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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Hu, Yong Jiang, Lisong Kang, Ke Cao, Dandan Zhou, Zhongda Liu, Junfeng Wang, Yong Li, Maodeng Hu, Haidong National Key Laboratory of Science and Technology On Space Intelligent Control Beijing Institute of Control Engineering Beijing100190 China China Academy of Space Technology Hangzhou Institute Hangzhou310001 China

ISBN: (纸本)9789819964796

This article introduces XiaoTian, a quadrupedal robot with high mobility, dynamic motion skills, and autonomous ability. The robot uses backdriveable joint actuators with high force density, and robustness to impacts during trotting. Considering the specific application environment, we design the overall navigation and control framework of the robot, including the motion controlling, mapping, and planning methods. The experiment proved that XiaoTian can perform walking gaits, dynamically trot on the uneven ground and achieve autonomous exploration in the dark cave environments. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Navigation

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Data-Driven control of Distributed Event-Triggered Network Systems

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 351-364页

作者： Xin Wang Jian Sun Gang Wang Frank Allgower Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China IEEE the Institute for Systems Theory and Automatic Control University of StuttgartStuttgart 70550Germany the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(*** systems).To this end,we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling,under which a model-based stability criterion for the closed-loop network system is derived,by leveraging a discrete-time looped-functional *** the model-based criterion with a data-driven system representation recently developed in the literature,a purely data-driven stability criterion expressed in the form of linear matrix inequalities(LMIs)is ***,the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input ***,numerical results corroborate the efficacy of the proposed distributed data-driven event-triggered network system(ETS)in cutting off data transmissions and the co-design procedure.

关键词： Data-driven control distributed event-triggered network system(ETS) linear matrix inequalitie(LMI) looped-functional stability

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Deep Reinforcement Learning-Based intelligent Decision-Making for Orbital Game of Satellite Swarm 29th

Deep Reinforcement Learning-Based Intelligent Decision-Makin...

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29th International Conference on Computational and Experimental Engineering and sciences, ICCES 2023

作者： Yu, Weizhuo Yue, Xiaokui Huang, Panxing Liu, Chuang National Key Laboratory of Aerospace Flight Dynamics School of Astronautics Northwestern Polytechnical University Xi’an710072 China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering Beijing100094 China

ISBN: (纸本)9783031429866

Recent years have witnessed the rapid development of aerospace science and technology, and the orbital game technology has shown great potential value in the field of failed satellite maintenance, debris removal, etc. In this case, orbital game is often characterized by nonlinear dynamic model, unknown state information, high randomness, but the existing approaches to deal with game problem are difficult to be applied. The analytical method based on game theory is only applicable to simple scenarios, and it is challenging to find the optimal strategy for such complex scenarios as satellite swarm game. It should be noted that deep reinforcement learning has some research basis in the cooperative decision-making and control of multi-agents. In view of its powerful perception and decision ability, this paper applies deep reinforcement learning to solve the orbital game problem of satellite swarm. Firstly, the game scenario is modeled, where typical constraints, e.g., minimum time, optimal fuel, and collision avoidance, are taken into consideration in the game process, and then the multi-agent reinforcement learning algorithm is developed to solve the optimal maneuver strategy. The algorithm is based on the Actor-Critic architecture and uses a centralized training and decentralized execution approach to solve the optimal joint maneuver strategy. For different task scenarios, the action space, state observation space, and reward space are designed to introduce more rewards that match the specific game tasks to make the algorithm converge quickly, so that the satellite swarm emerges and executes better intelligent strategies to complete the corresponding game task. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Game theory

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Solar evaporation for simultaneous oil-water separation and electricity generation with Janus wood-based absorbers

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Frontiers of Environmental science & Engineering 2024年第2期18卷 13-23页

作者： Yue Yang Ze Fu Qi Zhang Jiangsu Key Laboratory of Chemical Pollution Control and Resources Reuse School of Environmental and Biological EngineeringNanjing University of Science&TechnologyNanjing 210094China Key Laboratory of Industrial Ecology and Environmental Engineering(Ministry of Education) School of Environmental Science and TechnologyDalian University of TechnologyDalian 116024China National Laboratory of Solid State Microstructures Collaborative Innovation Center of Advanced MicrostructuresCollege of Engineering and Applied SciencesKey Laboratory of Intelligent Optical Sensing and Manipulation(Ministry of Education)Jiangsu Key Laboratory of Artificial Functional MaterialsNanjing UniversityNanjing 210093China

