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Safe Efficient Policy Optimization Algorithm for Unsignalized Intersection Navigation

IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 2011-2026页

作者： Xiaolong Chen Biao Xu Manjiang Hu Yougang Bian Yang Li Xin Xu State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body the College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body the College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082 Wuxi Intelligent Control Research Institute(WICRI)of Hunan University Wuxi 214115China College of Intelligence Science and Technology Institute of Unmanned SystemsNational University of Defense TechnologyChangsha 410073China

Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and *** paper proposes a reinforcement learning(RL)method for autonomous vehicles to navigate unsignalized intersections safely and *** method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning.A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them.A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at *** algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization *** proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning *** intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic *** algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections.

关键词： Autonomous driving decision-making reinforcement learning(RL) unsignalized intersection

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Research on Dynamic Model of Flexible-Jointed Space Manipulator Based on Gaussian Process

Research on Dynamic Model of Flexible-Jointed Space Manipula...

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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Changhao Gong, Tengshang Pan, Fei Gong, Sijin Hua, Gengpai Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai Aerospace Control Technology Institute Shanghai China

ISBN: (纸本)9781665465335

Establishing an accurate dynamic model is the key to realize the high-precision motion and control of manipilator. The space manipilator is always affected by various uncertainty problems, so the dynamic model often deviates as a result. Therefore, this paper takes the floating-based flexible jointed space manipilator as the object, and carries out the research of manipilator dynamic modeling algorithm for the uncertainty problem of dynamic modeling, focusing on the analysis of the parameter-based space manipilator dynamic modeling method and the Gaussian process-based space manipilator dynamic modeling method. On this basis, proposes a semi-parametric dynamic modeling method combining the two models, and the three algorithms Simulation experiments and comparative analysis were conducted to verify the feasibility of the Gaussian process-based dynamic modeling method for solving the dynamics uncertainty problem. © 2022 IEEE.

关键词： Dynamic models

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Star image processing method of star sensor based on star points prediction

Star image processing method of star sensor based on star po...

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2022 Chinese Automation Congress, CAC 2022

作者： Zhang, Lei Qian, Fangliang Zhang, Zengan Cheng, Zhaoyang Zhou, Yu Shanghai Institute of Aerospace Control Technology Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai China

ISBN: (纸本)9781665465335

Star image processing method based on star point prediction is proposed, to solve the problems of large storage space of star image data, large computation of star point extraction and fake stars that cannot be used for attitude determination in traditional star sensor in this paper. According to the attitude prior information, the navigation star library is used to predict the position of stars in the detector and the stripe information of stars. Under the constraints of the total number of pixel rows and the total number of stripes, only the stripes with more stars are reserved for the design of the detector driver by clustering merging. At the same time, the scan line seed filling method is used to extract stars only in the predicted star window region, which greatly reduces the image storage space and star image extraction time consumption. The experimental results show that compared with the traditional full image processing method, the star sensor image processing method based on star point prediction has great advantages in star point extraction stability, storage space and time consumption. © 2022 IEEE.

关键词： Image processing

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Research on Path Planning for Satellite Formation Configuration Changes 3

Research on Path Planning for Satellite Formation Configurat...

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3rd China International SAR Symposium, CISS 2022

作者： Wu, Han Han, Fei Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Space Intelligent Control Technology Shanghai China

ISBN: (数字)9798350398717

ISBN: (纸本)9798350398717

For different observation tasks, synthetic aperture radar(SAR) satellite formation needs to adopt different configurations. In this case, how to realize the path planning is an important research problem for configuration transition. In this paper, a sequential convex programming(SCP) is proposed for the swarm reconfiguration that involve avoiding collisions and minimizing fuel. The quadratic performance index of the control variable represents the optimization index of path planning to ensure the optimal fuel consumption. Then, a linear discrete relative orbital dynamic model under the J2 perturbation is constructed. Regarding the dynamic constraints and the prevention of inter-satellite collisions as basic constraints, the path planning problem of configuration transformation is solved as a discretized convex programming problem. The SCP is introduced to realize iterated optimal planning. This algorithm reduces the computational complexity while developing the high control precision. Through experimental analysis, this method can ensure that there is no collision risk between satellites, and the planning converges to complete configuration reconstruction. © 2022 IEEE.

