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Multi-Robot Task Allocation Using Multimodal Multi-Objective Evolutionary Algorithm Based on Deep Reinforcement Learning

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 377-387页

作者：苗镇华黄文焘张依恋范勤勤 Logistics Research Center Shanghai Maritime UniversityShanghai 201306China Key Laboratory of Control of Power Transmission and Conversion of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Marine Technology and Control Engineering of Ministry of Communications Shanghai Maritime UniversityShanghai 201306China

The overall performance of multi-robot collaborative systems is significantly affected by the multi-robot task *** improve the effectiveness,robustness,and safety of multi-robot collaborative systems,a multimodal multi-objective evolutionary algorithm based on deep reinforcement learning is proposed in this *** improved multimodal multi-objective evolutionary algorithm is used to solve multi-robot task allo-cation ***,a deep reinforcement learning strategy is used in the last generation to provide a high-quality path for each assigned robot via an end-to-end *** with three popular multimodal multi-objective evolutionary algorithms on three different scenarios of multi-robot task allocation problems are carried out to verify the performance of the proposed *** experimental test results show that the proposed algorithm can generate sufficient equivalent schemes to improve the availability and robustness of multi-robot collaborative systems in uncertain environments,and also produce the best scheme to improve the overall task execution efficiency of multi-robot collaborative systems.

关键词： multi-robot task allocation multi-robot cooperation path planning multimodal multi-objective evo-lutionary algorithm deep reinforcement learning

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Fault Detection for Automated Straddle Carriers Based on Set-membership Filtering Approach

Fault Detection for Automated Straddle Carriers Based on Set...

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2022 International Symposium on Sensing and Instrumentation in 5G and IoT Era, ISSI 2022

作者： Lin, Shuang Zhang, Yilian Ding, Zonghe Chen, Yang Shanghai Maritime University Key Laboratory of Marine Technology and Control Engineering Ministry of Communications Shanghai China

ISBN: (数字)9781665498289

ISBN: (纸本)9781665498289

This paper is concerned with fault detection problem for an automated straddle carrier(ASC). Considering the harsh port environment and unknown-but-bounded(UBB) noise interference, a recursive fault detection algorithm based on set-membership filtering approach is proposed. The algorithm consists of a prediction ellipsoid set and an estimation ellipsoid set. This method determines the fault signal by detecting the existence of intersection between the above sets. Simulation results are provided to demonstrate the effectiveness of the proposed method. © 2022 IEEE.

关键词： Fault detection

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A Data-Driven Based Blind Path Recognizing and Tracking control Strategy for a Guided Quadruped Robot 13

A Data-Driven Based Blind Path Recognizing and Tracking Cont...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Liu, Shida Sun, Yunlong Ji, Honghai Wang, Li School of Electrical and Control Engineering North China University of Technology Beijing100000 China Ministry of Education Key Laboratory of Marine Intelligent Unmanned China

ISBN: (纸本)9798350361674

This study addresses the motion control issues of a guiding quadruped robot and proposes a novel data-driven approach for blind path recognition and tracking. The proposed approach consists of two parts, including blind path recognition and robot tracking control. In terms of visual principles, the guiding quadruped robot identifies blind paths based on color using the Otsu threshold segmentation algorithm, combined with Canny edge detection and Hough transform for precise positioning of the blind path. Next, this study presents a model-free adaptive control method utilizing a dynamic linearization technique to follow the identified blind path. The controller is configured with a pseudo partial derivative (PPD) parameter. The proposed method enables accurate recognition and tracking of blind paths by the robot, thereby achieving precise following of blind paths by the guiding quadruped robot. The control aspect of the proposed method relies on a model-free strategy, eliminating the requirement to establish an exact mathematical model of the guiding robot during the controller design process. Instead, the controller can be achieved solely using input and output data of the robot. The proposed method was applied to a real guiding quadruped robot experimental platform, and the experimental results demonstrated a 96.24% accuracy in blind path recognition and an average deviation angle of 0.17 degree in tracking control. The effectiveness of this approach has been validated. © 2024 IEEE.

