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IEEE/RSJ International Conference on intelligent Robots and systems, IROS 2015

作者： Yi, Yang Geng, Zhou Zhang, Jianqing Cheng, Siyuan Fu, Mengyin School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781479999941

This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes from the frog scooter and breaststroke. Based on its swing leg mechanism, an unusual universal wheel structure is used to generate propulsion on land, while a pair of flexible caudal fins functions like the foot flippers of a frog to generate similar propulsion underwater. On the basis of the prototype design and the dynamic model of the robot, some locomotion control simulations and experiments were conducted for the purpose of adjusting the parameters that affect the propulsion of the robot. Finally, a series of underwater experiments were performed to verify the design feasibility of FroBot and the rationality of the control algorithm. © 2015 IEEE.

关键词： Propulsion

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key technologies of GNSS/INS/VO deep integration for UGV navigation in urban canyon 11

Key technologies of GNSS/INS/VO deep integration for UGV nav...

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2017 11th Asian control Conference, ASCC 2017

作者： Meiling, Wang Yafeng, Li Guoqiang, Feng Yi, Yang Tong, Liu Xiao, Xuan School of Automation State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781509015733

As a new emerging integrated navigation technology, the GNSS/INS/VO deep integration system can fully leverage the synergistic and complementary characteristics of the three involved subsystems to achieve cost reduction while improving navigation accuracy, availability, and robustness, by mutual aiding between subsystems. In this paper, firstly, based on a brief review of the technical background and research status of the GNSS/INS/VO deep integration technology, the processing flows of this deep integration mode in both signal and information domains are analyzed, and its performance advantages are summarized. Then, the top-level technology roadmap of the GNSS/INS/VO deep integration for UGV navigation in the urban canyon is presented, and several key technical issues from scheme demonstration to engineering implementation are explored. At last, the short and medium term development prospects of the GNSS/INS/VO deep integration are envisaged. The proposed research ideas and system design concept for GNSS/INS/VO deep integration could be used as a reference for relevant technicians in navigation field. © 2017 IEEE.

关键词： Navigation

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Target tracking trajectory generation for quadrotors in static complex environments 4

Target tracking trajectory generation for quadrotors in stat...

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4th International Conference on Industrial Artificial Intelligence, IAI 2022

作者： Ji, Yang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Beijing100081 China

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

This paper mainly focuses on the problem of target tracking trajectory generation for quadrotors in static complex environments. In this paper, a trajectory planning framework is proposed that can be used to address the occlusion problem caused by obstacles in target tracking situations. The main innovations are: First, a visibility function is introduced that is constructed based on a signed Euclidean distance field (ESDF) map. Based on this function, the favorable view direction is derived to track the target distinctly. Second, the distance between the target and chaser is optimized as one of the cost functions, resulting in a smooth and comfortable distance between them. Finally, the effectiveness of the algorithm is verified on the Rviz platform. © 2022 IEEE.

关键词： Target tracking

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Small-scale intersection scan model for UGV in urban environment

Small-scale intersection scan model for UGV in urban environ...

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2017 American control Conference, ACC 2017

作者： Yang, Yi Hao, Li Zhu, Hao Ningyi, Lyu Wenjie, Song School of Automation State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781509059928

Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while some unmapped small-scale urban intersections are hard to be identified. In this paper, we propose a novel intersection detection method conducted on the basis of Hidden Markov Model (HMM). This method is based on the intersection scan model to obtain the traversable directions to classify the intersection. The scan model is effective in dealing with both LIDAR and visual data. Combination of the scan model and the HMM can accurately estimate the traversable directions in consideration of both real-time and historic data. Results from simulations and real-world experiments have shown the functionality of the presented approach. © 2017 American Automatic control Council (AACC).

关键词： Hidden Markov models

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Relaxed Stability Criteria for Time-Delay systems:A Novel Quadratic Function Convex Approximation Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 996-1006页

作者： Shenquan Wang Wenchengyu Ji Yulian Jiang Yanzheng Zhu Jian Sun College of Electrical and Electronic Engineering Changchun University of TechnologyChangchun 130012China the College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

This paper develops a quadratic function convex approximation approach to deal with the negative definite problem of the quadratic function induced by stability analysis of linear systems with time-varying *** introducing two adjustable parameters and two free variables,a novel convex function greater than or equal to the quadratic function is constructed,regardless of the sign of the coefficient in the quadratic *** developed lemma can also be degenerated into the existing quadratic function negative-determination(QFND)lemma and relaxed QFND lemma respectively,by setting two adjustable parameters and two free variables as some particular ***,for a linear system with time-varying delays,a relaxed stability criterion is established via our developed lemma,together with the quivalent reciprocal combination technique and the Bessel-Legendre *** a result,the conservatism can be reduced via the proposed approach in the context of constructing Lyapunov-Krasovskii functionals for the stability analysis of linear time-varying delay ***,the superiority of our results is illustrated through three numerical examples.

