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

作者： Siyuan An Chengxi Zhong Mingyue Wang Shudong Wang Haojian Lu Jiaqi Li Youfu Li Song Liu School of Information Science and Technology ShanghaiTech University Shanghai China School of Electrical Engineering Xian Jiaotong University and with State Key Laboratory of Electrical Insulation and Power Equipment Xi an School of the College of Control Science and Engineering Zhejiang University China Institute of Cyber-Systems and Control Hangzhou Department of Mechanical Engineering City University of Hong Kong HK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Non-contact particle cluster manipulation holds significant promise in the realms of advanced manufacturing, chemistry, and pharmacy. However, achieving precise and dynamic control over the spatial kinematics of particle clusters remains a significant challenge, necessitating real-time and accurately programmable robotic end-effector. To this end, we develop an innovative non-contact, precise particle cluster manipulation system with ultrasonic phased array transducer (PAT) under microscope. This system combines a physics-based deep learning algorithm for real-time calculation of phase-only holograms (POHs), supporting PAT to dynamically form acoustic fields, namely holographic acoustic end-effector (HAE). Leveraging the dynamically and accurately generated HAEs by our system, kinematics control of particle clusters including aggregation, rotation, and translation is yielded. The extensive experiments well demonstrated the effectiveness of proposed system for particle cluster manipulation.

关键词： Deep learning Visualization Translation Microscopy Heuristic algorithms Clustering algorithms Ultrasonic transducer arrays Kinematics Real-time systems End effectors

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PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction

PredRecon: A Prediction-boosted Planning Framework for Fast ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Chen Feng Haojia Li Fei Gao Boyu Zhou Shaojie Shen Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong China State Key Laboratory of Industrail Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China School of Artificial Intelligence Sun Yat-Sen University Zhuhai China

Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-then-exploit, prior-based or exploration-based strategies, demonstrating inefficiency with repeated flight and low autonomy. In this paper, we propose PredRecon, a prediction-boosted planning framework that can autonomously generate paths for high 3D reconstruction quality. We obtain inspiration from humans can roughly infer the complete construction structure from partial observation. Hence, we devise a surface prediction module (SPM) to predict the coarse complete surfaces of the target from the current partial reconstruction. Then, the uncovered surfaces are produced by online volumetric mapping waiting for observation by UAV. Lastly, a hierarchical planner plans motions for 3D reconstruction, which sequentially finds efficient global coverage paths, plans local paths for maximizing the performance of Multi-View Stereo (MVS), and generates smooth trajectories for image-pose pairs acquisition. We conduct benchmarks in the realistic simulator, which validates the performance of PredRecon compared with the classical and state-of-the-art methods. The open-source code is released at https://***/HKUST-Aerial-Robotics/PredRecon.

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Multi-chamber pneumatic actuator for peristaltic soft robot

Multi-chamber pneumatic actuator for peristaltic soft robot

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Gao, Sheng Wang, Yue Xiong, Rong Gong, Zhefeng Zheng, Nenggan Lu, Haojian Zhejiang University Department of Polytechnic Institute Hangzhou310058 China Key Laboratory of Medical Neurobiology of the Ministry of Health of China Key Laboratory of Neurobiology Zhejiang University School of Medicine Zhejiang Lab Department of Neurobiology Hangzhou310058 China Qiushi Academy for Advanced Studies Zhejiang University Zhejiang Provincial Key Laboratory of Cardio-Cerebral Vascular Detection Technology Hangzhou310058 China Institute of Cyber-Systems and Control Zhejiang University State Key Laboratory of Industrial Control and Technology Hangzhou China

ISBN: (纸本)9781665436786

Soft robots have the characteristics of high flexibility and strong environmental adaptability compared with traditional robots, and the peristaltic soft robot is a critical class for this field because of the peristaltic creature's superior softness, various movement, and can through complex space. However, this soft robot has the problem of single motion or limited deformation ability at present. In this paper, a pneumatic corrugated structure driver with a multi-chamber was designed to squirmy soft robots, it can elongation, contraction and turning. We designed the actuator's structure and fabrication of the model. Simultaneously, a set of controller systems is built to control its deformation, we complete the action of forwarding and turning with the actuator on experiments. © 2021 IEEE.

关键词： Pneumatic actuators

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PiAGI: The Concept, Mechanism and Framework

PiAGI: The Concept, Mechanism and Framework

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Qiang Li Zhuoya Ju Lili Fan Xin Liu Wenhua Liu Feiyue Wang Scientific and Technological Innovation Center Beijing China The School of Automation Beijing Institute of Technology Beijing China School of Big Data & Cyber Security China University of Petroleum Qingdao China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350349252

ISBN: (纸本)9798350349269

As social production and living spaces gradually expand from the physical and information domains to the cognitive and social domains, this article addresses the new changes brought about by these expansions. Starting from the new impact of era of intelligent connectivity on social cognitive management, it analyzes the urgent need to enhance social cognitive management capabilities centered on cognitive decision-making, identifying the core key as Adversarial Generated Intelligence (AGI). It delves into the conceptual characteristics, operating mechanisms, and winning strategies of AGI, identifies the new challenges it faces, and proposes a Parallel Intelligence empowering AGI (PiAGI) system architecture through the empowerment of parallel intelligence. This provides theoretical support for improving social cognitive management capabilities centered on cognitive decision-making.

