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Bearing-Based Target Entrapping control of Multiple Uncertain Agents With Arbitrary Maneuvers

IFAC-PapersOnLine 2023年第2期56卷 8821-8826页

作者： Haifan Su Ziwen Yang Shanying Zhu Cailian Chen Wenbin Yu Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the leaders move with the predesigned trajectories, and the followers are steered by an estimation-based control method, integrating a distance estimator using bearing measurements and a stress matrix-based formation controller. The signum functions are used to compensate for the uncertainties so that the agents’ accelerations can be piecewise continuous and bounded to track the desired dynamics. With proper design of the leaders’ trajectories and a geometric configuration, an affine matrix is determined so that the inter-agent relative bearings can be persistently exciting since the bearing rates are related to different weighted combinations of the affine matrix vectors. The asymptotic convergence of the estimation and control error is proved using Filipov properties and cascaded system theories. A sufficient condition for inter-agent collision avoidance is also proposed. Finally, simulation results are given to validate the effectiveness of the method.

关键词： Target entrapping control bearing measurement persistent excitation uncertainty

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A paper-based self-inductive folding displacement sensor for human respiration and motion signals measurement

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npj Flexible Electronics 2022年第1期6卷 653-663页

作者： Junwen Zhu Yanshen Jia Mengmeng Li Zhanxuan Zhou Yinghao Chen Qiang Liu Xing Yang The State Key Laboratory of Precision Measurement Technology and Instruments Department of Precision InstrumentTsinghua UniversityBeijing 100084China School of Materials Science and Engineering University of Science and Technology BeijingBeijing 100083China School of Electromechanical and Automobile Engineering Yantai UniversityYan Tai 264005China Key Laboratory of Photonic Control Technology Ministry of EducationTsinghua UniversityBeijing 100083China

Flexible sensors have recently attracted much attention for potential applications in motion measurement and wearable health *** this paper,an environment-friendly,economic,and high-performance paper-based self-inductive folding displacement sensor(PSIFS)was proposed,with displacement resolution of 20μm and wide measurement range of 43.2 *** sensor sensitivity could reach 4.44%mm^(−1) with the maximum deviation of 0.00904 in *** sensing mechanism based on inductance variation due to three-dimensional deformation of planar inductor coil and structural design principle under two dimensions of sensitivity and size were proposed and *** folding method to enhance sensitivity was proposed and 3 times sensitivity enhancement could be achieved by once *** breathing states and motion states of the human joints could be *** proposed simple paper-based sensor,folding method to increase sensitivity,and structural design model may provide a way for the research of flexible sensors.

关键词： folding inductive motion

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Unequal Error Protection Rateless Codes for Spatial Audio Transmission 24

Unequal Error Protection Rateless Codes for Spatial Audio Tr...

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24th IEEE International Conference on Communication Technology, ICCT 2024

作者： Yin, Junpeng Fu, Yusun Huang, Haobo Tang, Jinhui Shanghai Jiao Tong University Ningbo Artificial Intelligence Institute Ningbo China Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai China Ministry of Education of China School of Electronic Information and Electrical Engineering The Key Laboratory of System Control and Information Processing Shanghai China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798350363760

Spatial audio is an important component of the metaverse. With the rapid increase of the spatial resolution and the number of objects, the data volume of the spatial side information has grown larger. However, the low bit rate transmission of spatial side information in the object-based audio coding methods leads to the low-quality reconstruction of spatial side information with limited bandwidth. To address this issue, this paper constructs a cascade design of spatial audio coding and unequal error protection (UEP) rateless codes. Furthermore, the further protection of specific spatial side information is proposed for different scenarios, which effectively addresses the limitation of traditional spatial audio coding in side information protection. For the situation where the code length K of different importance levels is different, we propose an adaptive degree distribution (ADD), adding K to the selection probability as an influencing factor, which has better performance than other degree distribution for short code length. ADD is used to replace the multiple degree distribution strategy of the traditional unequal error protection scheme, and the block error rate (BER) is reduced nearly 10 times compared with the traditional scheme. © 2024 IEEE.

关键词： Audio signal processing

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Interval Type-2 Fuzzy Hierarchical Adaptive Cruise Following-control for Intelligent Vehicles

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1658-1672页

作者： Hong Mo Yinghui Meng Fei-Yue Wang Dongrui Wu the College of Electric and Information Engineering Changsha University of Science and TechnologyChangsha 410114China the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Qingdao Academy of Intelligent Industries Qingda 266109 the Center of China Economic and Social Security University of Chinese Academy of SciencesBeijing 100190China the Ministry of Education Key Laboratory on Image Information Processing and Intelligent Control the School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

Intelligent vehicles can effectively improve traffic congestion and road traffic *** cruise followingcontrol(ACFC)is a vital part of intelligent *** this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of ***,a traditional variable time headway model is improved considering the acceleration of the lead ***,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating *** reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control ***,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)***,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different ***,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.

