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2024 China Automation Congress, CAC 2024

作者： Tan, Ruiyu Li, Xueai Ni, Fenglei Zhou, Dong Ji, Yi Shao, Xiangyu Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350368604

Versatile jumping is crucial for agile and adaptive behavior of humanoid robots in complex environments. However, humanoid robots have to manage impact forces while maintaining balance and stability throughout the take-off, flight, and landing phases, which imposes significant challenges for motion planning and controller design. This paper proposes a curriculum-assisted reinforcement learning framework for the humanoid robot to achieve various jumping tasks. The curriculum learning divides the jump training process into multi-stages and design different episodes in each stage to guarantee the training feasibility and generalize learned skills. Simulations on a 28 DOFs humanoid robot verify the excellent diverse jumping capability of the proposed policy. This exploration of different tasks also proves the policy’s robustness, allowing the robot quickly recover from perturbations using a variety of learned maneuvers. © 2024 IEEE.

关键词： Anthropomorphic robots

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A Real-Time Planning and Control Framework for Robust and Dynamic Quadrupedal Locomotion

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Journal of Bionic Engineering 2023年第4期20卷 1449-1466页

作者： Jun Li Haibo Gao Yuhui Wan Haitao Yu Chengxu Zhou State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering University of LeedsLeedsLS29JTUK

Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and *** article proposes a real-time planning and control framework integrating motion planning and whole-body *** the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body *** addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot *** developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically *** performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.

关键词： Bionic robot Legged locomotion Motion planning Whole-body control

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Numerical investigation of dynamic characteristics of dual throat nozzle and bypass dual throat nozzle in thrust vectoring starting process

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Chinese Journal of Aeronautics 2024年第10期37卷 184-206页

作者： Yuqi ZHANG Jinglei XU Minglei CAO Ruifeng PAN Shuai HUANG Key Laboratory of Inlet and Exhaust System Technology of Ministry of Education Nanjing University of Aeronautics and AstronauticsNanjing 210016China College of Energy and Power Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China State Key Laboratory of Mechanics and Control of Aeronautics and Astronautics Structures Nanjing 210016China

The Bypass Dual Throat Nozzle(BDTN)is a novel fluidic Thrust Vectoring(TV)nozzle,it switches to TV state by opening the valve in the *** greatly manipulate the BDTN,the dynamic characteristics in the TV starting process should be *** paper conducts numerical simulations to grasp the variation processes of performances and the flow field evolution of BDTN and Dual Throat Nozzle(DTN).The dynamic responses of TV starting in typical DTN models are investigated at ***,the TV starting processes of BDTN in different Nozzle Pressure Ratio(NPR)conditions are simulated,and the valve opening durations(T)are also *** the expected TV direction is achieved in the DTN,the jet is deflected to the opposite direction at the beginning of the dynamic process,which is called the reverse TV ***,this phenomenon disappears in the *** larger injection width of DTN intensifies unsteady oscillations,and the reverse TV phenomenon is *** the BDTN,T determines the delay degree of performance variations compared to the static results,which is called hysteresis *** NPR=10,the hysteresis affects the final stable performance of *** study analyses the dynamic characteristics in DTN and BDTN,laying a foundation for further design of nozzles and control strategies.

关键词： Dual Throat Nozzle(DTN) Bypass Dual Throat Nozzle(BDTN) Dynamic characteristic Thrust vectoring starting process Cavity vortex Hysteresis effect

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Load Balancing Algorithm for SDN Multi-Controller with Elite Genetic Algorithm 6

Load Balancing Algorithm for SDN Multi-Controller with Elite...

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6th IEEE International Conference on Electronics and Communication Engineering, ICECE 2023

作者： Sun, Shimin Wang, Meiyu Zhou, Le Dong, Jinqi Tiangong University Tianjin Key Laboratory of Autonomous Intelligent Technology and System School of Software Tianjin China

ISBN: (纸本)9798350328721

In Software Defined Networking (SDN), the distributed deployment of multiple controllers improves the scalability and reliability of the network control plane. However, there is an issue of load imbalance in multi-controller deployments. By modeling the SDN controller load balancing problem, it is transformed into a switch migration strategy selection problem, and a multi-objective optimization model is constructed with the average transmission delay, load balancing degree and migration cost of controller cluster as optimization objectives. In this paper, an Elite Genetic Algorithm (EGAI) Improvement is proposed to solve the model. The convergence speed and stability of the algorithm are improved by introducing self-identification crossover operator and elite retention strategy. Simulation results show that this algorithm can optimize the mapping relationship between controller and switch, and optimize the performance of the network. © 2023 IEEE.

