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Recursive Least Squares Identification With Variable-Direction Forgetting via Oblique Projection Decomposition

IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 547-555页

作者： Kun Zhu Chengpu Yu Yiming Wan Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and Technology Beijing Institute of Technology Chongqing Innovation Center

In this paper,a new recursive least squares(RLS)identification algorithm with variable-direction forgetting(VDF)is proposed for multi-output *** objective is to enhance parameter estimation performance under non-persistent *** proposed algorithm performs oblique projection decomposition of the information matrix,such that forgetting is applied only to directions where new information is *** proofs show that even without persistent excitation,the information matrix remains lower and upper bounded,and the estimation error variance converges to be within a finite ***,detailed analysis is made to compare with a recently reported VDF algorithm that exploits eigenvalue decomposition(VDF-ED).It is revealed that under non-persistent excitation,part of the forgotten subspace in the VDF-ED algorithm could discount old information without receiving new data,which could produce a more ill-conditioned information matrix than our proposed *** simulation results demonstrate the efficacy and advantage of our proposed algorithm over this recent VDF-ED algorithm.

关键词： Non-persistent excitation oblique projection recursive least squares(RLS) variable-direction forgetting(VDF)

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Spatio-temporal decision-making and trajectory planning framework with flexible constraints in closed-loop dynamic traffic

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IET intelligent Transport Systems 2023年第4期17卷 704-715页

作者： Zhang, Ting Fu, Mengyin Liu, Tong Song, Wenjie State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

Driving in interactive dynamic traffic is a huge challenge for autonomous vehicles, especially for motion planning. The autonomous vehicle not only needs to predict the future states of the social vehicles to avoid a collision but also realizes the comfort and continuous plan. To deal with the problem, a spatio-temporal decision-making and motion planning framework with flexible constraints based on previous work is proposed. Improvements can be highlighted in three aspects. First, a neural network for trajectory prediction is trained and it is integrated into the framework, which can learn the social vehicles' reactions in the negotiation better and give more accurate predictions. Second, instead of setting the fixed local targets, the flexible-constraint mechanism is introduced to increase the success rate of continuous planning, specifically, the local planning target is determined conditioned on the situation with an elastic factor. Third, two popular simulators with randomly disposed traffic participants are exploited, where vehicles are mutually influenced, more similar to real-world traffic. The closed-loop tests with zero crashes and the comparative experiments with traditional models demonstrate the superior performance and practical significance of the proposed framework. © 2022 The Authors. IET intelligent Transport Systems published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and technology.

关键词： Autonomous vehicles

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Robust Attitude controller Designation of Rocket Vertical Flight control via Deep Reinforcement Learning Algorithm

Robust Attitude Controller Designation of Rocket Vertical Fl...

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2022 Chinese Automation Congress, CAC 2022

作者： Jia, Chenhui Huang, Xu Lin, Yuye Feng, Mingtao Zhai, Wenjing Liu, Xiaodong Beijing Aerospace Automatic Control Institute National Key Laboratory of Aerospace Intelligent Control Technology Beijing China

ISBN: (纸本)9781665465335

The designation of attitude controller of the aircrafts during the flight process needs to take a variety of factors into consideration, which is difficult to deal with the traditional control algorithms. Reinforcement learning algorithm is considered as a potential method, but the high cost of flight failure and the difference between the simulation environment and the real environment are two obstacles which is hard to deal with. To solve these problems, in this paper, we build a training environment and algorithm to train a network attitude controller which is robust to the environment noise, parameter disturbances and flight task changes. The simulation experiment and a real flight experiment are carried out to prove the effectiveness of our method. © 2022 IEEE.

关键词： Reinforcement learning

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Design and Realization Separable Observation Sensors of Tianwen-1 Mars Probe 3

Design and Realization Separable Observation Sensors of Tian...

