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第41届中国控制会议

作者： Hongru Wang Yingmin Jia The Seventh Research Division and the Center for Information and Control School of Automation Science and Electrical EngineeringBeihang University (BUAA)

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper studies the formation control for differential wheeled mobile robots under diamond-shaped coupling input ***,the discrete-time and linearized kinematic model of the wheeled mobile robot is *** to the trajectory tracking error equation,the model predictive control(MPC) algorithm is ***,an optimal problem is solved in a specified diamond region at each optimization sampling time,so that the control inputs of the mobile robots always meet the diamond-shaped *** means of the proposed model predictive control algorithm,the leader-follower formation control of three differential mobile robots is carried *** simulation results show the effectiveness of the proposed control algorithm.

关键词： Diamond-shaped Input Constraint Differential Mobile Robots Model Predictive control Formation control

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Integrated simulation and monitoring to analyze failure mechanism of the anti-dip layered slope with soft and hard rock interbedding

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International Journal of Mining science and Technology 2023年第9期33卷 1147-1164页

作者： Jinduo Li Yuan Gao Tianhong Yang Penghai Zhang Yong Zhao Wenxue Deng Honglei Liu Feiyue Liu Center for Rock Instability and Seismicity Research School of Resources&Civil EngineeringNortheastern UniversityShenyang 110819China State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mine Anhui University of Science&TechnologyHuainan 232001China

The significant difference between the mechanical properties of soft rock and hard rock results in the complexity of the failure mode of the anti-dip layered slope with soft and hard rock *** order to reveal the landslide mechanism,taking the north slope of Fushun West Open-pit Mine as an example,this paper analyzed the failure mechanism of different landslides with monitoring and field surveys,and simulated the evolution of *** study indicated that when the green mudstone(hard rock)of the anti-dip slope contains siltized intercalations(soft rock),the existence of weak layers not only aggravates the toppling deformation of anti-dip layered slope with high dip,but also causes the shear failure of anti-dip layered slope with stable low *** shear failure including subsidence induced sliding and wedge failure mainly exists in the unloading zone of the *** failure depth and failure time were far less than that of toppling *** terms of the development characteristics of deformation,toppling deformation has the long-term and progressive characteristics,but shear failure deformation has the abrupt and transient *** study has deepened the understanding of such slope landslide mechanism,and can provide reference for similar engineering.

关键词： Anti-dip layered slope Soft and hard rock interbedding Toppling failure Wedge failure Fushun West Open-pit Mine

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Variations in summertime ozone in Nanjing between 2015 and 2020:roles of meteorology,radical chain length and ozone production efficiency

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Frontiers of Environmental science & engineering 2024年第11期18卷 85-96页

作者： Lin Li Jingyi Li Momei Qin Xiaodong Xie Jianlin Hu Yuqiang Zhang Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Collaborative Innovation Center of Atmospheric Environment and Equipment TechnologyNanjing University of Information Science&TechnologyNanjing 210044China Environment Research Institute Shandong UniversityQingdao 266237China

Changes in ozone(O_(3))can be evaluated to inform policy effectiveness and develop reasonable emissions reduction *** study investigated the causes of summertime maximum daily 8-h average(MDA8)O_(3) variation between 2015 and 2020 in Nanjing,China,a megacity in the Yangtze River Delta(YRD)region,from the perspective of meteorological conditions and anthropogenic emissions of O_(3) precursors(VOCs and NO_(x)).Compared with 2015,the observed MDA8 O_(3) decreased by 19.1μg/m^(3) in August *** indirect and indirect impacts of meteorological conditions contributed 44%of the decline,with temperature,relative humidity,and wind playing important roles in the O_(3) *** O_(3) drop by 10.7μg/m^(3)(56%of the total decrease)may have been due to the decreases in anthropogenic emissions of VOCs and NO_(x) by 7.8%and 11.7%,*** longer hydroxyl(OH)radical chain length and higher ozone production efficiency(OPE)indicated that the reduction of anthropogenic emissions accelerated the RO_(x)(RO_(x)=OH+HO_(2)+RO_(2))and NO_(x) cycles in O_(3) production,making O_(3) more sensitive to NO_(x).This corresponded to the O_(3) formation shifting from a VOC-limited regime in 2015 to a transition regime in 2020 and O_(3) decrease with anthropogenic emission ***,the joint control of O_(3) precursor emissions can effectively mitigate O_(3) pollution in Nanjing.

