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6th International Conference on Industrial Artificial Intelligence, IAI 2024

作者： Yang, Yong He, Dingxin Mao, Huantao Chen, Hong Wu, Hongtao Liu, Zhi-Wei Huazhong University of Science and Technology School of Artificial Intelligence and Automation China Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan430074 China

ISBN: (纸本)9798350356618

This study addresses the complexities of orchestrating multi-target transportation tasks within multi-agent systems, constrained by load capacity. The primary objective is to engineer an advanced path planning framework that assures collision avoidance and optimal load distribution. Diverging from conventional single-path strategies, this research incorporates load factors and requires continuous dynamic multi-target point and path planning to ensure agents can efficiently navigate through a series of predetermined key points. To address this complex requirement, a two-stage multi-agent task allocation and path planning method is proposed. First, an initial solution is obtained using a suboptimal algorithm, followed by optimization iterations using the large neighborhood search algorithm to improve task allocation. In the second stage, an accelerated algorithm based on priority search is used to plan optimal paths for each agent in a predetermined order. The proposed algorithm's effectiveness is comprehensively evaluated through a series of experimental evaluations and comparisons with the commercial solver Gurobi within a limited time. The results show that the proposed method achieves optimality in both running time and minimum path cost while ensuring the load balance of agents. © 2024 IEEE.

关键词： Motion planning

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Transmission-Constrained Consensus of Multiagent Networks

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IEEE Transactions on control of Network Systems 2023年第3期10卷 1484-1495页

作者： Wang, Xiaotian Su, Housheng Huazhong University of Science and Technology School of Artificial Intelligence and Automation Hubei430074 China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan430074 China

This article studies the consensus problem for multiagent systems with transmission constraints. A novel model of multiagent systems is proposed where the information transmissions between agents are disturbed by irregular distortions or interferences (named transmission constraint functions), and this model is universal which can be applied in many cases, such as interval consensus and discarded consensus. In the transmission-constrained consensus problem, we obtain the necessary and sufficient condition that agents can converge to state consensus. Furthermore, a more general case is studied in which the system reaches an equilibrium. Based on some techniques of stability theory, the existence, uniqueness, and stability of the system equilibrium point can be proven, which means the system can reach an asymptotically stable equilibrium. Moreover, the state values of the equilibrium are only decided by the network structure and transmission constraint functions but not the agents' initial states. Finally, numerical simulations are presented to illustrate the proposed theorems and corollaries. © 2014 IEEE.

关键词： Multi agent systems

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Modeling and Experimental Study of an Open Two-Phase Loop Driven by Osmotic Pressure and Capillary Force

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Frontiers in Heat and Mass Transfer 2025年第1期23卷 55-70页

作者： Hanli Bi Zheng Peng Chenpeng Liu Zhichao Jia Guoguang Li Yuandong Guo Hongxing Zhang Jianyin Miao National Key Laboratory of SpacecraftThermal Control Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing100094China School of Aeronautical Science and Engineering Beihang UniversityBeijing100083China School of Energy and Environment Engineering University of Science and Technology BeijingBeijing100083China

As space technology advances,thermal control systems must effectively collect and dissipate heat from distributed,multi-source *** heat pipe is a highly reliable two-phase heat transfer component,but it has several limitations when addressing multi-source heat *** by the transport and heat dissipation system of plants,large trees achieve stable and efficient liquid supply under the influence of two driving forces:capillary force during transpiration in the leaves(pull)and root pressure generated by osmotic pressure in the roots(push).The root pressure provides an effective liquid supply with a driving force exceeding 2 MPa,far greater than the driving force in conventional capillary-pumped two-phase *** has shown that osmotic heat pipes offer a powerful driving force,and combining osmotic pressure with capillary force has significant ***,this paper designs a multi-evaporator,dual-drive two-phase loop,using both osmotic pressure and capillary force to solve the multi-source heat dissipation ***,a transmembrane water flux model for the osmotic pressure-driven device was established to predict the maximum heat transfer capacity of the dual-drive two-phase ***,an experimental setup for a multi-evaporator“osmotic pressure+capillary force”dual-drive two-phase loop was constructed,capable of transferring at least 235 W of power under a reverse gravity condition of 20 *** study also analyzed the effects of reverse gravity height,heat load distribution among the three evaporators,startup sequence,and varying branch resistances on the performance of the dual-drive two-phase loop.

