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Overview of Research on Transformation of Multi-AUV Formations

complex System Modeling and Simulation 2021年第1期1卷 1-14页

作者： Bin Xin Junxi Zhang Jie Chen Qing Wang Yun Qu School of Automation and the State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of TechnologyBeijing 100081China

Because of their wide detection range and rich functions,autonomous underwater vehicles(AUVs)are widely used for observing the marine environment,for exploring natural resources,for security and defense purposes,and in many other fields of *** with a single AUV,a multi-AUV formation can better perform various tasks and adapt to complex underwater *** changes in the mission or environment,a change in the UAV formation may also be *** the last decade,much progress has been made in the transformation of multi-AUV *** this paper,we aim to analyze the core concepts of multi-AUV formation transformation;summarize the effects of the AUV model,underwater environment,and communication between AUVs within formations on formation transformation;and elaborate on basic theories and implementation approaches for multi-AUV formation ***,this overview includes a bibliometric analysis of the related literature from multiple ***,some challenging issues and future research directions for multi-AUV formation transformation are highlighted.

关键词： autonomous underwater vehicle multi-AUV formation formation transformation formation control

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High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain

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Chinese Journal of Aeronautics 2021年第5期34卷 652-665页

作者： Kang XU Shoukun WANG Junzheng WANG Xiuwen WANG Zhihua CHEN Jinge SI School of Automation Beijing Institute of Technology.Beijing 100081China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China Key Laboratory Ministry of Industry and Information Technology Beijing Institute of TechnologyBeijing 100081China

There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is ***,the hybrid control framework,which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion,is also *** on this framework,robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator(GG).Additionally,by using Whole-Body control(WBC)of framework,robot has the capability of flexibly accommodating the uneven terrain by Attitude control(AC)kinematically adjusting the length of legs like an active suspension system,and by Force/torque Balance control(FBC)equally distributing the Ground Reaction Force(GRF)to maintain a stable *** simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog ***,to smoothly demonstrate the performance of robot transporting heavy loads,the experiment of carrying 3-person load of about 240 kg is deployed.

关键词： Attitude control Gait generation High-adaption locomotion Obstacle avoidance Planetary exploration robot

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Design of a High Speed 360-degree Panoramic Video Acquisition System Based on FPGA and USB 3.0

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IEEE Sensors Journal 2023年 1-1页

作者： Lyu, Congyi Peng, Jianqing Zhou, Weiguo Yang, Shanshan Liu, Yunhui Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology Beijing China

This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) features. First, the system transfers the images captured by five CMOS sensors to the designed FPGA board through the FMC adapter plate. Then, the system employs the FPGA-based parallel computing to extract the SIFT features and detect the best matching region and points for image registration. Finally, in order to obtain the panoramic image with smooth changes at the junctions, images of the adjacent images are fused. Using the designed FPGA platform makes it possible to extract the SIFT and stitch the images in real-time, which is not realized in most panoramic imaging systems. The panoramic system, developed using the Xilinx Zynq®-7000 all programmable SOC, can capture video of 5*640*480 images at the speed of 60 fps. To enable high-speed image transfer from the imaging system to the host computer, the USB3.0 interface with the transmission speed of 359MB/s has been developed. The real-time efficiency of the parallel system will be demonstrated by the simulations and experiments. IEEE

关键词： Real time systems

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Graph-based Selection-Activation Reinforcement Learning for Heterogenous Multi-agent Collaboration

Graph-based Selection-Activation Reinforcement Learning for ...

