGV) Simultaneous Localization and Mapping (SLAM), we propose a new SLAM method for mobile robot, integrating Lidar, IMU, and a downward vision camera. Firstly, we tightly couple Lidar-IMU and downward vision camera using a multimodal fusion framework. Downward visual measurements are integrated as QR factors into the factor graph, providing absolute pose information to correct cumulative error in the Lidar-IMU system and enable the joint pose estimation of the AGV. Secondly, an enhanced Iterative Closest Point (ICP) point cloud matching algorithm has been developed to correct the incorrect pose. This approach achieves Scan-to-Map alignment by employing a coarse-to-fine matching strategy, thereby enhancing the accuracy of point cloud alignment. Finally, the extended Kalman filter is used to optimize the Lidar pose drift, as well as the Lidar mapping effectively by using the Lidar-IMU as the measurements and the downward visual measurements as the updates. The algorithm has been extensively evaluated on the developed AGV experimental platform. The experimental results show that the position error is less than 0.02 meters and the orientation error is less than 1°, which solves the problems of long-term error accumulation and the lack of absolute pose information for AGV navigation. © 2024 IEEE.

关键词： Extended Kalman filters

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Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloud

arXiv

引用

arXiv 2022年

作者： Ding, Xiaqing Xu, Xuecheng Lu, Sha Jiao, Yanmei Tan, Mengwen Xiong, Rong Deng, Huanjun Li, Mingyang Wang, Yue State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China Alibaba Group Hangzhou310052 China

Global point cloud registration is an essential module for localization, of which the main difficulty exists in estimating the rotation globally without initial value. With the aid of gravity alignment, the degree of freedom in point cloud registration could be reduced to 4DoF, in which only the heading angle is required for rotation estimation. In this paper, we propose a fast and accurate global heading angle estimation method for gravity-aligned point clouds. Our key idea is that we generate a translation invariant representation based on Radon Transform, allowing us to solve the decoupled heading angle globally with circular cross-correlation. Besides, for heading angle estimation between point clouds with different distributions, we implement this heading angle estimator as a differentiable module to train a feature extraction network end-to-end. The experimental results validate the effectiveness of the proposed method in heading angle estimation and show better performance compared with other methods. © 2022, CC BY-NC-ND.

关键词： Surface measurement

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Intelligence Uv Absorption Spectroscopy Analysis of So2, H2s, Cs2 Mixed Gases Based on Symmetrized D

SSRN

引用

SSRN 2024年

作者： Chen, Peiying Cao, Yupeng Yu, Miao Wang, Qiao Luo, Lin School of Information and Control Engineering Liaoning Petrochemical University Liaoning Fushun113001 China State Key Laboratory of Industrial Control Technology Institute of Cyber-systems and Control Zhejiang University Zhejiang Hangzhou310027 China Beijing Electric Transmission and Transformation State Grid Jibei Electric Power Company Beijing Beijing100054 China

The accurate quantification of SO2, CS2, and H2S, as significant breakdown components of insulating gas sulfur hexafluoride, is critical for determining the type and severity of internal flaws in insulating equipment. This paper proposes a technique for quantitative detection of multi-component gas mixes on the UV absorption spectroscopy platform that combines symmetry dot pattern with deep learning. The approach uses symmetrized dot pattern analysis to fuse local UV spectral information, which may be used to identify trace gas mixes with overlapping absorption peaks. To detect the symmetry dot pattern diagrams, a deep network based on DenseNet is developed, achieving feature representation from multiple scales. The outstanding performance of this method is illustrated and compared to the existing models using the receiver operating characteristic curve. The platform's experimental results reveal that the suggested technique can quantitatively detect the amounts of SO2, H2S, and CS2 ternary gas mixtures online. © 2024, The Authors. All rights reserved.

