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arXiv 2024年

作者： Zhai, Chao Wu, Yuming School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China

Real-time environmental monitoring using a multi-agent system (MAS) has long been a focal point of cooperative control. It is still a challenging task to provide cost-effective services for potential emergencies in surface environments. This paper explores the transformation of a general surface into a two-dimensional (2D) disk through the construction of a conformal mapping. Multiple agents are strategically deployed within the mapped convex disk, followed by mapping back to the original surface environment. This approach circumvents the complexities associated with handling the difficulties and intricacies of path planning. Technical analysis encompasses the design of distributed control laws and the method to eliminate distortions introduced by the mapping. Moreover, the developed coverage algorithm is applied to a scenario of monitoring surface deformation. Finally, the effectiveness of the proposed algorithm is validated through numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Conformal mapping

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Active Target Tracking Using Bearing-only measurements With Gaussian Process Learning

arXiv

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arXiv 2024年

作者： Fu, Yingbo Yang, Ziwen Zhu, Shanying Guo, Yi Chen, Cailian The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

This paper studies the tracking problem of a target with the partially unknown motion model by an active agent with bearing-only measurements using Gaussian process learning. To address this problem, a learning-planning-control framework is proposed. First, to learn and predict the target motion under mild assumptions, a Gaussian-process-based scheme is proposed, and a probabilistic uniform prediction error bound can be rigorously proved. Second, by analyzing the data dependence of the posterior covariance, we obtain an optimal relative trajectory to achieve efficient sampling. Third, to realize efficient learning, a controller to track the planned path is proposed based on the learned target motion, which can provide guaranteed tracking performance. Theoretical analysis is conducted to prove the the given probabilistic error bounds. Numerical examples and comparison with other typical methods verify the feasibility and superior performance of our proposed framework. Copyright © 2024, The Authors. All rights reserved.

关键词： Target tracking

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Continuous Perception Garment Classification Based on Optical Flow Variation

Continuous Perception Garment Classification Based on Optica...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Huang, Li Yang, Tong Zhang, Yu Jiang, Rongxin Tian, Xiang Chen, Yaowu Institute of Advanced Digital Technologies and Instrumentation Zhejiang University Hangzhou310027 China State Key Laboratory of Industrial Control and Technology Zhejiang University 310027 China Zhejiang Provincial Key Laboratory for Network Multimedia Technology Hangzhou310027 China Embedded System Engineering Research Center Ministry of Education of China Hangzhou310027 China

ISBN: (纸本)9781665481090

A novel continuous perception garment classification mechanism is proposed in this paper, with the aim to identify the correct category of the garment from a set of known categories. It has been observed that due to the severe folding and overlapped texture of garments, treating a video of the continuous deformation of cloth as a set of disordered static figures would be ineffective which leads to low classification precision performed by an image-based garment classifier. In contrast, a high-level decision making module that leverages the classification results of each single image would significantly increase the algorithm performance. In this paper, we incorporate the optical flow variation of deformable cloth between consecutive configurations as a representative of how it is traversing within the confidence interval of the image-based classifier. We claim that it is not the number of video frames but the sum of optical flow variation of the garment configuration between consecutive frames having the same category label that constitutes the belief of garment classification. In other words, if two consecutive visual appearances of the garment could be identified as the same category by the image-based classifier, then the more diverged that two configurations are, the more confident that the garment is correctly identified. Experimental comparisons between the state-of-the-art algorithm and the proposed algorithm in a public dataset have been provided which prove the validity of the proposed algorithm. © 2022 IEEE.

