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SSRN 2024年

作者： Chen, Peiying Cao, Yupeng Yu, Miao Wang, Qiao Luo, Lin School of Information and Control Engineering Liaoning Petrochemical University Liaoning Fushun113001 China State Key Laboratory of Industrial Control Technology Institute of Cyber-systems and Control Zhejiang University Zhejiang Hangzhou310027 China Beijing Electric Transmission and Transformation State Grid Jibei Electric Power Company Beijing Beijing100054 China

The accurate quantification of SO2, CS2, and H2S, as significant breakdown components of insulating gas sulfur hexafluoride, is critical for determining the type and severity of internal flaws in insulating equipment. This paper proposes a technique for quantitative detection of multi-component gas mixes on the UV absorption spectroscopy platform that combines symmetry dot pattern with deep learning. The approach uses symmetrized dot pattern analysis to fuse local UV spectral information, which may be used to identify trace gas mixes with overlapping absorption peaks. To detect the symmetry dot pattern diagrams, a deep network based on DenseNet is developed, achieving feature representation from multiple scales. The outstanding performance of this method is illustrated and compared to the existing models using the receiver operating characteristic curve. The platform's experimental results reveal that the suggested technique can quantitatively detect the amounts of SO2, H2S, and CS2 ternary gas mixtures online. © 2024, The Authors. All rights reserved.

关键词： Sulfur hexafluoride

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Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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FMS:Features Motion Statistics for Incorrect Matched-pair Removal

FMS:Features Motion Statistics for Incorrect Matched-pair Re...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Hao Shu Zhitao Liu Hongye Su Yue Xia Polytechnic Institute Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665476881

The matching of incorrect pairs affects the precision of the SLAM/VO system. Because the calculation is complex and time-consuming, the various limitation methods struggle to meet the system's real-time requirements. FMS is a novel approach that adapts well to both sparse and dense mapping processes, allowing for the verification of matched pairs of features. By displacing features between two consecutive frames, the projection formula contacts motion patterns. This classifier's overall characteristics demonstrated that it was extremely effective at applying suitable matched pairings from mismatched features. The proposed algorithm outperformed the raw technique in terms of accuracy and stability when compared to the ORB-SLAM technique.

关键词： Frequency modulation Simultaneous localization and mapping Automation Power system stability Real-time systems Classification algorithms Robots

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Efficient Large Scale Stereo Matching based on Cross-Scale

Efficient Large Scale Stereo Matching based on Cross-Scale

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Yue Xia Zhitao Liu Hongye Su Hao Shu Polytechnic Institute Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665476881

We propose a binocular stereo matching algorithm CS-ELAS. This is a cross-scale ELAS algorithm that improves the accuracy and robustness of parallax in weakly textured regions and edge regions. Our approach focuses on improving the accuracy and number of support point sets. We uniformly sample the stereo images to obtain candidate support point sets and determine robustly matched support point sets based on an adaptive cross skeleton. In this way a richer and more accurate set of support points can be obtained in the weakly textured areas near the edges. In addition, our method uses the parallax and confidence maps of low-resolution images as a priori for high-resolution images and adds high-confidence pixel information to the set of high-resolution support points. In this way, it not only increases the number of support points in weak texture regions, but also narrows the search range of candidate support points and reduces the computational cost.

关键词： Three-dimensional displays Image resolution Automation Image edge detection Benchmark testing Skeleton Robustness

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Nonlinear MPC-Based control Framework for Quadruped Robots: Touch-Down in Complex Terrain

Nonlinear MPC-Based Control Framework for Quadruped Robots: ...

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Chinese control Conference (CCC)

作者： Jiyu Yu Zhang Li Yong Chen Dongqi Wang Rui Zhang Zhuqing Zhang 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 show potential beyond that of wheeled robots for walking over complex terrain thanks to the bionic leg design, and to take advantage of this, we propose a control framework for a quadruped robot to achieve touch-down in a designated area, aiming to help the robot overcome the challenge in complex terrains. We incorporate a foot placement constraint into a nonlinear model predictive control (MPC) framework guided by global localization, enabling the robot to touch-down in the specified area while maintaining balance. Furthermore, a whole full-body controller is utilized to track the optimized trajectory generated by the MPC. Both simulation and hardware experiments demonstrate the effectiveness of our proposed control framework.

