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IEEE Transactions on control of Network systems 2025年

作者： Liu, Bing Du, Wenli Li, Zhongmei East China University of Science and Technology State Key Laboratory of Industrial Control Technology Ministry of Education Shanghai200237 China Huzhou Institute of Industrial Control Technology Huzhou313099 China

This paper studies an enhanced distributed optimization algorithm in an undirected topology based on local communication and computation to optimize the sum of local objective functions under multiple constraints. In particular, the adapt-then-combine distributed inexact gradient tracking algorithm (ATC-DIGing-MC) is developed for smooth and strongly convex local functions with multiple constraints. By implementing the adapt-then-combine scheme and using the gradient tracking technique, rapidity and flexibility can be obtained by the ATC-DIGing-MC with uncoordinated step sizes. Subsequently, the parameter projection strategy is implemented to deal with realistic production limitations in the presence of multiple constraints. Meanwhile, rigorous theoretical proofs and convergence theorem are provided to verify the geometrical convergence rate of the ATC-DIGing-MC. Furthermore, the numerical experiments based on the entire ethylene separation process validate the superior performance of the ATC-DIGing-MC algorithm in terms of time and energy savings compared to established algorithms. © 2025 IEEE.

关键词： Optimization algorithms

Primitive-Planner: An Ultra Lightweight Quadrotor Planner with Time-optimal Primitives

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arXiv 2025年

作者： Hou, Jialiang Pan, Neng Wang, Zhepei Ji, Jialin Guan, Yuxiang Gan, Zhongxue Gao, Fei Academy for Engineering and Technology Fudan University Shanghai200433 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China

It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, but there’s still a gap between their performance and our common wish. In this paper, we propose an ultra lightweight quadrotor planner with time-optimal primitives. Firstly, a novel motion primitive library is proposed to generate time-optimal and dynamical feasible trajectories offline. Secondly, we propose a fast collision checking method with a deterministic time consumption, independent of the sampling resolution of the primitives. Finally, we select the minimum cost trajectory to execute among the safe primitives based on user-defined requirements. The propsed transformation relation between the local trajectories ensures the smoothness of the global trajectory. The planner reduces unnecessary online computing power consumption as much as possible, while ensuring a high-quality trajectory. Benchmark comparisons show that our method can generate the shortest flight time and distance of trajectory with the lowest computation overload. Challenging real-world experiments validate the robustness of our method. Copyright © 2025, The Authors. All rights reserved.

关键词： Flight paths

Design of an amphibious spherical robot with roll auto-stabilisation and propulsion system auto-switching

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Ships and Offshore Structures 2025年

作者： Zou, Hongqun Wang, Mingyi Zhang, Fengqi Guan, Xiaoqing Liu, Yifan Wang, You Luo, Zhiyuan Li, Guang State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou China The Department of Computer Science Royal Holloway University of London Egham United Kingdom

This study presents a novel amphibious spherical robot (ASR) featuring an integrated propulsion system combining pendulum and propeller mechanisms for seamless land-water transitions. The design maintains spherical integrity while incorporating a loading platform and demonstrates enhanced stabilisation, limiting roll angle changes to 3° during aquatic motion and recovering rapidly from lateral overturning. A fuzzy controller enables automatic propulsion adjustment based on environmental conditions, optimising performance across terrains. Hydrodynamic parameter identification and dynamic modelling were validated through simulations showing consistent rotary/linear motion characteristics. Experimental results confirm the ASR's ability to maintain stability on water surfaces and adapt propulsion control factors according to draft depth, establishing a foundation for performance optimisation in complex amphibious environments. © 2025 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Land vehicle propulsion

L2COcc: Lightweight Camera-Centric Semantic Scene Completion via Distillation of LiDAR Model

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arXiv 2025年

作者： Wang, Ruoyu Ma, Yukai Yao, Yi Tao, Sheng Li, Haoang Zhu, Zongzhi Liu, Yong Zuo, Xingxing Institute of Cyber-Systems and Control Zhejiang University Hangzhou China School of Computation Information and Technology Technical University of Munich Munich Germany Zhejiang Guoli Security Technology Co. Ltd. Ningbo China State Key Laboratory of Industrial Control Technology China

Semantic Scene Completion (SSC) constitutes a pivotal element in autonomous driving perception systems, tasked with inferring the 3D semantic occupancy of a scene from sensory data. To improve accuracy, prior research has implemented various computationally demanding and memory-intensive 3D operations, imposing significant computational requirements on the platform during training and testing. This paper proposes L2COcc, a lightweight camera-centric SSC framework that also accommodates LiDAR inputs. With our proposed efficient voxel transformer (EVT) and cross-modal knowledge modules, including feature similarity distillation (FSD), TPV distillation (TPVD) and prediction alignment distillation (PAD), our method substantially reduce computational burden while maintaining high accuracy. The experimental evaluations demonstrate that our proposed method surpasses the current state-of-the-art vision-based SSC methods regarding accuracy on both the SemanticKITTI and SSCBench-KITTI-360 benchmarks, respectively. Additionally, our method is more lightweight, exhibiting a reduction in both memory consumption and inference time by over 23% compared to the current state-of-the-arts method. Code is available at our project page: https://***/L2COcc/. © 2025, CC BY.

