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A Null-Space-Based Behavioral Approach to Single Range Underwater Positioning ∗

IFAC-PapersOnLine 2015年第16期48卷 55-60页

作者： Daniela De Palma Giovanni Indiveri António M. Pascoal Dipartimento Ingegneria Innovazione University of Salento - ISME Node - Lecce Italy Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico (IST) University of Lisbon Portugal

This paper addresses the problem of driving an underwater vehicle to a desired position while optimizing the performance of a single-range based localization system. Indeed, the performance of single-range based localization techniques is strongly dependent on the vehicle's motion that needs to be sufficiently rich to yield a good measure of observability. We present a prioritized task oriented technique to combine a point-to-point guidance task with an observability optimization task. In particular, the minimum singular value of the Fisher Information Matrix is adopted as the observability metric. Task prioritization is achieved through a null-space-based projection technique that is also combined with a saturation management algorithm to cope with velocity command saturations. The stability of the resulting control law is analysed following a Lyapunov-based approach. Robustness against uncertainty in the initial position of the vehicle is also handled resorting to a procedure that maximises the minimum (worst-case) observability metric. Numerical simulations are reported confirming the effectiveness of the proposed strategy.

关键词： Marine systems Single-Range Navigation Observability Velocity Saturation Robot Navigation Autonomous vehicles

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Particle swarm and population structure 18

Particle swarm and population structure

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2018 Genetic and Evolutionary Computation Conference, GECCO 2018

作者： Fernandes, Carlos M. Rosa, Agostinho C. Fachada, Nuno Laredo, J.L.J. Merelo, J.J. LARSyS: Laboratory for Robotics and Systems in Engineering and Science University of Lisbon Portugal HEI-LAB - Digital Human-Environment and Interactions Labs Universidade Lusófona Lisbon Portugal LITIS University of Le Havre Le Havre France Department of Computer Architecture University of Granada Granada Spain

ISBN: (纸本)9781450357647

We investigate the convergence speed, accuracy, robustness and scalability of PSOs structured by regular and random graphs with 3 ≤ k ≤ n. The main conclusion is that regular and random graphs with the same averaged connectivity may result in significantly different performance, namely when is low. © 2018 Copyright is held by the owner/author(s).

关键词： Particle swarm optimization (PSO)

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Optimal Fuel Feed Strategy for Asymmetric Arranged Multi-tanks Aircraft 3

Optimal Fuel Feed Strategy for Asymmetric Arranged Multi-tan...

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Miao, Haoyu Ouyang, Zikai Yang, Shunpeng Yan, Weichao Cao, Mengfan Chen, Shibo Yang, Zaiyue Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9781665435178

Aircraft fuel system, which provides a continuous source of fuel to the engine, is an important component of the aircraft. Although the sequential fuel feed strategy for the symmetric arranged multi-tanks aircraft is widely used in today's aircraft, the fuel feed strategy of the asymmetric arranged multi-tanks is still a challenge. In this article, a two layer offline approach is developed to obtain the fuel feed strategy to minimize the difference between the actual center of gravity (CG) and the desired CG. The performance of the proposed approach is tested in a case study based on the test data of aircraft pitch movement. The result indicates that the proposed approach solves the problem with an offline manner from the optimization perspective. © 2021 IEEE.

关键词： Aircraft

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Online Optimization of Heat Pump systems for Building Heating based on Lyapunov Method

Online Optimization of Heat Pump Systems for Building Heatin...

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2022 IEEE Power and Energy Society Innovative Smart Grid Technologies Conference, ISGT 2022

作者： Cao, Mengfan Chen, Shibo Yang, Zaiyue Miao, Haoyu Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems The Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9781665437752

Improving the energy efficiency of heating systems is of great significance in building energy saving. This paper investigates a time-average total cost minimization problem of heat pump systems. Firstly, heat pump systems and thermal dynamic building model are built considering thermal inertia. To solve temporally coupled constraints and uncertainties of the outdoor temperature and real-time electricity price in the formulated problem, the paper proposes an online optimization algorithm for building heating based on Lyapunov method. Extensive simulation results show that this method could achieve user comfort and reduce energy cost effectively. © 2022 IEEE.

关键词： Energy efficiency

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The Journey/DAO/TAO of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu Shen Jinlin Sun Shihan Kong Yutong Wang Juanjuan Li Xuan Li Fei-Yue Wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence DAO TAO

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Characterization of bio-synthesized magnetic nanoparticles

Characterization of bio-synthesized magnetic nanoparticles

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Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

作者： Love, Lonnie J. Yeary, Lucas W. Moon, J.W. Phelps, Tommy J. Rondinone, Adam J. IEEE Robotics and Energetic Systems Group Oak Ridge National Laboratory Environmental Science Division Oak Ridge National Laboratory Chemical Science Division Oak Ridge National Laboratory Engineering Science and Technology Division Oak Ridge National Laboratory

Magnetic nanoparticles have potential utility in a variety of applications ranging from ferrofluids to highly sensitive transduction mechanisms for monitoring and controlling biological activities at the molecular level. This paper describes a novel methodology for bacterial synthesis of a wide range of magnetite-based magnetic nanoparticles. First, this approach is highly scalable and low cost enabling production of large volumes of nanoparticles. Second, like the chemical co-precipitation technique, biologically synthesized materials have the ability to dope magnetite with a wide range of elements enabling fine control over magnetic and thermal properties of the particles. Third, unlike chemical co-precipitation techniques which restrict particle sizes below 20 nm, bacterial synthesis enables control of particle sizes from 10 nm to 100 nm. Finally, we show that some forms of the bio-synthesized materials have a significantly higher saturation magnetization than typical chemically synthesized materials. © 2005 IEEE.

