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2023 China Automation Congress, CAC 2023

作者： Wang, Lejun Liu, Yiqin Zhang, Ruihuan Huang, Zixin Cai, Zhen School of Automation School of Industrial Internet Chongqing University of Posts and Telecommunications Chongqing400065 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan430200 China School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan430205 China School of Information Engineering Wuhan City Polytechnic Wuhan430064 China

ISBN: (纸本)9798350303759

The control objective of Pendubot is to stabilise the system in a vertically upward position by swinging up from a vertically downward position. Facing various physical constraints in practical applications, this paper proposes a swing-up stabil-isation control strategy based on a nonlinear model prediction method to accomplish the above control objective. On the basis of the system dynamics model, the forward Euler method is used to construct a nonlinear prediction model of the system. According to the control objectives and physical constraints of the system, the performance index function is designed, and then the control inputs of each sampling cycle are obtained through rolling optimisation and feedback correction, so that the system state gradually converges to the target trajectory, thus achieving the motion control objective. Based on the simulation results, it can be seen that the strategy proposed in this paper is efficient and robust under external disturbances. © 2023 IEEE.

关键词： Model predictive control

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Toward Consistent drift-free visual inertial localization on keyframe based map

arXiv

引用

arXiv 2021年

作者： Zhang, Zhuqing Jiao, Yanmei Huang, Shoudong Wang, Yue Xiong, Rong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China Centre for Autonomous Systems Faculty of Engineering and Information Technology University of Technology Sydney UltimoNSW2007 Australia

Global localization is essential for robots to perform further tasks like navigation. In this paper, we propose a new framework to perform global localization based on a filter-based visual-inertial odometry framework MSCKF. To reduce the computation and memory consumption, we only maintain the keyframe poses of the map and employ Schmidt-EKF to update the state. This global localization framework is shown to be able to maintain the consistency of the state estimator. Furthermore, we introduce a re-linearization mechanism during the updating phase. This mechanism could ease the linearization error of observation function to make the state estimation more precise. The experiments show that this mechanism is crucial for large and challenging scenes. Simulations and experiments demonstrate the effectiveness and consistency of our global localization framework. Copyright © 2021, The Authors. All rights reserved.

关键词： state estimation

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Efficient Search of the k Shortest Non-homotopic Paths by Eliminating Non-k-Optimal Topologies

arXiv

引用

arXiv 2022年

作者： Yang, Tong Huang, Li Wang, Yue Xiong, Rong State Key Laboratory of Industrial Control and Technology Zhejiang University China Institute of Advanced Digital Technologies and Instrumentation Zhejiang University China

An efficient algorithm to solve the k shortest non-homotopic path planning (k-SNPP) problem in a 2D environment is proposed in this paper. Motivated by accelerating the inefficient exploration of the homotopy-augmented space of the 2D environment, our fundamental idea is to identify the non-k-optimal path topologies as early as possible and terminate the pathfinding along them. This is a non-trivial practice because it has to be done at an intermediate state of the path planning process when locally shortest paths have not been fully constructed. In other words, the paths to be compared have not rendezvoused at the goal location, which makes the homotopy theory, modelling the spatial relationship among the paths having the same endpoint, not applicable. This paper is the first work that develops a systematic distance-based topology simplification mechanism to solve the k-SNPP task, whose core contribution is to assert the distance-based order of non-homotopic locally shortest paths before constructing them. If the order can be predicted, then those path topologies having more than k better topologies are proven free of the desired k paths and thus can be safely discarded during the path planning process. To this end, a hierarchical topological tree is proposed as an implementation of the mechanism, whose nodes are proven to expand in non-homotopic directions and edges (collision-free path segments) are proven locally shortest. With efficient criteria that observe the order relations between partly constructed locally shortest paths being imparted into the tree, the tree nodes that expand in non-k-optimal topologies will not be expanded. As a result, the computational time for solving the k-SNPP problem is reduced by near two orders of magnitude. Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

