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arXiv 2022年

作者： Mu, Biqiang Chen, Tianshi Kong, He Jiang, Bo Wang, Lei Wu, Junfeng Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Data Science Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Shenzhen518172 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Key Laboratory for NSLSCS of Jiangsu Province School of Mathematical Sciences Nanjing Normal University Nanjing China College of Control Science and Engineering Zhejiang University Hangzhou China

Input design is an important problem for system identification and has been well studied for the classical system identification, i.e., the maximum likelihood/prediction error method. For the emerging regularized system identification, the study on input design has just started, and it is often formulated as a non-convex optimization problem that minimizes a scalar measure of the Bayesian mean squared error matrix subject to certain constraints, and the state-of-art method is the so-called quadratic mapping and inverse embedding (QMIE) method, where a time domain inverse embedding (TDIE) is proposed to find the inverse of the quadratic mapping. In this paper, we report some new results on the embeddings/inverse embeddings of the QMIE method. Firstly, we present a general result on the frequency domain inverse embedding (FDIE) that is to find the inverse of the quadratic mapping described by the discrete-time Fourier transform. Then we show the relation between the TDIE and the FDIE from a graph signal processing perspective. Finally, motivated by this perspective, we further propose a graph induced embedding and its inverse, which include the previously introduced embeddings as special cases. This deepens the understanding of input design from a new viewpoint beyond the real domain and the frequency domain viewpoints. Copyright © 2022, The Authors. All rights reserved.

关键词： Embeddings

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LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segments

arXiv

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arXiv 2023年

作者： Wang, Ze Yang, Kailun Shi, Hao Zhang, Yufan Xu, Zhijie Gao, Fei Wang, Kaiwei The State Key Laboratory of Extreme Photonics and Instrumentation The National Engineering Research Center of Optical Instrumentation Zhejiang University Hangzhou310027 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The School of Computing and Engineering University of Huddersfield HuddersfieldHD1 3DH United Kingdom The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China

In this paper, we propose LF-PGVIO, a Visual-Inertial-Odometry (VIO) framework for large Field-of-View (FoV) cameras with a negative plane using points and geodesic segments. The purpose of our research is to unleash the potential of point-line odometry with large-FoV omnidirectional cameras, even for cameras with negative-plane FoV. To achieve this, we propose an Omnidirectional Curve Segment Detection (OCSD) method combined with a camera model which is applicable to images with large distortions, such as panoramic annular images, fisheye images, and various panoramic images. The geodesic segment is sliced into multiple straight-line segments based on the radian and descriptors are extracted and recombined. Descriptor matching establishes the constraint relationship between 3D line segments in multiple frames. In our VIO system, line feature residual is also extended to support large-FoV cameras. Extensive evaluations on public datasets demonstrate the superior accuracy and robustness of LF-PGVIO compared to state-of-the-art methods. The source code will be made publicly available at https://***/flysoaryun/LF-PGVIO. Copyright © 2023, The Authors. All rights reserved.

关键词： Cameras

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Feedback Shaping for Boolean Networks

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IFAC-PapersOnLine 2023年第2期56卷 6684-6689页

作者： Hongsheng Qi Maria Elena Valcher Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China Dipartimento di Ingegneria dell'Informazione Universita’ di Padova Padova 35131 Italy Australian Center for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW 2006 Australia

Boolean networks, as logical dynamical systems where the system states are Boolean variables, arise from applications in biology, computer networks, and social networks etc. In this paper, we present a framework to evaluate whether and how the closed-loop dynamics of a controlled Boolean network can be shaped into any prescribed form by state-feedback control. We refer to this problem as to the feedback shaping for Boolean networks. First of all, based on the linear representation of Boolean networks, we establish a necessary and sufficient rank condition for a controlled Boolean network to be feedback shapable or not. Next, we design an algorithm for the synthesis of closed-loop dynamics for a feedback shapable Boolean network, such that for any given controlled Boolean network and a desired closed-loop dynamics, one can always find a feedback control law so that the closed-loop dynamics is precisely realized.