关键词： Convex optimization

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In-depth analysis of core-shell filaments in nonvolatile NbO_(x) memristive device as an artificial synapse for multifunctional bionic applications

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Science China(Technological Sciences) 2023年第12期66卷 3596-3603页

作者： JIANG Bei KE ShanWu TAO ZiPei JIN YaoYao MENG JiaHao SONG XingJuan XIAO YongYue JIANG Li WANG JinZhao CHEN Yong LI YueBin WEN Xin YE Cong School of Microelectronics Key Laboratory of Intelligent Sensing System and SecurityMinistry of EducationHubei UniversityWuhan 430062China Belt and Road Joint Laboratory on Measurement and Control Technology Huazhong University of Science and TechnologyWuhan 430074China School of Science Hubei University of TechnologyWuhan 430068China Faculty of Chemical Technology and Engineering West Pomeranian University of Technology in SzczecinSzczecin 71-065Poland

As a key building block of the biological cortex,synapses are powerful information processing units that enable highly complex nonlinear *** realization of artificial synapses with similar capabilities has important implications for building intelligent,neuromorphic ***,we demonstrate an artificial synapse based on NbO_(x) nonvolatile memristor to mimic multifunctional bionic applications such as nociceptor and associative *** experimental characterization with COMSOL simulation,the traditional resistance switching characteristics,which are the decisive factor for the synapse properties are in-depth *** can be proposed that the I-V characteristics of Pt/NbO_(x)/TiN memristor are governed by core-shell filaments consisting of the shell region of sub-stoichiometric Nb_(2)O_(5-δ)and the core of NbO_(2).On the basis of the core-shell filament model,it can be reasonably explained that Ohmic conduction and Poole-Frenkel conduction take turns to dominate the current flowing in the memristive device,leading to the zigzag evolution of current during the operation process of NbO_(x)-based *** simulations of synaptic plasticity,including long-term potentiation/depression(LTP/LTD),paired-pulse facilitation(PPF),and spike-timing-dependent plasticity(STDP),exhibiting that the NbO_(x) can be utilized for an artificial ***,bionic functions such as hyperalgesia and allodynia of a nociceptor and a series of associative learning behaviors in Pavlovian dog experiment are mimicked,illustrating that the Pt/NbO_(x)/TiN have great potential for highly simplified artificial neural network applications.

关键词： memristor core-shell filament synaptic plasticity nociceptor associative learning

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Few-shot Pose-free View Synthesis with 3D Gaussian Splatting

Few-shot Pose-free View Synthesis with 3D Gaussian Splatting

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2024 China Automation Congress, CAC 2024

作者： Huang, Yuan Xu, Chi School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (纸本)9798350368604

Recent advancements in Novel View Synthesis using neural radiance fields and 3D Gaussian splatting have demonstrated promising results. However, these methods conventionally rely on accurate initial poses and point clouds from the model of structure from motion, which poses challenges in sparse input views. To addressing these drawbacks, we introduces an novel method for view synthesis based on 3D Gaussian splatting. Our approach operates on sparse input views without the prerequisite of pose priors, achieving reconstruction and real-time rendering of novel perspectives. For the deficiency of camera poses and point cloud, we employ an end-to-end deep learning model to recover the 3D structure from a few of 2D images to initialize the 3D Gaussian point cloud. In addressing the issue with few-shot, we utilize the differentiable rasterization module to render depth map and apply regulation on it. Additionally, we incorporate supervision between input views by interpolating to generate novel perspectives during training. Experimental results demonstrate that our proposed method significantly enhances the capabilities of 3D Gaussian splatting for novel view synthesis in sparse views and without the necessity of camera pose priors. © 2024 IEEE.

关键词： 3D reconstruction

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Attitude control Method for Flexible Spacecraft Based on Disturbance Observer 3

Attitude Control Method for Flexible Spacecraft Based on Dis...

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3rd China International SAR Symposium, CISS 2022

作者： Zhang, Chao Lin, Yanghao Pei, Jiarui Yang, Zhiying Zhong, Jinfeng Guo, Siyan Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai China

ISBN: (数字)9798350398717

ISBN: (纸本)9798350398717

Considering the influence of disturbance and flexible solar panel vibration, the attitude stability control of spacecraft is studied. Based on traditional PD controller, a nonlinear disturbance observer based on sliding mode control is designed to estimate the sum of environmental disturbance, flexible vibration and model uncertainty. The Lyapunov method is used to prove that estimation errors are uniformly bounded and the closed-loop system is globally asymptotically stable. Simulation results show that the proposed method can effectively estimate and compensate the total disturbance, and then achieve high precision and high stability attitude control performance. © 2022 IEEE.