关键词： Benchmarking

Influence Enhanced Sparse Coordination Graphs for Multi-Agent Reinforcement Learning

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Neural Networks 2025年 188卷 107454页

作者： Zhang, Xiwen Chen, Jie Gan, Ming-Gang Chen, Haoxiang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

In contemporary Multi-Agent Reinforcement Learning (MARL), effectively enhancing the expressive capacity of value functions has been a persistent research focus. Many studies have employed value decomposition methods;however, due to the neglect of inter-agent collaboration, these methods fall short of achieving optimal performance. Subsequent research introduced coordination graphs into value decomposition methods;nevertheless, these approaches often rely on simplistic rules to evaluate inter-agent collaboration and fail to adequately describe the collaborative relationships of agents in complex environments. Consequently, we propose Influence Enhanced Sparse Coordination Graphs (IESCG) as a solution to provide insights into the aforementioned problem. In this study, we propose influence networks as quantitative descriptions of the importance of collaboration among agents, utilizing them as crucial basis for constructing the topology of Sparse Time-Varying Coordination Graphs. Additionally, we propose Recurrent Payoff Function Networks (RPFN) to incorporate temporal information while providing necessary input to influence networks. Furthermore, Sparse Graph Advantage Selection Coefficients (SGASC) are introduced to stabilize the overall value function across different time steps, ensuring training stability. Experimental investigations conducted on the StarCraft II micromanagement and MACO benchmark indicate that our algorithm not only accelerates convergence and improves winning probabilities but also exhibits more pronounced advantages in complex scenarios. © 2025

关键词： Markov processes

Dynamic Collision Avoidance Using Velocity Obstacle-Based control Barrier Functions

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arXiv 2025年

作者： Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Institute of Intelligence Science and Engineering Shenzhen Polytechnic University Shenzhen China Hybrid Robotics Group The Department of Mechanical Engineering UC Berkeley United States

Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions (CLFs) and control barrier functions (CBFs), leading to invalid controllers. Existing methods often rely on state-feedback-based CLFs and high-order CBFs (HOCBFs), which are computationally expensive to construct and fail to maintain effectiveness in dynamic environments with fast-moving, nearby obstacles. To address these challenges, we propose constructing velocity obstacle-based CBFs (VOCBFs) in the velocity space to enhance dynamic collision avoidance capabilities, instead of relying on distance-based CBFs that require the introduction of HOCBFs. Additionally, by extending VOCBFs using variants of VO, we enable reactive collision avoidance between robots. We formulate a safety-critical controller for acceleration-controlled unicycle robots as a mixed-integer quadratic programming (MIQP), integrating state-feedback-based CLFs for navigation and VOCBFs for collision avoidance. To enhance the efficiency of solving the MIQP, we split the MIQP into multiple sub-optimization problems and employ a decision network to reduce computational costs. Numerical simulations demonstrate that our approach effectively guides the robot to its target while avoiding collisions. Compared to HOCBFs, VOCBFs exhibit significantly improved dynamic obstacle avoidance performance, especially when obstacles are fast-moving and close to the robot. Furthermore, we extend our method to distributed multi-robot systems. Copyright © 2025, The Authors. All rights reserved.

关键词： state feedback

CT-NeRF: Incremental Optimization of Neural Radiance Field and Camera Poses with Complex Trajectory

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IEEE Transactions on Circuits and systems for Video technology 2025年

作者： Ran, Yunlong Li, Yanxu Ye, Qi Huo, Yuchi Cui, Zhaopeng Bai, Zechun Sun, Jiahao Chen, Jiming Zhejiang University College of Control Science and Engineering Hangzhou China Zhejiang University College of Control Science and Engineering State Key Laboratory of Industrial Control Technology China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province China Zhejiang University State Key Lab of CAD and CG China

Neural radiance field (NeRF) has achieved impressive results in high-quality 3D scene reconstruction. However, NeRF heavily relies on precise camera poses. While recent works like BARF have introduced camera pose optimization within NeRF, their applicability is limited to simple trajectory scenes. Existing methods struggle while tackling complex trajectories involving large rotations. To address this limitation, we propose CT-NeRF, an incremental reconstruction and optimization pipeline using only RGB images without pose and depth input. In this pipeline, we first propose a local-global bundle adjustment under a pose graph connecting neighboring frames to enforce the consistency between poses to escape the local minima caused by only pose consistency with the scene structure. Further, we instantiate the consistency between poses as a reprojection error constraint resulting from pixel-level correspondences between input image pairs. Through the incremental reconstruction, CT-NeRF enables the recovery of both camera poses and scene structure and is capable of handling scenes with complex trajectories. We evaluate the performance of CT-NeRF on two real-world datasets, NeRF-Buster and Free-Dataset, which feature complex trajectories. Results show CT-NeRF outperforms existing methods in novel view synthesis and pose estimation accuracy. © 1991-2012 IEEE.