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第43届中国控制会议

作者： Hao-Xiang Chen Xi-Wen Zhang Jun-Nan Shen State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Chongqing Innovation Center Beijing Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In practical applications of multi-agent systems, agents are often heterogeneous, and each type of them typically has different task objectives. For heterogeneous multi-agent reinforcement learning(HMARL), the diversity of agent types and the unbalanced agent number of each type can lead to the curse of dimensionality and non-stationary. Moreover, the increase in the number of heterogeneous agents may result in slow convergence during training. This paper proposes a graph-based selection-activation reinforcement learning(GSARL) method for training heterogenous multi-agent collaboration strategies. It first constructs agents based on their types, then extracts the global adjacency matrices and the ally adjacency matrices from the agents' observations, and calculates the global feature matrices. Afterwards, GSARL utilizes hierarchical graph convolutional network to sequentially convolve the global information and ally information, obtaining action logits based on agent types. By using the neural topology graph and the selection-activation method, the optimal multi-agent collaboration configuration is obtained through combinatorial optimization. Experiments are conducted in an adversarial combat simulation environment involving collaborative Unmanned Aerial Vehicles(UAVs) and Unmanned Ground Vehicles(UGVs). Simulation results show that the proposed method can accelerate convergence while allowing that each type of heterogeneous agents can leverage its unique advantages.

关键词： Multi-Agent System Hierarchical Graph Convolutional Network Heterogenous Multi-Agent Collaboration

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A bi-level optimization approach for joint rack sequencing and storage assignment in robotic mobile fulfillment systems

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Science China(Information Sciences) 2023年第11期66卷 127-149页

作者： Xiang SHI Fang DENG Sai LU Yunfeng FAN Lin MA Jie CHEN Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Zhejiang Cainiao Supply Chain Management Co. Ltd. Shanghai Research Institute for Intelligent Autonomous Systems

This paper studies a novel rack scheduling problem with multiple types of multiple storage locations(RS-MTMS), which can decide the retrieval sequence of racks and assign each rack a storage location after visiting a picking station. A major challenge in RS-MTMS is that the storage assignment problem and the retrieval sequence decision are closely coupled. If the RS-MTMS is solved directly, the storage assignment scheme and the retrieval sequence of racks are generally generated separately, thus resulting in poor performance. To overcome this difficulty, we propose a bi-level optimization approach for jointly optimizing the storage assignment and retrieval sequence(Bi JSR). In Bi JSR, the storage assignment problem is solved by variable neighborhood search(VNS) in the upper-level optimization. Effective candidate modes are incorporated into VNS to improve solution quality and computational efficiency. The sequencing optimization is obtained in the lower-level according to the given storage location set. A transformation strategy with sufficient problem-specific knowledge is developed to identify the lower-level optimization as the traveling salesman problem and its variants. Then these identified problems are solved using the loop-based *** results show that the proposed Bi JSR is more effective and efficient than the representative algorithms in solving the RS-MTMS problem.

关键词： rack scheduling sequence decision storage assignment bi-level optimization robotic mobile fulfillment system

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Compound Fault Separation and Diagnosis Method Based on FSA-CNN and DAN

Compound Fault Separation and Diagnosis Method Based on FSA-...

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2021 CAA Symposium on Fault Detection, Supervision, and Safety for Technical Processes, SAFEPROCESS 2021

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

ISBN: (纸本)9781665401159

With the industry becoming larger and more complicated, the technology of fault diagnosis becomes more and more important. Due to the strong coupling and non-stationarity of the compound fault, the existing fault diagnosis methods cannot accurately identify all single faults' detailed information contained in the compound fault. This paper proposes a compound fault separation and diagnosis method based on FSACNN and DAN. Firstly, in order to highlight certain frequency segments, frequency segment attention module is added to CNN. Secondly, a compound fault feature separation framework based on DAN is proposed, which can separate compound fault to two fault components accurately. Thiredly, a signature matrix is introduced into ELM to improve the performance of the classifier. Finally, ablation experiments are designed to prove the advantage of the proposed method. © 2021 IEEE.

关键词： Failure analysis

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Effective distributed algorithm for solving linear matrix equations

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Science China(Information Sciences) 2023年第8期66卷 265-266页

作者： Songsong CHENG Jinlong LEI Xianlin ZENG Yuan FAN Yiguang HONG Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Department of Control Science and Engineering Tongji University Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Dear editor,Solving linear matrix equations is a basic and important problem in many fields such as the computation of generalized inverses of matrices and(generalized) Sylvester equations. Also, the linear algebraic ...

