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The Tianwen-1 Guidance, Navigation, and control for Mars Entry, Descent, and Landing

space(science & technology) 2021年第1期2021卷 84-96页

作者： Xiangyu Huang Maodeng Li Xiaolei Wang Jinchang Hu Yu Zhao Minwen Guo Chao Xu Wangwang Liu Yunpeng Wang Ce Hao Lijia Xu Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control EngineeringBeijing 100091China Beijing Institute of Control Engineering Beijing 100091China

Tianwen-1,the first mission of China’s planetary exploration program,accomplished its goals of orbiting,landing,and roving on the *** entry,descent,and landing(EDL)phase directly determines the success of the entire mission,of which the guidance,navigation,and control(GNC)system is *** paper outlines the Tianwen-1 EDL GNC system design by introducing the GNC requirements followed by presenting the GNC system architecture and algorithms to meet such *** actual flight results for the whole EDL phase are also provided in this paper.

关键词： system GNC landing

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The Research on Sheet Metal Part Recognition technology Based on Improved Mask R-CNN 5

The Research on Sheet Metal Part Recognition Technology Base...

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5th International Conference on Machine Learning and Computer Application, ICMLCA 2024

作者： Liu, Mingfei Liu, Jun Zhou, Kecheng Wang, Jian School of Computer Science and Technology Shenyang University of Chemical Technology Key Laboratory of Industrial Intelligence Technology on Chemical Process Liaoning Province Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9798331530334

The visual recognition of sheet metal parts is a crucial component of industrial automation sorting, particularly under complex lighting and background interference conditions. To enhance the accuracy of sheet metal part recognition, this paper curates a dataset of sheet metal parts acquired by an intelligent light field image sensor and proposes a visual recognition model, PA-CBAM, based on an improved Mask R-CNN. By improving the original feature pyramid FPN and introducing the Convolutional Block Attention Module (CBAM), the model enhances multi-scale feature fusion and the focus on key features: (1) Bottom up paths and shortcut connections have been added between different layers of the traditional FPN feature pyramid, thereby improving multi-scale object detection capability. (2) CBAM further optimizes the model's channel and spatial attention mechanisms, effectively enhancing the capture of edge details and the suppression of background noise. Experimental results show that the proposed PA-CBAM model significantly improves detection and segmentation performance compared to traditional methods, particularly in terms of edge recognition accuracy for sheet metal parts under complex lighting conditions. © 2024 IEEE.

关键词： Sheet metal

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Deep Reinforcement Learning with Detour Estimation for Vehicle Routing Problems

Deep Reinforcement Learning with Detour Estimation for Vehic...

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Chinese control and Decision Conference, CCDC

作者： Zhaoliang Ma Chunmei Zhang Ziqi Liang Shanxi Key Laboratory of Advanced Control and Equipment Intelligence Taiyuan University of Science and Technology Taiyuan China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

For the vehicle routing problem, this paper introduces a baseline function computation approach with “Detour Estimation” in deep reinforcement learning. During the training process, if a truck still has feasible customers to serve every time it prepares to return to the depot, it is considered that the truck has taken a detour, and at this moment, the detour estimation for this partial solution is calculated, referred to as “partial detour estimation.” After completing the service of all customers and returning to the depot, the overall detour estimation of the entire delivery path is calculated based on a rule that gives less weight to earlier detour estimations, known as “overall detour estimation.” This paper computes the REINFORCE algorithm’s baseline by subtracting the “overall detour estimation” from the “true path length” to expedite algorithm’s convergence and enhance solution quality. Experimental results show that the method proposed in this paper, when applied to problems of size 20, 50, and 100, reduces the deviation from the optimal solution compared to the baseline calculation method in the original paper by 0.5 at most, respectively, demonstrating the effectiveness of the algorithm.

关键词： Training Heuristic algorithms Vehicle routing Decision making Estimation Artificial neural networks Deep reinforcement learning

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Adaptive Grinding Planning for Robotic Arms Based on Parameterized Cost Estimation and Dynamic Hierarchical Optimization

Adaptive Grinding Planning for Robotic Arms Based on Paramet...

