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arXiv 2021年

作者： Quan, Lun Yin, Longji Xu, Chao Gao, Fei The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China The Huzhou Institute Zhejiang University Huzhou313000 China

For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this deficiency, we present an optimization-based method that ensures collision-free trajectory generation for formation flight. In this paper, a novel differentiable metric is proposed to quantify the overall similarity distance between formations. We then formulate this metric into an optimization framework, which achieves spatial-temporal planning using polynomial trajectories. Minimization over collision penalty is also incorporated into the framework, so that formation preservation and obstacle avoidance can be handled simultaneously. To validate the efficiency of our method, we conduct benchmark comparisons with other cutting-edge works. Integrated with an autonomous distributed aerial swarm system, the proposed method demonstrates its efficiency and robustness in real-world experiments with obstacle-rich surroundings. We will release the source code for the reference of the community. Copyright © 2021, The Authors. All rights reserved.

关键词： Antennas

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Photofabricated Channel-Digital Microfluidics (Pcdmf): A Promising Lab-on-A-Chip Platform for Fully Integrated Digital Pcr

SSRN

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SSRN 2023年

作者： He, Yu Lu, Zefan Liu, Ke Wang, Lan Xu, Qiudi Fan, Hongliang Liu, Chong Zhang, Tao Research Center for Analytical Instrumentation Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310023 China Huzhou Institute of Zhejiang University Huzhou313002 China School of Public Health Hangzhou Medical College Hangzhou311399 China Department of Neurobiology Department of Neurosurgery Second Affiliated Hospital School of Medicine Zhejiang University Hangzhou310023 China

Microfluidics-based digital PCR (dPCR) is a potent technique capable of absolute quantification of nucleic acids with ultrahigh sensitivity. However, an indispensable process, nucleic acid extraction (NAE) remains hard to be integrated with dPCR into a monolithic device, because both of them involve complicated processes and exquisite fluid manipulation. An ideal solution to this issue is to integrate the two main microfluidic platforms, channel-based microfluidics (CMF) and digital microfluidics (DMF), which, however, remains very challenging. To address these challenges, we herein develop a photofabricated channel-digital microfluidic chip (pCDMF) with significant advantages including: the fabrication of pCDMF is very convenient due to the flexible material choices of photocuring, without tedious process of hydrophobic coating;a parallel-plate configuration can be easily formed, enabling all basic functions of DMF;various channels and microstructures can be freely designed, allowing for fluidic functions of CMF. It is therefore the first example of full integration of DMF and CMF as a monolithic device, with capabilities to precisely handle both discrete droplets and continuous fluids. Finally, an all-in-one device for sample-to-answer digital PCR has been successfully demonstrated. We also envisioned that the pCDMF may open an alternative route toward the fully integrated lab-on-a-chip for various biological applications. © 2023, The Authors. All rights reserved.

关键词： Digital microfluidics

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Erratum to: Data-driven soft sensors in blast furnace ironmaking: a survey (Frontiers of Information technology & Electronic Engineering, (2023), 24, 3, (327-354), 10.1631/FITEE.2200366)

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Frontiers of Information technology and Electronic Engineering 2023年 1-1页

作者： Luo, Yueyang Zhang, Xinmin Kano, Manabu Deng, Long Yang, Chunjie Song, Zhihuan State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Department of Systems Science Kyoto University Kyoto606-8501 Japan Research Institute Baoshan Iron & Steel Co. Ltd. Shanghai201900 China

The article "Data-driven soft sensors in blast furnace ironmaking: a survey," written by Yueyang LUO, Xinmin ZHANG, Manabu KANO, Long DENG, Chunjie YANG, and Zhihuan SONG, was originally published electronically on the publisher’s Internet portal on Mar. 27, 2023 without open access. With the authors’ decision to opt for Open Choice the copyright of the article changed on Sept. 14, 2023 to © The Authors 2023, and the article is forthwith distributed under a Creative Commons Attribution: This article is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License, which permits any non-commercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://***/licenses/by-nc/4.0/ © 2023 Zhejiang University Press.

