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arXiv 2023年

作者： Li, Zhehan Mao, Rui Chen, Nanhe Xu, Chao Gao, Fei Cao, Yanjun State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Dalian University of Technology Dalian116024 China

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. © 2023, CC BY.

关键词： Unmanned aerial vehicles (UAV)

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Stability Analysis for Stochastic Hybrid Inclusions

arXiv

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arXiv 2022年

作者： Zhang, Dandan Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Stochastic hybrid inclusions (SHIs) address situations with the stochastic continuous evolution in a stochastic differential inclusions and random jumps in the difference inclusions due to the forced (the state reaching a boundary in the state space) and/or spontaneous (the state vector may occur spontaneously) transitions. An obvious characteristic of SHIs is the non-uniqueness of random solutions, which can be ensured by the mild regularity conditions, as well as nominal robustness. Basic sufficient conditions for stability/recurrence in probability are usually expressed based on different types of Lyapunov functions, including Lagrange/Lyapunov/Lyapunov-Forster functions respectively for Lagrange/Lyapunov/asymptotic stability in probability and Foster/Lagrange-Forster functions for recurrence, (weaker) relaxed Lyapunov-based sufficient conditions including Matrosov-Foster functions and the stochastic invariance principle, as well as Lyapunov-based necessary and sufficient conditions for asymptotic stability in probability or recurrence (i.e.,converse theorems), etc. The converse theorems involving smooth Lyapunov functions are guaranteed by the sequential compactness and thus robustness. In addition, the uniformity property and causality are analyzed for the stabilities in probability. Hence, serving as a partial roadmap for the theoretical development of SHIs, also serving as inspiration, we anticipate that many of the open questions, including the prediction problem, the filtering problem and the control problem, will be resolved based on the techniques of *** Codes 93C30 Copyright © 2022, The Authors. All rights reserved.

关键词： Lyapunov functions

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Discrete states-Based Trajectory Planning for Nonholonomic Robots

arXiv

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arXiv 2023年

作者： Zou, Ziyi Zhang, Ziang Lu, Zhen Li, Xiang Wang, You Hao, Jie Li, Guang The State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou310027 China The Luoteng Hangzhou Techonlogy Co. Ltd. Hangzhou310027 China

Due to nonholonomic dynamics, the motion planning of nonholonomic robots is always a difficult problem. This letter presents a Discrete states-based Trajectory Planning(DSTP) algorithm for autonomous nonholonomic robots. The proposed algorithm represents the trajectory as x and y positions, orientation angle, longitude velocity and acceleration, angular velocity, and time intervals. More variables make the expression of optimization and constraints simpler, reduce the error caused by too many approximations, and also handle the gear shifting situation. L-BFGS-B is used to deal with the optimization of many variables and box constraints, thus speeding up the problem solving. Various simulation experiments compared with prior works have validated that our algorithm has an order-of-magnitude efficiency advantage and can generate a smoother trajectory with a high speed and low control effort. Besides, real-world experiments are also conducted to verify the feasibility of our algorithm in real scenes. We will release our codes as ros packages. Copyright © 2023, The Authors. All rights reserved.

关键词： Robot programming

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Invariant EKF based state Estimator for Quadruped Robots

Invariant EKF based State Estimator for Quadruped Robots

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Chinese control Conference (CCC)

作者： Zhuqing Zhang Zhang Li Yong Chen Dongqi Wang Jiyu Yu Rong Xiong Yue Wang State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University Hangzhou P.R. China Research Institute of Nuclear Power Operation Wuhan P.R. China

Quadruped robots have gained much attention in recent years due to their potential ability to handle various kinds of terrain. To control the quadruped robots to perform tasks, high frequency (up to 400Hz) state estimation is demanded. In this paper, we introduce an accurate and efficient state estimator by incorporating IMU measurements and quadruped robot joint encoder measurements. To be specific, we utilize the IMU measurements to propagate the state, while the joint encoder measurements are used to derive the foot position of the robot to update the state. The whole process is based on an invariant EKF, which is proved in this paper to be able to preserve the correct observability of the system. Moreover, based on the estimated state, the inclination of the terrain with respect to the horizontal plane can be calculated, which is useful for downstream control. Experiments are conducted to validate the effectiveness of our proposed state estimator.

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An Optimal control Based Trajectory Planning Method for Cooperative Merging Maneuvers 3

An Optimal Control Based Trajectory Planning Method for Coop...

