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18th IEEE International Conference on Networking, Sensing and control, ICNSC 2021

作者： Jin, Xiaojie Wang, Xingkai Wu, Weimin Rong, Zhenrui Zhang, Quanling Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China

ISBN: (纸本)9781665440486

With the continuous growth of port container throughput, it is difficult to meet the port production demand by simply configuring automation equipments to improve the operation efficiency of machinery. The container truck scheduling and yard crane scheduling are the two important scheduling links in container terminals. At the same time, there is a tight coupling between them. Thus, the joint scheduling of container trucks and yard cranes is necessary to improve the operation efficiency of container terminals. In this paper, the joint real-time scheduling of trucks and yard cranes is mathematically modeled, and is solved by the elite genetic algorithm. Finally, a variety of scheduling strategies are compared to verify the effectiveness of the proposed strategy. © 2021 IEEE.

关键词： Trucks

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A Decision-support Framework for Port Container Stowage Plan 18

A Decision-support Framework for Port Container Stowage Plan

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18th IEEE International Conference on Networking, Sensing and control, ICNSC 2021

作者： Wang, Shuo Zhang, Tao Xing, Zichao Wu, Weimin Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China

ISBN: (纸本)9781665440486

With the development of international trade, container transportation increases rapidly. Loading large quantities of containers requires efficient port operations and an efficient container stowage plan (CSP). A CSP is the placement of containers onto the shipping plan slots, which should decrease loading cost and keep the ship stability. The yard operational efficiency, ship stability, and operational safety are the major factors that should be considered in port loading and unloading. Since, factors are related to others, to generate a CSP is proven to be NP-complete. This paper proposes a decision-support framework for determining a shipment plan, which is to achieve the optimal shipment objects by a planning model. The experimental results show that the proposed framework can improve the operating efficiency of the storage yard while keeping the ship's stability and reducing the dangerous loading scenes. © 2021 IEEE.

关键词： Containers

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Multi-agent trajectory prediction based on graph neural network

Multi-agent trajectory prediction based on graph neural netw...

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

作者： Du, Haozhe Chen, Zhike Wang, Yufeng Huang, Zheyuan Wang, Yunkai Xiong, Rong Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China

ISBN: (纸本)9781665436786

Many tasks have demand on precise predictions of agents or moving objects. Previous prediction methods usually only focus on the kinematic model of moving objects or the environment. However, the target tasks of agents may influence the prediction of agents in great sense, especially in tasks of confrontation. Therefore traditional methods cannot work well in such scenes. In this paper, we propose a heterogeneous graph neural network method to deal with the multi-agent trajectory prediction problem. Our method can aggregate and pass messages representing environment and also agents' tasks due to the elaborate design of graph neural network structure. We validate our method on the Robocup Small Size League simulation platform which focuses on multi-agent coordination and confrontation in the form of soccer games. After making our own ZJUNlictSSL dataset, we predict the position of all robots on the pitch of certain time gaps based on the limited information we get from vision. The results prove that our method is of high prediction accuracy and low prediction error compared with conventional kinematic motion methods. Code is available here. © 2021 IEEE.

关键词： Simulation platform

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MOF-derived molybdenum selenide on Ti_(3)C_(2)T_(x) with superior capacitive performance for lithium-ion capacitors

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International Journal of Minerals,Metallurgy and Materials 2022年第5期29卷 1061-1072页

作者： Jianjian Zhong Lu Qin Jianling Li Zhe Yang Kai Yang Mingjie Zhang State Key Laboratory of Advanced Metallurgy University of Science and Technology BeijingBeijing 100083China State Key Laboratory of Operation and Control of Renewable Energy and Storage Systems China Electric Power Research InstituteBeijing 100192China