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Passivity-Based PI control for AGVs Wireless Power Transfer System

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IFAC-PapersOnLine 2020年第2期53卷 5801-5806页

作者： Jia Liu Zhitao Liu Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

Automatic guided vehicles (AGVs) recently have gained increasing attentions and applications, however, frequently stopping to recharge largely reduces service efficiency. Wireless power transfer (WPT) is considered as a practice energization way to solve this problem. In this paper, a passivity-based controller (PBC) and parameter designing method for compensation topology are proposed for AGVs WPT system. The PBC based on port-controlled Hamiltonian system (PCHS) is designed to achieve desired constant systematic working power by regulating the output voltage of DC/DC converter. The LCC-LCC resonant network is analyzed in the principle of the impedance matching method, and a proportional integral (PI) controller is implemented to realize zero steady-state error. Simulation are carried out in PLECS to verify analysis, and results show that proposed controller scheme and compensation designing method ensure the stability of the charging system against load variations, and the fast response performance of the control algorithm is also validated.

关键词： Automatic guided vehicles (AGVs) wireless power transfer (WPT) impedance matching method DC/DC converter passivity-based control (PBC)

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NanoNeRF: Robot-assisted Nanoscale 360° reconstruction with neural radiance field under scanning electron microscope

NanoNeRF: Robot-assisted Nanoscale 360° reconstruction with...

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

作者： Xiang Fu Yifan Xu Shudong Wang Haojian Lu Jiaqi Li Youfu Li Hu Su 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 Kowloon HK Institute of Automation Chinese Academy of Sicence Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The pursuit of 3D reconstruction from 2D images for nanomanipulation under scanning electron microscopy stands as a critical research endeavor. Previous methods either necessitates additional lighting which is difficult in standard SEM devices or relies on feature matching with low resolution and precision, further constraining reconstruction performance. In this paper, we propose a novel robot-assisted nanoscale 360° reconstruction approach, which simplifies SEM setups and maximizes the utilization of robot motion and feedback. By harnessing a nanorobotic system, we capture 360°multi-view images automatically with precise mapping information and camera postures. Sequentially, neural radiance field reconstruct the pixel-wise structure and synthesizing images from diverse perspectives. Experimental results using two real datasets demonstrates our approach’s efficacy, achieving PSNR of 28.1 and SSIM of 0.93 for nanotube reconstruction, and PSNR of 32.8 and SSIM of 0.98 for AFM cantilever reconstruction. These results validate the reliability and robustness of our proposed robot-assisted reconstruction method.

关键词： Robot motion Scanning electron microscopy Three-dimensional displays Robot kinematics Robot vision systems Neural radiance field Robustness Nanoscale devices Image reconstruction Standards

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Adaptive Cuckoo Search Algorithm for Parameter Estimation of Heavy Oil Thermal Cracking Model 38

Adaptive Cuckoo Search Algorithm for Parameter Estimation of...

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第三十八届中国控制会议

作者： Yiping Chen Ning Wang State Key Laboratory of Industrial Control Technology Institute of Cyber-systems and Control Zhejiang University

ISBN: (纸本)9781728123295;9789881563972

To overcome the shortcomings of cuckoo search, an adaptive cuckoo search(ACS) algorithm is proposed. In the ACS algorithm, the logarithmic adaptive step size is adopted and the random traction component is added to the Lévy flight formula to update the population. The effectiveness of the ACS algorithm is verified with four benchmark functions. The ACS algorithm is applied to estimate the parameters of the heavy oil thermal cracking model. The experimental results show that the established model has higher accuracy than the models obtained by the other optimization algorithms.

关键词： Adaptive cuckoo search algorithm(ACS) heavy oil thermal cracking parameter estimation

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Distributed Adaptive Fault-Tolerant Output Regulation of Heterogeneous Multi-Agent systems With Coupling Uncertainties and Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1098-1106页

作者： Chao Deng Weinan Gao Weiwei Che the School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore the Department of Electrical and Computer Engineering Allen E.Paulson College of Engineering and ComputingGeorgia Southern UniversityStatesboroGA 30460 USA the State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027 the Institute of Complexity Science Qingdao UniversityQingdao 266071China

In this paper, we consider the distributed adaptive fault-tolerant output regulation problem for heterogeneous multiagent systems with matched system uncertainties and mismatched coupling uncertainties among subsystems under the influence of actuator faults. First, distributed finite-time observers are proposed for all subsystems to observe the state of the exosystem. Then, a novel fault-tolerant controller is designed to compensate for the influence of matched system uncertainties and actuator faults. By using the linear matrix inequality technique, a sufficient condition is provided to guarantee the solvability of the considered problem in the presence of mismatched coupling uncertainties. Moreover, it is shown that the system in closed-loop with the developed controller can achieve output regulation by using the Lyapunov stability theory and cyclic-small-gain ***, a numerical example is given to illustrate the effectiveness of the obtained result.