关键词： Sulfur hexafluoride

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FIXDRIVE: Automatically Repairing Autonomous Vehicle Driving Behaviour for $0.08 per Violation

arXiv

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arXiv 2025年

作者： Sun, Yang Poskitt, Christopher M. Wang, Kun Sun, Jun School of Computing and Information Systems Singapore Management University Singapore State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

Autonomous Vehicles (AVs) are advancing rapidly, with Level-4 AVs already operating in real-world conditions. Current AVs, however, still lag behind human drivers in adaptability and performance, often exhibiting overly conservative behaviours and occasionally violating traffic laws. Existing solutions, such as runtime enforcement, mitigate this by automatically repairing the AV’s planned trajectory at runtime, but such approaches lack transparency and should be a measure of last resort. It would be preferable for AV repairs to generalise beyond specific incidents and to be interpretable for users. In this work, we propose FIXDRIVE, a framework that analyses driving records from near-misses or law violations to generate AV driving strategy repairs that reduce the chance of such incidents occurring again. These repairs are captured in µDrive, a high-level domain-specific language for specifying driving behaviours in response to event-based triggers. Implemented for the state-of-the-art autonomous driving system Apollo, FIXDRIVE identifies and visualises critical moments from driving records, then uses a Multimodal Large Language Model (MLLM) with zero-shot learning to generate µDrive programs. We tested FIXDRIVE on various benchmark scenarios, and found that the generated repairs improved the AV’s performance with respect to following traffic laws, avoiding collisions, and successfully reaching destinations. Furthermore, the direct costs of repairing an AV—15 minutes of offline analysis and $0.08 per violation—are reasonable in practice. Copyright © 2025, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Nonlinear MPC-Based control Framework for Quadruped Robots: Touch-Down in Complex Terrain

Nonlinear MPC-Based Control Framework for Quadruped Robots: ...

引用

Chinese control Conference (CCC)

作者： Jiyu Yu Zhang Li Yong Chen Dongqi Wang Rui Zhang Zhuqing Zhang Rong Xiong Yue Wang State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University Hangzhou P. R. China Research Institute of Nuclear Power Operation WuHan P. R. China

Quadruped robots show potential beyond that of wheeled robots for walking over complex terrain thanks to the bionic leg design, and to take advantage of this, we propose a control framework for a quadruped robot to achieve touch-down in a designated area, aiming to help the robot overcome the challenge in complex terrains. We incorporate a foot placement constraint into a nonlinear model predictive control (MPC) framework guided by global localization, enabling the robot to touch-down in the specified area while maintaining balance. Furthermore, a whole full-body controller is utilized to track the optimized trajectory generated by the MPC. Both simulation and hardware experiments demonstrate the effectiveness of our proposed control framework.

关键词：

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Research and Application of Real-time Computing Framework Based on Smart Power Plant 8

Research and Application of Real-time Computing Framework Ba...

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8th Asia Conference on Power and Electrical Engineering, ACPEE 2023

作者： Fu, Junwei Guo, Qing Gu, Bao Ye, Xinnan Yu, Rongdong Zhang, Zhenwei Meng, Yuwei Zhejiang University Zheneng Digital Technology Co. Ltd Zhejiang Energy Technology Research Institute Co. Ltd State Key Laboratory of Industrial Control Technology Hangzhou China Zheneng Digital Technology Co. Ltd Hangzhou China

ISBN: (纸本)9798350345520

At present, intelligent sensors and the industrial Internet have enabled remote monitoring and optimal control of smart power plants, reducing the workload of manual labor. However, the requirements of real-time and accuracy in big data analysis can not be satisfied with limited computing hardware resources, complex computing processes and weak algorithm robustness. To address real-time issue, a real-time computing framework based on early warning models is proposed. And it is reconstructed by the algorithm process with distribution computation, which is composed of five services: model master, model node, database, supervisor, and data preprocessing. Finally, a large number of models are deployed in the framework to realize real-time, reliable and accurate state awareness of equipment. After experimental verification, this framework has achieved the design requirements with constrained computing resources in the actual deployment of the coastal power plant and outperformed the traditional framework. © 2023 IEEE.