关键词： Multipurpose robots

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Coordinated Planning Transmission Tasks in Heterogeneous Space Networks:A Semi-Distributed Approach

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China communications 2023年第1期20卷 261-276页

作者： Runzi Liu Weihua Wu Zhongyuan Zhao Xu Ding Di Zhou Yan Zhang School of Information and Control Engineering Xi’an University of Architecture and TechnologyXi’an 710055ShaanxiChina State Key Laboratory of ISN School of Telecommunications EngineeringXidian UniversityXi’an 710071ShaanxiChina Key Laboratory of Universal Wireless Communications(Ministry of Education) Beijing University of Posts and TelecommunicationsBeijing 100876China

This paper studies the coordinated planning of transmission tasks in the heterogeneous space networks to enable efficient sharing of ground stations cross satellite ***,we first formulate the coordinated planning problem into a mixed integer liner programming(MILP)problem based on time expanded ***,the problem is transferred and reformulated into a consensus optimization framework which can be solved by satellite systems *** alternating direction method of multipliers(ADMM),a semi-distributed coordinated transmission task planning algorithm is proposed,in which each satellite system plans its own tasks based on local information and limited communication with the coordination *** results demonstrate that compared with the centralized and fully-distributed methods,the proposed semi-distributed coordinated method can strike a better balance among task complete rate,complexity,and the amount of information required to be exchanged.

关键词： heterogeneous space network transmission task task planning coordinated scheduling

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Strain engineering of Pt-based electrocatalysts for oxygen reaction reduction

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Frontiers in Energy 2024年第2期18卷 241-262页

作者： Zeyu WANG Yanru LIU Shun CHEN Yun ZHENG Xiaogang FU Yan ZHANG Wanglei WANG State Key Laboratory of Solidification Processing Atomic Control and Catalysis Engineering LaboratorySchool of Materials Science and EngineeringNorthwestern Polytechnical UniversityXi’an 710072China State Key Laboratory of Oral and Maxillofacial Reconstruction and Regeneration National Clinical Research Center for Oral DiseasesShaanxi Key Laboratory of StomatologyDepartment of Dental MaterialsSchool of StomatologyThe Fourth Military Medical UniversityXi’an 710032China Institute of New Energy Materials and Engineering School of Materials Science and EngineeringFuzhou UniversityFuzhou 350108China Key Laboratory of Marine Chemistry Theory and Technology(Ministry of Education) College of Chemistry and Chemical EngineeringOcean University of ChinaQingdao 266100China

Proton exchange membrane fuel cells(PEMFCs)are playing irreplaceable roles in the construction of the future sustainable energy ***,the insufficient performance of platinum(Pt)-based electrocatalysts for oxygen reduction reaction(ORR)hinders the overall efficiency of *** the surface strain of catalysts is considered an effective way to tune their electronic structures and therefore optimize catalytic *** this paper,insights into strain engineering for improving Pt-based catalysts toward ORR are elaborated in ***,recent advances in understanding the strain effects on ORR catalysts are comprehensively ***,strain engineering methodologies for adjusting Ptbased catalysts are comprehensively ***,further information on the various challenges and potential prospects for strain modulation of Pt-based catalysts is provided.

关键词： strain engineering Pt-based catalysts oxygen reduction reaction(ORR) catalytic performance proton exchange membrane fuel cells(PEMFCs)

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Multi-Channel Based on Attention Network for Infrared Small Target Detection

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 414-427页

作者：张彦军王碧云蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Institute of Aerospace Control Technology Shanghai 201109China Infrared Detection Technology R&D Center of China Aerospace Science and Technology Corporation Shanghai 201109China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghai 200240China

Infrared detection technology has the advantages of all-weather detection and good concealment,which is widely used in long-distance target detection and tracking ***,the complex background,the strong noise,and the characteristics of small scale and weak intensity of targets bring great difficulties to the detection of infrared small targets.A multi-channel based on attention network is proposed in this paper,aimed at the problem of high missed detection rate and false alarm rate of traditional algorithms and the problem of large model,high complexity and poor detection performance of deep learning ***,given the difficulty in extracting the features of infrared multiscale and small dim targets,the multiple channels are designed based on dilated convolution to capture multiscale target ***,the coordinate attention block is incorporated in each channel to suppress background clutters adaptively and enhance target *** addition,the fusion of shallow detail features and deep abstract semantic features is realized by synthesizing the contextual attention fusion ***,it is verified that,compared with other state-of-the-art methods based on the datasets SIRST and MDFA,the proposed algorithm further improves the detection effect,and the model size and computational complexity are smaller.

