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Chinese control and Decision Conference, CCDC

作者： Tao An Zhitao Liu Chizhou Yan Ke Xu Shuxing Zhang Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Wanxiang A123 Systems Corp. Hangzhou China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

Accurate estimation of the state of health (SOH) is crucial for ensuring the safe and stable operation of lithium-ion (Li-ion) batteries. This paper presents an approach called Bayesian CNN-GRU with Attention Mechanism (AM-BCG) to estimate the entire lifecycle health state of the battery. Effective feature extraction is performed during the SOH estimation to ensure accurate prediction. Specifically, domain knowledge- related temporal features of Li-ion battery degradation processes are extracted, while capacity difference curves are utilized as spatially relevant features for model inputs. The AM-BCG approach comprises parallel CNN-GRU networks with attention mechanism and bayesian neural networks (BNN). The parallel CNN-GRU networks extract generalized information from prior data, the attention mechanism increases the weight of essential features and reduces overfitting, and BNN provides uncertainty estimates. Experimental validation on the A123 67Ah LFP battery dataset confirms that the proposed method exhibits high robustness and accuracy in estimating battery SOH.

关键词： Lithium-ion batteries Attention mechanisms Accuracy Uncertainty Neural networks Estimation Feature extraction

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Research on Coupled Task Allocation and Scheduling of Multi-type Robots 18

Research on Coupled Task Allocation and Scheduling of Multi-...

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18th IEEE International Conference on Networking, Sensing and control, ICNSC 2021

作者： Wang, Xingkai Xing, Zichao Wu, Weimin Chen, Xinyu Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China

ISBN: (纸本)9781665440486

Task allocation problem and scheduling problem have always been hot topics in the robotics research field. Both of them can be divided into many categories. Among all these categories, coupled task allocation and scheduling problem (CTASP) is a quite difficult problem, especially for of multi-type robots. However, few researches are conducted on this area. Usually, the CTASP is studied for multi-type robots with fixed execution sequence in the reported literature. However, this paper will study the CTASP for multi-type robots with flexible execution sequence. A two-dimension genetic algorithm (TDGA) is designed to solve this type of problem, combined with rank minimal heuristic (RMH) algorithm to provide an elite strategy. The simulation experiment proves that TDGA can solve this kind of problems efficiently, and the efficiency of hybrid genetic algorithm has been further improved. © 2021 IEEE.

关键词： Robots

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Battery Charge Dispatching in Multi-robot systems 18

Battery Charge Dispatching in Multi-robot Systems

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18th IEEE International Conference on Networking, Sensing and control, ICNSC 2021

作者： Xing, Zichao Wu, Weimin Niu, Haoyi Hu, Ruifen Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China

ISBN: (纸本)9781665440486

Multi-robot systems (MRSs) attract more and more attention due to their efficiency and safety. In a practical scenario, robots need to work for a long time without human intervention, which requires the robots do not run out of power. The battery charging strategy of most systems uses a fixed threshold or fixed periods to determine when robots should be charged. It does not consider the system task situation, nor the situation of charging station (CS) competition. This paper proposes an efficient charge dispatching strategy, which can ensure that a robot firstly completes a task quickly when it is scheduled to work and firstly be charged to be ready for a subsequent task when it is idle. For the case that multiple robots compete for the same CS, we designe a bidding strategy to determine which robot should be serviced. A rule-based charging strategy is used to compare with the proposed charge dispatching strategy in this paper. The results show that our method performs better in terms of stability and efficiency. © 2021 IEEE.

关键词： Multipurpose robots

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Global-state-Free Obstacle Avoidance for Quadrotor control in Air-Ground Cooperation

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IEEE Robotics and Automation Letters 2025年第7期10卷 6688-6695页

作者： Zhang, Baozhe Chen, Xinwei Chen, Qingcheng Xu, Chao Gao, Fei Cao, Yanjun Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou310027 China Zhejiang University Huzhou Institute Huzhou313000 China Shanghai Institute of Special Equipment Inspection and Technical Research Shanghai200062 China

