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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yixiang Liu Xiaolin Dai Kai Guo Jiang Wu Rui Song Jie Zhao Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Mechanical Transmissions Chongqing University Chongqing China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Co. Ltd Hangzhou China Engineering Research Center of Intelligent Unmanned System of Ministry of Education School of Control Science and Engineering Shandong University Jinan China School of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Existing in-pipe robots have insufficient adaptability when dealing with accidents in unfamiliar pipe environments. Developing a pipe robot that can be designed and manufactured quickly is one solution. The tensegrity structure is a self-stressing spatial structure formed by the interaction of rigid members and flexible cables, which has the advantages of simple structure, good flexibility, deformability, and impact resistance. Inspired by this structure, we design a novel worm-like tensegrity robot for different pipe environments, which can be manufactured rapidly at low cost. Firstly, a robotic module based on the tensegrity structure is designed inspired by the motion patterns of worm-like organisms. Then, the design process of the module is presented based on the mathematical analysis of the deformation. Finally, a prototype of the tensegrity robot is developed using simple and low-cost parts in less than an hour. To test the motion performance, load performance, and inspection capability of the tensegrity robot, we designed a series of experiments on horizontal pipes, vertical pipes, elbows, and steel pipes. Experimental results show that the worm-like tensegrity robot is simple in structure, easy to manufacture, low in cost, and good in performance.

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Self-triggered Resilient Stabilization of Linear systems with Quantized Output

arXiv

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arXiv 2023年

作者： Liu, Wenjie Wakaiki, Masashi Sun, Jian Wang, Gang Chen, Jie Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chonqing401120 China Graduate School of System Informatics Kobe University Hyogo657-8501 Japan Department of Control Science and Engineering Tongji University Shanghai201804 China

This paper studies the problem of stabilizing a self-triggered control system with quantized output. Employing a standard observer-based state feedback control law, a self-triggering mechanism that dictates the next sampling time based on quantized output is co-developed with an output encoding scheme. If, in addition, the transmission protocols at the controller-to-actuator (C-A) and sensor-to-controller (S-C) channels can be adapted, the self-triggered control architecture can be considerably simplified, leveraging a delicate observer-based deadbeat controller to eliminate the need for running the controller in parallel at the encoder side. To account for denial-of-service (DoS) in the S-C channel, the proposed output encoding and self-triggered control schemes are further made resilient. It is shown that a linear time-invariant system can be exponentially stabilized if some conditions on the average DoS duration time are met. There is a trade-off between the maximum inter-sampling time and the resilience against DoS attacks. Finally, a numerical example is presented to demonstrate the practical merits of the proposed self-triggered control schemes and associated theory. © 2023, CC BY.

关键词： controllers

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Query-guided Prototype Evolution Network for Few-Shot Segmentation

arXiv

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arXiv 2024年

作者： Cong, Runmin Xiong, Hang Chen, Jinpeng Zhang, Wei Huang, Qingming Zhao, Yao Institute of Information Science Beijing Jiaotong University Beijing100044 China School of Control Science and Engineering Shandong University Jinan250061 China Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan250061 China Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing100044 China Department of Computer Science City University of Hong Kong Hong Kong School of Computer Science and Technology University of Chinese Academy of Sciences Beijing101408 China

Previous Few-Shot Segmentation (FSS) approaches exclusively utilize support features for prototype generation, neglecting the specific requirements of the query. To address this, we present the Query-guided Prototype Evolution Network (QPENet), a new method that integrates query features into the generation process of foreground and background prototypes, thereby yielding customized prototypes attuned to specific queries. The evolution of the foreground prototype is accomplished through a support-query-support iterative process involving two new modules: Pseudo-prototype Generation (PPG) and Dual Prototype Evolution (DPE). The PPG module employs support features to create an initial prototype for the preliminary segmentation of the query image, resulting in a pseudo-prototype reflecting the unique needs of the current query. Subsequently, the DPE module performs reverse segmentation on support images using this pseudo-prototype, leading to the generation of evolved prototypes, which can be considered as custom solutions. As for the background prototype, the evolution begins with a global background prototype that represents the generalized features of all training images. We also design a Global Background Cleansing (GBC) module to eliminate potential adverse components mirroring the characteristics of the current foreground class. Experimental results on the PASCAL-5i and COCO-20i datasets attest to the substantial enhancements achieved by QPENet over prevailing state-of-the-art techniques, underscoring the validity of our ideas. © 2024, CC BY-NC-SA.

