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arXiv 2022年

作者： Wang, Xin Sun, Jian Wang, Gang Chen, Jie The School of Automation The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing10081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The Department of Control Science and Engineering Tongji University Shanghai201804 China The State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

This article deals with model- and data-based consensus control of heterogenous leader-following multi-agent systems (MASs) under an event-triggering transmission scheme. A dynamic periodic transmission protocol is developed to significantly alleviate the transmission frequency and computational burden, where the followers can interact locally with each other approaching the dynamics of the leader. Capitalizing on a discrete-time looped-functional, a model-based consensus condition for the closed-loop MASs is derived in form of linear matrix inequalities (LMIs), as well as a design method for obtaining the distributed controllers and event-triggering parameters. Upon collecting noise-corrupted state-input measurements during open-loop operation, a data-driven leader-following MAS representation is presented, and employed to solve the data-driven consensus control problem without requiring any knowledge of the agents' models. This result is then extended to the case of guaranteeing an H∞ performance. A simulation example is finally given to corroborate the efficacy of the proposed distributed event-triggering scheme in cutting off data transmissions and the data-driven design method. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear matrix inequalities

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Decentralized Optimization on Compact Submanifolds by Quantized Riemannian Gradient Tracking

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IEEE Transactions on Signal Processing 2025年 73卷 1851-1861页

作者： Chen, Jun Liu, Lina Zhu, Tianyi Liu, Yong Dai, Guang Jiang, Yunliang Tsang, Ivor W. Zhejiang Normal University National Special Education Resource Center for Children with Autism Hangzhou311231 China Zhejiang Normal University School of Computer Science and Technology Jinhua321004 China China Mobile Research Institute Beijing100032 China Zhejiang University Institute of Cyber-Systems and Control Hangzhou310027 China State Grid Corporation of China SGIT AI Lab China Zhejiang Normal University Zhejiang Key Laboratory of Intelligent Education Technology and Application Jinhua321004 China Huzhou University School of Information Engineering Huzhou313000 China Centre for Frontier Artificial Intelligence Research A*STAR Singapore

This paper considers the problem of decentralized optimization on compact submanifolds, where a finite sum of smooth (possibly non-convex) local functions is minimized by n agents forming an undirected and connected graph. However, the efficiency of distributed optimization is often hindered by communication bottlenecks. To mitigate this, we propose the Quantized Riemannian Gradient Tracking (Q-RGT) algorithm, where agents update their local variables using quantized gradients. The introduction of quantization noise allows our algorithm to bypass the constraints of the accurate Riemannian projection operator (such as retraction), further improving iterative efficiency. To the best of our knowledge, this is the first algorithm to achieve an O(1/K) convergence rate in the presence of quantization, matching the convergence rate of methods without quantization. Additionally, we explicitly derive lower bounds on decentralized consensus associated with a function of quantization levels. Numerical experiments demonstrate that Q-RGT performs comparably to non-quantized methods while reducing communication bottlenecks and computational overhead. © 1991-2012 IEEE.

关键词： Iterative methods

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Vortex Vibration Energy Harvesting for Road Vehicle Suspension: Modeling, Prototyping and Experimental Validation

SSRN

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SSRN 2023年

作者： Wang, Yushun Yin, Hao Li, Mingxing Chen, Yuanchang Sun, Haoyu Liu, Jiang Key Lab of Industrial Fluid Energy Conservation and Pollution Control Qingdao University of Technology Qingdao266520 China Structural Dynamics and Acoustic Systems Laboratory University of Massachusetts Lowell One University Avenue LowellMA01854 United States Nanjing University of Aeronautics and Astronautics Nanjing211100 China State Key Laboratory of Automotive Simulation and Control Jilin University Changchun130022 China

Aiming at the micro power supply for vehicle suspension control, we propose a new harvester to recycle the vortex vibration energy behind the shock absorber. Different from the traditional regenerative suspensions utilizing the vertical motion, we recycle the vortex vibration energy laterally. A suspension dynamics model was built and simulated the spring compression process to discuss the break wind condition. A stable Karman vortex street would be developed after the spring is compressed to a certain height, proving that the car spring’s wind break effect could be neglect in many driving conditions. Then the spring and shock absorber was simplified to a cylinder with two cross sections. The fluid analysis was performed and the vortex form showed three features. A bidirectional fluid-structure coupling model was built for the new harvester and the simulation verified that the electric voltage positively correlated with the vehicle’s velocity. At last, a full size sample prototype test was performed for validation. The designed harvester may provide enough electricity for a suspension control unit or sensors, as a potential solution for the near field energy supply. When the car is driving with a common speed in cities, the recycled electric voltage could reach to 0.8V. © 2023, The Authors. All rights reserved.

