检索结果-内蒙古大学图书馆

PEBO-SLAM: Observer Design for Visual Inertial SLAM with Convergence Guarantees

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Yi, Bowen Jin, Chi Wang, Lei Shi, Guodong Ila, Viorela Manchester, Ian R. The Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney SydneyNSW2006 Australia The TuSimple Inc. Liangmaqiao Road Beijing China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

This paper introduces a new linear parameterization to the problem of visual inertial simultaneous localization and mapping (VI-SLAM)—without any approximation—for the case only using information from a single monocular camera and an inertial measurement unit. In this problem set, the system state evolves on the nonlinear manifold SE(3)×3n, on which we design dynamic extensions carefully to generate invariant foliations, such that the problem can be reformulated into online constant parameter identification, then interestingly with linear regression models obtained. It demonstrates that VI-SLAM can be translated into a linear least squares problem, in the deterministic sense, globally and exactly. Based on this observation, we propose a novel SLAM observer, following the recently established parameter estimation-based observer (PEBO) methodology. A notable merit is that the proposed observer enjoys almost global asymptotic stability, requiring neither persistency of excitation nor uniform complete observability, which, however, are widely adopted in most existing works with provable stability but can hardly be assured in many practical scenarios. © 2023, CC BY.

关键词： Parameter estimation

Attitude Estimation from Vector Measurements: Necessary and Sufficient Conditions and Convergent Observer Design

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Yi, Bowen Wang, Lei Manchester, Ian R. The Australian Centre for Field Robotics Sydney Institute for Robotics and Intelligent Systems The University of Sydney SydneyNSW2006 Australia State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability. Such a condition is shown to be strictly weaker than those previously used for attitude observer design. Thereafter, we show that even for the single vector case the resulting condition is sufficient to design almost globally convergent attitude observers, and two explicit designs are obtained. To overcome the weak excitation issue, the first design employs to make full use of historical information, whereas the second scheme dynamically generates a virtual reference vector, which remains non-collinear to the given vector measurement. Simulation results illustrate the accurate estimation despite noisy measurements. © 2022, CC BY.

关键词： Vectors

Unsupervised cross-user adaptation in taste sensation recognition based on surface electromyography with conformal prediction and domain regularized component analysis

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Wang, Hengyang Zhan, Xianghao Liu, Li Ullah, Asif Li, Huiyan Gao, Han Wang, You Hu, Ruifen Li, Guang State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

Human taste sensation can be qualitatively described with surface electromyography. However, the pattern recognition models trained on one subject (the source domain) do not generalize well on other subjects (the target domain). To improve the generalizability and transferability of taste sensation models developed with sEMG data, two methods were innovatively applied in this study: domain regularized component analysis (DRCA) and conformal prediction with shrunken centroids (CPSC). The effectiveness of these two methods was investigated independently in an unlabeled data augmentation process with the unlabeled data from the target domain, and the same cross-user adaptation pipeline were conducted on six subjects. The results show that DRCA improved the classification accuracy on six subjects (p Copyright © 2021, The Authors. All rights reserved.

关键词： Pattern recognition

Automation 5.0: The key to systems Intelligence and Industry 5.0

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1723-1727页

作者： Ljubo Vlacic Hailong Huang Mariagrazia Dotoli Yutong Wang Petros A.Ioannou Lili Fan Xingxia Wang Raffaele Carli Chen Lv Lingxi Li Xiaoxiang Na Qing-Long Han Fei-Yue Wang Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith UniversityNathanQLD 4111Australia Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic UniversityHong KongChina Department of Electrical and Information Engineering Polytechnic of Bari70126 BariItaly State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Qingdao Academy of Intelligent IndustriesQingdao 266114China Department of Electrical Engineering-Systems University of Southern CaliforniaLos AngelesCA 90007 USA School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 Beijing Huairou Academy of Parallel Sensing Beijing 101499China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndianapolisIN 46202 USA Department of Engineering University of CambridgeCB21TN CambridgeU.K. School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Dazhou Artificial Intelligence Institute Dazhouand the Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China

AUTOMATION has come a long way since the early days of mechanization,i.e.,the process of working exclusively by hand or using animals to work with *** rise of steam engines and water wheels represented the first generation of industry,which is now called Industry Citation:***,***,***,***,***,***,***,***,***,***,***,Q.-***,and F.-***,“Automation 5.0:The key to systems intelligence and Industry 5.0,”IEEE/CAA ***,vol.11,no.8,pp.1723-1727,Aug.2024.

