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Precedence-constrained path planning of messenger UAV for air-ground coordination

control Theory and Technology 2019年第1期17卷 13-23页

作者： Yulong DING Bin XIN Jie CHEN School of Automation Beijing Institute of Technology Beijing 700087 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China

This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the com mu nication n eighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large in stances dem on strate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.

关键词： Air-ground coordination curvature-constrained path planningz precedence constraints Dubins traveling salesman problem

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Distributed solver for linear matrix inequalities: an optimization perspective

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control Theory and Technology 2021年第4期19卷 507-515页

作者： Weijian Li Wen Deng Xianlin Zeng Yiguang Hong Department of Automation University of Science and Technology of ChinaHefei 230027AnhuiChina Key Lab of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

In this paper,we develop a distributed solver for a group of strict(non-strict)linear matrix inequalities over a multi-agent network,where each agent only knows one inequality,and all agents co-operate to reach a consensus solution in the intersection of all the feasible *** formulation is transformed into a distributed optimization problem by introducing slack variables and consensus ***,by the primal–dual methods,a distributed algorithm is proposed with the help of projection operators and derivative ***,the convergence of the algorithm is analyzed,followed by illustrative simulations.

关键词： Distributed computation Distributed optimization Linear matrix inequalities Primal-dual method

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Generating Waste Heat Energy from CPU Based on Thermoelectric Power Generator

Generating Waste Heat Energy from CPU Based on Thermoelectri...

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2021 China Automation Congress, CAC 2021

作者： Qian, Kun Cai, Yeyun Xu, Kun Deng, Fang Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781665426473

Heat dissipation is extremely important for electronic component such as CPU or GPU of the computer. Now most researchers only design optimal heat sink for CPU for better heat dissipation, while few of them consider waste heat recycling of CPU. The CPU can be used as the heat source, while the original system has fan and heat sink as the cooling system. Thus, the original CPU working condition is very suitable for thermoelectric power generation and will bring great benefit to system itself. However, adding thermoelectric generator will increase the temperature of CPU, which will decrease the performance of the computer. It is necessary to reduce the hot side temperature while generating energy as much as possible. To achieve this, this paper designed a kind of intelligent waste heat generation system based on thermoelectric power generator. Three different shape heat sinks are designed, contrasted, and tested. By building experimental platform and establishing simulation model, the power of thermoelectric power generation and temperature change of the three heat sink structures are compared. The fin shaped heat sink is considered has the best output performance while keeping the hot side temperature within the acceptance range. The maximum output power is 10.67mW, and the maximum hot side temperature is 72◦C during the experiment. © 2021 IEEE

关键词： Waste heat

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The research of sensor fault diagnosis based on genetic algorithm and one-against-one support vector machine

The research of sensor fault diagnosis based on genetic algo...

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International Conference on intelligent control and Information Processing (ICICIP)

作者： Xu, Lishuang Cai, Tao Deng, Fang Liu, Xin School of Automation Beijing Institute of Technology Key Laboratory of Complex Systems Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9781457708145

Fault diagnosis based on the wavelet packet decomposition, one-against-one support vector machine (SVM) and genetic algorithm (GA) is proposed in order to realize the real-time sensor fault diagnosis accurately. The input feature vectors of one-against-one SVM are produced by wavelet packet decomposition of the sensor output signal. GA is used to obtain optimal parameters of one-against-one SVM network model automatically, which can enhance the training speed and performance. The experiments of photoelectric encoder fault diagnosis show that the combination of these methods makes SVM own a better recognition rate and overall performance, which can improve the accuracy and time efficiency of fault diagnosis. © 2011 IEEE.

关键词： Failure analysis

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Sequence impedance modeling of droop-controlled inverter 8

Sequence impedance modeling of droop-controlled inverter

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8th Renewable Power Generation Conference, RPG 2019

作者： Hu, You Wang, Jiajun Liu, Bin Li, Zhen Liu, Xiangdong School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781839531255

The grid-connected three-phase inverter is an indispensable part of the microgrid. The droop control is widely used in parallel inverters for high reliability and flexibility. The output impedance of droop controlled inverters plays an vital role in its stability. However, the sequence impedance model of grid-connected inverter is currently based on the grid side converter with a single current loop control exdluding the low-frequency dynamics similar in doubly fed induction generators. Both the droop control and voltage loop control greatly affect the stability of inverter, specifically in the low frequency response. This paper proposes a sequence impedance model of inverter, which considers the droop control and voltage and current dual closed-loop control using the harmonic linearization method in the frequency domain. The accuracy of the model is verified through comparing the measurement impedance value in simulation with the impedance value calculated in the sequence impedance model. The influence of control method on system impedance is verified by showing the difference between the single loop controlled inverter and droop control inverter. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Electric inverters

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Collaborative SLAM System Based on Shared Priori Maps