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3rd International Symposium on Intelligent Robotics and systems, ISoIRS 2023

作者： Wang, Qi Ge, Hao Duan, Xuting Zhou, Jianshan School of Transportation Science and Engineering Beihang University State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control State Key Laboratory of Air Traffic Management System and Technology Beijing China Nanjing Research Institute of Electronic Engineering State Key Laboratory of Air Traffic Management System and Technology Nanjing China School of Transportation Science and Engineering Beihang University State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China

ISBN: (纸本)9798350339963

Due to the prediction errors and diverse driving styles of surrounding vehicles, traffic congestion and even accidents can occur in the traffic bottleneck area where vehicles merge into the main road. To ensure that connected and automated vehicles (CAVs) can quickly and efficiently merge into the main road, this paper proposes a cooperative trajectory planning method based on optimal control for vehicle cut-in scenarios. A optimal control model is constructed, and a quintic polynomial is used to generate the initial solution of the optimal control problem to accelerate the solution process and improve the success rate. Finally, The obtained merging trajectory is then synchronized with the movement of vehicles on the main road to optimize their actions and ensure a safe merging process. Joint simulation with Robot Operating System (ROS) and RVIZ is utilized, and the results show that the proposed algorithm can quickly obtain cooperative results, the locally successful merging trajectory meets the requirements of smoothness and safety, and if the solution does not allow merging, the merging vehicle is instructed to terminate the execution. © 2023 IEEE.

关键词： Trajectories

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EVA-Planner: Environmental Adaptive Quadrotor Plan

EVA-Planner: Environmental Adaptive Quadrotor Plan

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2021 IEEE International Conference on Robotics and Automation, ICRA 2021

作者： Quan, Lun Zhang, Zhiwei Zhong, Xingguang 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 Ningbo315000 China

ISBN: (纸本)9781728190778

The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight smoothness. Although many works on quadrotor planning have been proposed, a research gap exists in incorporating self-adaptation into a planning framework to enable a drone to automatically fly slower in denser environments and increase its speed in a safer area. In this paper, we propose an environmental adaptive planner to adjust the flight aggressiveness effectively based on the obstacle distribution and quadrotor state. Firstly, we design an environmental adaptive safety aware method to assign the priority of the surrounding obstacles according to the environmental risk level and instantaneous motion tendency. Then, we apply it into a multi-layered model predictive contouring control (Multi-MPCC) framework to generate adaptive, safe, and dynamical feasible local trajectories. Extensive simulations and real-world experiments verify the efficiency and robustness of our planning framework. Benchmark comparison also shows superior performances of our method with another advanced environmental adaptive planning algorithm. Moreover, we release our planning framework as open-source ros-packages. © 2021 IEEE

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Energy-efficient removal of carbamazepine in solution by electrocoagulation-electrofenton using a novel P-rGO cathode

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Journal of Environmental Sciences 2022年第5期34卷 88-102页

作者： Zhihui Xiao Tingyu Cui Zhenbei Wang Yan Dang Meijie Zheng Yixinfei Lin Zilong Song YipingWang Chao Liu Bingbing Xu Amir Ikhlaq Jolanta Kumirska Ewa Maria Siedlecka Fei Qi Beijing Key Lab for Source Control Technology of Water Pollution School of Environmental Science and EngineeringBeijing Forestry UniversityBeijing 100083China Jiangsu Key Lab of Industrial Pollution Control and Resource Reuse School of Environmental EngineeringXuzhou University of TechnologyXuzhou 221018China State Key Lab of Environmental Criteria and Risk Assessment Chinese Research Academy of Environmental SciencesBeijing 100012China Institute of Environment Engineering and Research University of Engineering and TechnologyGT Road54890LahorePunjabPakistan Faculty of Chemistry University of GdanskWita Stwosza 6380-308 GdanskPoland

In this study,carbamazepine(CBZ)decay in solution has been studied by coupling electro-coagulation with electro-Fenton(EC-EF)with a novel P-rGO/carbon felt(CF)cathode,aiming to accelerate the in-situ generation of·OH,instead of adding Fe2+and ***,the fabri-cated P-rGO and its derived cathode were characterized by XRD,SEM,AFM,XPS and electro-chemical test(EIS,CV and LSV).Secondly,it was confirmed that the performance in removal efficiency and electric energy consumption(EEC)by EC-EF(kobs=0.124 min^(-1),EEC=43.98 kWh/kg CBZ)was better than EF(kobs=0.069 min^(-1),EEC=61.04 kWh/kg CBZ).Then,P-rGO/CF(kobs=0.248 min^(-1),EEC=29.47 kWh/kg CBZ,CE=61.04%)showed the best performance in EC-EF,among all studied heteroatom-doped graphene/*** superior performance may be associated with its largest layer spacing and richest C=C,which can promote the electron transfer rate and conductivity of the ***,more H2O2 and·OH could be produced to degrade CBZ,and almost 100%CBZ was removed with kobs being 0.337 min^(-1) and the EEC was only 24.18 kWh/kg CBZ,under the optimal conditions(P-rGO loading was 6.0 mg/cm^(2),the current density was 10.0 mA/cm^(2),the gap between electrode was 2.0 cm).Additionally,no matter the influent is acidic,neutral or alkaline,no additional pH adjustment is required for the effluent of *** last,an inconsecutive empirical kinetic model was firstly estab-lished to predict the effect of operating parameters on CBZ removal.

关键词： Carbamazepine Electro-fenton Electrocoagulation Empirical kinetic model P-rGO

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A 3D-Printed Centimeter-Scale Pneumatically Actuated Robotic Manipulator for Micro-Manipulations

A 3D-Printed Centimeter-Scale Pneumatically Actuated Robotic...

