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Power system and Green Energy Conference (PSGEC)

作者： Junhao Gu Longyan Li Chao Ning Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350365573

ISBN: (纸本)9798350365580

The off-grid ammonia-hydrogen-based microgrid is recognized as a promising paradigm for industrial decarbonization. In this paper, we propose a novel planning model for off-grid ammonia-hydrogen-based microgrids, where the hydrogen is produced in a distributed manner and the ammonia is synthesized in a large-scale energy-intensive plant. In specific, the proposed planning model considers hybrid types of electrolyzer modules and systematically investigates the operational constraints of distribution networks and hydrogen storage equipment, enabling distributed flexible hydrogen production. To seamlessly bridge distributed hydrogen sources and centralized ammonia production site, the delivery of hydrogen through the transportation network is structured as a vehicle routing problem. Eventually, the effectiveness of the proposed model is validated through case studies. Simulation results show that the proposed model lowers the total system cost by 11.8% compared with the simplified scenario which uses one single type of electrolyzer.

关键词： Ammonia Costs Hydrogen Vehicle routing Production Microgrids Distribution networks Planning Numerical models Optimization

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Carrier Frequency Offset Estimation for MIMO OCDM Underwater Acoustic Communications Based on Null Symbols

Carrier Frequency Offset Estimation for MIMO OCDM Underwater...

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第43届中国控制会议

作者： Buyiyi Wang Peishuo Huang Yichen Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China School of information and Communication Engineering Hainan University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Orthogonal chirp division multiplexing(OCDM) has emerged as a promising approach for underwater acoustic(UWA)*** the constraints of limited bandwidth resources in the underwater environment,enhancing the data transmission rate necessitates leveraging spatial resources ***,we should integrate multiple-input multipleoutput(MIMO) technology with OCDM UWA communication ***,existing MIMO OCDM systems ignore the interference caused by carrier frequency offset(CFO),which is a primary challenge faced by co-located MIMO systems in underwater *** this paper,we propose a CFO estimator based on the null symbols of the Fresnel domain tailored for MIMO OCDM *** estimator regards the energy leakage on null symbols as the objective function to identify the optimal CFO ***,we design pilot allocation strategies for different transmitters to mitigate co-channel interference in MIMO *** enables the estimation of the channel transfer matrix and simultaneous transmission of information,thereby enhancing adaptability to dynamic UWA ***,we derive a low-complexity equalizer *** simulations,the proposed algorithm demonstrates superior communication performance compared to existing algorithms with and without CFO interference.

关键词： Orthogonal chirp division multiplexing(OCDM) carrier frequency offset(CFO) multiple-input multiple-output(MIMO) underwater communications

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Online-Learning-Based Distributionally Robust Motion control with Collision Avoidance for Mobile Robots

Online-Learning-Based Distributionally Robust Motion Control...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Han Wang Chao Ning Longyan Li Weidong Zhang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Collision-free navigation is a critical issue in robotic systems as the environment is often dynamic and uncertain. This paper investigates a data-stream-driven motion control problem for mobile robots to avoid randomly moving obstacles when the probability distribution of the obstacle’s movement is partially observable through data and can be even time-varying. A data-stream-driven ambiguity set is firstly constructed from movement data by leveraging a Dirichlet process mixture model and is updated online using real-time data. Then we propose an Online-Learning-based Distributionally Robust Nonlinear Model Predictive control (OL-DR-NMPC) approach for limiting the risk of collision through considering the worst-case distribution within the ambiguity set. To facilitate solving the OL-DR-NMPC problem, we reformulate it as a finite-dimensional nonlinear optimization problem. To cope with the bilinear matrix inequality constraints in the nonlinear problem, we develop a parabolic relaxation and a sequential algorithm, by which the problem is further transformed into polynomial-time solvable surrogates. The simulations using a quadrotor model are employed to demonstrate the effectiveness and advantages of the proposed method.

关键词： Navigation Simulation Real-time systems Probability distribution Safety Mobile robots Collision avoidance

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Robust Stability and Stabilization Conditions for Fractional-order systems with Distributed Delays and Polytopic Uncertainties

Robust Stability and Stabilization Conditions for Fractional...

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Chinese control and Decision Conference, CCDC

作者： Yi-Nan Chen Jun-Guo Lu Zhen Zhu Jia-Rui Zhang Qing-Hao Zhang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

This paper investigates the robust stability and stabilization conditions for fractional-order systems with distributed delays (FOSDDs) with polytopic uncertainties. To begin with, two robust stability conditions for FOSDDs with polytopic uncertainties are formulated. Subsequently, the state feedback controllers are put forward to robustly stabilize the FOSDDs with polytopic uncertainties. The obtained results are illustrated utilizing linear matrix inequalities (LMIs). Finally, two numerical instances are provided to showcase the effectiveness of the derived conditions.

关键词： State feedback Uncertainty Robust stability Delays Linear matrix inequalities Numerical stability

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Towards Autonomous Indoor Parking: A Globally Consistent Semantic SLAM system and A Semantic Localization Subsystem

arXiv

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arXiv 2024年

作者： Sha, Yichen Zhu, Siting Guo, Hekui Wang, Zhong Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University China Dimensional Robot Shanghai China

We propose a globally consistent semantic SLAM system (GCSLAM) and a semantic-fusion localization subsystem (SF-Loc), which achieves accurate semantic mapping and robust localization in complex parking lots. Visual cameras (front-view and surround-view), IMU, and wheel encoder form the input sensor configuration of our system. The first part of our work is GCSLAM. GCSLAM introduces a novel factor graph for the optimization of poses and semantic map, which incorporates innovative error terms based on multi-sensor data and BEV (bird’s-eye view) semantic information. Additionally, GCSLAM integrates a Global Slot Management module that stores and manages parking slot observations. SF-Loc is the second part of our work, which leverages the semantic map built by GCSLAM to conduct map-based localization. SF-Loc integrates registration results and odometry poses with a novel factor graph. Our system demonstrates superior performance over existing SLAM on two real-world datasets, showing excellent capabilities in robust global localization and precise semantic mapping. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

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Accelerated Simulation of Master Equation for Open Quantum systems

Accelerated Simulation of Master Equation for Open Quantum S...