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IEEE Instrumentation and Measurement technology Conference

作者： Ningyuan Wang Yuemeng Ma Qiang Wang Department of Control Science and Engineering Harbin Institute of Technology Harbin China Science and Technology on Space Physics Laboratory Beijing China

ISBN: (数字)9798350380903

ISBN: (纸本)9798350380910

In adaptive grinding task, robotic arms are required to autonomously achieve uniform grinding of workpieces. This brings a great challenge to estimation and planning techniques. In this paper, a double-layer planning framework is designed to make industrial robotic arms accomplish adaptive grinding tasks for various tee tubes of arbitrary size, spatial orientation and surface characteristic. Dynamic-hierarchical-ant-colony-system (DHACS) and velocity-vector-decomposition-based (VVD-based) parameterized path planning are designed and applied to calculate the optimal grinding order and generate grinding paths along tee tube surfaces. Experimental results demonstrate that the shortest grinding path along arbitrary tee tube is generated adaptively by the planning framework proposed. Compared to the state-of-the-art methods, the efficiency and effectiveness of the planning framework proposed in this paper are demonstrated. Specifically, in terms of optimal solution quality, the performance advantages are at least 1.224%, 4.629% and 3.673% respectively.

关键词： Costs Service robots Estimation Manipulators Path planning Planning Electron tubes

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Design and Simulation of Channel Simulator for Complex Enclosed space 7

Design and Simulation of Channel Simulator for Complex Enclo...

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7th IEEE International Conference on Electronic Information and Communication technology, ICEICT 2024

作者： Wang, Yan Zhang, Tao Zou, Danqing Mao, Yu Wang, Mengyu Graduate School of Chinese Aeronautical Establishment 225000 China Aviation Key Laboratory of Science and Technology on Electromagnetic Environment Effects 110035 China National Key Laboratory of Electromagnetic Information Control and Effects 110035 China Qianxun Spatial Intelligence Inc. Shanghai200000 China

ISBN: (纸本)9798350384437

In order to evaluate the performance of wireless communication systems in a faster and more economic fashion, we propose to design the so-called channel simulator, through which wireless channel properties of complex enclosed environments are reconstructed by a simple device. In this sense, channel measurements in specific scenarios, e.g. aircrafts, which are formerly expensive and time-consuming become concise and cost-effective. This paper introduces the concept of channel simulator and describes the design process in detail. Simulated results of wireless channel properties from the simulator are compared with those from a realistic aircraft model, verifying the feasibility and potential of the idea. © 2024 IEEE.

关键词： Aircraft models

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DriveRP: RAG and Prompt Engineering Embodied Parallel Driving in Cyber-Physical-Social spaces 4

DriveRP: RAG and Prompt Engineering Embodied Parallel Drivin...

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4th IEEE International Conference on Digital Twins and Parallel intelligence, DTPI 2024

作者： Huang, Jun Ma, Hao Zhang, Tengchao Lin, Fei Ma, Siji Wang, Xiao Wang, Fei-Yue Macau University of Science and Technology Faculty of Innovation Engineering China Anhui University School of Artificial Intelligence Hefei China Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Institute of Automation Beijing China

ISBN: (纸本)9798350349252

In recent years, numerous technological advancements in Artificial Generative intelligences (AGIs) have demonstrated significant potential to transform the intelligence acquisition mechanisms in connected autonomous vehicles (CAVs). Integrating technologies like ChatGPT into CAVs can enhance human-machine interactions. However, the emergence of such new traffic entities may introduce unforeseen hallucinations and complex risks that surpass our current understanding. To address these challenges, Retrieval-Augmented Generation (RAG) and prompt engineering technologies are being explored to enhance the reliability and safety of autonomous driving systems. RAG retrieves relevant contextual information, such as driving experiences and real-time road network status, from external databases to ensure that foundation models have access to accurate and timely data for informed decision-making. Prompt engineering optimizes the performance of large language models in autonomous driving systems by designing and refining prompts that guide the models' responses, thereby improving their relevance and accuracy in various driving scenarios. Together, these technologies enhance the robustness and trustworthiness of autonomous driving systems. This paper proposes DriveRP, a framework that integrates RAG and prompt engineering within the Descriptive-Predictive-Prescriptive intelligence framework of Parallel Driving theory. DriveRP aims to enhance the safety and interpretability of autonomous vehicle trajectory planning, decision-making, and motion control, ultimately achieving the "6S"goals. Grounded in Digital Twins and Metaverse-embodied parallel driving theory, DriveRP provides the infrastructure and foundational intelligence for parallel driving with Multi-modal Large Lange Models(MLLMs). Additionally, the paper discusses future trends and potential research directions, focusing on the "6S"goals of parallel driving: Smart, Safe, Secure, Sensitive, Sustainable, and Serviceable. © 2