CoNi-MPC [Zhang et al. (2023)] provides an efficient framework for UAV control in air-ground cooperative tasks by relying exclusively on relative states, eliminating the need for global state estimation. However, its lack of environmental information poses significant challenges for obstacle avoidance. To address this issue, we propose a novel obstacle avoidance algorithm, Cooperative Non-inertial frame-based Obstacle Avoidance (CoNi-OA), designed explicitly for UAV-UGV cooperative scenarios without reliance on global state estimation or obstacle prediction. CoNi-OA uniquely utilizes a single frame of raw LiDAR data from the UAV to generate a modulation matrix, which directly adjusts the quadrotor's velocity to achieve obstacle avoidance. This modulation-based method enables real-time generation of collision-free trajectories within the UGV's non-inertial frame, significantly reducing computational demands (less than 5 ms per iteration) while maintaining safety in dynamic and unpredictable environments. The key contributions of this work include: 1) a modulation-based obstacle avoidance algorithm specifically tailored for UAV-UGV cooperation in non-inertial frames without global states;2) rapid, real-time trajectory generation based solely on single-frame LiDAR data, removing the need for obstacle modeling or prediction;and 3) adaptability to both static and dynamic environments, thus extending applicability to featureless or unknown scenarios. © 2016 IEEE.

关键词： Quadrotors Collision avoidance Dynamics Autonomous aerial vehicles Trajectory Laser radar Air to ground communication Real-time systems Modulation Dynamical systems

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Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space

arXiv

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arXiv 2024年

作者： Wang, Qianhao Wang, Zhepei Wang, Mingyang Ji, Jialin Han, Zhichao Wu, Tianyue Jin, Rui Gao, Yuman Xu, Chao Gao, Fei State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China

Convex polytopes have compact representations and exhibit convexity, which makes them suitable for abstracting obstacle-free spaces from various environments. Existing generation methods struggle with balancing high-quality output and efficiency. Moreover, another crucial requirement for convex polytopes to accurately contain certain seed point sets, such as a robot or a front-end path, is proposed in various tasks, which we refer to as manageability. In this paper, we propose Fast Iterative Regional Inflation (FIRI) to generate high-quality convex polytope while ensuring efficiency and manageability simultaneously. FIRI consists of two iteratively executed submodules: Restrictive Inflation (RsI) and Maximum Volume Inscribed Ellipsoid (MVIE) computation. By explicitly incorporating constraints that include the seed point set, RsI guarantees manageability. Meanwhile, iterative MVIE optimization ensures high-quality result through monotonic volume bound improvement. In terms of efficiency, we design methods tailored to the low-dimensional and multi-constrained nature of both modules, resulting in orders of magnitude improvement compared to generic solvers. Notably, in 2-D MVIE, we present the first linear-complexity analytical algorithm for maximum area inscribed ellipse, further enhancing the performance in 2-D cases. Extensive benchmarks conducted against state-of-the-art methods validate the superior performance of FIRI in terms of quality, manageability, and efficiency. Furthermore, various real-world applications showcase the generality and practicality of FIRI. The high-performance code of FIRI will be open-sourced. Copyright © 2024, The Authors. All rights reserved.

关键词： Efficiency

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ColAG: A Collaborative Air-Ground Framework for Perception-Limited UGVs’ Navigation

ColAG: A Collaborative Air-Ground Framework for Perception-L...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhehan Li Rui Mao Nanhe Chen Chao Xu Fei Gao Yanjun Cao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China Dalian University of Technology China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It’s challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a blind robot, and becomes more difficult when comes to a group of robots. However, it could be costly to equip all robots with expensive perception or SLAM systems. In this paper, we propose a novel system named ColAG, to solve the problem of autonomous navigation for a group of blind UGVs by introducing cooperation with one UAV, which is the only robot that has full perception capabilities in the group. The UAV uses SLAM for its odometry and mapping while sharing this information with UGVs via limited relative pose estimation. The UGVs plan their trajectories in the received map and predict possible failures caused by the uncertainty of its wheel odometry and unknown risky areas. The UAV dynamically schedules waypoints to prevent UGVs from collisions, formulated as a Vehicle Routing Problem with Time Windows to optimize the UAV’s trajectories and minimize time when UGVs have to wait to guarantee safety. We validate our system through extensive simulation with up to 7 UGVs and real-world experiments with 3 UGVs.