关键词： Automation machinery intelligence

CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive control

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Zhang, Baozhe Chen, Xinwei Li, Zhehan Beltrame, Giovanni Xu, Chao Gao, Fei Cao, Yanjun Huzhou Institute of Zhejiang University Huzhou313000 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China The Chinese University of Hong Kong Shenzhen518172 China Department of Computer Engineering and Software Engineering Poly-technique Montreal Canada

This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical methods that tackle UAV control in the world frame, we directly control the UAV in the target coordinate frame, without making motion assumptions about the target. In detail, we formulate a nonlinear model predictive controller of a UAV, referred to as the agent, within a non-inertial frame (i.e., the target frame). The system requires the relative states (pose and velocity), the angular velocity and the accelerations of the target, which can be obtained by relative localization methods and ubiquitous MEMS IMU sensors, respectively. This framework eliminates dependencies that are vital in classical solutions, such as accurate state estimation for both the agent and target, prior knowledge of the target motion model, and continuous trajectory re-planning for some complex tasks. We have performed extensive simulations to investigate the control performance with varying motion characteristics of the target. Furthermore, we conducted real robot experiments, employing either simulated relative pose estimation from motion capture systems indoors or directly from our previous relative pose estimation devices outdoors, to validate the applicability and feasibility of the proposed approach. © 2023, CC BY.

关键词： Unmanned aerial vehicles (UAV)

Prediction of Remaining Useful Life of Lithium-ion Battery Based on Improved Auxiliary Particle Filter

学校读者我要写书评

暂无评论

Prediction of Remaining Useful Life of Lithium-ion Battery B...

第33届中国控制与决策会议

作者： Huan Li Zhitao Liu Hongye Su Polytechnic Institute Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University

In order to effectively predict the remaining useful life of lithium-ion batteries,particle filter algorithm is introduced in this ***,the standard particle filter algorithm is difficult to ensure the accuracy of battery life prediction due to its weight degradation,particle exhaustion and other *** this paper,a method based on the improved auxiliary particle filter algorithm and the double exponential capacity degradation model to predict the remaining useful life of lithium-ion batteries is *** on the standard particle filter,the algorithm introduces an auxiliary variable and performs two weighting operations to make the particle weight change more ***,using the nonlinear mapping ability of BP neural network,the particle weights are split and adjusted to improve the particle *** experimental results show that the improved algorithm is more reliable than the auxiliary particle filter,and the estimated relative error is smaller,that is,the remaining useful life of lithium-ion battery can be predicted more accurately.

关键词： Lithium-ion Battery Remaining Useful Life Auxiliary Particle Filter Parameter Estimation

A Portable and Integrated Traveling-Wave Electroosmosis Microfluidic Pumping System Driven by Triboelectric Nanogenerator

学校读者我要写书评

暂无评论

SSRN

SSRN 2024年

作者： Zhou, Jian Tao, Ye Liu, Weiyu Sun, Tie Wu, Fangyu Shi, Changrui Ren, Yukun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China School of Electronics and Control Engineering Chang'an University Xi’an710064 China

