检索结果-内蒙古大学图书馆

SSRN 2023年

作者： Yusefi, Abdullah Toy, İbrahim Sungur, Cemil Durdu, Akif Computer Engineering Konya Technical University Konya Turkey Inc. Co. Konya Turkey Electrical and Electronics Engineering Konya Technical University Konya Turkey Robotics Automation Control Laboratory Konya Technical University Konya Turkey

This letter proposes a global navigation satellite system (GNSS) and inertial navigation system (INS)-based, pose estimation method for autonomous vehicles. We focus on the issue of localization in situations where GNSS signals are blocked, where localization must proceed using alternate sensors such as INS. Our methodology uses two filtering mechanisms to filter out the noise and obtain velocity and attitude of the vehicle from inertial sensor measurements. The two mechanism are the sigmoid filtering for angular velocity, and the sliding window filtering for linear acceleration measurements. The filtered velocity and attitude are then loosely coupled with GNSS data to produce a highly accurate pose estimation. Our techniques are deployed and tested on a real-world autonomous vehicle. When determining the pose solely from inertial dead-reckoning measurements during GNSS outages, the highest translational and rotational RPE drifts are less than 0.3 meters and 5.0 degrees of the entire 5500 meters’ distance traveled. © 2023, The Authors. All rights reserved.

关键词： Inertial navigation systems

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Steps Toward Industry 5.0:Building“6S”Parallel Industries With Cyber-Physical-Social Intelligence

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1692-1703页

作者： Xingxia Wang Jing Yang Yutong Wang Qinghai Miao Fei-Yue Wang Aijun Zhao Jian-Ling Deng Lingxi Li Xiaoxiang Na Ljubo Vlacic School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE Macao University of Science and Technology Macao 999078China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of SciencesBeijing 100098 State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China North Automatic Control Technology Institute Taiyuan 030006China China Huaneng Group Co. Ltd.Beijing 100031China Department of Electrical and Computer Engineering Indiana University-Purdue University Indianapolis(IUPUI)IndianapolisIN 46202 USA Department of Engineering University of CambridgeCambridgeCB21PZUK School of Engineering and Built Environment Griffith UniversityGold CoastQLD 4222Australia

Very recently,intensive discussions and studies on Industry 5.0 have sprung up and caused the attention of researchers,entrepreneurs,and policymakers from various sectors around the ***,there is no consensus on why and what is Industry 5.0 *** this paper,we define Industry 5.0from its philosophical and historical origin and evolution,emphasize its new thinking on virtual-real duality and human-machine interaction,and introduce its new theory and technology based on parallel intelligence(PI),artificial societies,computational experiments,and parallel execution(the ACP method),and cyber-physical-social systems(CPSS).Case studies and applications of Industry 5.0 over the last decade have been briefly summarized and analyzed with suggestions for its future *** believe that Industry 5.0 of virtual-real interactive parallel industries has great potentials and is critical for building smart *** are outlined to ensure a roadmap that would lead to a smooth transition from CPS-based Industry 4.0 to CPSS-based Industry 5.0 for a better world which is Safe in physical spaces,S ecure in cyberspaces,Sustainable in ecology,Sensitive in individual privacy and rights,Service for all,and Smartness of all.

关键词： ACP artificial intelligence CPS CPSS Industry 4.0 Industry 5.0 parallel industries parallel intelligence

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Terrain-Aware Quadrupedal Locomotion via Reinforcement Learning

arXiv

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arXiv 2023年

作者： Shi, Haojie Zhu, Qingxu Han, Lei Chi, Wanchao Li, Tingguang Meng, Max Q.-H. Tencent Robotics X China The Chinese University of Hong Kong Hong Kong Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong The Department of Electrical and Computer Engineering The University of Alberta Canada

