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6th International Conference on Industrial Artificial Intelligence, IAI 2024

作者： Zhang, Xin-Kai Li, Ji-Gong Yang, Jing School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin Tianjin China School of Information Technology Engineering Tianjin University of Technology and Education Tianjin China

ISBN: (纸本)9798350356618

Toxic/hazardous gas leaks seriously jeopardize public safety and the ecological environment, and how to utilize drones with on-board gas sensors to quickly detect gas plumes at an early stage of a gas leak and take timely measures can effectively prevent the expansion of the accident. Traditional plume finding methods have the disadvantages of poor targeting, long search times, and repeated exploration in some areas. In view of this, this paper proposes a method of plume finding with frontier-based planner, where a heuristic function is designed to select optimal observation points and thus plan path to search plume. Here an air-mass path model is constructed to estimate the region that would likely be observed by the UAV at a candidate observation site on the frontier, and the area of the unknown part in the region is considered as the environmental exploration gain. The change in flight direction and the distance traveled by the UAV are used as environmental exploration costs when it will fly from its current pose to the candidate observation site. Simulation results show that the proposed frontier-based exploration method for plume finding has good performance in odor source localization tasks in outdoor environments. © 2024 IEEE.

关键词： Direct air capture

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Forming limit and failure behavior of fiber metal laminates under low-constraint conditions

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Chinese Journal of Aeronautics 2025年第1期38卷 638-653页

作者： Yao WANG Feng DING Yong LI Yunhua ZHANG Sifa ZHENG Libin ZHAO Ning HU School of Mechanical Engineering Hebei University of TechnologyTianjin 300401China Suzhou Automotive Research Institute(Xiangcheng) Tsinghua UniversitySuzhou 215134China State Key Laboratory of Reliability and Intelligence Electrical Equipment Hebei University of TechnologyTianjin 300130China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Henan Benjie Technology Co. Ltd.Zhengzhou 450003China Key Laboratory of Advanced Intelligent Protective Equipment Technology Ministry of EducationTianjin 300401China Key Laboratory of Hebei Province on Scale-span Intelligent Equipment Technology Hebei University of TechnologyTianjin 300401China

Fiber Metal Laminates(FMLs),as high-performance composite materials,demonstrate exceptional potential in a wide range of applications,such as aeronautical and astronautical ***,the traditional cured FMLs possess complex interlayer stresses and low forming limits,restricting further promotion and application of ***-constraint FMLs exhibit a lower forming resistance and better formability due to no curing during the forming process;however,the formation mechanism and response are not *** paper presents the Forming Limit Diagram(FLD)of low-constraint GLARE(glass fiber reinforced aluminum laminates)based on the forming limit test,and compares it with the conventionally cured laminates to evaluate the differences in the forming *** addition,combined with the analysis of failure mechanism and micro-deformation mechanism of specimens,the influence of different temperatures(20–80℃)and forming states(width)on the deformation performance of laminates is further *** results reveal that the forming limit curve of low-constraint laminates shifts up with the increase of temperature,the forming limit initially increases with the increase of width,then followed by a gradual decrease,and the maximum principal strain of low-constraint laminates is increased by 29% at 80℃ compared to 20℃.The cured laminate has a principal strain range of 0–0.02,while the low-constraint laminates have a principal strain range of 0.03–*** with cured laminates,low-constraint laminates possess a higher forming limit due to the improvement in deformable degree between layers by resin flow and fiber slippage,which enhances their *** study is expected to serve as a reference for establishing forming limit criteria and optimizing forming schemes for low-constraint laminates.

关键词： Fiber Metal Laminates(FMLs) GLARE Low-constraint state Forming limit Failure mechanism

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Air-Ground Collaborative control for Angle-Specified Heterogeneous Formations

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年 1-13页

作者： Chen, Liangming Xiao, Jiaping Teo, Clarence Wei Rui Li, Jianqing Feroskhan, Mir School of System Design and Intelligent Manufacturing and Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China school of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Singapore College of Communication Engineering Hangzhou Dianzi University Hangzhou China

The need for better search and rescue capabilities has led to the increased demand for collaborative aerial-ground multi-robot deployments. However, most existing solutions require high communication bandwidth or bulky sensor equipment that is not suitable especially for aerial robots. To make the execution of these tasks more efficient, this paper proposes an angle-specified heterogeneous leader-follower formation framework consisting of unmanned aerial vehicles (UAVs) flying in a 3D space and ground robots moving in a 2D plane. The UAVs are controlled to maintain a desired angle-specified formation with the first three UAVs as the leaders forming a triangular shape and the remaining UAVs as the followers. The follower UAVs only need direction measurements to track the leader UAVs. For the ground robots, two leader robots track the UAV group and determine the orientation and scale of the ground formation, while the follower robots track the leader robots using only direction measurements. The proposed heterogeneous formation framework is energy-efficient as most robots only require low-cost and lightweight direction measurements. The stability of the proposed formation control algorithms is proved and validated through various physical application experiments. IEEE

