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第36届中国控制会议

作者： Feng Liu Zhe Zhang Ren Jie Sun Fenglan School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Research Center of System Theory & Application Chongqing University of Posts and Telecommunications

ISBN: (纸本)9781538629185

This paper investigates the problem of Synchronous control of Fractional gene regulatory *** on the Lyapunov stability judgment method,we apply two kinds of control method,adaptive projection control and adaptive sliding mode control,for making system ***,a numerical simulation example is provided to verify the effectiveness and the benefit of the proposed synchronicity criterion.

关键词： Fractional-order synchronization adaptive projection control adaptive sliding mode control

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Two-Dimensional Borophene:Properties,Fabrication,and Promising Applications

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Research 2020年第1期2020卷 412-434页

作者： Zhongjian Xie Xiangying Meng Xiangnan Li Weiyuan Liang Weichun Huang Keqiang Chen Jianming Chen Chenyang Xing Meng Qiu Bin Zhang Guohui Nie Ni Xie Xiaobing Yan Han Zhang Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong Province Institute of Microscale Optoelectronics and Otolaryngology Department and Biobank of the First Affiliated HospitalShenzhen Second People’s HospitalHealth Science CenterShenzhen UniversityShenzhen 518060China Shenzhen International Institute for Biomedical Research 518116 ShenzhenGuangdongChina National-Local Joint Engineering Laboratory of New Energy Photovoltaic Devices Key Laboratory of Digital Medical Engineering of Hebei ProvinceCollege of Electron and Information EngineeringHebei UniversityBaoding 071002China Nantong Key Lab of Intelligent and New Energy Materials College of Chemistry and Chemical EngineeringNantong UniversityNantong226019 JiangsuChina Center for Stretchable Electronics and Nanoscale Systems Key Laboratory of Optoelectronic Devices and Systems of Ministry of EducationCollege of Physics and Optoelectronic EngineeringShenzhen UniversityShenzhen 518060China Key Laboratory of Marine Chemistry Theory and Technology(Ocean University of China) Ministry of EducationQingdao 266100China

Monoelemental two-dimensional(2D)materials(Xenes)aroused a tremendous attention in 2D science owing to their unique properties and extensive ***,one emerging and typical Xene,has been regarded as a promising agent for energy,sensor,and biomedical ***,the production of borophene is still a challenge because bulk boron has rather intricate spatial structures and multiple chemical *** this review,we describe its excellent properties including the optical,electronic,metallic,semiconducting,photoacoustic,and photothermal *** fabrication methods of borophene are also presented including the bottom-up fabrication and the top-down *** the end,the challenges of borophene in the latest applications are presented and perspectives are discussed.

关键词： properties boron Bor

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Asynchronous Microphone Array Calibration using Hybrid TDOA Information

arXiv

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arXiv 2024年

作者： Zhang, Chengjie Wang, Jiang Kong, He Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen518055 China

Asynchronous microphone array calibration is a prerequisite for many audition robot applications. A popular solution to the above calibration problem is the batch form of Simultaneous Localisation and Mapping (SLAM), using the time difference of arrival measurements between two microphones (TDOA-M), and the robot (which serves as a moving sound source during calibration) odometry information. In this paper, we introduce a new form of measurement for microphone array calibration, i.e. the time difference of arrival between adjacent sound events (TDOA-S) with respect to the microphone channels. We propose to use TDOA-S and TDOA-M, called hybrid TDOA, together with odometry measurements for bath SLAM-based calibration of asynchronous microphone arrays. Extensive simulation and real-world experiments show that our method is more independent of microphone number, less sensitive to initial values (when using off-the-shelf algorithms such as Gauss-Newton iterations), and has better calibration accuracy and robustness under various TDOA noises. Simulation results also demonstrate that our method has a lower Cramér-Rao lower bound (CRLB) for microphone parameters. To benefit the community, we open-source our code and data at https://***/AISLAB-sustech/Hybrid-TDOA-Calib. Copyright © 2024, The Authors. All rights reserved.

关键词： Calibration

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Tracking control in Presence of Obstacles and Uncertainties for Bioinspired Spherical Underwater Robots

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Journal of Bionic Engineering 2023年第1期20卷 323-337页

作者： Chunying Li Shuxiang Guo Jian Guo Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China

During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or *** this paper,considering the strong nonlinearities,external disturbances and obstacles,the kinematic and dynamic model of bioinspired Spherical Underwater Robot(SUR)was ***,the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and ***,the Lyapunov theory was adopted to verify the stability and the Slide Mode control(SMC)method is used to verify the robustness of the control *** addition,a series of simulations were conducted to evaluate the effectiveness of proposed control *** tests,including path-following,static and moving obstacle avoidance were performed which verified the feasibility,robustness and effectiveness of the designed control ***,a series of experiments in real environment were performed to verify the performance of the control *** simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs.

