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Lightweight hybrid visual-inertial odometry with closed-form zero velocity update

Chinese Journal of Aeronautics 2020年第12期33卷 3344-3359页

作者： QIU Xiaochen ZHANG Hai FU Wenxing School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft Control Laboratory Beijing 100191China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing 100074China

Visual-Inertial Odometry(VIO) fuses measurements from camera and Inertial Measurement Unit(IMU) to achieve accumulative performance that is better than using individual *** VIO is an extended Kalman filter-based solution which augments features with long tracking length into the state vector of Multi-State Constraint Kalman Filter(MSCKF). In this paper, a novel hybrid VIO is proposed, which focuses on utilizing low-cost sensors while also considering both the computational efficiency and positioning precision. The proposed algorithm introduces several novel contributions. Firstly, by deducing an analytical error transition equation, onedimensional inverse depth parametrization is utilized to parametrize the augmented feature *** modification is shown to significantly improve the computational efficiency and numerical robustness, as a result achieving higher precision. Secondly, for better handling of the static scene,a novel closed-form Zero velocity UPda Te(ZUPT) method is proposed. ZUPT is modeled as a measurement update for the filter rather than forbidding propagation roughly, which has the advantage of correcting the overall state through correlation in the filter covariance matrix. Furthermore, online spatial and temporal calibration is also incorporated. Experiments are conducted on both public dataset and real data. The results demonstrate the effectiveness of the proposed solution by showing that its performance is better than the baseline and the state-of-the-art algorithms in terms of both efficiency and precision. A related software is open-sourced to benefit the community.

关键词： Inverse depth parametrization Kalman filter Online calibration Visual-inertial odometry Zero velocity update

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Model and Simulation of Multipath Error in DLL for GPS Receiver

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Chinese Journal of Electronics 2014年第3期23卷 508-515页

作者： CHENG Lan CHEN Jie XIE Gang Taiyuan University of Technology Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Although different multipath error models of Delay lock loop(DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product(DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression,is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Delay lock loop(DLL) Multipath Multipath error model Positioning system

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Self-Tuning Clamping Force control with Optimal Trajectory Tracking for Autonomous Pipe Inspection Robots

SSRN

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SSRN 2025年

作者： Sun, Guoxin Xia, Longfei Du, Xinpeng Yu, Qihui Zhang, Jianlong Qin, Ripeng School of Mechanical Engineering Inner Mongolia University of Science and Technology Inner Mongolia Autonomous Region Baotou014010 China Inner Mongolia Engineering Technology Research Center of Mechatronics System Intelligent Diagnosis & Control Engineering 014010 China Inner Mongolia Ming yang North Smart Energy Research and Development Center Co LTD China Department of Mechanical Engineering Denmark Inner Mongolia University of Science and Technology China

In response to the limitations of existing external pipe-crawling robots, which are unable to automatically adjust clamping force during operation, a novel external pipe-crawling robot has been designed. To enable adaptive clamping based on varying pipeline conditions, an adaptive clamping force control method based on optimal speed curve tracking is proposed. First, the target clamping force is calculated according to pipeline conditions, and it is then converted into a target speed signal through optimal speed curve planning. Subsequently, the motor precisely tracks the speed signal to achieve accurate clamping force control. Experimental results from the robot prototype demonstrate that the proposed algorithm maintains a clamping force control error rate of less than 8.0% under pipelines with different diameters, inclination angles, and surface roughness, ensuring stable operation across various pipeline conditions. © 2025, The Authors. All rights reserved.

关键词： Clamping devices

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Semantic and Emotional Dual Channel for Emotion Recognition in Conversation

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IEEE Transactions on Affective Computing 2025年

作者： Yang, Zhenyu Zhang, Zhibo Cheng, Yuhu Zhang, Tong Wang, Xuesong Jinan250353 China Shandong Engineering Research Center of Big Data Applied Technology Faculty of Computer Science and Technology Jinan250353 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Industrial Network and Information System Security Jinan250353 China China University of Mining and Technology Engineering Research Center of Intelligent Control for Underground Space Ministry of Education Xuzhou Key Laboratory of Artificial Intelligence and Big Data School of Information and Control Engineering Xuzhou221116 China South China University of Technology Guangdong Provincial Key Laboratory of Computational Intelligence and Cyberspace Information School of Computer Science and Engineering Guangzhou510006 China Pazhou Lab Guangzhou510335 China Engineering Research Center Ministry of Education on Health Intelligent Perception and Paralleled Digital-Human Guangzhou China

