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Efficient Autonomous Exploration of Unknown Environment Using Regions Segmentation and VRP 1

16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Xue, Chaoyu Zhao, Tianhao Xie, Anhuan Zhu, Qiuguo Wu, Jun Xiong, Rong College of Control Science and Engineering Zhejiang University Hangzhou China Polytechnic Institute Zhejiang University Hangzhou China Zhejiang Lab Hangzhou China State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Autonomous exploration of unknown environments is a critical application scenario in robotics. However, existing studies have strived to generate an efficient tour plan that enables the robots to fully explore the environment. This is due to the greedy strategies and the lack of utilizing the information of the unexplored area. To address the above issues, we propose a new exploration strategy. Our approach involves partitioning the unexplored area into distinct regions and utilizing their estimated workload and spatial structure to construct a region graph. Subsequently, a VRP (Vehicle Routing Problem) planner allocates regions to robots and generates a global tour for each robot in a coordinated manner, which is then refined and provided to the robot’s navigation module. Experimental results demonstrate that that our method outperforms existing approaches in terms of exploration speed, total distance, and overlap ratio. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Robots

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Improved Variable Deviation Collaborative control of Vector Nozzles for Aircraft Engine 43

Improved Variable Deviation Collaborative Control of Vector ...

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43rd Chinese control Conference, CCC 2024

作者： Dai, Jiacheng Ma, Yanhua Du, Xian Gao, Yongfeng Dalian University of Technology School of Control Science and Engineering Dalian116024 China Dalian University of Technology School of Integrated Circuits Dalian116024 China Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of Education Dalian116024 China

ISBN: (纸本)9789887581581

Vector nozzle is an adjustable tail nozzle in aircraft engines. Due to the complex structure and coupling effect of each actuator, the traditional collaborative control methods can hardly achieve the required time synchronization. In this paper, an improved variable deviation collaborative control method is proposed to address such issues, which promotes the synchronization performance of nozzle actuators through an improved deviation coupler. At the same time, an adaptive disturbance rejection controller is used to enhance the robustness of the system. The experimental results show that the error of synchronization time of each actuator in the vector nozzle is less than 5%, and the steady-state error of displacement is less than 1%, which meets the requirement of practical engineering. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Disturbance rejection

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FWNRS:A Fast Attribute Reduction Algorithm based on Weighted Neighborhood Rough Set 23

FWNRS:A Fast Attribute Reduction Algorithm based on Weighted...

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8th International Conference on Mathematics and Artificial Intelligence, ICMAI 2023

作者： Peng, Xiaoli Wang, Ping Shao, Yabin Pu, Chenggen Qian, Jie College of Computer Science and Technology Chongqing University of Posts and Telecommunications Chongqing China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing China

ISBN: (纸本)9781450399982

The weighted neighborhood rough set (WNRS) is a novel neighborhood rough set model which doesn't treat all attributes as equally important. It performs well in attribute reduction on real-valued data. However, there are still so many calculations in the attribute reduction based on WNRS that its efficiency is not high enough. To solve this drawback, we propose a fast attribute reduction algorithm based on WNRS (FWNRS) in this work. Firstly, we propose three fast strategies to reduce the neighborhood search range. The first one is reducing the neighborhood search rang of each testing sample from the whole universe or the boundary region to its corresponding neighborhood. The second one is removing the positive region samples from the corresponding neighborhood. The third one is to set the initial value of the cycle to be greater than the final value and the step size to be negative when the neighborhood radius δ is optimizing. Secondly, we design the fast attribute reduction algorithm based on the fast strategies. Finally, six UCI benchmark datasets are used to verify the efficiency of FWNRS. The experimental results illustrate that FWNRS is more efficient than the state-of-the-art comparison algorithms, which are all fast attribute reduction algorithms. © 2023 Copyright held by the owner/author(s)

关键词： Efficiency

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A Review of Rotation Mechanical Fault Diagnosis Research Based on Deep Domain Adaptation 9

A Review of Rotation Mechanical Fault Diagnosis Research Bas...