关键词： Multi-heat sources osmotic pressure two-phase loop dual-drive loop heat pipe

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Tracking control in Presence of Obstacles and Uncertainties for Bioinspired Spherical Underwater Robots

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Journal of Bionic Engineering 2023年第1期20卷 323-337页

作者： Chunying Li Shuxiang Guo Jian Guo Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China

During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or *** this paper,considering the strong nonlinearities,external disturbances and obstacles,the kinematic and dynamic model of bioinspired Spherical Underwater Robot(SUR)was ***,the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and ***,the Lyapunov theory was adopted to verify the stability and the Slide Mode control(SMC)method is used to verify the robustness of the control *** addition,a series of simulations were conducted to evaluate the effectiveness of proposed control *** tests,including path-following,static and moving obstacle avoidance were performed which verified the feasibility,robustness and effectiveness of the designed control ***,a series of experiments in real environment were performed to verify the performance of the control *** simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs.

关键词： Path following Obstacle avoidance Bioinspired.Spherical underwater robot(SUR) Lyapunov theory

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A Morphological Study of Two Young Multipolar Planetary Nebulae

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Research in Astronomy and Astrophysics 2023年第3期23卷 170-182页

作者： Shi-Bo Wen Chih-Hao Hsia Xiao-Xi Kang Rui Chen Tao Luo State Key Laboratory of Lunar and Planetary Sciences Macao University of Science and Technology.MacaoChina The Laboratory for Space Research Faculty of ScienceThe University of Hong KongChina Deep Space Exploration Laboratory Beijing 100043China Lunar Exploration and Space Engineering Center China National Space AdministrationBeijing 100190China Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou 511442China Zhuhai Bojay Electronics Co. Ltd.Zhuhai 519075China

We carry out an optical morphological and infrared spectral study for two young planetary nebulae(PNs)Hen2-158 and Pe 1-1 to understand their complex shapes and dust *** space Telescope optical images reveal that these nebulae have several bipolar-lobed structures and a faint arc with a clear boundary is located at the northwestern side of Pe *** presence of this arc-shaped structure suggests that the object interacts with its nearby interstellar *** IRS spectroscopic observations of these young nebulae clearly show prominent unidentified infrared emission features and a weak silicate band in Pe 1-1,indicating that Hen 2-158 is a carbonrich nebula and Pe 1-1 has a mixed chemistry dust ***,we construct two three-dimensional models for these PNs to realize their intrinsic *** simulated models of the nebulae suggest that multipolar nebulae may be more numerous than we *** analyses of spectral energy distributions for Hen 2-158 and Pe 1-1 show that they have low luminosities and low stellar effective temperatures,suggesting that these nebulae are young PNs.A possible correlation between typical multipolar young PNs and nested nebulae is also discussed.

关键词： northwestern stellar planetary

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Adaptive Depth Estimation of Homography-Based Visual Servo with Finite-time Convergence 13

Adaptive Depth Estimation of Homography-Based Visual Servo w...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Fang, Qiwen Wang, Xian Huangl, Yingbo He, Haoran Kunming University of Science and Technology Faculty of Mechanical and Electrical Engineering Kunming650500 China Kunming University of Science and Technology Yunnan Key Laboratory of Intelligent Control and Application Kunming650500 China