关键词： Decision making

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Pb(II)adsorption by biochar from co-pyrolysis of corn stalks and alkali-fused fly ash

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Biochar 2022年第1期4卷 89-104页

作者： Xiaotong Yun Yan Ma Hao Zheng Yaru Zhang Biying Cui Baoshan Xing School of Chemical and Environmental Engineering China University of Mining and TechnologyBeijing 100083China Institute of Coastal Environmental Pollution Control Key Laboratory of Marine Environment and EcologyMinistry of EducationFrontiers Science Center for Deep Ocean Multispheres and Earth SystemOcean University of ChinaQingdao 266100China Stockbridge School of Agriculture University of MassachusettsAmherstMA 01003USA

Numerous studies have reported the potential of silica as a biochar(BC)***,despite its high silica content,fly ash is rarely used for BC ***,modified BCs were produced by co-pyrolysis of corn stalks with alkali-fused fly ash(AFFA)at 200 and 600℃(denoted as AFFA/BC).The Pb(Ⅱ)adsorption mechanism and adsorption performance were *** AFFA/BC had larger specific surface areas than the pure BC samples(2.54-137 vs.0.50 m2 g^(−1))owing to their stable carbon *** Pb(Ⅱ)adsorption capacity of AFFA/BC in water was approximately 6%higher than that of BC owing to the increased cation(Na+)exchange and new bonding sites,such as C-O and ***/BC exhibited good Pb(Ⅱ)adsorption performance in high-concentration simulated wastewater(pH 4-6),with a maximum adsorption capacity of 110.29 mg g^(−1).The Pb(Ⅱ)adsorption mechanism was in accordance with the pseudo-second-order kinetic and Langmuir isotherm *** 25℃and pH 5,the theoretical Pb(Ⅱ)adsorption capacities of AFFA200/BC and AFFA600/BC were 201.66 and 186.81 mg g^(−1),respectively,compared to 145.98 mg g^(−1)of *** adsorption,precipitation,cation exchange,and complexation were identified as the main Pb(Ⅱ)adsorption mechanisms through X-ray photoelectron spectrometry.

关键词： Biochar Co-pyrolysis Alkali-fused fly ash Lead ion adsorption

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Brillouin optical correlation domain analysis based on a phase-chaos laser

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Advanced Photonics Nexus 2024年第6期3卷 106-116页

作者： Lintao Niu Yahui Wang Jing Chen Haochen Huang Lijun Qiao Mingjiang Zhang Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control SystemMinistry of EducationTaiyuanChina Taiyuan University of Technology College of Physics and OptoelectronicsTaiyuanChina Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering TaiyuanChina

The physical mechanism of gain motivation is the main theoretical bottleneck that restricts the signal-to-noise ratio(SNR)and results in a mono-merit implementation for the existing stimulated Brillouin scattering-based fiber sensors.A phase-chaos laser(PCL)is proposed and introduced in the Brillouin optical correlation domain analysis(BOCDA)scheme to promote the SNR and achieve a high-accuracy *** PCL characteristics are presented,and a theoretical model of chaos gain accumulation and extraction is ***,the simulation results reveal that the SNR is improved by 5.56 dB,and the signal-to-background noise ratio(SBR)of the Brillouin gain spectrum(BGS)is promoted by 8.28 dB with a 100-km sensing ***,the PCL is experimentally *** the proof-of-concept experiment,the accuracy of the Brillouin frequency shift is upgraded to 0.64 MHz,and the SBR of BGS is improved by 10.77 *** PCL provides a new research direction for optical chaos,and the PCL-BOCDA showcases a promising future for optimal-merit-coupling sensing and its application.

关键词： phase-chaos laser distributed fiber sensing stimulated Brillouin scattering high signal-to-noise ratio

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Deep Learning-Based Dimension measurement system for Industrial Part Inspection

Deep Learning-Based Dimension Measurement System for Industr...

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2024 China Automation Congress, CAC 2024

作者： Li, Xiao-Di Fan, Xing-Rong Zhang, Xian-Ming Zhang, Han-Zhi Huang, Chun-Jie Xu, Cheng Chongqing Engineering Laboratory for Detection Control and Integrated System School of Artificial Intelligence Chongqing Technology and Business University Chongqing China Engineering Research Centre for Waste Oil Recovery Technology and Equipment Ministry of Education Chongqing Key Laboratory Chongqing Technology and Business University Chongqing China School of Computer Science and Information Engineering Chongqing Technology and Business University Chongqing China Chongqing Intelligent Supply Chain Engineering & Technology Research Center Chongqing Jiaotong University Chongqing China Chongqing Aerospace Bashan Motorcycle Manufacturing Co. Ltd. Chongqing China

