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Spherical robot: A novel robot for exploration in harsh unknown environments

IET cyber-systems and Robotics 2023年第4期5卷 1-15页

作者： Wei Ren You Wang Haoxiang Liu Song Jin Yixu Wang Yifan Liu Ziang Zhang Tao Hu Guang Li State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and ControlZhejiang UniversityHangzhouChina

The authors propose a complete software and hardware framework for a novel spherical robot to cope with exploration in harsh and unknown *** proposed robot is driven by a heavy pendulum covered by a fully enclosed spherical shell,which is strongly protected,amphibious,anti-overturn and has a *** for location and perception,planning and motion control are comprehensively *** the one hand,the authors fully consider the kinematic model of a spherical robot,propose a positioning algorithm that fuses data from inertial measurement units,motor encoder and Global Navigation Satellite System,improve global path planning algorithm based on Hybrid A*and design an instruction planning controller based on model predictive control(MPC).On the other hand,the dynamic model is built,linear MPC and robust servo linear quadratic regulator algorithm is improved,and a speed controller and a direction controller are *** addition,based on the pose and motion charac-teristics of a spherical robot,a visual obstacle perception algorithm and an electronic image stabilisation algorithm are ***,the authors build physical systems to verify the effectiveness of the above algorithms through experiments.

关键词： mobile robots robot control robot perception robot planning

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Cooperative decision-making algorithm with efficient convergence for UCAV formation in beyond-visual-range air combat based on multi-agent reinforcement learning

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Chinese Journal of Aeronautics 2024年第8期37卷 311-328页

作者： Yaoming ZHOU Fan YANG Chaoyue ZHANG Shida LI Yongchao WANG School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

Highly intelligent Unmanned Combat Aerial Vehicle(UCAV)formation is expected to bring out strengths in Beyond-Visual-Range(BVR)air *** Multi-Agent Reinforcement Learning(MARL)shows outstanding performance in cooperative decision-making,it is challenging for existing MARL algorithms to quickly converge to an optimal strategy for UCAV formation in BVR air combat where confrontation is complicated and reward is extremely sparse and *** to solve this problem,this paper proposes an Advantage Highlight Multi-Agent Proximal Policy Optimization(AHMAPPO)***,at every step,the AHMAPPO records the degree to which the best formation exceeds the average of formations in parallel environments and carries out additional advantage sampling according to ***,the sampling result is introduced into the updating process of the actor network to improve its optimization ***,the simulation results reveal that compared with some state-of-the-art MARL algorithms,the AHMAPPO can obtain a more excellent strategy utilizing fewer sample episodes in the UCAV formation BVR air combat simulation environment built in this paper,which can reflect the critical features of BVR air *** AHMAPPO can significantly increase the convergence efficiency of the strategy for UCAV formation in BVR air combat,with a maximum increase of 81.5%relative to other algorithms.

关键词： Unmanned combat aerial vehicle(UCAV)formation Decision-making Beyond-visual-range(BVR)air combat Advantage highlight Multi-agent reinforcement learning(MARL)

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An Effective Adaptive Large Neighborhood Search Algorithm for Multi-AGV Dispatching Problem in Matrix Manufacturing systems 21

An Effective Adaptive Large Neighborhood Search Algorithm fo...

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21st International Conference on Networking, Sensing and control, ICNSC 2024

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

ISBN: (纸本)9798350365221

With the increasing prevalence of automated guided vehicles (AGV s) in industry, the AG V dispatching has emerged as a research hotspot. Recently, matrix manufacturing systems (MMS) have been favored for their suitability in mass-customized production. However, fluctuating and diverse transport demands in MMS pose challenges for effective AGV scheduling. This paper investigates a multi-AGV dispatching problem (AGVDP) in MMS, involving time-constrained pick-up and delivery tasks. A mixed-integer linear programming model is developed to minimize total transportation costs, including travel distance, early arrival time, and utilized AGV s. To achieve this, an effective adaptive large neighborhood search algorithm (ALNS) is proposed. In ALNS, a scope-based nearest neighbor heuristic is introduced for initial construction. Diverse problem-specific operators are designed to generate large neighborhoods. To enhance ALNS's robustness to instance variations, an adaptive simulated annealing acceptance criterion is proposed. Computational experiments using a well-established benchmark validate the superiority of the proposed ALNS. © 2024 IEEE.

