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Time-varying formation tracking control of high-order multi-agent systems with multiple leaders and multiplicative noise

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Science China(Information Sciences) 2024年第12期67卷 191-207页

作者： Ruru JIA Xiaofeng ZONG Qing WANG College of Artificial Intelligence Nankai University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation Science and Electrical Engineering Beihang University

This work discusses the time-varying formation(TVF) tracking control problem of high-order multi-agent systems(MASs) with multiple leaders and multiplicative measurement noise. With the help of Lyapunov function tools and stochastic analysis methods, the TVF tracking protocol with multiple leaders and multiplicative noise is developed based on the relative state measurements, where followers are driven to realize the target TVF while tracking the convex combination formed by multiple leaders. Then, the TVF tracking problem is converted into the mean square asymptotic stability problem of a stochastic differential equation(SDE); sufficient conditions related to the control gains are given by stabilizing the corresponding stochastic system. Moreover, a TVF tracking algorithm is presented to outline the steps of protocol ***, the theoretical results are illustrated in terms of simulation examples.

关键词： multi-agent systems multiple leaders multiplicative measurement noise stochastic differential equation formation tracking control

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High-performance ratiometric luminescence thermometry based on NaYF4:Nd3+-Yb3+/NaYF4/NaYF4:Er3+-Yb3+ core/shell/shell nanoparticles

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Ceramics International 2025年第14期51卷 19623-19632页

作者： Shang, Fengkai Zhao, Cuijian Zhang, Tianheng Liu, Shujie Guo, Peng Wang, Yi Chen, Xin Yan, Changyu Hao, Xiaoting Xu, Wei Key Laboratory of Intelligent Perception for Agricultural Robots School of Mechanical and Electrical Engineering Shijiazhuang University Shijiazhuang050035 China School of Electrical Engineering Yanshan University Qinhuangdao066004 China Hebei Newway Electronic Technology Co. LTD Shijiazhuang050200 China

Luminescence thermometry, utilising light-emitting nanomaterials, plays a pivotal role in diverse applications. The methodology outlined in this work represents a important advancement in the design of high-performance ratiometric of novel photophysical mechanisms. In this study, a series of nanoparticles with varied structures, activated by Nd3+-Yb3+ and Er3+-Yb3+ systems, were synthesised, and the temperature dependence of their photoluminescence properties was systematically analysed. The findings reveal that, in addition to thermally enhanced energy transfer from Yb3+ to Nd3+, Nd3+ ions exhibit thermally reinforced absorption of red light emitted by Er³⁺, facilitated by phonons in NaYF4:Nd3+-Yb3+/NaYF4/NaYF4:Er3+-Yb3+ core/shell/shell nanoparticles. Consequently, the near-infrared and red emissions from Nd3+ and Er3+ ions demonstrate inverse thermal responses, enabling ratiometric thermometry. By exploiting this property, a high thermal sensitivity of up to 4.3 % K⁻1 was achieved, along with a low measurement uncertainty of approximately 0.1 K. Furthermore, the spatially separated architecture effectively inhibits energy transfer between Nd3+ and Er3+ ions, significantly enhancing their luminescence and thermometric performance. The methodology outlined in this work represents a significant advancement in the design of high-performance ratiometric luminescence thermal sensors. © 2025 Elsevier Ltd and Techna Group S.r.l.

关键词： Ytterbium compounds

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Process planning and contour-based error compensation for precision grinding of miniature scalpels

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先进制造进展（英文版） 2024年第1期12卷 108-123页

作者： Cheng Fan Cao-Yang Xue Jun Zhao Wei Jiang Wen-Ge Han Lei Zhang Li-Ning Sun Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electrical EngineeringSoochow UniversitySuzhou 215021JiangsuPeople's Republic of China Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical and Electrical EngineeringZhejiang UniversityHangzhou 310027People's Republic of China State Key Laboratory of Intelligent Equipment and Manufacturing School of Mechanical EngineeringZhejiang University of TechnologyHangzhou 310023People's Republic of China

Miniature scalpels are mainly used in microsur-geries such as ophthalmic and cardiovascular *** size of a miniature scalpel is only a few millimeters,and the precision of the blade shape is high,which makes pro-duction of miniature scalpels extremely *** study proposes a new sharpening process for grinding miniature scalpels on a four-axis machine tool.A post-processing algo-rithm for a four-axis grinding machine based on a kinemat-ics model is *** then propose a corresponding parameter calibration method for the parameters used in the kinematics *** of possible errors in the param-eter calibration,a contour-based error compensation method is proposed for accurate adjustments to the edge shape fol-lowing *** can solve the problem of large devia-tions between the actual edge shape after grinding and the ideal edge *** effectiveness of the proposed process planning and error compensation method is verified experi-mentally,and the grinding process parameters of the minia-ture scalpel are optimized to improve its surface processing *** sharpness of the optimized miniature scalpel is less than 0.75 N,and the blade shape is symmetrical,which meets the technical requirements of miniature scalpels.