关键词： Sliding mode control

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Ground fissure development regularity and formation mechanism of shallow buried coal seam mining with Karst landform in Jiaozi coal mine: a case study

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Journal of Mountain Science 2023年第10期20卷 3101-3120页

作者： ZHU Heng-zhong School of Energy and Mining Engineering Shandong University of Science and TechnologyQingdao 26659oChina State Key Laboratory of Strata Intelligent Control and Green Mining Co-Founded by Shandong Province and the Ministry of Science and Technology Shandong University of Science and TechnologyQingdao 266590China State Key Laboratory of Water Resource Protection and Utilization in Coal Mining Beijing 102209China

A comprehensive study was undertaken at Jiaozi coal mine to investigate the development regularity of ground fissures in shallow buried coal seam mining with Karst landform,shedding light on the development type,geographical distribution,dynamic development process,and failure mechanism of these ground fissures by employing field monitoring,numerical simulation,and theoretical *** findings demonstrate that ground fissure development has an obvious feature of subregion,and its geographical distribution is significantly affected by *** type,open type,and stepped type are three different categories of ground *** fissures emerge dynamically as the panel advances,and they typically develop with a distance of less than periodic weighting step distance in advance of panel advancing *** fissures present the dynamic development feature,temporary fissure has the ability of *** dynamic development process of ground fissure with closed-distance coal seam repeated mining is expounded,and the development scale is a dynamic development stage of“closure→expansion→stabilized”on the basis of the original development *** the perspective of topsoil deformation,the computation model considering two points movement vectors towards two directions of the gob and the ground surface is established,the development criterion considering the critical deformation value of topsoil is *** mechanical model of hinged structure of inclined body is proposed to clarify the ground fissure development,and the interaction between slope activity and ground fissure development is *** research results fulfill the gap of ground fissures about development regularity and formation mechanism,and can contribute to ground fissure prevention and treatment with Karst landform.

关键词： Karst landform Shallow buried coal seam Development regularity Formation mechanism Ground fissure Repeated mining

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System Design for Pose Determination of Spacecraft Using Timeof-Flight Sensors

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Space(Science & technology) 2022年第1期2022卷 46-63页

作者： Wenshan Zhu Jinzhen Mu Changbao Shao Jiaqian Hu Beichao Wang Zhongkai Wen Fei Han Shuang Li Advanced Space Technology Laboratory College of AstronauticsNanjing University of Aeronautics and AstronauticsNanjing 211106China Shanghai Key Laboratory of Space Intelligent Control Technology Shanghai 201109China

The pose determination between nanosatellites and the cooperative spacecraft is essential for swarm in-orbit ***–flight(ToF)sensors are one of the most promising sensors to achieve the *** paper presented an end-to-end assessment of how these sensors were used for pose ***,an embedded system was designed based on the ToF camera with lasers as a driven light *** and depth images were collected to detect and match the cooperative spacecraft in real time,obtaining the pose information.A threshold-based segmentation was proposed to find a small set of the pixels belonging to reflector *** operating on the defined active pixel set reduced computational ***,morphological detection combined with an edge following-based ellipse detection extracted the centroid coordinate of the circular marker,while the center-of-heart rate was calculated as the recognition ***,the marker matching was completed using a deterministic annealing algorithm,obtaining two sets of 3D coordinates.A singular value decomposition(SVD)algorithm estimated the relative pose between the nanosatellite and the *** the experiments,the pose calculated by the TOF camera reached an accuracy of 0.13 degrees and 2 *** accurately identified the markers and determined the pose,verifying the feasibility of the ToF camera for rendezvous and docking.

关键词： estimation coordinate circular

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Finite-Time Stabilization of Linear Systems With Input Constraints by Event-Triggered control

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IEEE/CAA Journal of Automatica Sinica 2022年第8期9卷 1516-1519页

作者： Kai Zhang Yang Liu Jiubin Tan Key Laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technologyand also with the Center of Ultra-Precision Optoelectronic Instrument EngineeringHarbin Institute of TechnologyHarbin 150001China of Industry and Information Technology and the Center of Ultra-Precision Optoelectronic Instrument EngineeringHarbin Institute of TechnologyHarbin 150001 State Key Laboratory of Digital Manufacturing Equipment&Technology Huazhong University of Science and TechnologyWuhan 430074China

Dear editor,This letter designs the event-triggered control(ETC)to achieve finite-time stabilization(FTS)of linear systems with input *** key idea of the established algorithm is that the designed time-varying high-ga... 详细信息

关键词： mechanism stabilization letter

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