关键词： Path following Obstacle avoidance Bioinspired.Spherical underwater robot(SUR) Lyapunov theory

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Numerical study on aero-optical imaging deviations of vehicles at different altitudes

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Optoelectronics Letters 2022年第2期18卷 97-102页

作者： XU Liang ZHANG Ziye WANG Tao WU Jianhui CHEN Xi Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems School of Electrical Engineering and AutomationTianjin University of TechnologyTianjin 300384China School of Intelligent Systems Engineering Sun Yat-sen UniversityGuangzhou 510006China China Academy of Launch Vehicle Technology Beijing 100076China

When the vehicle is flying in the atmosphere at high speed, the optical head and the atmosphere will have severe friction, thus forming a complex flow field, which makes the target image shift in the optical imaging system. The influence of altitude on aero-optical imaging deviation is studied in this paper. The geometric modeling and mesh generation of a typical blunt nosed high-speed vehicle were carried out, and the three-dimensional(3 D) flow field density was obtained by a large amount of computational fluid dynamic calculation. In order to complete the optical calculation, the backward ray tracing method and the backward ray tracing stop criterion were used. The results show that as the height increases, the imaging deviation decreases gradually, and the imaging deviation slope increases and tends to be flat and close to zero.

关键词： calculation deviation backward

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Multi-Agent Reinforcement Learning with Region Division and Leader-Follower Communication

Multi-Agent Reinforcement Learning with Region Division and ...

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Chinese Automation Congress (CAC)

作者： Chao Wang Xiang Xu Shenzhen Key Laboratory of Control Theory Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

The integration of multi-agent reinforcement learning (MARL) into complex systems has paved new ways for collaborative problem-solving. However, traditional approaches to MARL frequently encounter the challenge of achieving ef-ficient communication among agents, essential for coordinated action. This paper introduces a region division and leader-follower(RDLF) communication algrithm with the MARL frame-work. RDLF divides the environment into several regions, each managed by a leader agent that coordinates the actions of fol-lower agents and handling inter-region communication. This hier-archical structure reduces unnecessary communication, enhancing learning efficiency. Experimental results in multi-particle en-vironments demonstrate RDLF's superiority over existing MARL algorithms, especially with increasing agent numbers. RDLF effectively addresses scalability and communication challenges in large-scale multi-agent systems, providing a robust foundation for its application in complex and dynamic environment.

关键词： Automation Scalability Heuristic algorithms Collaboration Reinforcement learning Problem-solving Complex systems Multi-agent systems

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Multi-Level Robotic Pouring Using Offline Reinforcement Learning

Multi-Level Robotic Pouring Using Offline Reinforcement Lear...

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IEEE International Conference on Robotics and Biomimetics

作者： Xiaoxiong Zhang Junwei Liu Wei Zhang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This paper presents a novel learning-based method for a robotic manipulator to achieve liquid pouring across different liquid levels using only visual sensors. Previous works have relied on either online reinforcement learning or imitation learning, which are limited by sim-to-real gaps or data efficiency. In this paper, we propose to combine supervised learning and offline reinforcement learning, utilizing a human demonstration dataset containing only successful pouring at the highest level. Specifically, our approach employs supervised learning for a visual classifier, transforming the visual input into a categorical distribution over liquid levels. The offline reinforcement learning method is applied to a binary-conditioned control policy, which takes a binary signal and the robot's proprioception as inputs to determine the action. The binary signal indicates whether the desired liquid level has been reached based on the target liquid level. Through experiments, our method demonstrates superior effectiveness compared to a state-of-the-art imitation learning algorithm. Moreover, tests in unseen scenarios and multiple liquid level commands verify the generalization and transferability of our approach.

关键词： Visualization Liquids Imitation learning Biomimetics Supervised learning Reinforcement learning Robot sensing systems Manipulators Sensors Robots

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Resilient Time-Varying Formation-Tracking of Multi-UAV systems Against Composite Attacks: A Two-Layered Framework

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 969-984页

作者： Xin Gong Michael V.Basin Zhiguang Feng Tingwen Huang Yukang Cui School of Cyber Science and Engineering Southeast UniversityNanjing 210096the School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072 Department of Mechanical Engineering The University of Hong KongHong Kong 999077China School of Physical and Mathematical Sciences the Autonomous University of Nuevo LeonNaevo Leon 66455Mexico Ningbo Institute of Intelligent Equipment Technology Ningbo 315299China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbin 150001China Texas A&M University at Qatar Doha 23874Qatar Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots the College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060 Peng Cheng Laboratory Shenzhen 518000China

This paper studies the countermeasure design problems of distributed resilient time-varying formation-tracking control for multi-UAV systems with single-way communications against composite attacks,including denial-of-services(DoS)attacks,false-data injection attacks,camouflage attacks,and actuation attacks(AAs).Inspired by the concept of digital twin,a new two-layered protocol equipped with a safe and private twin layer(TL)is proposed,which decouples the above problems into the defense scheme against DoS attacks on the TL and the defense scheme against AAs on the cyber-physical ***,a topologyrepairing strategy against frequency-constrained DoS attacks is implemented via a Zeno-free event-triggered estimation scheme,which saves communication resources *** upper bound of the reaction time needed to launch the repaired topology after the occurrence of DoS attacks is ***,a decentralized adaptive and chattering-relief controller against potentially unbounded AAs is ***,this novel adaptive controller can achieve uniformly ultimately bounded convergence,whose error bound can be given *** practicability and validity of this new two-layered protocol are shown via a simulation example and a UAV swarm experiment equipped with both Ultra-WideBand and WiFi communication channels.

