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arXiv 2025年

作者： Zhang, Chengjie Pan, Wenda Han, Xinyang Kong, He Shenzhen Key Laboratory of Control Theory and Intelligent Systems The Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology The Southern University of Science and Technology Shenzhen518055 China

Accurate calibration of acoustic sensing systems made of multiple asynchronous microphone arrays is essential for satisfactory performance in sound source localization and tracking. State-of-the-art calibration methods for this type of system rely on the time difference of arrival and direction of arrival measurements among the microphone arrays (denoted as TDOA-M and DOA, respectively). In this paper, to enhance calibration accuracy, we propose to incorporate the time difference of arrival measurements between adjacent sound events (TDOA-S) with respect to the microphone arrays. More specifically, we propose a two-stage calibration approach, including an initial value estimation (IVE) procedure and the final joint optimization step. The IVE stage first initializes all parameters except for microphone array orientations, using hybrid TDOA (i.e., TDOA-M and TDOA-S), odometer data from a moving robot carrying a speaker, and DOA. Subsequently, microphone orientations are estimated through the iterative closest point method. The final joint optimization step estimates multiple microphone array locations, orientations, time offsets, clock drift rates, and sound source locations simultaneously. Both simulation and experiment results show that for scenarios with low or moderate TDOA noise levels, our approach outperforms existing methods in terms of accuracy. All code and data are available at https://***/AISLABsustech/Hybrid-TDOA-Multi-Calib. © 2025, CC BY.

关键词： Microphone array

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera 42

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

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42nd Chinese control Conference, CCC 2023

作者： Zhou, Yanling Zhang, Xuebo Wang, Runhua Zhang, Shiyong Yuan, Mingxing Yuan, Jing Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education China

ISBN: (纸本)9789887581543

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms) © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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KINEMATICS ANALYSIS AND TRAJECTORY PLANNING OF ABB-IRB2400 ROBOT

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UPB Scientific Bulletin, Series D: Mechanical Engineering 2022年第2期84卷 3-16页

作者： Zheng, Qingchun Jia, Jingjing Zhu, Peihao Xiao, Yinhong Zhang, Fudong Ma, Wenpeng Zhao, Shuoshuo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China

According to the parameters of the ABB-IRB2400 robot model, the D-H parameter method is used to establish the robot’s linkage coordinate system and determine the parameter values. The coordinate transformation matrix06T of IRB2400 robot is obtained through forward kinematics analysis, and the inverse kinematics transformation method is used to solve the joint variables of the robot. The feasibility and correctness of the forward and inverse kinematics of the robot are verified by modeling the robot entity and importing ADAMS simulation analysis software. Combining MoveIt’s robot kinematics solver and RRT algorithm motion planning library, RVIZ is used to verify the feasibility of correlation trajectory algorithm for linear and arc interpolation trajectory planning of robot arm, which provides a foundation for weld grinding robot trajectory planning under complex working conditions. © 2022, Politechnica University of Bucharest. All rights reserved.

关键词： Inverse kinematics

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A Deep Reinforcement Learning Based control Strategy for Combined Wind Energy Storage system

A Deep Reinforcement Learning Based Control Strategy for Com...

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2021 IEEE Sustainable Power and Energy Conference, iSPEC 2021

作者： Xiang, Guangwei Yang, Ming Huang, Shiying Yu, Guangyuan Yin, Aihui Liu, Xiao State Grid Corporation of China Heilongjiang Electric Power Company Harbin China Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Jinan China

ISBN: (纸本)9781665414395

For renewable energy producers, the uncertainties of power generation and time-varying electricity prices may lead to economic losses. This paper proposes a deep reinforcement learning (DRL) based control model combined energy storage system (ESS) to maximize the income of the wind power producer. It is able to adapt the uncertainties by itself that can avoid the errors caused by modeling the uncertainties. It can also learn and improve the strategy based on feedbacks got by the mechanism of interacting with the environment. Moreover, Rainbow, an improved DRL algorithm, is introduced to formulate the optimal model. Finally, the effectiveness of the proposed model is verified based on the wind farm located in Jiangsu, China. © 2021 IEEE.

关键词： Wind power

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A Secure Parameter Self-Tuning control Scheme for Vehicle Platoons under DoS Attacks 13

A Secure Parameter Self-Tuning Control Scheme for Vehicle Pl...