关键词： Electric power distribution

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Robust Dynamic Latent Variable Model for Dynamic Process Monitoring With Missing Data in cyber-Physical systems

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on industrial cyber-Physical systems 2023年 1卷 227-235页

作者： Le Zhou Lixinqian Yu Beiping Hou Hongbo Zheng Zheng-Guang Wu School of Automation and Electrical Engineering Zhejiang University of Science & Technology Hangzhou China Faculty of Engineering and IT University of Melbourne Melbourne Australia National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

Although remarkable studies on dynamic process modeling and monitoring in cyber-physical systems have been conducted, there are still several limitations to these approaches, rendering them unsuitable for practical applications. Firstly, the common dynamic models are built based on complete data, which means that their modeling performance usually deteriorates when there are missing measurements. Secondly, practical data often exhibits more complex characteristics, such as non-stationary and non-Gaussian noises. Therefore, a robust dynamic latent variable model is proposed to address the challenges of dynamic process modeling and monitoring in complex measurement environments with missing values. The proposed method effectively handles non-Gaussian noises and recursively estimates missing values, thus enhancing the monitoring performance within the dynamic latent variable modeling framework. Finally, the feasibility and superiority of the proposed method are evaluated through a numerical example and a real wastewater treatment case, demonstrating its effectiveness and practicality in real-world scenarios.

关键词： cyber-physical systems Principal component analysis Process monitoring Data models Load modeling Numerical models Loading

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A Non-canonical Excitatory PV RGC–PV SC Visual Pathway for Mediating the Looming-evoked Innate Defensive Response

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Neuroscience Bulletin 2024年第3期40卷 310-324页

作者： Man Yuan Sen Jin Gao Tan Siyuan Song Yizong Liu Huadong Wang Yin Shen Eye Center Renmin Hospital of Wuhan UniversityWuhan UniversityWuhan430060China The Brain Cognition and Brain Disease Institute Shenzhen Key Laboratory of Viral Vectors for BiomedicineShenzhen Institute of Advanced TechnologyChinese Academy of Sciences(CAS)Shenzhen-Hong Kong Institute of Brain Science-Shenzhen Fundamental Research InstitutionsNational Medical Products Administration Key Laboratory for Research and Evaluation of Viral Vector Technology in Cell and Gene Therapy Medicinal ProductsShenzhen Key Laboratory of Quality Control Technology for Virus-Based TherapeuticsGuangdong Provincial Medical Products AdministrationShenzhen518055China Jan and Dan Duncan Neurological Research Institute Baylor College of MedicineHouston77030USA State Key Laboratory of Magnetic Resonance and Atomic and Molecular Physics Key Laboratory of Magnetic Resonance in Biological SystemsWuhan Center for Magnetic ResonanceInnovation Academy for Precision Measurement Science and TechnologyCASWuhan430071China Frontier Science Center of Immunology and Metabolism Medical Research InstituteWuhan UniversityWuhan430071China

Parvalbumin-positive retinal ganglion cells(PV+RGCs)are an essential subset of RGCs found in various ***,their role in transmitting visual information remains ***,we characterized PV+RGCs in the retina and explored the functions of the PV+RGC-mediated visual *** applying multiple viral tracing strategies,we investigated the downstream of PV+RGCs across the whole ***,we found that the PV+RGCs provided direct monosynaptic input to PV+excitatory neurons in the superficial layers of the superior colliculus(SC).Ablation or suppression of SC-projecting PV+RGCs abolished or severely impaired the flight response to looming visual stimuli in mice without affecting visual ***,using transcriptome expression profiling of individual cells and immunofluorescence colocalization for RGCs,we found that PV+RGCs are predominant glutamatergic ***,our findings indicate the critical role of PV+RGCs in an innate defensive response and suggest a non-canonical subcortical visual pathway from excitatory PV+RGCs to PV+SC neurons that regulates looming visual *** results provide a potential target for intervening and treating diseases related to this circuit,such as schizophrenia and autism.

