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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Li, Guotao Cheng, Long Gao, Zhengrun Lu, Jilong Zhao, Yanjiang Institute of Automation State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China Fudan University The National Clinical Research Center for Aging and Medicine Shanghai China Harbin University of Science and Technology Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin150080 China Intelligent Machine Institute Harbin University of Science and Technology Harbin150080 China

ISBN: (纸本)9781665465366

Hand paralysis caused by stroke, spinal cord injury, or neurological trauma has a significant impact on the independence and quality of life of the patients. The hand exoskeleton can provide hand assistance and improve the patient's grasp. In this article, a novel wearable flexible hand exoskeleton is proposed to assist users in activities of daily life. To create a simple and lightweight assistive hand exoskeleton, 3D printing is used to manufacture most of the components, and a remote drive system is designed to reduce the weight of the hand exoskeleton. A ball pair device and a slider device are used to ensure the freedom of the thumb and the adaptability of the hand exoskeleton to different hand sizes. Finally, the experiments are conducted to verify that the hand exoskeleton can achieve motion assistance. © 2022 IEEE.

关键词： 3D printing

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Optimal synchronization control formulti-agent systems with input saturation:a nonzero-sum game

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Frontiers of Information technology & Electronic Engineering 2022年第7期23卷 1010-1019页

作者： Hongyang LI Qinglai WEI School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China The State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

This paper presents a novel optimal synchronization control method for multi-agent systems with input *** multi-agent game theory is introduced to transform the optimal synchronization control problem into a multi-agent nonzero-sum ***,the Nash equilibrium can be achieved by solving the coupled Hamilton–Jacobi–Bellman(HJB)equations with nonquadratic input energy terms.A novel off-policy reinforcement learning method is presented to obtain the Nash equilibrium solution without the system models,and the critic neural networks(NNs)and actor NNs are introduced to implement the presented *** analysis is provided,which shows that the iterative control laws converge to the Nash *** results show the good performance of the presented method.

关键词： Optimal synchronization control Multi-agent systems Nonzero-sum game Adaptive dynamic programming Input saturation Off-policy reinforcement learning Policy iteration

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Distributed Event-Triggered Attitude Estimation Without Angular Velocity Measurements

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IEEE Transactions on Control of Network systems 2025年

作者： Li, Shanshan Jin, Xin Li, Yichun Li, Fangfei Werner, Herbert Tang, Yang East China University of Science and Technology Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education Shanghai200237 China Fudan University Research Institute of Intelligent Complex Systems Shanghai200433 China East China University of Science and Technology Department of Mathematics Shanghai200237 China Hamburg University of Technology Institute of Control Systems Hamburg21073 Germany

In this paper, a distributed event-triggered attitude estimation problem is considered for multiple rigid body systems on SO(3). The error in attitude estimation converges asymptotically to a common orientation among multiple rigid body systems, based on relative attitude measurements under undirected graphs. To eliminate the reliance on direct angular velocity measurements, a cascaded estimation scheme is proposed, employing indirected angular velocity estimation through a single vector measurement that is readily accessible using accelerometers or magnetometers. An event-triggered condition (ETC), grounded in clock variables, is proposed to reduce the communication and computation requirements associated with the attitude estimation. Subsequently, a rigorous convergence analysis of the attitude estimation errors is conducted, relying upon a stability criteria of invariant sets for cascade-connected systems. Furthermore, a self-triggered condition is developed to overcome the challenge of continuous monitoring throughout the event detection process. Ultimately, the efficacy of the proposed framework is validated through a numerical simulation encompassing multiple small satellites. © 2014 IEEE.

关键词： Velocity measurement

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Cc@Bcn@Pani Core-Shell Nanoarrays as Ultra-High Cycle Stability Cathode for Zn-Ion Hybrid Supercapacitors

SSRN

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SSRN 2023年

作者： Xiong, Shixian Ke, Hongcheng Cao, Lei Wang, Yu Zhu, Qian Zhong, Liqin Fan, Lanlan Gu, Feng Nanchang Key Laboratory for Advanced Manufacturing of Electronic Information Materials and Devices Jiangxi Provincial Key Laboratory for Simulation and Modelling of Particulate Systems International Institute for Innovation Jiangxi University of Science and Technology Nanchang330013 China

Exploring cathode materials that combine excellent cycling stability and high energy density remains challenging for aqueous zinc ion hybrid supercapacitors (ZHSCs). Herein, polyaniline (PANI) coated BCN nanoarray on carbon cloth surface is prepared as advanced cathode materials via simple high-temperature calcination and electrochemical deposition methods. Due to the high specific capacity and conductivity of PANI, the CC@BCN@PANI core-shell nanoarrays cathode shows excellent ion storage capability. Furthermore, the 3D nanoarray structure can provide enough space for the volume expansion and contraction of PANI during the charging and discharging process, which effectively avoids the collapse of the microstructure and greatly improves the electrochemical stability of PANI. Therefore, the CC@BCN@PANI based ZHSCs exhibit the superior electrochemical performances with a high capacity of 145.8 mAh g-1 (0.5 A g-1), a high energy and power density of 116.78 Wh kg-1 and 12 W kg-1, and a high-capacity retention rate of 86.2% at 2 A g-1 after 8000 cycles. In addition, the flexible Zn-ion hybrid supercapacitors (FZHSCs) are also investigated, and show a high capacity of 160 mAh g-1 (0.1 A g-1), and a capacity retention rate of 87.7% at 2 A g-1 after 450 cycles. © 2023, The Authors. All rights reserved.