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13th IEEE International Conference on CYBER Technology in Automation, control, and intelligent systems, CYBER 2023

作者： Han, Qiaoni Cheng, Guowen Tang, Zhenning Liu, Chang School of Electrical and Information Engineering Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin University Tianjin300072 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Center for Biomedical Engineering School of Information Science and Technology Fudan University Shanghai200433 China

ISBN: (纸本)9798350315196

In order to mitigate the adverse impact of denial of service (DoS) attacks, this work designs a parameter self-tuning controller based on fuzzy rules for vehicle platoons with vehicle-to-vehicle (V2V) communications. Aiming at achieving the cooperative adaptive cruise control (CACC) of the vehicles with a required inter-vehicle distance and the same velocity, while considering the possible DoS attacks, we propose a parameter self-tuning longitudinal controller combining linear control and fuzzy control to enhance the stability and resilience of the platoon systems. Firstly, by analyzing the dynamic characteristics of vehicles and the mechanism of DoS attacks, we establish the dynamic model of vehicle platoons and model the impact of random DoS attacks as a constant data transmission delay, whose probability distribution can be defined using the Bernoulli random variable. Then, a linear controller based on fuzzy control is designed for longitudinal control to guarantee that the platoon keeps a reference velocity and the specified inter-vehicle distance under DoS attacks. Finally, thorough simulations are performed and the detailed results show the performance of the secure longitudinal control scheme for vehicle platoons in terms of stability and security. © 2023 IEEE.

关键词： Fuzzy control

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Tracking performance limitations of networked control systems with packet dropouts and logarithmic quantization 41

Tracking performance limitations of networked control system...

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第41届中国控制会议

作者： Jianhao Li Xiaowei Jiang Hao Chen Shaoying Wang Xianhe Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Fujian Provincial Key Laboratory of Intelligent Identification and Control of Complex Dynamic System College of Science Binzhou University School of Electrical Engineering and Automation Hubei Normal University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we focus on the tracking performance(TP) limitations of networked control systems(NCS s).The control system considered is a multi-input and multi-output(MIMO) discrete-time network control system with time delay,channel noise,packet dropouts,and logarithmic quantization communication *** modeling the channel,we assumed the channel noise to be additive white Gaussian noise(AWGN) and used a binary random process to model packet dropouts and a logarithmic quantizer to model the quantization *** explicit expression of the TP limitations of NCSs utilizing the two-degree-of-freedom(TDOF) controller is then derived using the frequency-domain approach,coprime decomposition,and Youla parameterization *** results show that the essential characteristics of the plant(locations and directions of nonminimum phase zeros and unstable poles) and network constraints(time delay,packet dropouts,quantization,and noise power spectral density) are closely related to the TP limitations.

关键词： Networked control systems tracking performance limitations packet dropouts logarithmic quantization

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Interactive Cloud Detection Based on Dynamic Mode Decomposition

Interactive Cloud Detection Based on Dynamic Mode Decomposit...

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2024 International Conference on Information Technology, Data Science, and Optimization, I-DO 2024

作者： Li, Yilong Yang, Lu Qiu, Xiaobin Bi, Chongke Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China Tianjin Key Laboratory for Oceanic Meteorology and Tianjin Institute of Meteorological Science Tianjin China Tianjin University Tianjin China

ISBN: (纸本)9798400709180

Cloud detection can address data quality and analytical accuracy issues caused by cloud cover in satellite imagery, significantly enhancing image usability. Existing cloud detection methods still have the problem of detecting a certain amount of ground and sea surface as clouds, as well as some cloud regions that are missed, resulting in a decrease in the accuracy of cloud detection. Aiming at the above problems, an interactive cloud detection method based on Dynamic Mode Decomposition is proposed. Based on the fact that clouds are constantly moving, the dynamic mode decomposition can be utilized to detect the characteristics of moving objects, and the dynamic clouds are detected, avoiding the detection of the ground and sea surface as clouds. Although static clouds rarely appear, to ensure the robustness of the algorithm, we design an interactive static cloud detection algorithm for the users, which solve the problem of missed detection and further improves the accuracy of cloud detection. To assess the effectiveness of the algorithm, the four different types of clouds of floccus, undulatus, vortex clouds, and stratocumulus are detected, the experimental outcomes demonstrate the effectiveness and robustness of the algorithm. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Dynamic mode decomposition