关键词： 3D Reconstruction bundle adjustment NeRF novel view synthesis structure from motion

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

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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

Applications of Acoustic Emission Monitoring in Grinding: A Review

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International Journal of Precision Engineering and Manufacturing - Green technology 2025年 1-26页

作者： Jia, Jianfei Guo, Bing Krajnik, Peter Gu, Yan Wu, Guicheng Yao, Honghui Zhao, Huan Li, Kenan Yang, Wei Zhao, Qingliang Center for Precision Engineering School of Mechatronics Engineering Harbin Institute of Technology P.O. Box 413 Harbin150001 China Department of Industrial and Materials Science Chalmers University of Technology Gothenburg Sweden Chongqing Research Institute Harbin Institute of Technology Chongqing401120 China Sichuan Aerospace Fenghuo Servo Control Technology Co. Ltd Chengdu611130 China Zhongshan Sprecision Technology Co. Ltd Zhongshan528437 China State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430074 China State Key Laboratory for High Performance Tools Zhengzhou Abrasive Grinding Research Institute Co. Ltd Henan450001 China

Grinding is typically the final operation in many manufacturing chains owing to its ability to achieve high surface quality. However, any failure in this process can lead to irreparable damage to the workpiece and increased costs. Reliable, online, and onsite monitoring techniques must be implemented to avoid these problems. Over the past decades, various technologies have been developed to monitor grinding processes, utilizing a range of signals. Among these, acoustic emission (AE) has demonstrated significant advantages, including high sensitivity to fine dynamic interactions between the grinding wheel and workpiece, as well as excellent performance in filtering mechanical noise. Consequently, AE is widely recognized as one of the most effective monitoring and detection methods in grinding. However, comprehensive literature reviews on AE monitoring in grinding remain scarce. This paper provides an overview of the history and sources of AE monitoring in grinding. Subsequently, it outlines the process of AE monitoring in grinding and introduces different methods applied in AE monitoring. Lastly, research gaps and future trends for the applications of AE monitoring in grinding are highlighted. Overall, this paper systematically summarizes the monitoring system, analysis methods, and practical applications of AE in grinding, while also identifying knowledge gaps and scope for future work. © The Author(s), under exclusive licence to Korean Society for Precision Engineering 2025.

关键词： Precision engineering

Comprehensive metabolic profiling of dioxin-like compounds exposure in laying hens:Implications for toxicity assessment

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Journal of Environmental Sciences 2025年第2期148卷 107-115页

作者： Xiaoxu Hu Tong Xu Yangsheng Chen Qian Zhang Lijuan Tang Liping Zheng Chu Wang Pu Wang Shujun Dong Ruiguo Wang Su Zhang Qinghua Zhang Heidi Qunhui Xie Li Xu Bin Zhao State Key Laboratory of Environmental Chemistry and Ecotoxicology Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China University of Chinese Academy of Sciences Beijing 100049China Department of Cardiology Beijing HospitalNational Center of GerontologyBeijing 100730China School of Environment Hangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesHangzhou 310024China Hubei Key Laboratory of Industrial Fume and Dust Pollution Control School of Environment and HealthJianghan UniversityWuhan 430056China Institute of Quality Standards and Testing Technology for Agro-Products Chinese Academy of Agricultural SciencesBeijing 100081China

The evaluation of toxicity related to polychlorinated dibenzo-p-dioxins and furans(PCDD/Fs)and dioxin-like polychlorinated biphenyls(DL-PCBs)is crucial for a comprehensive risk assessment in real-world exposure *** study employed a controlled feeding experiment to investigate the metabolic effects of dioxin-like compounds(DLCs)on laying hens via feed *** enriched with two concentrations(1.17 and 5.13 pg toxic equivalents(TEQ)/g dry weight(dw))were administered over 14 days,followed by 28 days of clean *** analyses of blood samples revealed significant metabolic variations between PCDD/Fs and DL-PCBs exposed groups and controls,reflecting the induced metabolic *** changes were observed in sphingosine,palmitoleic acid,linoleate,linolenic acid,taurocholic acid,indole acrylic acid,and dibutyl phthalate levels,implying possible connections between PCDD/Fs and DL-PCBs toxic effects and energy-neuronal imbalances,along with lipid accumulation and anomalous amino acid metabolism,impacting taurine ***,we identified three differential endogenous metabolites—L-tryptophan,indole-3-acetaldehyde,and indole acrylic acid—as potential ligands for the aryl hydrocarbon receptor(AhR),suggesting their role inmediating PCDD/Fs and DL-PCBs *** comprehensive investigation provides novel insights into the metabolic alterations induced by PCDD/Fs and DL-PCBs in laying hens,thereby enhancing our ability to assess risks associated with their exposure in human populations.

关键词： Polychlorinated dibenzo-p-dioxins and furans Dioxin-like polychlorinated biphenyls Laying hens Metabolomic