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Novel design of Reconfigurable Tracked Robot with Geometry-Changing Tracks

Novel design of Reconfigurable Tracked Robot with Geometry-C...

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

作者： Chice Xuan Jiadong Lu Zhihao Tian Jiacheng Li Mengke Zhang Hanbin Xie Jianxiong Qiu Chao Xu Yanjun Cao Huzhou Institute of Zhejiang University Huzhou China Huzhou Laboratory of Autonomous Intelligent Systems Huzhou China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Shandong University Jinan China Zhejiang Zhongyan Industry Co. Ltd Hangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Tracked robots with reconfigurable mechanisms exhibit great maneuverability due to their adaptability to complex ground conditions. Reconfigurable tracked robots with geometry-changing tracks show further obstacle-crossing capabilities with compact dimensions. However, existing systems face deployment limitations due to either complex transmission mechanisms or unsustainable designs when maintaining the tension in the tracks. To address these challenges, we introduce a novel design of a reconfigurable tracked robot with geometry-changing tracks, which achieves strong terrain traversability with good mechanical properties. We achieve the elliptical trajectory of key planetary wheels through a novel Quad-slider Elliptical Trammel Mechanism (Qs-ETM), allowing the tracks to maintain fixed tension while changing their geometry. Furthermore, the combination of direct drive motors significantly enhances its mechanical properties and agility. A detailed analysis of the kinematic and dynamic characteristics has been conducted and proved with a series of simulations. We built a fully functional prototype of the design and tested it in real-world experiments to validate its advantages. The result shows that our design can reduce the torque required by up to 68.3% and the shear stress of the flipper by up to 67.1%.

关键词： Geometry Torque Wheels Prototypes Motors Trajectory Planning Mobile robots Robots Stress

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Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloud

arXiv

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arXiv 2022年

作者： Ding, Xiaqing Xu, Xuecheng Lu, Sha Jiao, Yanmei Tan, Mengwen Xiong, Rong Deng, Huanjun Li, Mingyang Wang, Yue State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China Alibaba Group Hangzhou310052 China

Global point cloud registration is an essential module for localization, of which the main difficulty exists in estimating the rotation globally without initial value. With the aid of gravity alignment, the degree of freedom in point cloud registration could be reduced to 4DoF, in which only the heading angle is required for rotation estimation. In this paper, we propose a fast and accurate global heading angle estimation method for gravity-aligned point clouds. Our key idea is that we generate a translation invariant representation based on Radon Transform, allowing us to solve the decoupled heading angle globally with circular cross-correlation. Besides, for heading angle estimation between point clouds with different distributions, we implement this heading angle estimator as a differentiable module to train a feature extraction network end-to-end. The experimental results validate the effectiveness of the proposed method in heading angle estimation and show better performance compared with other methods. © 2022, CC BY-NC-ND.

关键词： Surface measurement

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Schedule Your Edit: A Simple yet Effective Diffusion Noise Schedule for Image Editing 38

Schedule Your Edit: A Simple yet Effective Diffusion Noise S...

