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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Ren, Meng Zhang, Haibo Fang, Jun Beijing Key Laboratory of Intelligent Control Technology for Urban Road Traffic Beijing China North China University of Technology Beijing100144 China

ISBN: (纸本)9789819639601

To enhance traffic safety in urban road merging areas, this study introduces a traffic conflict prediction method utilizing a Multi-Head CNN-LSTM Attention (CLMHA) trajectory prediction model. The multi-head CNN-LSTM attention model integrates the characteristics of Convolutional Neural Networks (CNN) and Long Short-Term Memory (LSTM) networks, employing a multi-head attention mechanism to effectively extract vehicle trajectory features. This approach is particularly adept at addressing the spatial dependencies and temporal dynamics inherent in vehicle trajectory prediction within merging areas characterized by complex environments. To mitigate redundancy in feature data and to obtain complementary features, a convolutional neural network feature fusion technique is proposed, facilitating improved extraction of the spatial and temporal motion relationships of vehicles. The efficacy of the method is validated using the Mirror-Traffic dataset. The results indicate that the proposed trajectory prediction algorithm demonstrates superior accuracy in forecasting future vehicle trajectories compared to alternative algorithms, thereby yielding enhanced outcomes in traffic conflict prediction. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Convolutional neural networks

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Knowledge mapping analysis of the track and hotspot of water lubrication:A scientometrics review

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Friction 2023年第9期11卷 1557-1591页

作者： Runzhou XU Defa WU Zhenyao WANG Yipan DENG Qian CHENG Hao PANG Wenshu WEI Yinshui LIU State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China Beijing Tianma Intelligent Control Technology Co. Ltd.Beijing 101300China

With the enhancement of environmental protection awareness of the international community and the continuous promotion of green and sustainable development of manufacturing industry,water lubrication instead of mineral oil has become the future development trend due to its green,pollution-free,clean,safe,and sustainable advantages especially in ships,marine,coal mining,and other *** recent years,with the rapid development of water lubrication research,significant progress has been made in related research knowledge domain and discipline.A systematic and extensive assessment of water lubrication research has become increasingly *** objective of this research is to reveal the research status,research hotspots,and development trends in the field of water ***,CiteSpace was used to conduct a systematic bibliometric and scientometrical analysis of 1,792 publications from Web of Science core collection database(1997–2021).The results show that China and USA are the most productive countries in the field of water lubrication and have made outstanding *** the analysis of hot key words and co-citation references,this paper reviews the research status of water lubrication in three aspects:(1)lubricating medium modification;(2)material preparation;(3)surface *** has become a research hotspot to promote the superlubricity contact interface and the application of *** results of this study can make a significant contribution to the development of water lubrication by providing a comprehensive understanding of the research status and research hotspots in this *** understanding and discussion of research hotspots and research status are expected to provide insights into future research *** addition,this study will provide valuable references and guidelines for researchers who are interested in this field.

关键词： water lubrication friction scientometrics CiteSpace

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Active Magnetic Compensation Based on Parametric Resonance Magnetometer

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Journal of Shanghai Jiaotong university(Science) 2024年第2期29卷 280-289页

作者：郭阳李绍良黄艺明骆曼箬刘华 School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Institute of Spacefight Control Technology Shanghai Key Laboratory of Space Intelligent Control TechnologyShanghai Engineer Research Center of InertiaShanghai 201109China

Based on the parametric resonance magnetometer(PRM)theory,this paper establishes an experimen-tal system of *** experimental results are consistent with the theoretical predictions.A PRM has been developed with sensitivity of 0.5 pT/Hz^(1/2),which can detect the magnitude of residual magnetic field;furthermore,a proportion-integration-differentiation(PID)closed-loop magnetic compensation system of the residual magnetic field also has been *** with open-loop compensation,the PID closed-loop compensation reduces the average value of the residual magnetic field in the z-axis direction from 0.0244nT to-0.0023nT,and the mean-square error from 0.2083 nT to 0.0691 *** the same way,the average value of the residual magnetic field in the y-axis direction is reduced from 0.0816nT to-0.0042nT,and the mean-square error from 0.1316nT to 0.0461 *** magnitude of residual magnetic fields in both directions is decreased to the order of picotesla(pT).In addition,based on the signal waveforms of the magnetometer,a method of verifying the effect of magnetic compensation is proposed.