关键词： Software defined networking

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Inter-well internal resonance analysis of rectangular asymmetric cross-ply bistable composite laminated cantilever shell under transverse foundation excitation

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Applied Mathematics and Mechanics(English Edition) 2024年第8期45卷 1353-1370页

作者： Lele REN Wei ZHANG Yufei ZHANG State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Department of Mechanics Guangxi UniversityNanning 530004China Beijing Key Laboratory of Nonlinear Vibrations and Strength of Mechanical Structures College of Mechanical EngineeringBeijing University of TechnologyBeijing 100124China

The chaotic dynamic snap-through and complex nonlinear vibrations are investigated in a rectangular asymmetric cross-ply bistable composite laminated cantilever shell,in cases of 1:2 inter-well internal resonance and primary *** transverse foundation excitation is applied to the fixed end of the structure,and the other end is in a free *** first-order approximate multiple scales method is employed to perform the perturbation analysis on the dimensionless two-degree-of-freedom ordinary differential motion control *** four-dimensional averaged equations are derived in both polar and rectangular coordinate *** from the obtained frequency-amplitude and force-amplitude response curves,a detailed analysis is conducted to examine the impacts of excitation amplitude,damping coefficient,and tuning parameter on the nonlinear internal resonance characteristics of the *** nonlinear softening characteristic is exhibited in the upper stable-state,while the lower stable-state demonstrates the softening and linearity *** simulation is carried out using the fourth-order Runge-Kutta method,and a series of nonlinear response curves are *** the excitation amplitude further elucidates the global bifurcation and chaotic dynamic snap-through characteristics of the bistable cantilever shell.

关键词： bistable composite laminated cantilever shell inter-well internal resonance primary resonance chaotic dynamic snap-through complex nonlinear vibration

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GeoRVLF: A Robust Drone-Satellite Visual Geo-Localization Framework for Small UAV Platforms

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IEEE Robotics and Automation Letters 2025年第7期10卷 7380-7387页

作者： Zhang, Zhongyuan Chu, Jinkui Song, Tao Guo, Jikun Zhang, Ran Li, Jinshan Dalian University of Technology State Key Laboratory of High-Performance Precision Manufacturing Key Laboratory for Micro/Nano Technology and System of Liaoning Province Dalian116024 China Ningbo Institute of Dalian University of Technology Ningbo315016 China

Drone-satellite geo-localization is a novel technology for autonomous UAV positioning in GNSS-denied environments, but it faces many complex challenges such as cross-scale heterogeneous scenes and real-time operational efficiency in practical applications. This letter proposes a robust visual geolocalization framework for small UAV platforms. First, we performed Cross-scale Place Recognition (CPR) module using a multi-level block retrieval algorithm, which could reduce the runtime and storage usage of feature-based VPR method. In the process we constructed a heterogeneous scene matching network HSM-Net, and designed an accurate Fine Pose Registration (FPR) geo-localization module for 4-DoF global pose estimations. Considering the computility limitation of small UAV platforms, we fused the FPR with VO module via pose graph optimization method, which improved the operating efficiency and stability of the framework. Through dataset evaluations and real-world flight experiments, we verified its geo-localization performance. The results show that GeoRVLF can could accurately and stably estimate the global pose of small UAVs in complex heterogeneous scenes, whose trajectory accuracy is close to low-accuracy GPS and operating frequency is near to classic VO methods. © 2016 IEEE.

关键词： Drones

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Risk Assessment of Stage Machinery Based on Entropy Weight and Fuzzy Inference Method

Risk Assessment of Stage Machinery Based on Entropy Weight a...

