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Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Zhenwei Guo Jiajian Zhu Haoran Li Haibin Zheng Yujue Wang Research Center of Cyber Science and Technology Hangzhou Innovation Institute Beihang University Hangzhou China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

The rapid development of demand response management and distributed energy has promoted the development of P2P energy trading mechanisms, making electricity market participants more active. However, how to prevent private information from being reached by malicious agents during P2P negotiation process is a challenging problem. This paper proposes a privacy protection decentralized optimization method for P2P energy trading based on consensus Alternating Direction Method of Multipliers (ADMM) and Partially Homomorphic Encryption (HE). Firstly, the general model of P2P electricity market and the P2P trading negotiation mechanism based on consensus ADMM are introduced. However, under this mechanism, malicious neighbor agents can collude to steal private information. In order to resist collusion attack, a two-party secure computation mechanism between each pair of agents is designed, and the energy amount and price are updated in a secure way without leaking any private information. The privacy-preserving mechanism can find a trade-off between the convergence efficiency and information security. Finally, the function of the privacy protection negotiation mechanism was simulated in terms of convergence performance, impact on social welfare and computational efficiency.

关键词： Privacy Simulation Optimization methods Electricity supply industry Convex functions Peer-to-peer computing Computational efficiency

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Simulated Ising Annealing Algorithm with Gaussian Augmented Hamiltonian Monte Carlo

Simulated Ising Annealing Algorithm with Gaussian Augmented ...

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第42届中国控制会议

作者： Langyu Li Hao Wang Zhixin Xie Zixuan Liu Wei Cui Yu Pan Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control TechnologyCollege of Control Science and Engineering Zhejiang University School of Automation Science and Engineering South China University of Technology School of Mechanical Engineering and Automation Harbin Institude of Technology

A numerical technique called Simulated Ising Annealing(SIA) uses digital computers to obtain approximations of the ground states of Ising models. The quadratic unconstrained binary optimization(QUBO) problem in combinatorial optimization,which is challenging to solve through exhaustive search, has significant linkages to the Ising model. Therefore, SIA's main objective is to identify a better solution in finite iterations. In order to enhance the performance of the simulated annealing procedure, we adopt a Gaussian augmented Hamiltonian Monte Carlo(GAHMC) method in this study. We contrasted our algorithm with Gibbs sampling and local quantum annealing method. Finally, we discuss its application on QUBO problem.

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ColAG: A Collaborative Air-Ground Framework for Perception-Limited UGVs’ Navigation

arXiv

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arXiv 2023年

作者： Li, Zhehan Mao, Rui Chen, Nanhe Xu, Chao Gao, Fei Cao, Yanjun State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Dalian University of Technology Dalian116024 China

Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It’s challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a blind robot, and becomes more difficult when comes to a group of robots. However, it could be costly to equip all robots with expensive perception or SLAM systems. In this paper, we propose a novel system named ColAG, to solve the problem of autonomous navigation for a group of blind UGVs by introducing cooperation with one UAV, which is the only robot that has full perception capabilities in the group. The UAV uses SLAM for its odometry and mapping while sharing this information with UGVs via limited relative pose estimation. The UGVs plan their trajectories in the received map and predict possible failures caused by the uncertainty of its wheel odometry and unknown risky areas. The UAV dynamically schedules waypoints to prevent UGVs from collisions, formulated as a Vehicle Routing Problem with Time Windows to optimize the UAV’s trajectories and minimize time when UGVs have to wait to guarantee safety. We validate our system through extensive simulation with up to 7 UGVs and real-world experiments with 3 UGVs. © 2023, CC BY.

关键词： Unmanned aerial vehicles (UAV)

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Design and analysis of a whole-body controller for a velocity controlled robot mobile manipulator

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Science China(Information Sciences) 2020年第7期63卷 98-112页

作者： Mantian LI Zeguo YANG Fusheng ZHA Xin WANG Pengfei WANG Ping LI Qinyuan REN Fei CHEN State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Academy of Aerospace Technology Key Laboratory of Industrial Control Technology Zhejiang University

Mobile manipulators, which are intrinsically redundant when the manipulator and mobile base are moving together, are known for their capabilities to carry out multiple tasks at the same time. This paper presents a whole-body control framework, inspired by legged bio-robots, for a velocity controlled non-holonomic mobile manipulator based on task priority. control primitives, such as manipulability optimization, trajectory tracking of the end-effector and mobile base, and collision avoidance, are considered in the framework and arranged at different priorities. Lower priority tasks are projected into the null space of control tasks with higher priorities. As a result, lower level tasks are completed without affecting the performance of higher priority tasks. Several experiments are implemented to verify the effectiveness of the proposed controller. The proposed method is proved to be an effective way to solve the whole-body control problem of velocity controlled mobile manipulators.

