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73rd International Astronautical Congress, IAC 2022

作者： Wedler, Armin Müller, Marcus G. Schuster, Martin J. Durner, Maximilian Lehner, Peter Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Stürzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F. Ehreiser, Anouk Staudinger, Emanuel Pöhlmann, Robert Zhang, Siwei Hellerer, Matthias Lichtenheldt, Roy Franke, Dennis Pignède, Antoine Schindler, Walter Schütt, Manuel Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Schröder, Susanne Frohmann, Sven Seel, Fabian Dietz, Enrico Triebel, Rudolph Lii, Neal Y. Bischoff, Esther Braun, Christian Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P. Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Rauer, Heike Hübers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Münchener Str. 20 Weßling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Münchener Str. 20 Weßling82234 Germany Institute of Communications and Navigation Münchener Str. 20 Weßl82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base Münchener Str. 20 Weßl82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

This paper summarises the first outcomes of the space demonstration mission of the ARCHES project which could have been performed this year from 13 june until 10 july on Italy's Mt. Etna in Sicily. After the second postponement related to COVID from the initially for 2020 planed campaign, we are now very happy to report, that the whole campaign with more than 65 participants for four weeks has been successfully conduced. In this short overview paper, we will refer to all other publication here on IAC22. This paper includes an overview of the performed 4-week campaign and the achieved mission goals and first results but also share our findings on the organisational and planning aspects. Copyright © 2022 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Robotics

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Simultaneously Calibration of Multi Hand-Eye Robot system Based on Graph

arXiv

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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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Frequency Planning Strategies of Reducing Inter-Cell Interference for MmWave V2I Communication in Urban Scenario

Frequency Planning Strategies of Reducing Inter-Cell Interfe...

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2021 Computing, Communications and IoT Applications, ComComAp 2021

作者： Song, Yuqiao He, Danping Yan, Dong Guan, Ke Zhong, Zhangdui Kim, Junhyeong Chung, Heesang Beijing Jiaotong University State Key Laboratory of Rail Traffic Control and Safety Beijing China Frontiers Science Center for Smart High-speed Railway System Beijing China Beijing Engineering Research Center of High-speed Railway Broadband Mobile Communications Beijing China Moving Wireless Network Research Section Electronics and Telecommunications Research Institute Korea Republic of

ISBN: (纸本)9781665427975

Millimeter wave (mmWave), as the primary frequency band for sixth-generation wireless systems, is a key technology to support lower latency and higher data rates in vehicle-to-infrastructure (V2I) communications. The ray-tracing (RT) based simulation method can be combined with channel measurements to overcome the measurement limitation in mmWave band. Because of a lack of research on using RT simulation data to analyze inter-cell interference (ICI) in specific scenarios, we conduct comprehensive research based on the RT simulation platform at Beijing Jiaotong University to study the V2I link channel in the mmWave band. In this paper, RT simulations for the V2I communication in the mmWave band (22.1-23.1 GHz) are conducted for a typical urban scenario considering high traffic flows. Three frequency planning (FP) strategies are adopted to find the best FP strategy to mitigate ICI and enhance system performance. The signal-to-interference-plus-noise ratio and the corresponding theoretical capacity are calculated. The methodology and analysis in this work will be useful in supporting researchers to design mmWave V2I communication systems in similar scenarios. © 2021 IEEE.

关键词： Millimeter waves

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Multi-constraint UAV Fast Path Planning Based on Improved A∗ Algorithm 2

Multi-constraint UAV Fast Path Planning Based on Improved A...

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2020 2nd International Conference on Computer Modeling, Simulation and Algorithm, CMSA 2020

作者： Kong, Xiaodi Pan, Bin Cherkashin, Evgeny Zhang, Xiaoyang Liu, Linke Hou, Jian School of Computer and Communication Engineering Liaoning ShiHua University Fushun China School of Science Liaoning ShiHua University Fushun China Matrosov Institute for System Dynamics Control Theoiry of SB RAS Novosibirsk Russia

Path planning is an important part of UAV intelligent control technology. For the current UAV path planning, the A∗ algorithm has a large memory overhead during the planning process, and the search speed is slow. It cannot meet the path planning in a complex three-dimensional environment. The immediacy requirement and considering the constraints are less, this paper made the following improvements to the A∗ algorithm. The first, combining an anytime repair search framework with a weighted A∗ algorithm, it is possible to quickly find a feasible path during the search process. The second, aiming at the defect of relying on low heuristic function weights in the algorithm, a double ranking criterion is proposed to improve the efficiency of the algorithm approaching the optimal path in the iterative process. And third, to reduce the number of node expansions in the planning process, increase list storage constraints have been improved. Finally, the results of simulation experiments show that the improved algorithm proposed in this paper can quickly generate feasible paths, and can continuously optimize the approach to the optimal path within a specified time, which is far superior to the traditional A∗ algorithm in terms of planning efficiency and immediacy. © Published under licence by IOP Publishing Ltd.