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2023 International Conference on Culture-Oriented Science and technology, CoST 2023

作者： Wang, Huiqin Yang, Qingqing Li, Zhen Wang, Huiqi Ministry of Culture and Tourism Key Laboratory of Acoustic Visual Technology and Intelligent Control System Beijing China

ISBN: (纸本)9798350357998

It is of great significance to find out the hidden hazards of the stage machinery in advance and formulate the corresponding protective measures to improve the safety of the stage performance. A comprehensive method that integrates entropy weights and the fuzzy inference is proposed. Firstly, the risk factors are identified through Failure Modes and Effects Analysis (FMEA) method, with the information obtained by field survey and research. Then, the entropy weight method and Fault Tree Analysis (FTA) methods are adopted to analyze the risk factors so as to obtain the probability of the hazardous events. Lastly, the risk level of different event is obtained by the fuzzy inference method. The simulation result proves that the model is reasonable, objective, and feasible. © 2023 IEEE.

关键词： Fuzzy inference

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Multi-Time-Scale Variational Mode Decomposition-Based Robust Fault Diagnosis of Railway Point Machines Under Multiple Noises

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Chinese Journal of Electronics 2024年第3期33卷 814-822页

作者： Junqi LIU Tao WEN Guo XIE Yuan CAO Clive Roberts Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology The School of Electronic and Information Engineering Beijing Jiaotong University Birmingham Centre for Railway Research and Education University of Birmingham

The fault diagnosis of railway point machines(RPMs) has attracted the attention of engineers and *** have studies considered diverse noises along the *** fulfill this aspect,a multi-time-scale variational mode decomposition(MTSVMD) is proposed in this paper to realize the accurate and robust fault diagnosis of RPMs under multiple *** decomposes condition monitoring signals after coarse-grained processing in varying *** this manner,the information contained in the signal components at multiple time scales can construct a more abundant feature space than at a single *** the experimental validation,a random position,random type,random number,and random length(4R) noise-adding algorithm helps to verify the robustness of the *** adequate experimental results demoristrate the superiority of the proposed MTSVMD-based fault diagnosis.

关键词： Railway point machines Fault diagnosis Multi-time-scale Variational mode decomposition

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Distributed Secondary Control of DC Microgrids with Operation Loss Reduction 43

Distributed Secondary Control of DC Microgrids with Operatio...

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43rd Chinese Control Conference, CCC 2024

作者： Qiu, Maoxiang Zhang, Zhicheng Zuo, Zhiqiang Wang, Yijing Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin300072 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China

ISBN: (纸本)9789887581581

In DC microgrids, current sharing and voltage regulation are two main objectives for real-time control, while the operation loss reduction is typically achieved by steady-state optimization. However, the ratio of current sharing is generally determined by the result of the centralized optimization in the classical hierarchical control framework of DC microgrids. Such an issue brings insufficient capability in respond to the changes of photovoltaic power and stored energy in the solar-powered energy systems. To handle this, this work proposes a distributed control scheme for single-bus DC microgrids. Under the proposed controller, the objectives of current sharing, bus voltage regulation and the total operation loss (converter loss and line loss) reduction can be guaranteed simultaneously. Moreover, the constraints on line currents and bus voltage are tackled as well. Finally, simulations verify the performance of the proposed control scheme. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Microgrids

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An IT2FNN with a Novel Hierarchical Learning Algorithm for Nonlinear system Modeling

An IT2FNN with a Novel Hierarchical Learning Algorithm for N...

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2023 China Automation Congress, CAC 2023

作者： Sun, Zijian Meng, Xi Qiao, Junfei Beijing University of Technology Faculty of Information Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China

ISBN: (纸本)9798350303759

Interval type-2 fuzzy neural networks (IT2FNNs) have been widely used for modeling in industrial processes, and the efficient parameter learning methods are crucial for obtaining accurate models. However, the problem of low computational efficiency and poor convergence performance still exists in existing learning methods. In this study, a novel hierarchical learning algorithm is proposed for constructing IT2FNN with better learning ability and generalization performance. Firstly, the improved recursive least square (RLS) method with an adaptive forgetting factor is designed to learn the consequent parameters. Next, the advanced stochastic gradient descent (SGD) method is adopted to learn the antecedent parameters. Finally, the proposed method is applied to real industrial processes and compared with various state-of-the-art IT2FNNs. Simulation results demonstrate the superiority of the proposed method. © 2023 IEEE.

关键词： Learning algorithms

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