关键词： Simulated annealing

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Research on Optimization Seeking Method of Transmission Efficiency of Orbital Inspection Robot Based on DWPT System

Research on Optimization Seeking Method of Transmission Effi...

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2024 IEEE Transportation Electrification Conference and Expo, Asia-Pacific, ITEC Asia-Pacific 2024

作者： Chen, Youcheng Liu, Zhitao Xue, Xuchi Su, Hongye Zhejiang University State Key Laboratory Of Industrial Control Technology Institute Of Cyber-Systems And Control Hangzhou China

ISBN: (纸本)9798331529277

In wireless power transmission system, due to the changes of coupling coefficient, load impedance and other factors, it destroys the system constant voltage, constant power output and transmission efficiency optimal working condition. Therefore, this paper proposes an optimization seeking method for the maximum transmission efficiency of the DWPT system of an orbital inspection robot with constant voltage and constant power output. Firstly, the LCC-S topology mathematical model with additional PI control circuit and the convex optimization model of transmission efficiency are established, and the gradient descent algorithm is used to iteratively search for the maximum value of transmission efficiency when the orbital coupling coefficient changes. Then, based on the mutual inductance model between coils, the coupling coefficients are converted into coil inductance parameters L1 and L2, and the coil self-inductance is utilized for matching regulation to keep the transmission efficiency at the optimal value. Finally, in order to further optimize and predict the transmission efficiency, the fitting effects of the four fitting curves of the transmission efficiency are observed by the coefficient of determination and the residual paradigm, and the optimal fitting curves are used to calculate the maximum and average transmission efficiency, which reduces the system transmission loss and improves the charging efficiency. © 2024 IEEE.

关键词： Convex optimization

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Research on Multi-Task Scheduling in Smart Warehouse systems Based on Dual-Task Chains 21

Research on Multi-Task Scheduling in Smart Warehouse Systems...

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21st International Conference on Networking, Sensing and control, ICNSC 2024

作者： Zhang, Chenwei Wu, Weimin Institute of Cyber-Systems and Control Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China

ISBN: (纸本)9798350365221

With the advancement of warehousing technology, the allocation of multiple tasks in multi-AGV systems has become an important factor in order to decrease task completion time in the warehouse. This paper develops a multi-task scheduling algorithm that employs a dual-task chain approach to maximize task execution benefits. For the multi-task allocation problem, this paper proposes a dual-task chain-based task allocation algorithm (DTTA), which uses the dual-task chain strategy as a mechanism for selecting multiple tasks, taking into consideration derived tasks to enhance solution quality. Simulation experiments show that the proposed algorithm and model perform better than other methods. © 2024 IEEE.

关键词： Scheduling algorithms

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Optimal Traffic-Power Flow of Transportation-Microgrid Coupled System Based on Spatiotemporal Coupling

Optimal Traffic-Power Flow of Transportation-Microgrid Coupl...

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2024 China Automation Congress, CAC 2024

作者： Li, Bin Li, Jia Li, Qincheng Liu, Zhitao Su, Hongye The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

ISBN: (纸本)9798350368604

The growing adoption of electric vehicles and dynamic wireless charging has strengthened the spatiotemporal interconnection between the transportation network (TN) and the microgrid (MG). This paper presents an optimal traffic-power flow (OTPF) model for the transportation-microgrid coupled system (TMCS) to enhance the coordination of its operations. The OTPF model is transformed into bi-level programming, with the optimal power flow model of MGs at the upper level and the dynamic traffic assignment model of the TN at the lower level. The upper level is a mixed-integer second-order cone programming, while the lower level is formulated as a dynamic user equilibrium. A fixed-point algorithm is developed to tackle this bi-level programming. Case studies show that the OTPF model of the TMCS can be efficiently solved to capture the spatiotemporal variations of traffic flow and power flow. © 2024 IEEE.

关键词： Second-order cone programming

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Optimal Prices for Coordinated Operation of Coupled Transportation and Power systems

Optimal Prices for Coordinated Operation of Coupled Transpor...