关键词： Motion planning

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Environmental consequences of an ultra-low emission retrofit in coal-fired power plants from a life cycle perspective

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Waste Disposal and Sustainable Energy 2021年第4期3卷 309-323页

作者： Jun Dong Yuanjun Tang Aizhong Ruan Jie Chen Xiaoqing Lin Shengyong Lu Xiang Gao State Key Laboratory of Clean Energy Utilization Zhejiang UniversityHangzhou 310027China Zhejiang Energy R&D Institute Co. Ltd.Hangzhou 311121China Key Laboratory of Energy Conservation and Pollutant Control Technology for Thermal Power of Zhejiang Province Hangzhou 311121China Department of Energy and Environment System Engineering Zhejiang University of Science and TechnologyHangzhou 310023China Zhejiang Shengyuan Environmental Testing Technology Co. Ltd.Shaoxing 311899China

To make coal-fired power generation more environmentally friendly,China has initiated a series of ultra-low emission ret-rofits to the air pollution control(APC)system of the existing power *** this study,a life cycle assessment(LCA)is conducted to analyze the environmental net benefits for the typical ultra-low emission retrofit of a 1000 MW power *** key processes,substances,and APC devices are verified and *** results confirm that the retrofit effectively decreases the environmental stress of acidification potential(AP),eutrophication potential(EP),and photochemical ozone creation potential(POCP)by 69%-79%,which can be attributed to significantly reduced emissions at the ***,the retrofit has also increased other impact categories by 24%-79%,primarily due to the consumption of additional elec-tricity and *** retrofit of selective catalytic reduction,electrostatic precipitator(ESP),and wet limestone flue gas desulfurization devices has a dominant effect on the impacts of EP,human toxicity potential(HTP),and AP.A newly installed wet ESP shows some environmental benefits(only for AP),but causes considerable burdens,in particular for the investigated impact categories global warming potential(GWP),marine aquatic ecotoxicity(MAETP),and abiotic depletion fossil(ADP fossil).The obtained results indicate that the hidden environmental consequences,which are associated with the production of energy and materials,need to be examined more comprehensively to inform the development of ultra-low emission technologies and strategies effectively.

关键词： Ultra-low emission retrofit Life cycle assessment Air pollution control system Coal-fired power plants Environmental impacts

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A Constructive Semi-global Differential Game Design Method for Multi-agent systems under Input Constraint and Collision Avoidance

A Constructive Semi-global Differential Game Design Method f...

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2021 China Automation Congress, CAC 2021

作者： Wu, Xiongjun Zhou, Jialing Li, Yuanlong Chen, Chunfang Li, Kai The 802 Institute of Shanghai Academy of Space Flight Technology Eighth Academy of China Aerospace Science and Technology Corporation National Defense Key Laboratory of Science and Technology on Electromagnetic Scattering Shanghai201109 China School of Automation Nanjing University Science and Technology Nanjing210094 China Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The 802 Institute of Shanghai Academy of Space Flight Shanghai210094 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China

ISBN: (纸本)9781665426473

The constructive semi-global differential game concept is introduced into the multi-agent's cooperative controller designing of typical autonomous unmanned systems subject to controller input constraint as well as the collision avoidance requirements simultaneously. The problem of driving each agent which is assume to subject to input constraint nonlinearity from the initial position to a desired one and at the same time avoiding collisions (referring to both static obstacles and other agents) is modeled and transformed into multi-agent's collision avoidance problem. In view of the requirement that different agents working together might possibly have individual but conflicting purpose (such as in the multi-missile cooperative detection requiring slowly and continuing actions vs fast formation control scenario, and multi-agents' fast arriving vs avoiding different kinds of obstacles). The differential game theory provided a mechanism or framework for investigating different kinds of problems in which several players seek to achieve individual purposes or goals, which might be competing rather than cooperation. In view of the input constraints, the problem is reduced as a semi-global differential game. Conditions are established to guarantee input constraints are satisfied, and mainly by using the Hamilton-Jacobi-Isaacs (HJI for short) PDIs and as well as Ε-Nash equilibria. The semi-global property of the states are also guaranteed. It provides a description in terms of the invariant set for the overall differential game system under constraint controller input. Illustrative examples are carried out to verify the effectiveness of the method, and also the feasibility of the suggested control protocols. © 2021 IEEE

关键词： Multi agent systems

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Localization Method of Underwater Robot Based on Sonar Image

Localization Method of Underwater Robot Based on Sonar Image

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IEEE International Conference on Information Communication and Signal Processing (ICICSP)

作者： Lirong Li Bing Mei Peng Chen Liang Yu Pengcheng Gong Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Hubei University of Technology Wuhan China Hubei Engineering Research Center for Safety Monitoring of New Energy and Power Grid Equipment Hubei University of Technology Wuhan China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China School of Computer Science & Engineering Wuhan Institute of Technology Wuhan China

In this paper, we propose a positioning algorithm based on sonar images, which is mainly used for the positioning of underwater robots, so that the robots can obtain the position information in real time when operating underwater and avoid colliding with the underwater walls. First, the underwater space was detected with multibeam sonar, and the sonar images of the underwater space wall were found to have line segment characteristics; Composite denoising, threshold segmentation and Canny edge detection are applied to the sonar image to extract the contours of the underwater spatial wall. Then the characteristic line segments of the underwater spatial wall are detected based on the LSD (Line Segment Detector) line segment detection algorithm. In terms of line segment classification, a method is proposed to effectively classify line segments using the origin of the sonar image and the slope of the detected line segment. To further demonstrate the effectiveness of the localization algorithm in this paper, the specific steps of the algorithm are illustrated with the example of underwater rectangular space.

