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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Mu, Lingxia Zhang, Yuan Xin, Jing Zhang, Youmin School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Department of Mechanical and Industrial Engineering Concordia University MontrealH3G 1M8 Canada

ISBN: (纸本)9789811966125

This paper focuses on the vision-based autonomous landing mission of a quadrotor unmanned aerial vehicle (UAV). A double-layered nested Aruco landing marker is designed which can adapt to the situation that the field of sight of airborne camera changes as the UAV’s altitude decreases during the landing. Then, considering that the landing marker might be obstructed in certain situation, traditional Aruco detection method cannot effectively recognize marker. A YOLOv4 deep learning algorithm is used for marker detection. In addition, to address the problem of false detection in some test results, normalized Wasserstein distance is used to replace the non-maximum suppression to deal with redundant frames. The UAV’s relative location to the marker is then calculated and landing mission is finally achieved by the image-based visual servoing strategy. The simulation on Gazebo demonstrates that the designed marker is effective for the UAV landing mission and the revised YOLOv4 detection algorithm can increase detection results accuracy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Development of completion tool pressure test control system 10

Development of completion tool pressure test control system

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2023 10th International Conference on Advanced Manufacturing technology and Materials Engineering, AMTME 2023

作者： Sun, Zhiyu Zhao, Lianyu Wang, Chenglin Zhao, Xiaolei Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China Offshore Oil Engineering Co. Ltd. Tianjin300461 China

In oil exploitation, the completion tool is the key point to ensure the effective development of oil wells, and it must undergo strict pressure testing. Due to the high test pressure, there are potential safety hazards in the manual operation process. To improve safety and test efficiency, the automatic precision test system is developed. The detection system must realize the pressure detection process, provide feedback on the key data, give the corresponding curve reference, and generate the detection report. Through the PID algorithm, the precise control of the motor is realized. The system safety is guaranteed, and the detection accuracy is improved. The test results show that the completion tool pressure test control system can greatly improve detection efficiency. It can also fully reflect the entire detection process, accurately calculate some key parameters such as pressure drop, and obtain accurate results. The detection error is kept within 0.5%, ensuring the reliability of the detection process. © Published under licence by IOP Publishing Ltd.

关键词： control systems

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Genetic Algorithm for Block Relocation in Automated Warehouse 5

Genetic Algorithm for Block Relocation in Automated Warehous...

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5th International Conference on Artificial Intelligence Technologies and Applications, ICAITA 2023

作者： Wang, Gang Lian, Mingchang Ding, Wei Chen, Songhang Chen, Hao Quanzhou Institute of Equipment Manufacturing Haixi Institutes Chinese Academy of Sciences Quanzhou362200 China College of Computer and Cyber Security Fujian Normal University Fujian Fuzhou350001 China Fujian Science & Technology Innovation Laboratory for Optoelectronic Information of China Fujian Fuzhou350108 China Fujian Provincial Key Laboratory of Intelligent Identification and Control of Complex Dynamic System Quanzhou362200 China

ISBN: (纸本)9781643684840

This paper is based on the research background of block relocation in the automated warehouse and proposes a solution utilizing AGV to relocate goods within the warehouse. Building upon the automated warehouse layout and block relocation process, we formulate a mathematical model to minimize the the number of AGV moving goods and the total travel distance of the AGV. To solve the model, we develop an enhanced genetic algorithm, which zones the block relocation process into multiple stages. Each stage integrates conventional heuristic algorithms to enhance the efficiency of the solution process. The improved genetic algorithm can effectively solve the problem, significantly enhancing the automation level of the warehouse. © 2024 The Authors.

关键词： Genetic algorithms

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Image Quality Assessment Based on Sparse Reference Information 18th

Image Quality Assessment Based on Sparse Reference Informati...