关键词： Decision making systems architecture Production Digital twins Faces

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Consistent and Asymptotically Efficient Localization from Range-Difference Measurements

arXiv

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arXiv 2023年

作者： Zeng, Guangyang Mu, Biqiang Shi, Ling Chen, Jiming Wu, Junfeng The School of Data Science Chinese University of Hong Kong Shenzhen Shenzhen China The Department of Automation University of Science and Technology of China Hefei China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The College of Control Science and Engineering The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China

We consider signal source localization from range-difference measurements. First, we give some readily-checked conditions on measurement noises and sensor deployment to guarantee the asymptotic identifiability of the model and show the consistency and asymptotic normality of the maximum likelihood (ML) estimator. Then, we devise an estimator that owns the same asymptotic property as the ML one. Specifically, we prove that the negative log-likelihood function converges to a function, which has a unique minimum and positive definite Hessian at the true source's position. Hence, it is promising to execute local iterations, e.g., the Gauss-Newton (GN) algorithm, following a consistent estimate. The main issue involved is obtaining a preliminary consistent estimate. To this aim, we construct a linear least-squares problem via algebraic operation and constraint relaxation and obtain a closed-form solution. We then focus on deriving and eliminating the bias of the linear least-squares estimator, which yields an asymptotically unbiased (thus consistent) estimate. Noting that the bias is a function of the noise variance, we further devise a consistent noise variance estimator that involves 3-order polynomial rooting. Based on the preliminary consistent location estimate, a one-step GN iteration suffices to achieve the same asymptotic property as the ML estimator. Simulation results demonstrate the superiority of our proposed algorithm in the large sample case. Copyright © 2023, The Authors. All rights reserved.

关键词： Iterative methods

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Quantum Approximate Optimization Algorithm in Non-Markovian Quantum systems

arXiv

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arXiv 2022年

作者： Yue, Bo Xue, Shibei Pan, Yu Jiang, Min Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China School of Electronics and Information Engineering Soochow University Suzhou215006 China

Although quantum approximate optimization algorithm (QAOA) has demonstrated its quantum supremacy, its performance on Noisy Intermediate-Scale Quantum (NISQ) devices would be influenced by complicated noises, e.g., quantum colored noises. To evaluate the performance of QAOA under these noises, this paper presents a framework for running QAOA on non-Markovian quantum systems which are represented by an augmented system model. In this model, a non-Markovian environment carrying quantum colored noises is modelled as an ancillary system driven by quantum white noises which is directly coupled to the corresponding principal system;i.e., the computational unit for the algorithm. With this model, we mathematically formulate QAOA as piecewise Hamiltonian control of the augmented system, where we also optimize the control depth to fit into the circuit depth of current quantum devices. For efficient simulation of QAOA in non-Markovian quantum systems, a boosted algorithm using quantum trajectory is further presented. Finally, we show that non-Markovianity can be utilized as a quantum resource to achieve a relatively good performance of QAOA, which is characterized by our proposed exploration rate. Copyright © 2022, The Authors. All rights reserved.

关键词： White noise

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Serrated chip formation in machining of difficult to cut metallic materials: a comprehensive review

引用

Critical Reviews in Solid state and Materials Sciences 2025年

作者： Zhao, Zejia Liu, Chujun Xu, Bo Wang, Jingwei Yao, Yingxue Yin, Tengfei To, Suet Yang, Yang Institute of Semiconductor Manufacturing Research College of Mechatronics and Control Engineering Shenzhen University Shenzhen China State Key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Kowloon Hong Kong Department of Materials Science Shenzhen MSU-BIT University Shenzhen China Shenzhen China

Serrated cutting chips are usually observed in the machining of difficult to cut metallic materials such as titanium alloys, steels, and nickel-based alloys. Understanding the formation mechanism and influencing factors to generate serrated chips is meaningful for improving the machinability of the difficult to cut materials since the formation of serrated chips poses high risks on the vibration of cutting tools and further affects the surface quality of the workpiece. To date, extensive studies have been conducted on the investigation of serrated chip formation in the machining of difficult to cut materials, but there is still a lack of a comprehensive review to clarify the formation mechanism and summarize the factors affecting the serrated chip characteristics. In this review, two commonly used mechanisms, i.e., adiabatic shear band (ASB) theory and periodical crack formation (PCF) theory, are summarized and discussed with respect to theoretical analyses and experimental verifications. Serrated chip formation in different difficult to cut alloys was also systematically reviewed, considering materials inherent properties such as high hardness, poor thermal conductivity, or low fracture toughness. Besides, some critical factors, including cutting speeds, feed rates, cutting tools, external energy sources, humidity, and temperature are highlighted to illustrate their effects on the serrated chip formation. In addition, challenges and perspectives about the serrated chip formation in machining of difficult to cut metallic materials are proposed to give instruction to future research. © 2025 Taylor & Francis Group, LLC.

