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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhang, Pengyu Zhang, Wei Mao, Li Chen, Jiayi Hu, Zhi Shanghai University of Engineering Science Laboratory of Intelligent Control and Robotics 333 Longteng Road Shanghai China Computer Engineering College Dalian University of Technology 1 Guangning Road Dalian China

ISBN: (纸本)9789819733231

This paper explores positive edge-consensus in directed networks with spanning trees using output feedback protocols. First, a novel positive system observer is proposed, which introduces a parameter to enhance the design freedom of the observer. Furthermore, using positive system theory and graph theory, sufficient conditions are proposed and the sufficient conditions based solely on the network’s edge count. Specifically, an optimized bound is given for the eigenvalue of the Laplacian matrix, and an improved consensus and non-negative condition is obtained. Finally, the effectiveness of the proposed control protocol is verified utilizing numerical simulations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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Nonlinear flow control mechanism of two flexible flaps with fluid-structure interaction

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Acta Mechanica Sinica 2025年第2期41卷 116-131页

作者： Jiakun Han Chao Dong Jian Zhang Gang Chen College of Science Xi’an University of Science and TechnologyXi’an 710054China Beijing Institute of Space Long March Vehicle Beijing 100076China Science and Technology on Space Physics Laboratory China Academy of Launch Vehicle TechnologyBeijing 100076China State Key Laboratory of Strength and Vibration for Mechanic Structures Shaanxi Key Laboratory of Service Environment and Control for Flight VehiclesSchool of Aerospace EngineeringXi’an Jiaotong UniversityXi’an 710049China

The flow control at low Reynolds numbers is one of the most promising technologies in the field of aerodynamics,and it is also an important source of the innovation for novel *** this study,a new way of nonlinear flow control by interaction between two flexible flaps is proposed,and their flow control mechanism is studied employing the self-constructed immersed boundary-lattice Boltzmann-finite element method(IB-LB-FEM).The effects of the difference in material properties and flap length between the two flexible flaps on the nonlinear flow control of the airfoil are *** is suggested that the relationship between the deformation of the two flexible flaps and the evolution of the vortex under the fluid-structure interaction(FSI).It is shown that the upstream flexible flap plays a key role in the flow control of the two flexible *** FSI effect of the upstream flexible flap will change the unsteady flow behind it and affect the deformation of the downstream flexible *** flexible flaps with different material properties and different lengths will change their own FSI characteristics by the induced vortex,effectively suppressing the flow separation on the airfoil’s upper *** interaction of two flexible flaps plays an extremely important role in improving the autonomy and adjustability of flow *** numerical results will provide a theoretical basis and technical guidance for the development and application of a new flap passive control technology.

关键词： Nonlinear flow control Flexible flap Fluid-structure interaction Flow separation IB-LB-FEM

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Robots can feel: LLM-based Framework for Robot Ethical Reasoning

Robots can feel: LLM-based Framework for Robot Ethical Reaso...

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Foundation and Large Language Models (FLLM), International Conference on

作者： Artem Lykov Miguel Altamirano Cabrera Koffivi Fidèle Gbagbe Dzmitry Tsetserukou Intelligent Space Robotics Laboratory Skolkovo Institute of Science and Technology Moscow Russia

ISBN: (数字)9798350354799

ISBN: (纸本)9798350354805

This paper presents the development of a novel ethical reasoning framework for robots. "Robots can feel" is the first system for robots that utilizes a combination of logic and human-like emotion simulation to make decisions in morally complex situations akin to humans. The key feature of the approach is the management of the Emotion Weight Coefficient, a customizable parameter to assign the role of emotions in robot decision-making. The system aims to serve as a tool that can equip robots of any form and purpose with ethical behavior close to human standards. Besides the platform, the system is independent of the choice of the base model. During the evaluation, the system was tested on 8 top-up-to-date LLMs (Large Language Models). This list included both commercial and open-source models developed by various companies and countries. The research demonstrated that, regardless of the model choice, the Emotions Weight Coefficient influences the robot’s decision similarly. According to ANOVA analysis, the use of different Emotion Weight Coefficients influenced the final decision in a range of situations, such as in a request for a dietary violation (F (4, 35) = 11.2, p = 0.0001) and in an animal compassion situation (F (4, 35) = 8.5441, p = 0.0001). A demonstration code repository is provided at: https://***/TemaLykov/robots_can_feel

