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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Huan Yin Yue Wang Li Tang Rong Xiong State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

Radar and lidar, provided by two different range sensors, each has pros and cons of various perception tasks on mobile robots or autonomous driving. In this paper, a Monte Carlo system is used to localize the robot with a rotating radar sensor on 2D lidar maps. We first train a conditional generative adversarial network to transfer raw radar data to lidar data, and achieve reliable radar points from generator. Then an efficient radar odometry is included in the Monte Carlo system. Combining the initial guess from odometry, a measurement model is proposed to match the radar data and prior lidar maps for final 2D positioning. We demonstrate the effectiveness of the proposed localization framework on the public multisession dataset. The experimental results show that our system can achieve high accuracy for long-term localization in outdoor scenes.

关键词： Laser radar Radar Sensors Radar imaging Robots Three-dimensional displays Two dimensional displays

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Multi-Objective Optimization of the Wireless Power Transfer System for Electric Vehicles

Multi-Objective Optimization of the Wireless Power Transfer ...

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IEEE Wireless Power Transfer Conference (WPTC)

作者： Ze Zhou Zhitao Liu Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (数字)9781728142388

ISBN: (纸本)9781728142395

Wireless power transfer (WPT) technology is an effective charging method for electric vehicles. However, when the output power reaches a certain grade, the efficiency decreases with an increase in the output power. Based on this problem, we establish the loss power model of the WPT system, and analyze the efficiency of the WPT system in detail, as well as proposes a multi-objective optimization method to find an optimal control target between the output power and efficiency. Finally, simulation results illustrate that the output power is 10.4 kW and the efficiency is 92.97 % when the system is in the optimal solution state.

关键词： Power generation Simulation Inverters Wireless power transfer Mathematical model MOSFET Immune system

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A Closed-Loop control Strategy of Maximum Efficiency Point Tracking for Wireless Power Charging System

A Closed-Loop Control Strategy of Maximum Efficiency Point T...

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IEEE Wireless Power Transfer Conference (WPTC)

作者： Jia Liu Zhitao Liu Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (数字)9781728142388

ISBN: (纸本)9781728142395

In recent decades, the wireless power transfer (WP-T) has drawn increasing attention of researchers, and the transfer efficiency is one of the most concern aspect. In this paper, a closed-loop control strategy of maximum efficiency point (MEP) tracking is proposed. During the wireless power charging process, the transfer efficiency decreases according to the various load condition and mutual inductor. With the analysis of the optimal load condition and the real-time estimation of mutual inductor, the impedance matching for MEP tracking can be achieved. The buck converter is added to obtain the optimal load condition and the boost converter is inserted to achieve the constant output voltage. By the simulation results, the performance of the closed-loop MEP tracking control strategy has been verified.

关键词： Inductors Resistors Buck converters Voltage control Inductive charging Transmitters Receivers

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CORAL: Colored structural representation for bi-modal place recognition

arXiv

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arXiv 2020年

作者： Pan, Yiyuan Xu, Xuecheng Li, Weijie Cui, Yunxiang Wang, Yue Xiong, Rong The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

Place recognition is indispensable for a drift-free localization system. Due to the variations of the environment, place recognition using single-modality has limitations. In this paper, we propose a bi-modal place recognition method, which can extract a compound global descriptor from the two modalities, vision and LiDAR. Specifically, we first build the elevation image generated from 3D points as a structural representation. Then, we derive the correspondences between 3D points and image pixels that are further used in merging the pixel-wise visual features into the elevation map grids. In this way, we fuse the structural features and visual features in the consistent bird-eye view frame, yielding a semantic representation, namely CORAL. And the whole network is called CORAL-VLAD. Comparisons on the Oxford RobotCar show that CORAL-VLAD has superior performance against other state-of-the-art methods. We also demonstrate that our network can be generalized to other scenes and sensor configurations on cross-city datasets. © 2020, CC BY.