关键词： Boolean networks feedback shaping

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A Study on Fake and Real Lane Change Behavior Prediction Based on Discrete Hidden Markov Model

A Study on Fake and Real Lane Change Behavior Prediction Bas...

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第40届中国控制会议

作者： Xianjian Jin Qikang Wang Zeyuan Yan Hang Yang Zhiwei Li Zhaoran Wang School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University State Key Laboratory of Automotive Simulation and Control Jilin University

In advanced assisted driving, an effective understanding of the driver's behavior can effectively improve the safety of the driving process. In this paper, we use discrete hidden Markov models to predict lane change and real lane change behavior by collecting natural driving data from a driving simulator. First, we build a lane change road on the Prescan software, collect data from 12 groups of drivers and filter the data, select whether the four characteristic parameters of steering wheel angle,steering wheel angular velocity, yaw rate and yaw acceleration are true for lane change perform analysis. Then, on the effective data set training, the viterbi algorithm is used to predict the fake lane change and the real lane change behavior of the discrete hidden Markov model. The prediction results show that the model can use the above four characteristic parameters to predict fake lane change and real lane change behavior. The accuracy of the prediction respectively is 89.83%,91.20%,88.52%,80.99%,and it has good accuracy.

关键词： DHMM fake lane change real lane change behavior prediction

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Research on Industrial control Network Security Measurement Method Based on GRU-SVM

Research on Industrial Control Network Security Measurement ...

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Chinese Automation Congress (CAC)

作者： Hengfei Chen Xianda Liu Chuan Sheng Hao Pan College of Information Engineering Shenyang University of Chemical Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

Since the industrial Internet entered people's field of vision, industrial control network security has gradually received attention. Traditional network security measurement methods rely on the accuracy of situation sequences and historical situation values, and various factors in the network have a great influence on the results. However, compared with industrial control networks, the number and types of affected factors are less than those of the modern Internet. Therefore, based on the research on network security situational awareness, this paper proposes an industrial control network security measurement method model based on GRU-SVM. First, the data sets with threat type labels are classified, and then the similarity scoring mechanism and softmax function are introduced, to process the classification results. For the GRU-SVM classification module, the analysis of the simulation results shows that the convergence is better and the robustness is stronger. For the safety prediction measurement part, by comparing with different models, the mean absolute error and root mean square error are smaller and the reliability is higher.

关键词： Industrial control Simulation Measurement uncertainty Network security Predictive models Logic gates Robustness

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Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation

arXiv

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arXiv 2024年

作者： Hu, Bin-Bin Zhang, Hai-Tao Yao, Weijia Sun, Zhiyong Cao, Ming The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China The School of Robotics Hunan University Hunan410082 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands Department of Electrical Engineering Eindhoven University of Technology Netherlands

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e. that of a given target and that of its own, which reduces the communication and computation cost in multi-robot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Navigation

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Development of Robust Constrained control Strategy for Active Suspension System of Electric Vehicle with In-Wheel-Motor

Development of Robust Constrained Control Strategy for Activ...

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第40届中国控制会议

作者： Xianjian Jin Jiadong Wang Zeyuan Yan Zhiwei Li Zhaoran Wang School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University State Key Laboratory of Automotive Simulation and Control Jilin University

In order to suppress the vibration of the active suspension system for electric vehicle with in-wheel-motor, the robust constrained H control strategy is developed, the influences of the sprung mass variation and control constraint of the in-wheel active suspension system are considered in the control strategy. The oriented uncertain active suspension dynamic model is established through the linear fraction transformation method, in which in-wheel motor is suspended as dynamic vibration absorber. Under the unified framework of the generalized H synthesis system, the robust constrained H controller about the active suspension augmentation system is designed according to the theory of reachable sets and ellipsoids with considerations of the dynamic tire displacements and the suspension working spaces constraints. The simulation results show that the designed robust constrained H controller can effectively improve the ride comfort and road-holding ability even if external interference and parameter perturbation exist.