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2024 China Automation Congress, CAC 2024

作者： Li, Jia Li, Bin Li, Qincheng Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

ISBN: (纸本)9798350368604

The growing adoption of electric vehicles (EVs) necessitates an in-depth analysis of the effects of centralized charging on both traffic congestion and power distribution networks (PDNs). This study presents a coupled model of transportation and power systems that incorporates EV travel behavior and charging costs, emphasizing their interaction between the urban transportation network and the PDN via dynamic wireless energy transmission technology. The equilibrium of the coupled system was then determined through an iterative algorithm aimed at minimizing the total social cost. Example results validate the model’s accuracy and effectiveness. Furthermore, the study demonstrates that the proposed approach can significantly alleviate traffic congestion while simultaneously satisfying the charging needs of EVs and maintaining the stability of the power distribution network. © 2024 IEEE.

关键词： Power distribution networks

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Detection of Oscillations in Process control Loops From Visual Image Space Using Deep Convolutional Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 982-995页

作者： Tao Wang Qiming Chen Xun Lang Lei Xie Peng Li Hongye Su the Department of Electronic Engineering the School of InformationYunnan UniversityKunming 650091China DAMO Academy Alibaba GroupHangzhou 311100China the State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

Oscillation detection has been a hot research topic in industries due to the high incidence of oscillation loops and their negative impact on plant *** numerous automatic detection techniques have been proposed,most of them can only address part of the practical *** oscillation is heuristically defined as a visually apparent periodic ***,manual visual inspection is labor-intensive and prone to missed *** neural networks(CNNs),inspired by animal visual systems,have been raised with powerful feature extraction *** this work,an exploration of the typical CNN models for visual oscillation detection is ***,we tested MobileNet-V1,ShuffleNet-V2,Efficient Net-B0,and GhostNet models,and found that such a visual framework is well-suited for oscillation *** feasibility and validity of this framework are verified utilizing extensive numerical and industrial *** with state-of-theart oscillation detectors,the suggested framework is more straightforward and more robust to noise and *** addition,this framework generalizes well and is capable of handling features that are not present in the training data,such as multiple oscillations and outliers.

关键词： Convolutional neural networks(CNNs) deep learning image processing oscillation detection process industries

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A proposal on centralised and distributed optimisation via proportional–integral–derivative controllers(PID)control perspective

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IET cyber-systems and Robotics 2023年第4期5卷 40-48页

作者： Jiaxu Liu Song Chen Shengze Cai Chao Xu School of Mathematical Sciences Zhejiang UniversityHangzhouChina The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhouChina

Motivated by the excellent performance of proportional–integral–derivative controllers(PIDs)in the field of control,the authors injected the philosophy of PID into optimi-sation and introduced two types of novel PID optimisers from a continuous-time view,which benefit from the idea that discrete-time optimisation algorithm can be modelled as a continuous dynamical system/controlled *** centralised optimisation,the au-thors discuss the idea of the first-order PID optimiser and the second-order accelerated PID ***,this framework is extended into distributed optimisation settings,and a distributed PID optimiser is ***,some numerical examples are given to verify our ideas.

关键词： control deep learning deep neural network machine learning

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A Time-delay Approach for Stabilization of Linear systems with Unknown control Direction 63

A Time-delay Approach for Stabilization of Linear Systems wi...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Pan, Gaofeng Zhu, Yang Wu, Zhengguang Institute of Cyber-Systems and Control Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Ningbo Innovation Center Zhejiang University State Key Laboratory of Industrial Control Technology Ningbo315100 China

ISBN: (纸本)9798350316339

We propose a novel stability analysis for linear systems with unknown control directions, focusing on stabilization through extremum seeking to minimize a Lyapunov function. Our approach draws inspiration from Lie bracket systems, employing a transformation using time-delay analysis to convert the closed-loop system into a nominal time-delay system. Leveraging techniques from Input-to-state Stability (ISS), we provide a proof of semiglobal practical asymptotic stability. Compared to the preceding analysis based on Lie bracket systems, the use of time-delay methods transforms intricate mathematical discussions and proofs into a structured computational framework, facilitating a more intuitive understanding. Also, we propose a method for selecting controller parameters and can provide a more comprehensive explanation for the current high-gain parameter choices. Finally, we present a new control parameter to reduce the requirements of the frequency of the sinusoidal signals. © 2024 IEEE.

关键词： Stabilization

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