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arXiv 2023年

作者： Yao, Shengyue Yu, Jingru Yu, Yi Xu, Jia Dai, Xingyuan Li, Honghai Wang, Fei-Yue Lin, Yilun Urban Computing Shanghai AI Lab Shanghai China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The Research and Development Center of Transport Industry of Autonomous Driving Technology RIOH High and Technology Group The Institute of Automation Chinese Academy of Sciences Beijing China The Macau Institute of Systems Engineering Macau University of Science and Technology China

With a growing complexity of the intelligent traffic system (ITS), an integrated control of ITS that is capable of considering plentiful heterogeneous intelligent agents is desired. However, existing control methods based on the centralized or the decentralized scheme have not presented their competencies in considering the optimality and the scalability simultaneously. To address this issue, we propose an integrated control method based on the framework of Decentralized Autonomous Organization (DAO). The proposed method achieves a global consensus on energy consumption efficiency (ECE), meanwhile to optimize the local objectives of all involved intelligent agents, through a consensus and incentive mechanism. Furthermore, an operation algorithm is proposed regarding the issue of structural rigidity in DAO. Specifically, the proposed operation approach identifies critical agents to execute the smart contract in DAO, which ultimately extends the capability of DAO-based control. In addition, a numerical experiment is designed to examine the performance of the proposed method. The experiment results indicate that the controlled agents can achieve a consensus faster on the global objective with improved local objectives by the proposed method, compare to existing decentralized control methods. In general, the proposed method shows a great potential in developing an integrated control system in the ITS. © 2023, CC BY.

关键词： Integrated control

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Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadroto...

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

作者： Zhi Zheng Jin Wang Yuze Wu Qifeng Cai Huan Yu Ruibin Zhang Jie Tu Jun Meng Guodong Lu Fei Gao The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Institute of Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou China

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor config-uration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to roll through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely roll through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient rolling through challenging terrains while conserving energy.

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Risk Identification Method for Smuggled Frozen Meat in Urban Public Safety Awareness and Early Warning

Risk Identification Method for Smuggled Frozen Meat in Urban...

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Intelligent Communication and Networking (ICN), International Conference on

作者： Xueru Li Yan Zhang Lingjie Liu Ye Tian Yue Zhang College of Computer Science and Technology Harbin Engineering University Harbin China China Industrial Control Systems Cyber Emergency Response Team Beijing China Environment and Food and Drug Crime Investigation Detachment of Hangzhou Public Security Bureau Hangzhou China Hangzhou Institute of Technology Xidian University Hangzhou China Key Laboratory of Peace-Building Big Data of Zhejiang Province Zhejiang China

With the continuous growth in demand for meat and frozen products in the cold chain market, illegally smuggled frozen goods have quickly entered the market due to their low prices, leading to a series of food safety issues. This article proposes a method for identifying the risks of smuggled frozen meat for urban public safety awareness using the YOLOv7 model. The YOLOv7 model is used to detect data captured at various traffic checkpoints, obtaining spatiotemporal information of frozen goods vehicles. This information is then combined with map data to generate vehicle trajectory information. The trajectory similarity between the frozen vehicle trajectories and the specialized database of frozen transportation routes is analyzed using the EDwP distance algorithm. The EDwP algorithm employs a threshold-free approach, dynamically interpolating using the concept of projection, and automatically adapting to non-uniform sampling rates to address the issue of inconsistent trajectory data sampling rates. The experimental results of the YOLOv7-EDwP algorithm were verified by verifying the alerts generated in the recent period through on-site verification by a third-party inspection agency, with a recognition accuracy of 90.77%. This holds significant significance in the detection and warning of smuggled frozen meat.