关键词： Ethics Uncertainty Service robots Animals Large language models Decision making Cognition Robots Analysis of variance Standards

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Graphene binding on black phosphorus enables high on/off ratios and mobility

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National science Review 2024年第2期11卷 188-195页

作者： Fanrong Lin Zhonghan Cao Feiping Xiao Jiawei Liu Jiabin Qiao Minmin Xue Zhili Hu Ying Liu Huan Lu Zhuhua Zhang Jens Martin Qingjun Tong Wanlin Guo Yanpeng Liu Key Laboratory for Intelligent Nano Materials and Devices of Ministry of Education State Key Laboratory of Mechanics and Control of Mechanical Structures and Institute for Frontier Science Nanjing University of Aeronautics and Astronautics Centre for Advanced 2D Materials National University of Singapore School of Physics and Electronics Hunan University Centre for Quantum Physics Key Laboratory of Advanced Optoelectronic Quantum Architecture and MeasurementSchool of PhysicsBeijing Institute of Technology Leibniz Institute für Kristallzüchtung

Graphene is one of the most promising candidates for integrated circuits due to its robustness against short-channel effects, inherent high carrier mobility and desired gapless nature for Ohmic contact, but it is difficult to achieve satisfactory on/off ratios even at the expense of its carrier mobility, limiting its device applications. Here, we present a strategy to realize high back-gate switching ratios in a graphene monolayer with well-maintained high mobility by forming a vertical heterostructure with a black phosphorus multi-layer. By local current annealing, strain is introduced within an established area of the graphene, which forms a reflective interface with the rest of the strain-free area and thus generates a robust off-state via local current depletion. Applying a positive back-gate voltage to the heterostructure can keep the black phosphorus insulating, while a negative back-gate voltage changes the black phosphorus to be conductive because of hole accumulation. Then, a parallel channel is activated within the strain-free graphene area by edge-contacted electrodes, thereby largely inheriting the intrinsic carrier mobility of graphene in the on-state. As a result, the device can provide an on/off voltage ratio of >10～3 as well as a mobility of ～8000 cm2V-1s-1at room temperature, meeting the low-power criterion suggested by the International Roadmap for Devices and Systems.

关键词： graphene on/off ratio mobility black phosphorus reflective interface

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Bipartite Formation control for Linear Multi-agent Systems with External Disturbances via Observer-Based Output Feedback 7th

Bipartite Formation Control for Linear Multi-agent Systems ...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhang, Pengyu Mao, Li Zhang, Wei Tang, Kai Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science 333 Longteng Road Shanghai China Computer Engineering College Dalian University of Technology 1 Guangning Road Dalian China

ISBN: (纸本)9789819733392

This article investigates the problem of bipartite formation control for a class of multi-agent systems composed of two sub-formations with an inverse connection. A distributed control algorithm with observer-based output feedback is proposed under directed signed topology and unknown external disturbances. Some sufficient conditions are established to achieve a bipartite time-varying formation with bounded tracking error. Furthermore, it is shown that the suggested observer-based formation control has good robustness. Finally, a simulation example is illustrated to show the feasibility and effectiveness of the presented control scheme. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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Research on multi-dimensional heterogeneous compound control method of anti-access aircraft with prescribed performance

Research on multi-dimensional heterogeneous compound control...