关键词： Adaptive cruise following-control(ACFC) feedforward+fuzzy proportion integration(PI)feedback(F+FPIF) type-2 fuzzy control variable time headway

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Missile Guidance Law Based on Back-Stepping Method and ESO Technique with Autopilot Lag

Missile Guidance Law Based on Back-Stepping Method and ESO T...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Zhang, Zhenxing Ou, Meiying School of Instrument Science and Engineering Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing China College of Mechanical and Electrical Engineering Chuzhou University Chuzhou239000 China

ISBN: (纸本)9789811581540

This paper studies the missile intercepting maneuvering target problem. The major contribution is that a composite guidance law (CGL) is presented by applying the back-stepping method and extended state observer (ESO) technique. For the missile intercepts a maneuvering target, the proposed CGL can handle guidance system wisectth zero-miss-distance. For the guidance problem, there exists the matched disturbance and mismatched disturbance. And, the both disturbances in missitle-target guidance system can be estimated and compensated with the help of extended state observer (ESO), thus, in the missile-target guidance law, it can handle the missile to impact a maneuvering target with zero-miss-distance. Simulation results are also presented to support the method analysis with a missile-target interception example. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： State estimation

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Study on the characteristics of fluid exciting force on impeller of high-speed centrifugal pump under the condition of poiseuille inflow 8

Study on the characteristics of fluid exciting force on impe...

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8th International Conference on Pumps and Fans, ICPF 2024

作者： Wang, Hao Li, Yibin Lei, Mengxiang Ren, Haowei School of Energy and Power Engineering Lanzhou University of Technology Lanzhou730050 China Key Laboratory of Advanced Pumps Valves and Fluid Control System of the Ministry of Education Lanzhou University of Technology Lanzhou730050 China Anshan Petrochina Kunlun Fu'an gas Co.. LTD. Anshan114001 China

The paper adopted the turbulence model of Wall-Model Large Eddy Simulation with improved algebraic form (WMLES S-Omega) to carry out the study on the fluid exciting force on impeller of high-speed centrifugal pump under the conditions of Poiseuille inflow and uniform inflow. The external characteristics and the vibration displacement of the shaft of high-speed centrifugal pump are tested. The results indicated that it is the high matching that the test and numerical external data of high-speed centrifugal pump under the condition of Poiseuille inflow. The test results of vibration displacement of shaft match the fluid exciting force better in terms of waveform and phase difference under the condition of Poiseuille inflow. The contribution degree of force and torque from the shroud inner surface in the X and Y direction is 76.3%, 80.7%, 79.5% and 85% of the resultant force and torque, and its force from the inner and outer surfaces of shroud and hub in the Z direction is 94.3%, and its torque from blades' surfaces in the Z direction is 98.3%. The study results can provide some theoretical support for the research of fluid exciting force and hydraulic optimization design of centrifugal pump. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Shaft displacement

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Chiral quantum heating and cooling with an optically controlled ion

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Light(Science & Applications) 2024年第7期13卷 1393-1400页

作者： Jin-Tao Bu Jian-Qi Zhang Ge-Yi Ding Jia-Chong Li Jia-Wei Zhang Bin Wang Wen-Qiang Ding Wen-Fei Yuan Liang Chen Qi Zhong Ali Keçebaş Şahin KÖzdemir Fei Zhou Hui Jing Mang Feng State Key Laboratory of Magnetic Resonance and Atomic and Molecular Physics Wuhan Institute of Physics and MathematicsInnovation Academy of Precision Measurement Science and TechnologyChinese Academy of Sciences430071 WuhanChina. University of the Chinese Academy of Sciences 100049 BeijingChina. Research Center for Quantum Precision Measurement Guangzhou Institute of Industry Technology511458 GuangzhouChina. Department of Engineering Science and Mechanics and Materials Research InstitutePennsylvania State UniversityUniversity ParkState CollegePA 16802USA. Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Department of Physics and Synergetic Innovation Center for Quantum Effects and ApplicationsHunan Normal University410081 ChangshaChina. Department of Physics Zhejiang Normal University321004 JinhuaChina

Quantum heat engines and refrigerators are open quantum systems,whose dynamics can be well understood using a non-Hermitian formalism.A prominent feature of non-Hermiticity is the existence of exceptional points(EPs),which has no counterpart in closed quantum *** has been shown in classical systems that dynamical encirclement in the vicinity of an EP,whether the loop includes the EP or not,could lead to chiral mode ***,we show that this is valid also for quantum systems when dynamical encircling is performed in the vicinity of their Liouvillian EPs(LEPs),which include the effects of quantum jumps and associated noise—an important quantum feature not present in previous *** demonstrate,using a Paul-trapped ultracold ion,the first chiral quantum heating and refrigeration by dynamically encircling a closed loop in the vicinity of an *** witness the cycling direction to be associated with the chirality and heat release(absorption)of the quantum heat engine(quantum refrigerator).Our experiments have revealed that not only the adiabaticity breakdown but also the Landau–Zener–Stückelberg process play an essential role during dynamic encircling,resulting in chiral thermodynamic *** observations contribute to further understanding of chiral and topological features in non-Hermitian systems and pave a way to exploring the relation between chirality and quantum thermodynamics.