关键词： Ozone Meteorological condition Anthropogenic emission OH radical chain length OPE

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Discrete Sliding Mode Predictive control of Networked control Systems 42

Discrete Sliding Mode Predictive Control of Networked Contro...

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42nd Chinese control Conference, CCC 2023

作者： Chi, Chuanguo Liu, Guo-Ping Ionescu, Clara-Mihaela Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China Center for Control Science and Technology Southern University of Science and Technology Shenzhen518055 China Ghent University Research Group on Dynamical Systems and Control GhentB-9052 Belgium

ISBN: (纸本)9789887581543

This article studies the application of discrete sliding mode predictive control (SMPC) in networked control systems, introducing sliding mode control (SMC) into model predictive control (MPC), and prediction the state and output vector based on sliding mode control. By combining the strong robustness of sliding mode control and the advantage of model predictive control in dealing with communication constraints in network control, an incremental SMPC trajectory tracking control scheme based on a state observer is designed. The effectiveness and practicability of the designed control scheme is verified by tracking experiments on reference inputs in a dSPACE-based networked lighting control system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Sliding mode control

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Multi-Robot Task Allocation Using Multimodal Multi-Objective Evolutionary Algorithm Based on Deep Reinforcement Learning

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Journal of Shanghai Jiaotong university(science) 2024年第3期29卷 377-387页

作者：苗镇华黄文焘张依恋范勤勤 Logistics Research Center Shanghai Maritime UniversityShanghai 201306China Key Laboratory of Control of Power Transmission and Conversion of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Marine Technology and Control Engineering of Ministry of Communications Shanghai Maritime UniversityShanghai 201306China

The overall performance of multi-robot collaborative systems is significantly affected by the multi-robot task *** improve the effectiveness,robustness,and safety of multi-robot collaborative systems,a multimodal multi-objective evolutionary algorithm based on deep reinforcement learning is proposed in this *** improved multimodal multi-objective evolutionary algorithm is used to solve multi-robot task allo-cation ***,a deep reinforcement learning strategy is used in the last generation to provide a high-quality path for each assigned robot via an end-to-end *** with three popular multimodal multi-objective evolutionary algorithms on three different scenarios of multi-robot task allocation problems are carried out to verify the performance of the proposed *** experimental test results show that the proposed algorithm can generate sufficient equivalent schemes to improve the availability and robustness of multi-robot collaborative systems in uncertain environments,and also produce the best scheme to improve the overall task execution efficiency of multi-robot collaborative systems.

关键词： multi-robot task allocation multi-robot cooperation path planning multimodal multi-objective evo-lutionary algorithm deep reinforcement learning

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Beyond the Field-of-View: Enhancing Scene Visibility and Perception with Clip-Recurrent Transformer

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-16页

作者： Shi, Hao Jiang, Qi Yang, Kailun Yin, Xiaoting Ni, Huajian Wang, Kaiwei State Key Laboratory of Extreme Photonics and Instrumentation and the National Engineering Research Center of Optical Instrumentation Zhejiang University Hangzhou China School of Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha China Shanghai SUPREMIND Technology Company Ltd Shanghai China