Oily wastewater from ocean oil spills endangers marine ecosystems and human health. Therefore, developing an effective and sustainable solution for separating oil-water mixtures is urgent. Interfacial solar photothermal evaporation is a promising approach for the complete separation of two-phase mixtures using only solar energy. Herein, we report a carbonized wood-based absorber with Janus structure of comprising a hydrophobic top-layer and an oleophobic bottom-layer for simultaneous solar-driven oil-water separation and electricity generation. Under sunlight irradiation, the rapid evaporation of seawater will induce a separation of oil-water mixtures, and cause a high salt concentration region underlying the interface, while the bottom “bulk water” maintains in a low salt concentration, thus forming a salinity gradient. Electricity can be generated by salinity gradient power. Therefore, oil-water separation efficiency of > 99% and derived extra electricity power of ~0.1 W/m2 is achieved under solar radiation, demonstrating the feasibility of oil-water separation and electricity production synchronously directly using solar energy. This work provides a green and cost-effective path for the separation of oil-water mixtures.

关键词： Oily wastewater Carbonized wood Salinity gradient Electricity generation Solar irradiation

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A Novel Principal Component Analysis Algorithm for Fault Detection 43

A Novel Principal Component Analysis Algorithm for Fault Det...

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43rd Chinese control Conference, CCC 2024

作者： Shenhang, Wang Kun, Tian Wei, Zheng Mengyu, Liu Beijing Aerospace Automatic Control Institute Beijing100854 China National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing100854 China

ISBN: (纸本)9789887581581

In modern industry, fault detection is very important in high-cost and safety-critical processes. Principal component analysis (PCA) is an effective data-driven approach which is widely used in this field. Conventional PCA is time-invariant, which often lead to false alarms. In order to overcome the false alarms, recursive PCA algorithms have been proposed for adaptive process. However, the amount of calculation of the algorithm is very great because of frequently updated information. In this paper, a novel recursive PCA method is proposed for solving the question by introducing the standard residual method. The standard residual method serves as an indicator of the level of consistency among data, which is used to decide whether or not to update the PCA model. The proposed method is applied to fault detection and experiment results demonstrate the effectiveness of the method. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Errors

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Large flexible structure vibration measurement based on machine vision 43

Large flexible structure vibration measurement based on mach...

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43rd Chinese control Conference, CCC 2024

作者： Zhu, Yuanyuan Zhang, Haibo Ning, Zhijie Guo, Yanning Zheng, Lingxi Harbin Institute of Technology Harbin150001 China Beijing Institute of Control Engineering Beijing100000 China National Key Laboratory of Space Intelligent Control Beijing100000 China

ISBN: (纸本)9789887581581

A multi-target synchronous measurement method is proposed for the vibration measurement problem of large flexible structures. Select the appropriate system hardware according to the actual measurement requirements, and the binocular camera is used to acquire the image sequence of multiple points during the vibration process. An innovative method is proposed that combines feature point matching and Maximum Intersection over Union is proposed to achieve one-to-one mapping between multiple points. The vibration information of the flexible structure is obtained by image processing and three-dimensional coordinate calculation. Compared with the results obtained by the Optitrack motion capture system. Measures vibration with a frequency of 3Hz, the relative errors of most measurements are within 5%, which meets the requirements of most vibration measurements. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Vibration measurement

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Effect of Free-End Torsion on the Corrosion and Mechanical Properties for Mg-3Zn-0.2Ca Alloy

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Acta Metallurgica Sinica(English Letters) 2025年第1期38卷 59-70页

作者： Li-Lan Gao Jiang Ma Yan-Song Tan Xiao-Hao Sun Qi-Jun Gao De-Bao Liu Chun-Qiu Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China School of Materials Science and Engineering Tianjin University of TechnologyTianjin300384China