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18th International Forum of Digital Multimedia Communication, IFTC 2021

作者： Lian, Xinkang Xie, Shuangyi Shi, Shuang Zhou, Chengxu Guo, Nan Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China Beijing Laboratory of Smart Environmental Protection Beijing China Faculty of Information Technology Beijing University of Technology Beijing China Beijing Artificial Intelligence Institute Beijing China

ISBN: (纸本)9789811922657

The last few years have seen the appearance of a new sparse reference-based free energy principle, which demonstrates that an input visual signal was always strived to be comprehend by the human visual system (HVS) through removing the undetermined portions. By this inspiration, we in this paper put forward an image quality assessment (IQA) model based on sparse reference information. In essential, as compared with the classical good-performance FEDM model that was developed with a linear local autoregressive (AR) model, the proposed sparse reference (SR) IQA model is a simplified version of FEDM, achieving comparable performance but hundreds of times faster implementation. More specifically, this paper introduces the extremely sparse random sampling method into the FEDM model. Experimental results on the most well-known LIVE IQA database illustrate the effectiveness along with efficiency of our SR-IQA model as compared with the typical full-reference IQA models and the cutting-edge SR IQA models. © 2022, Springer Nature Singapore Pte Ltd.

关键词： Free energy

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Research on key Technologies of Cross-domain Guidance 8

Research on Key Technologies of Cross-domain Guidance

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8th Symposium on Novel Photoelectronic Detection technology and Applications

作者： Guo, Xiaoyun Wu, Chengfeng Fang, Xueli Xu, Cheng Li, Hui Beijing Institute of Mechanical and Electrical Engineering Beijing China Beijing Institute of Mechanical and Electrical Engineering Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing China Beijing Institute of Mechanical and Electrical Engineering Key Laboratory of Complex Aviation Simulation System Beijing China

ISBN: (数字)9781510653122

ISBN: (纸本)9781510653115

Cross-domain synergy and intelligence will become important features of future warfare. Cross-domain guidance is one of the typical forms of cross-domain synergy. It can significantly improve the ability to respond quickly to random targets and time-sensitive targets and enhance the anti-jamming ability in the case of confrontation. This article introduces the concept and winning mechanism of cross-domain guidance, analyzes the research progress of cross-domain guidance at home and abroad, combs the key technologies of cross-domain guidance, summarizes the current challenges and problems in cross-domain guidance research, and proposes development suggestions. © 2022 SPIE

关键词： Optical engineering

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High-order Fully Actuated Approach for Output Position control of Two Mass systems based on Extended State Observer

High-order Fully Actuated Approach for Output Position Contr...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Ping Li Guang-Ren Duan Bi Zhang Yuzhong Wang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper proposes a high-order fully actuated (HOFA) control approach for the output position control of two-mass systems (TMSs) based on extended state observer (ESO). TMSs belongs to a class of underactuated mechanical systems, which can be converted into an HOFA model using variable elimination. Based on the feature of HOFA model, it is extremely simple to solve the position control law such that a desired tracking error system can be achieved. To handle the control issues of high-order derivatives and unknown disturbances, a linear ESO is employed for state estimation and active disturbance rejection control, where the lumped disturbance is treated as an extended system state. The theoretical stability of control system is analyzed with the help of sliding manifold. Comparative simulations are performed to demonstrate the effectiveness of the proposed approach.

关键词： Robust control Uncertain systems Simulation Position control Observers control systems Stability analysis

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Two-Stage OD Flow Prediction for Emergency in Urban Rail Transit

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IEEE Transactions on intelligent Transportation systems 2024年第1期25卷 920-928页

作者： Zhu, Guangyu Ding, Jiacun Wei, Yun Yi, Yang Xu, Sendren Sheng-Dong Wu, Edmond Q. Beijing Jiaotong University Key Lab. of Transport Industry of Big Data Application Technologies for Comprehensive Transport The Beijing Research Center of Urban Traffic Information Sensing and Service Technologies Beijing100044 China Beijing Mass Transit Railway Operation Corporation Ltd. Beijing100014 China Yangzhou University College of Information Engineering Yangzhou225127 China National Taiwan University of Science and Technology Automation and Control Center The Graduate Institute of Automation and Control Taipei106335 Taiwan Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China The Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China

