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10th IEEE Data Driven control and Learning systems Conference, DDCLS 2021

作者： Fang, Mei Wang, Liqing Wu, Zheng-Guang College of Automation Harbin Engineering University Harbin150001 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang Hangzhou310027 China

ISBN: (纸本)9781665424233

This paper deals with h -gain controller synthesis of positive Markov jump systems (PMJSs) with asynchronous modes. Thanks to the hidden Markov model, the closed-loop systems are modeled as hidden Markov jump systems (HMJSs). The definitions of positivity, mean stability, and h -gain are introduced for HMJSs. A necessary and sufficient condition is derived to ensure that the HMJSs are positive and mean stable with h -gain γ that can be solvable by linear programming strategy. Two numerical examples are listed to show the effectiveness of our results. © 2021 IEEE.

关键词： Hidden Markov models

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Tensorial Hankel Reconstruction for Coherent DOA Estimation with Sensor Failure 23

Tensorial Hankel Reconstruction for Coherent DOA Estimation ...

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23rd IEEE International Conference on Communication technology, ICCT 2023

作者： Cheng, Fei Zheng, Hang Teng, Zhoubin Shi, Zhiguo Zhou, Chengwei State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou310015 China Department of Information and Communications Engineering Aalto University Espoo02150 Finland Zhejiang Emergency Management Digital and Technology Center Hangzhou310007 China

ISBN: (纸本)9798350325959

The research on coherent direction of arrival (DOA) estimation is of great significance for high-precision DOA estimation in complex electromagnetic environments. However, existing coherent DOA estimation methods do not consider the issue of sensor failure that is prone to occur under harsh environments. In this paper, we propose a tensorial Hankel reconstruction method for coherent DOA estimation with sensor failure. Specifically, by analyzing the tensorial Hankel property of complete incoherent covariance tensor, we design the tensorial Hankel mapping rule to reconstruct a Hankel tensor from a slice of incomplete coherent covariance tensor. Meanwhile, the fiber-missing elements caused by sensor failure are dispersed to higher dimensions in the reconstruction process, ensuring the effectiveness of conventional low-rank tensor completion algorithm. Then, the completed Hankel tensor is proven to admit the canonical polyadic model, which can be decomposed to obtain DOA estimations. Simulation results confirm the advantage of the proposed tensorial Hankel reconstruction method. © 2023 IEEE.

关键词： Coherent DOA estimation sensor failure tensor completion tensorial Hankel reconstruction

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Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots

arXiv

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arXiv 2025年

作者： Wang, Yongchao Wang, Junjie Zhou, Xiaobin Yang, Tiankai Xu, Chao Gao, Fei School of Aeronautic Science and Engineering Beihang University Beijing100191 China Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China

Transporting a heavy payload using multiple aerial robots (MARs) is an efficient manner to extend the load capacity of a single aerial robot. However, existing schemes for the multiple aerial robots transportation system (MARTS) still lack the capability to generate a collision-free and dynamically feasible trajectory in real-time and further track an agile trajectory especially when there are no sensors available to measure the states of payload and cable. Therefore, they are limited to low-agility transportation in simple environments. To bridge the gap, we propose complete planning and control schemes for the MARTS, achieving safe and agile aerial transportation (SAAT) of a cable-suspended payload in complex environments. Flatness maps for the aerial robot considering the complete kinematical constraint and the dynamical coupling between each aerial robot and payload are derived. To improve the responsiveness for the generation of the safe, dynamically feasible, and agile trajectory in complex environments, a real-time spatio-temporal trajectory planning scheme is proposed for the MARTS. Besides, we break away from the reliance on the state measurement for both the payload and cable, as well as the closed-loop control for the payload, and propose a fully distributed control scheme to track the agile trajectory that is robust against imprecise payload mass and non-point mass payload. The proposed schemes are extensively validated through benchmark comparisons, ablation studies, and simulations. Finally, extensive real-world experiments are conducted on a MARTS integrated by three aerial robots with onboard computers and sensors. The result validates the efficiency and robustness of our proposed schemes for SAAT in complex environments. Copyright © 2025, The Authors. All rights reserved.

关键词： Robust control

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A comprehensive review of electrochemical hybrid power supply systems and intelligent energy managements for unmanned aerial vehicles in public services

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Energy and AI 2022年第3期9卷 148-171页

作者： Caizhi Zhang Yuqi Qiu Jiawei Chen Yuehua Li Zhitao Liu Yang Liu Jiujun Zhang Chan Siew Hwa College of Mechanical and Vehicle Engineering The State Key Laboratory of Mechanical TransmissionsChongqing Automotive Collaborative Innovation CentreChongqing UniversityChongqing400044China College of Automation Chongqing UniversityKey Laboratory of Complex System Safety and ControlMinistry of EducationChongqing UniversityChongqing400044China School of Mechanical Engineering University of Science and Technology BeijingBeijing100083China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou310027China Institute for Sustainable Energy/College of Sciences Shanghai UniversityShanghai 200444China School of Mechanical and Aerospace Engineering Nanyang Technological University50 Nanyang Avenue639798Singapore Sichuan Energy Internet Research Institute Tsinghua UniversityChengdu 610213Sichuan ProvinceChina