关键词： magnetometer parametric resonance nuclear magnetic resonance gyroscope magnetic compensa-tion proportion-integration-differentiation(PID)

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Adaptive entry guidance for the Tianwen-1 mission

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Astrodynamics 2022年第1期6卷 17-26页

作者： Minwen Guo Xiangyu Huang Maodeng Li Jinchang Hu Chao Xu Beijing Institute of Control Engineering Beijing 100094China National Key Laboratory of Science and Technology on Space Intelligent Control Beijing 100094China

To meet the requirements of the Tianwen-1 mission,adaptive entry guidance for entry vehicles,with low lift-to-drag ratios,limited control authority,and large initial state bias,was ***,the entry guidance law is divided into four distinct phases:trim angle-of-attack phase,range control phase,heading alignment phase,and trim-wing deployment *** the range control phase,the predictor–corrector guidance algorithm is improved by planning an on-board trajectory based on the Mars Science laboratory(MSL)entry guidance *** nominal trajectory was designed and described using a combination of the downrange value and other states,such as drag acceleration and altitude *** a large initial state bias,the nominal downrange value was modified onboard by weighing the landing accuracy,control authority,and parachute deployment *** biggest advantage of this approach is that it allows the successful correction of altitude errors and the avoidance of control *** overview of the optimal trajectory design process,including a discussion of the design of the initial flight path angle,relevant event trigger,and transition conditions between the four phases,was also ***,telemetry data analysis and post-flight assessment results were used to illustrate the adaptive guidance law,create good conditions for subsequent parachute reduction and power reduction processes,and gauge the success of the mission.

关键词： Tianwen-1 mission adaptive entry guidance on-board trajectory planning telemetry data analysis post-flight assessment

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End-to-end Mars entry,descent,and landing modeling and simulations for Tianwen-1 guidance,navigation,and control system

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Astrodynamics 2022年第1期6卷 53-67页

作者： Chao Xu Xiangyu Huang Minwen Guo Maodeng Li Jinchang Hu Xiaolei Wang Beijing Institute of Control Engineering Beijing 100094China National Key Laboratory of Science and Technology on Space Intelligent Control Beijing 100094China

On May 15,2021,the Tianwen-1 lander successfully touched down on the surface of *** ensure the success of the landing mission,an end-to-end Mars entry,descent,and landing(EDL)simulator is developed to assess the guidance,navigation,and control(GNC)system performance,and determine the critical operation and lander *** high-fidelity models of the Mars atmosphere,parachute,and lander system that are incorporated into the simulator are *** the developed simulator,simulations of the Tianwen-1 lander EDL are *** results indicate that the simulator is valid,and the GNC system of the Tianwen-1 lander exhibits excellent performance.

关键词： Mars entry,descent,and landing(EDL) modeling and simulation Tianwen-1 lander guidance,navigation,and control(GNC)

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Entry vehicle control system design for the Tianwen-1 mission

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Astrodynamics 2022年第1期6卷 27-37页

作者： Jinchang Hu Xiangyu Huang Maodeng Li Minwen Guo Chao Xu Yu Zhao Wangwang Liu Xiaolei Wang Beijing Institute of Control Engineering Beijing 100094China National Key Laboratory of Science and Technology on Space Intelligent Control Beijing 100094China

The entry vehicle for the Tianwen-1 mission successfully landed on the surface of Mars at 7:18 AM BJT on May 15,*** successful landing made China the first country to orbit,land,and release a rover in their first attempt at the Mars *** guidance,navigation,and control(GNC)system plays a crucial role in the entry,descent,and landing(EDL)*** study focused on the attitude control component of the GNC system *** EDL phase can be divided into several sub-phases,namely the angle of attack control phase,lift control phase,parachute descent phase,and powered descent *** sub-phase has unique attitude control requirements and *** paper introduces the key aspects of designing attitude controllers for each ***,flight results are presented and analyzed.

关键词： Tianwen-1 Mars landing attitude control robust control fault diagnosis

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Group Hybrid Coordination control of Multi-Agent Systems With Time-Delays and Additive Noises

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 737-748页

作者： Chuanjian Li Xiaofeng Zong School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China IEEE

A new kind of group coordination control problemgroup hybrid coordination control is investigated in this *** group hybrid coordination control means that in a whole multi-agent system(MAS)that consists of two subgroups with communications between them,agents in the two subgroups achieve consensus and containment,*** MASs with both time-delays and additive noises,two group control protocols are proposed to solve this problem for the containment-oriented case and consensus-oriented case,*** developing a new analysis idea,some sufficient conditions and necessary conditions related to the communication intensity betw een the two subgroups are obtained for the following two types of group hybrid coordination behavior:1)Agents in one subgroup and in another subgroup achieve weak consensus and containment,respectively;2)Agents in one subgroup and in another subgroup achieve strong consensus and containment,*** is revealed that the decay of the communication impact betw een the two subgroups is necessary for the consensus-oriented ***,the validity of the group control results is verified by several simulation examples.