关键词： Semantic Segmentation

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Analysis of a hybrid system combining solar-assisted methanol reforming and fuel cell power generation

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Energy Conversion and Management 2023年 297卷

作者： Zhao, Ke Kong, Hui Tan, Sicong Yang, Xiao-Guang Zheng, Hongfei Yang, Tao Wang, Hongsheng School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China State Key Laboratory of Power System Operation and Control Department of Thermal Engineering Tsinghua-BP Clean Energy Center Tsinghua University Beijing100084 China Shenzhen Automotive Research Institute Beijing Institute of Technology Guangdong Shenzhen518118 China & Department of Materials Science and Engineering City University of Hong Kong Hong Kong SAR Kowloon China

The proton exchange membrane fuel cell (PEMFC) is an efficient and clean power unit that has become a research hotspot for scholars around the world, but the hydrothermal management of the PEMFC limits the cell performance and hinders its large-scale application. In the paper, a hybrid system combining solar-assisted reforming of methanol and fuel cell power generation is proposed, in which methanol is used as a coolant in the hydrothermal management of the PEMFC subsystem to take away the waste heat, and further reformed for hydrogen production with the assistance of the solar energy subsystem to improve the hybrid system efficiency. The study is carried out at both the single cell level and system level to investigate the effect of solar energy on the performance of the hybrid system by simulation results, which are obtained from the finite element software, such as the performance of the PEMFC. The results show that the novel hydrothermal management method using methanol and water in the single cell can control the temperature at 60–80 °C. The highest power density of the single cell reaches 0.595 W/cm2 at a water-to-alcohol ratio of 1:1 and a coolant flow rate of 2.846 mol/s. In addition, the exergy of this hybrid system improves by 76.36% compared to the exergy of the solar thermochemical methanol reforming system at a reaction temperature of 200 °C when the methanol reforming reaction is more complete. The system efficiency can reach up to 59.15%, compared to the solar thermochemical methanol reforming system and the methanol reforming system heated by combustion of methanol, which can only reach 51.10% and 43.18%, respectively. This study provides a novel method for addressing the hydrothermal management issue of PEMFC and a new idea for the efficient utilization of solar energy. © 2023 Elsevier Ltd

关键词： Solar energy

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Dynamics of organic carbon and nitrogen in deep soil profile and crop yields under long-term fertilization in wheat-maize cropping system

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Journal of Integrative Agriculture 2022年第3期21卷 826-839页

作者： Muhammad QASWAR LI Dong-chu HUANG Jing HAN Tian-fu Waqas AHMED Sehrish ALI Muhammad Numan KHAN Zulqarnain Haider KHAN XU Yong-mei LI Qian ZHANG Hui-min WANG Bo-ren Ahmad TAUQEER National Engineering Laboratory for Improving Quality of Arable Land/Institute of Agricultural Resources and Regional Planning Chinese Academy of Agricultural SciencesBeijing 100081P.R.China Key Laboratory of Industrial Ecology and Environmental Engineering School of Environmental Science and TechnologyDalian University of TechnologyDalian 116024P.R.China National Observation Station of Qiyang Agri-Ecology System/Institute of Agricultural Resources and Regional Planning Chinese Academy of Agricultural SciencesQiyang 426182P.R.China Guangdong Provincial Key Laboratory for Radionuclides Pollution Control and Resources School of Environmental Science and EngineeringGuangzhou UniversityGuangzhou 510006P.R.China Agro-Environmental Protection Institute Ministry of Agriculture and Rural AffairsTianjin 300191P.R.China Institute of Soil Fertilizer and Agricultural Water ConservationXinjiang Academy of Agricultural SciencesUrumqi 830091P.R.China College of Agriculture Henan University of Science and TechnologyLuoyang 471000P.R.China School of Chemical Engineering Dalian University of TechnologyDalian 116024P.R.China