关键词： quantum chiral dynamical

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Efficient Reinforcement Learning for 3D LiDAR Navigation of Mobile Robot 41

Efficient Reinforcement Learning for 3D LiDAR Navigation of ...

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第41届中国控制会议

作者： Yu Zhai Zhe Liu Yanzi Miao Hesheng Wang China University of Mining and Technology MoE Key Lab of Artificial Intelligence Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Developing an efficient automatic navigation system for mobile robots is challenging in the strange scenarios where robots can only observe the environment of the surrounding limited *** other distributed automatic navigation systems exist,they often require extracting semantic information to calculate navigation action,which requires extra modules to provide perceptual information and is not *** propose an end-to-end automatic navigation system based on the reinforcement learning *** particular,the raw 3 D LiDAR data is used to directly map an efficient navigation *** design a novel dense reward function to handle the reward sparsity issue and provide a graphical representation method to enable the efficient feature learning from the raw 3 D LiDAR data in our navigation *** addition,an imitation learning based policy initialization is introduced before the subsequent reinforcement learning,which increases the learning efficiency and,in the meantime,still encouraging the robot to explore all the potential states to achieve advanced performance than the imitated *** navigation model is trained in the Webots environment and the experimental results show that our model has efficient and flexible navigation performance in complex *** importantly,trained model can be easily extended to unfamiliar environments.

关键词： End-to-end Navigation Mobile robot Reinforcement Learning 3D LiDAR

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A Segmented Sliding Window-Based Comprehensive Periodic Feature Extraction Method for APT Classification

A Segmented Sliding Window-Based Comprehensive Periodic Feat...

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International Conference on control and Automation (ICCA)

作者： Wei Song Tiejun Wu Ya Zhang School of Software Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China School of Cyber Science and Engineering Southeast University. School of Automation Southeast University Nanjing China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This paper studies the classification problem of Advanced Persistent Threat (APT) attacks and proposes a comprehensive periodic feature extraction method based on sliding window division. A new data processing approach is proposed. Considering the characteristics of APT attacks, the life cycle of APT traffic data is divided into three stages. The traffic data from each stage is sampled in a piecewise manner and divided into separate training and testing sets, and then the training and testing subsets are merged. For the integrated sets, a sliding window-based partition approach is employed to obtain training and testing window samples, while extracting features from each individual sample. Then, this paper proposes a differential-based periodic feature extraction methodology to capture the dynamic information present in APT traffic and integrate it with fundamental static features, thereby forming effective comprehensive features. After combining these static and differential features, a comprehensive foundation is established for model training. Finally, the effectiveness of the algorithm is verified using decision tree model, and its superiority is demonstrated by comparing it with traditional partition methods based on data streams.

关键词： Training Heuristic algorithms Feature extraction Data models Partitioning algorithms Classification algorithms Decision trees

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Multi-object Tracking by Detection and Query: an efficient end-to-end manner

arXiv

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arXiv 2024年

作者： Jia, Shukun Cao, Yichao Yang, Feng Lu, Xin Lu, Xiaobo School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China School of Instrument Science and Engineering Southeast University Nanjing210096 China

Multi-object tracking is advancing through two dominant paradigms: traditional tracking by detection and newly emerging tracking by query. In this work, we fuse them together and propose the tracking-by-detection-and-query paradigm, which is achieved by a Learnable Associator. Specifically, the basic information interaction module and the content-position alignment module are proposed for thorough information Interaction among object queries. Tracking results are directly Decoded from these queries. Hence, we name the method as LAID. Compared to tracking-by-query models, LAID achieves competitive tracking accuracy with notably higher training efficiency. With regard to tracking-by-detection methods, experimental results on DanceTrack show that LAID significantly surpasses the state-of-the-art heuristic method by 3.9% on HOTA metric and 6.1% on IDF1 metric. On SportsMOT, LAID also achieves the best score on HOTA metric. By holding low training cost, strong tracking capabilities, and an elegant end-to-end approach all at once, LAID presents a forward-looking direction for the field. Copyright © 2024, The Authors. All rights reserved.

关键词： Object detection

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