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IEEE Transactions on intelligent Vehicles 2024年第5期9卷 4826-4830页

作者： Jingqiu Guo Long Chen Lingxi Li Xiaoxiang Na Ljubo Vlacic Fei-Yue Wang Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Purdue School of Engineering and Technology Indiana University–Purdue University Indianapolis (IUPUI) Indianapolis IN USA Department of Engineering University of Cambridge Cambridge U.K. Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith University Nathan QLD Australia State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Engineering Macau University of Science and Technology Macau China

Advanced Air Mobility (AAM) envisages a sustainable, safe, convenient, and affordable air transport system. In socio-technical transition of AAM, there are a number of trade-offs in ecosystem that need to be studied. Three perspectives on economic feasibility are explored: first, based on history of VTOL services and value of time estimates, we discuss whether AAM can provide customers with competitive mobility services; second, what are the stakeholders’ insights on the deployment of AAM; last, the experience in the development of autonomous driving technology, such as parallel intelligence, can inform future AAM research.

关键词： Active appearance model Costs Economics Transportation Helicopters Aircraft propulsion Public transportation

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Cooperative transportation control of multiple mobile manipulators through distributed optimization

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Science China. Information Sciences 2018年第12期61卷 120201-1--120201-1--120201-17页

作者： Chen Jie Kai Shixiong School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex SystemsMOE Beijing 100081

This paper investigates the problem of distributed control of multiple redundant mobile manipulators to collectively transport an object tracking a desired trajectory with energy and manipulability optimized. To solve this optimization problem, formation control tasks are introduced as equality constraints with the variables being the velocities. In this paper, we propose a distributed proximal gradient algorithm searching for the optimal solution, with which the stability of the closed-loop system is proved. Simulations demonstrate the effectiveness of the proposed distributed optimization scheme and proximal algorithm.

关键词： multiple mobile manipulators cooperative transportation control motion planning energy and manipulability distributed optimization

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Integrated 3-D Flight Trajectory Tracking control with Aerodynamic Constraints on Attitude and control Surfaces

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Asian Journal of control 2017年第5期20卷

作者： Xueyuan Wang Hao Fang Lihua Dou Jie Chen Bin Xin Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

In this paper, a new 3-D trajectory tracking problem for an uncertain high fidelity six-degree-of-freedom (6-DOF) aerodynamic system is considered. Instead of designing controllers for each subsystem separately, an integrated trajectory tracking control algorithm is proposed to exploit beneficial relationships among interacting subsystems. The high-order aerodynamic model is first transformed into a quasi-strict-feedback form. Then, backstepping technique is utilized to resolve the coupling effect problem of three control channels resulting from the bank-to-turn (BTT) control mode. In addition, command filters are introduced to handle state and actuator constraints caused by the physical limitations and the coordinated turn requirement. Furthermore, the uncertain aerodynamic force and moment coefficients are reconstructed by using the B-spline neural network approximation and adaptive learning approaches. With Lyapunov stability analysis, all the states in the closed-loop system are shown to be semi-globally uniformly ultimately bounded (SUUB), and the tracking errors will asymptotically converge into a small compact set around zero by properly adjusting the control parameters. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed algorithm.

关键词： Trajectory tracking high-order nonlinear system backstepping B-spline neural network

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The 110kV Live-Maintaining Robot control system Design for Substation Equipment in complex Working Conditions 42

The 110kV Live-Maintaining Robot Control System Design for S...

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42nd Chinese control Conference, CCC 2023

作者： Hu, Chenyu Chen, Xin Li, Chengyu Huang, Guangxian Zhou, Cheng Jian, Xu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China School of Future Technology China University of Geosciences Wuhan430074 China State Grid Hubei Electric Power Co. Ltd. Xianning Power Supply Company Distribution Department Xianning437000 China State Grid Hubei Electric Power Co. Ltd Operations and Maintenance Department Xianning xian'An District Power Supply Company Xianning437000 China Equipment Technology Center State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Wuhan430077 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789887581543

Live-maintaining work is essential for continuous power supply to the substation. To improve the safety and efficiency of live-maintaining work, this paper proposes an equipotential live-maintaining robot system suitable for 110kV voltage levels. Considering the narrow space, complex working conditions and strong electromagnetic interference in substations, binocular vision technology, manipulator trajectory planning algorithm based on time-energy optimization, high voltage electromagnetic shielding technology are utilized to develop the system, and the live-maintaining robot is successfully applied in actual substation. By accurately identifying and locating the joint bolts and insulator, the robot system can achieve equipotential live-disassemble, live-assemble the joint bolts within 18 minutes and live-clean insulator within 5 minutes, demonstrating its the effectiveness and practicability. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Electromagnetic pulse

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S$^{\text{4}}$TP: Social-Suitable and Safety-Sensitive Trajectory Planning for Autonomous Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2023年第2期9卷 3220-3231页