关键词： Adaptive control cyclic-small-gain fault-tolerant control multi-agent systems(MASs)

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Domain generalization for vision-based driving trajectory generation

arXiv

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arXiv 2021年

作者： Wang, Yunkai Zhang, Dongkun Cui, Yuxiang Chen, Zexi Jing, Wei Chen, Junbo Xiong, Rong Wang, Yue State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Autonomous Driving Lab Alibaba DAMO Academy Hangzhou China

One of the challenges in vision-based driving trajectory generation is dealing with out-of-distribution scenarios. In this paper, we propose a domain generalization method for vision-based driving trajectory generation for autonomous vehicles in urban environments, which can be seen as a solution to extend the Invariant Risk Minimization (IRM) method in complex problems. We leverage an adversarial learning approach to train a trajectory generator as the decoder. Based on the pre-trained decoder, we infer the latent variables corresponding to the trajectories, and pre-train the encoder by regressing the inferred latent variable. Finally, we fix the decoder but fine-tune the encoder with the final trajectory loss. We compare our proposed method with the state-of-the-art trajectory generation method and some recent domain generalization methods on both datasets and simulation, demonstrating that our method has better generalization ability. Our project is available at https://***/view/dg-traj-gen. Copyright © 2021, The Authors. All rights reserved.

关键词： Signal encoding

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Capacity Estimation of Lithium-ion Battery based on Electrochemical Model with Electrolyte Dynamics ⁎

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IFAC-PapersOnLine 2020年第2期53卷 5909-5914页

作者： Guangwei Chen Zhitao Liu Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China

The remaining capacity of a battery is a crucial indicator, which has significant impact on state of Charge (SoC) estimation and the safe operations of electric vehicles. In this paper, an electrochemical model considering the electrolyte dynamics is proposed to estimate the real capacity of a lithium-ion battery. The electrochemical model with electrolyte dynamics governed by several partial differential equations has the potential to accurately describe varieties of phenomenons inside the battery. Furthermore, a Pade’ one-order approximation is adopted to obtain the transfer function between the boundary lithium-ion concentration and input current, then a boundary state estimator is proposed to estimate the the boundary lithium-ion concentration. After that, the least square method is used to obtain the adaptive update law for maximum concentration estimation in anode. Finally, the correctness of the aforementioned estimation methods is verified through simulation.

关键词： lithium-ion battery electrochemical model capacity electrolyte dynamics Pade’ approximation least square method

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Lidar-Inertial and Downward Vision Based Mobile Robot SLAM in Digital Workshops

Lidar-Inertial and Downward Vision Based Mobile Robot SLAM i...

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Data Driven control and Learning systems (DDCLS)

作者： Yanchao Zhang Hao Geng Bin Liu Yinlong Zhang Xudong Yuan Sichao Zhang School of Information Science and Engineering Shenyang University of Technology Shenyang China Guangzhou Institute of Industrial Intelligence Guangzhou China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350361674

ISBN: (纸本)9798350361681

In order to solve the problems of long-term cumulative error and the absence of absolute pose in the existing Lidar-Inertial Measurement Unit (IMU) fusion methods for Automated Guided Vehicle (AGV) Simultaneous Localization and Mapping (SLAM), we propose a new SLAM method for mobile robot, integrating Lidar, IMU, and a downward vision camera. Firstly, we tightly couple Lidar-IMU and downward vision camera using a multimodal fusion framework. Downward visual measurements are integrated as QR factors into the factor graph, providing absolute pose information to correct cumulative error in the Lidar-IMU system and enable the joint pose estimation of the AGV. Secondly, an enhanced Iterative Closest Point (ICP) point cloud matching algorithm has been developed to correct the incorrect pose. This approach achieves Scan-to-Map alignment by employing a coarse-to-fine matching strategy, thereby enhancing the accuracy of point cloud alignment. Finally, the extended Kalman filter is used to optimize the Lidar pose drift, as well as the Lidar mapping effectively by using the Lidar-IMU as the measurements and the downward visual measurements as the updates. The algorithm has been extensively evaluated on the developed AGV experimental platform. The experimental results show that the position error is less than 0.02 meters and the orientation error is less than 1°, which solves the problems of long-term error accumulation and the lack of absolute pose information for AGV navigation.

关键词： Point cloud compression Visualization Laser radar Simultaneous localization and mapping Conferences Robot vision systems Measurement uncertainty

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