关键词： Parvalbumin-positive retinal ganglion cell Innate fear Superior colliculus Excitatory-excitatory neuronal connection Looming-evoked defensive response Subcortical pathway

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Dynamic Fault Detection Based on Variational Bayesian Mixture Probabilistic Principal Component Analysis 11

Dynamic Fault Detection Based on Variational Bayesian Mixtur...

引用

11th IEEE Data Driven control and Learning systems Conference, DDCLS 2022

作者： Huang, Chenghong Chai, Yi Wei, Chihang Zhu, Zheren Chongqing University College of automation Chongqing400044 China Hangzhou Normal University School of Information Science and Technology Hangzhou311121 China Institute of Industrial Process Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China

ISBN: (数字)9781665496759

ISBN: (纸本)9781665496759

It is essential to achieve real-time fault detection of the industrial process to reduce the occurrence of accidents during the industrial process. However, there are some problems in the actual monitoring process, such as the instability of sensor measurement, losing packet while transferring data, which causes problems like missing data and outliers while sampling from actual monitoring data. In addition, the monitoring data are interrelated in time series. Thus, a fault detection method based on DMPPCA model is proposed in this study. DMPPCA can not only consider the above problems at the same time, but also determine the dimension of latent variables automatically. Finally, the effect of proposed DMPPCA model was validated by a three-phase flow facility. © 2022 IEEE.

关键词： Fault detection

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Precise regulation of acid pretreatment for red mud SCR catalyst:Targeting on optimizing the acidity and reducibility

引用

Frontiers of Environmental Science & Engineering 2022年第7期16卷 61-71页

作者： Xiang Zhang Yue Xuan Bin Wang Chuan Gao Shengli Niu Gaiju Zhao Dong Wang Junhua Li Chunmei Lu John C.Crittenden National Engineering Laboratory for Coal-Burning Pollutants Emission Reduction School of Energy and Power EngineeringShandong UniversityJinan250061China School of Civil and Environmental Engineering and the Brook Byers Institute for Sustainable Systems Georgia Institute of TechnologyAtlantaGA30332USA State Key Joint Laboratory of Environment Simulation and Pollution Control National Engineering Laboratory for Multi Flue Gas Pollution Control Technology and EquipmentSchool of EnvironmentTsinghua UniversityBeijing100084China Energy Institute Qilu University of Technology(Shandong Academy of Sciences)Jinan250013China

Red mud(RM),as an alkaline waste,was recently proved to be a promising substitute for the SCR *** could improve the acidity and reducibility of red mud,which were critical for SCR ***,the dealkalization effect depended on the reaction between acid solution and red *** this study,we realized the directional control of the chemical state of active sites through tuning the acid pretreatment(dealkalization)*** pretreatment endpoint was controlled at pH values of 3–5 with diluted nitric *** the pH values of red mud were 3 and 5(CRM-3 and CRM-5),activated catalysts showed NOx conversion above 90%at 275℃–475℃.The high initial reaction rate,Ce^(3+)/(Ce^(3+)+Ce^(4+))ratio,and surface acidity accounted for the excellent SCR performance of CRM-5 ***,more Fe^(3+) on the CRM-3 surface improved the NH_(3) *** was a strong interaction between Al and Fe in both CRM-5 and CRM-3 *** results showed that the adsorption capacity of the Al-O_(3)-Fe for NH_(3) and NO is stronger than that of Fe-O_(3)-Fe,which enhanced the NOx conversion of the ***,the almandine was formed in CRM-4,consumed part of Fe^(3+) and Al^(3+),and the interaction between Al and Fe was ***,deposited almandine on the catalyst surface covered the active sites,thus leading to lower NH_(3)-SCR activity.

关键词： Air pollution control Nitrogen oxides Selective catalytic reduction Red mud Solid waste utilization

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