Two-dimensional Ti_(3)C_(2)T_(x) exhibits outstanding rate property and cycle performance in lithium-ion capacitors(LICs)due to its unique layered structure,excellent electronic conductivity,and high specific surface ***,like graphene,Ti_(3)C_(2)T_(x) restacks during electrochemical cycling due to hydrogen bonding or van der Waals forces,leading to a decrease in the specific surface area and an increase in the diffusion distance of electrolyte ions between the interlayer of the ***,a transition metal selenide MoSe_(2) with a special three-stacked atomic layered structure,derived from metal-organic framework(MOF),is introduced into the Ti_(3)C_(2)T_(x) structure through a solvo-thermal *** synergic effects of rapid Li+diffusion and pillaring effect from the MoSe_(2) and excellent conductivity from the Ti_(3)C_(2)T_(x) sheets endow the material with excellent electrochemical reaction kinetics and *** composite Ti_(3)C_(2)T_(x)@MoSe_(2) material exhibits a high capacity over 300 mAh·g^(-1) at 150 mA·g^(-1) and excellent rate property with a specific capacity of 150 mAh·g^(-1) at 1500 mA·g^(-1).Addition-ally,the material shows a superior capacitive contribution of 86.0%at 2.0 mV·s^(-1) due to the fast electrochemical reactions.A Ti_(3)C_(2)T_(x)@MoSe_(2)//AC LIC device is also fabricated and exhibits stable cycle performance.

关键词： two-dimensional titanium carbide molybdenum selenide solvothermal method electrochemical kinetics

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A Novel Searching Method of Fringe Blocks for AGV Deadlock Avoidance 18

A Novel Searching Method of Fringe Blocks for AGV Deadlock A...

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18th IEEE International Conference on Networking, Sensing and control, ICNSC 2021

作者： Chen, Xinyu Zhang, Tingqi Wu, Weimin Hu, Ruifen Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China

ISBN: (纸本)9781665440486

With the increasing development of automated logistics systems, automated guided vehicles (AGVs) have been gradually deployed in various logistics systems. AGVs are mainly used to transport materials and products, which promote the efficiency greatly and provide profound flexibility and safety. The strategy to prevent AGVs from forming deadlocks is one of the fundamental and vital issues in applications. In this paper, a common type of deadlock that usually occurs in warehouses and a typical attribute of map called fringe blocks are studied thoroughly. To solve the deadlock, it's crucial to identify fringe blocks. We first use traditional depth first search algorithm (DFS) to find out all the fringe blocks in the map. Then, confronted with the huge time complexity, we combine the DFS procedure with a high-efficiency trimming method. Finally, we run a simulation and make a comparison of both methods. The simulation results have shown that the proposed strategy will reduce computational time significantly without making false judgements. © 2021 IEEE.

关键词： Efficiency

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A Two-Stage Congestion-Aware Routing Method for Automated Guided Vehicles in Warehouses 18

A Two-Stage Congestion-Aware Routing Method for Automated Gu...

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18th IEEE International Conference on Networking, Sensing and control, ICNSC 2021

作者： Chen, Xinyu Feng, Ligen Wang, Xingkai Wu, Weimin Hu, Ruifen Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China

ISBN: (纸本)9781665440486

With multi-AGV (automated guided vehicle) systems gradually employed in modern warehouses, the research on how to coordinate AGVs in an efficient way has attracted more scholars than ever. As the size of AGVs grows over time, the possibility of traffic congestion is increasing rapidly, especially in a limited space. Therefore, the congestion-aware routing method is one of the most vital and fundamental topics in multi-AGV control research. In this paper, a two-stage congestion-minimizing routing method is presented. The proposed method not only plans paths that avoid congested areas, but also changes paths in real time to cope with the volatile traffic situations. An experiment is carried out to test the effectiveness and efficiency of the proposed method, and the results are highly promising in terms of alleviating traffic congestion. © 2021 IEEE.