关键词： Pixels

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Marker or Markerless? Mode-Switchable Optical Tactile Sensing for Diverse Robot Tasks

arXiv

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arXiv 2024年

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

Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However, this uni-modal selection means the sensor is only suitable for either manipulation or perception tasks. While markers are vital for manipulation, they can also obstruct the camera, thereby impeding perception. The dilemma of selecting between marker and markerless modes presents a significant obstacle. To address this issue, we propose a novel mode-switchable optical tactile sensing approach that facilitates transitions between the two modes. The marker-to-markerless transition is achieved through a generative model, whereas its inverse transition is realized using a sparsely supervised regressive model. Our approach allows a single-mode optical sensor to operate effectively in both marker and markerless modes without the need for additional hardware, making it well-suited for both perception and manipulation tasks. Extensive experiments validate the effectiveness of our method. For perception tasks, our approach decreases the number of categories that include misclassified samples by 2 and improves contact area segmentation IoU by 3.53%. For manipulation tasks, our method attains a high success rate of 92.59% in slip detection. Code, dataset and demo videos are available at the project website https://***/Marker-Markerless-Transition/ Copyright © 2024, The Authors. All rights reserved.

关键词： Tactile sensors

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On Iterative Parameter Identification of FIR systems with Batched Possibly Incorrect Binary-Valued Observations

On Iterative Parameter Identification of FIR Systems with Ba...

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IEEE Conference on Decision and control

作者： Jian Guo Wenchao Xue Ting Wang Ji-Feng Zhang Yanjun Zhang Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences Beijing P. R. China Institute of Artificial Intelligence University of Science and Technology Beijing Beijing P. R. China State Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing Institute of Technology Beijing P. R. China

This paper considers the problem of parameter identification for a binary output finite impulse response (FIR) system with measurement error, where the measurement error makes the binary measurement values take opposite values with a certain probability. First, the maximum likelihood estimation (MLE) of the parameters is given and an iterative algorithm with projection based on the Expectation-Maximization algorithm is presented to calculate the MLE. Furthermore, the necessary and sufficient condition for the likelihood function to have a unique maximum point is obtained. It is proved that the iterative estimation error converges to zero at an exponential rate under persistently excitation input conditions. Finally, some numerical simulation results based on a typical system show the effectiveness of the proposed algorithm.

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Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment

Towards Efficient Trajectory Generation for Ground Robots be...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jingping Wang Long Xu Haoran Fu Zehui Meng Chao Xu Yanjun Cao Ximin Lyu Fei Gao State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China School of Intelligent Systems Engineering Sun Yat-sen University Shenzhen China Applicaion Innovation Laboratory Huawei Technologies Co. Ltd.

With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation planning framework beyond 2D. Existing methods rarely considers both simultaneously, limiting the capabilities and applications of ground robots. In this paper, we proposed an optimization-based planning framework for ground robots considering both active and passive height changes on the z-axis. The proposed planner first constructs a penalty field for chassis motion constraints defined in $\mathbb{R}^{3}$ such that the optimal solution space of the trajectory is continuous, resulting in a high-quality smooth chassis trajectory. Also, by constructing custom constraints in the z-axis direction, it is possible to plan trajectories for different types of ground robots which have z-axis degree of freedom. We performed simulations and real-world experiments to verify the efficiency and trajectory quality of our algorithm.

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Data-driven control Against False Data Injection Attacks

arXiv

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arXiv 2023年

作者： Liu, Wenjie Li, Lidong Sun, Jian Deng, Fang Wang, Gang Chen, Jie State Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing100081 China Engineering and Technology Institute University of Groningen 9747AG Netherlands Beijing Institute of Technology Chongqing Innovation Center Chonqing401120 China Department of Control Science and Engineering Tongji University Shanghai201804 China

The rise of cyber-security concerns has brought significant attention to the analysis and design of cyber-physical systems (CPSs). Among the various types of cyberattacks, denial-of-service (DoS) attacks and false data injection (FDI) attacks can be easily launched and have become prominent threats. While resilient control against DoS attacks has received substantial research efforts, countermeasures developed against FDI attacks have been relatively limited, particularly when explicit system models are not available. To address this gap, the present paper focuses on the design of data-driven controllers for unknown linear systems subject to FDI attacks on the actuators, utilizing input-state data. To this end, a general FDI attack model is presented, which imposes minimally constraints on the switching frequency of attack channels and the magnitude of attack matrices. A dynamic state feedback control law is designed based on offline and online input-state data, which adapts to the channel switching of FDI attacks. This is achieved by solving two data-based semi-definite programs (SDPs) on-the-fly to yield a tight approximation of the set of subsystems consistent with both offline clean data and online attack-corrupted data. It is shown that under mild conditions on the attack, the proposed SDPs are recursively feasible and controller achieves exponential stability. Numerical examples showcase its effectiveness in mitigating the impact of FDI attacks. © 2023, CC BY.

