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arXiv 2023年

作者： Wang, Guangming Zheng, Yu Guo, Yanfeng Liu, Zhe Zhu, Yixiang Burgard, Wolfram Wang, Hesheng Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China China Department of Artificial Intelligence Shanghai Jiao Tong University Shanghai200240 China Electrical and Computer Engineering University of California Los Angeles United States Institute of Artificial Intelligence Shanghai Jiao Tong University Shanghai200240 China Department of Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Engineering University of Technology Nuremberg Germany

Robot localization using a previously built map is essential for a variety of tasks including highly accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines illumination-invariant LiDAR-based mapping with economical image-based localization. However, the recent works for image-to-point cloud registration either divide the registration into separate modules or project the point cloud to the depth image to register the RGB and depth images. In this paper, we present I2PNet, a novel end-to-end 2D-3D registration network. I2PNet directly registers the raw 3D point cloud with the 2D RGB image using differential modules with a unique target. The 2D-3D cost volume module for differential 2D-3D association is proposed to bridge feature extraction and pose regression. 2D-3D cost volume module implicitly constructs the soft point-to-pixel correspondence on the intrinsic-independent normalized plane of the pinhole camera model. Moreover, we introduce an outlier mask prediction module to filter the outliers in the 2D-3D association before pose regression. Furthermore, we propose the coarse-to-fine 2D-3D registration architecture to increase localization accuracy. We conduct extensive localization experiments on the KITTI Odometry and nuScenes datasets. The results demonstrate that I2PNet outperforms the state-of-the-art by a large margin. In addition, I2PNet has a higher efficiency than the previous works and can perform the localization in real-time. Moreover, we extend the application of I2PNet to the camera-LiDAR online calibration and demonstrate that I2PNet outperforms recent approaches on the online calibration task. Copyright © 2023, The Authors. All rights reserved.

关键词： Calibration

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Attitude Coupling control and Lateral Stability Analysis of Hypersonic Vehicle

Attitude Coupling Control and Lateral Stability Analysis of ...

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第32届中国控制与决策会议

作者： Xu Li Ye Yang Qianwei He Zhongtao Cheng Yongji Wang Lei Liu National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and AutomationHuazhong University of Science and Technology Beijing Aerospace Automatic Control Institute

For the strong coupling characteristics of pitch,yaw and roll channels in the attitude control system of a hypersonic vehicle,a coupling controller is designed based on the state feedback and the dominant pole assignment of the Dutch roll mode to realize the system decoupling but improve the maneuverability of the *** new diagonal dominance matrix and row radius coefficient are introduced to analyze the coupling characteristics and degree of the *** based on this,the coupling PID controller is briefly designed as a comparison with the coupling *** addition,the lateral stability of the vehicle is analyzed,and the sensitivity of the coupling control system to runaway is measured based on the Weissman ***,the simulation results show that the designed coupling controller has more precise control effect and less rudder deflection than the decoupling controller,which has a certain practical engineering significance.

关键词： Hypersonic vehicle Attitude Coupling control Lateral stability

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Ascent Guidance for Launch Vehicle Based on Receding Horizon control

Ascent Guidance for Launch Vehicle Based on Receding Horizon...

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第三十九届中国控制会议

作者： Qianwei He Ye Yang Lei Liu Zhongtao Cheng National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Beijing Aerospace Automatic Control Institute

For the difficulties and challenges caused by the unknown disturbance during the ascent stage of the launch vehicle, a trajectory tracking strategy using particle swarm optimization(PSO) algorithm in a receding horizon control(RHC) framework is investigated in this paper. Since the RHC solves the online optimization problem at each step, the calculations can be time-consuming. To speed up the computation of RHC, the online optimization problem is transformed into a one-dimensional variable optimal problem and the control actions are obtained by PSO. Providing solve times in milliseconds, which guarantees the feasibility of the RHC controller. Simulation results are provided to illustrate that this strategy can not only satisfy the fast calculation speed, but also can realize better performance with the existence of aerodynamic uncertainty, thrust uncertainty, and process constraint.

关键词： Trajectory tracking Receding horizon control Particle swarm optimization Launch vehicle

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A Dynamic Event-Triggered Approach to Multi-Agent Consensus

A Dynamic Event-Triggered Approach to Multi-Agent Consensus

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第三十九届中国控制会议

作者： Xianwei Li Yang Tang Shaoyuan Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology

This paper focuses on designing dynamic event-triggered(DET) protocols for consensus control of general linear multi-agent systems(MASs). Design algorithms are constructed for DET protocols with static and adaptive coupling, respectively. The designed event-triggering conditions involve internal dynamic variables that depend on the error information of the system, which provide more flexibility to reduce the number of triggered events than the existing results on linear MASs. The protocol with adaptive coupling is of the fully distributed nature. It is proved that the proposed protocols can ensure consensus and are not Zeno. A numerical example is provided to illustrate the effectiveness and advantages of the designed protocols.

