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Joint Beam management and SLAM for mmWave Communication systems

IEEE Transactions on Communications 2023年第10期71卷 6162-6179页

作者： Que, Hang Yang, Jie Wen, Chao-Kai Xia, Shuqiang Li, Xiao Jin, Shi Southeast University National Mobile Communications Research Laboratory Nanjing210096 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Frontiers Science Center for Mobile Information Communication and Security Nanjing210096 China Institute of Communications Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan Zte Corporation Shenzhen518055 China State Key Laboratory of Mobile Network and Mobile Multimedia Shenzhen518055 China Southeast University National Mobile Communications Research Laboratory Frontiers Science Center for Mobile Information Communication and Security Nanjing210096 China

The millimeter-wave (mmWave) communication technology, which employs large-scale antenna arrays, enables inherent sensing capabilities. Simultaneous localization and mapping (SLAM) can utilize channel multipath angle estimates to realize integrated sensing and communication design in 6G communication systems. However, existing works have ignored the significant overhead required by the mmWave beam management when implementing SLAM with angle estimates. This study proposes a joint beam management and SLAM design that utilizes the strong coupling between the radio map and channel multipath for simultaneous beam management, localization, and mapping. In this approach, we first propose a hierarchical sweeping and sensing service design. The path angles are estimated in the hierarchical sweeping, enabling angle-based SLAM with the aid of an inertial measurement unit (IMU) to realize sensing service. Then, feature-aided tracking is proposed that utilizes prior angle information generated from the radio map and IMU. Finally, a switching module is introduced to enable flexible switching between hierarchical sweeping and feature-aided tracking. Simulations show that the proposed joint design can achieve sub-meter level localization and mapping accuracy (with an error © 1972-2012 IEEE.

关键词： Mapping

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Electromagnetic Performance and Vibration Analysis of a Special-shaped External-rotor Machine 18

Electromagnetic Performance and Vibration Analysis of a Spec...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Dong, Ziwei Yan, Liang Lu, Zhang Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Beihang University Science and Technology on Aircraft Control Laboratory Beijing100191 China Tianmushan Laboratory Xixi Octagon City Yuhang District Hangzhou310023 China Beihang University Ningbo Institute of Technology Ningbo315800 China Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou China

ISBN: (纸本)9798350312201

Permanent magnet synchronous machines have advantages such as small size, light weight, high efficiency, etc. It is more and more widely used in robots, electromagnetic propulsion, electric vehicles and so on. High power density and high torque density are urgent need for those applications. The electromagnetic design of machines mostly adopt multi-pole magnet patterns to reduce the stator yoke size. It helps to decrease the mass of the machine with the same power and improve the torque density. As the number of poles grows larger, the frequency and the core loss of per unit volume will also increase with the same speed, which can aggravate the heat problem of the machine. It is easy to generate the low-order vibration with high flux density. Therefore, the performance of a special-shaped external-rotor machine and comparisons with the traditional machine are analyzed in this paper. Numerical simulation is conduced to validated that the special-shaped magnet pattern can reduce the torque ripple, improve the torque output and power density. From the two-dimensional Fourier analysis of the radial electromagnetic force, it is found that the low-order amplitude of the special-shaped machine is greatly reduced, so the vibration can be avoided. Subsequently, the vibration simulation is carried out to indicate that the magnet pattern can satisfy low level in vibration and noise of the machine. © 2023 IEEE.

关键词： Vibration analysis

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Prior Knowledge Informed Neural Network for Subsurface Flow Prediction

Prior Knowledge Informed Neural Network for Subsurface Flow ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Haibo Cheng Shichao Li Peng Zeng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

Data-driven deep learning has been widely applied to solve subsurface flow problems. However, it is difficult to achieve accurate prediction with pure data-driven methods, especially when there is only a small amount of valid data. Prior knowledge is pre-existent and comes from an independent source. The neural network can be informed by prior knowledge to improve algorithm performance even with limited and sparse data. In this study, prior knowledge informed neural network (PKINN) is proposed to predict subsurface flow. The prior knowledge, on the one hand, is embedded in the neural networks as integrated loss function to inform the training process of deep learning methods. On the other hand, it is used as part of input term of neural network to improve calculation accuracy. Subsurface flow models are built to verify the proposed PKINN model. The results show that the PKINN method can solve subsurface flow problems effectively.

