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CPL-SLAM: Centralized Collaborative Multi-Robot Visual-Inertial SLAM Using Point-and-Line Features

IEEE Internet of Things Journal 2025年第12期12卷 21866-21875页

作者： Liu, Xin Wen, Shuhuan Liu, Huaping Richard Yu, F. Yanshan University Engineering Research Center The Ministry of Education for Intelligent Control System and Intelligent Equipment Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province Department of Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tsinghua University Department of Computer Science and Technology Beijing100084 China Shenzhen University College of Computer Science and Software Engineering China Carleton University Canada

Traditional visual-inertial SLAM (Simultaneous Localization and Mapping) systems predominantly rely on feature point matching from a single robot to realize the robot pose estimation and environment map construction. However, in complex scenarios, these traditional systems struggle with issues such as tracking failures due to illumination changes, rapid movements, and low-texture environments, and they perform poorly in terms of mapping efficiency and global consistency. To address these challenges, we propose a centralized collaborative SLAM system that employs both point and line features for tracking in the robot and map fusion in the cloud. The proposed system leverages the fusion of point and line features across all instances in the process, which allows our method to achieve higher localization accuracy in structured, low-texture scenes. With the aid of classifying gravity-aligned vertical lines and spatial parallel lines, the proposed system can deliver faster and more accurate odometry in complex scenes. Furthermore, we developed intra-robot and inter-robot loop closure detection methods based on point and line features, generating a globally consistent sparse point cloud and structured scene map in the cloud. Our method is able to build richer maps while improving accuracy compared to existing methods. Experimental results on public datasets and in real-world environments show that, compared to existing advanced methods, our approach demonstrates better performance. © 2014 IEEE.

关键词： SLAM robotics

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Data-driven consensus control of fully distributed event-triggered multi-agent systems

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science China(Information sciences) 2023年第5期66卷 147-161页

作者： Yifei LI Xin WANG Jian SUN Gang WANG Jie CHEN School of Automation Beijing Institute of Technology The State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This study investigates the consensus control issue in discrete-time linear multi-agent systems(MASs) using data-driven control under undirected communication networks. To alleviate the communication burden, an adaptive event-triggered control strategy involving only local information is proposed and a model-based stability condition is derived that guarantees the asymptotic consensus of MASs. Furthermore,a data-based consensus condition for unknown MASs is established by combining a data-based system representation with the model-based stability condition, using only pre-collected noisy input-state data instead of the accurate system information a priori. Specifically, both model-based and data-driven event-triggered controllers can be utilized without requiring any global information. The validity and correctness of the controllers and associated theoretical results are demonstrated via numerical simulations.

关键词： distributed control event-triggered control data-driven control discrete-time MASs

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A Distributed Algorithm for Large-Scale Multi-Agent MINLPs 63

A Distributed Algorithm for Large-Scale Multi-Agent MINLPs

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Dong, Sheng Xia, Weiguo Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering China

ISBN: (纸本)9798350316339

In this paper, we focus on the optimization of large-scale multi-agent systems, where agents collaboratively optimize the sum of local objective functions through their own continuous and/or discrete decision variables, subject to global coupling constraints and local constraints. The resulting Mixed-Integer Nonlinear Programmings (MINLPs) are NP-hard, non-convex, and large-scale. Therefore, this paper aims to design distributed algorithms to find feasible suboptimal solutions with a guaranteed bound. To this end, considering dual decomposition as an effective method to decompose large-scale constraint-coupled optimization problems, we first show, based on the convexification effects of large-scale MINLPs, that the primal solutions from the dual are near-optimal under certain conditions. This expands recent results in Mixed-Integer Linear Programmings (MILPs) to the nonlinear case but requires additional efforts on the proof. Utilizing this result to tighten the coupling constraints, we develop a fully distributed algorithm for the tightened problem, based on dual decomposition and consensus protocols. The algorithm is guaranteed to provide feasible solutions for the original MINLP. Moreover, asymptotic suboptimality bounds are established for the obtained solution. Finally, the efficacy of the method is verified through numerical simulations. © 2024 IEEE.