ISBN: (纸本)9798350368604

This paper develops a deep learning-based system for the dimension measurement of industrial parts. The system employs a general self-supervised image segmentation network to perform dichotomous image segmentation (DIS) on the parts, effectively extracting binary images of the target components from complex backgrounds without requiring preprocessing steps such as filtering or denoising. Following segmentation, contour detection, and dimension measurement are executed. The system utilizes a CMOS area scan camera and was tested on a computer equipped with a GTX1050 graphics card. The tests, conducted on two typical thrust ball bearing components (i.e., the ball retainer and the shaft ring) ü yielded ten measurements per part. Comparison with a vernier caliper as the reference standard reveals that under normal operating conditions, the maximum standard deviation is 0.007 mm and the maximum absolute error is 0.017 mm. © 2024 IEEE.

关键词： Ball bearings

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Data-Driven Distributionally Robust Mixed-Integer control through Lifted control Policy

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IEEE Transactions on Automatic control 2025年

作者： Ma, Xutao Ning, Chao Du, Wenli Shi, Yang Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China East China University of Science and Technology Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education Shanghai200237 China University of Victoria Department of Mechanical Engineering VictoriaBCV8W 3P6 Canada

This paper investigates the finite-horizon distributionally robust mixed-integer control (DRMIC) of uncertain linear systems. However, deriving an optimal causal feedback control policy to this DRMIC problem is computationally formidable for most ambiguity sets. To address the computational challenge, we propose a novel distributionally robust lifted control policy (DR-LCP) method to derive a high-quality approximate solution to this DRMIC problem for a rich class of Wasserstein metric-based ambiguity sets, including the Wasserstein ambiguity set and its variants. In theory, we analyze the asymptotic performance and establish a tight non-asymptotic bound of the proposed method. In numerical experiments, the proposed DR-LCP method empirically demonstrates superior performance compared with existing methods in the literature. ©1963-2012 IEEE.

关键词： Mixed-integer linear programming

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Discrete-time inverse linear quadratic optimal control over fnite time-horizon under noisy output measurements

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control Theory and Technology 2021年第4期19卷 563-572页

作者： Han Zhang Yibei Li Xiaoming Hu Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China 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 Department of Mathematics KTH Royal Institute of Technology10044 StockholmSweden

In this paper,the problem of inverse quadratic optimal control over fnite time-horizon for discrete-time linear systems is *** goal is to recover the corresponding quadratic objective function using noisy ***,the identifability of the model structure for the inverse optimal control problem is analyzed under relative degree assumption and we show the model structure is strictly globally ***,we study the inverse optimal control problem whose initial state distribution and the observation noise distribution are unknown,yet the exact observations on the initial states are *** formulate the problem as a risk minimization problem and approximate the problem using empirical *** is further shown that the solution to the approximated problem is statistically consistent under the assumption of relative *** then study the case where the exact observations on the initial states are not available,yet the observation noises are known to be white Gaussian distributed and the distribution of the initial state is also Gaussian(with unknown mean and covariance).EM-algorithm is used to estimate the parameters in the objective *** efectiveness of our results are demonstrated by numerical examples.

关键词： Inverse optimal control Linear quadratic regulator Statistical consistency EM-algorithm

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The 2022 report of synergetic roadmap on carbon neutrality and clean air for China:Accelerating transition in key sectors

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Environmental Science and Ecotechnology 2024年第3期19卷 4-18页