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REDE: End-to-end object 6D pose robust estimation using differentiable outliers elimination

arXiv

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arXiv 2020年

作者： Hua, Weitong Zhou, Zhongxiang Wu, Jun Huang, Huang Wang, Yue Xiong, Rong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China Beijing Institute of Control Engineering China

Object 6D pose estimation is a fundamental task in many applications. Conventional methods solve the task by detecting and matching the keypoints, then estimating the pose. Recent efforts bringing deep learning into the problem mainly overcome the vulnerability of conventional methods to environmental variation due to the hand-crafted feature design. However, these methods cannot achieve end-to-end learning and good interpretability at the same time. In this paper, we propose REDE, a novel end-to-end object pose estimator using RGB-D data, which utilizes network for keypoint regression, and a differentiable geometric pose estimator for pose error back-propagation. Besides, to achieve better robustness when outlier keypoint prediction occurs, we further propose a differentiable outliers elimination method that regresses the candidate result and the confidence simultaneously. Via confidence weighted aggregation of multiple candidates, we can reduce the effect from the outliers in the final estimation. Finally, following the conventional method, we apply a learnable refinement process to further improve the estimation. The experimental results on three benchmark datasets show that REDE slightly outperforms the state-of-the-art approaches and is more robust to object occlusion. Our code is available at https://***/HuaWeitong/REDE. Copyright © 2020, The Authors. All rights reserved.

关键词： Statistics

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Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation

arXiv

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arXiv 2024年

作者： Hu, Bin-Bin Zhang, Hai-Tao Yao, Weijia Sun, Zhiyong Cao, Ming The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China The School of Robotics Hunan University Hunan410082 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands Department of Electrical Engineering Eindhoven University of Technology Netherlands

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e. that of a given target and that of its own, which reduces the communication and computation cost in multi-robot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Navigation

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Adaptive Pseudo Inverse control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic systems

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IEEE/CAA Journal of Automatica Sinica 2021年第4期8卷 916-928页

作者： Xiuyu Zhang Ruijing Jing Zhiwei Li Zhi Li Xinkai Chen Chun-Yi Su School of Automation Engineering Northeast Electric Power Universityand also with Jilin Province International Research Center of Precision Drive and Intelligent ControlJilin 132012China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819China Department of Electronic and Information Systems Shibaura Institute of TechnologySaitama 337-8570Japan Department of Mechanical and Industrial Engineering Concordia UniversityQCMontreal H3B 1R6Canada

This paper aims at eliminating the asymmetric and saturated hysteresis nonlinearities by designing hysteresis pseudo inverse compensator and robust adaptive dynamic surface control(DSC)***"pseudo inverse"means that an on-line calculation mechanism of approximate control signal is developed by applying a searching method to the designed temporary control signal where the true control signal is *** main contributions are summarized as:1)to our best knowledge,it is the first time to compensate the asymmetric and saturated hysteresis by using hysteresis pseudo inverse compensator because the construction of the true saturated-type hysteresis inverse model is very difficult;2)by designing the saturated-type hysteresis pseudo inverse compensator,the construction of true explicit hysteresis inverse and the identifications of its corresponding unknown parameters are not required when dealing with the saturated-type hysteresis;3)by combining DSC technique with the tracking error transformed function,the"explosion of complexity"problem in backstepping method is overcome and the prespecified tracking performance is *** of stability and experimental results on the hardware-inloop platform illustrate the effectiveness of the proposed adaptive pseudo inverse control scheme.

关键词： Adaptive dynamic surface control adaptive pseudo inverse control asymmetric and saturated hysteresis robust control

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SelFSR: Self-Conditioned Face Super-Resolution in the Wild via Flow Field Degradation Network

arXiv

引用

arXiv 2021年

作者： Zeng, Xianfang Zhang, Jiangning Liu, Liang Tian, Guangzhong Liu, Yong Institute of Cyber-System and Control Zhejiang University Hangzhou310027 China Ningbo Research Institute Zhejiang University Ningbo315000 China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China

In spite of the success on benchmark datasets, most advanced face super-resolution models perform poorly in real scenarios since the remarkable domain gap between the real images and the synthesized training pairs. To tackle this problem, we propose a novel domain-adaptive degradation network for face super-resolution in the wild. This degradation network predicts a flow field along with an intermediate low resolution image. Then, the degraded counterpart is generated by warping the intermediate image. With the preference of capturing motion blur, such a model performs better at preserving identity consistency between the original images and the degraded. We further present the self-conditioned block for super-resolution network. This block takes the input image as a condition term to effectively utilize facial structure information, eliminating the reliance on explicit priors, e.g. facial landmarks or boundary. Our model achieves state-of-the-art performance on both CelebA and real-world face dataset. The former demonstrates the powerful generative ability of our proposed architecture while the latter shows great identity consistency and perceptual quality in real-world images. © 2021, CC BY.