In nature, legged animals have developed the ability to adapt to challenging terrains through perception, allowing them to plan safe body and foot trajectories in advance, which leads to safe and energy-efficient locomotion. Inspired by this observation, we present a novel approach to train a Deep Neural Network (DNN) policy that integrates proprioceptive and exteroceptive states with a parameterized trajectory generator for quadruped robots to traverse rough terrains. Our key idea is to use a DNN policy that can modify the parameters of the trajectory generator, such as foot height and frequency, to adapt to different terrains. To encourage the robot to step on safe regions and save energy consumption, we propose foot terrain reward and lifting foot height reward, respectively. By incorporating these rewards, our method can learn a safer and more efficient terrain-aware locomotion policy that can move a quadruped robot flexibly in any direction. To evaluate the effectiveness of our approach, we conduct simulation experiments on challenging terrains, including stairs, stepping stones, and poles. The simulation results demonstrate that our approach can successfully direct the robot to traverse such tough terrains in any direction. Furthermore, we validate our method on a real legged robot, which learns to traverse stepping stones with gaps over 25.5cm. Copyright © 2023, The Authors. All rights reserved.

关键词： Deep neural networks

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Singular Perturbation: When the Perturbation Parameter Becomes a State-Dependent Function

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IFAC-PapersOnLine 2023年第1期56卷 294-300页

作者： Tengfei Liu Zhong-Ping Jiang State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110004 China Department of Electrical and Computer Engineering New York University 370 Jay Street Brooklyn NY 11201 USA

This paper introduces a new class of singularly perturbed systems in which the small, but constant, perturbation coefficient in standard singular perturbation theory is replaced by a state-dependent function. This generalization is aimed at broadening the applicability of singular perturbation theory in practice. For this class of singularly perturbed systems, it is assumed that the boundary-layer subsystem is globally asymptotically stable (GAS) at the origin and the reduced subsystem is input-to-state stable (ISS) with respect to the state of the boundary-layer subsystem. Under a mild monotonicity condition, sufficient conditions on the perturbation functions are given under which the singularly perturbed system is GAS at the origin. ISS and nonlinear small-gain techniques are exploited in the stability analysis. The efficacy of the proposed theoretical result is validated via its applications to tackling integral control and feedback optimization problems.

关键词： Singular perturbation perturbation functions global asymptotic stability

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Aggregating Single-Wheeled Mobile Robots for Omnidirectional Movements

Aggregating Single-Wheeled Mobile Robots for Omnidirectional...

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

作者： Meng Wang Yao Su Hang Li Jiarui Li Jixiang Liang Hangxin Liu National Key Laboratory of General Artificial Intelligence Beijing Institute for General Artificial Intelligence (BI-GAI) Department of Advanced Manufacturing and Robotics College of Engineering Peking University Department of Robot Engineering School of Automation Science and Electrical Engineering Beihang University

This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is shaped as a regular icositetragon with a permanent magnet installed on each corner for stable docking. After aggregating multiple modules and forming a structure that can cage a target object, we have developed an optimization-based method to compute the distribution of all wheels' heading directions, which enables efficient omnidirectional movements of the structure. By implementing a hierarchical controller on our prototyped system in both simulation and experiment, we validated the trajectory tracking performance of an individual module and a team of six modules in multiple navigation and collaborative object transportation settings. The results demonstrate that the proposed system can maintain a stable caging formation and achieve smooth transportation, indicating the effectiveness of our hardware and locomotion designs.

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Combining Scene Coordinate Regression and Absolute Pose Regression for Visual Relocalization

Combining Scene Coordinate Regression and Absolute Pose Regr...