Magnesium alloys with excellent degradability and biocompatibility are promising materials for biomedical implants,saving patients the burden of second ***,their mechanical properties and corrosion resistance are significantly below the requirements for implant *** study aims to improve the mechanical and corrosion resistance properties of Mg-3Zn-0.2Ca alloy by pre-torsion treatment,and find out the optimal shear *** rod-shaped Mg-3Zn-0.2Ca alloy specimens were pre-torsion treated at different torsion *** effect of free-end torsion on Mg-3Zn-0.2Ca alloy was characterized through microstructure analysis,mechanical testing,and corrosion ***-torsion treatment can refine grain and induce twins and dislocations in Mg-3Zn-0.2Ca *** surface hardness increases with the increase in torsion *** yield strength and ultimate strength initially increase and then decrease with increasing torsion angle,while ductility decreases with increasing torsion *** with a shear strain of 30%exhibit the highest tensile strength,reaching 284.78±10.62 MPa,with an elongation of 19.37±1.66%.Furthermore,they show a significant improvement in fatigue lives both before and after *** the stress amplitude is 120 MPa,the fatigue lives for specimens without pre-torsion treatment are 54,275 cycles and 4324 cycles before and after pre-corrosion,while they increased significantly to 92,015 cycles and 5050 cycles with the 30%shear strain,***,the 30%shear strain specimens show a significant reduction in corrosion *** conclusion,pre-torsion treatment can effectively modify the microstructure of Mg-3Zn-0.2Ca alloy,enhancing both mechanical properties and corrosion *** optimal shear strain for this improvement is 30%.This study provides a practical method to enhance the mechanical properties and corrosion resistance of Mg-3Zn-0.2Ca alloy,making it more suitable for biomedical implan

关键词： Magnesium alloy Pre-torsion Microstructure Mechanical property Corrosion resistance

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Competitive Meta-Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1902-1904页

作者： Boxi Weng Jian Sun Gao Huang Fang Deng Gang Wang Jie Chen National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081 Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China School of Automation Tsinghua UniversityBeijing 100084China Department of Control Science and Engineering Tongji UniversityShanghai 201804 National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China IEEE

Dear Editor,This letter is concerned with developing meta-learning models for fast,stable,and effective few-shot learning across tasks over a few training ***,deep and reinforcement learning(RL)is widely used in auton... 详细信息

关键词： robot autonomous concerned

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A Fast Three-Dimensional Imaging Algorithm for Millimeter Wave Radar Based on FiNUFFT 4

A Fast Three-Dimensional Imaging Algorithm for Millimeter Wa...

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4th International Conference on Computer science, Electronic Information Engineering and intelligent control technology, CEI 2024

作者： Zeng, Letian Zhang, Sheng Zou, Yunhuai Li, Jingzhao Mao, Qi School of Intelligent Manufacturing Shunde Polytechnic Guangdong Foshan China Xi'An Institute of Space Radio Technology National Key Laboratory of Science and Technology on Space Microwave Shannxi Xi'an China

ISBN: (纸本)9798350378542

Millimeter wave radar is characterized by high penetration and low radiation, and its three-dimensional imaging capabilities enable the acquisition of richer target information. This has led to its widespread use in near-field three-dimensional imaging. Nevertheless, three-dimensional imaging necessitates the processing of a greater quantity of data, which in turn requires a higher computational efficiency. The interpolation operation involved in the commonly used frequency domain imaging algorithm is time-consuming and susceptible to interpolation errors, which ultimately degrades the imaging quality. This paper presents a fast three-dimensional imaging algorithm based on the Flatiron Institute Nonuniform fast Fourier transform (FiNUFFT). By substituting the traditional Stolt interpolation and subsequent fast Fourier transform (FFT) with FiNUFFT, the errors introduced by the interpolation operation are avoided and high-quality reconstruction is guaranteed with a notable increase in computational efficiency. A simulation experiment validates the effectiveness of the proposed algorithm. © 2024 IEEE.

关键词： Interpolation

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A Fast X-ray Pulsar Time Delay Estimation Method Based on Bispectral Feature Points and Cross-Correlation 42

A Fast X-ray Pulsar Time Delay Estimation Method Based on Bi...

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42nd Chinese control Conference, CCC 2023

作者： Huang, Zhiwei Zong, Hua Xu, Qian Li, Xiaomin Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing100854 China

ISBN: (纸本)9789887581543

In order to improve the accuracy and real-time performance of X-ray pulsar time delay estimation over short-time observation interval, a method based on bispectral feature points and cross-correlation is proposed in this paper. Firstly, calculate the self-bispectrum of the standard pulsar profile, extract the bispectral feature points by PSO algorithm, and store it in the spacecraft. Secondly, the pulsar photons are received in real-time and get the observation profile by epoch folding. Thirdly, calculate the cross-bispectrum at the bispectral feature points, construct the objective function of time delay estimation, and solve the extremum. Finally, the pulsar time delay estimation is obtained by screening the extreme points using cross-correlation. Simulation experiments based on Insight-HXMT observations of the Crab pulsar show that, the average running time of the proposed algorithm is 41.59ms on Matlab R2017b, and the average estimation error at observation interval below 2.5s is 0.1858ms, which is better than the traditional bispectrum method and the selected bispectrum method. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Pulsars

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