关键词： Flow fields

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Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment

arXiv

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arXiv 2023年

作者： Wang, Jingping Xu, Long Fu, Haoran Meng, Zehui Xu, Chao Cao, Yanjun Lyu, Ximin Gao, Fei State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China School of Intelligent Systems Engineering Sun Yat-sen University Shenzhen518107 China Applicaion Innovation Laboratory Huawei Technologies Co. Ltd China

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 R3 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. Copyright © 2023, The Authors. All rights reserved.

关键词： Trajectories

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Designing edge-based and node-based fully distributed algorithms for aggregative games with the adaptive technique

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Automatica 2025年 179卷

作者： Wang, Dong Chen, Mingfei Lian, Jie Lin, Peng Wu, Zhengguang Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian China School of Automation Central South University Changsha China Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

This paper focuses on aggregative games with local feasibility decision sets in a partial-decision information scenario. To seek the Nash equilibrium in a fully distributed manner, adaptive algorithms with edge-based and node-based control gains are designed. In the edge-based adaptive algorithm, an auxiliary dynamics is developed with the consensus protocol and adaptively adjusts the edges’ weights. In the node-based adaptive algorithm, fully distributed decision-seeking is achieved by dynamically modifying the player's weight based on the overall consensus error. By virtue of the designed adaptive parameters, players update decisions without any global information. Utilizing Lyapunov stability theory and the comparison lemma, the proposed algorithms converge exponentially to a small neighborhood of the Nash equilibrium. Furthermore, the proposed adaptive algorithms are extended to the prescribed-time case by combining the prescribed-time gain function and exponential adaptive parameters. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed algorithms. © 2025 Elsevier Ltd

关键词： Adaptive algorithms

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Self-Enhanced Oxidation of Fluoroquinolone Antibiotics by Cu2+/Peroxymonosulfate: Copper Coordination Mechanism with Antibiotics

SSRN

引用

SSRN 2023年

作者： Zhao, Qing Chen, Long Wang, Zhiqiang Zhou, Lei Gong, Xueqing Xiu, Guangli Shanghai Environmental Protection Key Laboratory for Environmental Standard and Risk Management of Chemical Pollutants School of Resources & Environmental Engineering East China University of Science and Technology Shanghai200237 China State Environmental Protection Key Lab of Environmental Risk Assessment and Control on Chemical Processes School of Resources & Environmental Engineering East China University of Science and Technology Shanghai200237 China State Key Laboratory of Green Chemical Engineering and Industrial Catalysis Centre for Computational Chemistry Research Institute of Industrial Catalysis School of Chemistry and Molecular Engineering East China University of Science and Technology Shanghai200237 China Shanghai Institute of Pollution Control and Ecological Security Shanghai200092 China

Trace amounts of copper have been reported to effectively promote peroxymonosulfate (PMS) induced degradation of several contaminants, while the underlying mechanism remains controversial in the transformation process of copper. Fluoroquinolone antibiotics (FQs) are a class of drugs applied to both humans and animals, widely used in animal husbandry, aquaculture and other farming industries since they have a wide antimicrobial spectrum and strong antimicrobial activity. However, FQs are not completely absorbed by receptors, and enter the environmental media through various pathways in the form of parent or metabolite. In this study, the existence of metallic copper promoted PMS induced FQs oxidation over a range of pH 5-9, and the promotion effect was highly related with copper-FQs complexation. Formation of highly reactive trivalent copper species (Cu3+) was proposed to be responsible for such promotion effect, which was further confirmed by quenching experiments, spectroscopic analyses and electron paramagnetic resonance (EPR) test. A stepwise copper reduction-oxidation mechanism was explored, herein Cu2+ was initially reduced to Cu+ with a relatively slow rate, which can be rapidly oxidize to Cu3+ by PMS. Results obtained in this study emphasize that the system undergoes the valence transition Cu2+/Cu+/Cu3+ rather than the free radical process. In particular, the promotion of copper in the system showed a significant positive correlation with the complexation ratio, further emphasizing the key role of the coordination of pollutants with Cu (II) in the oxidative transformation. © 2023, The Authors. All rights reserved.

关键词： Copper compounds

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