关键词： Nanostructured materials

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Low probability of detection underwater communications using a vector sensor

Low probability of detection underwater communications using...

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Underwater Communications and Networking (UComms)

作者： Fabio B. Louza Sergio M. Jesus Laboratory of Robotic Systems in Engineering and Science (LARSyS) University of Algarve Faro Portugal

ISBN: (数字)9781665474610

ISBN: (纸本)9781665474627

Low probability of detection underwater acoustic communications are required for command and control of mobile underwater platforms performing covert missions. To deal with multipath and increase the signal-to-noise ratio (SNR) at the receiver, this paper presents a study on the low probability of detection communications using a single vector sensor. Compact in size, vector sensors (VS) are suitable for autonomous underwater vehicles, measuring both acoustic pressure and particle velocity, and therefore providing diversity gain. As part of the multidisciplinary EMSO-PT project, an experiment took place off the coast of Algarve/Portugal on Nov 24th, 2021. A single 2D VS was posed on the bottom. Broadband signals were transmitted from several positions, varying both the source-receiver range and the direction of arrival. Recorded noise was added to the signals to reduce the SNR from 0 to -10dB. A superimposed training passive time-reversal approach was employed for equalization. Coherent communication performance was evaluated. Results show that VS multichannel combining may provide an average SNR and mean squared-error gain of up to 9.4 and 3.1 dB, respectively, compared to the pressure channel.

关键词： Training Pressure sensors Underwater communication Direction-of-arrival estimation Spatial diversity Receivers Size measurement

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A new algorithm for linearization up to multi-output and multi-input injection for a class of systems with implicitly defined outputs

A new algorithm for linearization up to multi-output and mul...

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European Control Conference (ECC)

作者： Sérgio S. Rodrigues A. Pedro Aguiar Öaw Institute for Computational and Applied Mathematics (RICAM) Linz Austria Department of Electrical and Computer Engineering Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Lisbon Portugal

ISBN: (纸本)9781479901890

Given a class of nonlinear systems with implicitly defined outputs, we provide a new algorithm to find appropriate local coordinates, in which the resulting system takes a desired target form that is state-affine, up to output and input injection. Once in the target form, it is possible to construct a state-space observer with linear, possibly time-varying, error dynamics.

关键词： Vectors Equations Observers Gold Geometry Nonlinear dynamical systems

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BlueLink: A Bidirectional Optical Modem for High-Speed Underwater Communication

BlueLink: A Bidirectional Optical Modem for High-Speed Under...

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IEEE International Workshop on Metrology for the Sea;Learning to Measure Sea Health Parameters (MetroSea)

作者： Ivar Bjørgo Saksvik Vahid Hassani Antonio Pascoal Alex Alcocer Department of Mechanical Electronic and Chemical Engineering Oslo Metropolitan University Oslo Norway Laboratory of Robotics and Systems in Engineering and Science (LARSyS) University of Lisbon Lisbon Portugal

Free space optical communication has emerged as a highly promising solution for enabling high-speed data transmission in underwater environments. The increasing demand for telemetry in unmanned underwater vehicles requires a significant increase in bandwidth capacity, surpassing the limitations of conventional acoustic technologies that currently dominate this domain. In this paper, we introduce a compact and energy-efficient optical modem for high-speed wireless underwater communication. The proposed modem offers bidirectional data transfer capabilities through the integration of transmitting LEDs and a photodiode receiver for light pulse detection, with data processing efficiently managed by an FPGA. The modem utilizes a software-defined architecture, enabling re-configurable modulation schemes and streamlining the implementation of signal filtering and processing through software, as opposed to traditional analog circuitry. Experiments conducted in a 3-meter seawater pool demonstrate a throughput of 2 Mbit/s.

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Coherence as a criterion for multichannel combining low SNR communications in an upwelling environment

Coherence as a criterion for multichannel combining low SNR ...

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OCEANS

作者： Fabio B. Louza Sergio M. Jesus Laboratory of Robotic Systems in Engineering and Science (LARSyS) University of Algarve Faro Portugal

ISBN: (数字)9781728154466

ISBN: (纸本)9781728184098

This paper presents a study on the impact of temporal (TCOH) and spatial (SCOH) coherence over low SNR communications in an environment with intense upwelling and demonstrates how to use coherence as a criterion to perform multichannel combining. Using low power signals collected in a shallow water experiment, from two independent and different geometry arrays with four hydrophones each, temporal coherence was estimated. Signals whose TCOH was above a threshold were averaged and SCOH between channels were estimated. Bit error rate results showed that SCOH can be used as a criterion to discard noisy and high multipath channels. Multichannel combination based on SCOH indicated that the use of the arrays can increase the processing gain, even if the sensors are just a few wavelengths from each other. Moreover, longer averaging times provided lower BER but reduced the effective bit rate.

关键词： Bit error rate Bit rate Spatial coherence Sonar equipment Coherence Signal to noise ratio Sensor arrays

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