关键词： Intelligent systems

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Adaptive Event-triggered control with Sampled Transmitted Output and controller Dynamics

arXiv

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arXiv 2024年

作者： Zuo, Gewei Zhu, Lijun School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430072 China Key Laboratory of Imaging Processing and Intelligence Control

The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in the literature, however the controller must partially reside at the plant side where the computation capacity is required. In this paper, all controller components are moved to the controller side and their dynamics use sampled states rather than continuous one with the benefit of directly estimating next triggering instance of some conditions and avoiding constantly checking event condition at the controller side. However, these bring two major challenges. First, the virtual input designed in the dynamic filtering technique for the stabilization is no longer differentiable. Second, the plant output is sampled to transmit at plant side and sampled again at controller side to construct the controller, and the two asynchronous samplings make the analysis more involving. This paper solves these two issues by introducing a new state observer to simplify the adaptive law, a set of continuous companion variables for stability analysis and a new lemma quantifying the error bound between actual output signal and sampled transmitted output. It is theoretically guaranteed that all internal signals in the closed-loop system are semiglobally bounded and the output is practically stabilized to the origin. Finally, the numerical simulation illustrates the effectiveness of proposed scheme. Copyright © 2024, The Authors. All rights reserved.

关键词： controllers

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Disturbance Estimation of Legged Robots: Predefined Convergence via Dynamic Gains

arXiv

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arXiv 2025年

作者： Li, Bolin Cai, Peiyuan Zuo, Gewei Zhu, Lijun Ding, Han School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430072 China Key Laboratory of Imaging Processing and Intelligence Control China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology China

In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages measurable variables. The distinct feature of our observer is the integration of dynamic gains and comparison functions, which guarantees predefined convergence of the disturbance estimation error, including ultimately uniformly bounded, asymptotic, and exponential convergence, among various types. The properties of dynamic gains and the sufficient conditions for comparison functions are detailed to guide engineers in designing desired convergence behaviors. Notably, the observer functions effectively without the need for upper bound information of the disturbance or its derivative, enhancing its engineering applicability. An experimental example corroborates the theoretical advancements achieved. Copyright © 2025, The Authors. All rights reserved.

关键词： Continuous time systems

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A Method of spacecraft Orbit Anomaly Discrimination Based on Long Short-Term Memory Network 22

A Method of Spacecraft Orbit Anomaly Discrimination Based on...

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Proceedings of the 2022 11th International Conference on Computing and Pattern Recognition

作者： Zonghua Qu Chunling Wei Han Yan Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering China

ISBN: (纸本)9781450397056

Facing the increasingly crowded orbital space and the gradually increasing space threats, more attention needs to be paid to spacecraft safety in space. In order to address the problem of non-cooperative spacecraft's approach interference to our spacecraft, the process of non-cooperative spacecraft's approach to our spacecraft by using Hohmann transfer is given by Satellite Tool Kit (STK) software, and the whole process of spacecraft's abnormal orbital maneuvering to approach our spacecraft is identified and judged by the method based on long short-term memory (LSTM) network. The simulation verifies that the LSTM network achieves good results.

关键词： STK Orbit Maneuvering LSTM spacecraft

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Combined Model Predictive control for Geosynchronous Satellite Station Keeping Using Electric Propulsion

Combined Model Predictive Control for Geosynchronous Satelli...

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Chinese control Conference (CCC)

作者： Heng Shi Xiaoxiang Liu Shuo Wang Ji Mai Beijing Institute of Control Engineering Beijing China Science and Technology on Space Intelligence Control Laboratory Beijing China Beijing Aerospace Institute for Metrology and Measurement Technology Beijing China

Novel combined model predictive control method is presented, which includes long-term trajectory planning, outer-loop model predictive trajectory and angular momentum control, and inner-loop attitude control. Firstly, the influence of long-period perturbation characteristics on long term station keeping of geosynchronous satellite is fully considered, and the station keeping trajectory is optimized for 3 months to 6 months. Then, taking the long-term planning results as the reference trajectory and considering the engineering constraint model, the outer-loop control is realized within 7 days to 14 days, so that the position trajectory meets the planning expectations and meets the requirements of orbit and angular momentum optimal control. The inner loop control adopts the attitude control method considering the continuous torque effect of small thrust, so as to meet the requirements of real-time angular momentum and attitude control with higher frequency. The method has been successfully verified by on-orbit flight tests, showing the characteristics of high control accuracy, high fuel utilization efficiency, and being adaptive to various engineering constraints.

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