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3rd International Congress on Optics, Electronics, and Optoelectronics, ICOEO 2022

作者： Di, Wu Yang, Du Yuan, Gao Feng, Wang Miao, Yu Shanghai Aerospace Control Technology Institute Shanghai201109 China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai201109 China Shanghai Institute of Satellite Engineering Shanghai201109 China

Tianwen 1 Mars exploration mission is a high-risk mission with long cycle, high communication delay, high product reliability and harsh deep space environment. Two separate observation sensors are installed on Tianwen 1 probe. During the Earth Mars transfer phase of Tianwen 1, the first separable observation sensor was separated from Tianwen 1, which monitored the state of Tianwen 1 and its surrounding space environment. On the Mars orbit, the second separable observation sensor was separated from the Tianwen 1 probe and took a color group photograph of the Tianwen 1 probe and Mars. This paper first introduces the task requirements of separable observation sensors and the design constraints of deep space environment on products. Secondly, the composition of the separable observation sensor is introduced. Thirdly, the relevant indicators of the separable observation sensor are introduced. Finally, the ground test and in orbit test of the separable observation sensor are introduced. © Published under licence by IOP Publishing Ltd.

关键词： Probes

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Faithful geometric measures for genuine tripartite entanglement

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Physical Review A 2024年第1期110卷 L010402-L010402页

作者： Xiaozhen Ge Lijun Liu Yong Wang Yu Xiang Guofeng Zhang Li Li Shuming Cheng Department of Control Science and Engineering Department of Applied Mathematics The Department of Mathematics and Computer Science State Key Laboratory for Mesoscopic Physics School of Physics Frontiers Science Center for Nano-optoelectronics and Collaborative Innovation Center of Quantum Matter Shanghai Institute of Intelligent Science and Technology Institute for Advanced Study

We present a faithful geometric picture for genuine tripartite entanglement of discrete, continuous, and hybrid quantum systems. We first find that the triangle relation Ei|jkα≤Ej|ikα+Ek|ijα holds for all subadditive bipartite entanglement measure E, all permutations under parties i,j,k, all α∈[0,1], and all pure tripartite states. Then, we rigorously prove that the nonobtuse triangle area, enclosed by side Eα with 0<α≤1/2, is a measure for genuine tripartite entanglement. Finally, it is significantly strengthened for qubits that given a set of subadditive and nonsubadditive measures, some state is always found to violate the triangle relation for any α>1, and the triangle area is not a measure for any α>1/2. Our results pave the way to study discrete and continuous multipartite entanglement within a unified framework.

关键词： Entanglement measures Quantum correlations in quantum information Quantum correlations, foundations & formalism Resource theories

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Numerical simulation of magnetic circuit characteristic based on magnetohydrodynamic momentum ring 3

Numerical simulation of magnetic circuit characteristic base...

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3rd International Conference on Mechanical, Electronics, and Electrical and Automation control, METMS 2023

作者： Gu, Youlin Liu, Chaozhen Fu, Chao Liang, Qinghua School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai Aerospace Control Technology Institute Shanghai201109 China

ISBN: (纸本)9781510666689

The magnetohydrodynamic momentum ring studied in this paper is used for satellite attitude adjustment. The purpose of this paper is to study the magnetic field distribution characteristics of magnetohydrodynamic momentum ring. In this paper, the coupling method is used for numerical simulation. The results show that the design of axial magnetic field distribution is more reasonable. The simulation results can be used to provide reference for the subsequent experimental research. © 2023 SPIE. All rights reserved.

关键词： Magnetohydrodynamics

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Optimization of Narrow-magnet EMAT for Lamb Waves with Low Distortion 3

Optimization of Narrow-magnet EMAT for Lamb Waves with Low D...

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3rd International Symposium on Sensor technology and control, ISSTC 2024

作者： Qu, Haifeng Hu, Zheng Liu, Lishuai Xiang, Yanxun East China University of Science and Technology Shanghai Key Laboratory of intelligent Sensing and Detection Technology Shanghai China East China University of Science and Technology Shanghai Institute of Aircraft Mechanics and Control Shanghai Key Laboratory of intelligent Sensing and Detection Technology Shanghai China

ISBN: (纸本)9798331541637

Compared to traditional electromagnetic acoustic transducer (EMAT), the narrow-magnet EMAT extends its meander conductors to the edges and outside of the magnet, hence a wider area of the magnetic field can be used to excite stronger ultrasound waves. Because of the magnetic field inhomogeneity, the classical half-wavelength spacing rule is not suitable for the coil used in the narrow-magnet EMAT. Otherwise, obvious waveform distortions will appear. In this work, the coil conductor spacing correction methodology proposed in previous works is testified for Lamb wave excitations, and a simpler wavelength-based adjustment approach is proposed, where waveforms of low distortions can be obtained. Both approaches are evaluated in simulation and practical experiments, where the Lamb wave amplitude enhancement brought by the coil conductor spacing correction method is more than 157.41%, and the improvement achieved by the proposed wavelength adjustment concept is above 179.34%. © 2024 IEEE.