ISBN: (纸本)9798350361674

Although the homography-based visual servo (HBVS) has been studied for many decades, how to obtain the depth information with fast and accurate convergence performance has not been fully studied. In this paper, a finite-time (FT) adaptive depth estimation method is suggested for the manipulator regulation of the eye-in-hand (EIH) visual servo system. To realize this objective, a linearized camera model including depth information is first established. To obtain the depth, a set of auxiliary variables are constructed to extract the depth estimation error with a series of simple algebraic calculation. Then, inspired by the sliding mode control, a FT adaptive depth estimation algorithm is developed, in which the predictor and/or observer error are not required, but the depth estimation error is employed to drive the estimation toward to its true value within finite time. With the estimated depth, the HBVS controller of the EIH system can regulate the robot arm to the desired position with fast response. Finally, comparative simulation results are given to show the efficiency of the proposed method. © 2024 IEEE.

关键词： Sliding mode control

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Adaptive Drag-Free control of Gravity Field Satellites via a Modified Characteristic Model-Based Approach

Adaptive Drag-Free Control of Gravity Field Satellites via a...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Wang, Lijiao Gou, Xingyu Liu, Qirui Meng, Bin Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering Beijing100190 China Beijing Institute of Control Engineering Beijing100190 China

ISBN: (纸本)9789811581540

In this work, we present a new control scenario for the adaptive drag-free control of gravity field satellites in displacement mode, where the control objective is to lock the position between the test mass and the outer satellite. The un-stability caused by the static electricity, the uncertainty of the sensors and actuators, and the disturbance of the attitude movement propose great challenge for the controller design of the drag-free loop. Characteristic model is introduced to simplify the modeling of the complicated nonlinear dynamics. Then, a novel adaptive control strategy is developed, which is constituted by an extended state-and-parameter estimator and a modified all-coefficient controller. The scheme can not only stabilize the unstable plant, but cope with the uncertainties as well as measurement noises, providing a simple and effective solution for practical applications. Finally, simulations are performed on a gravity field satellite, illustrating that our approach yields good control performance. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： controllers

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Effects of aggregate size distribution and carbon nanotubes on the mechanical properties of cemented gangue backfill samples under true triaxial compression

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International Journal of Minerals,Metallurgy and Materials 2025年第2期32卷 311-324页

作者： Qian Yin Fan Wen Zhigang Tao Hai Pu Tianci Deng Yaoyao Meng Qingbin Meng Hongwen Jing Bo Meng Jiangyu Wu State Key Laboratory of Intelligent Construction and Healthy Operation and Maintenance of Deep Underground Engineering China University of Mining and TechnologyXuzhou 221116China State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines Anhui University of Science and TechnologyHuainan 232001China State Key Laboratory for Geomechanics&Deep Underground Engineering China University of Mining and Technology(Beijing)Beijing 100083China Key Laboratory of Xinjiang Coal Resources Green Mining Ministry of EducationXinjiang Institute of EngineeringUrumqi 830023China

The mechanical behavior of cemented gangue backfill materials(CGBMs)is closely related to particle size distribution(PSD)of aggregates and properties of cementitious ***,the true triaxial compression tests,CT scanning,SEM,and EDS tests were conducted on cemented gangue backfill samples(CGBSs)with various carbon nanotube concentrations(P_(CNT))that satisfied fractal theory for the PSD of *** mechanical properties,energy dissipations,and failure mechanisms of the CGBSs under true triaxial compression were systematically *** results indicate that appropriate carbon nanotubes(CNTs)effectively enhance the mechanical properties and energy dissipations of CGBSs through micropore filling and microcrack bridging,and the optimal effect appears at P_(CNT)of 0.08wt%.Taking PSD fractal dimension(D)of 2.500 as an example,compared to that of CGBS without CNT,the peak strength(σ_(p)),axial peak strain(ε_(1,p)),elastic strain energy(Ue),and dissipated energy(U_(d))increased by 12.76%,29.60%,19.05%,and90.39%,***,excessive CNTs can reduce the mechanical properties of CGBSs due to CNT agglomeration,manifesting a decrease inρ_(p),ε_(1,p),and the volumetric strain increment(Δε_(v))when P_(CNT)increases from 0.08wt%to 0.12wt%.Moreover,the addition of CNTs improved the integrity of CGBS after macroscopic failure,and crack extension in CGBSs appeared in two modes:detour and pass through the ***σ_(p)and U_(d)firstly increase and then decrease with increasing D,and porosity shows the opposite ***ε_(1,p)andΔε_(v)are negatively correlated with D,and CGBS with D=2.150 has the maximum deformation parameters(ε_(1,p)=0.05079,Δε_(v)=0.01990)due to the frictional slip effect caused by coarse *** increasing D,the failure modes of CGBSs are sequentially manifested as oblique shear failure,"Y-shaped"shear failure,and conjugate shear failure.

