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Chinese control Conference (CCC)

作者： Malak Abid Ali Khan Hongbin Ma Ying Jin Jingxiang Ma Zia Ur Rehman Mizanur Rahman School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

Deforestation is the primary source of global warming; traditional shelf labels use paper to display the price of the products, and human forces play a pivotal role in updating the tags where the pandemic has strictly limited its power. Various technologies provide connectivity and a fast-updating system to eliminate the paper-based approach. LoRa is one of the contenders to design the system for electronic shelf labels (ESLs). In this paper, LoRa has been used to minify data losses and guarantee the successful decoding of the carrier signals. The data parallelism at the network server (NS) is used to distribute the data packets among the gateways (GWs) for concurrent transmissions to the end devices (EDs). The EDs are placed in different ranges using machine clustering to avoid intra-SF interference and collision. The data rate (DR) and spreading factors (SFs) have been proposed to improve the performance of pure and slotted ALOHA for the properly allocated tags. The orthogonality principles follow industrial, scientific, and medical regulations (ISM) to avoid data traffic congestion. GWs under different duty cycles (DC) and bandwidth (BW) are examined to minify the network saturation and reduce the energy harvesting of the tags.

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Interval Type-2 Fuzzy Hierarchical Adaptive Cruise Following-control for intelligent Vehicles

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1658-1672页

作者： Hong Mo Yinghui Meng Fei-Yue Wang Dongrui Wu the College of Electric and Information Engineering Changsha University of Science and TechnologyChangsha 410114China the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Qingdao Academy of Intelligent Industries Qingda 266109 the Center of China Economic and Social Security University of Chinese Academy of SciencesBeijing 100190China the Ministry of Education Key Laboratory on Image Information Processing and Intelligent Control the School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

intelligent vehicles can effectively improve traffic congestion and road traffic *** cruise followingcontrol(ACFC)is a vital part of intelligent *** this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of ***,a traditional variable time headway model is improved considering the acceleration of the lead ***,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating *** reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control ***,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)***,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different ***,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.

关键词： Adaptive cruise following-control(ACFC) feedforward+fuzzy proportion integration(PI)feedback(F+FPIF) type-2 fuzzy control variable time headway

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot

Design and locomotion characteristic analysis of a novel ten...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Mo, Jixue Gao, Changqing Fang, Hao Yang, Qingkai Peng Cheng Laboratory Department of Strategic and Advanced Interdisciplinary Research Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Beijing Institute of Technology School of Automation Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9798350325706

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot's hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment. © 2023 IEEE.

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A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot 16th

A Modified Artificial Potential Field Method Based on Subgoa...

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Mo, Jixue Gao, Changqing Liu, Fei Yang, Qingkai Fang, Hao Department of Mathematics and Theories Pengcheng Laboratory Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Industrial Training Center Shenzhen Polytechnic Shenzhen518055 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819964826

In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force;the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Jichao Pang Dan Liu Xiaoqing Tang Yan Chen Qiang Huang Tatsuo Arai Xiaoming Liu Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand’s two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device’s lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors’ tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand’s lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand.

关键词： Costs Accuracy Fasteners End effectors 6-DOF Mathematical models Biology

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Sequential fusion estimation for multisensor systems with non-Gaussian noises

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Science China(Information Sciences) 2020年第12期63卷 153-165页

作者： Liping YAN Chenying DI Q.M.Jonathan WU Yuanqing XIA Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Department of Electrical and Computer Engineering University of Windsor

The sequential fusion estimation for multisensor systems disturbed by non-Gaussian but heavytailed noises is studied in this paper. Based on multivariate t-distribution and the approximate t-filter,the sequential fusion algorithm is presented. The performance of the proposed algorithm is analyzed and compared with the t-filter-based centralized batch fusion and the Gaussian Kalman filter-based optimal centralized fusion. Theoretical analysis and exhaustive experimental analysis show that the proposed algorithm is effective. As the generalization of the classical Gaussian Kalman filter-based optimal sequential fusion algorithm, the presented algorithm is shown to be superior to the Gaussian Kalman filter-based optimal centralized batch fusion and the optimal sequential fusion in estimation of dynamic systems with non-Gaussian noises.

