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Precedence-constrained path planning of messenger UAV for air-ground coordination

control Theory and Technology 2019年第1期17卷 13-23页

作者： Yulong DING Bin XIN Jie CHEN School of Automation Beijing Institute of Technology Beijing 700087 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China

This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the com mu nication n eighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large in stances dem on strate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.

关键词： Air-ground coordination curvature-constrained path planningz precedence constraints Dubins traveling salesman problem

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Event-Triggered Extended Kalman Filter for UAV Monitoring System

Event-Triggered Extended Kalman Filter for UAV Monitoring Sy...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Yanmin Liu Xiaozhong Liao Zihao Wang Xi Chen Xiangdong Liu Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing 100081 China

ISBN: (数字)9781728133201

ISBN: (纸本)9781728133218

The unmanned aerial vehicles (UAVs) formation needs the frequent data-exchanging of individual's state between units for monitoring and instruction uploading from the ground station, which inevitably occupies huge communication bandwidth. This paper presents the extended Kalman filter (EKF) design based on the event-triggered strategy to get UAVs greatly relieved of the communication burden with guaranteed accuracy. The event-triggered strategy firstly selects only the state measurements containing innovational information for the purpose of filtering. Due to the nonlinearity of UAV system, the EKF is further applied to make full use of the information from the prior event-trigger strategy so as to enhance the performance of estimation. The proposed algorithm is verified on the physical UAVs regarding the estimation quality and communication rate, demonstrating the robust dynamic performance with effectively reduced communication rate.

关键词： Estimation Quaternions Unmanned aerial vehicles Monitoring Kalman filters Accelerometers Data models

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Sequence impedance modeling of droop-controlled inverter 8

Sequence impedance modeling of droop-controlled inverter

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8th Renewable Power Generation Conference, RPG 2019

作者： Hu, You Wang, Jiajun Liu, Bin Li, Zhen Liu, Xiangdong School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781839531255

The grid-connected three-phase inverter is an indispensable part of the microgrid. The droop control is widely used in parallel inverters for high reliability and flexibility. The output impedance of droop controlled inverters plays an vital role in its stability. However, the sequence impedance model of grid-connected inverter is currently based on the grid side converter with a single current loop control exdluding the low-frequency dynamics similar in doubly fed induction generators. Both the droop control and voltage loop control greatly affect the stability of inverter, specifically in the low frequency response. This paper proposes a sequence impedance model of inverter, which considers the droop control and voltage and current dual closed-loop control using the harmonic linearization method in the frequency domain. The accuracy of the model is verified through comparing the measurement impedance value in simulation with the impedance value calculated in the sequence impedance model. The influence of control method on system impedance is verified by showing the difference between the single loop controlled inverter and droop control inverter. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Electric inverters

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S$^{\text{4}}$TP: Social-Suitable and Safety-Sensitive Trajectory Planning for Autonomous Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2023年第2期9卷 3220-3231页

作者： Xiao Wang Ke Tang Xingyuan Dai Jintao Xu Quancheng Du Rui Ai Yuxiao Wang Weihao Gu Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei China Haomo Technology Company Ltd. Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

In public roads, autonomous vehicles (AVs) face the challenge of frequent interactions with human-driven vehicles (HDVs), which render uncertain driving behavior due to varying social characteristics among humans. To effectively assess the risks prevailing in the vicinity of AVs in social interactive traffic scenarios and achieve safe autonomous driving, this article proposes a social-suitable and safety-sensitive trajectory planning (S $^{\text{4}}$ TP) framework. Specifically, S $^{\text{4}}$ TP integrates the Social-Aware Trajectory Prediction (SATP) and Social-Aware Driving Risk Field (SADRF) modules. SATP utilizes Transformers to effectively encode the driving scene and incorporates an AV's planned trajectory during the prediction decoding process. SADRF assesses the expected surrounding risk degrees during AVs-HDVs interactions, each with different social characteristics, visualized as two-dimensional heat maps centered on the AV. SADRF models the driving intentions of the surrounding HDVs and predicts trajectories based on the representation of vehicular interactions. S $^{\text{4}}$ TP employs an optimization-based approach for motion planning, utilizing the predicted HDVs' trajectories as input. With the integration of SADRF, S $^{\text{4}}$ TP executes real-time online optimization of the planned trajectory of AV within low-risk regions, thus improving the safety and the interpretability of the planned trajectory. We have conducted comprehensive tests of the proposed method using the SMARTS simulator. Experimental results in complex social scenarios, such as unprotected left-turn intersections, merging, cruising, and overtaking, validate the superiority of our proposed S $^{\text{4}}$ TP in terms of safety and rationality. S $^{\text{4}}$ TP achieves a pass rate of 100% across all scenarios, surpassing the current state-of-the-art methods Fanta of 98.25% and Predictive-decision of 94.75%.