关键词： Location awareness Image segmentation Autonomous underwater vehicles Robot kinematics Signal processing algorithms Signal processing Real-time systems

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Channel Characterization for the mmWave Vehicle-to-Vehicle Communication in the See-through situation 13

Channel Characterization for the mmWave Vehicle-to-Vehicle C...

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13th International Symposium on Antennas, Propagation and EM Theory, ISAPE 2021

作者： Yan, Dong Guan, Ke He, Danping Kim, Junhyeong Chung, Heesang Ai, Bo Zhong, Zhangdui State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing China Frontiers Science Center for Smart High-speed Railway System Beijing China Beijing Engineering Research Center of High-speed Railway Broadband Mobile Communications Beijing China Moving Wireless Network Research Section Electronics and Telecommunications Research Institute Korea Republic of

ISBN: (纸本)9781665418126

Millimeter-wave (mmWave) is crucial autonomous driving for its wide bandwidth and low I complex vehicular communication scenarios, the shad of large vehicles has a significant influence on th to-vehicle (V2V) channel. Thus, it is necessary to channel characteristics in this case. This paper uses a ray-tracing simulator to research the influence of the and the beam switching technology on the V2V c the 'See-Through situation'. Finally, through the ext channel parameters, the characteristics of the V2V (the mmWave band are explored. Conclusions can project ideas for the design of the vehicular communication li © 2021 IEEE.

关键词： Millimeter waves

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Efficient Depth Selection for the Implementation of Noisy Quantum Approximate Optimization Algorithm

arXiv

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arXiv 2022年

作者： Pan, Yu Tong, Yifan Xue, Shibei Zhang, Guofeng State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Department of Applied Mathematics The Hong Kong Polytechnic University Hung Hom Kowloon Hong Kong

Noise on near-term quantum devices will inevitably limit the performance of Quantum Approximate Optimization Algorithm (QAOA). One significant consequence is that the performance of QAOA may fail to monotonically improve with depth. In particular, optimal depth can be found at a certain point where the noise effects just outweigh the benefits brought by increasing the depth. In this work, we propose to use the model selection algorithm to identify the optimal depth with a few iterations of regularization parameters. Numerical experiments show that the algorithm can efficiently locate the optimal depth under relaxation and dephasing noises. © 2022, CC BY.

关键词： Optimization

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Passivation of degradation path enables high performance perovskite nanoplatelet lasers with high operational stability

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Photonics Research 2022年第6期10卷 1440-1452页

作者： GUOHUI LI HUIHUI PI YANFU WEI BOLIN ZHOU YA GAO RONG WEN YUYING HAO HAN ZHANG BENG S.ONG YANXIA CUI College of Physics and Optoelectronics Key Laboratory of Interface Science and Engineering in Advanced MaterialsKey Laboratory of Advanced Transducers and Intelligent Control System of Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China Collaborative Innovation Centre for Optoelectronic Science and Technology Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong ProvinceCollege of Physics and Optoelectronic EngineeringShenzhen Key Laboratory of Micro-Nano Photonic Information TechnologyGuangdong Laboratory of Artificial Intelligence and Digital Economy(SZ)Shenzhen UniversityShenzhen 518060China Department of Chemistry Research Centre of Excellence for Organic ElectronicsInstitute of Advanced MaterialsHong Kong Baptist UniversityKowloon TongHong KongChina

MAPbI_(3)perovskite has attracted widespread interests for developing low-cost near infrared semiconductor gain ***,it faces the instability issue under operation conditions,which remains a critical *** is found that the instability of the MAPbI_(3)nanoplatelet laser comes from the thermal-induced degradation progressing from the surface defects towards neighboring *** using PbI_(2) passivation,the defect-initiated degradation is significantly suppressed and the nanoplatelet degrades in a layer-by-layer way,enabling the MAPbI_(3)laser to sustain for 4500 s(2.7×10^(7) pulses),which is nearly three times longer than that of the nanoplatelet laser without ***,the PbI_(2) passivated MAPbI_(3)nanoplatelet laser with the nanoplatelet cavity displays a maximum quality factor up to∼7800,the highest reported for all MAPbI_(3)nanoplatelet ***,a high stability MAPbI_(3)nanoplatelet laser that can last for 8500 s(5.1×10^(7) pulses)is demonstrated based on a dual passivation strategy,by retarding the defect-initiated degradation and surface-initiated degradation *** work provides in-depth insights for understanding the operating degradation of perovskite lasers,and the dual passivation strategy paves the way for developing high stability near infrared semiconductor laser media.

关键词： stability initiated high

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