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第40届中国控制会议

作者： Bo Chen Zhicheng Li Zaiyue Yang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Academy for Advanced Interdisciplinary Studies Southern University of Science and Technology

In this paper, the optimization strategy of mobile sensors and the parameter estimation of time-varying nuclear radiation field are investigated. Based on the measurement model with white Gaussian noise, Fisher information matrix is derived as an information metric. At each time step, finding the best mobile sensor coordinates that contain the amount of maximal information in the 4-Dimension space is formulated as a constrained nonlinear optimization problem, which is able to minimize the trace of Cramer-Rao Lower Bound. Further, an efficient heuristic algorithm called Augmented Lagrangian Genetic Algorithm is adopted to solve the above optimization problem. Then, the parameters of nuclear radiation field are estimated by a maximum likelihood estimator. The proposed sensor coordinates moving strategy has better estimation performance than random coordinates strategy, which is demonstrated via simulation results.

关键词： Optimal sensor coordinates Fisher information matrix(FIM) Cramer-Rao Lower Bound(CRLB) Augmented Lagrangian Genetic Algorithm(ALGA) Maximum likelihood estimate(MLE)

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Passivity-Based Distributed Event-Triggered Flocking Control of Port-Hamiltonian systems

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IEEE Control systems Letters 2025年 9卷 342-347页

作者： Aranda-Escolastico, Ernesto Abdelrahim, Mahmoud Fernandez-Amoros, David Guinaldo, Maria Colombo, Leonardo Department of Software and Systems Engineering Universidad Nacional de Educación a Distancia (UNED) Juan del Rosal 16 Madrid 28040 Spain Prince Sultan University Renewable Energy Laboratory College of Engineering Riyadh 11586 Saudi Arabia Computer Science and Automatic Control Department Universidad Nacional de Educación a Distancia (UNED) Juan del Rosal 16 Madrid 28040 Spain Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Madrid Arganda del Rey 28500 Spain

This paper addresses the problem of flocking motion in the context of port-Hamiltonian systems. The port-Hamiltonian framework offers advantages in modeling networks, dissipation, and heterogeneous agents. In this regard, designing flocking controllers in port-Hamiltonian form significantly increases their practical applications. Additionally, event-triggered control has proven effective in reducing bandwidth consumption. However, challenges remain in combining flocking requirements with energy-dissipating terms. Therefore, we propose a novel event-triggered flocking controller suitable for port-Hamiltonian systems. The method is validated through numerical simulations of a group of hexarotors. © 2017 IEEE.

关键词： flocking passivity. port-Hamiltonian systems event-triggered control multi-agent systems

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Distributed Vehicle Platoon Control with Leader Selection Strategy

Distributed Vehicle Platoon Control with Leader Selection St...

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第40届中国控制会议

作者： Zikai Ouyang Zhicheng Li Shibo Chen Zaiyue Yang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Academy for Advanced Interdisciplinary Studies Southern University of Science and Technology

This paper investigates the control problem of vehicle platoon with leader selection strategy. The current research on vehicle platoon control is based on the leader-follower communication structure. Under such structure, each follower tracks the state of its front vehicle to maintain a proper distance and form a platoon. However, the disadvantage of this fixed communication structure is that followers are short of capacity of resisting disturbance when the first vehicle(FV) of platoon is disturbed. To solve this problem, a vehicle platoon model where each follower is able to take any front vehicle as its leader is proposed. Based on this model, the corresponding controller and leader selection strategy are designed. That is, first, a controller considering the string stability of vehicle platoon with various communication topologies is designed;then, each follower changes its connecting vehicle in the communication link to reduce the impact of disturbance on FV when FV suddenly slows down or speeds up. The simulation results show the effectiveness of the control method and the strategy.

关键词： Vehicle platoon leader selection strategy distributed control

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A colorimetric-bionic sensor for multimodal molecular sensing using hierarchical metamaterials

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Device 2025年第5期3卷

作者： Geng, Wenhui Zhou, Ying Huang, Kang Ying, Yibin Xie, Lijuan College of Biosystems Engineering and Food Science Zhejiang University 866 Yuhangtang Road Hangzhou 310058 China The National Key Laboratory of Agricultural Equipment Technology Beijing 100083 China Zhejiang Key Laboratory of Intelligent Sensing and Robotics for Agriculture Hangzhou 310058 China Hangzhou Customs Technology Center 398 Jianshe San Road Xiaoshan District Hangzhou City China Department of Biological Systems Engineering Washington State University Pullman 99164 WA United States