关键词： Cathodes

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Decentralized Zeno-Free Event-Triggered Control For Multiple Networks Subject to Stochastic Network Delays and Poisson Pulsing Attacks

arXiv

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arXiv 2024年

作者： Zhang, Dandan Jin, Xin Su, Hongye The State Key Laboratory of Industrial Control Technology The Institute of Cyber-Systems and Control The College of Control Science and Engineering Zhejiang University Hangzhou310027 China The Research Institute of Intelligent Complex Systems Fudan University Shanghai200433 China The Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology Shanghai200237 China

By designing the decentralized time-regularized (Zeno-free) event-triggered strategies for the state-feedback control law, this paper considers the stochastic stabilization of a class of networked control systems, where two sources of randomness exist in multiple decentralized networks that operate asynchronously and independently: the communication channels are constrained by the stochastic network delays and also by Poisson pulsing denial-of-service (Pp-DoS) attacks. The time delay in the network denotes the length from a transmission instant to the corresponding update instant, and is supposed to be a continuous random variable subject to certain continuous probability distribution;while the attacks' cardinal number is a discrete random variable supposed to be subject to Poisson distribution, so the inter-attack time, i.e., the time between two consecutive attack instants, is subject to exponential distribution. The considered system is modeled as a stochastic hybrid formalism, where the randomness enters through the jump map into the reset value (the inter-attack time directly related) of each triggered strategy. By only sampling/transmitting state measurements when needed and simultaneously by taking the specific medium access protocols into account, the designed event-triggered strategies are synthesized in a state-based and decentralized form, which are robust (tolerable well) to stochastic network delays, under different tradeoff-conditions between the minimum inter-event times, maximum allowable delays (i.e., potentially tolerable delays) and the frequencies of attacks. Using stochastic hybrid tools to combine attack-active parts with attack-over parts, the designed triggered strategies, if designed well according to the actual system needs, can tolerate (be resilient to) the Pp-DoS attacks and stochastic network delays without jeopardizing the stability and Zeno-freeness, which is verified by the robust global attitude stabilization of flexible combined ro

关键词： Networked control systems

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Radio-Frequency Magnetometry Based on Parametric Resonances

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Physical Review Letters 2024年第9期133卷 093201页

作者： Wei Xiao Xiyu Liu Teng Wu Xiang Peng Hong Guo 1State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics and Center for Quantum Information Technology <a href="https://***/02v51f717">Peking University</a> Beijing 100871 China. 2MIIT Key Laboratory of Complex-field Intelligent Sensing Advanced Research Institute of Multidisciplinary Science <a href="https://***/01skt4w74">Beijing Institute of Technology</a> Beijing 100081 China. 3State Key Laboratory of CNS/ATM <a href="https://***/01skt4w74">Beijing Institute of Technology</a> Beijing 100081 China.

We propose and demonstrate a radio-frequency (rf) atomic magnetometer based on parametric resonances. Previously, most rf atomic magnetometers are based on magnetic resonances and their sensitivities are often limited by spin-exchange relaxation. Here, we introduce a novel scheme for an rf magnetometer where the rf magnetic field is measured by exciting the parametric resonances instead of magnetic resonances using parametric modulation fields. In this way, the spin-exchange relaxation is almost eliminated. Benefiting from the low spin relaxation rate, the parametric resonance scheme exhibits a narrower linewidth and stronger signal, which results in a higher sensitivity. With a 6×6×3 mm3 Rb atomic vapor cell, we developed an rf atomic magnetometer with a noise floor of 2 fT/Hz1/2, which is about one order of magnitude higher than the sensitivity achieved in the magnetic-resonance-based scheme. The presented rf detection scheme holds promise in advancing rf atomic magnetometers and brings new insight into their various applications.

