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Infrared, Millimeter-Wave, and Terahertz Technologies XI 2024

作者： Maa, Yehao Shen, Liran Cao, Yuqi Hou, Dibo Zhang, Guangxin State Key Laboratory of Industrial Control Technology Dept. of Control Science and Engineering Zhejiang University Hangzhou310027 China Robotics Institute Ningbo University of Technology Ningbo315211 China

ISBN: (数字)9781510682238

ISBN: (纸本)9781510682221

Aerogel is known as super insulation materials and has already been applied to manufacture thermal protection parts of aerospace equipment. Terahertz (THz) wave has good penetration to non-metallic and non-polar materials. To explore its potential in aerogel defect detection, the absorption coefficient and refractive index of aerogel were studied. As a result, the absorption spectrum of aerogel has not obvious absorption peak, and THz wave has great penetration for aerogel. Additionally, two aerogel samples with different sizes of defects were imaged with two time domain parameters (pulse peak and pulse valley) and two frequency domain parameters (absorption coefficient and refractive index). In contrast to other three parameters, the refractive index presents the greatest performance in defect detection, defects in the aerogel can be observed more clearly through the refractive index. The study is of key importance for THz wave in nondestructive testing for aerogel, offering a rapid and non-destructive detection method for aerogel defects. © 2024 SPIE.

关键词： Refractive index

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A Monocular Biological Simultaneous Localization and Mapping Method Based on a Bionic Vision Model

A Monocular Biological Simultaneous Localization and Mapping...

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2023 International Conference on Frontiers of Robotics and Software Engineering, FRSE 2023

作者： Guo, Sitong Zhang, Yu Zhejiang University Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou China

ISBN: (纸本)9798350301113

Animals can navigate robustly through large unknown environments, utilizing inaccurate sensor and egomotion cues. Inspired by the mechanism of the human visual system, this paper presents a biological simultaneous localization and mapping (SLAM) system based on a monocular vision sensor to perform navigation tasks in complex environments. Specifically, our contributions are two folds: an improved monocular visual odometry with a scale recovery algorithm to calibrate the estimated robot pose, and a bionic vision model based on image enhancement algorithm and feature extraction approach to detect closed-loop. Experiments on public datasets demonstrate that our proposed method performs competitively in illumination-varying scenarios indoors and outdoors, which achieve a trade-off to maintain performances in terms of accuracy, execution time, and robustness. © 2023 IEEE.

关键词： Vision

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Terrain-Based Hierarchical Trajectory Planning for Low-Altitude Flight of Fixed-Wing Aircrafts 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhong, Yuhang Han, Zhichao Peng, Yiyang Zhao, Changchun Xu, Guangtong Xu, Chao Gao, Fei State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Shanghai Aerospace Control Technology Institute Shanghai201109 China

ISBN: (数字)9789819733408

ISBN: (纸本)9789819733392

For the complex low-altitude flight mission of fixed-wing aircrafts, this paper proposes a terrain-based trajectory generation method based on hierarchical planning framework. The sampling-based path planning algorithm, rapidly-exploring random tree (RRT*), is modified to search collision-free low-altitude path according to the terrain information. Since the generated path by RRT is not dynamically feasible, the subsequent trajectory optimization step is introduced to refine the non-smooth path. In this step, an advanced numerical optimization method is used to achieve spatial optimization subject to the flight performance of fixed-wing aircrafts, which can improve the trajectory smoothness and dynamic feasibility effectively. Numerical simulations on complex terrains are conducted, and the results validate the effectiveness and efficiency of the proposed method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Fixed wings

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Optimal Strategy for Aircraft Pursuit-evasion Games via Self-play Iteration

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Machine Intelligence Research 2024年第3期21卷 585-596页

作者： Xin Wang Qing-Lai Wei Tao Li Jie Zhang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing100049China Institute of Systems Engineering Macao University of Science and TechnologyMacao999078China