作者： Xiao Wang Ke Tang Xingyuan Dai Jintao Xu Quancheng Du Rui Ai Yuxiao Wang Weihao Gu Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei China Haomo Technology Company Ltd. Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

In public roads, autonomous vehicles (AVs) face the challenge of frequent interactions with human-driven vehicles (HDVs), which render uncertain driving behavior due to varying social characteristics among humans. To effectively assess the risks prevailing in the vicinity of AVs in social interactive traffic scenarios and achieve safe autonomous driving, this article proposes a social-suitable and safety-sensitive trajectory planning (S $^{\text{4}}$ TP) framework. Specifically, S $^{\text{4}}$ TP integrates the Social-Aware Trajectory Prediction (SATP) and Social-Aware Driving Risk Field (SADRF) modules. SATP utilizes Transformers to effectively encode the driving scene and incorporates an AV's planned trajectory during the prediction decoding process. SADRF assesses the expected surrounding risk degrees during AVs-HDVs interactions, each with different social characteristics, visualized as two-dimensional heat maps centered on the AV. SADRF models the driving intentions of the surrounding HDVs and predicts trajectories based on the representation of vehicular interactions. S $^{\text{4}}$ TP employs an optimization-based approach for motion planning, utilizing the predicted HDVs' trajectories as input. With the integration of SADRF, S $^{\text{4}}$ TP executes real-time online optimization of the planned trajectory of AV within low-risk regions, thus improving the safety and the interpretability of the planned trajectory. We have conducted comprehensive tests of the proposed method using the SMARTS simulator. Experimental results in complex social scenarios, such as unprotected left-turn intersections, merging, cruising, and overtaking, validate the superiority of our proposed S $^{\text{4}}$ TP in terms of safety and rationality. S $^{\text{4}}$ TP achieves a pass rate of 100% across all scenarios, surpassing the current state-of-the-art methods Fanta of 98.25% and Predictive-decision of 94.75%.

关键词： Trajectory Safety Vehicles Trajectory planning Autonomous vehicles Risk management Behavioral sciences

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Bionic Geomagnetic Navigation for Autonomous Underwater Vehicle with Temporal Attention-based Data-Driven Dead Reckoning

TechRxiv

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TechRxiv 2023年

作者： Yang, Songnan Zhang, Xiaohui Liu, Ding Bai, Wenqi Liu, Fan The School of Automation and Information Engineering Xi’an University of Technology Shaanxi 710048 China The Institute of Advanced Navigation and Electromagnetics Xi’an University of Technology Shaanxi 710048 China The State Key Laboratory of Eco-Hydraulics in the Northwest Arid Region of China Xi’an University of Technology Shaanxi 710048 China The Shaanxi Key Laboratory of Complex System Control with the Intelligent Information Processing Xi’an University of Technology Shaanxi 710048 China

Numerous studies have demonstrated that numerous animal species are capable of goal-directed navigation using environmental information for dead reckoning. The stable magnetic field of the earth provides important information for the migration of animals over long distances. Inspired by the goal-directed navigation of animals, a novel Geomagnetic Navigation with Temporal Attention-based Data-Driven Dead Reckoning (Attention-DR) method for Autonomous Underwater Vehicles (AUV) is presented in this article, which only utilizes the inclination angle (I) and the declination angle (D) of the Geomagnetic Field (GF) for underwater navigation without any prior knowledge of the geographical location or geographic map. This article proposes a Temporal Attention-based Long Short-Term Memory (TA-LSTM) neural network by combining history, GF information, and location in time series to achieve the optimization heading angle of underwater dead reckoning. Due to its ability to adjust the utilization weights of local and global temporal information in the path, TA-LSTM possesses the capability to continually update neural network model parameters through a data-driven process during the navigation process. This enables the Attention-DR to achieve efficient navigation in regions without prior magnetic maps and overcome navigation failures caused by magnetic field anomalies. The simulation outcomes confirm the efficiency, precision, and practicability of the proposed algorithm. © 2023, CC BY.

关键词： Navigation

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New Sensing Technologies for Monitoring Machinery,Structures,and Manufacturing Processes

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Journal of Dynamics, Monitoring and Diagnostics 2023年第2期2卷 69-88页

作者： JDMD Editorial Office Zhaoyan Fan Robert X.Gao Qingbo He Yi Huang Tianxi Jiang Zhike Peng Luc Thévenaz Yuyong Xiong Shuncong Zhong Editorial Office of JDMD Chongqing University of TechnologyChongqingPeople’s Republic of China Department of Mechanical Industrialand Manufacturing EngineeringOregon State UniversityCorvallisORUSA Department of Mechanical and Aerospace Engineering Case Western Reserve UniversityClevelandOHUSA State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghaiPeople’s Republic of China Fujian Provincial Key Laboratory of Terahertz Functional Devices and Intelligent Sensing School of Mechanical Engineering and AutomationFuzhou UniversityFuzhouPeople’s Republic of China Institute of Precision Instrument and Intelligent Measurement&Control Fuzhou UniversityFuzhouPeople’s Republic of China School of Mechanical Engineering Ningxia UniversityYinchuanPeople’s Republic of China EPFL Ecole Polytechnique Fédérale de Lausanne Group for Fibre OpticsSCI-STI-LT Station 111015 LausanneSwitzerland