关键词： Uncertainty Simultaneous localization and mapping Navigation Pose estimation Autonomous aerial vehicles Trajectory Safety

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In-situ forming ultra-mechanically sensitive materials for high-sensitivity stretchable fiber strain sensors

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National Science Review 2024年第6期11卷 254-263页

作者： Rouhui Yu Changxian Wang Xiangheng Du Xiaowen Bai Yongzhong Tong Huifang Chen Xuemei Sun Jing Yang Naoji Matsuhisa Huisheng Peng Meifang Zhu Shaowu Pan State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Materials Science and Engineering Donghua University MOE Key Lab of Disaster Forecast and Control in Engineering School of Mechanics and Construction Engineering Jinan University State Key Laboratory of Molecular Engineering of Polymers Department of Macromolecular Science and Institute of Fiber Materials and Devices Fudan University Department of Cardiology Shanghai Xuhui Central HospitalZhongshan-Xuhui Hospital Fudan University Research Center for Advanced Science and Technology and Institute of Industrial Science The University of Tokyo

Fiber electronics with flexible and weavable features can be easily integrated into textiles for wearable applications. However, due to small sizes and curved surfaces of fiber materials, it remains challenging to load robust active layers, thus hindering production of high-sensitivity fiber strain sensors. Herein, functional sensing materials are firmly anchored on the fiber surface in-situ through a hydrolytic condensation *** anchoring sensing layer with robust interfacial adhesion is ultra-mechanically sensitive, which significantly improves the sensitivity of strain sensors due to the easy generation of microcracks during stretching. The resulting stretchable fiber sensors simultaneously possess an ultra-low strain detection limit of 0.05%, a high stretchability of 100%, and a high gauge factor of 433.6, giving 254-folds enhancement in sensitivity. Additionally, these fiber sensors are soft and lightweight, enabling them to be attached onto skin or woven into clothes for recording physiological signals, e.g. pulse wave velocity has been effectively obtained by them. As a demonstration, a fiber sensor-based wearable smart healthcare system is designed to monitor and transmit health status for timely intervention. This work presents an effective strategy for developing high-performance fiber strain sensors as well as other stretchable electronic devices.

关键词： fiber strain sensor stretchable wearable healthcare

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Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-Varying control Barrier Functions

Obstacle Avoidance for Unicycle-Modelled Mobile Robots with ...

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Annual Conference of industrial Electronics Society

作者： Jihao Huang Zhitao Liu Jun Zeng Xuemin Chi Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Cruise LLC USA

In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike previous works, our proposed approach can control both linear and angular velocity to avoid collision with obstacles, overcoming the limitation of confined control performance due to the lack of control variable. To ensure that the robot reaches its destination, we also design a control Lyapunov function (CLF). Our safety-critical controller is formulated as a quadratic program (QP) optimization problem that incorporates CLF and CBFs as constraints, enabling real-time application for navigation and dynamic collision avoidance. Numerical simulations are conducted to verify the effectiveness of our proposed approach.

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Adaptive Fuzzy control With Guaranteed Performance For Electric Vehicles

Adaptive Fuzzy Control With Guaranteed Performance For Elect...

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第35届中国控制与决策会议

作者： Weijun Huang Hongye Su Yang Zhu Ningbo Innovation Center Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper,we propose a new adaptive fuzzy control scheme with a saturator for a class of constrainted uncertain unparametrizable nonlinear electric vehicle(EV) *** control scheme effectively addresses the nonlinearities and uncertainties in the EV systems without exact knowledge including variable hill climbing angle and other system parameters,and solves the constraints on the amplitude of input *** techniques of adaptive control,fuzzy logic system,and backstepping design are *** the scheme,the speed tracking error of the system converges to a preset interval asymptotically even in the presence of time-varying hill climbing angle and other system *** control algorithm is illustrated by the simulation results.

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Mean square stability for Markov jump Boolean networks

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Science China(Information Sciences) 2020年第1期63卷 190-199页

作者： Liqing WANG Mei FANG Zheng-Guang WU State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University College of Automation Harbin Engineering University

In this paper, one of the stability definitions of Markov jump Boolean networks(MJBNs), called mean square stability(MSS), is investigated. Some necessary and sufficient conditions are presented to guarantee the MSS of such MJBNs. Moreover, one of the necessary and sufficient conditions for MSS is obtained in terms of linear programming, which implies that MSS is equivalent to global stability with probability 1 for MJBNs. Furthermore, the construction of Lyapunov function is given and also another theorem based on the Lyapunov function is derived to ensure the MSS of MJBNs. Finally, a numerical example is provided to illustrate the profits of our results.

关键词： mean square stability MSS Boolean network BN stochastic stability Markovian jump parameters semi-tensor product STP Lyapunov function

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