Emotion recognition in conversation (ERC) aims at accurately identifying emotional states expressed in conversational content. Existing ERC methods, although relying on semantic understanding, often encounter challenges when confronted with incomplete or misleading semantic information. In addition, when dealing with the interaction between emotional and semantic information, existing methods are often difficult to effectively distinguish the complex relationship between the two, which affects the accuracy of emotion recognition. To address the problems of semantic misdirection and emotional cross-talk encountered by traditional models when confronted with complex conversational data, we propose a semantic and emotional dual channel (SEDC) strategy for emotion recognition in conversations to process emotional and semantic information independently. Under this strategy, emotion information provides an auxiliary recognition function when the semantics are unclear or lacking, enhancing the accuracy of the model. Our model consists of two modules: the emotion processing module accurately captures the emotional features of each utterance through contrastive learning, and then constructs a dialogue emotion propagation map to simulate the emotional information conveyed in the dialogue;the semantic processing module combines an external knowledge base to enhance the semantic expression of the dialogue through knowledge enhancement strategies. This divide-and-conquer approach allows us to more deeply analyze the emotional and semantic dimensions of complex dialogues. Experimental results on the IEMOCAP, EmoryNLP, MELD, and DailyDialog datasets show that our approach significantly outperforms existing techniques and effectively improves the accuracy of dialogue emotion recognition. Our code is available at https://***/r/SEDC-FCF1. © 2010-2012 IEEE.

关键词： Contrastive Learning

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A Hierarchical controller for Connected Truck Platoon: Analysis and Verification

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IEEE Transactions on intelligent Transportation systems 2025年第6期26卷 7465-7475页

作者： Li, Yongfu Fan, Junhong Huang, Longwang Huang, Gang Hua, Wei Wu, Wei Yu, Shuyou Shi, Shuming Gao, Xinbo Chongqing University of Posts and Telecommunications Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing School of Automation Chongqing400065 China Zhejiang University School of Electrical Engineering Hangzhou310027 China Zhejiang Lab Hangzhou311121 China Chongqing Jiaotong University Chongqing Key Laboratory of Intelligent Integrated and Multidimensional Transportation System Chongqing400074 China Changsha University of Science and Technology School of Traffic and Transportation Engineering Changsha410114 China Jilin University Department of Control Science and Engineering Changchun130012 China Jilin University Transportation College Changchun130012 China

This paper proposes a novel hierarchical controller for connected truck platoons. To this end, the predecessor following topology is used to characterize the communication connectivity between connected trucks. Then, a longitudinal efficient controller consisting of upper-level and lower-level controllers is proposed. In particular, the upper-level controller is designed based on the kinematic model to handle the car-following interactions between connected trucks and delays in communication and input. The lower-level controller comprises a feedforward and a feedback control law. The feedforward control law converts the desired acceleration from the upper-level controller into the vehicle throttle or braking pressure using the inverse dynamic model, while the feedback control law compensates for the control error caused by unknown vehicle parameters. In addition, in the linear region, the internal stability is analyzed based on the second-order kinematic model using s-domain analysis and linearization method, respectively. Then, the string stability is proved. The influence of parameters on the stability performance is extensively discussed using the stability diagram. Finally, the feasibility of the proposed controller is verified via co-simulations in PreScan and TruckSim, in terms of acceleration, velocity, and spacing error profiles. © 2025 IEEE.

关键词： Feedback control

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Path Planning Method for Live Working Robot in the Power Industry

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IET Cyber-systems and Robotics 2025年第1期7卷

作者： Zhao, Haoning Guo, Jiamin Wang, Chaoqun Guo, Rui Rong, Xuewen Yang, Lecheng Zhao, Yuliang Li, Yibin School of Control Science and Engineering Shandong University Jinan China Engineering Research Center of Intelligent Unmanned System Ministry of Education Shandong University Jinan China State Grid Shandong Electric Power Company Jinan China State Grid Intelligence Technology Co. LTD. Jinan China

Given the complexity of live working environments in power distribution networks, where autonomous obstacle avoidance by robots often involves numerous path nodes and low exploration efficiency, the Bidirectional Node-controlled Rapidly Exploring Random Tree (BNC-RRT) algorithm is proposed. This algorithm guides path search by progressively altering the sampling area and employs a node control mechanism to constrain the random tree expansion and extract effective boundary points. This approach reduces the number of ineffective nodes and collision checks during the search process, thereby enhancing path planning efficiency. Comparative simulation experiments conducted in various scenarios demonstrate that this algorithm reduces the number of path nodes and improves planning efficiency compared to classical algorithms. Finally, real-world experiments on a live working robot developed by our team show that the proposed algorithm shortens the average path length by 8.6%, and reduces the average planning and movement times by 44.7% and 28.7%, respectively, compared to classical path planning algorithms. These results indicate that the algorithm effectively improves path planning efficiency and is suitable for live working tasks in the power distribution industry. © 2025 The Author(s). IET Cyber-systems and Robotics published by John Wiley & Sons Ltd on behalf of Zhejiang University Press.