Sensing is the fundamental technique for sensor data acquisition in monitoring the operation condition of the machinery,structures,and manufacturing *** this paper,we briefly discuss the general idea and advances of various new sensing technologies,including multiphysics sensing,smart materials and metamaterials sensing,microwave sensing,fiber optic sensors,and terahertz sensing,for measuring vibration,deformation,strain,acoustics,temperature,spectroscopic,*** on the observations from the state of the art,we provide comprehensive discussions on the possible opportunities and challenges of these new sensing technologies so as to steer future development.

关键词： fiber optic sensor metamaterials sensing microwave sensing multiphysics sensing terahertz sensing

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An Adaptive Federated control Strategy for Participant Selection in Multi-Client Collaboration

An Adaptive Federated Control Strategy for Participant Selec...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Yizhu Chen Xiaoming Du Xiao Wang Jun Jason Zhang Fei-Yue Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China School of Economics and Management University of Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China School of Electrical Engineering and Automation Wuhan University Wuhan China

The federated ecology provides a new paradigm for breaking the isolated data island problem and fully activating the potential of big data and artificial intelligence, especially in multi-client collaboration tasks. Participant selection strategy in multi-client collaboration is the main limitation for increasing the convergence speed and lowing the communication costs. However, in the face of the unbalanced and non-IID data distributions, the performance of federated optimization algorithms will also decrease. To solve the above problems, we propose an adaptive federated control strategy for participant selection in multi-client collaboration based on the Mann-Kendall test, named FedMK. By adaptively selecting weak participants for training rather than random selection, FedMK can speed up model convergence and reduce communication costs. Experiment results show that our method outperforms the baseline method in non-IID scenarios, and the number of communication rounds on CIFAR-10 and synthetic datasets reduced by more than 15% and 10 %,9 respectively.

关键词： Training Adaptation models Costs Biological system modeling Collaboration Optimization methods Ecology

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Parallel Building Process Management system

Parallel Building Process Management System

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Chinese automation Congress (CAC)

作者： Sheng Liu Xisong Dong Gang Xiong Zhen Shen Bin Hu Xiaoyu Chen State Key Laboratory for Management and Control of Complex System Institute of Automation Chinese Academy of Sciences Beijing China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China Institution of Intelligent Manufacturing Qingdao Academy of Intelligent Industries Qingdao China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426480

With the development of industrialized building and intelligence technology, it becomes necessary and possible to realize building process intelligence management. In recent years, digital twins and parallel management get more and more attentions in academic research and industrial applications. This paper addresses how parallel building system performs intelligence management on industrialized building process. Firstly, actual building model and artificial building model are created according to actual building system. Then business driving engine and simulation engine drive actual building model and artificial building model, respectively. Participants receive and send messages by software interfaces. Business driving engine changes the status of actual building model and sends the changes to simulation engine. Simulation engine updates the status of artificial building model and runs artificial building model with various parameters. Then it sends the parameter with the best effect to business driving engine. Business driving engine sends recommendations to participants according to the best parameter. Thus, building process intelligence management is achieved.

关键词： automation Digital twin Buildings User interfaces Software Engines Business

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A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipulator for Remote Operating in Narrow Spaces

A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipula...

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Mingrui Luo Yunong Tian En Li Minghao Chen Cunfeng Kang Guodong Yang Min Tan School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Engineering Laboratory of Industrial Vision and Intelligent Equipment Technology Chinese Academy of Sciences Beijing China Beijing-University of Technology Beijing China

Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant manipulator (C-CDHRM) with great slenderness and flexibility. In terms of mechanism design, it considers both compactness and operability. By imitating the structure and behavior of a constricting snake, it can be uncoiled sequentially from a coiled storage state, led by the head. In terms of control methods, we propose a multi-layer control system that can make remote operations more accurate and reliable. On the one hand, guiding, segmenting, and following the path overcome the planning ambiguity caused by redundancy. On the other hand, conduit transmission modeling and cable length correction overcome the nonlinear mapping of cable-driven joints and were verified in experiments. Through tests, the mobile integrated system composed of C-CDHRM has an excellent performance in operation precision and accuracy, ensuring safety and accessibility in narrow spaces. Finally, in field experiments, the inspection and cleaning of various types of electrical equipment have been successfully completed, showing excellent application prospects.

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