关键词： infrared image small target detection deep learning attention mechanism feature fusion

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Resource utilization of typical biomass wastes as biochars in removing plasticizer diethyl phthalate from water: characterization and adsorption mechanisms

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Frontiers of Environmental Science & engineering 2023年第1期17卷 49-61页

作者： Mei Shi Xiao Wang Mengying Shao Lun Lu Habib Ullah Hao Zheng Fengmin Li Institute of Coastal Environmental Pollution Control College of Environmental Science and EngineeringKey Laboratory of Marine Environment and Ecology(Ministry of Education)Ocean University of ChinaQingdao 266100China State Environmental Protection Key Laboratory of Environmental Pollution Health Risk Assessment South China Institute of Environmental SciencesMinistry of Ecology and EnvironmentGuangzhou 510655China Department of Environmental Science Zhejiang UniversityHangzhou 310058China Marine Ecology and Environmental Science Laboratory Pilot National Laboratory for Marine Science and TechnologyQingdao 266071China Sanya Oceanographic Institution Ocean University of ChinaSanya 572000China

Plastic pollution as a global environmental issue has become a research hotspot,among which the removal of inherent plasticizer(e.g.,phthalic acid esters,PAEs)received increasing ***,the effects of biochars derived from different feedstocks on the adsorption of PAEs are poorly ***,the characteristics of biochars derived from six largely produced biomass wastes in China at 400°C,as well as their performance in adsorption of diethyl phthalate(DEP),one of frequently detected PAEs in aqueous environment,were *** results indicated that the variation in feedstock type showed significant changes in the properties(e.g.,porosity,specific surface area,surface functional groups)of biochars,which affected DEP adsorption and *** order and Freundlich models fitted the adsorption data well,and adsorption mechanisms mainly included hydrophobic effect,followed by micropore filling,hydrogen bonding,andπ-πEDA *** thermodynamics revealed that the adsorption was a spontaneous and exothermic the adsorption capacities of DEP on these biochars slightly decreased with the increasing pH but increased with the increasing ionic *** these biochars,the giant reed biochar with relatively higher DEP adsorption and low desorption exhibited the great efficiency for DEP removal as an environment-friendly *** results highlighted the significant roles of micropore filling and hydrogen bond in determining adsorption capacity of designed biochars prepared from selecting suitable agricultural straws and wetland plant waste to typical *** findings are useful for producing designed biochars from different biomass wastes for plasticizer pollution control.

关键词： Plastic pollution Phthalic acid esters Designed biochar Wetland plant Adsorption

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Impacts of synoptic circulation on surface ozone pollution in a coastal eco-city in Southeastern China during 2014-2019

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Journal of Environmental Sciences 2023年第5期127卷 143-157页

作者： Yu Yan Xuesong Wang Zhengchao Huang Kun Qu Wenbin Shi Zimu Peng Limin Zeng Shaodong Xie Yuanhang Zhang State Key Joint Laboratory of Environmental Simulation and Pollution Control College of Environmental Sciences and EngineeringPeking UniversityBeijing 100871China International Joint Laboratory for Regional Pollution Control Ministry of EducationBeijing 100816China Center for Environmental Education and Communications of Ministry of Ecology and Environment Beijing 100020China Beijing Innovation Center for Engineering Science and Advanced Technology Peking UniversityBeijing 100871China CAS Center for Excellence in Regional Atmospheric Environment Chinese Academy of SciencesXiamen 361021China

The coastal eco-city of Fuzhou in Southeastern China has experienced severe ozone(O_(3))episodes at times in recent *** this study,three typical synoptic circulations types(CTs)that influenced more than 80%of O_(3) polluted days in Fuzhou during 2014-2019 were identified using a subjective *** characteristics of meteorological conditions linked to photochemical formation and transport of O_(3) under the three CTs were *** Air Quality Model with extensions was applied to simulate O_(3) episodes and to quantify O_(3) sources from different regions in *** Fuzhou was located to the west of a high-pressure system(classified as“East-ridge”),more warm southwesterly currents flowed to Fuzhou,and the effects of cross-regional transport from Guangdong province and high local production promoted the occurrence of O_(3) *** a uniform pressure field with a low-pressure system occurring to the east of Fuzhou(defined as“East-low”),stagnant weather conditions caused the strongest local production of O_(3) in the atmospheric boundary *** by high-pressure systems over the mainland(categorized as“Inland-high”),northerly airflows enhanced the contribution of cross-regional transport to O_(3) in *** abnormal increases of the“East-ridge”and“Inland-high”were closely related to O_(3) pollution in Fuzhou in April and May 2018,resulting in the annual maximum number of O_(3) polluted days during recent ***,the rising number of autumn O_(3) episodes in 2017-2019 was mainly related to the“Inland-high”,indicating the aggravation of cross-regional transport and highlighting the necessity of enhanced regional collaboration and efforts in combating O_(3) pollution.

