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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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Design and demonstration of a dynamic wireless power transfer system for electric vehicles

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Science China(Information Sciences) 2019年第12期62卷 223-241页

作者： Ze ZHOU Liyan ZHANG Zhitao LIU Longhua MA Miao HUANG Hongye SU School of Automation Wuhan University of Technology State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University Ningbo Institute of Technology Zhejiang University

The usage of electric vehicles is being globally promoted with the development of clean energy. However, the development of electric vehicles is limited by the battery capacity and the charging tech-

关键词： cycle Design and demonstration of a dynamic wireless power transfer system for electric vehicles

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Global and Asymptotically Efficient Localization from Range Measurements

arXiv

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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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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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Defects Clustering for Mineral Sintering Surface Based on Multi-source Data Fusion

Defects Clustering for Mineral Sintering Surface Based on Mu...

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

作者： Yi Yang Tengtuo Chen Liang Zhao Jiaying Gu Xiaoyu Tang Yangqianhui Zhang School of Reliability and Systems Engineering Beihang University Beijing China Peng Cheng Laboratory Shenzhen China College of Control Science and Engineering State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China School of Software Technology Dalian University of Technology Dalian China School of Mechanical Engineering Zhejiang University Hangzhou China

During sintering of minerals, multiple categories of defects often appear on the surface of material due to hysteresis of control. Fusion of data from multiple sources is considered in this paper in a bid to identify different types of defects and to improve the utilization of collected data. Specifically, this paper establishes a heterogeneous multi-source dataset based on sintering data. And a novel deep learning approach for multi-source data fusion is introduced and extended. Based on constructed multi-source dataset and associated algorithm, the downstream task of clustering is carried out. Affiliated experimental results show that the multi-source information clustering process for mineral sintered surface defects proposed in this paper outperforms unimodal approach, and relative performance metrics have reached the level of engineering applications.

关键词：

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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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Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Survey

arXiv

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arXiv 2024年

作者： Shi, Kun He, Shibo Shi, Zhenyu Chen, Anjun Xiong, Zehui Chen, Jiming Luo, Jun The School of Computer Science and Engineering Nanyang Technological University 639798 Singapore The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China The Hangzhou Dianzi University Hangzhou310005 China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design 487372 Singapore

Multi-modal fusion is imperative to the implementation of reliable object detection and tracking in complex environments. Exploiting the synergy of heterogeneous modal information endows perception systems the ability to achieve more comprehensive, robust, and accurate performance. As a nucleus concern in wireless-vision collaboration, radar-camera fusion has prompted prospective research directions owing to its extensive applicability, complementarity, and compatibility. Nonetheless, there still lacks a systematic survey specifically focusing on deep fusion of radar and camera for object detection and tracking. To fill this void, we embark on an endeavor to comprehensively review radar-camera fusion in a holistic way. First, we elaborate on the fundamental principles, methodologies, and applications of radar-camera fusion perception. Next, we delve into the key techniques concerning sensor calibration, modal representation, data alignment, and fusion operation. Furthermore, we provide a detailed taxonomy covering the research topics related to object detection and tracking in the context of radar and camera technologies. Finally, we discuss the emerging perspectives in the field of radar-camera fusion perception and highlight the potential areas for future research. Copyright © 2024, The Authors. All rights reserved.

关键词： Object detection

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

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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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Towards Comprehensively Understanding the Run-time Security of Programmable Logic controllers: A 3-year Empirical Study

arXiv

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arXiv 2022年

作者： Ma, Rongkuan Wei, Qiang Wang, Jingyi Zhu, Shunkai Ji, Shouling Cheng, Peng Jia, Yan Wang, Qingxian State Key Laboratory of Mathematical Engineering and Advanced Computing Henan Zhengzhou450001 China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310000 China College of Cyber Science Nankai University Tianjin China

Programmable Logic controllers (PLCs) are the core control devices in industrial control systems (ICSs), which control and monitor the underlying physical plants such as power grids. PLCs were initially designed to work in a trusted industrial network, which however can be brittle once deployed in an Internet-facing (or penetrated) network. Yet, there is a lack of systematic empirical analysis of the run-time security of modern real-world PLCs. To close this gap, we present the first large-scale measurement on 23 off-the-shelf PLCs across 13 leading vendors. We find many common security issues and unexplored implications that should be more carefully addressed in the design and implementation. To sum up, the unsupervised logic applications can cause system resource/privilege abuse, which gives adversaries new means to hijack the control flow of a runtime system remotely (without exploiting memory vulnerabilities);2) the improper access control mechanisms bring many unauthorized access implications;3) the proprietary or semi-proprietary protocols are fragile regarding confidentiality and integrity protection of run-time data. We empirically evaluated the corresponding attack vectors on multiple PLCs, which demonstrates that the security implications are severe and broad. Our findings were reported to the related parties responsibly, and 20 bugs have been confirmed with 7 assigned CVEs. Copyright © 2022, The Authors. All rights reserved.

关键词： Programmable logic controllers

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

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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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