关键词： Vortex flow

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Deep Domain Adaptation Regression for Force Calibration of Optical Tactile Sensors

arXiv

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arXiv 2024年

作者： Chen, Zhuo Ou, Ni Jiang, Jiaqi Luo, Shan Robot Perception Lab Centre for Robotics Research Department of Engineering King’s College London LondonWC2R 2LS United Kingdom State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing tactile sensors which may have incurred damage or aging. However, the conventional neural-network-based force calibration method necessitates a large volume of force-labeled tactile images to minimize force prediction errors, with the need for accurate Force/Torque measurement tools as well as a time-consuming data collection process. To address this challenge, we propose a novel deep domain-adaptation force calibration method, designed to transfer the force prediction ability from a calibrated optical tactile sensor to uncalibrated ones with various combinations of domain gaps, including marker presence, illumination condition, and elastomer modulus. Experimental results show the effectiveness of the proposed unsupervised force calibration method, with lowest force prediction errors of 0.102N (3.4% in full force range) for normal force, and 0.095N (6.3%) and 0.062N (4.1%) for shear forces along the x-axis and y-axis, respectively. This study presents a promising, general force calibration methodology for optical tactile sensors. Copyright © 2024, The Authors. All rights reserved.

关键词： Forecasting

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TransForce: Transferable Force Prediction for Vision-based Tactile Sensors with Sequential Image Translation

arXiv

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arXiv 2024年

作者： Chen, Zhuo Ou, Ni Zhang, Xuyang Luo, Shan The Robot Perception Lab Centre for Robotics Research Department of Engineering King's College London LondonWC2R 2LS United Kingdom The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the costly and time-intensive process of acquiring paired tactile images and force labels. In this study, we introduce a transferable force prediction model, TransForce, designed to leverage collected image-force paired data for new sensors under varying illumination colors and marker patterns while improving the accuracy of predicted forces, especially in the shear direction. Our model effectively achieves translation of tactile images from the source domain to the target domain, ensuring that the generated tactile images reflect the illumination colors and marker patterns of the new sensors while accurately aligning the elastomer deformation observed in existing sensors, which is beneficial to force prediction of new sensors. As such, a recurrent force prediction model trained with generated sequential tactile images and existing force labels is employed to estimate higher-accuracy forces for new sensors with lowest average errors of 0.69N (5.8% in full work range) in x-axis, 0.70N (5.8%) in y-axis, and 1.11N (6.9%) in z-axis compared with models trained with single images. The experimental results also reveal that pure marker modality is more helpful than the RGB modality in improving the accuracy of force in the shear direction, while the RGB modality show better performance in the normal direction. Copyright © 2024, The Authors. All rights reserved.

关键词： RGB color model

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Skin-like cryogel electronics from suppressed-freezing tuned polymer amorphization

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Nature Communications 2023年第1期14卷 1-10页

作者： Zhang, Xiansheng Yan, Hongwei Xu, Chongzhi Dong, Xia Wang, Yu Fu, Aiping Li, Hao Lee, Jin Yong Zhang, Sheng Ni, Jiahua Gao, Min Wang, Jing Yu, Jinpeng Ge, Shuzhi Sam Jin, Ming Liang Wang, Lili Xia, Yanzhi State Key Laboratory of Bio-Fibers and Eco-Textiles College of Textiles and Clothing Qingdao University Qingdao 266071 China Institute for Future Shandong Key Laboratory of Industrial Control Technology School of Automation Qingdao University Qingdao 266071 China College of Materials Science and Engineering Qingdao University Qingdao 266071 China CAS Key Laboratory of Engineering Plastics Institute of Chemistry Chinese Academy of Sciences Beijing 100190 China Department of Chemistry SungKyunKwan University Suwon 16419 South Korea State Key Laboratory of Fluid Power and Mechatronic Systems College of Mechanical Engineering Zhejiang University Hangzhou 310027 China College of Biological Science and Medical Engineering Donghua University Shanghai 201620 China Institute of Environmental Engineering ETH Zürich Zürich 8093 Switzerland Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

The sole situation of semi-crystalline structure induced single performance remarkably limits the green cryogels in the application of soft devices due to uncontrolled freezing field. Here, a facile strategy for achieving multifunctionality of cryogels is proposed using total amorphization of polymer. Through precisely lowering the freezing point of precursor solutions with an antifreezing salt, the suppressed growth of ice is achieved, creating an unusually weak and homogenous aggregation of polymer chains upon freezing, thereby realizing the tunable amorphization of polymer and the coexistence of free and hydrogen bonding hydroxyl groups. Such multi-scale microstructures trigger the integrated properties of tissue-like ultrasoftness (Young’s modulus <10 kPa) yet stretchability, high transparency (~92%), self-adhesion, and instantaneous self-healing (<0.3 s) for cryogels, along with superior ionic-conductivity, antifreezing (−58 °C) and water-retention abilities, pushing the development of skin-like cryogel electronics. These concepts open an attractive branch for cryogels that adopt regulated crystallization behavior for on-demand functionalities. © 2023, Springer Nature Limited.