关键词： Electric vehicle vibration suppression active suspension robust control

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Sliding-Mode Design with Disturbance Observer Optimized by Improved HBA Algorithm for Frequency Regulation of Multi-Area Power System

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IAENG International Journal of Applied Mathematics 2022年第4期52卷 1页

作者： Chen, Gonggui Jiang, Zhijin Tan, Hao Zhang, Chaohua Wei, Jinzhu Chen, Wenchen Long, Hongyu Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing University of Posts and Telecommunications Chongqing400065 China Economic and Technology Research Institute State Grid Chongqing Electric Power Company Chongqing401120 China State Grid Chongqing Qianjiang Power Supply Company Chongqing409000 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China

The intermittency of renewable energy generation and the randomness of power load variations lead to voltage and frequency fluctuations among the interconnected power system. In this study, a control strategy based on sliding mode control theory and disturbance observer is proposed for the multi-area power system with parameter uncertainties to handle load frequency control. By choosing an appropriate integral-type sliding-mode surface and reaching law, a sliding-mode load frequency controller is constructed. In order to reduce the influence of uncertainties, a disturbance observer is designed to estimate lumped disturbances. On this basis, the sliding mode controller is reconstructed to provide better control effect. And the improved honey badger algorithm is used to tune out the optimal parameters of the designed controller. Simulation studies are carried out on a two-region reference system and an unequal capacity three-area power system with nonlinearity connected wind turbine generators to illustrate the favorable performance of the power system under the proposed control strategy. The comparison results show that the proposed control method possesses excellent frequency control ability under the uncertainty of load disturbance, wind power fluctuations and parameter uncertainties. And it also achieves efficient frequency control under a certain range of communication delay. © 2022, IAENG International Journal of Applied Mathematics. All Rights Reserved.

关键词： Wind Turbine Generators

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LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agents

arXiv

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arXiv 2022年

作者： Wang, Ze Yang, Kailun Shi, Hao Li, Peng Gao, Fei Bai, Jian Wang, Kaiwei State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University China School of Robotics Hunan University China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China State Key Laboratory of Industrial Control Technology Zhejiang University China Huzhou Institute of Zhejiang University Zhejiang University China

Simultaneous Localization And Mapping (SLAM) has become a crucial aspect in the fields of autonomous driving and robotics. One crucial component of visual SLAM is the Field-of-View (FoV) of the camera, as a larger FoV allows for a wider range of surrounding elements and features to be perceived. However, when the FoV of the camera reaches the negative half-plane, traditional methods for representing image feature points using (u, v, 1)T become ineffective. While the panoramic FoV is advantageous for loop closure, its benefits are not easily realized under large-attitude-angle differences where loop-closure frames cannot be easily matched by existing methods. As loop closure on wide-FoV panoramic data further comes with a large number of outliers, traditional outlier rejection methods are not directly applicable. To address these issues, we propose LF-VISLAM, a Visual Inertial SLAM framework for cameras with extremely Large FoV with loop closure. A three-dimensional vector with unit length is introduced to effectively represent feature points even on the negative half-plane. The attitude information of the SLAM system is leveraged to guide the feature point detection of the loop closure. Additionally, a new outlier rejection method Copyright © 2022, The Authors. All rights reserved.

关键词： Cameras

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UCAS-hand: An underactuated powered hand exoskeleton for assisting grasping task

UCAS-hand: An underactuated powered hand exoskeleton for ass...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Li, Houcheng Cheng, Long Li, Zhengwei Li, Guotao Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665436786

This paper presents a novel underactuated coupled adaptive hand exoskeleton, called UCAS-Hand, which is designed to assist users with weak muscle strength to complete the operation of daily living items. In mechanical design, the proposed UCAS-Hand considers the human-robot kinematic compatibility, grasping adaptability for different objects, portability with motors attached to the hand, force transfer efficiency with applying normal force to the finger phalanges, and passive backdrivability with low gear reduction ratio motor. The UCAS-Hand can realize finger underactuated motions such as flexion/extension and thumb underactuated motions such as flexion/extension, abduction/adduction, and thumb opposability. To minimize the backlashes of bevel gear transmission, a spherical four-bar mechanism and a spherical seven-bar mechanism are designed for the index finger and thumb mechanisms, respectively. Finally, the experiment is implemented to reveal the characteristics of the UCAS-Hand. © 2021 IEEE.

关键词： Machine design

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