关键词： mobile manipulator whole-body control velocity controlled task priority null-space projection

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Discrete states-Based Trajectory Planning for Nonholonomic Robots

arXiv

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arXiv 2023年

作者： Zou, Ziyi Zhang, Ziang Lu, Zhen Li, Xiang Wang, You Hao, Jie Li, Guang The State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou310027 China The Luoteng Hangzhou Techonlogy Co. Ltd. Hangzhou310027 China

Due to nonholonomic dynamics, the motion planning of nonholonomic robots is always a difficult problem. This letter presents a Discrete states-based Trajectory Planning(DSTP) algorithm for autonomous nonholonomic robots. The proposed algorithm represents the trajectory as x and y positions, orientation angle, longitude velocity and acceleration, angular velocity, and time intervals. More variables make the expression of optimization and constraints simpler, reduce the error caused by too many approximations, and also handle the gear shifting situation. L-BFGS-B is used to deal with the optimization of many variables and box constraints, thus speeding up the problem solving. Various simulation experiments compared with prior works have validated that our algorithm has an order-of-magnitude efficiency advantage and can generate a smoother trajectory with a high speed and low control effort. Besides, real-world experiments are also conducted to verify the feasibility of our algorithm in real scenes. We will release our codes as ros packages. Copyright © 2023, The Authors. All rights reserved.

关键词： Robot programming

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Stability Analysis for Stochastic Hybrid Inclusions

arXiv

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arXiv 2022年

作者： Zhang, Dandan Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Stochastic hybrid inclusions (SHIs) address situations with the stochastic continuous evolution in a stochastic differential inclusions and random jumps in the difference inclusions due to the forced (the state reaching a boundary in the state space) and/or spontaneous (the state vector may occur spontaneously) transitions. An obvious characteristic of SHIs is the non-uniqueness of random solutions, which can be ensured by the mild regularity conditions, as well as nominal robustness. Basic sufficient conditions for stability/recurrence in probability are usually expressed based on different types of Lyapunov functions, including Lagrange/Lyapunov/Lyapunov-Forster functions respectively for Lagrange/Lyapunov/asymptotic stability in probability and Foster/Lagrange-Forster functions for recurrence, (weaker) relaxed Lyapunov-based sufficient conditions including Matrosov-Foster functions and the stochastic invariance principle, as well as Lyapunov-based necessary and sufficient conditions for asymptotic stability in probability or recurrence (i.e.,converse theorems), etc. The converse theorems involving smooth Lyapunov functions are guaranteed by the sequential compactness and thus robustness. In addition, the uniformity property and causality are analyzed for the stabilities in probability. Hence, serving as a partial roadmap for the theoretical development of SHIs, also serving as inspiration, we anticipate that many of the open questions, including the prediction problem, the filtering problem and the control problem, will be resolved based on the techniques of *** Codes 93C30 Copyright © 2022, The Authors. All rights reserved.

关键词： Lyapunov functions

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Invariant EKF based state Estimator for Quadruped Robots

Invariant EKF based State Estimator for Quadruped Robots

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Chinese control Conference (CCC)

作者： Zhuqing Zhang Zhang Li Yong Chen Dongqi Wang Jiyu Yu Rong Xiong Yue Wang State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University Hangzhou P.R. China Research Institute of Nuclear Power Operation Wuhan P.R. China

Quadruped robots have gained much attention in recent years due to their potential ability to handle various kinds of terrain. To control the quadruped robots to perform tasks, high frequency (up to 400Hz) state estimation is demanded. In this paper, we introduce an accurate and efficient state estimator by incorporating IMU measurements and quadruped robot joint encoder measurements. To be specific, we utilize the IMU measurements to propagate the state, while the joint encoder measurements are used to derive the foot position of the robot to update the state. The whole process is based on an invariant EKF, which is proved in this paper to be able to preserve the correct observability of the system. Moreover, based on the estimated state, the inclination of the terrain with respect to the horizontal plane can be calculated, which is useful for downstream control. Experiments are conducted to validate the effectiveness of our proposed state estimator.