Metamaterials can enhance a local electric field for molecular sensing. However, the difficulty in specifically recognizing target molecules and integrating multiple functionalities restricts their development. Here, we present a hierarchical metamaterial-based colorimetric-bionic sensor (HMm-CBs) using a layer-by-layer assembly method for multimodal molecular sensing. The CBs layers offer molecular recognition ability by enabling the specific perception of analytes, and the HMm layers provide coupling of vibrations between analyte molecules at the terahertz (THz) frequency. The HMm-CBs have broadband adaptability in controlling electromagnetic waves from optical to THz frequency. As a proof of principle, we designed a sensor for analyzing tetracycline hydrochlorides (TCHs). The sensor, in conjunction with a back propagation neural network (BPNN), identifies four types of TCHs. As a demonstration, a multichannel indicator is created for real-time monitoring of shrimp freshness and volatile metabolites. © 2025 The Author(s)

关键词： antibiotics carbon nanotubes chemometric algorithms colorimetric sensor array DTI-3: Develop metamaterials

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A New Scheme for Cooperative Hunting Tasks with Multiple Targets in Dynamic Environments

A New Scheme for Cooperative Hunting Tasks with Multiple Tar...

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IEEE International Conference on robotics and Biomimetics

作者： Ruikun Hu Ning Tan Fenglei Ni School of Computer Science and Engineering Sun Yatsen University Guangzhou PR China State Key Laboratory of Robotics and Systems (HIT) Harbin PR China

ISBN: (纸本)9781665405362

Multiple robot cooperation has been playing more and more significant role in scientific and engineering applications. The cooperative hunting task with multiple targets is a critical issue in multiple robot problem. To successfully hunt multiple preys, predator robots not only need to settle the problem on how to cooperatively hunt a prey, but also find an efficient task allocation to assign each predator to hunt certain prey. This paper proposes a cooperative hunting scheme based on the multi-target k-winner-take-all (k-WTA) algorithm and the wolf-pack-particle-based model. Based on the competitive mechanism, the multi-target k-WTA algorithm is used for task allocation with an optimized hunting strategy and achieves the allocation within a short period of time in dynamic environments. With simple rules, the wolf-pack-particle-based model can trigger collective behaviors and enable predator robots to encircle the prey. The simulative experiment results show that the proposed approach is capable of efficient task allocation and guiding predator robots to round up multiple moving targets in dynamic environments.

关键词： Costs Heuristic algorithms Conferences Biomimetics Force Dynamic scheduling Resource management

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Adaptive weighted guided image filtering for depth enhancement in shape-from-focus

arXiv

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arXiv 2022年

作者： Li, Yuwen Li, Zhengguo Zheng, Chaobing Wu, Shiqian Hubei Key Laboratory Of Mechanical Transmission And Manufacturing Engineering Wuhan University Of Science And Technology Wuhan430081 China SRO Department Institute For Infocomm Research Singapore138632 Singapore Institute Of Robotics And Intelligent Systems School Of Information Science And Engineering Wuhan University Of Science And Technology Wuhan430081 China School Of Electrical Engineering Nanchang Institute Of Technology Nanchang330099 China

Existing shape from focus (SFF) techniques cannot preserve depth edges and fine structural details from a sequence of multi-focus images. Moreover, noise in the sequence of multi-focus images affects the accuracy of the depth map. In this paper, a novel depth enhancement algorithm for the SFF based on an adaptive weighted guided image filtering (AWGIF) is proposed to address the above issues. The AWGIF is applied to decompose an initial depth map which is estimated by the traditional SFF into a base layer and a detail layer. In order to preserve the edges accurately in the refined depth map, the guidance image is constructed from the multi-focus image sequence, and the coefficient of the AWGIF is utilized to suppress the noise while enhancing the fine depth details. Experiments on real and synthetic objects demonstrate the superiority of the proposed algorithm in terms of anti-noise, and the ability to preserve depth edges and fine structural details compared to existing methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Image enhancement

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Exploration of Canals: a German-Pakistani collaboration in education and research in marine robotics

Exploration of Canals: a German-Pakistani collaboration in e...

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OCEANS

作者： Francesco Maurelli Suleman Mazhar Syed Atif Mehdi Marine Systems and Robotics Jacobs University Bremen Bremen Germany Acoustic Science and Technology Laboratory Harbin Engineering University Harbin Heilongjiang China Center of Robotics University of Central Punjab Lahore Pakistan

ISBN: (纸本)9781665427883

This paper presents a collaborative project between Jacobs University Bremen and University of Central Punjab, supported by the German Academic Exchange Agency - Deutscher Akademischer Austauschdienst (DAAD). It focuses on the partnership activities and how they have been pivotal to support education and research in marine robotics. This is an example of a successful international project, which has contributed to bring together scientists from different backgrounds working for a common goal.

