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A Degeneracy-Aware LiDAR-Inertial-Visual SLAM for Degenerate Environments

IEEE Sensors Journal 2025年第11期25卷 19376-19385页

作者： Zhu, Hongwei Zhang, Guobao Huang, Yongming Southeast University School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

Different sensors may experience degeneracy in specific scenarios, which can lead to failures in multi-sensor fusion optimization. To address the challenges of localization and mapping under such degeneracy conditions, this paper proposes a LiDAR-Inertial-Visual SLAM system with integrated degeneracy awareness. In the frontend, the system utilizes the ESIKF for tracking and incorporates a sensor degeneracy detection method to ensure that degraded sensor data do not affect the state error update. In the backend, we replace the conventional point cloud map with an adaptive voxel map to accelerate the retrieval of planar point cloud, and merge LiDAR planar features within a sliding window via region growing algorithm. Furthermore, the point-to-plane distance formula is optimized via the Rayleigh quotient theorem, which reduces the dimensionality of the optimization variables and simplifies the optimization process. Finally, we evaluate the proposed system on several challenging datasets and compare it with various state-of-the-art sensor fusion systems. The experimental results demonstrate that the proposed system achieves high localization accuracy in the majority of challenging scenarios. © 2001-2012 IEEE.

关键词： Inertial navigation systems

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Sensorless control of PMSM Drives Using Octant Newton-Raphson Method and Reduced-Order EKF Considering Speed Reversal and Noise

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IEEE Transactions on Power Electronics 2025年第8期40卷 10793-10803页

作者： Xiang, Fuyuan Yu, Ke Chen, Congyan Li, Shihua Southeast University School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

For back electromotive force-based sensorless control in permanent magnet synchronous motor (PMSM) drives, the conventional phase-locked loop (PLL) exhibits a ±π position estimation error during speed reversal. This paper presents an octant Newton-Raphson method (ONRM) based PLL, which employs a newly defined objective function and a position octant method. It not only ensures the position estimation converges correctly during speed reversal but also improves dynamic performance compared to the conventional PLL. The applicability condition of the ONRM in the presence of noise is also analyzed in detail. Subsequently, due to the noise sensitivity of the ONRM, a reduced-order extended Kalman filter is designed to filter out the non-Gaussian noise in the position estimation while simultaneously estimating the speed. The effectiveness of the proposed sensorless control scheme is verified on a 1.5 kW PMSM drive platform. © 1986-2012 IEEE.

关键词： Extended Kalman filters

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BeltLineNet: A Shape-Prior-Guided Lightweight Network for Real-Time Deviation Detection in Circular Pipe Conveyors

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IEEE Sensors Journal 2025年第11期25卷 20024-20036页

作者： Zhao, Long Su, Jinhui Zhong, Yusheng Xie, Weiwei Su, Jinya Chen, Xisong Chen, Congyan Li, Shihua Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing210096 China Fujian Longking Intelligent Conveying Engineering Co. Ltd Longyan China

Belt deviation in circular pipe conveyor systems could lead to material spillage, environmental contamination, reduced efficiency, and accelerated belt wear. Real-time belt deviation detection is crucial for ensuring safe and efficient operation. However, existing methods, primarily developed for flat-belt systems, heavily rely on distinct belt-background semantics, making them unsuitable for circular conveyors where indistinct target features, motion blur, and occlusions pose significant challenges. To address these issues, we reformulate the deviation detection task as an object detection problem, proposing BeltLineNet, a lightweight, real-time deviation detection network specifically designed for circular pipe conveyors. Our method integrates explicit feature learning with a coarse-to-fine global feature fusion mechanism, enhancing belt line representation under complex conditions. Additionally, a shape-prior loss strategy is introduced to improve supervision during training, ensuring more accurate detection of elongated targets. The model is also optimized for real-time deployment through layer-adaptive pruning, achieving a balance between accuracy and computational efficiency. Extensive comparative experiments involving 8 state-of-the-art (SOTA) feature extraction networks and 6 feature enhancement strategies on a self-collected dataset under industrial conditions demonstrate that BeltLineNet surpasses SOTA feature extraction and fusion networks, improving average precision (AP) by 8.23% before pruning and 6.33% after pruning. © 2001-2012 IEEE.