关键词： Traffic congestion

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Multi-stage decision-making skill learning for soccer robot

Multi-stage decision-making skill learning for soccer robot

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

作者： Chen, Zhike He, Zhiye Du, Haozhe Han, Chengrui Wang, Yunkai Chen, Zexi Xiong, Rong Institute of Cyber-Systems and Control Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou China

ISBN: (纸本)9781665436786

The application scenarios of robots are becoming more and more complex, leading to higher and higher demand on skills for robots. This paper proposes a method to learn complex skill by decomposing it into basic skills, then train them respectively as well as combination into a whole, where reinforcement learning are used both in basic skill learning and in the integration. The method proposed is validated on the RoboCup small soccer robot platform via the skill of chasing and shooting ball and tested in both simulation environment and real world. It is verified our method has achieved a higher success rate comparing with traditional methods. Code is available here. © 2021 IEEE.

关键词： Decision making

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Research on Container Slot Planning for Coordinated Operation of Quay Cranes and Yard Cranes 18

Research on Container Slot Planning for Coordinated Operatio...

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18th IEEE International Conference on Networking, Sensing and control, ICNSC 2021

作者： Huang, Lili Wu, Weimin Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China

ISBN: (纸本)9781665440486

Given ship per-stowage plan and yard stacking status, this paper presents a method on container slot planning for coordinated operation of quay cranes (QC) and yard cranes (YC). A multi-objective programming model is established with the goal of maximizing the turnover rate of container terminal. Then, a heuristic construction algorithm is designed to obtain an initial stowage plan. In addition, an annealing genetic algorithm is proposed to optimize this initial solution. A wide variety of numerical experiments demonstrated that stowage plans made by this method are useful and applicable in practice. © 2021 IEEE.

关键词： Containers

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Collaborative recognition of feasible region with aerial and ground robots through DPCN

Collaborative recognition of feasible region with aerial and...

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

作者： Li, Yunshuang Huang, Zheyuan Chen, Zexi Wang, Yue Xiong, Rong Institute of Cyber-Systems and Control Zhejiang University State Key Laboratory of Industrial Control Technology Zhejiang China

ISBN: (纸本)9781665436786

Ground robots always get collision in that only if they get close to the obstacles, can they sense the danger and take actions, which is usually too late to avoid the crash, causing severe damage to the robots. To address this issue, we present a collaborative system with aerial and ground robots to gain precise recognition of feasible region. Taking the aerial robots' advantages of having large scale variance of view points of the same route which the ground robots is on, the collaboration work provides global information of road segmentation for the ground robot, thus enabling it to obtain feasible region and adjust its pose ahead of time. Under normal circumstance, the transformation between these two devices can be obtained by GPS yet with much error, directly causing inferior influence on recognition of feasible region. Thereby, we utilize the state-of-the-art research achievements in matching heterogeneous sensor measurements called deep phase correlation network(DPCN), which has excellent performance on heterogeneous mapping, to refine the transformation. The network is light-weighted and promising for better generalization. We use Aero-Ground dataset which consists of heterogeneous sensor images and aerial road segmentation images. The results show that our collaborative system has great accuracy, speed and stability. © 2021 IEEE.

关键词： Image segmentation

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A novel hierarchical charging algorithm for the AGV dispatching problem in a multi-robot system 18

A novel hierarchical charging algorithm for the AGV dispatch...

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18th IEEE International Conference on Networking, Sensing and control, ICNSC 2021

作者： Niu, Haoyi Wu, Weimin Zhang, Tao Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China

ISBN: (纸本)9781665440486

Charging problem for the AGVs (automated guided vehicles) in a multi-robot system based on a real-world intelligent warehouse aims to maximize the transportation efficiency of AGVs considering the charging process. For this purpose, a hierarchical charging algorithm is presented by taking into account both the continuity of transportation and the charging efficiency. A multi-level threshold scheme is designed to reduce the impact of the charging process on AGV scheduling. The numerical experiment results indicate that at the same charging rate, the number of completed tasks by AGVs can be increased from 18 to 28 an hour compared with traditional charging algorithm thus the efficiency can be improved from 34.62% to 51.86% correspondingly, which shows the superior performance of the presented algorithm. © 2021 IEEE.

关键词： Multipurpose robots

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