关键词： Equivalent reciprocal combination technique quadratic function convex approximation approach stability timevarying delay

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UAV-aided Large-scale Map Building and Road Extraction for UGV 7

UAV-aided Large-scale Map Building and Road Extraction for U...

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7th IEEE Annual International Conference on CYBER Technology in Automation, control, and intelligent systems, CYBER 2017

作者： Meiling, Wang Huachao, Yu Guoqiang, Feng Yi, Yang Yafeng, Li Tong, Liu School of Automation Beijing Institute of Technology State Key Laboratory of Complex System Intelligent Control and Decision Beijing100081 China

ISBN: (纸本)9781538604892

Due to the limited visual field of UGV, it is difficult to detect the accessible zone in a wide range of area in real time. This paper proposes a UAV-aided autonomous road network construction method where roads are previously unknown for UGV navigation. First, SIFT and RANSAC algorithms are applied to obtain the homography of UAV sequential images, through which these images are stitched to a large-scale map. Next, least square fitting algorithm and RDP algorithm are applied to extract initial road area and then obtain road network suitable for UGV navigation by topological processing and skeleton extraction. The experiments show that this UAV-aided method is effective in generating a large-scale road network map for UGV driving through unknown environment without human intervention. © 2017 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Distributed solver for linear matrix inequalities: an optimization perspective

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control Theory and Technology 2021年第4期19卷 507-515页

作者： Weijian Li Wen Deng Xianlin Zeng Yiguang Hong Department of Automation University of Science and Technology of ChinaHefei 230027AnhuiChina Key Lab of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

In this paper,we develop a distributed solver for a group of strict(non-strict)linear matrix inequalities over a multi-agent network,where each agent only knows one inequality,and all agents co-operate to reach a consensus solution in the intersection of all the feasible *** formulation is transformed into a distributed optimization problem by introducing slack variables and consensus ***,by the primal–dual methods,a distributed algorithm is proposed with the help of projection operators and derivative ***,the convergence of the algorithm is analyzed,followed by illustrative simulations.

关键词： Distributed computation Distributed optimization Linear matrix inequalities Primal-dual method

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Relative Localization for UAV-UGV Based on Correlation of Bearing and Distance 20

Relative Localization for UAV-UGV Based on Correlation of Be...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Guo, Jia Hu, Kang Liu, Jinting State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

To ensure reliable localization for Unmanned Aerial Vehicles(UAVs) in the presence of uncertain speed of the Unmanned Ground Vehicle (UGV), this study examines the relative localization problem of UAV-UGV using distance and bearing measurements. A Correlation of Bearing and Distance-based Relative Localization (CBDRL) algorithm is proposed in this paper under this scenario. The estimation of altitude, distance, and angle are simplified into a representation of the relative positioning between the UAV and UGV. The relative height difference is measured using the barometer in the algorithm. To determine the relative distance, Time of Arrival (TOA) ranging and Ultra Wide Band (UWB) communication are utilized. The relative direction measurement is then determined using the correlations of bearing and distance. We integrate these observations with height, direction, and distance data in an Extended Kalman Filter(EKF) to provide accurate and reliable relative position estimates that allow the UAV to track the target. The simulation results indicate that the CBDRL method developed in this study is superior to previous relative localization algorithms that rely on multi-sensor fusion, and can significantly enhance the accuracy of UAV positioning provided that range and angle measurements are precise enough. © 2023 IEEE.

关键词： Antennas

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Cross-Membrane Penetration to Nucleus of Adherent Cells Using Micropipettes Made by Borosilicate Glass and Quartz 17

Cross-Membrane Penetration to Nucleus of Adherent Cells Usin...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Xu, Xinyue Liu, Xiaoming Lin, Yuqing Li, Pengyun Liu, Fengyu Tang, Xiaoqing Huang, Qiang Arai, Tatsuo Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineering Beijing100081 China

ISBN: (纸本)9781728164151

In the biomicromanipulation field, single-cell manipulation is receiving attention due to its potential applications in many aspects of biomedicine. Cell injection, as a typical cell micromanipulation technique, is devoted to introducing foreign substances into living cells by penetrating a fine micropipette into cell membranes. Direct access to the intracellular environment, especially the nucleus, provides an ideal way to gain insight into the dynamic processes of living cells. This paper presents the comparison of controlled penetrations of two types of adherent cells and their nuclei by two types of micropipettes, made of borosilicate glass and quartz respectively. Due to the differences in the cell properties (e.g., height, adhesion strength), two corresponding penetration strategies optimizing the puncture angle and puncture height, are proposed to improve the success rate of the puncture process and the survival rate of cells after the puncture. Real nucleus puncture experiments adopting the optimal puncture strategy for each type of cells and carried out by a semi-automatic system, indicated a better puncture effect by quartz pipettes. Through this method, functional materials such as peptides and nanoparticles can be potentially introduced to perturb the cell activities and then realize its full automation. © 2020 IEEE.

关键词： Quartz

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