关键词： Jacobian matrices Irrigation Oceans Education Collaboration Robots

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Infrastructure and city ontologies

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Proceedings of the Institution of Civil Engineers: Smart Infrastructure and Construction 2022年第2期176卷 43-52页

作者： Varga, Liz McMillan, Lauren Hallett, Stephen Russell, Tom Smith, Luke Truckell, Ian Postnikov, Andrey Rodger, Sunil Vizcaino, Noel Perkins, Bethan Matthews, Brian Lomax, Nik Department of Civil Environmental and Geomatic Engineering Infrastructure Systems Institute University College London London United Kingdom School of Water Energy and Environment Cranfield University Cranfield United Kingdom Environmental Change Institute Oxford University Oxford United Kingdom Software Engineering Department De la Rue Team Valley Trading Estate Gateshead United Kingdom Lincoln Agri-Robotics University of Lincoln Lincoln United Kingdom Zentrum Klinische Studien Universitätsklinikum Freiburg Freiburg Germany Scientific Computing Department Science and Technology Facilities Council Uk Research and Innovation Rutherford Appleton Laboratory Harwell Campus Didcot United Kingdom School of Geography University of Leeds Leeds United Kingdom

The creation and use of ontologies has become increasingly relevant for complex systems in recent years. This is because of the growing number of use of cases that rely on real-world integration of disparate systems, the need for semantic congruence across boundaries and the expectations of users for conceptual clarity within evolving domains or systems of interest. These needs are evident in most spheres of research involving complex systems, but they are particularly apparent in infrastructure and cities where traditionally siloed and sectoral approaches have dominated, undermining the potential for integration to solve societal challenges such as net zero, resilience to climate change, equity and affordability. This paper reports on findings of a literature review on infrastructure and city ontologies and puts forward some hypotheses inferred from the literature findings. The hypotheses are discussed with reference to the literature and provide avenues for further research on (a) belief systems that underpin non-top-level ontologies and the potential for interference from them, (b) the need for a small number of top-level ontologies and translation mechanisms between them and (c) clarity on the role of standards and information systems in the adaptability and quality of data sets using ontologies. A gap is also identified in the extent that ontologies can support more complex automated coupling and data transformation when dealing with different scales. © 2023 ICE Publishing: All rights reserved.

关键词： Ontology

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Autonomous Navigation of Low Cost Underwater Vehicle for Shallow Freshwater Applications

Autonomous Navigation of Low Cost Underwater Vehicle for Sha...

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OCEANS

作者： Syed Atif Mehdi Suleman Mazhar Francesco Maurelli Center of Robotics University of Central Punjab Lahore Pakistan Acoustic Science and Technology Laboratory Harbin Engineering University Harbin Heilongjiang China Marine Systems and Robotics Jacobs University Bremen Bremen Germany

ISBN: (纸本)9781665427883

To perform underwater navigation, a robot has to be designed and developed with multiple sensors and robust mapping and navigation algorithms that can withstand challenging underwater conditions. This paper discusses communication between Pixhawk and Jetson in the case of autonomous navigation and ground station in manual operation mode. The information from IMU and depth sensor is used to perceive the underwater environment by developing a map. The generated map is then used for path planning and autonomous navigation. Experiments performed in a swimming pool environment demonstrate the developed framework’s capabilities to be usable in shallow freshwater scenarios.

关键词： Costs Navigation Oceans Robot sensing systems Path planning Sensors Underwater vehicles

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Catch Planner: Catching High-Speed Targets in the Flight

arXiv

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arXiv 2023年

作者： Yu, Huan Wang, Pengqin Wang, Jin Ji, Jialin Zheng, Zhi Tu, Jie Lu, Guodong Meng, Jun Zhu, Meixin Shen, Shaojie Gao, Fei The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China The Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Institute of Zhejiang University Hangzhou310027 China Hong Kong The State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China School of Electrical Engineering Zhejiang University Hangzhou310027 China The Hong Kong University of Science and Technology Guangzhou China

Catching high-speed targets in the flight is a complex and typical highly dynamic task. However, existing methods require manual setting of catching height or time, resulting in lacks of adaptability and flexibility and cannot deal with multiple targets. To bridge this gap, we propose a planning-with-decision scheme called Catch Planner. For sequential decision making, a lightweight policy search method based on deep reinforcement learning is proposed. It is jointly trained with the motion planning and decoupled from physics to speed up training. For motion planning, we propose a trajectory optimization method that jointly optimizes the highly coupled catching time and terminal state. The core is the flexible-terminal constraint transcription. It converts the three unique constraints of catching into differentiable metrics, including equality constraints for terminal position and time, and inequality constraints that enable reasonable terminal position offset and attitude relaxation. In addition, sparse parameterization based on MINCO class considers both dynamic feasibility and collision avoidance constraints. As a result, a generally constrained quadrotor planning problem is transformed into an unconstrained optimization that can be solved reliably and efficiently. We also propose an online iterative optimization method for predicting differentiable trajectories of targets. Catch Planner provides a new paradigm for the combination of learning and planning, where all algorithms can be run in real time onboard at 100hz. Extensive experiments are carried out in real-world and simulated scenes to verify the robustness and expansibility when facing a variety of high-speed flying targets. Copyright © 2023, The Authors. All rights reserved.

关键词： Decision making

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