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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhang, Xiaoxiong Liu, Junwei Zhang, Wei School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

This paper presents a novel learning-based method for a robotic manipulator to achieve liquid pouring across different liquid levels using only visual sensors. Previous works have relied on either online reinforcement learning or imitation learning, which are limited by sim-to-real gaps or data efficiency. In this paper, we propose to combine supervised learning and offline reinforcement learning, utilizing a human demonstration dataset containing only successful pouring at the highest level. Specifically, our approach employs supervised learning for a visual classifier, transforming the visual input into a categorical distribution over liquid levels. The offline reinforcement learning method is applied to a binary-conditioned control policy, which takes a binary signal and the robot's proprioception as inputs to determine the action. The binary signal indicates whether the desired liquid level has been reached based on the target liquid level. Through experiments, our method demonstrates superior effectiveness compared to a state-of-the-art imitation learning algorithm. Moreover, tests in unseen scenarios and multiple liquid level commands verify the generalization and transferability of our approach. © 2024 IEEE.

关键词： Self-supervised learning

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Spatio-temporal decision-making and trajectory planning framework with flexible constraints in closed-loop dynamic traffic

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IET intelligent Transport Systems 2023年第4期17卷 704-715页

作者： Zhang, Ting Fu, Mengyin Liu, Tong Song, Wenjie State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

Driving in interactive dynamic traffic is a huge challenge for autonomous vehicles, especially for motion planning. The autonomous vehicle not only needs to predict the future states of the social vehicles to avoid a collision but also realizes the comfort and continuous plan. To deal with the problem, a spatio-temporal decision-making and motion planning framework with flexible constraints based on previous work is proposed. Improvements can be highlighted in three aspects. First, a neural network for trajectory prediction is trained and it is integrated into the framework, which can learn the social vehicles' reactions in the negotiation better and give more accurate predictions. Second, instead of setting the fixed local targets, the flexible-constraint mechanism is introduced to increase the success rate of continuous planning, specifically, the local planning target is determined conditioned on the situation with an elastic factor. Third, two popular simulators with randomly disposed traffic participants are exploited, where vehicles are mutually influenced, more similar to real-world traffic. The closed-loop tests with zero crashes and the comparative experiments with traditional models demonstrate the superior performance and practical significance of the proposed framework. © 2022 The Authors. IET intelligent Transport Systems published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and technology.

关键词： Autonomous vehicles

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A Thruster Configuration Method for Spacecraft Six-Dimensional control 6

A Thruster Configuration Method for Spacecraft Six-Dimension...

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6th International Symposium on Autonomous Systems, ISAS 2023

作者： Wang, Min Xie, Yongchun Su, Yan National Key Laboratory of Science and Technology on Space Intelligent Control Beijing Institute of Control Engineering Beijing China

ISBN: (纸本)9798350316155

The configuration of spacecraft thrusters directly affects the realization of precise automatic control and propellant consumption. At present, the design of thruster configuration lacks of theoretical guidance. Spacecraft carrying out complex space missions such as rendezvous and docking are often equipped with too many thrusters. This paper proposed a theoretical design method of thruster configuration for six-dimensional position and attitude control missions. Firstly, the mathematical description of thruster configuration is introduced. Then, a general design method of thruster configuration for six-dimensional control task is proposed. Finally, simulation of relative position and attitude control of rendezvous and docking task is taken as an example to verify the correctness and validity of the above method. © 2023 IEEE.

关键词： Attitude control

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Optimization of Narrow-magnet EMAT for Lamb Waves with Low Distortion 3

Optimization of Narrow-magnet EMAT for Lamb Waves with Low D...

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3rd International Symposium on Sensor technology and control, ISSTC 2024

作者： Qu, Haifeng Hu, Zheng Liu, Lishuai Xiang, Yanxun East China University of Science and Technology Shanghai Key Laboratory of intelligent Sensing and Detection Technology Shanghai China East China University of Science and Technology Shanghai Institute of Aircraft Mechanics and Control Shanghai Key Laboratory of intelligent Sensing and Detection Technology Shanghai China

ISBN: (纸本)9798331541637

Compared to traditional electromagnetic acoustic transducer (EMAT), the narrow-magnet EMAT extends its meander conductors to the edges and outside of the magnet, hence a wider area of the magnetic field can be used to excite stronger ultrasound waves. Because of the magnetic field inhomogeneity, the classical half-wavelength spacing rule is not suitable for the coil used in the narrow-magnet EMAT. Otherwise, obvious waveform distortions will appear. In this work, the coil conductor spacing correction methodology proposed in previous works is testified for Lamb wave excitations, and a simpler wavelength-based adjustment approach is proposed, where waveforms of low distortions can be obtained. Both approaches are evaluated in simulation and practical experiments, where the Lamb wave amplitude enhancement brought by the coil conductor spacing correction method is more than 157.41%, and the improvement achieved by the proposed wavelength adjustment concept is above 179.34%. © 2024 IEEE.