The lab-on-a-chip system can simultaneously complete the preparation, reaction, separation, and detection of samples on a centi-scale platform by manipulating trace fluids. Traveling-wave electroosmosis (TWEO) technology, with the merit of electric signal-based flexible control over the fluid behavior, can achieve precise driving of fluids, which is an important requirement of the lab-on-a-chip system. However, the peripheral power equipment such as function generator required for TWEO limits the application in some occasions lacking power supply facilities, due to its large size and high cost. In this paper, we developed a brand-new portable and integrated TWEO microfluidic pumping system, wherein a front-end module of triboelectric nanogenerator (TENG) is in serial connection with the back-end microfluidic pumping chip, which greatly improves portability and reduces costs. The TENG can output a stable four consecutively 90°-phase-shifted alternating current voltage signals in a continuous rotational motion originated by its novel electrode structure. And the four-phase traveling potential waves are applied to four sets of electrode strips alternately distributed in the microchannel and thereby induce nonlinear electroosmotic slip on the electrode surface. Compared with traditional mechanical pumps, this system achieves stable pumping of electrolyte in the microchannel, but also realizes the almost instantaneous start, stop, and directional switching in response to a turn on, turn off, and turn in reverse of TENG, respectively. Finally, this system is integrated into a droplet microfluidic chip for the efficient fabrication of single emulsion droplets. This study presents a promising solution for the miniaturization, integration, and commercialization of lab-on-a-chip system. © 2024, The Authors. All rights reserved.

关键词： Lab-on-a-chip

ImmFusion: Robust mmWave-RGB Fusion for 3D Human Body Reconstruction in All Weather Conditions

学校读者我要写书评

暂无评论

ImmFusion: Robust mmWave-RGB Fusion for 3D Human Body Recons...

IEEE International Conference on Robotics and Automation (ICRA)

作者： Anjun Chen Xiangyu Wang Kun Shi Shaohao Zhu Bin Fang Yingfeng Chen Jiming Chen Yuchi Huo Qi Ye State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Tsinghua University Beijing China Fuxi AI Lab NetEase Hangzhou China State Key Lab of CAD&CG Zhejiang Lab 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

3D human reconstruction from RGB images achieves decent results in good weather conditions but degrades dramatically in rough weather. Complementary, mmWave radars have been employed to reconstruct 3D human joints and meshes in rough weather. However, combining RGB and mmWave signals for robust all-weather 3D human reconstruction is still an open challenge, given the sparse nature of mmWave and the vulnerability of RGB images. In this paper, we present ImmFusion, the first mmWave-RGB fusion solution to reconstruct 3D human bodies in all weather conditions robustly. Specifically, our ImmFusion consists of image and point backbones for token feature extraction and a Transformer module for token fusion. The image and point backbones refine global and local features from original data, and the Fusion Transformer Module aims for effective information fusion of two modalities by dynamically selecting informative tokens. Extensive experiments on a large-scale dataset, mmBody, captured in various environments demonstrate that ImmFusion can efficiently utilize the information of two modalities to achieve a robust 3D human body reconstruction in all weather conditions. In addition, our method's accuracy is significantly superior to that of state-of-the-art Transformer-based LiDAR-camera fusion methods.

关键词：

Optimal Linear Deception Attacks on Remote state Estimation with Constrained Alarm Rates: A Low-Dimensional Case 63

学校读者我要写书评

暂无评论

Optimal Linear Deception Attacks on Remote State Estimation ...

63rd IEEE Conference on Decision and control, CDC 2024

作者： Shang, Jun Zhang, Hanwen Zhou, Jing Chen, Tongwen Tongji University Shanghai Research Institute for Intelligent Autonomous Systems National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Department of Control Science and Engineering Shanghai200092 China University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering Beijing100083 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

ISBN: (纸本)9798350316339

This study addresses linear attacks on remote state estimation within the context of a constrained alarm rate. Smart sensors, which are equipped with local Kalman filters, transmit innovations instead of raw measurements through a wireless communication network. This transmission is vulnerable to malicious data interception and manipulation by attackers. The aim of this research is to identify the optimal attack strategy that degrades the system performance while adhering to stealthiness constraints. A notable innovation of this paper is the direct association of the attack's stealthiness with the alarm rate, diverging from traditional approaches that rely on the covariance of the innovation or the Kullback-Leibler divergence, which are conventional metrics that have been extensively explored in previous studies. Our findings reveal that the optimal attack strategy exhibits some structural characteristics in systems of low dimensions. The performance of the proposed attack strategy is demonstrated through numerical examples. © 2024 IEEE.

关键词：