关键词： Belt conveyors

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Stability and Stabilization of Sampled-Data Based LFC for Power Systems:A Data-Driven Method

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 291-293页

作者： Yu-Long Fan Chuan-Ke Zhang Yong He the School of Automation China University of Geosciences the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education IEEE

Dear Editor,This letter is concerned with stability analysis and stabilization design for sampled-data based load frequency control(LFC) systems via a data-driven method. By describing the dynamic behavior of LFC systems based on a data-based representation, a stability criterion is derived to obtain the admissible maximum sampling interval(MSI) for a given controller and a design condition of the PI-type controller is further developed to meet the required MSI. Finally, the effectiveness of the proposed methods is verified by a case study.

关键词： Sampled data control systems

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Energy-based Swing-up control of the Soft Inverted Pendulum with Affine Curvature

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Nonlinear Dynamics 2025年 1-20页

作者： Wang, Yongjia Xin, Xin School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Institute of Intelligent Unmanned Systems Southeast University Nanjing210096 China

This paper studies the energy-based swing-up control of an underactuated soft inverted pendulum, a template model of soft robots with its base attached to the ground and its curvature described by an affine function. First, this paper presents a necessary and sufficient condition for the linear controllability of the robot around its upright equilibrium point (UEP). Next, without any constraint on its stiffness, this paper derives an energy-based controller to swing up the robot to its UEP, where the pendulum is in its upright position, and provides a necessary and sufficient condition such that the controller is free of singular points. Then, this paper characterizes the patterns of closed-loop equilibrium points with respect to the physical parameters of the pendulum and the gains of the derived controller, and analyzes the closed-loop motion corresponding to the special case in which desired convergence of the total mechanical energy is achieved. In such case, this paper reveals that the UEP is generically the unique closed-loop equilibrium point, and provides clarification regarding its stability. These results serve as guidelines of the design of soft robots and the tuning of control gains to achieve the desired performance of the swing-up control. Finally, this paper conducts numerical simulations to validate the theoretical results and to demonstrate the effectiveness and performance of the derived controller in swinging up the robot to its UEP from initial states far from the UEP, even under the challenging condition of very low stiffness. © The Author(s), under exclusive licence to Springer Nature B.V. 2025.

关键词： Affine transforms

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Thickness measurement of Single-Mode Fiber Coating Layer Based on Forward Brillouin Scattering

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IEEE Sensors Journal 2025年第11期25卷 19332-19340页

作者： Zhang, Yongqi Wang, Tao Liu, Yijia Liu, Li Zhang, Mingjiang Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education College of Physics and Optoelectronic Engineering Taiyuan030024 China Taiyuan University of Technology Shanxi Key Laboratory of Precision Measurement Physics College of Physics and Optoelectronic Engineering Taiyuan030024 China

The coating layer is essential for protecting and applying optical fibers. Nowadays, the thickness measurement of the coating layer relies on point measurement schemes such as the side-looking light distribution method and mechanical method. However, there are some problems with the above methods, such as the trade-off between resolution and field of view, the cutting of the measurement position and the long measurement time. To overcome these problems, we propose a new method based on forward Brillouin scattering, which measures the coating layer thickness of single-mode fibers. The physical properties of the transverse acoustic field involved in forward Brillouin scattering make it possible to measure the thickness of the fiber coating. The corresponding relationship between the transverse acoustic mode frequency and the diameter of the coating layer can be calculated. The coating layer thickness can be measured with high precision by measuring the frequency spectrum of forward Brillouin scattering corresponding to multiple transverse acoustic modes at a given temperature. In the verification experiment, three types of single-mode fibers coated with polyimide are used as the sensing fiber to measure the thickness of the coating layer at multiple temperatures. The experimental results show that the error in the coating layer thickness obtained is less than 0.05 μm. To the best of our knowledge, this is the first demonstration of non-destructive, high-precision monitoring of fiber coating thickness. © 2001-2012 IEEE.