The electric unmanned aerial vehicles (UAVs) are rapidly growing due to their abilities to perform some difficult or dangerous tasks as well as many public services including real-time monitoring, wireless coverage, search and rescue, wildlife surveys, and precision agriculture. However, the electrochemical power supply system of UAV is a critical issue in terms of its energy/power densities and lifetime for service endurance. In this paper, the current power supply systems used in UAVs are comprehensively reviewed and analyzed on the existing power configurations and the energy management systems. It is identified that a single type of electrochemical power source is not enough to support a UAV to achieve a long-haul flight;hence, a hybrid power system architecture is necessary. To make use of the advantages of each type of power source to increase the endurance and achieve good performance of the UAVs, the hybrid systems containing two or three types of power sources (fuel cell,battery, solar cell, and supercapacitor,) have to be developed. In this regard, the selection of an appropriate hybrid power structure with the optimized energy management system is critical for the efficient operation of a UAV. It is found that the data-driven models with artificial intelligence (AI) are promising in intelligent energy management. This paper can provide insights and guidelines for future research and development into the design and fabrication of the advanced UAV power systems.

关键词： Unmanned aerial vehicles(UAVs) Power supply system Fuel cell system Artificial intelligence(AI) Energy management systems

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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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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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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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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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Novel design of Reconfigurable Tracked Robot with Geometry-Changing Tracks

Novel design of Reconfigurable Tracked Robot with Geometry-C...

引用

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

作者： Chice Xuan Jiadong Lu Zhihao Tian Jiacheng Li Mengke Zhang Hanbin Xie Jianxiong Qiu Chao Xu Yanjun Cao Huzhou Institute of Zhejiang University Huzhou China Huzhou Laboratory of Autonomous Intelligent Systems Huzhou China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Shandong University Jinan China Zhejiang Zhongyan Industry Co. Ltd Hangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Tracked robots with reconfigurable mechanisms exhibit great maneuverability due to their adaptability to complex ground conditions. Reconfigurable tracked robots with geometry-changing tracks show further obstacle-crossing capabilities with compact dimensions. However, existing systems face deployment limitations due to either complex transmission mechanisms or unsustainable designs when maintaining the tension in the tracks. To address these challenges, we introduce a novel design of a reconfigurable tracked robot with geometry-changing tracks, which achieves strong terrain traversability with good mechanical properties. We achieve the elliptical trajectory of key planetary wheels through a novel Quad-slider Elliptical Trammel Mechanism (Qs-ETM), allowing the tracks to maintain fixed tension while changing their geometry. Furthermore, the combination of direct drive motors significantly enhances its mechanical properties and agility. A detailed analysis of the kinematic and dynamic characteristics has been conducted and proved with a series of simulations. We built a fully functional prototype of the design and tested it in real-world experiments to validate its advantages. The result shows that our design can reduce the torque required by up to 68.3% and the shear stress of the flipper by up to 67.1%.

关键词： Geometry Torque Wheels Prototypes Motors Trajectory Planning Mobile robots Robots Stress

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Intelligence Uv Absorption Spectroscopy Analysis of So2, H2s, Cs2 Mixed Gases Based on Symmetrized D

SSRN

引用

SSRN 2024年

作者： Chen, Peiying Cao, Yupeng Yu, Miao Wang, Qiao Luo, Lin School of Information and Control Engineering Liaoning Petrochemical University Liaoning Fushun113001 China State Key Laboratory of Industrial Control Technology Institute of Cyber-systems and Control Zhejiang University Zhejiang Hangzhou310027 China Beijing Electric Transmission and Transformation State Grid Jibei Electric Power Company Beijing Beijing100054 China

The accurate quantification of SO2, CS2, and H2S, as significant breakdown components of insulating gas sulfur hexafluoride, is critical for determining the type and severity of internal flaws in insulating equipment. This paper proposes a technique for quantitative detection of multi-component gas mixes on the UV absorption spectroscopy platform that combines symmetry dot pattern with deep learning. The approach uses symmetrized dot pattern analysis to fuse local UV spectral information, which may be used to identify trace gas mixes with overlapping absorption peaks. To detect the symmetry dot pattern diagrams, a deep network based on DenseNet is developed, achieving feature representation from multiple scales. The outstanding performance of this method is illustrated and compared to the existing models using the receiver operating characteristic curve. The platform's experimental results reveal that the suggested technique can quantitatively detect the amounts of SO2, H2S, and CS2 ternary gas mixtures online. © 2024, The Authors. All rights reserved.

关键词： Sulfur hexafluoride

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