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An end-to-end instance segmentation method based on improved ConvNeXt V2

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International Journal of Wireless and Mobile Computing 2024年第4期26卷 384-392页

作者： Wang, Wenlu Sun, Ying Xu, Manman Bai, Dongxu Huang, Li Zou, Chunlong Chen, Baojia Tang, Dalai Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan China College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan China College of Mechanical Engineering Hubei University of Automotive Technology Hubei Shiyan China Hubei Key Laboratory of Hydroelectric Machinery Design and Maintenance China Three Gorges University Hubei Yichang China School of Computer Information Management Inner Mongolia University of Finance and Economics Hohhot China

In order to improve the efficiency of indoor mobile robots in locating and segmenting environmental instances, an instance segmentation method based on RTMDet is proposed. Firstly, the more powerful ConvNeXt V2 is used as the backbone network of the model, which improves the performance of the existing RTMDet model. Subsequently, NAS-FPN is used as a converged network to detect the network at any given time. Finally, AdamW is used as the model optimiser, which effectively solves the problem of excessive memory occupation when updating parameters and improves the performance of the model. The proposed method obtains the highest evaluation index in all cases. After training and testing on the Cityscapes data set, the recognition accuracy reaches 65.0%. © 2024 Inderscience Enterprises Ltd.

关键词： Statistical tests

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Structure design and analysis of a rigid-soft robotic hand with large load capacity 3

Structure design and analysis of a rigid-soft robotic hand w...

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3rd International Conference on Electrical, Electronics, and Information Engineering, EEIE 2024

作者： Wu, Peichen Lan, Fuming Hong, Wen Chen, Xiaoping Shuai, Wei Cui, Guowei Gao, Yang Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangdong Key Laboratory of Modern Control Technology Guangzhou510070 China Shanghai Institute of Aerospace System Engineering Shanghai201100 China Intelligent Manufacturing Institute of HFUT HeFei230041 China School of Computer Science and Technology University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781510688179

In recent years, soft grippers have gained significant attention due to their adaptability and safety. However, when performing horizontal object grasping, their limited structural stiffness prevents them from withstanding the torque generated by friction between the gripper and the object, leading to a loss of contact and limiting their horizontal load capacity. To address this limitation while preserving the adaptability of soft grippers, this paper proposes a gripper structure called the rigid-soft robotic hand, which incorporates lateral rigid connecting rods outside the soft joints. The paper analyzes the bending capacity of the rigid-soft joint using kinematic methods and investigates the influence of link design parameters on maximum bending angle. Subsequently, a finite element analysis is conducted to study the finger structure with the added connecting rods, aiming to optimize the link design parameters. Experimental results demonstrate the grasping capabilities of the rigid-soft gripper in both vertical and horizontal orientations. The findings show that the rigid-soft gripper significantly improves the load-carrying capacity during horizontal object grasping while maintaining the adaptability of the soft gripper. © The Authors.

关键词： Robotic arms

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Infrastructure-Based Vehicle Localization system for Indoor Parking Lots Using RGB-D Cameras

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 61-69页

作者：曹炳全贺越生庄瀚洋杨明 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong UniversityShanghai 200240China

Accurate vehicle localization is a key technology for autonomous driving tasks in indoor parking lots,such as automated valet ***,infrastructure-based cooperative driving systems have become a means to realizing intelligent *** this paper,we propose a novel and practical vehicle localization system using infrastructure-based RGB-D cameras for indoor parking *** the proposed system,we design a depth data preprocessing method with both simplicity and efficiency to reduce the computational burden resulting from a large amount of ***,the hardware synchronization for all cameras in the sensor network is not implemented owing to the disadvantage that it is extremely cumbersome and would significantly reduce the scalability of our system in mass ***,to address the problem of data distortion accompanying vehicle motion,we propose a vehicle localization method by performing template point cloud registration in distributed depth ***,a complete hardware system was built to verify the feasibility of our solution in a real-world *** in an indoor parking lot demonstrated the effectiveness and accuracy of the proposed vehicle localization system,with a maximum root mean squared error of 5 cm at 15Hz compared with the ground truth.

关键词： infrastructure-based RGB-D camera vehicle localization point cloud registration

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