关键词： Denial-of-service attack

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A Human-Robot Collaboration System for Object Handover

A Human-Robot Collaboration System for Object Handover

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IEEE International Conference on Robotics and Biomimetics

作者： Yifei Yang Longzhong Lin Yifan Zhang Zhongxiang Zhou Yue Wang Rong Xiong State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control of Zhejiang Province Zhejiang University Hangzhou P.R. China College of Electrical Engineering Zhejiang University Hangzhou P.R. China

ISBN: (纸本)9781665405362

Humans and robots are the two main labor in industry, and they have respective advantages. Human-Robot Collaboration combines the advantages of humans and robots, which makes it a research hotspot. While there are a lot of research and developments in the field of Human-Robot Collaboration, how to apply and optimize existing technologies to realize a complete Human-Robot Collaboration system is not a very focused problem. So, we realize a Human-Robot Collaboration system for object handover: the human holds a container (denoted as ContainerA), and the robot holds the other container (denoted as ContainerB) with some contents as a collaborator; the robot uses computer vision to detect ContainerA and estimate position and orientation of it; then the robot plans and controls the motion of the robot arm based on the visual information, and hand over the contents in ContainerB to ContainerA. For computer vision, we use Fast- SCNN for semantic segmentation and REDE for pose estimation, which can obtain the accurate pose of the hand-held container in real time. In terms of robot arm motion planning and control, we perform speed control based on artificial potential field and admittance control to achieve a smooth follow-up movement.

关键词： Visualization Service robots Semantics Pose estimation Collaboration Object segmentation Containers

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ANALYSIS OF THE MULTI-MODE OSCILLATIONS OF OFFSHORE WIND FARMS 18

ANALYSIS OF THE MULTI-MODE OSCILLATIONS OF OFFSHORE WIND FAR...

引用

18th International Conference on AC and DC Power Transmission, ACDC 2022

作者： Fan, Yupeng Dong, Wenkai Li, Peng Qin, Yi Jiang, Haojie Xie, Xiaorong Datang Guoxin Binhai Offshore Wind Power Generation Co. Ltd Jiangsu Province Yancheng224000 China State Key lab of Control and Simulation of Power Systems and Generation Equipment Dept. of Electric Engineering Tsinghua University Beijing100084 China China Datang Corporation Science and Technology General Research Institute Ltd Beijing100040 China

ISBN: (数字)9781839537615

ISBN: (纸本)9781839537615

Multi-mode oscillation (MMO) is more prone to happen in the offshore wind farm (OWF) than the onshore, which seriously impacts the safe operation of the system. In this paper, the mechanism for the MMO of the OWF is analytically studied. First, the impedance model (IM) of a grid-connected OWF is derived with the AC submarine cable modelled as a distributed parameter circuit (DPC). Second, since the DPC of N n sections can be approximately seen as composed of N identical capacitances in daisy-chain connection, based on the consistent control theory for homogeneous systems, the IM of the DPC is decoupled into N subsystems, each of which is composed of a x circuit. The IM of the DPC is the weighted sum of the IMs of the N subsystems. As each x circuit has one tip (jump between ±90°) in the amplitude(phase)-frequency characteristics (APFC), the IM of the cable will have N tips (jumps) in the APFC and is much more prone to intersect with the IM of the OWF. Thus, resonance is more likely to happen at multiple frequency points. Finally, effectiveness of the methods proposed and conclusions drawn is validated via study cases. © ACDC 2022. All rights reserved.

关键词： Offshore wind farms

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