关键词： Gels and hydrogels Polymers

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Abundance Correlations between Carbon Fixation and Pollutant Degradation Functions in Oil-Contaminated Soils

SSRN

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SSRN 2024年

作者： Song, Jiayu Han, Yilei Chen, Yakui Li, Yunzhao Liu, Zheng Li, Xingchun Lu, Diannan State Key Laboratory of Petroleum Pollution Control Beijing102206 China CNPC Research Institute of Safety and Environmental Technology Beijing102206 China Key Lab of Industrial biocatalysis Ministry of Education Department of Chemical Engineering Tsinghua University Beijing100084 China College of Chemical Engineering and Environment China University of Petroleum-Beijing Beijing102206 China

Microbial communities in petroleum-contaminated environments possess the capacity for hydrocarbon degradation, yet the extent of their CO2 fixation capabilities has not been fully explored. This study conducted a comprehensive analysis of this aspect. We collected 44 soil samples from six different petroleum-polluted fields in China, characterizing the samples through physicochemical analyses that revealed variations in contamination types. Through metagenomic sequencing and PICRUSt2-based functional profiling, we identified the relationship between the pollution degradation and carbon fixation capabilities of these samples. The predominant carbon fixation pathways identified included the reverse Tricarboxylic Acid (rTCA) cycle and the Dimethylsulfide (DC)/γ-Butyrolactone (4-HB) cycle, alongside a notable prevalence of genes coding for the degradation of alkanes and polycyclic aromatic hydrocarbons (PAHs). We ranked the correlation of other genes with those in the carbon fixation modules, observing that genes responsible for alkane degradation displayed a strong positive correlation, whereas genes involved in aromatic compound degradation showed a moderate correlation. The Quantitative Polymerase Chain Reaction (qPCR) assays confirmed the abundance of key genes, aligned with metagenomic data, highlighting positive correlations between the alkane degradation gene alkB and specific carbon fixation genes, as well as between the aromatic oxidation gene PAH_RHDαGN and carbon fixation genes. These findings established a fundamental understanding of the abundance correlations between pollution degradation and carbon fixation functions within microbial communities at petroleum-contaminated soils, paving the way for the integration of ecosystem functioning and the development of hybrid bioremediation strategies. © 2024, The Authors. All rights reserved.

关键词： Genes

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Tactile-Based Object Pose Estimation Employing Extended Kalman Filter

Tactile-Based Object Pose Estimation Employing Extended Kalm...

引用

International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Qiguang Lin Chaojie Yan Qiang Li Yonggen Ling Yu Zheng Wangwei Lee Zhaoliang Wan Bidan Huang Xiaofeng Liu Jiangsu Key laboratory of Special Robotic Technology College of IoT Engineering Hohai University Changzhou Jiangsu P.R. China State Key Laboratory of Industrial Control and Technology Zhejiang University Institute of Cyber-System and Control Hangzhou P.R. China Neuroinformatics Group Center for Cognitive Interaction Technology (CITEC) Bielefeld University Bielefeld Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou P.R.China

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks.

关键词：

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Asynchronous control for Discrete-Time Markovian Jump systems with Multiplicative Noise

SSRN

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SSRN 2022年

作者： Wang, Shitong Wu, Zheng-Guang Shi, Peng Wu, Zhaojing The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang Hangzhou310027 China Institute of Intelligence Science and Engineering Shenzhen Polytechnic Guangdong Shenzhen518000 China The School of Electrical and Electronic Engineering The University of Adelaide AdelaideSA5005 Australia The School of Mathematics and Informational Science Yantai University Shandong Yantai264005 China

In this note, the guaranteed cost control problem for discrete-time Markovian jump systems with state and control multiplicative noise is solved. Since the model mismatch problem often exists in system modes and controller modes, an asynchronous controller is presented to make the system stochastically stable in this paper. By using of the linear matrix inequality techniques, an optimization solution can be obtained, such that the quadratic cost function can be minimized, meanwhile the expectation of the state and control can be guaranteed in a constraint set. © 2022, The Authors. All rights reserved.

关键词： Phase noise

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

arXiv

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arXiv 2024年

作者： Lin, Haonan Wang, Mengmeng Wang, Jiahao An, Wenbin Chen, Yan 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 United States

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. Copyright © 2024, The Authors. All rights reserved.

关键词： Errors

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