In this paper,the pursuit-evasion game with state and control constraints is solved to achieve the Nash equilibrium of both the pursuer and the evader with an iterative self-play *** the condition where the Hamiltonian formed by means of Pontryagin’s maximum principle has the unique solution,it can be proven that the iterative control law converges to the Nash equilibrium ***,the strong nonlinearity of the ordinary differential equations formulated by Pontryagin’s maximum principle makes the control policy difficult to figured *** the system dynamics employed in this manuscript contains a high dimensional state vector with *** practical applications,such as the control of aircraft,the provided overload is ***,in this paper,we consider the optimal strategy of pursuit-evasion games with constant constraint on the control,while some state vectors are restricted by the function of the *** address the challenges,the optimal control problems are transformed into nonlinear programming problems through the direct collocation ***,two numerical cases of the aircraft pursuit-evasion scenario are given to demonstrate the effectiveness of the presented method to obtain the optimal control of both the pursuer and the evader.

关键词： Differential games pursuit-evasion games nonlinear control optimal control Nash equilibrium solution

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Trajectory Tracking control for Autonomous Parking Based on Adaptive Reduced-horizon Model Predictive control 19

Trajectory Tracking Control for Autonomous Parking Based on ...

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19th IEEE International Conference on Networking, Sensing and control, ICNSC 2022

作者： Cai, Minghan Wu, Weimin Zhou, Xiaoling Technology Institute of Cyber-Systems and Control Zhejiang University The State Key Laboratory of Industrial Control Hangzhou310027 China College of Control Science and Engineering Zhejiang University Hangzhou310027 China

ISBN: (纸本)9781665472432

In this paper, an adaptive reduced-horizon model predictive control is proposed for autonomous parking trajectory tracking. Given the reference trajectory, the discrete linear time varying model is obtained by linearizing and discretizing along the reference trajectory point. Furthermore, the model is reformulated into a combined incremental form. Then, a standard quadratic programming problem is established, and the optimal control strategy is obtained by solving the problem online at every time instant. Meanwhiles, the prediction horizon will reduce adaptively by solving the constrained optimization problem, and it will minimize the computation time complexity of the MPC-based controller. The actual parking scenarios are co-simulated in Simulink and Carsim, which shows the effectiveness and feasibility of the proposed method. © 2022 IEEE.

关键词： Model predictive control

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Steady-state and dynamic simulation of gas phase polyethylene process

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Chinese Journal of Chemical Engineering 2024年第11期75卷 110-120页

作者： Xiaodong Hong Wanke Chen Zuwei Liao Xiaoqiang Fan Jingyuan Sun Yao Yang Chunhui Zhao Jingdai Wang Yongrong Yang State Key Laboratory of Chemical Engineering College of Chemical and Biological EngineeringZhejiang UniversityHangzhou 310027China Engineering Research Center of Functional Materials Intelligent Manufacturing of Zhejiang Province ZJU-Hangzhou Global Scientific and Technological Innovation CenterHangzhou 311215China Ningbo Research Institute Zhejiang UniversityNingbo 315100China State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhou 310027China

Gas-phase polyethylene(PE)processes are among the most important methods for PE production.A deeper understanding of the process characteristics and dynamic behavior,such as properties of PE and reactor stability,holds substantial interest for both academic researchers and *** this study,both steady-state and dynamic models for a gas-phase polyethylene process are established as a simulation platform,which can be used to study a variety of operation tasks for commercial solution polyethylene processes,such as new product development,process control and real-time *** copolymerization kinetic parameters are fitted by industrial ***,a multi-reactor series model is developed to characterize the temperature distribution within the fluidized bed *** accuracy in predicting melt index and density of the polymer,and the dynamic behavior of the developed models are verified by real plant ***,the dynamic simulation platform is applied to compare four practical control schemes for reactor temperature by a series of simulation experiments,since temperature control is important in industrial *** results reveal that all four schemes effectively track the setpoint ***,only the demineralized water temperature cascade control demonstrates excellent performance in handling disturbances from both the recycle gas subsystem and the heat exchange subsystem.