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Acoustically Driven Micropipette for Hydrodynamic Manipulation of Mouse Oocytes

Acoustically Driven Micropipette for Hydrodynamic Manipulati...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhaofeng Zuo Xiaoming Liu Zhuo Chen Yuyang Li Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micromanipulation techniques that can achieve controlled fine operations at the micro scale play an important role in biomedical fields including embryo engineering, gene engineering, drug screening, and cell analysis. However, micromanipulation of biological micro-objects, such as cells and micro tissues, suffers from mechanical damage and low efficiency. Several techniques have been introduced to manipulate cells more easily, but most of them are restricted by expensive devices, limited work area, and potential damage to cellular structure. Here we develop a hydrodynamic manipulation method to rotate and transport mouse oocytes, which utilizes acoustic waves and micropipette to generate acoustic radiation force and excite microstreaming. This method can accomplish rotational and translational operations precisely and controllably. We tested the process of trapping, rotation, and transportation of the mouse oocytes, and measured rotational and translational speed with a range of applied voltage. The method was able to shorten the cost time of delivery and posture adjustment before oocyte injection. Our study provides an easy-to-use technique for oocyte manipulation without contact, and it has the potential to be universally applied in many cellular studies.

关键词： Visualization Voltage measurement Three-dimensional displays Force Transportation Hydrodynamics Biology

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Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Survey

arXiv

引用

arXiv 2024年

作者： Shi, Kun He, Shibo Shi, Zhenyu Chen, Anjun Xiong, Zehui Chen, Jiming Luo, Jun The School of Computer Science and Engineering Nanyang Technological University 639798 Singapore The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China The Hangzhou Dianzi University Hangzhou310005 China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design 487372 Singapore

Multi-modal fusion is imperative to the implementation of reliable object detection and tracking in complex environments. Exploiting the synergy of heterogeneous modal information endows perception systems the ability to achieve more comprehensive, robust, and accurate performance. As a nucleus concern in wireless-vision collaboration, radar-camera fusion has prompted prospective research directions owing to its extensive applicability, complementarity, and compatibility. Nonetheless, there still lacks a systematic survey specifically focusing on deep fusion of radar and camera for object detection and tracking. To fill this void, we embark on an endeavor to comprehensively review radar-camera fusion in a holistic way. First, we elaborate on the fundamental principles, methodologies, and applications of radar-camera fusion perception. Next, we delve into the key techniques concerning sensor calibration, modal representation, data alignment, and fusion operation. Furthermore, we provide a detailed taxonomy covering the research topics related to object detection and tracking in the context of radar and camera technologies. Finally, we discuss the emerging perspectives in the field of radar-camera fusion perception and highlight the potential areas for future research. Copyright © 2024, The Authors. All rights reserved.

关键词： Object detection

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An Optimal control Based Trajectory Planning Method for Cooperative Merging Maneuvers

An Optimal Control Based Trajectory Planning Method for Coop...

引用

Intelligent Robotics and systems (ISoIRS), International Symposium on

作者： Qi Wang Hao Ge Xuting Duan Jianshan Zhou State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control State Key Laboratory of Air Traffic Management System and Technology School of Transportation Science and Engineering Beihang University Beijing China State Key Laboratory of Air Traffic Management System and Technology Nanjing Research Institute of Electronic Engineering Nanjing China State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing China

Due to the prediction errors and diverse driving styles of surrounding vehicles, traffic congestion and even accidents can occur in the traffic bottleneck area where vehicles merge into the main road. To ensure that connected and automated vehicles (CAVs) can quickly and efficiently merge into the main road, this paper proposes a cooperative trajectory planning method based on optimal control for vehicle cut-in scenarios. A optimal control model is constructed, and a quintic polynomial is used to generate the initial solution of the optimal control problem to accelerate the solution process and improve the success rate. Finally, The obtained merging trajectory is then synchronized with the movement of vehicles on the main road to optimize their actions and ensure a safe merging process. Joint simulation with Robot Operating System (ROS) and RVIZ is utilized, and the results show that the proposed algorithm can quickly obtain cooperative results, the locally successful merging trajectory meets the requirements of smoothness and safety, and if the solution does not allow merging, the merging vehicle is instructed to terminate the execution.