关键词： Titanium alloys

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Dynamic collision avoidance for cooperative fixed-wing UAV swarm based on normalized artificial potential field optimization

引用

Journal of Central South University 2021年第10期28卷 3159-3172页

作者： LIU Wei-heng ZHENG Xin DENG Zhi-hong State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China China Aerospace Science and Industrial Corporation Beijing 100048China

Cooperative path planning is an important area in fixed-wing UAV ***,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic ***,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local ***,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is ***,several simulations are carried out to illustrate superiority and effectiveness.

关键词： fixed-wing UAV swarm cooperative path planning normalized artificial potential field dynamic obstacle avoidance local optimization

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Solving Environment Economic Power Dispatch Problemroblems by Multi-objective Modified Seagull Optimization Algori Algorithm with Novel Constraint Treatments

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IAENG International Journal of Applied Mathematics 2023年第1期53卷

作者： Chen, Gonggui Tan, Tao Xiang, Wei Guan, Zhenqi Tan, Hao Yu, Jianbo Long, Hongyu Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing University of Posts and Telecommunications Chongqing400065 China Economic and Technology Research Institute State Grid Chongqing Electric Power Company Chongqing401120 China Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China

In this paper, a multi-objective modified seagull optimization algorithm (MOMSOA) is proposed to handle multi-objective environmental economic power dispatch (EED) problems. The algorithm utilizes logistic map to randomize the parameter u, which increases the diversity of the algorithm and speeds up the convergence rate. Besides, the mutation operator is combined to enlarge the range of the search and to avoid falling into the local optimum. The exploration as well as exploitation capabilities for MOSOA are balanced by non-linearizing the original linear parameter A through a cosine dynamic variation strategy. Furthermore, with the assistance of a unique constraint handling approach and non-inferior sorting, MOMSOA can obtain a set of uniform Pareto optimal solution (POS). In order to verify the effectiveness of MOMSOA, experiments were conducted on diverse test systems including IEEE30-Bus, IEEE57-Bus and IEEE118-Bus test systems. During the experimental process, MOSOA and MOPSO/MODE are compared with MOMSOA. Eight trials were conducted, and optimized objective functions include fuel cost, fuel cost with valve point effect, power loss and pollution emission. The results of experiments demonstrate that the proposed MOMSOA can obtain more uniform Pareto fronts (PFs) and optimal best compromise solution (BCS). Finally, two metrics that measure the performance of multi-objective algorithms, SP and HV, are employed to evaluate the results of each algorithm, and the results reveal that solutions obtained by MOMSOA are the most uniform, with the broadest diversity and the best convergence. © 2023, IAENG International Journal of Applied Mathematics. All Rights Reserved.

关键词： Constraint handling

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Global and Asymptotically Efficient Localization from Range Measurements

arXiv

引用

arXiv 2022年

作者： Zeng, Guangyang Mu, Biqiang Chen, Jiming Shi, Zhiguo Wu, Junfeng The College of Control Science and Engineering The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China The College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China The School of Data Science Chinese University of Hong Kong Shenzhen Shenzhen China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

We consider the range-based localization problem, which involves estimating an object's position by using m sensors, hoping that as the number m of sensors increases, the estimate converges to the true position with the minimum variance. We show that under some conditions on the sensor deployment and measurement noises, the LS estimator is strongly consistent and asymptotically normal. However, the LS problem is nonsmooth and nonconvex, and therefore hard to solve. We then devise realizable estimators that possess the same asymptotic properties as the LS one. These estimators are based on a two-step estimation architecture, which says that any √m-consistent estimate followed by a one-step Gauss-Newton iteration can yield a solution that possesses the same asymptotic property as the LS one. The keypoint of the two-step scheme is to construct a √mconsistent estimate in the first step. In terms of whether the variance of measurement noises is known or not, we propose the Bias-Eli estimator (which involves solving a generalized trust region subproblem) and the Noise-Est estimator (which is obtained by solving a convex problem), respectively. Both of them are proved to be √m-consistent. Moreover, we show that by discarding the constraints in the above two optimization problems, the resulting closed-form estimators (called Bias-Eli-Lin and Noise-Est-Lin) are also √m-consistent. Plenty of simulations verify the correctness of our theoretical claims, showing that the proposed two-step estimators can asymptotically achieve the Cramer-Rao lower bound. Copyright © 2022, The Authors. All rights reserved.

关键词： Spurious signal noise

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