关键词： Acoustic field measurement

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FPGA-based radar sensing warning system design 4

FPGA-based radar sensing warning system design

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2024 4th International Conference on Mechatronics Technology and Aerospace engineering, ICMTAE 2024

作者： Wang, Li Wang, Lee Space Engineering University Beijing101401 China Key Laboratory of Intelligent Aerospace Measurement Transportation and Control Ministry of Education Beijing101401 China

This paper introduces a radar sensing early warning system designed and implemented based on CYCLONE IV series FPGAs, which generates PWM signals to control the rotation of servo through parallel high-efficiency FPGAs, and at the same time generates trigger signals to drive the ultrasonic radar to detect obstacles, and if the set distance is reached, the buzzer will sound an alarm, and display the current servo angle and distance to the obstacle through the LCD, so as to achieve the effect of radar early warning—radar warning effect. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Radar warning systems

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Joint Task Offloading and Resource Allocation Strategy for Space-Air-Ground Integrated Vehicular Networks

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清华大学学报自然科学版（英文版） 2025年第3期30卷 1027-1043页

作者： Yuanshuo Gang Yuexia Zhang Zhihai Zhuo School of Information and Communication Engineering Beijing Information Science and Technology UniversityBeijing 100101China Key Laboratory of Modern Measurement and Control Technology Ministry of EducationBeijing Information Science and Technology UniversityBeijing 100101China

Space-Air-Ground integrated Vehicular Network(SAGVN)aims to achieve ubiquitous connectivity and provide abundant computational resources to enhance the performance and efficiency of the vehicular ***,there are still challenges to overcome,including the scheduling of multilayered computational resources and the scarcity of spectrum *** address these problems,we propose a joint Task Offloading(TO)and Resource Allocation(RA)strategy in SAGVN(namely JTRSS).This strategy establishes an SAGVN model that incorporates air and space networks to expand the options for vehicular TO,and enhances the edge-computing resources of the system by deploying edge *** minimize the system average cost,we use the JTRSS algorithm to decompose the original problem into a number of subproblems.A maximum rate matching algorithm is used to address the channel allocation and the Lagrangian multiplier method is employed for computational *** acquire the optimal TO decision,a differential fusion cuckoo search algorithm is *** simulation results demonstrate the significant superiority of the JTRSS algorithm in optimizing the system average cost.

关键词： edge computing Resource Allocation(RA) Space-Air-Ground integrated Vehicular Network(SAGVN) Task Offloading(TO)

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Attention-Modulated Feature Fusion Neural Network for Inverse Modeling of Microwave Filters

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IEEE Microwave and Wireless Technology Letters 2025年第4期35卷 376-379页

作者： Guo, Linwei Cao, Weihua Hu, Wenkai Lu, Zhengyang Wu, Min China University of Geosciences School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

Inverse modeling is extensively applied in the design and tuning of microwave filters (MFs). Inverse models (IMs) take the features extracted from the high-dimensional electromagnetic parameters as input. How to make full use of features from multiple perspective is a critical issue for improving model accuracy. To solve it, this letter proposes an attention-modulated feature fusion neural network (AMFFNN). AMFFNN achieves multiperspective feature fusion (MPFF) at the input side and independent feature fusion (IFF) at the output side. In addition, feature fusion in AMFFNN is enhanced by attention modules to dynamically identify the importance of each feature. Statistical and comparative results of simulations demonstrate that AMFFNN outperforms existing methods in terms of accuracy, stability, and generalization. © 2023 IEEE.

关键词： Inverse problems

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Transformer-Based Scenario Generation of Multi-segment Monotonic Increasing Bidding Curves of Power Plants

Transformer-Based Scenario Generation of Multi-segment Monot...

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International Conference of Electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Xie, Haochuan Lv, Jianhu Wang, Ying Yuan, Kun College of Software Southeast University Suzhou China China Electric Power Research Institute Beijing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9789819618637

With the relaxation of electricity market regulation, power plants are permitted to engage in bidding. The bidding outcomes in the competitive market differ significantly from those in the previously regulated market. These differences in bidding outcomes will further impact power flow and system security. To provide a reference for practical electricity market operations, make market simulation more realistic, it is crucial to analyze and establish a model to simulate the bidding behavior of power generators. This paper applies Transformer networks to predict multi-segment bidding behaviors of power plants, we have improved the classic Transformer network by adopting a one encoder-two decoder format, considering six key factors influencing bidding behavior: unit ID, fuel type, capacity, location, system load, and load ratio. Additionally, monotonicity of the multi-segment bidding curves of power plants is taken into account, and monotonicity loss functions are introduced to achieve this goal. We apply this method to predict bidding behaviors in power plants in the Australian electricity market, validating the accuracy of the model. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： bidding curves generation monotonicity constraint power market Transformer-based

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