Soil organic carbon(SOC)and nitrogen(N)are two of the most important indicators for agricultural *** primary objective of this study was to investigate the changes in SOC and N in the deep soil profile(up to 100 cm)and their relationships with crop productivity under the influence of long-term(since 1990)fertilization in the wheat-maize cropping *** included CK(control),NP(inorganic N and phosphorus(P)fertilizers),NPK(inorganic N,P and potassium fertilizers),NPKM(NPK plus manure),and M(manure).Crop yield and the properties of topsoil were measured yearly from 2001 to 2009.C and N contents were measured at five different depths in 2001 and *** results showed that wheat and maize yields decreased between 2001 and 2009 under the inorganic fertilizer(NP and NPK)*** average yield between 2001 and 2009 under the NP,NPK,NPKM,and M treatments(compared with the CK treatment)increased by 38,115,383,and 381%,respectively,for wheat and 348,891,2738,and 1845%,respectively,for *** long-term fertilization treatments significantly changed coarse free particulate(cf POC),fine free particulate(ff POC),intramicroaggregate particulate(i POC),and mineral-associated(m SOC)organic carbon *** the experimental years of 2001 and 2009,soil fractions occurred in the following order for all treatments:m SOC>cf POC>i POC>ff *** fractions were higher under the manure application treatments than under the inorganic fertilization *** to the inorganic fertilization treatments,manure input enhanced the stocks of SOC and total N in the surface layer(0–20 cm)but decreased SOC and N in the deep soil layer(80–100 cm).This reveals the efficiency of manure in increasing yield productivity and decreasing risk of vertical loss of nutrients,especially N,compared to inorganic fertilization *** findings provide opportunities for understanding deep soil C and N dynamics,which could help mitigate climate change impact o

关键词： carbon stock nitrogen stock carbon fraction soil profile organic amendments long-term experiment

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Synergetic roadmap of carbon neutrality and clean air for China

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Environmental science and Ecotechnology 2023年第4期16卷 1-25页

作者： Qiang Zhang Zhicong Yin Xi Lu Jicheng Gong Yu Lei Bofeng Cai Cilan Cai Qimin Chai Huopo Chen Hancheng Dai Zhanfeng Dong Guannan Geng Dabo Guan Jianlin Hu Cunrui Huang Jianing Kang Tiantian Li Wei Li Yongsheng Lin Jun Liu Xin Liu Zhu Liu Jinghui Ma Guofeng Shen Dan Tong Xuhui Wang Xuying Wang Zhili Wang Yang Xie Honglei Xu Tao Xue Bing Zhang Da Zhang Shaohui Zhang Shaojun Zhang Xian Zhang Bo Zheng Yixuan Zheng Tong Zhu Jinnan Wang Kebin He Ministry of Education Key Laboratory for Earth System Modelling Department of Earth System ScienceTsinghua UniversityBeijing100084China Key Laboratory of Meteorological Disaster Ministry of Education/Joint International Research Laboratory of Climate and Environment Change(ILCEC)/Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters(CIC-FEMD)Nanjing University of Information Science&TechnologyNanjing210044China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing100084China Institute for Carbon Neutrality Tsinghua UniversityBeijing100084China State Key Joint Laboratory for Environment Simulation and Pollution Control College of Environmental Sciences and Engineering and Center for Environment and HealthPeking UniversityBeijing100871China Center of Air Quality Simulation and System Analysis Chinese Academy of Environmental PlanningBeijing100012China Center for Carbon Neutrality Chinese Academy of Environmental PlanningBeijing100012China National Center for Climate Change Strategy and International CooperationBeijing100035China Nansen-Zhu International Research Centre Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing100029China College of Environmental Sciences and Engineering Peking UniversityBeijing100871China Institute of Environmental Policy Management Chinese Academy of Environmental PlanningBeijing100012China Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control School of Environmental Science and EngineeringCollaborative Innovation Center of Atmospheric Environment and Equipment TechnologyNanjing University of Information Science and TechnologyNanjing210044China Vanke School of Public Health Tsinghua UniversityBeijing100084China Center for Energy and Environmental Policy Research Beijing Institute of TechnologyBeijing100081China China CDC Key Laboratory of Environment and Population Health National Institute of En