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International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

作者： Xingwen Zheng Hao Mo Haoran Yao Fumihito Arai Department of Mechanical Engineering The University of Tokyo Tokyo Japan State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Department of Control Science and Engineering Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Bioengineering The University of Tokyo Tokyo Japan

ISBN: (数字)9798350376807

ISBN: (纸本)9798350376814

This paper presents a centimeter-scale robotic manipulator fabricated using 3D printing technology. It consists of three mechanisms: a grasping mechanism, an RCM (remote center of motion) function mechanism, and a rotational mechanism, actuated by bellows-driven soft pneumatic actuators. Thus, the robotic manipulator enables the grasping of tools for micro-manipulations and the 2-DOF orientation adjustment of the tools, including the rotation around the axis of the rotational mechanism (0° - 45°) and the rotation around an RCM (−10° - 10°). Finally, one 5-DOF robotic manipulation system consisting of the 2-DOF rotational centimeter-scale robotic manipulator and one 3-DOF translational external manipulator (moving speed ~ 500 μm/s) was used to conduct micro-manipulations, in which a printed needle was grasped to carve the desired trajectory on the agar (gel strength ~ 650 g/cm 2 ) resembling biological tissues. the external manipulator controlled the displacement of the needle while the robotic manipulator adjusted the orientation of the needle insertion into the agar. Results showed that the 5-DOF robotic manipulation system had mechanical stability while achieving micron-level accuracy (200 μm) in the micro-manipulation task.

关键词： Pneumatic actuators 5-DOF 2-DOF Grasping Pneumatic systems Manipulators Needles

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Learning the Inverse Kinematics of Magnetic Continuum Robot for Teleoperated Navigation

Learning the Inverse Kinematics of Magnetic Continuum Robot ...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Pingyu Xiang Ke Qiu Danying Sun Jingyu Zhang Qin Fang Xiangyu Mi Shudong Wang Mengxiao Chen Yue Wang Rong Xiong Haojian Lu State Key Laboratory of Industrial Control and Technology and Institute of Cyber-Systems and Control Zhejiang University Hangzhou China State Key Laboratory of Electrical Insulation and Power Equipment School of Electrical Engineering Xian Jiaotong University Research Center for Humanoid Sensing Zhejiang Lab 311100 Zhejiang Lab Nanhu Headquarters Hangzhou P.R. China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Magnetic continuum robots are subject to external magnetic fields and deformed remotely, simplifying the robot’s transmission mechanism and providing it with significant potential for miniaturization and operational flexibility. However, modeling magnetic field distribution generated by permanent magnets is complex and requires time-consuming pre-calibrations. Moreover, it is highly susceptible to environments with ferromagnetic materials, posing significant challenges for the control of magnetic continuum robots. In response, we propose an approach that does not overly focus on the magnetic field distribution but instead directly learns the inverse kinematics of magnetic continuum robots end-to-end. Binding the robot’s configuration to the pose of external magnets, precise control of continuum robots is facilitated. Additionally, we leverage teleoperation techniques to broaden the applicability of this method. By mounting magnets on a robotic arm and directly utilizing the target pose of the external magnet predicted by a multi-layer perceptron (MLP), we achieve the operation and navigation of magnetic continuum robots in complex environments. Experiments demonstrate that the mean control accuracy along the robot using our learning-based inverse kinematics is about half of the robot’s diameter.

关键词： Uncertainty Navigation Kinematics Manipulators Permanent magnets Continuum robots Magnetic fields Robots Intelligent robots Magnetic susceptibility

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ADMM-based Privacy-Preserving Peer-to-Peer Energy Trading Negotiation Mechanism

ADMM-based Privacy-Preserving Peer-to-Peer Energy Trading Ne...

引用

Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Zhenwei Guo Jiajian Zhu Haoran Li Haibin Zheng Yujue Wang Research Center of Cyber Science and Technology Hangzhou Innovation Institute Beihang University Hangzhou China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

The rapid development of demand response management and distributed energy has promoted the development of P2P energy trading mechanisms, making electricity market participants more active. However, how to prevent private information from being reached by malicious agents during P2P negotiation process is a challenging problem. This paper proposes a privacy protection decentralized optimization method for P2P energy trading based on consensus Alternating Direction Method of Multipliers (ADMM) and Partially Homomorphic Encryption (HE). Firstly, the general model of P2P electricity market and the P2P trading negotiation mechanism based on consensus ADMM are introduced. However, under this mechanism, malicious neighbor agents can collude to steal private information. In order to resist collusion attack, a two-party secure computation mechanism between each pair of agents is designed, and the energy amount and price are updated in a secure way without leaking any private information. The privacy-preserving mechanism can find a trade-off between the convergence efficiency and information security. Finally, the function of the privacy protection negotiation mechanism was simulated in terms of convergence performance, impact on social welfare and computational efficiency.

关键词： Privacy Simulation Optimization methods Electricity supply industry Convex functions Peer-to-peer computing Computational efficiency

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