关键词： Mixed-integer linear programming

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A new noise network and gradient parallelisation‐based asynchronous advantage actor‐critic algorithm

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IET Cyber-Systems and Robotics 2022年第3期4卷 175-188页

作者： Zhengshun Fei Yanping Wang Jinglong Wang Kangling Liu Bingqiang Huang Ping Tan Provincial Key Institute of Robotics School of Automation and Electrical EngineeringZhejiang University of Science and TechnologyHangzhouChina State Key Lab of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina

Asynchronous advantage actor‐critic(A3C)algorithm is a commonly used policy opti-mization algorithm in reinforcement learning,in which asynchronous is parallel inter-active sampling and training,and advantage is a sampling multi‐step reward estimation method for computing *** order to address the problem of low efficiency and insufficient convergence caused by the traditional heuristic exploration of A3C algorithm in reinforcement learning,an improved A3C algorithm is proposed in this *** this algorithm,a noise network function,which updates the noise tensor in an explicit way is constructed to train the *** advantage estimation(GAE)is also adopted to describe the dominance ***,a new mean gradient parallelisation method is designed to update the parameters in both the primary and secondary networks by summing and averaging the gradients passed from all the sub‐processes to the main *** experiments were conducted in a gym environment using the PyTorch Agent Net(PTAN)advanced reinforcement learning library,and the results show that the method enables the agent to complete the learning training faster and its convergence during the training process is *** improved A3C algorithm has a better performance than the original algorithm,which can provide new ideas for sub-sequent research on reinforcement learning algorithms.

关键词： asynchronous advantage actorcritic (A3C) generalised advantage estimation (GAE) parallelisation reinforcement learning

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Topography Modeling of Surface Grinding Based on Random Abrasives and Performance Evaluation

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Chinese Journal of Mechanical engineering 2024年第5期37卷 126-148页

作者： Yanbin Zhang Peng Gong Lizhi Tang Xin Cui Dongzhou Jia Teng Gao Yusuf Suleiman Dambatta Changhe Li Key Lab of Industrial Fluid Energy Conservation and Pollution Control Qingdao University of TechnologyMinistry of EducationQingdao 266520China School of Materials Science and Engineering Xi’an University of TechnologyXi’an 710048China College of Mechanical Engineering and Automation Liaoning University of TechnologyJinzhou 121001China Mechanical Engineering Department Ahmadu Bello UniversityZaria 810106Nigeria

The surface morphology and roughness of a workpiece are crucial parameters in grinding *** prediction of these parameters is essential for maintaining the workpiece’s surface ***,the randomness of abrasive grain shapes and workpiece surface formation behaviors poses significant challenges,and accuracy in current physical mechanism-based predictive models is *** address this problem,by using the random plane method and accounting for the random morphology and distribution of abrasive grains,this paper proposes a novel method to model CBN grinding wheels and predict workpiece surface ***,a kinematic model of a single abrasive grain is developed to accurately capture the three-dimensional morphology of the grinding ***,by formulating an elastic deformation and formation model of the workpiece surface based on Hertz theory,the variation in grinding arc length at different grinding depths is ***,a predictive model for the surface morphology of the workpiece ground by a single abrasive grain is *** model integrates the normal distribution model of abrasive grain size and the spatial distribution model of abrasive grain positions,to elucidate how the circumferential and axial distribution of abrasive grains influences workpiece surface ***,by integrating the dynamic effective abrasive grain model,a predictive model for the surface morphology and roughness of the grinding wheel is *** examine the impact of changing the grit size of the grinding wheel and grinding depth on workpiece surface roughness,and to validate the accuracy of the model,experiments are *** indicate that the predicted three-dimensional morphology of the grinding wheel and workpiece surfaces closely matches the actual grinding wheel and ground workpiece surfaces,with surface roughness prediction deviations as small as 2.3%.