关键词： Ozone pollution Synoptic circulation Regional transport Chemical production

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General Simultaneous Localization and Mapping Scheme for mmWave Communication Systems

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IEEE Internet of Things Journal 2024年第12期11卷 22521-22536页

作者： Du, Tao Yang, Jie Wen, Chao-Kai Xia, Shuqiang Jin, Shi Southeast University National Mobile Communications Research Laboratory Nanjing210096 China Southeast University Key Laboratory Of Measurement And Control Of Complex Systems Of Engineering Ministry Of Education The Frontiers Science Center For Mobile Information Communication And Security Nanjing210096 China Institute Of Communications Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan Zte Corporation The State Key Laboratory Of Mobile Network And Mobile Multimedia Technology Shenzhen518055 China Southeast University National Mobile Communications Research Laboratory The Frontiers Science Center For Mobile Information Communication And Security Nanjing210096 China

Utilizing high-resolution antenna arrays and wide bandwidth of the millimeter-wave (mmWave) spectrum in 5G new radio (NR) mmWave communication systems holds the potential for high-throughput data transmission while enabling user localization and environmental mapping. However, the majority of existing simultaneous localization and mapping (SLAM) algorithms rely on methods akin to the extended Kalman filter for generating initial map features. These methods prove ineffective when the measurement dimension is insufficient. Furthermore, there is a notable absence of research exploring mmWave prototype systems to evaluate and compare the performance and viability of various SLAM algorithms. To address these challenges, we propose an innovative probability hypothesis density (PHD) generation scheme for birth events and have developed a prototype system. Our approach, referred to as PHD-SLAM, exhibits remarkable effectiveness even in scenarios where the measurement dimension falls short of map features. This means it can function seamlessly with only delay or angle information available. Additionally, we have designed a 28GHz mmWave beam scanning prototype system that leverages the 5G NR frame for accomplishing SLAM algorithms. Following this, we conducted extensive simulations and experimental evaluations to gauge the performance of several leading-edge SLAM algorithms under diverse mmWave circumstances, encompassing PHD-based and belief propagation (BP) SLAM algorithms. Our analysis reveals that both PHD and BP SLAM can achieve agent localization precision within a decimeter and mapping precision within a meter, capitalizing on the angle parameters of mmWave signals. While BP SLAM showcases reduced computational demand, its estimation precision is marginally inferior to that of PHD-SLAM. © 2014 IEEE.

关键词： Belief propagation

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Quantifying the contribution of activity patterns to PM_(2.5)exposure inequity between urban and rural residents by a novel method

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Building Simulation 2024年第8期17卷 1323-1333页

作者： Wei Du Zhanpeng Cui Jinze Wang Yuqiong Wang Yungui Li Xiaoan Li Yan Zhou Tao Jiang Kang Mao Xianbiao Lin Jianwu Shi Dengzhou Gao Yiming Qin Yunnan Provincial Key Laboratory of Soil Carbon Sequestration and Pollution Control Faculty of Environmental Science&EngineeringKunming University of Science&TechnologyKunming 650500China Laboratory of Earth Surface Processes College of Urban and Environmental SciencesPeking UniversityBeijing 100871China Department of Environmental Engineering Southwest University of Science and TechnologyMianyang 621010China NHC Key Laboratory of Nuclear Technology Medical Transformation Mianyang Central HospitalSchool of MedicineUniversity of Electronic Science and Technology of ChinaMianyang 621000China State Key Laboratory of Environmental Geochemistry Institute of GeochemistryChinese Academy of SciencesGuiyang 550081China Key Laboratory of Marine Chemistry Theory and Technology Ministry of EducationOcean University of ChinaQingdao266100China Key Laboratory for Humid Subtropical Eco-Geographical Processes of the Ministry of Education School of Geographical SciencesFujian NormalUniversityFuzhou350117China School of Energy and Environment City University of Hong KongHong KongChina

PM_(2.5)pollution variations in different microenvironments would result in PM_(2.5)exposure inequity between rural and urban *** this study,the real-time PM_(2.5)exposure of urban and rural residents in China was examined based on portable PM_(2.5)sensors together with activity patterns derived from questionnaire surveys,with a focus on students and senior citizens who are sensitive to air *** results showed that PM_(2.5)exposure varied significantly among different resident groups,with higher PM_(2.5)exposure of rural residents than those of urban ***_(2.5)exposure peaks mostly occurred during(Accompanied)cooking activities owing to strong *** and resting were the main activities that affected PM_(2.5)exposures of different resident groups,accounting for 60.7%-94.5%of total daily ***,the long duration of sleeping makes it the predominant activity contributing to PM 25 exposure *** is necessary to obtain point-to-point respiratory volume(respiratory rate)data when measuring real-time PM_(2.5)exposure data and incorporate respiratory volume(respiratory rate)into the analysis of PM_(2.5)*** the first time,this study quantified the PM_(2.5)exposure inequality based on a novel method and can provide useful information for further studies on the exposure inequity.

关键词： PM_(2.5)exposure environmental inequity activity pattern urban and rural difference

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