Vision sensors are widely applied in vehicles, robots, and roadside infrastructure. However, due to limitations in hardware cost and system size, camera Field-of-View (FoV) is often restricted and may not provide sufficient coverage. Nevertheless, from a spatiotemporal perspective, it is possible to obtain information beyond the camera's physical FoV from past video streams. In this paper, we propose the concept of online video inpainting for autonomous vehicles to expand the field of view, thereby enhancing scene visibility, perception, and system safety. To achieve this, we introduce the FlowLens architecture, which explicitly employs optical flow and implicitly incorporates a novel clip-recurrent transformer for feature propagation. FlowLens offers two key features: 1) FlowLens includes a newly designed Clip-Recurrent Hub with 3D-Decoupled Cross Attention (DDCA) to progressively process global information accumulated over time. 2) It integrates a multi-branch Mix Fusion Feed Forward Network (MixF3N) to enhance the precise spatial flow of local features. To facilitate training and evaluation, we derive the KITTI360 dataset with various FoV mask, which covers both outer- and inner FoV expansion scenarios. We also conduct quantitative assessments of beyond-FoV semantics across different models and perform qualitative comparisons of beyond-FoV object detection. We illustrate that employing FlowLens to reconstruct unseen scenes even enhances perception within the field of view by providing reliable semantic context. Extensive experiments and user studies involving offline and online video inpainting, as well as beyond-FoV perception tasks, demonstrate that FlowLens achieves state-of-the-art performance. The source code and dataset are made publicly available at https://***/MasterHow/FlowLens. IEEE

关键词： Cameras

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research on Landslide Risk Monitoring Method Based on Machine Vision

Research on Landslide Risk Monitoring Method Based on Machin...

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2024 China Automation Congress, CAC 2024

作者： Song, Ze Zhang, Jiayuan Li, Zi'ang Cui, Tingting Cao, Yuqi Hou, Dibo Research and Development Center of Transport Industry of New Generation of Artificial Intelligence Technology Zhejiang Scientific Research Institute of Transport Hangzhou China College of Control Science and Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

To address the challenges of daily monitoring in existing landslide monitoring techniques, a landslide risk monitoring method based on machine vision was proposed. Firstly, a slope marker detection algorithm YOLOv5-CS was developed. The algorithm utilized a feature extraction module with rich gradient flow information and a feature fusion module based on neural attention mechanisms to enhance the accuracy of marker detection. Secondly, a slope marker positioning model based on geometric ranging was constructed using camera pitch angle, yaw angle, and imaging model to compute the three-dimensional coordinates of markers. Finally, the landslide risk at monitoring points was evaluated based on the changes in marker coordinates. Results demonstrate that the proposed method can achieve daily landslide monitoring in highway slope scenarios. © 2024 IEEE.

关键词： Machine vision

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Integrated Attitude-Orbit control for Spacecraft Proximity Operations Based on Dual Quaternion 41

Integrated Attitude-Orbit Control for Spacecraft Proximity O...

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第41届中国控制会议

作者： Qian Sun Yingmin Jia The Seventh Research Division and the Center for Information and Control School of Automation Science and Electrical EngineeringBeihang University (BUAA)

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper studies the tracking control problem of integrated attitude-orbit motion for spacecraft proximity ***,the model of the relative integrated attitude-orbit motion between a chaser and a target spacecraft is established in terms of dual quaternion *** adaptive terminal sliding mode control algorithm is developed to accomplish simultaneous position and attitude tracking control considering external disturbances,uncertainties of mass parameters and unknown actuator *** practical finite-time stability of the closed-loop integrated attitude-orbit control system is realized via the presented ***,numerical simulation is proposed to indicate the validity of the designed control algorithm.

关键词： Spacecraft Proximity Operations Integrated Attitude-Orbit Motion Dual Quaternion Adaptive control

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Impact factors of Blastocystis hominis infection in persons living with human immunodeficiency virus:a large-scale,multi-center observational study from China

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Infectious Diseases of Poverty 2023年第5期12卷 95-96页