Urban rail transit (URT) is vulnerable to natural disasters and social emergencies including fire, storm and epidemic (such as COVID-19), and real-time origin-destination (OD) flow prediction provides URT operators with important information to ensure the safety of URT system. However, hindered by the high dimensionality of OD flow and the lack of supportive information reflecting the real-time passenger flow changes, study in this area is at the beginning stage. A novel model consisting of two stages is proposed for OD flow prediction. The first stage predicts the inflows of all stations by Long Short-Term Memory (LSTM) in real time, where the dimension is reduced compared with predicting OD flows directly. In the second stage, the notion of separation rate, namely, the proportion of inbound passengers bounding for another station, is estimated. Finally, The OD flow is predicted by multiplying the inflow and separation rate. Experiments based on Hangzhou Metro dataset show the proposed model outperforms the contrast model in weighted mean average error (WMAE) and weighted mean square error (WMSE). Results also suggest that the proposed prediction model performs better on weekdays than on weekends, and with greater accuracy on larger OD flows. © 2000-2011 IEEE.

关键词： Forecasting

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Data-Driven control for Nonlinear Multi-Agent systems Using Reinforcement Learning

Data-Driven Control for Nonlinear Multi-Agent Systems Using ...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Renzhi Liu Hongru Ren Hui Ma Hongyi Li Renquan Lu School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control and Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou China School of Mathematics and Statistics Guangdong University of Technology Guangzhou China School of Electronic and Information Engineering and Chongqing Key Laboratory of Generic Technology and System of Service Robots Southwest University Chongqing China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

In this paper, a new reinforcement learning-based model-free adaptive control algorithm is introduced for discrete-time nonlinear multi-agent systems with unknown dynamics, while the equivalent dynamic linearization algorithm is applied to design the optimal controller. The strategy for Q-Learning and the actor-critic neural network are specifically redesigned to achieve consensus control in multi-agent systems. The proposed reinforcement learning algorithm can adjust the dynamic linearization parameters in real-time only based on input and output data. The stability of the closed-loop system is proven by Lyapunov theorem. Furthermore, the method’s effectiveness is verified by a numerical simulation.

关键词： Adaptation models Target tracking Q-learning Heuristic algorithms Numerical simulation Stability analysis Real-time systems

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A General Iterative Extended Kalman Filter Framework for State Estimation on Matrix Lie Groups

A General Iterative Extended Kalman Filter Framework for Sta...

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IEEE Conference on Decision and control

作者： Ben Liu Hua Chen Wei Zhang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

In this paper, we focus on state estimation problem for nonlinear systems on joint matrix Lie group and Euclidean space We propose a general iterative Kalman filter, aiming to integrate the prediction step into the iteration scheme, which is not considered in the conventional iterative extended Kalman filter framework. Such an extra iteration scheme in the prediction step helps improving the accuracy of probability density function propagation through nonlinearities, which can further lead to more accurate estimations of the system states. In addition, the proposed framework unifies the Kalman filter based estimation schemes on studied manifold by adopting the perspective from Gaussian Bayesian inference. The improvement of the proposed framework is illustrated by the ES-GIKF algorithm that is instantiated from the proposed framework in a numerical simulation.

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Design and Research on Flapping Mechanism of Biomimetic Albatross 2

Design and Research on Flapping Mechanism of Biomimetic Alba...

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2022 2nd International Conference on Advanced Materials and Mechatronics, ICAMM 2022

作者： Zhang, Haiming Liu, Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China

In order to solve the problems of low flying efficiency, poor aerodynamic performance of wing and short flying time distance existing in the research of flapping wing aircraft, a kind of albatron-like flapping wing structure with higher flying efficiency is proposed in this paper. The functions of bird wing flutter, folding and gliding are realized by two degrees of freedom control respectively. First, the flying characteristics of albatross are analyzed and the flying characteristics suitable for albatross are summarized. Propose design requirements for bionic design objectives;The bionic structure design is carried out by referring to the physical structure of wing and the flight motion law, and the key parameters such as the size and angle of connecting rod mechanism are analyzed, calculated and optimized. A clamping mechanism is designed to achieve gear stuck in order to achieve gliding kinetic energy. The three-dimensional model of the flapping wing mechanism is built by solid works, and the motion analysis is carried out by using Motion plug-in. The analysis results of key-point parameters are output, which verifies the movement law and requirements of the mechanism to achieve the design objectives. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Wings

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