关键词： Gas-phase polyethylene process Steady state Dynamic modeling control

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Forced event-triggered finite-time extended dissipative control for a class of singularly perturbed switched systems

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ISA Transactions 2025年 162卷 209-216页

作者： Li, Xueyang Mao, Weijie Li, Jingzhao Zhu, Hongbo Jia, Xiaofen Key Laboratory of intelligent mining and beneficiation equipment for mechanical industry Anhui University of Science and Technology Huainan232001 China Institute of Cyber-Systems and Control Zhejiang University Hangzhou310012 China Anhui Chunsheng New Energy Technology Co. Ltd. Huainan232299 China

In this paper, the issue of event-triggered finite-time extended dissipative control is investigated for singularly perturbed switched systems(SPSSs). In the application of event-triggered technique in switched systems, the transmitted information is often out of sync with the system mode. To avoid this asynchrony problem, a forced-triggering dynamic event-triggered protocol (FTDETP) is introduced. Events are force triggered at mode switching instants, and the event-triggered frequency is depend on the change rate of the system state. Based on ɛ−dependent Lyapunov method, sufficient conditions for finite-time extended dissipative performance of the considered systems are devised and forced-triggering event-triggered controllers are designed. Finally, the validity and practicability of the proposed theorems are illustrated on an inverted pendulum control system and a simple circuit system. © 2025 International Society of Automation

关键词： Feedback

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The First Five Years of a Phase Theory for Complex systems and Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1728-1743页

作者： Dan Wang Wei Chen Li Qiu Division of Decision and Control Systems KTH Royal Institute of TechnologyStockholm 10044Sweden Department of Mechanics and Engineering Science&the State Key Laboratory for Turbulence and Complex Systems Peking UniversityBeijing 100871China Hong Kong University of Science and Technology Hong KongChinaand also with the Southern University of Science and TechnologyShenzhen 518055China

In this paper,we review the development of a phase theory for systems and networks in its first five years,represented by a trilogy:Matrix phases and their properties;The MIMO LTI system phase response,its physical interpretations,the small phase theorem,and the sectored real lemma;The synchronization of a multi-agent network using phase *** the end,we also summarize a list of ongoing research on the phase theory and speculate what will happen in the next five years.

关键词： Consensus and synchronization matrix phases multi-agent systems phase theory sectored real lemma small phase theorem.

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on systems, Man, and cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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BEV-DWPVO: BEV-based Differentiable Weighted Procrustes for Low Scale-drift Monocular Visual Odometry on Ground

arXiv

引用

arXiv 2025年

作者： Wei, Yufei Lu, Sha Lu, Wangtao Xiong, Rong Wang, Yue Laboratory of Industrial Control and Technology The Institute of Cyber-Systems and Control Zhejiang University Hangzhou310058 China

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods have good interpretability but can only obtain relative scale and suffer from severe scale drift in long-distance tasks. Learning-based methods under perspective view leverage large amounts of training data to acquire prior knowledge and estimate absolute scale by predicting depth values. However, their generalization ability is limited due to the need to accurately estimate the depth of each point. In contrast, we propose a novel MVO system called BEV-DWPVO. Our approach leverages the common assumption of a ground plane, using Bird’s-Eye View (BEV) feature maps to represent the environment in a grid-based structure with a unified scale. This enables us to reduce the complexity of pose estimation from 6 Degrees of Freedom (DoF) to 3-DoF. keypoints are extracted and matched within the BEV space, followed by pose estimation through a differentiable weighted Procrustes solver. The entire system is fully differentiable, supporting end-to-end training with only pose supervision and no auxiliary tasks. We validate BEV-DWPVO on the challenging long-sequence datasets NCLT, Oxford, and KITTI, achieving superior results over existing MVO methods on most evaluation metrics. © 2025, CC BY-NC-SA.

关键词： Depth perception

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