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9th IEEE International Conference on Big Data Computing Service and Applications, BigDataService 2023

作者： Zhang, Shun Xie, Gang Tian, Juan Shi, Hui Zhang, Xiaohong Nie, Xiaoyin Xie, Xinlin Shanxi Key Laboratory of Advanced Control and Equipment Intelligence Taiyuan China Taiyuan University of Science and Technology Dept. of Electronic and Information Engineering Taiyuan China Division of Industrial and System Engineering Taiyuan China

ISBN: (纸本)9798350333794

With the rapid development of computer technology and the Internet of Things (IoT), a large amount of data containing both healthy and faulty states can be collected from existing devices in factories. However, the usable faulty state data is scarce. Transfer learning makes it possible to train efficient and reliable neural networks with a small number of samples. Domain adaptation, as a branch of transfer learning, can effectively realize knowledge transfer between small sample data. Starting from three subcategories of deep learning-based domain adaptation methods, this article summarizes the latest research achievements and provides insights into future research directions. © 2023 IEEE.

关键词： Failure analysis

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CDGNet: A Cross-Time Dynamic Graph-Based Deep Learning Model for Vehicle-Based Traffic Speed Forecasting

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-14页

作者： Fang, Yuchen Luo, Haiyong Zhao, Fang Sun, Poly Z.H. Qin, Yanjun Zeng, Liang Hui, Bo Wang, Chenxing School of Computer Science National Pilot Software Engineering School Beijing University of Posts and Telecommunications Beijing China Beijing Key Laboratory of Mobile Computing and Pervasive Device Institute of Computing Technology Chinese Academy of Sciences Beijing China Department of Industrial Engineering School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Tsinghua University Beijing China University of Tulsa Tulsa USA

Vehicle-based traffic speed forecasting aims to predict the average speed of vehicles on the road in the future, which is an essential side information in intelligent vehicles and beneficial to safe autonomous driving, yet is very challenging due to the complex and dynamic spatio-temporal dependencies in real-world vehicle-based traffic. To extract intricate correlations among multiple vehicle-based speed time series, previous methods have used graph convolution networks. However, the conventional static and dynamic graphs fail to reflect the traffic evolution and the hysteresis spatial influence caused by vehicle movement. To address this issue, we propose a novel cross-time dynamic graph-based deep learning model, named CDGNet, for vehicle-based traffic speed forecasting. The model is able to effectively capture hysteresis spatial dependencies between each time slice and its historical time slices through the cross-time dynamic graph-based GCN. Meanwhile, a gating mechanism is integrated into our cross-time dynamic graph, which conforms to the sparse correlation in the real world. Besides, GCNs are incorporated into a novel encoder-decoder architecture to forecast multi-step speed. Experimental results on three real-world vehicle-based traffic speed datasets demonstrate the superiority of our CDGNet over various state-of-the-art spatio-temporal forecasting methods and the effectiveness of each component. We additionally provide a visualization of our cross-time dynamic graph to show the capability of assisting intelligent vehicles to avoid congestion. IEEE

关键词： Forecasting

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Principal Trotter observation error with truncated commutators

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Physical Review A 2024年第6期110卷 062614-062614页

作者： Langyu Li Institute of Cyber-system and Control College of Control Science and Engineering Zhejiang University Hangzhou Zhejiang 310027 China and State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou Zhejiang 310027 China

Hamiltonian simulation is one of the most promising applications of quantum computers, and the product formula is one of the most important methods for this purpose. Previous related work has mainly focused on the worst-case, average-case, or actual-case scenarios. In this work we consider the simulation error under a fixed observable. Specifically, errors that commute with this observable become less significant. To illustrate this point, we define the observation error as the expectation under the observable and provide a commutativity-based upper bound using the Baker-Campbell-Hausdorff formula. Furthermore, we observe that the evolution order plays a critical role in determining the observation error. By leveraging a simulated annealing algorithm, we design an evolution order optimization algorithm, to identify an order that enhances commutativity with the observable, where the observation error indicated by this upper bound can be significantly compressed. In the experiment with the Heisenberg model, the observation bound compresses the Trotter number by nearly half compared to recent commutator bounds. The experiment on the hydrogen molecule Hamiltonian demonstrates that optimizing the order can lead to nearly half the reduction in the Trotter number.

关键词： Hamiltonians

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Research on active disturbance rejection control scheme of auxiliary power unit 41

Research on active disturbance rejection control scheme of a...