关键词：

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SAMOC: Enabling Atomic Invocations for Cross-chain Crowdsourcing Testing DApps in industrial control Through Trusted Smart Community and Lock Mechanism

SAMOC: Enabling Atomic Invocations for Cross-chain Crowdsour...

引用

IEEE International Conference on Trust, Security and Privacy in Computing and Communications (TrustCom)

作者： Weiguo Huang Yong Ding Jun Li Yujue Wang Hai Liang Changsong Yang Guangxi Key Laboratory of Cryptography and Information Security School of Computer Science and Information Security Guilin University of Electronic Technology Guilin China Guangxi Engineering Research Center of Industrial Internet Security and Blockchain Guilin University of Electronic Technology Guilin China Lion Rock Labs of Cyberspace Security Institute of Cyberspace Technology HKCT Institute for Higher Education China China Industrial Control Systems Cyber Emergency Response Team Beijing China Hangzhou Innovation Institute of Beihang University Hangzhou China

ISBN: (数字)9798331506209

ISBN: (纸本)9798331506216

Crowdsourcing testing leverages extensive user participation to identify and fix potential issues in industrial control software, ensuring its security and reliability. Decentralized applications (DApps) can utilize blockchain and smart contract technologies to ensure the decentralization, transparency, and tamper-resistance of industrial control software testing. However, testing efforts conducted via DApps are typically confined to a single blockchain. Coordinating and scheduling DApps deployed on different blockchains has become a critical challenge. Moreover, DApps need to verify the credibility of crowdsourcing participants to ensure the reliability of testing. In order to address these issues, this paper proposes SAMOC, an atomic cross-chain system based on the Atomic-Oracle chain, which aims to realize atomic cross-chain invocations for DApps. SAMOC can realize atomic cross-chain invokes, and the intelligent community deployed on the Atomic-Oracle chain calculates the reputation of users’ accounts across multiple chains through Oracle. This paper also designs a corresponding incentive mechanism to ensure that the auditing of cross-chain invokes is honest and trustworthy. Experimental results show that the cross-chain invokes of the proposed SAMOC scheme have lower latency compared to AtomCI.

关键词： Crowdsourcing Software testing Smart cities industrial control Smart contracts Decentralized applications Software Blockchains Software reliability Security

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SMNet: Multi-Drone Detection and Classification via Monitoring Flight control Signals on Spectrograms

引用

IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Yu, Ningning Wu, Jiajun Zhou, Chengwei Shi, Zhiguo Chen, Jiming Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China Jinhua Institute Zhejiang University Jinhua321037 China Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China Hangzhou Dianzi University School of Artificial Intelligence Hangzhou310018 China

The widespread use of drones has provided numerous benefits, but it has also raised critical concerns regarding public safety and personal privacy due to many accidents stemming from their illegal use. Most radio frequency (RF) based methods for drone monitoring focus on the video-transmission signals (VTS), therefore bringing the potential risks that illicit drones can evade RF monitoring systems by disabling their VTS. To address this problem, we shift our attention to the flight control signals (FCS) that are indispensable for carrying the routine flight control instructions and logs. This paper proposes a new network designed specifically for FCS-oriented detection and classification, named the Spectrogram Monitoring Network (SMNet). Specifically, SMNet can identify the classes, frequency ranges, and time ranges of FCS by monitoring objects of interest on spectrograms. Different from traditional detectors, SMNet exploits the edge and corner features of FCS, which makes it perform well in complex electromagnetic environments. Then, we leverage our insights into texture features (TF) and position features (PF) found within FCS. By integrating TF-aware and PF-aware mechanisms, SMNet can effectively extract weak and scattered features of FCS to improve accuracy. Besides, we explore the application of SMNet to deal with multi-drone scenarios with a scale-limited dataset, which aims to reduce the demanded scale of data acquisition and labelling from the exponential level to the linear level. To this end, we utilize mixup-based data augmentation to generate pseudo-spectrograms that reflect multi-drone communication activities, thereby enhancing the generalizability of SMNet. Extensive experiments show that the proposed method outperforms the compared methods in terms of robustness against six typical types of noise while maintaining similar precision and recall. © 2015 IEEE.