关键词： cemented gangue backfill materials particle size distribution true triaxial compression test carbon nanotubes mechanical properties failure modes

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Broadband Chaos Generation and Synchronization Induced by Integrated Tri-section Laser

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IEEE Access 2024年 13卷 1-1页

作者： Guo, Yuanyuan Wei, Wuyin Gao, Hua Zhang, Yuanye Zhao, Tong Jia, Zhiwei Chang, Pengfa Wang, Longsheng Wang, Anbang Wang, Yuncai Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province Taiyuan China College of Information Engineering Shanxi Vocational University of Engineering Science and Technology Taiyuan China School of Information Engineering Guangdong University of Technology Guangzhou China

Broadband chaos generation is numerically demonstrated using an integrated tri-section laser which is composed of mutually coupled distributed feedback (DFB) lasers with a phase section, and the broadband chaos synchronization of two DFB lasers is achieved using the integrated laser as a driver. The simulation results indicate that the integrated tri-section laser with optical feedback can generate broadband chaos with a bandwidth up to 34 GHz, based on dual-mode beating effect. The influence of feedback strength and frequency interval on the chaos bandwidth are studied in detail. As a common driving signal, the broadband chaos signal can induce the response DFB lasers to generate chaos signals with a bandwidth of no less than 25 GHz and meanwhile achieve chaos synchronization with a correlation coefficient beyond 0.98. The low correlation coefficient between the drive signal and the response signal ensures the security of the chaos carrier from the public channel. Moreover, the dynamic properties of the integrated laser and the influence of the external parameters on chaotic synchronization are also investigated. Authors

关键词： Distributed feedback lasers

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Size Effect on the Radiation Stability Silicon Dioxide Sphere Particles

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Journal of Harbin Institute of technology(New Series) 2024年第4期31卷 1-12页

作者： Vitaly Neshchimenko Chundong Li Mikhail Mikhailov Jinpeng Lv Laboratory of Radiation Stability Evaluation of Thermal Control Coatings Amur State UniversityBlagoveshchensk 675000Russia Science and Technology on Material Performance Evaluating in Space Environment Laboratory Harbin Institute of TechnologyHarbin 150001China Radiation and Space Materials Laboratory Tomsk State University of Control Systems and Radio-ElectronicsTomsk 634050Russia Department of Material Science and Technology Nanjing University of Aeronautics&AstronauticsNanjing 210016China

The effect of protons(E = 100 keV,F = 5×10^(15) cm^(-2)) exposure on the diffuse reflectance spectra of the SiO_(2 )with different size particles in wavelength range from 250 to 2500 nm have been *** were nanosphere,submicrosphere,microsphere and submacrosphere,as well as solid micro-and *** synthesis of the particles was carried out by the formation of silica shells and dissolution of the polystyrene core *** surface morphology,surface area and crystal structure of the particles have been *** evaluating the changes of the solar absorptance,it was found that the radiation stability of the micro-and submacro-hollow particles is higher than that of the other nanostructured particles,except for solid *** low radiation stability of the hollow microparticles is due to the large void inside the hollow particles where radiation defects are not formed.

关键词： silicon dioxide hollow particles spectral reflectance irradiation

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