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IEEE International Conference on robotics and automation (ICRA)

作者： Jiahao Ruan Li He Yisheng Guan Hong Zhang School of Electromechanical Engineering Guangdong University of Technology Guangzhou China Department of Electrical and Electronic Engineering Shenzhen Key - Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China

Visual relocalization is a fundamental problem in computer vision and robotics. Recently, regression-based methods become popular and they can be categorized into two classes: absolute pose regression and scene coordinate regression. In this work, we present a combined regression network that jointly learns scene coordinate regression and absolute pose regression for single-image visual relocalization. The proposed network composes of a feature encoder and two regression branches with uncertainty modeling. In particular, we design a deep feature conditioning module, aiming at propagating the coarse pose information in absolute pose regression to inform the predictions in scene coordinate regression. The proposed network is trained in an end-to-end fashion to learn both regression tasks. Moreover, we propose an uncertainty-driven RANSAC algorithm that incorporates the predicted scene coordinates and their uncertainties to solve the camera pose during inference. To the best of our knowledge, this work is the first to combine scene coordinate regression and pose regression in a hierarchical framework for visual relocalization. Experiments on indoor and outdoor benchmarks demonstrate the effectiveness and the superiority of the proposed method over the state-of-the-art methods.

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YOLO: An Efficient Terahertz Band Integrated Sensing and Communications Scheme with Beam Squint

arXiv

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arXiv 2023年

作者： Luo, Hongliang Gao, Feifei Lin, Hai Ma, Shaodan Vincent Poor, H. Department of Automation Tsinghua University Beijing China Department of Electrical and Electronic Systems Engineering Graduate School of Engineering Osaka Metropolitan University Osaka Sakai Japan State Key Laboratory of Internet of Things for Smart City The Department of Electrical and Computer Engineering University of Macau China Department of Electrical and Computer Engineering Princeton University PrincetonNJ United States

Using communications signals for dynamic target sensing is an important component of integrated sensing and communications (ISAC). In this paper, we propose to utilize the beam squint effect to realize fast non-cooperative dynamic target sensing in massive multiple input and multiple output (MIMO) Terahertz band communications systems. Specifically, we construct a wideband channel model of the echo signals, and design a beamforming strategy that controls the range of beam squint by adjusting the values of phase shifters and true time delay lines. With this design, beams at different subcarriers can be aligned along different directions in a planned way. Then the received echo signals at different subcarriers will carry target information in different directions, based on which the targets’ angles can be estimated through sophisticatedly designed algorithm. Moreover, we propose a supporting method based on extended array signal estimation, which utilizes the phase changes of different frequency subcarriers within different orthogonal frequency division multiplexing (OFDM) symbols to estimate the distances and velocities of dynamic targets. Interestingly, the proposed sensing scheme only needs to transmit and receive the signals once, which can be termed as You Only Listen Once (YOLO). Compared with the traditional ISAC methods that require time consuming beam sweeping, the proposed one greatly reduces the sensing overhead. Simulation results are provided to demonstrate the effectiveness of the proposed schemes. Copyright © 2023, The Authors. All rights reserved.

关键词： Orthogonal frequency division multiplexing

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A Lyapunov-Based Small-Gain Theorem for Interconnected Finite-Time Input-to-State Stable Systems

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IFAC-PapersOnLine 2023年第2期56卷 1865-1870页

作者： Huanhuan Li Tengfei Liu Zhong-Ping Jiang State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China Department of Electrical and Computer Engineering New York University 370 Jay Street Brooklyn NY 11201 USA

This paper presents a Lyapunov formulation of the small-gain theorem for the finite-time input-to-state stability (FTISS) of an interconnected system composed of FTISS subsystems. In addition, an FTISS-Lyapunov function for the entire system is constructed from the FTISS-Lyapunov functions of the subsystems. With respect to the previously developed nonlinear, Lyapunov-based small-gain theorem restricted to input-to-state stability, a new power-function-based scaling technique is proposed to deal with the challenge that a nonlinearly scaled FTISS-Lyapunov function may not retain a decreasing rate as a power function with a positive power less than one.

关键词： Finite-time input-to-state stability small-gain theorem Lyapunov functions

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A Fuzzy Logic Controller for a Photovoltaic System Relying on a Closed-Loop DC-DC Converter

A Fuzzy Logic Controller for a Photovoltaic System Relying o...