作者： Shun-Xian Zhang Ji-Chun Wang Zhong-Wei Li Jin-Xin Zheng Wen-Ting Zhou Guo-Bing Yang Ying-Fang Yu Xiu-Ping Wu Shan Lv Qin Liu Mu-Xin Chen Yan Lu Zhi-Hui Dou Da-Wei Zhang Wen-Wen Lv Lei Wang Zhen-Hui Lu Ming Yang Pei-Yong Zheng Yue-Lai Chen Li-Guang Tian Xiao-Nong Zhou Longhua Hospital Shanghai University of Traditional Chinese Medicine Shanghai China Chinese Center for Disease Control and Prevention (Chinese Center for Tropical Diseases Research) NHC Key Laboratory of Parasite and Vector Biology WHO Collaborating Centre for Tropical Diseases National Center for International Research On Tropical Diseases National Institute of Parasitic Diseases Shanghai China School of Global Health Chinese Center for Tropical Diseases Research-Shanghai Jiao Tong University School of Medicine Shanghai China Department of Science and Technology Chinese Center for Disease Control and Prevention Beijing China Gansu Province People’s Hospital Gansu Provincial Hospital Lanzhou China National Health Commission (NHC) Key Laboratory of Biosafety National Institute for Viral Disease Control and Prevention Chinese Center for Disease Control and Prevention Beijing China Gansu Provincial Center for Disease Control and Prevention Lanzhou China National Center for AIDS/STD Control and Prevention China Center for Disease Control and Prevention Beijing China The People’s Liberation Army 302 Hospital Beijing China Clinical Research Institute Shanghai Jiao Tong University School of Medicine Shanghai China

Background Blastocystis hominis(Bh)is zoonotic parasitic pathogen with a high prevalent globally,causing opportunistic infections and diarrhea *** immunodeficiency virus(HIV)infection disrupts the immune system by depleting CD4^(+)T lymphocyte(CD4^(+)T)cell counts,thereby increasing Bh infection risk among persons living with HIV(PLWH).However,the precise association between Bh infection risk and HIV-related biological markers and treatment processes remains poorly ***,the purpose of the study was to explore the association between Bh infection risk and CD4^(+)T cell counts,HIV viral load(VL),and duration of interruption in antiviral therapy among *** A large-scale multi-center cross-sectional study was conducted in China from June 2020 to December *** genetic presence of Bh in fecal samples was detected by real-time fluorescence quantitative polymerase chain reaction,the CD4^(+)T cell counts in venous blood was measured using flowcytometry,and the HIV VL in serum was quantified using fluorescence-based *** cubic spline(RCS)was applied to assess the non-linear association between Bh infection risk and CD4^(+)T cell counts,HIV VL,and duration of interruption in highly active antiretroviral therapy(HARRT).Results A total of 1245 PLWH were enrolled in the study,the average age of PLWH was 43 years[interquartile range(IQR):33,52],with 452(36.3%)being female,50.4%(n=628)had no immunosuppression(CD4^(+)T cell counts>500 cells/μl),and 78.1%(n=972)achieved full virological suppression(HIV VL<50 copies/ml).Approximately 10.5%(n=131)of PLWH had *** prevalence of Bh was found to be 4.9%[95%confidence interval(CI):3.8-6.4%]among *** nonlinear associations were observed between the Bh infection risk and CD4^(+)T cell counts(Pfor nonlinearity<0.001,L-shaped),HIV VL(Pfor nonlinearity<0.001,inverted U-shaped),and duration of interruption in HARRT(Pfor nonlinearity<0.001,inverted U-shaped).Conclusions

关键词： Blastocystis hominis Human immunodeficiency virus Viral load Non-linear association Restricted cubic spline Propensity score China

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A Semi-Decentralized and Variational-Equilibrium-Based Trajectory Planner for Connected and Autonomous Vehicles 27

A Semi-Decentralized and Variational-Equilibrium-Based Traje...

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27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Liu, Zhengqin Lei, Jinlong Yi, Peng Tongji University Department of Control Science and Engineering Shanghai201804 China Tongii University Department of Control Science and Engineering Shanghai201804 China The Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201804 China Shanghai Institute of Intelligent Science and Technology Tongji University China

ISBN: (纸本)9798331505929

This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and autonomous vehicles (CAVs) is formulated as a game with coupled safety constraints. We then define interaction-fair trajectories and prove that they correspond to the variational equilibrium (VE) of this game. We propose a semi-decentralized planner for the vehicles to seek VE-based fair trajectories, which can significantly improve computational efficiency through parallel computing among CAVs and enhance the safety of planned trajectories by ensuring equilibrium concordance among CAVs. Finally, experimental results show the advantages of the approach, including fast computation speed, high scalability, equilibrium concordance, and safety. © 2024 IEEE.

关键词： Trajectories

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