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第41届中国控制会议

作者： Jijun Li Jianyi Zhang Si-Xin Wen Kun-Zhi Liu Xi-Ming Sun School of Control Science and Engineering Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology DUT Artificial Intelligence Institute

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

As an important secondary power source of the aircraft,the control performance of the Auxiliary Power Unit(APU)will directly affect the working efficiency of the aero-engines and the aircraft ***,APU has complex nonlinear characteristics and faces the influence of various inevitable and uncertain ***,the design of its highperformance control system is extremely challenging,and the traditional gain-scheduling PI control method cannot meet this *** resolve this problem,we design an Active Disturbance Rejection control(ADRC) scheme for APU *** the same time,the parametric design method of the proposed ADRC is given,so that the corresponding control parameters can be set according to the linearized model in engineering ***,a numerical comparison simulation is carried out on a certain auxiliary power unit model to verify the effectiveness and superiority of the proposed method.

关键词： Auxiliary power unit(APU) Aero-engine Active disturbance rejection control(ADRC) Extended state observer(ESO)

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Distributed Resilient Frequency control Based on Estimation of Sensor and Actuator Attacks in AC Microgrids 48

Distributed Resilient Frequency Control Based on Estimation ...

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48th Annual Conference of the IEEE industrial Electronics Society, IECON 2022

作者： Ma, Kai Dong, Yufei Zhao, Peng Yang, Jie Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao China Yanshan University School of Electrical Engineering Qinhuangdao China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

The consensus based distributed frequency control strategy makes all measurements and control units in microgrids vulnerable to false data injection (FDI) attacks. This paper presents an observer-based resilient frequency control for estimating and compensating for FDI attacks on sensors and actuators in AC microgrids. Firstly, attacks of sensors and actuators are estimated online simultaneously by observers. Then a distributed H∞ output feedback protocol is used to ensure that the frequency consensus tracking is achieved with cooperative uniform ultimate boundedness. The control strategy is completely distributed and does not require any quantitative information about attacks. Furthermore, there is no limit to the number and location of attacked units. Several case studies are provided to verify the effectiveness of the proposed resilient frequency control strategy. © 2022 IEEE.

关键词： Frequency estimation

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Stabilization of switched systems with unstable modes via mode-partition-dependent ADT

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Journal of the Franklin Institute 2023年第2期360卷 1308-1326页

作者： Jin, Cui-Li Wang, Qing-Guo Wang, Rui Wu, Di Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian116024 China Institute of Artificial Intelligence and Future Networks Beijing Normal University at ZhuhaiGuangdong Key Lab of AI and Multi-Modal Data Processing BNU-HKBU United International College Zhuhai519087 China Key Laboratory of Advanced Technology for Aerospace Vehicles Liaoning Province and School of Aeronautics and Astronautics Dalian University of Technology Dalian116024 China

This paper concerns the stability of switched systems orchestrating between unstable modes. First, a mode partition is applied to select stabilizing switching from the switching between modes from different subsets. Second, a piecewise Lyapunov-like function is applied to decline at stabilizing switching times. Then, the stability criteria build on mode-partition-dependent average dwell time by collecting enough stabilizing switching behavior to stabilize the destabilizing switching behavior and unstable modes. Finally, the simulation verification shows the feasibility and effectiveness of the method. © 2022 The Franklin Institute

关键词： Stability criteria

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Health Parameters Estimation of Turbofan Engine Based on Improved UKF Method 41

Health Parameters Estimation of Turbofan Engine Based on Imp...

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第41届中国控制会议

作者： Yu Zhang Si-Xin Wen Kun-Zhi Liu Chongyi Sun Xi-Ming Sun School of Control Science and Engineering Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology DUT Artificial Intelligence Institute

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In view of the shortcomings of the standard Unscented Kalman Filter(UKF),such as slow convergence speed,low precision and easy divergence,the state estimation problem is transformed into an unconstrained optimization problem,and an iterative Unscented Kalman Filter based on the optimization method is *** Levenberg-Marquart nonlinear optimization method is used to improve the measurement update equation of the filtering ***,the numerical simulation of health parameters estimation on a certain turbofan engine is carried *** results show that the established parameters estimation model can accurately estimate the changes of health parameters in different performance degradation modes,and the convergence speed and stability are obviously better than the standard UKF *** addition,the improved algorithm was successfully deployed on the NVIDIA Jetson Xavier embedded platform to complete the online estimation,which indicates that the proposed method has good real-time performance.

关键词： Turbofan engine Kalman filter Unconstrained optimization Online estimation

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