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International Conference on Science Technology engineering and Management (ICONSTEM)

作者： B. Chandrashekar Jayarama Pradeep Muthukumaran. M M. Sivasubramanian K. Lakshmi Khandan Joshuva Arockia Dhanraj Department of Computer Science Engineering St Martin's Engineering College Hyderabad Telangana India Department of Electrical and Electronics Engineering St. Joseph's College of Engineering Chennai Tamil Nadu India Department of Electrical and Electronics Engineering Karpagam college of Engineering Coimbatore Tamil Nadu Department of Electrical and Electronics Engineering Srivenkateswara College of Engineering and Technology Thiruvallur Tamil Nadu India Department of Electrical and Electronics Engineering Madanapalle Institute of Technology and Science Madanapalle Andhra Pradesh India Department of Mechatronics Engineering Centre for Automation and Robotics (ANRO) Hindustan Institute of Technology and Science Chennai Tamil Nadu India

ISBN: (数字)9798350365092

ISBN: (纸本)9798350365108

A DC-DC converter that can handle a lot of different power changes. The experts in this study discovered that adding a fuzzy logic circuit helped the system work better. It makes a big difference in how well and consistently the PV system works that the FLC controls the output power of the converter. Because the FLC works with Microsoft Excel, more people can use this powerful tool for less money and with less trouble. The FLC cuts down on “overshoot,” “settling time,” and steady-state error, as shown in simulations that test how well the controller works. This study may have made it easier for people to start making “fuzzy logic controllers” and make them better. This will have a big effect on how far we get in making energy systems that work better and are more stable. Further investigation could be conducted to determine whether or not these concepts are feasible and how they would enhance the FLC in different types. These DC-DC converters have closed loops in their circuitry.

关键词： Fuzzy logic Photovoltaic systems DC-DC power converters Control systems Energy efficiency Steady-state Spreadsheet programs

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Proactive Robust Hardening of Resilient Power Distribution Network: Decision-Dependent Uncertainty Modeling and Fast Solution Strategy

arXiv

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arXiv 2025年

作者： Ma, Donglai Cao, Xiaoyu Zeng, Bo Jia, Qing-Shan Chen, Chen Zhai, Qiaozhu Guan, Xiaohong School of Automation Science and Engineering The Ministry of Education Key Laboratory for Intelligent Networks and Network Security Xi’an Jiaotong University Shaanxi Xi’an710049 China Department of Industrial Engineering The Department of Electrical and Computer Engineering University of Pittsburgh PittsburghPA15106 United States Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing100084 China School of Electrical Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China

To address the power system hardening problem, traditional approaches often adopt robust optimization (RO) that considers a fixed set of concerned contingencies, regardless of the fact that hardening some components actually renders relevant contingencies impractical. In this paper, we directly adopt a dynamic uncertainty set that explicitly incorporates the impact of hardening decisions on the worst-case contingencies, which leads to a decision-dependent uncertainty (DDU) set. Then, a DDU-based robust-stochastic optimization (DDU-RSO) model is proposed to support the hardening decisions on distribution lines and distributed generators (DGs). Also, the randomness of load variations and available storage levels is considered through stochastic programming (SP) in the innermost level problem. Various corrective measures (e.g., the joint scheduling of DGs and energy storage) are included, coupling with a finite support of stochastic scenarios, for resilience enhancement. To relieve the computation burden of this new hardening formulation, an enhanced customization of parametric column-and-constraint generation (P-C&CG) algorithm is developed. By leveraging the network structural information, the enhancement strategies based on resilience importance indices are designed to improve the convergence performance. Numerical results on 33-bus and 118-bus test distribution networks have demonstrated the effectiveness of DDU-RSO aided hardening scheme. Furthermore, in comparison to existing solution methods, the enhanced P-C&CG has achieved a superior performance by reducing the solution time by a few orders of magnitudes. Copyright © 2025, The Authors. All rights reserved.

关键词： Stochastic programming

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