关键词： Surface topography prediction Grinding Grinding wheel model Random plane method

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Fixed-time-synchronized control: a system-dimension-categorized approach

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science China(Information sciences) 2023年第7期66卷 177-194页

作者： Wanyue JIANG Shuzhi Sam GE Dongyu LI Institute for Future & Shandong Key Laboratory of Industrial Control Technology School of Automation Qingdao University Department of Electrical and Computer Engineering National University of Singapore School of Cyber Science and Technology Beihang University Shanghai Institute of Satellite Engineering

This study addresses the fixed-time-synchronized control problem of perturbed multi-input multioutput(MIMO) systems. In the task of fixed-time-synchronized control, different dimensions of the output signal in MIMO systems are required to reach the desired value simultaneously within a fixed time *** MIMO system is categorized into two cases: the input-dimension-dominant and the state-dimensiondominant cases. The classification is defined according to the dimension of system signals and, more importantly, the capability of converging at the same time. For each kind of MIMO system, sufficient Lyapunov conditions for fixed-time-synchronized convergence are explored, and the corresponding robust sliding mode controllers are designed. Moreover, perturbations are compensated using the super-twisting technique. The brake control of the vertical takeoff and landing aircraft is considered to verify the proposed method for the input-dimension-dominant case, which shows the essential advantages of decreasing the energy consumption and the output trajectory length. Furthermore, comparative numerical simulations are performed to show the semi-time-synchronized property for the state-dimension-dominant case.

关键词： fixed-time-synchronized convergence sliding mode control perturbed MIMO systems

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Event-triggered consensus control of heterogeneous multi-agent systems: model-and data-based approaches

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science China(Information sciences) 2023年第9期66卷 151-167页

作者： Xin WANG Jian SUN Fang DENG Gang WANG Jie CHEN School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This article addresses the model-and data-based event-triggered consensus of heterogeneous leader/follower multi-agent systems(MASs). A dynamic periodic transmission protocol is developed to alleviate the communication and computational burden, where the followers can interact locally with neighbors to approach the dynamics of the leader. Capitalizing on a discrete-time looped-functional, a model-based consensus condition for the closed-loop MASs is derived as linear matrix inequalities(LMIs), along with a design method for obtaining distributed event-triggered controllers and the associated triggering *** collecting noise-corrupted state-input measurements in offline open-loop experiments, a data-based leader/follower MAS representation is derived and employed to address the data-driven consensus control problem without explicit MAS models. This result is subsequently generalized to guarantee an H∞-consensus control performance. Finally, a simulation example is given to corroborate the efficiency of the proposed distributed triggering scheme and the data-driven consensus controller.

关键词： data-driven control multi-agent system consensus looped-functional LMI

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One-Variable Attack on the industrial Fault Classification System and Its Defense

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engineering 2022年第12期19卷 240-251页

作者： Yue Zhuo Yuri A.W.Shardt Zhiqiang Ge State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhou 310027China Department of Automation Engineering Technische Universität IlmenauIlmenau D-98684Germany

Recently developed fault classification methods for industrial processes are mainly ***,models based on deep neural networks have significantly improved fault classification accuracy owing to the inclusion of a large number of data ***,these data-driven models are vulnerable to adversarial attacks;thus,small perturbations on the samples can cause the models to provide incorrect fault *** recent studies have demonstrated the vulnerability of machine learning methods and the existence of adversarial *** paper proposes a black-box attack method with an extreme constraint for a safe-critical industrial fault classification system:Only one variable can be perturbed to craft adversarial ***,to hide the adversarial samples in the visualization space,a Jacobian matrix is used to guide the perturbed variable selection,making the adversarial samples in the dimensional reduction space invisible to the human *** the one-variable attack(OVA)method,we explore the vulnerability of industrial variables and fault types,which can help understand the geometric characteristics of fault classification *** on the attack method,a corresponding adversarial training defense method is also proposed,which efficiently defends against an OVA and improves the prediction accuracy of the *** experiments,the proposed method was tested on two datasets from the Tennessee–Eastman process(TEP)and steel plates(SP).We explore the vulnerability and correlation within variables and faults and verify the effectiveness of OVAs and defenses for various classifiers and *** industrial fault classification systems,the attack success rate of our method is close to(on TEP)or even higher than(on SP)the current most effective first-order white-box attack method,which requires perturbation of all variables.