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第43届中国控制会议

作者： Yuemeng Ma Ningyuan Wang Ming Liu Zhen Xiao Ding Yang Jingying Cao Science and Technology on Space Physics Laboratory Department of Control Science and Engineering Harbin Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

For attack and defense confrontation scenarios in near-space,to enhance the maneuverability of the anti-access aircraft in low dynamic pressure environment,a prescribedperformance-based multidimensional heterogeneous compound control system is proposed in this paper to meet the precision guidance requirements of fast and high-precision response to overload commands by the synergistic cooperation of direct force and aerodynamic *** time and steady state accuracy of the system are designed based on the prescribed performance control *** surface controllers is designed for aerofin to observe and compensate for complex *** direct forces,a sliding mode controller is designed and applied to achieve rapid tracking to *** layers and auxiliary system are introduced to reduce the impact of actuator physical constraints on control *** Lyapunov stability proof of compound control system is *** results demonstrate that the multidimensional heterogeneous compound control system proposed can not only make the response process of AOA meet the prescribed-performance requirement but also avoid the "tug-of-war" phenomenon of actuators.

关键词： anti-access aircraft multi-dimensional heterogeneous compound control lateral jets and aerodynamics control prescribed performance control nonlinear extended state observer(NESO)

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Stability mechanism and control of the pumpable supports in longwall recovery room

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International Journal of Mining science and technology 2024年第7期34卷 957-974页

作者： Dong Zhang Jianbiao Bai Zhijun Tian Zizheng Zhang Yonghong Guo Rui Wang Ying Xu Hao Fu Shuai Yan Min Deng Shuaigang Liu State Key Laboratory of Coal Resources and Safe Mining China University of Mining and TechnologyXuzhou 221116China Key Laboratory of Xinjiang Coal Resources Green Mining Xinjiang Key Laboratory of Coal-bearing Resources Exploration and ExploitationXinjiang Engineering Research Center of Green Intelligent Coal MiningXinjiang Institute of EngineeringUrumqi 830023China Work Safety Key Laboratory on Prevention and Control of Gas and Roof Disasters for Southern Goal Mines Hunan Provincial Key Laboratory of Safe Mining Techniques of Coal MinesHunan University of Science and TechnologyXiangtan 411201China School of Mines China University of Mining and TechnologyXuzhou 221116China

The load-bearing performance(LBP)of pumpable supports(PPS)is crucial for the stability of longwall pre-driven recovery room(PRR)surrounding ***,the unbalanced bearing coefficient(UBC)of the PPS(undertaking unequal load along the mining direction)has not been investigated.A mechanical model of the PRR was established,considering the main roof cantilever beam structure,to derive an assessment formula for the load,the failure criteria,and the UBC of the ***,the generation mechanisms,and influencing factors of the UBC were *** sensitivity analysis shows that the main roof hanging length(l_(2))and the spacing between the PPS(r)significantly impact the UBC.A novel design of the PPS and the coupling control technology were proposed and applied to reduce the UBC of the PPS in the adjacent longwall *** results showed no failure of the PPS at the test site,with the UBC(ζ)reduced to 1.1 consistent with the design value(1.15)basically,fully utilizing the collaborative LBP of the ***,the maximum roof-to-floor convergence of the PRR was 234 mm,effectively controlling the stability of the surrounding rock of the PRR and ensuring the mining equipment recovery.

关键词： Pre-driven recovery room Pumpable supports Unbalanced bearing coefficient Hydraulic fracture Stability analysis Surrounding rock control

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LLM-BRAIn: AI-driven Fast Generation of Robot Behaviour Tree based on Large Language Model

LLM-BRAIn: AI-driven Fast Generation of Robot Behaviour Tree...