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第42届中国控制会议

作者： Bo Yue Yanfang Wang Shibei Xue Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

Simulation of open quantum systems is undoubtedly critical to design of quantum devices and applications of quantum technologies since dynamics of open quantum systems cannot be solved analytically in general. However, the dimension of open quantum systems grows exponentially as the number of their subsystems increases or as involving complicated environments,which reduces the computational efficiency of the simulation. In this paper, we boost numerical simulation of master equations of open quantum systems from several aspects with which the total time and the occupied memory in the simulation are significantly reduced without losing precision. Our method can be applied to the simulation of non-Markovian quantum systems described by an augmented system model as well. We conduct numerical experiments on simulation of a non-Markovian spin *** with the algorithm in a well-known toolbox, QuTiP, our method can take 26.3% time and less memory under fair conditions.

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A Distributed Model Predictive control for Multi-zone HVAC with Global Resource Constrained

A Distributed Model Predictive Control for Multi-zone HVAC w...

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第34届中国过程控制会议

作者： Shunjian MA Yuanyuan ZOU Shaoyuan LI Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

Heating,Ventilation and Air Conditioning(HVAC) for multi-zone buildings includes centralized plants and remote equipment to jointly regulate indoor air temperature of every zone to satisfy difference *** to the limited capacity of the total supply air in centralized equipment,two conflicts are raised when controlling indoor air temperature for all *** is between meeting diverse demands to meet user's preferences and limited global resources,and another conflict is between distributed regulation facilities and centralized air supply *** this paper,a distributed model predictive control(DMPC) with global resource constrained is proposed for multi-zone HVAC ***,a centralized MPC with energy savings and thermal comforts is formulated to balance the demands of each zone and the limited resource ***,this centralized MPC is decomposed into subsystems by dual *** Lagrange function is integrated in the resulting optimization to deal with global constraints,so that a fully distributed solvable DMPC can be solved by a distributed primal-dual *** effectiveness of the proposed method is proved by simulation examples.

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A Simplified Economic Model Predictive control Algorithm for Soft Constrained system with Changing Economic Criteria

A Simplified Economic Model Predictive Control Algorithm for...

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第34届中国过程控制会议

作者： Xiaowen Qi Shaoyuan Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

To improve the economic performance of soft-constrained systems,this paper proposes a new soft-constrained Economic Model Predictive control(EMPC) approach to cope with changes in economic criteria caused by variations in raw material prices,product prices,market fluctuations,disturbances,*** the one hand,terminal states are permitted to be any admissible equilibrium *** the other hand,slack variables for soft constraints are considered in the cost stage to enhance dynamic operation *** ensure the asymptotic stability,the Lyapunov-like stability constraint is ***,the effectiveness of the proposed method is demonstrated by an isothermal stirred-tank reactor process.

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MOSFormer: A Transformer-based Multi-Modal Fusion Network for Moving Object Segmentation

MOSFormer: A Transformer-based Multi-Modal Fusion Network fo...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zike Cheng Hengwang Zhao Qiyuan Shen Weihao Yan Chunxiang Wang Ming Yang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

3D moving object segmentation (MOS) is vital for autonomous systems, providing essential information for downstream tasks like mapping and localization. However, current MOS methods face challenges due to the limitation of existing datasets, which are sparse in moving objects and limited in scene diversity. Meanwhile, the prevalent methods are projection-based, struggling with the challenge of blurred boundaries. To tackle the dataset issue, we introduce a nuScenes-based MOS dataset, which provides richer scenes and more dynamic instances. To alleviate the boundary blur-ring issue and further improve accuracy and generalizability, we propose a dual-branch multimodal fusion MOS network, MOSFormer. The Transformer structure is incorporated to extract spatio-temporal information better, while image semantic information is utilized to refine the boundaries of moving objects. Finally, experiments on two datasets show that our method achieves state-of-the-art performance, and a mapping experiment with our method confirms its effectiveness in downstream tasks such as mapping and localization.

关键词： Location awareness Three-dimensional displays Autonomous systems Semantics Object segmentation Transformers Real-time systems Data mining Faces Intelligent robots

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PS-Loc: Robust LiDAR Localization with Prior Structural Reference

PS-Loc: Robust LiDAR Localization with Prior Structural Refe...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Rui Li Wentao Zhao Tianchen Deng Yanbo Wang Jingchuan Wang Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Ministry of Education Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Prior structural reference like floor plan is readily accessible in indoor scene, which exhibits the potential of improving localization quality without the requirements of a previously-built high-precision map. This paper introduces a novel optimal transport-based framework for prior structural reference-based localization, aiming to improve the robustness for the robot localization. Leveraging the spacial relations of structures, a matching method based on optimal transport theory is proposed and it improves the robustness of matching results in dynamic scene and rapid rotation conditions. Additionally, this paper handles metric inaccuracies in the known structural reference by implementing an prior guided plane adjustment-based updating strategy. This strategy combines prior and observational information to jointly optimize the structural information within a sliding window. The performance of the framework is validated through real-world experiments, demonstrating superior accuracy and robustness to disturbances from dynamic occlusion and rapid rotation compared to common state-of-the-art SLAM and localization methods.

关键词： Location awareness Measurement Laser radar Simultaneous localization and mapping Accuracy Robustness Robot localization Intelligent robots Floors

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