关键词： Trajectory Safety Vehicles Trajectory planning Autonomous vehicles Risk management Behavioral sciences

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Soft-Landing Dynamics of a Type of Four-Legged Space Lander

SSRN

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SSRN 2024年

作者： Shi, Tengfei Shi, Tengfei Yang, Yinping Zhang, Zhijuan Liu, Cuicui Liu, Caishan Ma, Daolin Applied Mechanics and Structure Safety Key Laboratory of Sichuan Province School of Mechanics and Aerospace Engineering Southwest Jiaotong University Chengdu610031 China State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing100871 China Institute of Dynamics and Control College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology Beijing100871 China China Academy of Space Technology Beijing100094 China School of Naval Architecture Ocean and Civil Engineering Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai200240 China

Analyzing the landing dynamics response is essential for enhancing the success rate of surface explorations on Mars, the moon, or asteroids. This paper develops a comprehensive dynamics model for a space lander equipped with four sets of buffer legs, each consisting of a primary strut, two secondary struts, and a footpad, during its soft landing process. The degrees of freedom of the main body and the footpads are defined as generalized coordinates to describe the motion of the space lander. The compression force of the buffer struts is obtained by interpolating real experimental data, and the contact force between the footpad and the ground is calculated using Archimedes law for granular media. Then, the dynamical model for the lander in terms of minimal degrees of freedom can be constructed by applying the Lagrange equations of the second kind. The proposed dynamics model is validated by the experiments of a single-legged lander vertical touchdown and a four-legged lander free touchdown. Moreover, histories of buffer force, acceleration of the main body, and other key physical quantities are computed to investigate the landing process. This highly efficient and accurate dynamics model provides a method to perform extensive simulations to design and optimize a soft landing process. © 2024, The Authors. All rights reserved.

关键词： Landing

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Complete Z-intuitionistic Fuzzy MULTIMOORA Method with AHP and its Application to COVID-19

Research Square

引用

Research Square 2021年

作者： Zhang, Yijin Huang, Jie Lin, Zongbing Key Lab of Intelligent Analysis and Decision on Complex Systems Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

For emergencies, the reliability of information can not be guaranteed. At the same time, due to the lack of information and knowledge, neither the criteria itself nor the credibility can be given a precise evaluation by decision-makers(DMs). Therefore, we combine intuitionistic fuzzy set and Z-number to get a new class of fuzzy set, complete Z-intuitionistic fuzzy set(CZIFS), and its degenerate form, A-type Z-intuitionistic fuzzy set(AZIFS) and B-type Z-intuitionistic fuzzy set(BZIFS). CZIFS can serve as a reliable tool to depict the hesitant degree both on the ambiguity and reliability of uncertain information. In addition, we introduce the score and accuracy functions and distance measure of complete Z-intuitionistic fuzzy number(CZIFN), with which we have considered both reliability information and DM-s’ preference on it. Then, we improve traditional MULTIMOORA by developing reference point(RP) model to consider both the risk and profile of alternatives and integrating analytic hierarchy process(AHP) in the process of ranking aggregation method to take into account the preference of DMs on three subordinate rankings. Besides, to solve multicriteria group decision making(MCGDM) problem, we develop improved MULTIMOORA method to the environment of CZIFN. Finally, to illustrate the proposed method, we give a numerical example, solving site selecting of Fangcang shelter hospital for COVID-19. © 2021, CC BY.

关键词： Analytic hierarchy process

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Development of GPU Enhanced AI Education Platforms for K-12 Schools

Development of GPU Enhanced AI Education Platforms for K-12 ...

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2021 China Automation Congress, CAC 2021

作者： Gong, Xiaoyan Wen, Yifan Liu, Xiwei Zhao, Hongxia Jing, Sifeng Li, Qiang Gao, Kai Luo, Jilong The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao 266000 China The 21st Century International School Beijing100142 China Beijing NO. 2 Middle School Beijing100087 China Beijing University of Chemical Technology Beijing100029 China

ISBN: (纸本)9781665426473

Recently, with continuous implementation of education reform, AI (Artificial Intelligence) has been included in K-12 (Kindergarten to 12th grade) curricula and AI education is in full swing in China. However, standard, cost-efficient AI education platforms for K-12 schools are still not available. So in this paper, based on Jetson Nano, we developed a GPU-enhanced AI teaching platform including AI learning computers for students to develop Al-related algorithms and applications, AI computer clusters for whole classes, and modular auto-driving cars to run and test algorithms and applications. © 2021 IEEE

关键词： Graphics processing unit

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A CNN-ELM Compound Fault Diagnosis Method Based on Joint Distribution Modification

A CNN-ELM Compound Fault Diagnosis Method Based on Joint Dis...