关键词： Adversarial samples Black-box attack industrial data security Fault classification system

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Adsorption and membrane separation for removal and recovery of volatile organic compounds

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Journal of Environmental sciences 2023年第1期123卷 96-115页

作者： Guoqiang Gan Shiying Fan Xinyong Li Zhongshen Zhang Zhengping Hao State Key Laboratory of Fine Chemicals Key Laboratory of Industrial Ecology and Environmental Engineering(MOE)School of Environmental Science and TechnologyDalian University of TechnologyDalian 116024China National Engineering Laboratory for VOCs Pollution Control Material and Technology University of Chinese Academy of SciencesBeijing 101408China

Volatile organic compounds(VOCs)are a crucial kind of pollutants in the environment due to their obvious features of severe toxicity,high volatility,and poor *** is particularly urgent to control the emission of VOCs due to the persistent increase of concentration and the stringent *** China,clear directions and requirements for reduction of VOCs have been given in the“national plan on environmental improvement for the 13th Five-Year Plan period”.Therefore,the development of efficient technologies for removal and recovery of VOCs is of great *** technologies are favored by researchers due to their advantages in both recycling VOCs and reducing carbon *** them,adsorption and membrane separation processes have been extensively studied due to their remarkable industrial *** overview was to provide an up-to-date progress of adsorption and membrane separation for removal and recovery of ***,adsorption and membrane separation were found to be the research hotspots through bibliometric ***,a comprehensive understanding of their mechanisms,factors,and current application statuses was ***,the challenges and perspectives in this emerging field were briefly highlighted.

关键词： Volatile organic compounds(VOCs) Removal and recovery technology Adsorption Membrane separation Bibliometric analysis

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Model of atomized droplets average particle size and verification of eco-friendly hybrid lubrication(CAMQL)

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摩擦（英文版） 2025年第5期13卷 149-164页

作者： Mingzheng Liu Changhe Li Dongzhou Jia Xin Liu Yanbin Zhang Min Yang Xin Cui Teng Gao Yusuf Suleiman Dambatta Runze Li Key Lab of Industrial Fluid Energy Conservation and Pollution Control Ministry of EducationQingdao University of TechnologyQingdao 266520China Key Lab of Industrial Fluid Energy Conservation and Pollution Control Ministry of EducationQingdao University of TechnologyQingdao 266520China Qingdao Jimo Qingli Intelligent Manufacturing Industry Research Institute Qingdao 266201China College of Mechanical Engineering and Automation Liaoning University of TechnologyJinzhou 121001China School of Mechanical Engineering Dalian University of TechnologyDalian 116081China School of Engineering Department of Biomedical EngineeringMassachusetts Institute of TechnologyBoston 02139USA

In the precision cutting of difficult-to-process metals,surface thermal damage to a workpiece is a significant technical *** clean minimum quantity lubrication(MQL)technology,which replaces traditional pouring cooling,is used,inadequate heat dissipation remains an *** air MQL(CAMQL),an eco-friendly technology,can enhance the heat transfer performance of the lubricating film in the cutting zone,offering excellent cooling and lubrication ***,the influence of jet and temperature parameters on the average particle size and distribution characteristics of atomized droplets is not well *** study first analyzes the evolution of lubricant physical properties and establishes a quantitative mapping relationship between cryogenic air temperature and physical parameters of ***,the unstable fluctuation in the annular liquid film at the two-phase flow nozzle exit is observed and analyzed.A thickness model of annular liquid film is developed,revealing the effect of airflow field on the annular liquid ***,a model for the average particle size of atomized droplets under CAMQL is *** analysis and validation experiments under different working conditions show that the measured values align with the theoretical *** an air pressure of 0.4 MPa and an air flow temperature of-50 °C,the droplet particle size is 133.5 μm,with an error of 8.2%.The effect of air pressure on particle size is greater than that of air flow ***,the distribution spans of droplet size under different conditions are analyzed,and the results demonstrated that low temperatures help shorten the interval between particle sizes and improve the relative uniformity of particle size *** research provides a theoretical basis for the application of CAMQL technology in the cutting process.

关键词： cryogenic air minimum quantity lubrication(MQL) atomization average particle size mathematical model

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