关键词： Spectrographs

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In Situ Measurement of the Kinetic Friction of Si Nanowires on SiC Substrates in SEM with a Microprobe 11

In Situ Measurement of the Kinetic Friction of Si Nanowires ...

引用

11th IEEE Annual International Conference on cyber technology in Automation, control, and Intelligent systems, cyber 2021

作者： Gao, Peng Zhou, Jie Zou, Tao Rong, Weibin State Key Laboratory of Robotics and Systems Harbin Institute of Technology HarbinHeilongjiang150080 China School of Electrical and Control Engineering Heilongjiang University of Science and Technology HarbinHeilongjiang150022 China

ISBN: (纸本)9781665425278

This research introduces a kinetic friction modeling and measurement method for silicon nanowires (NWs) and silicon carbide substrates. The NW was pushed to slide by the micro-force probe at a constant speed. Under the conditions of kinetic friction and deformation of the nanowires, the silicon nanowires are in equilibrium during the measurement. Under this condition, the value measured by the micro-force probe is the total kinetic friction force. The thermal insulation connector is used to isolate the heat conduction to the micro-force probe to avoid the influence of temperature rise on the measurement result. The Faraday cup was used to measure the surface current in the scanning electron microscope (SEM). The appropriate parameters of SEM were chosen according to the surface current to reduce the influence of the charging effect on the measurement results. The high sensitivity of the micro-force probe is used to ensure that there is no contact between the probe and the substrate, thereby avoiding the interference of the pre-load force. The entire experiment process was monitored in real-time to improve the stability of the measurement. The study in this paper found that the shear stress of silicon nanowires is 1.05 \pm 0.32\text{MPa}. © 2021 IEEE.

关键词： Silicon carbide

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Accumulation Kinetics of Polystyrene Nano- and Microplastics in the Waterflea Daphnia Magnaand Trophic Transfer to the Mysid Limnomysis Benedeni

SSRN

引用

SSRN 2024年

作者： Yu, Qi Nederstigt, Tom A.P. Wang, Zhuang Wu, Juan Bosker, Thijs Peijnenburg, Willie J.G.M. Vijver, Martina G. State Environmental Protection Key Laboratory of Water Environmental Simulation and Pollution Control South China Institute of Environmental Science Ministry of Ecology and Environment Guangzhou510535 China Leiden University Leiden2300 RA Netherlands School of Environmental Science and Engineering Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Nanjing University of Information Science and Technology Nanjing210044 China Key Laboratory of Microbial Technology for Industrial Pollution Control of Zhejiang Province Zhejiang University of Technology Hangzhou310014 China Bilthoven3720 BA Netherlands

Trophic transfer of nano- and microplastics (NMPs) within food webs is poorly understood. Here we investigated the accumulation of differently sized polystyrene particles (PSPs) in Daphnia magna and their subsequent transfer to Limnomysis benedeni, explicitly accounting for the fate of the PSPs in the aquatic system as a function of particle size (26, 500 and 4800 nm). L. benedeni were fed D. magna exposed to 8 mg/L PSPs for 16 h and were subsequently depurated for 48 h in the absence of food. On the basis of the mass of particles accumulated in the organisms, the internal concentration of 4800 nm PSPs was found to be 4 -10 times higher than that of 26 and 500 nm PSPs in D. magna. Uptake rate constants in daphnids for 26 nm (1.7 ± 0.4 L/g·h) and 4800 nm (1.7 ± 0.4 L/g·h) were significantly (p © 2024, The Authors. All rights reserved.

关键词： Rate constants

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