关键词： Ultrasonic waves

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Design of Multi-target Tracking Algorithm Based on Multi-sensor Fusion 3rd

Design of Multi-target Tracking Algorithm Based on Multi-sen...

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3rd International Conference on Artificial Intelligence, 2022

作者： Song, Zhangchi Qiang, Xiaomin Sun, Peng Cao, Laitian Zhang, Lijia Yang, Baisheng Beijing Aerospace Automatic Control Institute Beijing100854 China National Key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing100854 China

ISBN: (纸本)9789811694226

In the modern battlefield environment, the traditional single sensor often cannot give full play to its optimal performance. The advantages of different sensors are used for combined detection and tracking to obtain all-round multi-dimensional information of the target. Through multi-sensor fusion processing, interference is eliminated, and the target state estimation is obtained to achieve precise positioning of the target. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Target tracking

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Elastic wave propagation and attenuation characteristics of roof fracture source

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Geomechanics and Engineering 2025年第4期40卷 295-305页

作者： Zhang, Peng-Fei Zhao, Tong-Bin Gong, Xu-Fei Tan, Yan Guo, Chuan-Qing College of Energy and Mining Engineering Shandong University of Science and Technology Qingdao266590 China State Key Laboratory of Mining Disaster Prevention and Control Co-founded by Shandong Province and the Ministry of Science and Technology Shandong University of Science and Technology Qingdao266590 China Shandong Key Laboratory of Intelligent Prevention and Control of Dynamic Disaster in Deep Mines Shandong University of Science and Technology Qingdao266590 China Energy Group Co. Ltd. Jining No.2 Coal Mine Jining272012 China

Abstract. The propagation attenuation law of elastic waves generated by rock mass fractures in strata is of great significance in explaining engineering problems, such as rock bursts. In this study, a wave velocity model was established based on the actual stratum conditions of the Jining No.2 coal mine in China. The propagation process of different types of elastic waves is simulated using the elastic wave equation and finite difference method. The attenuation coefficients of various elastic wave parameters propagating at different positions were calculated. Based on the calculated results, an attenuation equation for the elastic wave energy is proposed. The results show that the propagation of S-waves and P-waves in strata is similar to each other, and wave pattern transformation occurs at the interface of the strata. The magmatic rocks played a role in channeling and reflecting elastic wave propagation, leading to the occurrence of low-energy aftershocks in the coal seams. The peak displacement, peak stress, and energy density of the elastic wave that propagated to the coal seam after the siltstone layer fracture of the roof of the 3down coal seam decreased to 28%, 25%, and 9% of the source, respectively. The attenuation of elastic wave energy is highly correlated with the propagation distance, and the attenuation equation can be represented as an exponential function. These results are of great significance for revealing the propagation attenuation process of elastic waves in the stratum. © 2025 Techno-Press, Ltd.

关键词： Exponential functions

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Numerical simulation of the magnetic field in a magnetohydrodynamics momentum ring 8

Numerical simulation of the magnetic field in a magnetohydro...

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8th International Symposium on Advances in Electrical, Electronics, and Computer Engineering, ISAEECE 2023

作者： Zhou, Anlei Cheng, Xu Liu, Chaozhen Liang, Qinghua School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai Aerospace Control Technology Institute Shanghai201109 China

ISBN: (纸本)9781510666290

In this text, the proposed liquid momentum ring is aimed at the space mission of attitude control of satellite. The characteristic distribution of magnetic field about researched magnetohydrodynamic liquid ring is numerically simulated. The numerical calculation indicates that the magnetic field distribution design about liquid ring is appropriate, and electromagnetic force generated makes the liquid metal to rotate. The calculation results offer a data support basis to the following liquid ring optimization design and a numerical reference for following torque test experiment. © 2023 SPIE. All rights reserved.

关键词： Magnetohydrodynamics

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