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38th Conference on Neural Information Processing systems, NeurIPS 2024

作者： Lin, Haonan Chen, Yan Wang, Jiahao An, Wenbin Wang, Mengmeng Tian, Feng Liu, Yong Dai, Guang Wang, Jingdong Wang, Qianying School of Comp. Science & Technology MOEKLINNS Lab Xi'an Jiaotong University China College of Comp. Science & Technology Zhejiang University of Technology China School of Auto. Science & Engineering MOEKLINNS Lab Xi'an Jiaotong University China Institute of Cyber-Systems and Control Zhejiang University China SGIT AI Lab State Grid Corporation of China China Baidu Inc. China Lenovo Research China

Text-guided diffusion models have significantly advanced image editing, enabling high-quality and diverse modifications driven by text prompts. However, effective editing requires inverting the source image into a latent space, a process often hindered by prediction errors inherent in DDIM inversion. These errors accumulate during the diffusion process, resulting in inferior content preservation and edit fidelity, especially with conditional inputs. We address these challenges by investigating the primary contributors to error accumulation in DDIM inversion and identify the singularity problem in traditional noise schedules as a key issue. To resolve this, we introduce the Logistic Schedule, a novel noise schedule designed to eliminate singularities, improve inversion stability, and provide a better noise space for image editing. This schedule reduces noise prediction errors, enabling more faithful editing that preserves the original content of the source image. Our approach requires no additional retraining and is compatible with various existing editing methods. Experiments across eight editing tasks demonstrate the Logistic Schedule's superior performance in content preservation and edit fidelity compared to traditional noise schedules, highlighting its adaptability and effectiveness. (Project page: https://***/SYE/). © 2024 Neural information processing systems foundation. All rights reserved.

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DIRECT DIGITAL CRISPR/CAS-ASSISTED ASSAY FOR ULTRASENSITIVE DETECTION OF PATHOGENS 26

DIRECT DIGITAL CRISPR/CAS-ASSISTED ASSAY FOR ULTRASENSITIVE ...

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26th International Conference on Miniaturized systems for Chemistry and Life Sciences, MicroTAS 2022

作者： Xia, Liping Yin, Juxin Zhuang, Jianjian Yin, Weihong Zou, Zheyu Mu, Ying Research Centre for Analytical Instrumentation Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China School of information and Electrical Engineering Zhejiang University City College Hangzhou China Affiliated Hangzhou First People's Hospital Zhejiang University School of Medicine Hangzhou China

ISBN: (纸本)9781733419048

Herein, we developed a Direct Digital Dual-crRNAs (3D) assay integrated on an adsorption-free self-priming microfluidic chip for ultrasensitive detection of pathogens. This 3D assay combined the advantages of rapid amplification of RPA, specific cleavage of Cas12a, accurate quantification of digital PCR, and point-of-care testing (POCT) of microfluidics, enabling accurate and reliable digital absolute quantification of Salmonella in POCT. Our method can provide a good linear relationship of Salmonella detection in the range from 2.58×101 to 2.58×104 cells/mL with a limit of detection ~2 cells/mL in 30 minutes. Moreover, the assay could directly detect Salmonella in milk without nucleic acid extraction. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized systems for Chemistry and Life Sciences. All rights reserved.

关键词： Salmonella

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Design and analysis of a whole-body controller for a velocity controlled robot mobile manipulator

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Science China(Information Sciences) 2020年第7期63卷 98-112页

作者： Mantian LI Zeguo YANG Fusheng ZHA Xin WANG Pengfei WANG Ping LI Qinyuan REN Fei CHEN State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Academy of Aerospace Technology Key Laboratory of Industrial Control Technology Zhejiang University

Mobile manipulators, which are intrinsically redundant when the manipulator and mobile base are moving together, are known for their capabilities to carry out multiple tasks at the same time. This paper presents a whole-body control framework, inspired by legged bio-robots, for a velocity controlled non-holonomic mobile manipulator based on task priority. control primitives, such as manipulability optimization, trajectory tracking of the end-effector and mobile base, and collision avoidance, are considered in the framework and arranged at different priorities. Lower priority tasks are projected into the null space of control tasks with higher priorities. As a result, lower level tasks are completed without affecting the performance of higher priority tasks. Several experiments are implemented to verify the effectiveness of the proposed controller. The proposed method is proved to be an effective way to solve the whole-body control problem of velocity controlled mobile manipulators.

关键词： mobile manipulator whole-body control velocity controlled task priority null-space projection

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