关键词： Atomic & molecular processes in external fields Light-matter interaction Quantum measurements Quantum sensing Zeeman effect

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META-IMITATION LEARNING BY WATCHING VIDEO DEMONSTRATIONS 10

META-IMITATION LEARNING BY WATCHING VIDEO DEMONSTRATIONS

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10th International Conference on Learning Representations, ICLR 2022

作者： Li, Jiayi Lu, Tao Cao, Xiaoge Cai, Yinghao Wang, Shuo School of Artificial Intelligence University of Chinese Academy of Sciences China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences China

Meta-Imitation Learning is a promising technique for the robot to learn a new task from observing one or a few human demonstrations. However, it usually requires a significant number of demonstrations both from humans and robots during the meta-training phase, which is a laborious and hard work for data collection, especially in recording the actions and specifying the correspondence between human and robot. In this work, we present an approach of meta-imitation learning by watching video demonstrations from humans. In comparison to prior works, our approach is able to translate human videos into practical robot demonstrations and train the meta-policy with adaptive loss based on the quality of the translated data. Our approach relies only on human videos and does not require robot demonstration, which facilitates data collection and is more in line with human imitation behavior. Experiments reveal that our method achieves the comparable performance to the baseline on fast learning a set of vision-based tasks through watching a single video demonstration. © 2022 ICLR 2022 - 10th International Conference on Learning Representationss. All rights reserved.

关键词： Robots

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DSTFormer: 3D Human Pose Estimation with a Dual-scale Spatial and Temporal Transformer Network

DSTFormer: 3D Human Pose Estimation with a Dual-scale Spatia...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Shaokun Zhang Xinde Li Chuanfei Hu Jianping Xu Huaping Liu School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Nanjing Center for Applied Mathematics Nanjing China Southeast University Shenzhen Research Institute Shenzhen China Science and Technology on Information Systems Engineering Laboratory Nanjing China Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Recent transformer-based methods for estimating 3D human pose have gained widespread attention, achieving state-of-the-art results. Previous methods have primarily focused on capturing motion patterns of the human body at a single scale or cascading multiple scales, such as joints, bones, and body-parts. However, they are difficult to simultaneously capture spatial-temporal motion patterns of the human body at different scales due to the complex motion patterns. To address this issue, we propose Dual-scale Spatial and Temporal transFormer (DSTFormer), which can concurrently explore the spatial dependencies and temporal motion patterns of human joints and bones. Additionally, we introduce a Gcn-Spatial Transformer Block (GSTB), which introduces Graph Convolutional Networks (GCN) into transformer to enhance the exploitation of local relationships and global information between adjacent joints or bones. Extensive experiments are conducted on the Human3.6M benchmark dataset, and superior results are reported when comparing to other state-of-the-art methods. More remarkably, our model achieves to-date the best published performance, with P1 errors of 37.9 mm and 15.6 mm, respectively.

关键词： Solid modeling Three-dimensional displays Mechatronics Graph convolutional networks Computational modeling Pose estimation Transformers Bones Joints Robots

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Trajectory Planning Towards Water-Air Trans-Media Motion for Robotic Dolphin

Trajectory Planning Towards Water-Air Trans-Media Motion for...

引用

Chinese Automation Congress (CAC)

作者： Yan Xiong Pengfei Zhang Di Chen Junzhi Yu Department of Advanced Manufacturing and Robotics State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China Shandong Nuclear Power Company LTD. Yantai China School of Intelligence Science and Technology University of Science and Technology Beijing Beijing China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Water-air trans-media navigators have multi-media motion modes, breaking through the limitation that traditional robots can only operate in a single medium. Autonomous navigation is an indispensable component of the process of transmedia motion. Most of the current work has only completed the development and testing of prototypes, and the problem of task-oriented motion planning and control needs to be solved. In this paper, a safe and efficient hierarchical approach is proposed. First, a novel rapidly exploring random tree-based algorithm is proposed to search for a suitable path. Then, by fixing bound waypoints, the time-optimization trajectory is planned. Finally, the trajectory tracker is designed based on nonlinear model predictive control (NMPC). simulation experiments numerically validate the proposed method, offering some new insights for further trans-media motions.

关键词： Tracking Trajectory planning Navigation Prototypes Prediction algorithms Trajectory Planning Testing Predictive control Dolphins

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Roto-Translation Invariant Formation of Fixed-Wing UAVs in 3D: Feasibility and Control

arXiv

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arXiv 2023年

作者： He, Xiaodong Li, Zhongkui Wang, Xiangke Geng, Zhiyong The State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China The College of Intelligence Science and Technology National University of Defense Technology Changsha410073 China

This paper investigates the formation of fixed-wing UAVs in 3D, which communicate via a directed acyclic graph. Different from common formation problems, we consider the roto-translation invariant (RTI) formation, where the "roto-translation" refers to a rigid-body motion obtained by composing rotation and translation. Besides, the fixed-wing UAV is modelled by a 3-D nonholonomic constrained rigid body instead of a particle agent. The main results of this paper include proposing the formation feasibility conditions and designing the formation controller. Firstly, we define the RTI formation and propose the conditions to guarantee that the formations are feasible for the fixed-wing UAVs under the nonholonomic and input saturation constraints. Secondly, given feasible formations, we design a formation controller by introducing a virtual leader and employing the compensation of rotation, followed by proving the stability of the closed-loop system. Finally, simulation examples are presented to verify the theoretical *** with the motion coupling among multiple robots. Finally, numerical simulations are conducted to verify the theoretical results. Copyright © 2023, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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