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Dynamic State Estimation for Power System with Communication Constraint Using Event-Triggered Cubature Kalman Filter

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Journal of Beijing Institute of Technology (English Edition) 2021年第ZK期30卷 129-140页

作者： Wei, Minfeng Xu, Min Zhang, Fengdi School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing100854 China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing100854 China

Accurate dynamic state estimation plays an important role in power systems. Although various filtering algorithms, such as unscented Kalman filter (UKF) and particle filter (PF), have been proposed based on phasor measurement units (PMUs), they occupy a huge communication bandwidth without specific concern, which puts heavy burden on the communication network especially when wireless communications are widely applied in smart grids. In order to relieve this communication burden, the event-triggered cubature Kalman filter (ETCKF) is proposed based on the stochastic event-triggered schedule in this paper, which guarantees that only the measurements containing innovational information are transmitted and has advantages over other event-triggered schedules, such as the deterministic event-triggered schedule, since it can maintain the Gaussian property of the conditional distribution of the system state. Based on the developed nonlinear event-triggered schedule, the cubature Kalman filter (CKF), using the third-degree spherical-radial cubature rule, further provides more accurate estimation than UKF and has lower computational complexity than PF. The proposed filter can effectively reduce the communication rate while ensuring the accuracy of filtering. Finally, the standard IEEE 39-bus system is utilized to verify the feasibility and performance of the proposed method. © 2020 Journal of Beijing Institute of Technology

关键词： Phasor measurement units

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Research on Synthetic Data Generation and Multi-modal Target Detection

Research on Synthetic Data Generation and Multi-modal Target...

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第34届中国控制与决策会议

作者： Jiexi Liu Chenyu Wang Lei Xu Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision

Target Detection is one of the most important tasks in Computer Vision,which has broad application prospects in many *** the past few years,great progress has been made in this field with the rapid development of deep learning ***,it's still a big challenge at complex scenarios such as dim environment for traditional single-modal visible *** address this problem,researchers introduce thermal images as additional modal in consideration of that thermal cameras are less susceptible to interference and explore how to fuse the two modalities information ***,the lack of large labeled and high-quality visible-thermal datasets hampers the usage of convolutional neural networks for ***,we propose to use image-to-image translation model combined with a differentiable data augmentation method to generate fake thermal images from labeled visible images and use multi-modal target detection model to prove the validity of the *** experiment results show that our method can provide us a large labeled dataset of synthetic visible-thermal image pairs with better generalization and the introduction of thermal modality can obtain a better performance than single modality.

关键词： Image-to-image translation Multi-modal target detection Deep learning

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Adaptive Temporal Aggregation Network for Online Video Visual Relation Detection

SSRN

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SSRN 2023年

作者： He, Yuxuan Gan, Ming-Gang Ma, Qianzhao Wang, Chenyu State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

Nowadays, more and more researchers pay attention to scene perception of artificial robot. Video visual relation detection is an essential task for scene perception but existing methods are all offline methods which are unsuitable for real-time application. Thus, we first introduce online video visual relation detection task which aims at localizing and classifying relations in the current frame. Then, we propose Adaptive Temporal Aggregation Network for online video visual relation detection. In this network, we design content-based adaptive sampling method to sample historical frames which contain dynamic scene information. In order to extract history knowledge from these discrete features, we propose adaptive spatio-temporal activation module which consists of adaptive spatial activation unit and adaptive temporal aggregation unit to extract history knowledge from history memory. After obtaining history knowledge and current state, the proposed attention-based knowledge-state fusion module is used to fuse these dynamic and static visual information. We also construct spatial location features and semantic embedding features to improve final relation representations. Experiments show the effectiveness and efficiency of our method. Moreover, we implement our network on fetch robot and visualize the online video visual relation detecting process. © 2023, The Authors. All rights reserved.

关键词： Chemical activation

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