作者： Yu Lei Zhicong Yin Xi Lu Qiang Zhang Jicheng Gong Bofeng Cai Cilan Cai Qimin Chai Huopo Chen Renjie Chen Shi Chen Wenhui Chen Jing Cheng Xiyuan Chi Hancheng Dai Xiangzhao Feng Guannan Geng Jianlin Hu Shan Hu Cunrui Huang Tiantian Li Wei Li Xiaomei Li Jun Liu Xin Liu Zhu Liu Jinghui Ma Yue Qin Dan Tong Xuhui Wang Xuying Wang Rui Wu Qingyang Xiao Yang Xie Xiaolong Xu Tao Xue Haipeng Yu Da Zhang Ning Zhang Shaohui Zhang Shaojun Zhang Xian Zhang Xin Zhang Zengkai Zhang Bo Zheng Yixuan Zheng Jian Zhou Tong Zhu Jinnan Wang Kebin He Center of Air Quality Simulation and System Analysis Chinese Academy of Environmental PlanningBeijing100041China Center for Carbon Neutrality Chinese Academy of Environmental PlanningBeijing100041China Key Laboratory of Meteorological Disaster Ministry of Education/Joint International Research Laboratory of Climate and Environment Change(ILCEC)/Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters(CIC-FEMD)Nanjing University of Information Science&TechnologyNanjing210044China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing100084China Institute for Carbon Neutrality Tsinghua UniversityBeijing100084China Ministry of Education Key Laboratory for Earth System Modelling Department of Earth System ScienceTsinghua UniversityBeijing100084China State Key Joint Laboratory for Environment Simulation and Pollution Control College of Environmental Sciences and Engineering and Center for Environment and HealthPeking UniversityBeijing100871China National Center for Climate Change Strategy and International CooperationBeijing100035China Nansen-Zhu International Research Centre Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing100029China School of Public Health Key Lab of Public Health Safety of the Ministry of Education and Key Lab of Health Technology Assessment of the Ministry of HealthFudan UniversityShanghai200032China School of Economics and Management Beijing University of Chemical TechnologyBeijing100029China Department of Earth System Science University of CaliforniaIrvineCA92697USA National Meteorological Center China Meteorological AdministrationBeijing100081China College of Environmental Sciences and Engineering Peking UniversityBeijing100871China Policy Research Center for Environment and Economy Ministry of Ecology and Environment of the People's Republic of ChinaBeijing100029China Jiangsu Key Laboratory of Atmospheric Environment Monitoring

China is now confronting the intertwined challenges of air pollution and climate *** the high synergies between air pollution abatement and climate change mitigation,the Chinese government is actively promoting synergetic control of these two *** Synergetic Roadmap project was launched in 2021 to track and analyze the progress of synergetic control in China by developing and monitoring key *** Synergetic Roadmap 2022 report is the first annual update,featuring 20 indicators across five aspects:synergetic governance system and practices,progress in structural transition,air pollution and associated weather-climate interactions,sources,sinks,and mitigation pathway of atmospheric composition,and health impacts and benefits of coordinated *** to the comprehensive review presented in the 2021 report,the Synergetic Roadmap 2022 report places particular emphasis on progress in 2021 with highlights on actions in key sectors and the relevant *** milestones include the proportion of non-fossil power generation capacity surpassing coal-fired capacity for the first time,a decline in the production of crude steel and cement after years of growth,and the surging penetration of electric ***,in 2022,China issued the first national policy that synergizes abatements of pollution and carbon emissions,marking a new era for China's pollution-carbon *** changes highlight China's efforts to reshape its energy,economic,and transportation structures to meet the demand for synergetic control and sustainable ***,the country has witnessed a slowdown in carbon emission growth,improved air quality,and increased health benefits in recent years.

关键词： Synergetic roadmap Carbon neutrality Clean air

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Bearing-based Formation Tracking of Nonholonomic Agents in the Leader's Local Frame

Bearing-based Formation Tracking of Nonholonomic Agents in t...

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2021 China Automation Congress, CAC 2021

作者： Lv, Ke Yang, Ziwen Zhu, Shanying Wang, Lin Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665426473

This paper investigates the formation tracking control problem of nonholonomic agents in the leader's local frame, based on bearing measurements. Most of existing works on formation tracking are aimed at tracking a given formation in the global frame, which cannot meet the needs of many applications such as a fleet of cars driving on the highway. In this case, if the cars cannot keep a fixed formation in the leader's local frame, they may drive off the highway. Thus we propose an integrated approach consisting of a bearing-based estimator and a tracking controller, to track a given formation in the leader's local frame. In order to eliminate the estimation error in formation tracking, a persistently exciting leader is characterized by conditions. The stability of the integrated method is proved rigorously. Simulation results prove the effectiveness of the proposed approach. © 2021 IEEE

关键词： Integrated control

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