关键词： Multi agent systems

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Modeling of the Constant-Current Stimuli Response of a Bio-Robot for Long-Term Motion control

Modeling of the Constant-Current Stimuli Response of a Bio-R...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhou, Jie Fang, Yuan Chen, Yang Li, Yao Li, Bing Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China

ISBN: (纸本)9781665481090

Bio-robots continue to receive attention because of their small size and low power consumption. Unfortunately, it currently faces two major obstacles before practical application. The first is the habituation issue, insects are difficult to be effectively controlled for a long time by electrical stimuli signals. The other one is the lack of model for motion control. In this research, we established a stimuli-response model for cockroach bio-robot based on long time current. A more convenient optic lobe implantation method has been proposed, which has lower attenuation and better stimuli effect. Constant electrical stimuli also significantly increased the number of effective controls for crawling. A cockroach bio-robot stimuli distance response model was established and validated with experiment data. Five parameters were including in this model, namely sex, length, weight, current amplitude and equivalent stiumated-number. This model can predict the movement distance of biological robots well. © 2024 IEEE.

关键词： Microrobots

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Pedestrian object detection algorithm based on lightweight YOLOv7 in complex street scenarios

Pedestrian object detection algorithm based on lightweight Y...

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2023 International Conference on Algorithm, Imaging Processing, and Machine Vision, AIPMV 2023

作者： Cheng, Shangqi Niu, Hongxia Key Laboratory of Opt-Electronic Technology and Intelligent Control of Ministry of Education Lanzhou Jiaotong University Lanzhou730070 China Key Laboratory of Plateau Traffic Information Engineering and Control of Gansu Province Lanzhou730070 China School of Automation and Electrical Engineering Lanzhou Jiaotong University Lanzhou730070 China

ISBN: (纸本)9781510672444

In view of the problems of excessive parameter setting and large calculation of YOLOv7 in pedestrian object detection in complex street scenarios, this paper proposes a lightweight method to improve YOLOv7 algorithm. Under the YOLOv7 framework, Partial Convolution (PConv) is integrated into the convolution of the original algorithm, replacing part of the convolution in the original convolution layer, and the SEAttention attention module is introduced to ensure the detection accuracy of the lightweight algorithm. The experimental results on the home-made data set show that, compared with the original YOLOv7 algorithm, the number of model parameters decreased by 11.0% in the improved YOLOv7 algorithm, and the algorithm calculation volume decreased by 19.4%, while ensuring the high accuracy of the original YOLOv7 algorithm. In this paper, the algorithm reduces the number of parameters and calculations, and achieves the balance of lightweight and accuracy. © 2024 SPIE.

关键词： Convolution

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HarmonyNav: Robot Navigation in Human-Robot Coexistence Environment Considering Group and Pedestrian Intentions

HarmonyNav: Robot Navigation in Human-Robot Coexistence Envi...

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2024 Jiangsu Annual Conference on automation, JACA 2024

作者： Wang, Yutao Fang, Fang Liu, Chenyang Fan, Tao Li, Yi The Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

Service robots must navigate efficiently and harmoniously in human-robot coexistence environments. Previous studies often treated pedestrians as independent entities, ignoring human intentions and leading to group intersections and performance issues. We introduce HarmonyNav, a crowd navigation algorithm that enhances human-robot harmony. Our method uses Human-Robot Interaction sub-networks to account for indirect group impacts on pedestrians and predicts pedestrian trajectories to infer intentions. Employing proximal policy optimization (PPO) in reinforcement learning, we develop a harmonious navigation policy. In simulation experiments, our results show improved navigation performance, reducing group intersections and individual intrusions. © The Institution of Engineering & Technology 2024.

关键词： Reinforcement learning

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Spatiotemporal evolution laws of sector-shaped dielectric-barrier-discharge plasma actuator

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Plasma Science and Technology 2024年第10期26卷 108-115页

作者： Borui ZHENG Jianbo ZHANG Shaojie QI Jianghua XU Yiche LI Yuanzhong JIN Dongliang BIAN School of Automation and Information Engineering Xi’an University of TechnologyXi’an 710048People’s Republic of China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an 710048People’s Republic of China School of Mechanical and Precision Instrument Engineering Xi’an University of TechnologyXi’an 710048People’s Republic of China Science and Technology on Plasma Dynamics Laboratory Air Force Engineering UniversityXi’an 710038People’s Republic of China

Dielectric barrier discharge(DBD)plasma actuators are widely used in active flow control due to their simple design and rapid ***,they need more effectiveness and discharge *** overcome these limitations,a sector-shaped dielectric barrier discharge(SS-DBD)plasma actuator with an adjustable jet angle was developed to enhance flow control *** flow field dynamics induced by the SS-DBD plasma actuator were quantitatively analyzed using particle image velocimetry(PIV).Experimental investigations showed that precise adjustments to the actuation voltage can modulate the maximum velocity of the induced ***,a quasi-linear relationship between the sector-shaped angles of the SS-DBD and the deflected jet angles was established,indicating that changes in the sector-shaped angles directly influence the direction of the deflected *** correlation enables precise control over jet angles,significantly enhancing flow control by adjusting the SS-DBD-PA's sector-shaped angle.