关键词： Miniature scalpel Sharpening Kinematics Error compensation Grinding

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A multifunctional wavefront-modulated metasurface design

A multifunctional wavefront-modulated metasurface design

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2024 International Conference on Optoelectronic Materials and Devices, ICOMD 2024

作者： Ma, Tao Sun, Xuehong Liu, Liping Zhang, Yangpeng Liu, Hongshun School of Electronics and Electrical Engineering Ningxia University Yinchuan750021 China Key Laboratory of Information Intelligent Perception in Ningxia Desert Yinchuan750021 China

ISBN: (数字)9781510689046

ISBN: (纸本)9781510689039

Metasurface technology has attracted attention for its flexible control of electromagnetic waves. In this paper, a cross-coded metasurface design for terahertz bands is proposed for multifunctional beam control, including radar cross section reduction and holographic imaging. First, the best alignment structure for radar cross section reduction is obtained by genetic algorithm optimization;then, the GS algorithm is used to optimize in order to form the best alignment structure for holographic imaging. The test results show a radar cross section reduction of more than 10 dB in the frequency range of 0.78 to 1.19 THz, a relative bandwidth of 41.6%, and a wide angular stability from 0 to 45°. In addition, the holographic imaging effect successfully reproduces the original image. The utilization of this coding method provides an efficient and simple solution for multifunctional beam control, which has a wide range of application prospects. © 2025 SPIE.

关键词： Radar cross section

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Visual SLAM Algorithm Based on YOLOv5 in Dynamic Scenario

Visual SLAM Algorithm Based on YOLOv5 in Dynamic Scenario

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2023 China Automation Congress, CAC 2023

作者： Yang, Supeng Xu, Ao Li, Pengfei Chen, Mengyuan Du, Peng Shao, Kaili School of Electrical Engineering Anhui Polytechnic University Wuhu China Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Wuhu China

ISBN: (纸本)9798350303759

Aiming at the problem of inaccurate pose estimation caused by dynamic feature points produced by dynamic objects during the operation of traditional SLAM system, a visual SLAM algorithm based on YOLOv5 is proposed to identify environmental images, distinguish dynamic objects in the scene and eliminate their dynamic feature points, and then use the remaining static feature points to perform oppositional geometric constraints. Finally determine the pose transformation matrix to improve the accuracy of the system. In this paper, the published TUM dataset is used to carry out experiments, and the results show that the algorithm adopted in this paper improves the relative positioning results of SLAM system in common dynamic situations, and reduces the mean of the median range of relative position error (RPE) in the monocular mode of the original ORB-SLAM3 by 91.53%. Effectively improve the positioning accuracy of the system. © 2023 IEEE.

关键词： Dynamic environment Feature point elimination ORB-SLAM3 Visual SLAM YOLOv5

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Blind Source Separation Method Based on the Improved Whale Optimization Algorithm 42

Blind Source Separation Method Based on the Improved Whale O...

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42nd Chinese Control Conference, CCC 2023

作者： Wu, Chenzhi Li, Wei Qi, Yu Wang, Jing School of Electrical Engineering Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control for High-end Equipment Ministry of Education Wuhu China

ISBN: (纸本)9789887581543

In order to solve the problem of slow convergence and easy trapping in local optimum of traditional intelligent optimization algorithms in Blind Source Separation problem, a Blind Source Separation method based on the Improved Whale Optimization Algorithm is proposed. The objective function is constructed based on mutual information by the central limit theorem. During the population initialization phase of the Whale Optimization Algorithm, in this paper, the Chaotic reverse learning is adopted to make the initial population more discrete;and later in the iteration, the Levy flight strategy is introduced to enhance the global exploration ability of the algorithm. The global optimal solution derived from the Improved Whale Optimization Algorithm adaptively adjusts the step of ICA and thus achieves the separation of signals. According to the analysis of simulation results, the Improved Whale Optimization Algorithm is superior to the traditional optimization algorithms, with which the separation accuracy is better and the convergence speed is significantly improved. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Blind source separation

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A Localization Optimization Algorithm with Improved Feature Tracking Mechanism 38

A Localization Optimization Algorithm with Improved Feature ...