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EVA-Planner: Environmental Adaptive Quadrotor Plan

EVA-Planner: Environmental Adaptive Quadrotor Plan

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2021 IEEE International Conference on Robotics and Automation, ICRA 2021

作者： Quan, Lun Zhang, Zhiwei Zhong, Xingguang Xu, Chao Gao, Fei State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Ningbo315000 China

ISBN: (纸本)9781728190778

The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight smoothness. Although many works on quadrotor planning have been proposed, a research gap exists in incorporating self-adaptation into a planning framework to enable a drone to automatically fly slower in denser environments and increase its speed in a safer area. In this paper, we propose an environmental adaptive planner to adjust the flight aggressiveness effectively based on the obstacle distribution and quadrotor state. Firstly, we design an environmental adaptive safety aware method to assign the priority of the surrounding obstacles according to the environmental risk level and instantaneous motion tendency. Then, we apply it into a multi-layered model predictive contouring control (Multi-MPCC) framework to generate adaptive, safe, and dynamical feasible local trajectories. Extensive simulations and real-world experiments verify the efficiency and robustness of our planning framework. Benchmark comparison also shows superior performances of our method with another advanced environmental adaptive planning algorithm. Moreover, we release our planning framework as open-source ros-packages. © 2021 IEEE

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A 3D-Printed Centimeter-Scale Pneumatically Actuated Robotic Manipulator for Micro-Manipulations

A 3D-Printed Centimeter-Scale Pneumatically Actuated Robotic...

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International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

作者： Xingwen Zheng Hao Mo Haoran Yao Fumihito Arai Department of Mechanical Engineering The University of Tokyo Tokyo Japan State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Department of Control Science and Engineering Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Bioengineering The University of Tokyo Tokyo Japan

ISBN: (数字)9798350376807

ISBN: (纸本)9798350376814

This paper presents a centimeter-scale robotic manipulator fabricated using 3D printing technology. It consists of three mechanisms: a grasping mechanism, an RCM (remote center of motion) function mechanism, and a rotational mechanism, actuated by bellows-driven soft pneumatic actuators. Thus, the robotic manipulator enables the grasping of tools for micro-manipulations and the 2-DOF orientation adjustment of the tools, including the rotation around the axis of the rotational mechanism (0° - 45°) and the rotation around an RCM (−10° - 10°). Finally, one 5-DOF robotic manipulation system consisting of the 2-DOF rotational centimeter-scale robotic manipulator and one 3-DOF translational external manipulator (moving speed ~ 500 μm/s) was used to conduct micro-manipulations, in which a printed needle was grasped to carve the desired trajectory on the agar (gel strength ~ 650 g/cm 2 ) resembling biological tissues. the external manipulator controlled the displacement of the needle while the robotic manipulator adjusted the orientation of the needle insertion into the agar. Results showed that the 5-DOF robotic manipulation system had mechanical stability while achieving micron-level accuracy (200 μm) in the micro-manipulation task.

关键词： Pneumatic actuators 5-DOF 2-DOF Grasping Pneumatic systems Manipulators Needles

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Data-driven soft sensors in blast furnace ironmaking:a survey

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Frontiers of Information technology & Electronic Engineering 2023年第3期24卷 327-354页

作者： Yueyang LUO Xinmin ZHANG Manabu KANO Long DENG Chunjie YANG Zhihuan SONG State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhou 310027China Department of Systems Science Kyoto UniversityKyoto 606-8501Japan Research Institute Baoshan Iron&Steel Co.Ltd.Shanghai 201900China

The blast furnace is a highly energy-intensive,highly polluting,and extremely complex reactor in the ironmaking *** sensors are a key technology for predicting molten iron quality indices reﬂecting blast furnace energy consumption and operation stability,and play an important role in saving energy,reducing emissions,improving product quality,and producing economic *** the advancement of the Internet of Things,big data,and artificial intelligence,data-driven soft sensors in blast furnace ironmaking processes have attracted increasing attention from researchers,but there has been no systematic review of the data-driven soft sensors in the blast furnace ironmaking *** review covers the state-of-the-art studies of data-driven soft sensors technologies in the blast furnace ironmaking ***,wefirst conduct a comprehensive overview of various data-driven soft sensor modeling methods(multiscale methods,adaptive methods,deep learning,etc.)used in blast furnace ***,the important applications of data-driven soft sensors in blast furnace ironmaking(silicon content,molten iron temperature,gas utilization rate,etc.)are ***,the potential challenges and future development trends of data-driven soft sensors in blast furnace ironmaking applications are discussed,including digital twin,multi-source data fusion,and carbon peaking and carbon neutrality.

关键词： Soft sensors Data-driven modeling Machine learning Deep learning Blast furnace Ironmaking

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