关键词： state estimation sequential fusion non-Gaussian disturbance heavy-tailed noise multivariate t-distribution

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Distributed Conditional Gradient Algorithm for Two-Network Saddle-point Problem

Distributed Conditional Gradient Algorithm for Two-Network S...

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第34届中国控制与决策会议

作者： Jie Hou Xianlin Zeng Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

We consider a two-network saddle-point problem with constraints,whose projections are *** propose a projection-free algorithm,which is referred to as Distributed Frank-Wolfe Saddle-Point algorithm（DFWSP）,which combines the gradient tracking technique and Frank-Wolfe *** prove that the algorithm achieves O（1/k） convergence rate for strongly-convex-strongly-concave saddle-point *** empirically shows that the proposed algorithm has better numerical performance than the distributed projected saddle-point algorithm.

关键词： Saddle-Point Problem Distributed Algorithm Projection-Free Method Convergence Rate

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Real-time In-situ Defect Detection in 3D Printing of Continuous Fiber-Reinforced Composites 4

Real-time In-situ Defect Detection in 3D Printing of Continu...

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4th IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2024

作者： Yue, Zhijian Shen, Zhen Dong, Xiangyang Fang, Qihang Wang, Weixing Dong, Xisong Xiong, Gang Wang, Fei-Yue University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Beijing100190 China Qingdao Academy of Intelligent Industries Intelligent Manufacturing Center Qingdao266109 China Chinese Academy of Sciences Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Dongguan523808 China Chinese Academy of Sciences State Key Laboratory for Management and Control for Complex Systems Institute of Automation Beijing100190 China

ISBN: (纸本)9798350349252

With the development of continuous fiber-reinforced composites (CFRCs) 3D printing technology, timely, efficient and accurate detection of fiber path defects is essential for ensuring product quality and performance. However, challenges still need to be addressed in this field, such as inadequate training data coverage and the complexity of fiber path structures. These factors hinder the capability of traditional methods to accurately assess the status of printed products. Therefore, developing accurate and robust fiber path defect detection techniques is crucial for CFRCs 3D printing technology. In this paper, we propose a precise detection method for fiber path defects in CFRCs 3D printing using the YOLOv7 object detection model combined with a Squeeze-and-Excitation (SE) attention mechanism. By introducing the SE attention mechanism, we enhance the perception capability of the YOLOv7 model for crucial features, thereby improving the accuracy of fiber path defect detection. The experimental results show that the YOLOv7 model, when augmented with an attention mechanism, achieves an average accuracy of 93.9% in identifying fiber path defects during the printing process. Compared to models without this attention mechanism, the results show that there is 10.7% increase, with a notably enhanced learning capacity during the training phase, which substantiates the efficacy and practicality of the proposed approach. © 2024 IEEE.

关键词： Fiber reinforced plastics

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Vehicle Motion Prediction at Intersections Based on the Turning Intention and Prior Trajectories Model

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自动化学报（英文版） 2021年第10期8卷 1657-1666页

作者： Ting Zhang Wenjie Song Mengyin Fu Yi Yang Meiling Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of TechnologyBeijing 100081 Nanjing University of Science and Technology Nanjing 210014China

Intersections are quite important and complex traffic scenarios, where the future motion of surrounding vehicles is an indispensable reference factor for the decision-making or path planning of autonomous vehicles. Considering that the motion trajectory of a vehicle at an intersection partly obeys the statistical law of historical data once its driving intention is determined, this paper proposes a long short-term memory based (LSTM-based) framework that combines intention prediction and trajectory prediction together. First, we build an intersection prior trajectories model (IPTM) by clustering and statistically analyzing a large number of prior traffic flow trajectories. The prior trajectories model with fitted probabilistic density is used to approximate the distribution of the predicted trajectory, and also serves as a reference for credibility evaluation. Second, we conduct the intention prediction through another LSTM model and regard it as a crucial cue for a trajectory forecast at the early stage. Furthermore, the predicted intention is also a key that is associated with the prior trajectories model. The proposed framework is validated on two publically released datasets, next generation simulation (NGSIM) and INTERACTION. Compared with other prediction methods, our framework is able to sample a trajectory from the estimated distribution, with its accuracy improved by about 20％. Finally, the credibility evaluation, which is based on the prior trajectories model, makes the framework more practical in the real-world applications.

关键词： Autonomous vehicle intersection motion prediction prior trajectories model turning intention

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