关键词： intelligent robots

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H3O+ assisted hydrogen spillover over Ru-Mo2Ti2C3 for efficient alkaline hydrogen evolution

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Journal of Colloid and Interface science 2025年 694卷 137738页

作者： Liu, Xiaojing Xie, Fangxia Xi, Qing Wang, Yawen Wang, Yunfang Li, Houfen Li, Rui Fan, Caimei Liu, Jianxin Wang, Jiancheng Shanxi Key Laboratory of Complex Air Pollution Control and Carbon Reduction College of Environmental and Ecology Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Coal Science and Technology Ministry of Education College of Chemistry and Chemical Engineering Taiyuan University of Technology Taiyuan030024 China Tianji Coal Chemical Industry Group Co. Ltd Changzhi047507 China Center of Shanxi Engineering Research for Coal Mine Intelligent Equipment Taiyuan University of Technology Taiyuan030024 China

The limited supply capacity and high transport kinetic energy barrier of H* hinder the implementation of the alkaline hydrogen evolution reaction (HER). Constructing an H3O+ environment can effectively enhance the concentration and diffusion kinetics of H*, thereby alleviating the associated limiting factors. Here we report a novel Ru nanoclusters supported by 2D Mo2Ti2C3 nanosheets (Ru-Mo2Ti2C3) as an effective HER electrocatalyst in alkaline environments. Results indicate that H* is rapidly generated at the Ru site due to the efficient water dissociation capability of Ru-Mo2Ti2C3, subsequently combining with water molecules to form H3O+. H3O+ then rapidly diffuses to the –O group on MXene, which can release H* and act as active sites for H2 evolution, facilitated by the lower migration energy barrier of H3O+. This strategy simultaneously enhances both the supply and transfer of H*, facilitating synergistic catalysis between Ru and MXene. Consequently, Ru-Mo2Ti2C3 exhibits an overpotential of 47 mV at 10 mA cm−2, lower than that observed in acidic media (108 mV). This paper introduces a new approach for the development of catalytic materials aimed at achieving efficient and pH-universal electrochemical H2 evolution. © 2025 Elsevier Inc.

关键词： Alkaline hydrogen evolution H(3)O(+) H* supply capacity H* transfer capability Ru-Mo(2)Ti(2)C(3)

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Stabilization of linear systems with multiple unknown time-varying input delays by linear time-varying feedback

arXiv

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arXiv 2025年

作者： Zhou, Bin Zhang, Kai Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin150001 China

This paper addresses the stabilization of linear systems with multiple time-varying input delays. In scenarios where neither the exact delays information nor their bound is known, we propose a class of linear time-varying state feedback controllers by using the solution to a parametric Lyapunov equation (PLE). By leveraging the properties of the solution to the PLE and constructing a time-varying Lyapunov-Krasovskii-like functional, we prove that (the zero solution of) the closed-loop system is asymptotically stable. Furthermore, this result is extended to the observer-based output feedback case. The notable characteristic of these controllers is their utilization of linear time-varying gains. Furthermore, they are designed entirely independent of any knowledge of the time delays, resulting in controllers that are exceedingly easy to implement. Finally, a numerical example demonstrates the effectiveness of the proposed approaches. © 2025, CC BY.

关键词： State feedback

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A Tutorial on Quantized Feedback control

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 5-17页

作者： Minyue Fu IEEE the School of System Design and Intelligent Manufacturing Shenzhen Key Laboratory of Control Theory and Intelligent Systems and Centre for Control Science and TechnologySouthern University of Science and TechnologyShenzhen 518055China

In this tutorial paper, we explore the field of quantized feedback control, which has gained significant attention due to the growing prevalence of networked control systems. These systems require the transmission of feedback information, such as measurements and control signals, over digital networks, presenting novel challenges in estimation and control design. Our examination encompasses various topics, including the minimal information needed for effective feedback control, the design of quantizers, strategies for quantized control design and estimation,achieving consensus control with quantized data, and the pursuit of high-precision tracking using quantized measurements.

关键词： Consensus control high-precision control networked control quantized estimation quantized feedback control robust control

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control method on serial type pump-valve coordinated electro-hydraulic servo system

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Journal of Beijing Institute of technology 2016年第1期25卷 100-107页

作者：谢文汪首坤王军政吴建 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corresponding control strategy was *** system was constituted of a pumpcontrolled part and a valve-controlled part,the pump controlled part is used to adjust the flow rate of oil source and the valve controlled part is used to complete the position tracking control of the hydraulic *** on the system characteristics,a load flow grey prediction method was adopted in the pump controlled part to reduce the system overflow losses,and an adaptive robust control method was adopted in the valve controlled part to eliminate the effect of system nonlinearity and parametric uncertainties due to variable hydraulic parameters and system loads on the control *** experimental results validated that the adopted control strategy increased the system efficiency obviously with guaranteed high control accuracy.

关键词： pump-valve coordinated grey prediction adaptive robust control efficiency

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