关键词： Ultrasonic waves

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Recursive Least Squares Identification With Variable-Direction Forgetting via Oblique Projection Decomposition

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IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 547-555页

作者： Kun Zhu Chengpu Yu Yiming Wan Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and Technology Beijing Institute of Technology Chongqing Innovation Center

In this paper,a new recursive least squares(RLS)identification algorithm with variable-direction forgetting(VDF)is proposed for multi-output *** objective is to enhance parameter estimation performance under non-persistent *** proposed algorithm performs oblique projection decomposition of the information matrix,such that forgetting is applied only to directions where new information is *** proofs show that even without persistent excitation,the information matrix remains lower and upper bounded,and the estimation error variance converges to be within a finite ***,detailed analysis is made to compare with a recently reported VDF algorithm that exploits eigenvalue decomposition(VDF-ED).It is revealed that under non-persistent excitation,part of the forgotten subspace in the VDF-ED algorithm could discount old information without receiving new data,which could produce a more ill-conditioned information matrix than our proposed *** simulation results demonstrate the efficacy and advantage of our proposed algorithm over this recent VDF-ED algorithm.

关键词： Non-persistent excitation oblique projection recursive least squares(RLS) variable-direction forgetting(VDF)

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A Human-Object Interaction Behavior Recognition Algorithm Based on Transformer 5

A Human-Object Interaction Behavior Recognition Algorithm Ba...

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5th IEEE International Conference on Power, intelligent Computing and Systems, ICPICS 2023

作者： Fang, Zhenbin Lu, Xingjian Lei, Huan Liang, Junxiong Jiao, Zeyu Zhong, Zhenyu Institute of Intelligent Manufacturing School of Automation Guangdong University of Technology Gdas Guangdong Key Laboratory of Modern Control Technology Guangzhou China Institute of Intelligent Manufacturing Gdas Guangdong Key Laboratory of Modern Control Technology Guangzhou China

ISBN: (纸本)9798350333442

Human-object interaction behavior recognition is a high-level computer vision task for computers to understand the content of images in real scenes. Thanks to the introduction of Transformer and DETR, the performance of the algorithms for human-object interaction recognition has improved significantly in the first stage, however, the existing models still suffer from inadequate feature extraction and model bias. Based on this, we optimize and improve the algorithm's performance in terms of both fine-grained contextual information extraction and dynamic weighting. We conducted training and testing on the HICO-DET dataset and found through extensive experiments that (1) our proposed fine-grained contextual information-based Human-object interaction behavior recognition algorithm improves the performance of 'Full', 'Rare' and 'Non-Rare' mAP by 2.48%, 7.42% and 1.44% respectively compared with the original algorithm. (2) During model training, we introduced dynamic weights to improve the optimization of the model for rare Human-object interaction behavior, which can effectively improve the model performance. These experimental results validate the feasibility, effectiveness and adaptability of our proposed fine-grained module, global context extraction module and dynamic weight training strategy. © 2023 IEEE.

关键词： Statistical tests

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Research on Energy Management Strategies for Fuel Cell Vehicles Based on Improved Rules 25

Research on Energy Management Strategies for Fuel Cell Vehic...

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25th IEEE China Conference on System Simulation technology and its Application, CCSSTA 2024

作者： Yan, Ruihao Xu, Liang Zhao, Xuchao Tianjin University of Technology Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Tianjin China

ISBN: (纸本)9798350366600

In order to improve the energy economy and power system reliability of fuel cell hybrid electric vehicle (FCHEV), the conventional power following strategy was first improved and then a fuel cell operation control state machine was designed to reduce the lifetime degradation of the fuel cell by decreasing the number of fuel cell starts and stops and the output power fluctuation. To confirm the strategy's efficacy, separate models for the overall vehicle energy management strategy and vehicle dynamics were established using Simulink and Cruise. These models were then jointly simulated under the CLTC-P driving scenarios. Compared to the traditional powerfollowing control strategy, the fuel cell's equivalent hydrogen consumption had decreased by 8.38% and the number of startstop cycles has reduced by 50%. The proposed strategy improves the energy efficiency of the vehicle and also extends the fuel cell's lifespan. © 2024 IEEE.