It is well recognized that carbon dioxide and air pollutants share similar emission sources so that synergetic policies on climate change mitigation and air pollution control can lead to remarkable co-benefits on greenhouse gas reduction,air quality improvement,and improved *** the context of carbon peak,carbon neutrality,and clean air policies,this perspective tracks and analyzes the process of the synergetic governance of air pollution and climate change in China by developing and monitoring 18 *** 18 indicators cover the following five aspects:air pollution and associated weather-climate conditions,progress in structural transition,sources,inks,and mitigation pathway of atmospheric composition,health impacts and benefits of coordinated control,and synergetic governance system and *** tracking the progress in each indicator,this perspective presents the major accomplishment of coordinated control,identifies the emerging challenges toward the synergetic governance,and provides policy recommendations for designing a synergetic roadmap of Carbon Neutrality and Clean Air for China.

关键词： Carbon neutrality Clean air Synergetic roadmap

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COMPUTATIONAL FLUID-STRUCTURE INTERACTION FRAMEWORK FOR SIMULATING CHARACTERISTIC DEFORMATIONS IN INSECT FLAPPING WINGS 9

COMPUTATIONAL FLUID-STRUCTURE INTERACTION FRAMEWORK FOR SIMU...

引用

9th International Conference on Computational Methods for Coupled Problems in science and engineering, COUPLED PROBLEMS 2021

作者： Onishi, Minato Ishihara, Daisuke Department of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka Fukuoka820-8502 Japan Department of Intelligent and Control Systems Kyushu Institute of Technology Kyushu Institute of Technology 680-4 Kawazu Iizuka Fukuoka820-8502 Japan

In this study, a computational fluid-structure interaction (FSI) framework for characteristic deformations in insect's wings is proposed. The proposed framework consists of a pixel wing model using a structured shell finite element mesh, a projection method for the monolithic FSI monolithic equations using an algebraic splitting, and the FSI dynamic similarity law to measure dynamic similarity between model's and actual insect's flights. It is shown that the proposed framework can directly simulate passive feathering and cambering in insect's wings caused by the FSI, whose magnitudes are very close to those of actual insects. © 2021 9th International Conference on Computational Methods for Coupled Problems in science and engineering, COUPLED PROBLEMS 2021. All rights reserved.

关键词： Fluid structure interaction

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Multi-kernel Correntropy-based Orientation Estimation of IMUs: Gradient Descent Methods

arXiv

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arXiv 2023年

作者： Li, Shilei Li, Lijing Shi, Dawei Lou, Yunjiang Shi, Ling The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong The School of Information and Control Engineering China University of Mining and Technology China The School of Automation Beijing Institute of Technology China The State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China

This paper presents two computationally efficient algorithms for the orientation estimation of inertial measurement units (IMUs): the multi-kernel correntropy-based gradient descent (CGD) and the multi-kernel correntropy-based decoupled orientation estimation (CDOE). Traditional methods, such as gradient descent (GD) and decoupled orientation estimation (DOE), rely on the least square (LS) criterion in algorithm derivation, making them vulnerable to external acceleration and magnetic interference. To address this issue, we first demonstrate that the multi-kernel correntropy loss (MKCL) is an optimal objective function under the maximum likelihood estimation (MLE) framework when the noise follows a specific type of heavy-tailed distribution. Then, we provide some important properties of the MKCL as a cost function. By replacing the LS cost with the MKCL, we develop the CGD and CDOE algorithms. We evaluate the effectiveness of our proposed methods by comparing them with existing algorithms in various situations. Experimental results indicate that our proposed methods (CGD and CDOE) outperform their conventional counterparts (GD and DOE), especially when faced with external acceleration and magnetic disturbances. Furthermore, the new algorithms demonstrate significantly lower computational complexity than Kalman filter-based approaches, making them suitable for applications with low-cost microprocessors. Copyright © 2023, The Authors. All rights reserved.