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38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023

作者： Cheng, Hao Gong, Guangqiang Chen, Mengyuan Guo, Xingrong Qian, Runbang Anhui Polytechnic University School of Electrical Engineering Wuhu China Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Wuhu China

ISBN: (纸本)9798350303636

Aiming at the traditional SLAM algorithm to extract the matching time consuming, which makes it difficult to run in real time, this paper proposes a fast SLAM algorithm with improved tracking method. The algorithm introduces the tracking decision of fusion of feature and optical flow, filters the input frames first, classifies different frames into feature frames and optical flow frames, extracts feature points only in feature frames, and tracks the points in feature frames in optical flow frames, which avoids time-consuming matching and improves the real-time performance of the algorithm;in the time-sharing asynchronous tracking session, feature tracking and bidirectional optical flow tracking are performed for the classified feature frames and optical flow frames respectively. The test results in the publicly available TUM dataset show that the algorithm of this paper has better advantages in real-time performance and adaptability to the environment. © 2023 IEEE.

关键词： feature matching optical flow tracking real-time SLAM

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RGBD-SLAM Algorithm Based on Semantic Segmentation and Background Restoration in Dynamic Scenes 38

RGBD-SLAM Algorithm Based on Semantic Segmentation and Backg...

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38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023

作者： Guo, Hangrong Qian, Runbang Chen, Mengyuan Gong, Guangqiang Cheng, Hao AnHui Polytechnic University School of Electrical Engineering Wuhu China Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Wuhu China

ISBN: (纸本)9798350303636

To address the problem that RGBD-SLAM algorithm is difficult to effectively identify dynamic objects affecting trajectory accuracy in dynamic scenarios, improved a novel RGBD-SLAM algorithm based on Semantic segmentation and Background repair in dynamic scenarios (ISB-SLAM). This algorithm accurately marks potential dynamic objects by designing a semantic analysis module with a fusion of class embedding, decoder and patch coding to analyze the global linkage of the marked target regions and also output the analyzed target regions in categories. To reduce the impact of dynamic objects on the localization accuracy of the SLAM system, dynamic objects are judged and eliminated by multi-view geometry. The static background of the rejection region is complemented according to the multi-frame grid mapping method, which provides good feature information for SLAM map building. The experimental results show that the algorithm improves the trajectory accuracy and has a good composition capability in the public datasets TUM and BONN. © 2023 IEEE.

关键词： dynamic objects feature extraction semantic segmentation SLAM

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A Visual SLAM Algorithm Based on Instance Segmentation and Background Inpainting in Dynamic Scenes 38

A Visual SLAM Algorithm Based on Instance Segmentation and B...

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38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023

作者： Qian, Runbang Guo, Hangrong Chen, Mengyuan Gong, Guangqiang Cheng, Hao AnHui Polytechnic University School of Electrical Engineering Wuhu China Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Wuhu China

ISBN: (纸本)9798350303636

Traditional SLAM algorithms are difficult to efficiently match feature points in dynamic scenes, which therefore directly affects trajectory accuracy. Therefore, a visual SLAM algorithm based on instance segmentation and background inpainting in dynamic scenes(IDV-SLAM) is proposed. This algorithm firstly designs a LaS-FPN module to increase the feature learning ratio of large objects, thereby accurately marking potential dynamic objects. We also apply multi-view geometry method to remove dynamic points to reduce the impact of dynamic objects on the positioning accuracy of the SLAM system. According to the optimal grid mapping method, the static background of the culling area is completed, and the ORB features are extracted for feature matching. We use the public TUM dataset to evaluate our algorithm, and the experimental results show that the our algorithm in this paper improves the trajectory accuracy and has better composition ability. © 2023 IEEE.

关键词： background inpainting dynamic objects instance segmentation SLAM

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Adaptive Fixed-Time Synchronization of Delayed Memristor-Based Neural Networks with Discontinuous Activations

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Computer Modeling in engineering & Sciences 2023年第1期134卷 221-239页

作者： Tianyuan Jia Xiangyong Chen Xiurong Yao Feng Zhao Jianlong Qiu School of Automation and Electrical Engineering and Key Laboratory of Complex Systems and Intelligent Computing in Universities of ShandongLinyi UniversityLinyi276005China The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems and School of AutomationChina University of GeosciencesWuhan430074China

Fixed-time synchronization(FTS)of delayed memristor-based neural networks(MNNs)with discontinuous activations is studied in this *** continuous and discontinuous activations are considered *** the mixed delays which are closer to reality are taken into the ***,two kinds of control schemes are proposed,including feedback and adaptive control *** on some lemmas,mathematical inequalities and the designed controllers,a few synchronization criteria are ***,the upper bound of settling time(ST)which is independent of the initial values is ***,the feasibility of our theory is attested by simulation examples.

关键词： Memristor-based neural networks fixed-time synchronization mixed delays discontinuous activations adaptive control

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