Collaborative SLAM System Based on Shared Priori Maps

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Wu, Chunxu Shou, Yicheng Li, Zhen Liu, Xiangdong School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789811966125

Multi-robot system outperforms in efficiency for cooperative task, where the challenging burden of information exchange for surrounding environment is facilitated by collaborative simultaneous localization and mapping (SLAM). However, the utilization of environmental information, i.e., mapping, should be specifically put into efficient use and merged from the viewpoint of computation saving and localization accuracy improvement. Towards these issues, this paper proposes the Collaborative SLAM system based on shared priori maps which includes multi-agent initialization and a new map sharing and reuse mechanism among various active agents in an incremental way. Finally, based on the data set recorded in the actual laboratory environment, the proposed Collaborative SLAM system is evaluated from the perspectives of localization accuracy and computational power consumption. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Mapping

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Guidance law of multiple missiles engaged in cooperative salvo attack 10

Guidance law of multiple missiles engaged in cooperative sal...

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Joint International Conference of the 10th China-Japan International Workshop on Information Technology and control Applications and the 6th International Symposium on Computational Intelligence and Industrial Applications, ITCA and ISCIIA 2014

作者： Zeng, Jie Dou, Lihua Xin, Bin School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

In this article, a guidance problem for cooperative salvo attack of multiple missiles against a single stationary target is investigated. The proposed guidance law combines the well-known PNG law and cooperative acceleration command, which is based on the feedback of state error between the current missile and the mean value of participant missiles. The state variable in this paper is used as the approximate calculation of time-to-go. The cooperative acceleration command is designed to adjust the flight path and impact time, which leads the multi-missiles to hit the common target simultaneously. During the engagement, the velocities of missiles are not changed and presetting impact time is not needed. Simulation results show the effectiveness of the proposed guidance law.

关键词： Electronic guidance systems

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Sensor fault diagnosis based on least squares support vector machine online prediction

Sensor fault diagnosis based on least squares support vector...

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2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011

作者： Lishuang, Xu Tao, Cai Fang, Deng School of Automation Beijing Institute of Technology Key Laboratory of Complex Systems Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9781612842509

In order to solve the challenging problem of diagnosis for sensor bias and drift faults, a method of sensor fault diagnosis based on the least squares support vector machine (LS-SVM) online prediction is proposed. In the paper, the real-time outputs of the sensor are made full use to establish LS-SVM prediction model. Through the residual which is obtained by comparing the outputs of LS-SVM prediction model and the actual output of the sensor, the real-time detection of the sensor faults can be achieved. Based on the residual sequence, the on-line identification of sensor bias fault and drift fault can be achieved as well. A model of sensor faults is established by the toolbox of matlab simulink in this paper, the simulation results show that the approach proposed can not only improve the accuracy and time efficiency of fault diagnosis, but also identify the type, size and the time of sensor faults occurred accurately. © 2011 IEEE.

关键词： Failure analysis

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Multirate Multisensor Data Fusion Algorithm for State Estimation with Cross-Correlated Noises

Multirate Multisensor Data Fusion Algorithm for State Estima...

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7th International Conference on intelligent systems and Knowledge Engineering, ISKE 2012

作者： Liu, Yulei Yan, Liping Xiao, Bo Xia, Yuanqing Fu, Mengyin Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology 100081 Beijing China

This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are different. The noises of different sensors are cross-correlated and coupled with the system noise of the previous step. By use of the projection theory and induction hypothesis repeatedly, a sequential fusion estimation algorithm is derived. The algorithm is proven to be optimal in the sense of Linear Minimum Mean Square Error(LMMSE). Finally, a numerical example is presented to illustrate the effectiveness of the proposed algorithm. © Springer-Verlag Berlin Heidelberg 2014.

关键词： State estimation

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Spatially Dense Multi-Target Track Segment Association Algorithm 42

Spatially Dense Multi-Target Track Segment Association Algor...

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42nd Chinese control Conference, CCC 2023

作者： Yao, Yan Yan, Liping Xia, Yuanqing School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

In the field of radar data processing, track interruption seriously affects target tracking, track fusion, and other tasks. The existing track segment association algorithms have low correlation accuracy in dense distributed or long-time interruption situations. To this purpose, a dense multi-target track segment association (DMTTSA) algorithm is proposed. Firstly, two identical networks based on the multi-head probability sparse (ProbSparse) self-attention are used to capture the long-term dependencies of the tracks. Then, the bidirectional quadruplet hard sample loss (BiQuaHard loss) is constructed to make the tracks belonging to the same targets closer and the tracks belonging to the different targets farther. Finally, DMTTSA takes the closest track pairs in the feature space as the associated tracks and divides the unassociated tracks into the birth and dead tracks in chronological order. Some comparative experiments are carried out to show the anti-noise performance of the DMTTSA, as well as the effectiveness of solving the problem of dense multi-target track interruption. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Target tracking

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