关键词： Additive noises consensus control containment control group hybrid coordination control multi-agent systems(MASs) time-delays

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Leader-following consensus control for multi-agent systems under DoS attacks and average dwell time switching topology

Leader-following consensus control for multi-agent systems u...

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2024 China Automation Congress, CAC 2024

作者： Yuan, Li Liu, Shuai Li, Panshuo Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control School of Automation Guangdong University of Technology Guangzhou Guangzhou510006 China

ISBN: (纸本)9798350368604

This article studies the leader-following consensus problem of multi-agent systems (MASs) in the presence of denial-of-service (DoS) attacks and switching topology. The problem that all edges of one follower are blocked under each attack is considered in this work. By using the multiple Lyapunov functions approach and average dwell time switching technique, a piecewise consensus protocol is designed. Sufficient conditions are established for the consensus of linear MAS. Moreover, the lower bound of average dwell time of the switching topology is determined under DoS attacks. Finally, we provided simulations to validate our theoretical finding. © 2024 IEEE.

关键词： Multi agent systems

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Powered-descent landing GNC system design and flight results for Tianwen-1 mission

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Astrodynamics 2022年第1期6卷 3-16页

作者： Xiangyu Huang Chao Xu Jinchang Hu Maodeng Li Minwen Guo Xiaolei Wang Yu Zhao Baocheng Hua Yunpeng Wang Beijing Institute of Control Engineering Beijing 100094China National Key Laboratory of Science and Technology on Space Intelligent Control Beijing 100094China

The powered-descent landing(PDL)phase of the Tianwen-1 mission began with composite backshell–parachute(CBP)separation and ended with landing-rover *** main tasks of this phase were to reduce the velocity of the lander,perform the avoidance maneuver,and guarantee a soft *** PDL phase overcame many challenges:performing the divert maneuver to avoid collision with the CBP while simultaneously avoiding large-scale hazards;slowing the descent from approximately 95 to 0 m/s;performing the precise hazard-avoidance maneuver;and placing the lander gently and safely on the surface of *** architecture and algorithms of the guidance,navigation,and control system for the PDL phase were designed;its execution resulted in Tianwen-1’s successful touchdown in the morning of 15 May ***,the Tianwen-1 mission achieved a historic autonomous landing with simultaneous hazard and CBP avoidance.

关键词： Tianwen-1 powered-descent landing(PDL) guidance,navigation,and control(GNC) backshell avoidance hazard avoidance

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Robust Fixed-time Composite controller Design with the Unknown System Dynamics Estimator for Nonlinear Robotic Manipulator Systems 24

Robust Fixed-time Composite Controller Design with the Unkno...

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2nd International Conference on Frontiers of intelligent Manufacturing and Automation, CFIMA 2024

作者： Li, Siyan Xing, Yashan Na, Jing Li, Qi Faculty of Mechanical and Electrical Engineering Yunnan Key Laboratory of Intelligent Control and Application Kunming University of Science and Technology Yunnan China

ISBN: (纸本)9798400710681

In this paper, a robust fixed-time composite control scheme based on an Unknown System Dynamics Estimator (USDE) is proposed. The proposed control method guarantees the tracking error convergence in a fixed-time for nonlinear robotic manipulators with unknown dynamics and disturbance. To address the existence of uncertainties, first, a simple structure of USDE by a low-pass filtering operation is constructed without using acceleration signals, Which is adjusted for only one filter coefficient. Then, the USDE compensate the estimated value into the robust fixed-time composite controller. The composite controller contains a fixed time control term, a robust control term, and a computed torque control term. By the fixed-time control term, the upper bound on the convergence time is independent of the initial conditions of the system, which ensures fast-tracking tasks for the robot manipulator. And the robust control term is used to reduce the impact of USDE estimation errors. The stability of the closed-loop system is demonstrated through Lyapunov criteria. The validity of the proposed method is verified by simulation. © 2024 Copyright held by the owner/author(s).

关键词： Stability criteria

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