关键词： plasma flow control plasma actuator particle image velocimetry

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Dynamic Blockchain-Empowered Trustworthy End-Edge Collaborative Computing via Rotating Multi-Agent DRL

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IEEE Transactions on Wireless Communications 2025年第6期24卷 4864-4878页

作者： Xu, Chi Zhang, Peifeng Yu, Haibin Li, Yonghui Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China University of Chinese Academy of Sciences Beijing China University of Sydney School of Electrical and Information Engineering Sydney Australia

Blockchain-empowered end-edge collaborative computing is a promising technology for enhancing the timeliness and trustworthiness of Industrial Internet of Things (IIoT). However, integrating task offloading with blockchain consensus inevitably escalates resource consumption across communication, computation, and energy domains. Thus, the joint optimization of task offloading, resource allocation and blockchain consensus is very important for IIoT. This paper studies a general end-edge collaborative computing scenario with multiple end devices and multiple edge servers. We first propose a novel dynamic blockchain (DBC) scheme by developing a dynamic leader election mechanism and designing a dynamic consensus waiting time window. Then, by fully considering the constraints of multi-task size and deadline, communication bandwidth, computing frequency, battery capacity, Byzantine fault tolerant and trustworthiness, we formulate the trustworthy processing efficiency (TPE) maximization problem with respect to end-edge task division, communication and computation resource allocation, leader election and consensus waiting window. To address this problem, we transform it into a Markov decision process and design a compound reward by fully considering the penalty for computing timeout and consensus failure. After that, we propose a rotating multi-agent deep reinforcement learning (R-MADRL) algorithm tailored to the proposed DBC scheme, where an entropy-based dual-critic DRL algorithm is proposed for rotating multi-agent training and decentralized execution. Extensive experiments validate the effectiveness and superiority of the proposed DBC with R-MADRL, where three benchmark DRL algorithms and three blockchain consensus schemes are compared. The results demonstrate that R-MADRL achieves stable convergence with more than 60.32% TPE reward than other algorithms while the task timeout ratio of DBC is reduced by more than 66.49% compared with other schemes. © 2025 Institute of El

关键词： Markov processes

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Time-scheduled observer design for switched linear systems with unknown inputs

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Science China(Information Sciences) 2022年第7期65卷 265-266页

作者： Shuang SHI Zhongyang FEI Xudong ZHAO College of Automation Engineering Nanjing University of Aeronautics and Astronautics Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology

Dear editor, Since uncertain disturbance, actuator faults and unmodeled dynamics can all be viewed as unknown inputs in various practical systems, the issue of unknown input observer design is of great significance. Meanwhile, switched systems have attracted extensive attention, which are prevailingly motivated by superior capabilities in modeling numerous practical systems possessing switching characteristics. Recently, the state observation for switched systems with unknown inputs has attracted considerable attention [1–5].

关键词： switched linear systems unknown inputs admissible edge-dependent average dwell-time multiple discontinuous Lyapunov-like functions observer design

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Pressure stimulated current in progressive failure process of combined coal-rock under uniaxial compression:Response and mechanism

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International Journal of Mining Science and Technology 2024年第2期34卷 227-243页

作者： Tiancheng Shan Zhonghui Li Xin Zhang Haishan Jia Xiaoran Wang Enyuan Wang Yue Niu Dong Chen Weichen Sun Dongming Wang State Key Laboratory of Coal Mine Disaster Prevention and Control China University of Mining and TechnologyXuzhou 221116China National Engineering Research Center for Coal Gas Control China University of Mining and TechnologyXuzhou 221116China School of Safety Engineering China University of Mining and TechnologyXuzhou 221116China State Key Laboratory for Fine Exploration and Intelligent Development of Coal Resources China University of Mining and TechnologyXuzhou 221116China State Key Laboratory of Intelligent Construction and Healthy Operation and Maintenance of Deep Underground Engineering China University of Mining and TechnologyXuzhou 221116China

Effective monitoring of the structural health of combined coal-rock under complex geological conditions by pressure stimulated currents(PSCs)has great potential for the understanding of dynamic disasters in underground *** reveal the effect of this way,the uniaxial compression experiments with PSC monitoring were conducted on three types of coal-rock combination samples with different strength *** mechanism explanation of PSCs are investigated by resistivity test,atomic force microscopy(AFM)and computed tomography(CT)methods,and a PSC flow model based on progressive failure process is *** influence of strength combinations on PSCs in the progressive failure process are *** results show the PSC responses between rock part,coal part and the two components are different,which are affected by multi-scale fracture characteristics and electrical *** the rock strength decreases,the progressive failure process changes obviously with the influence range of interface constraint effect decreasing,resulting in the different responses of PSC strength and direction in different parts to fracture *** PSC flow model is initially validated by the relationship between the accumulated charges of different *** results are expected to provide a new reference and method for mining design and roadway quality assessment.

关键词： Combined coal-rock Pressure stimulated current Progressive failure process Mechanism Flow model

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