关键词： Composite energy Energy management strategy Finite state machine Fuel cell Lithium-ion battery

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Numerical Calculation Analysis of Dynamic Electromagnetic Fields in High-speed Electromagnetic Launcher 25

Numerical Calculation Analysis of Dynamic Electromagnetic Fi...

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25th IEEE China Conference on System Simulation technology and its Application, CCSSTA 2024

作者： Liu, Ping Zhu, Lihua Gu, Yuxi Hao, Jianying Tian, Zihao Tianjin University of Technology Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Tianjin China

ISBN: (纸本)9798350366600

To investigate the spatiotemporal distribution characteristics of the electromagnetic field during the operation of high-speed electromagnetic launcher, a three-dimensional transient electromagnetic field calculation model is established in this paper to solve the electromagnetic field under high-speed motion conditions. Firstly, by combining Maxwell's equations, dimensional transient electromagnetic field governing equations are derived. Secondly, the calculations are conducted using a finite element-based moving conductivity method. The material properties of the moving region are assigned with varying values based on displacement to simulate the armature, thereby eliminating the issue of oscillatory solutions caused by the rapid movement of grid nodes in traditional finite element methods. The spatiotemporal distribution of the magnetic field during the high-speed motion of the armature is obtained, and a comparative analysis is conducted between the numerical results of the armature in static and moving conditions. The results indicate that during high-speed armature motion, the velocity vortex current term weakens the main current, thus reducing the electromagnetic force. The maximum electromagnetic force calculated using the moving conductivity method is 30.52 kN, approximately 2.2 kN lower than that calculated for a static armature. Furthermore, the maximum magnetic flux density value along the central axis of the dynamic armature is slightly lower than that of the static armature, which is experimentally verified to be closer to the actual launch state. This study provides a data foundation for the unified design method of electromagnetic comprehensive performance and reliability of electromagnetic energy equipment under extreme conditions. © 2024 IEEE.

关键词： Maxwell equations

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Study on electromagnetic dosimetry of the power cable in electric vehicle 6

Study on electromagnetic dosimetry of the power cable in ele...

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2023 6th International Conference on Power Electronics and control Engineering, ICPECE 2023

作者： Dong, Xuwei Gao, Yunshan Key Laboratory of Opto-Electronic Technology and Intelligent Control Ministry of Education Lanzhou Jiaotong University Lanzhou730070 China

To calculate the induced fields in the human body of the driver in an electric vehicle, the power cables of the electric vehicle are taken as the electromagnetic exposure source. The finite elements method is used to construct the electromagnetic environment model, which consists of the vehicle body, the power cables, and the driver body. The maximal values of the magnetic flux density inside the driver's trunk and head are 4.63 μT and 0.12 μT, respectively. The maximal induced electric field intensity values are 670 mV/m and 99.7 mV/m, respectively. All values are below the safety limits of the ICNIRP. The results show that the electromagnetic environment induced by the power cables is safe for the driver. The study could provide a reference for improving electromagnetic exposure standards for electric vehicles. © Published under licence by IOP Publishing Ltd.

关键词： Finite element method

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Adaptive Regression Approach of Equivalent Factor for Equivalent Consumption Minimization Strategy 25

Adaptive Regression Approach of Equivalent Factor for Equiva...

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25th IEEE China Conference on System Simulation technology and its Application, CCSSTA 2024

作者： Yang, Jinbo Du, Mingxing Zhang, Cong Wang, Gengji Transmission and Intelligent Control Tianjin University of Technology Tianjin Key Laboratory of New Energy Power Conversion Tianjin China

ISBN: (纸本)9798350366600

An equivalent factor (EF) adaptive regression equivalent consumption minimization strategy (EAR-ECMS) is introduced to enhance the fuel economy of a hybrid powertrain in this brief. Firstly, an ECMS control framework is established, grounded in the modeling of power plug-in hybrid electric vehicles (PHEVs). Secondly, leveraging the traffic information system, the reference trajectory of state of charge (SOC) is determined in real-time by using a Markov-chain predictor. Subsequently, an EAR-ECMS is formulated by integrating the bisection method and polynomial penalty subfunction, following an analysis of the relationship between the value of the penalty function, the oscillation amplitude of the EF, and the fuel economy of the vehicle. Finally, simulation results are executed to verify that EAR-ECMS can effectively enhance the robustness of battery SOC and the overall vehicle's fuel economy, compared with the thermostat control strategy (TCS) and A-ECMS. © 2024 IEEE.

关键词： Plug-in hybrid vehicles

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