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Foundation and Large Language Models (FLLM), International Conference on

作者： Artem Lykov Dzmitry Tsetserukou Intelligent Space Robotics Laboratory Skolkovo Institute of Science and Technology Moscow Russia

ISBN: (数字)9798350354799

ISBN: (纸本)9798350354805

This paper introduces a pioneering methodology in autonomous robot control, denoted as LLM-BRAIn, enabling the generation of adaptive behaviors in robots in response to operator commands, while simultaneously considering a multitude of potential future events. Unlike traditional step-by-step behavior generation methods, LLM-BRAIn leverages a behavior tree (BT) format that inherently encompasses various potential outcomes, thus reducing the frequency of model queries and optimizing resource utilization and decision-making time. LLM-BRAIn is a transformer-based Large Language Model (LLM) fine-tuned from the Stanford Alpaca 7B model to generate a BT from text descriptions. The model was trained on 8.5k instruction-following demonstrations generated using GPT-3.5. LLM-BRAIn accurately builds complex robot behavior while remaining small enough to run on the robot’s onboard microcomputer. The model generates structurally and logically correct BTs and can manage instructions not presented in the training set. Experiments revealed no significant subjective differences between BTs generated by LLM-BRAIn and human-created BTs, with participants distinguishing between them correctly in only 4.53 out of 10 cases, indicating performance close to random *** proposed approach holds promise for applications across various domains, including mobile robotics, drone operations, robot manipulator systems, and Industry 5.0. This applicability stems from the BT framework’s inherent consideration of numerous potential outcomes, obviating the need for exhaustive deliberation at each step, thereby expediting the robot’s operations. We provide a dataset for LLM-BRAIn replication: ***/datasets/ArtemLykov/LLM BRAIn dataset.

关键词： Training Time-frequency analysis Service robots Large language models Transformers Resource management Mobile robots Robots Drones Autonomous robots

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Effect of additional cylinders on power-extraction performance of a Savonius vertical-axis wind turbine

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Journal of Zhejiang University-science A(Applied Physics & Engineering) 2023年第6期24卷 531-542页

作者： Yangyang YAN Jintao ZHANG Junao SHE Wenhao LIU Jianghong DENG Jianyang ZHU Institute of Robotics and Intelligent Systems Wuhan University of Science and TechnologyWuhan 430081China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan 430081China

To improve the power-extraction performance of the Savonius vertical-axis wind turbine(S-VAWT),additional cylinders,which are used to control the fluid flow around the wind turbine blade,were introduced into the blade *** contrast to the traditional numerical method,a mathematical model in the form of a dynamical system was used in this study.A numerical calculation program that could effectively solve the equations of wind-induced rotation of S-VAWT was developed,and combined with the Taguchi experimental method to investigate the influence of additional cylinders on the power-extraction characteristics of the *** results showed that the additional cylinders have a significant impact on the power-extraction performance of the *** 4-m/s wind speed,the average power coefficient of the S-VAWT with additional cylinders is 15%higher than that of the conventional *** construction of the wind turbine prototype and power-extraction tests,the results showed that compared with a conventional S-VAWT,the output power was 29%higher for the S-VAWT with additional cylinders under the same particular conditions.

关键词： Additional cylinders Taguchi experimental method Savonius vertical-axis wind turbine(S-VAWT) Average power coefficient Wind-induced rotation

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Reconstructing Three-Degree-of-Freedom Pose through Temporal Phase-Shifted Low-Coherence Spatial Interferograms 16

Reconstructing Three-Degree-of-Freedom Pose through Temporal...

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16th Pacific Rim Conference on Lasers and Electro-Optics, CLEO-PR 2024

作者： Shi, Liheng Zhang, Jinxu Gu, Yingying Gai, Fangqin Liu, Jing Wu, Guanhao Tsinghua University State Key Laboratory of Precision Measurement Technology and Instruments Department of Precision Instrument Beijing100084 China Yangtze Delta Region Institute of Tsinghua University Zhejiang Research Center of Opto-electronic Sensing Zhejiang 314006 China Beijing Institute of Control Engineering Space Optoelectronic Measurement and Perception Lab. Beijing100190 China China Academy of Space Technology National Key Laboratory of Space Intelligent Control Beijing100094 China

We introduce a method for measuring three degrees of freedom using low-coherence light and temporal phase-shifting to discern position and orientation from the coherence envelope shape, enabling direct measurement wit... 详细信息

ISBN: (纸本)9798350372076

关键词： Degrees of freedom (mechanics)

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