关键词： Multi-agent systems Consensus Dynamic event-triggered(DET) protocol Adaptive coupling

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Dual-channel dynamic event-triggered-based flocking control for nonlinear multi-agent systems with connectivity preservation

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information Sciences 2025年 719卷

作者： Chengqing Liang Lei Liu Jinde Cao College of Artificial Intelligence and Automation Hohai University Changzhou 213200 China Key Laboratory of Maritime Intelligent Cyberspace Technology of Ministry of Education Hohai University China School of Mathematics Hohai University Nanjing 210098 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 China School of Mathematics Southeast University Nanjing 210096 China

The flocking control problem of NMASs with network connectivity preserving under a d ual-channel d ynamic e vent- t riggered m echanism (DDETM) is investigated in this paper. Firstly, a novel DDETM is developed to minimize the transmission of redundant information. The communication and controller channels are equipped with an event monitoring mechanism. This approach not only minimizes the consumption of information transmission resources but also reduces the controller updates. In contrast to the single-channel ETM, incorporating two auxiliary variables increases the triggering intervals. Secondly, a novel network connectivity preservation mechanism via an improved potential function is designed to prevent flocking separation. This mechanism operates independently of the initial topology's connectivity. The DDETM framework integrates both the dual-channel scheme and the potential function. This integration constrains the distance between agents to avoid collisions and accelerate the convergence of the flocking behavior. Sufficient conditions for asymptotic flocking in NMASs are derived. Finally, a software verification platform for UAVs is established, and the software-in-the-loop (SIL) experiment of UAVs is conducted to showcase the feasibility and effectiveness of the proposed scheme.

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The Design of Logic Gate Based on Triplex Structures 14th

The Design of Logic Gate Based on Triplex Structures

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14th International Conference on Bio-inspired Computing: Theories and Applications, BIC-TA 2019

作者： Hu, Yingxin Wang, Zhiyu Chen, Zhekun Liao, Sulin Huang, Yabing Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology WuhanHubei430074 China College of Information Science and Technology Shijiazhuang Tiedao University ShijiazhuangHebei050043 China School of Computer Science and Technology Huazhong University of Science and Technology WuhanHubei430074 China Department of Pathology Renmin Hospital of Wuhan University WuhanHubei430060 China

ISBN: (纸本)9789811534140

Molecular carch hotspots in the area of DNA nanotechnology due to its inherent large storage capacity, high parallelism, and energy efficiency. The assembled structures in the existing computing units mainly adopt a double-helix structure. However, besides duplex, DNA is known to adopt other helical forms such as triplex form. The triplex structure has introduced a novel paradigm into the DNA engineer owing to their unique characteristic sequence, structural and assembly requirements. Based on the assembly and disassembly of the triplex structure, a YES logic gate was constructed via strand displacement reaction. The experiment results showed that GC content and stem length would influence the displacement reaction. Then AND logic gate was also established through cooperative effect by two DNA strands. The construction of the cascading circuit indicated triplex-based logic gate could be integrated into larger circuits and enrich the toolbox of the computing devices. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Logic gates

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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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Chinese automation Congress (CAC)

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

ISBN: (纸本)9781665426480

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.

关键词： Protocols automation Design methodology Differential games Games control systems Collision avoidance

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Inverse linear-quadratic discrete-time finite-horizon optimal control for indistinguishable homogeneous agents: a convex optimization approach

arXiv

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arXiv 2021年

作者： Zhang, Han Ringh, Axel Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Department of Mathematical Sciences Chalmers University of Technology University of Gothenburg Gothenburg41296 Sweden

The inverse linear-quadratic optimal control problem is a system identification problem whose aim is to recover the quadratic cost function and hence the closed-loop system matrices based on observations of optimal trajectories. In this paper, the discrete-time, finite-horizon case is considered, where the agents are also assumed to be homogeneous and indistinguishable. The latter means that the agents all have the same dynamics and objective functions and the observations are in terms of "snap shots" of all agents at different time instants, but what is not known is "which agent moved where" for consecutive observations. This absence of linked optimal trajectories makes the problem challenging. We first show that this problem is globally identifiable. Then, for the case of noiseless observations, we show that the true cost matrix, and hence the closed-loop system matrices, can be recovered as the unique global optimal solution to a convex optimization problem. Next, for the case of noisy observations, we formulate an estimator as the unique global optimal solution to a modified convex optimization problem. Moreover, the statistical consistency of this estimator is shown. Finally, the performance of the proposed method is demonstrated by a number of numerical examples. Copyright © 2021, The Authors. All rights reserved.

关键词： Convex optimization

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Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

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2021 IEEE International Conference on Robotics and automation, ICRA 2021

作者： Wu, Zicong Lou, Chuqian Jin, Zhu Huang, Shaoping Liu, Ning Zou, Yun Kovac, Mirko Gao, Anzhu Yang, Guang-Zhong The Institute of Medical Robotics Department of Bioengineering Shanghai Jiao Tong University Shanghai200240 China Imperial College London Empa-Swiss Federal Laboratories for Materials Science and Technology United Kingdom Limited 999077 Hong Kong Aerial Robotics Laboratory Imperial College London LondonSW7 2AZ United Kingdom The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781728190778

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments. © 2021 IEEE

关键词： Electrospinning

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Vibration fatigue analysis and research of URV shunt reactor 14

Vibration fatigue analysis and research of URV shunt reactor

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14th IEEE Conference on industrial Electronics and Applications, ICIEA 2019

作者： Li, Shengmin Zheng, Zhicong Liang, Jining Xiao, Yamin Faculty of Automation and Information Engineering Xi'an University Ot Technology Xi'an710048 China Intelligent Information Processing Shaanxi Key Laboratory of Complex System Control Xi' an710048 China

ISBN: (纸本)9781538694909

Problems of vibration fatigue in UHV reactor is mentioned, comparative analysis of several commonly used fatigue analysis methods, finally, the modal superposition method is used to calculate the structural fatigue caused by vibration. Through analysis of reactor vibration data, the reason for using frequency domain signals as fatigue frequency domain load spectrum to calculate the service life of reactors. In order to perform reactor fatigue analysis, a finite element model of the reactor was first built using ANSYS Workbench finite element integration software, the frequency response function FRF is obtained by harmonic response analysis, and then the vibration time domain signal are transformed into frequency signal as load spectrum input with the power density spectrum, finally, nCode fatigue analysis software is used to estimate the service life of the reactor. © 2019 IEEE.

关键词： Finite element method

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