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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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Distributed Observer for Full-Measured Nonlinear systems Based on Knowledge of FMCF

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 69-85页

作者： Haotian Xu Shuai Liu Yueyang Li Ke Li the School of Control Science and Engineering Shandong University and also with Key Laboratory of Machine Intelligence and System Control Ministry of Education IEEE the School of Electrical Engineering University of Jinan

Driven by practical applications, the achievement of distributed observers for nonlinear systems has emerged as a crucial advancement in recent years. However, existing theoretical advancements face certain limitations: They either fail to address more complex nonlinear phenomena, rely on hard-to-verify assumptions, or encounter difficulties in solving system ***, this paper aims to address these challenges by investigating distributed observers for nonlinear systems through the full-measured canonical form(FMCF), which is inspired by full-measured system(FMS) theory. To begin with, this study addresses the fact that the FMCF can only be obtained through the observable canonical form(OCF) in existing FMS *** paper demonstrates that a class of nonlinear systems can directly obtain FMCF through state space equations, independent of OCF. Also, a general method for solving FMCF in such systems is provided. Furthermore, based on the FMCF, A distributed observer is developed for nonlinear systems under two scenarios: Lipschitz conditions and open-loop bounded *** paper establishes their asymptotic omniscience and demonstrates that the designed distributed observer in this study has fewer design parameters and is more convenient to construct than existing approaches. Finally, the effectiveness of the proposed methods is validated through simulation results on Van der Pol oscillators and microgrid systems.

关键词： Distributed observer full-actuated system full-measured system (FMS) nonlinear observer sensor networks

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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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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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Enhanced Tube-Based Event-Triggered Stochastic Model Predictive control With Additive Uncertainties

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 596-605页

作者： Chenxi Gu Xinli Wang Kang Li Xiaohong Yin Shaoyuan Li Lei Wang the School of Control Science and Engineering Shandong University IEEE the School of Electronic and Electrical Engineering University of Leeds the Qingdao University of Science and Technology the Department of Automation Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China

This paper proposes an event-triggered stochastic model predictive control for discrete-time linear time-invariant(LTI) systems under additive stochastic disturbances. It first constructs a probabilistic invariant set and a probabilistic reachable set based on the priori knowledge of system *** with enhanced robust tubes, the chance constraints are then formulated into a deterministic form. To alleviate the online computational burden, a novel event-triggered stochastic model predictive control is developed, where the triggering condition is designed based on the past and future optimal trajectory tracking errors in order to achieve a good trade-off between system resource utilization and control performance. Two triggering parameters σ and γ are used to adjust the frequency of solving the optimization problem. The probabilistic feasibility and stability of the system under the event-triggered mechanism are also examined. Finally, numerical studies on the control of a heating, ventilation, and air conditioning(HVAC) system confirm the efficacy of the proposed control.

关键词： Event-triggered mechanism heating, ventilation, and air conditioning (HVAC) control probabilistic reachable set stochastic model predictive control

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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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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory Autonomous systems Stability

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controllability of heterogeneous networked sampled-data systems

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Science China(Information Sciences) 2025年第3期68卷 302-318页

作者： Zixuan YANG Lin WANG Xiaofan WANG Guanrong CHEN Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China School of Mechatronic Engineering and Automation Shanghai University School of Electrical and Electronic Engineering Shanghai Institute of Technology Department of Electrical Engineering City University of Hong Kong

This study investigates the controllability of a general heterogeneous networked sampled-data system(HNSS) consisting of nonidentical node systems, where the inner coupling between any pair of nodes can be described by a unique *** signals on control and transmission channels are sampled and held by zero-order holders, and the control sampling period of each node can be different. Necessary and sufficient controllability conditions are developed for the general HNSS, using the Smith normal form and matrix equations, respectively. The HNSS in specific topology or dynamic settings is discussed subsequently with easier-to-verify conditions derived. These heterogeneous factors have been determined to independently or jointly affect the controllability of networked sampled-data systems. Notably, heterogeneous sampling periods have the potential to enhance the overall controllability, but not for systems with some special dynamics. When the node dynamics are heterogeneous,the overall system can be controllable even if it is topologically uncontrollable. In addition, in several typical heterogeneous sampled-data multi-agent systems, pathological sampling of single-node systems will necessarily cause overall uncontrollability.

关键词： network controllability sampled-data system heterogeneous system inner coupling multi-agent system

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Erosion Analysis of Static Components in Slurry Pumps Based on Reverse Modeling

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Fluid Dynamics & Materials Processing 2025年第3期21卷 589-603页

作者： Zhengjing Shen Fanqiang Kong Yu Liu Jilai Zeng Wengang Yang Jiangbo Wu School of College of Energy and Power Engineering Lanzhou University of TechnologyLanzhou730050China Key Laboratory of Advanced Pumps Valves and Fluid Control SystemMinistry of EducationLanzhou730050China

Erosion in slurry pumps presents a persistent challenge in industrial *** study examines the erosion of the static components of a 150ZJ-C42 centrifugal slurry pump,currently in operation at a beneficiation plant,under varying particle *** high-precision three-dimensional reverse engineering,the pump’s flow passage geometry was reconstructed to facilitate detailed erosion *** on the front and rear baffles of the pump chamber,as well as the volute,erosion patterns were analyzed for different particle volume concentrations and *** results reveal that the highest erosion damage consistently occurs near the volute tongue,with wear being most severe in regions adjacent to the partition plate near the rear *** damage intensity in this area correlates positively with particle ***,the average erosion rate in the volute surpasses that of the front and rear chamber liners,reaching a value as high as 6.03×10^(-7)kg·m^(-2)·s^(-1)at a particle concentration of 9%and diameter of 0.1 mm,adversely impacting pump *** the pump chamber baffles,increased erosion is observed at a particle diameter of 0.05 mm under constant volume concentration conditions,while higher particle concentrations exacerbate localized erosion.

关键词： Slurry pump reverse modeling numerical simulation erosion solid-liquid two-phase flow

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