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International Conference on Informative and Cybernetics for Computational Social systems (ICCSS)

作者： Jiechao Dong Liping Yan Yuanqing Xia Jinhui Zhang Xianghua Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Shandong Key Laboratory of Big-data Driven Safety Control Technology for Complex Systems Shandong China

ISBN: (数字)9781728162461

ISBN: (纸本)9781665419352

In the industrial field, compound faults often occur on rolling bearings and it's difficult to diagnose them correctly. To solve this problem, this article proposes a CNN-ELM compound fault diagnosis method based on joint distribution modification. Firstly, considering the complementarity and coupling of data from multiple sensors, a data input trick of multi-sensor data connected in parallel is designed. Secondly, due to the discrepancy of distribution between the compound fault data features and the single fault data features, the marginal distribution matrix and the posterior distribution matrix are used to modify the CNN-ELM network, so that the network can extract more reliable data features for fault diagnosis. Finally, referring to the categories and criteria of bearing damage proposed by Paderborn University, the label code is defined. The corresponding data set is used to verify the proposed algorithm. Experimental results show that the algorithm can accurately obtain detailed fault information such as fault location, fault type, and fault severity.

关键词： Fault diagnosis Rolling bearings Materials reliability Feature extraction Sensor systems Sensors Compounds

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Online progressive instance-balanced sampling for weakly supervised object detection

arXiv

引用

arXiv 2022年

作者： Chen, Minghao Tian, Yunong Li, Zhishuo Li, En Liang, Zize The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences 95 Zhongguancun East Road Beijing100190 China Yuquan Road Beijing100049 China Engineering Laboratory of Industrial Vision and Intelligent Equipment Technology Chinese Academy of Sciences 95 Zhongguancun East Road Beijing100190 China

Based on multiple instance detection networks (MIDN), plenty of works have contributed tremendous efforts to weakly supervised object detection (WSOD). However, most methods neglect the fact that the overwhelming negative instances exist in each image during the training phase, which would mislead the training and make the network fall into local minima. To tackle this problem, an online progressive instance-balanced sampling (OPIS) algorithm based on hard sampling and soft sampling is proposed in this paper. The algorithm includes two modules: a progressive instance balance (PIB) module and a progressive instance reweighting (PIR) module. The PIB module combining random sampling and IoU-balanced sampling progressively mines hard negative instances while balancing positive instances and negative instances. The PIR module further utilizes classifier scores and IoUs of adjacent refinements to reweight the weights of positive instances for making the network focus on positive instances. Extensive experimental results on the PASCAL VOC 2007 and 2012 datasets demonstrate the proposed method can significantly improve the baseline, which is also comparable to many existing state-of-the-art results. In addition, compared to the baseline, the proposed method requires no extra network parameters and the supplementary training overheads are small, which could be easily integrated into other methods based on the instance classifier refinement paradigm. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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Research and practice of lightweight digital twin speeding up the implementation of flexible manufacturing systems 1

Research and practice of lightweight digital twin speeding u...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Zhang, Xiaodong Hu, Bin Xiong, Gang Liu, Xinjie Dong, Xisong Li, Dongjia School of Information Engineering Yantai Institute of Technology Yantai China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijing China Yantai University Department of Mechanical and Electrical Engineering Yantai China School of Artificial Intelligence Yantai Institute of Technology Yantai China

ISBN: (纸本)9781665433372

Parallel manufacturing in Industry 5.0 requires digital twin to digitize physical systems, building virtual models to open up channels connecting physical systems, information systems, and social systems, and transforming the physical models of the existing production environment to achieve two-way feedback of virtual and real is the current research direction. This paper proposes the modeling idea of lightweight digital twin, extracts core dimensions and performs digital virtual simulation, so as to quickly realize the complete process of two-way feedback, and realize a set of chess flexible parallel manufacturing production lines as a practice for the design of complete lightweight digital twin. © 2021 IEEE.

关键词： Industrial research

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