关键词： Composite attacks multi-UAV systems resilient control time-varying formation-tracking

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A CRISPR/Cas12a-empowered surface plasmon resonance platform for rapid and specific diagnosis of the Omicron variant of SARS-CoV-2

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National Science Review 2022年第8期9卷 100-109页

作者： Zhi Chen Jingfeng Li Tianzhong Li Taojian Fan Changle Meng Chaozhou Li Jianlong Kang Luxiao Chai Yabin Hao Yuxuan Tang Omar A.Al-Hartomy Swelm Wageh Abdullah G.Al-Sehemi Zhiguang Luo Jiangtian Yu Yonghong Shao Defa Li Shuai Feng William J.Liu Yaqing He Xiaopeng Ma Zhongjian Xie Han Zhang Shenzhen Engineering Laboratory of Phosphorene and Optoelectronics International Collaborative Laboratory of 2D Materials for Optoelectronics Science and Technology of Ministry of Education Shenzhen Institute of Translational Medicine Department of Otolaryngology Shenzhen Second People’s Hospital the First Affiliated Hospital Institute of Microscale Optoelectronics Shenzhen University Shenzhen International Institute for Biomedical Research Shenzhen Han’s Tech Limited Company Shenzhen Metasensing Tech Limited Company Department of Physics Faculty of Science King Abdulaziz University Research Center for Advanced Materials Science (RCAMS) King Khalid University Department of Chemistry College of Science King Khalid University Zhongmin (Shenzhen) Intelligent Ecology Co.Ltd Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong Province College of Physics and Optoelectronic Engineering Shenzhen University Department of Laboratory Medicine Shenzhen Children’s Hospital Optoelectronics Research Center School of Science Minzu University of China NHC Key Laboratory of Biosafety National Institute for Viral Disease Control and Prevention Chinese Center for Disease Control and Prevention Research Unit of Adaptive Evolution and Control of Emerging Viruses Chinese Academy of Medical Sciences Institute of Pathogenic Organism Shenzhen Center for Disease Control and Prevention Respiratory Department Shenzhen Children’s Hospital Institute of Pediatrics Shenzhen Children’s Hospital

The outbreak of the COVID-19 pandemic was partially due to the challenge of identifying asymptomatic and presymptomatic carriers of the virus, and thus highlights a strong motivation for diagnostics with high sensitivity that can be rapidly deployed. On the other hand, several concerning SARS-Co V-2 variants,including Omicron, are required to be identified as soon as the samples are identified as ‘positive'.Unfortunately, a traditional PCR test does not allow their specific identification. Herein, for the first time,we have developed MOPCS(Methodologies of Photonic CRISPR Sensing), which combines an optical sensing technology-surface plasmon resonance(SPR) with the ‘gene scissors' clustered regularly interspaced short palindromic repeat(CRISPR) technique to achieve both high sensitivity and specificity when it comes to measurement of viral variants. MOPCS is a low-cost, CRISPR/Cas12a-systemempowered SPR gene-detecting platform that can analyze viral RNA, without the need for amplification,within 38 min from sample input to results output, and achieve a limit of detection of 15 fM. MOPCS achieves a highly sensitive analysis of SARS-Co V-2, and mutations appear in variants B.1.617.2(Delta),B.1.1.529(Omicron) and BA.1(a subtype of Omicron). This platform was also used to analyze some recently collected patient samples from a local outbreak in China, identified by the Centers for Disease control and Prevention. This innovative CRISPR-empowered SPR platform will further contribute to the fast, sensitive and accurate detection of target nucleic acid sequences with single-base mutations.

关键词： surface plasmon resonance CRISPR SARS-CoV-2 Omicron variant

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Fast Decentralized Multi-Agent Collision Avoidance Based on Safe-Reachable Sets

Fast Decentralized Multi-Agent Collision Avoidance Based on ...

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IEEE Conference on Decision and control

作者： Zikai Ouyang Junwei Liu Haibo Lu Wei Zhang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Peng Cheng Laboratory Shenzhen China

This paper presents a decentralized multi-agent collision avoidance method for systems with single integrator dynamics and identical maximum speeds. The key to our approach lies in the concept of safe-reachable sets, which define the set of positions that each agent can reach while avoiding collisions with its neighbors for any admissible controllers. With this concept, we develop a distributed controller by solving an online convex program, which is shown to guarantee collision-free trajectories. Furthermore, under a no temporary deadlock condition, we establish that each agent converges to its target position. Our approach is also efficient in terms of makespan, representing the total time needed for convergence. Simulation results demonstrate the effectiveness of our approach in terms of safety, convergence, and efficiency.

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