关键词： Maximum likelihood estimation

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Multi-kernel Correntropy Regression: Robustness, Optimality, and Application on Magnetometer Calibration

arXiv

引用

arXiv 2023年

作者： Li, Shilei Chen, Yihan Lou, Yunjiang Shi, Dawei Li, Lijing Shi, Ling The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong The State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China The School of Automation Beijing Institute of Technology China The School of Information and Control Engineering China University of Mining and Technology China

This paper investigates the robustness and optimality of the multi-kernel correntropy (MKC) on linear regression. We first derive an upper error bound for a scalar regression problem in the presence of arbitrarily large outliers and state that the kernel bandwidth plays an important role in minimizing the lowest upper error bound. Then, we find that the proposed MKC is related to a specific heavy-tail distribution, where its head shape is consistent with the Gaussian distribution but its tail shape is heavy-tailed, and the extent of heavy-tail is controlled by the kernel bandwidth. It becomes a Gaussian distribution when the bandwidth is infinite, which allows one to tackle both Gaussian and non-Gaussian problems without explicitly investigating the noise distributions. To explore the optimal underlying distribution parameters, an expectation-maximization-like (EM) algorithm is developed to estimate the parameter vectors and the distribution parameters in an alternating manner. The results show that our algorithm can achieve equivalent performance compared with the traditional linear regression under Gaussian noise, and it significantly outperforms the conventional method under heavy-tailed noise. Both numerical simulations and experiments on a magnetometer calibration application verify the effectiveness of the proposed method. Note to Practitioners-The goal of this paper is to enhance the accuracy of conventional linear regression in handling outliers while maintaining its optimality under Gaussian assumptions. Our algorithm is formulated under the maximum likelihood estimation (MLE) framework, assuming the regression residuals follow a type of heavy-tailed noise distribution with an extreme case of Gaussian. The degree of the heavy tail is explored alternatingly using an Expectation-Maximization (EM) algorithm which converges very quickly. The robustness and optimality of the proposed approach are investigated and compared with the traditional approaches. Both th

关键词： Linear regression

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Numerical Investigation into the Transient Behavior of the Spike-Type Rotating Stall for a Transonic Compressor Rotor

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Fluid Dynamics & Materials Processing 2022年第3期18卷 761-773页

作者： Pengfei Ju Fangfei Ning Zhiting Tong Jingying Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology) Tianjin300384China Research Institute of Aero-Engine Beihang UniversityBeijing100191China National Key Laboratory of Science and Technology on Aero-Engine Aero-Thermodynamics School of Energy and Power EngineeringBeihang UniversityBeijing100191China School of Energy and Power Engineering Shandong UniversityJinan250061China Shandong Engineering Laboratory for High-Efficiency Energy Conservation and Energy Storage Technology&Equipment Shandong UniversityJinan250061China

In this paper,a numerical investigation into a spike-type rotating stall process is carried out considering a transonic compressor rotor(the NASA Rotor 37).Through solution of the Unsteady Reynolds-Averaged Navier-Stokes(URANS)equations,the evolution process from an initially circumferentially-symmetric near-stall flow field to a stable stall condition is simulated without adding any artificial *** the near-stall operating point,periodic fluctuations are present in the overall flow of the ***,the blockage region in the channel periodically shifts from middle span to the *** fluctuating condition does not directly lead to stall,while the full-annulus calculation eventually evolves to ***,a kind of“early disturbance”feature appears in the dynamic signals,which propagates forward ahead of the rotor.

关键词： Transonic compressor spike stall numerical simulation early disturbance dynamic signal

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