关键词： Knowledge engineering Deep learning Training Industrial electronics Solid modeling Accuracy Neural networks

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Learning Greenhouse Climate control Policy from Monitored Data

Learning Greenhouse Climate Control Policy from Monitored Da...

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2022 Chinese automation Congress, CAC 2022

作者： Zhao, Xiaoxuan Wang, Haoyu Wang, Xiujuan Lewlomphaisarl, Udom Li, Dong Hua, Jing Kang, Mengzhen The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Institute of Automation Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Beijing Engineering Research Center of Intelligent Systems and Technologies Beijing China National Electronics and Computer Technology Center Pathum Thani Thailand Institute of Digital Agriculture Zhejiang Academy of Agricultural Sciences Hangzhou China Qingdao AgriTech Co. Ltd. Qingdao China

ISBN: (纸本)9781665465335

The knowledge of solar greenhouse growers on environment control plays an important role in greenhouse production and management. We proposed a way to extract the control strategies from the monitored data of greenhouses by building a long short-term memory (LSTM) model. The result is verified according to the real monitored data of a solar greenhouse, which shows that the model can learn the control strategy of a ventilator in the solar greenhouse. Through monitored data and models, the knowledge of greenhouse ventilation control can be learned, and automatic control can be achieved in a greenhouse with a similar configuration. © 2022 IEEE.

关键词： Greenhouses

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Design of a curled hyper-redundant manipulator and the motion control with tip-following algorithm

Design of a curled hyper-redundant manipulator and the motio...

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第35届中国控制与决策会议

作者： Aoshun Zhang En Li Feng Zhang Rui Guo Mingrui Luo Yuwei Zhang School of Artificial Intelligence University of Chinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Engineering Laboratory for Intelligent Industrial Vision CAS State Grid Intelligent Technology Co.Ltd. State Grid Shandong Electric Power Company Jinan Power Supply Company

In order to meet the operational needs in some narrow environments,the hyper-redundant snake-shaped manipulator has received extensive attention and has been widely studied due to its compact shape and multiple degrees of *** present,the research of hyper-redundant manipulator mainly focuses on the straight push *** the limitation of working space,this paper designed a hyper-redundant manipulator delivered by a curled *** to the characteristics of turntable delivery,a tip-following algorithm based on curve fitting and a tip-following strategy based on terminal posture record are ***,with the algorithm applied to the physical robot we made,we successfully realized the tipfollowing motion control of the hyper-redundant manipulator.

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A Collision-Free Person-Following Approach Based on Path Planning 17

A Collision-Free Person-Following Approach Based on Path Pla...

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

作者： Pang, Lei Cao, Zhiqiang Yu, Junzhi Zhang, Weimin Chen, Xuechao Institute of Automation State Key Laboratory of Management and Control for Complex Systems China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems China

ISBN: (纸本)9781728164151

Person following is a crucial capability for mobile robots in tasks of human assistance and cooperation. In this paper, a person-following approach based on path planning is proposed for mobile robots, which takes person following and obstacle avoidance into account in a unified framework. The proposed approach is comprised of a sensing module and a planning module. The sensing module with a camera and a 3D LiDAR is employed to locate the target person and perceive obstacles. For the planning module, the combination of global planner and local planner effectively outputs collision-free paths and control commands for a mobile robot to keep following the target person. Experiments were conducted to evaluate the performance of the proposed approach. © 2020 IEEE.

关键词： Mobile robots

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Design and Implementation of OpenWSN Hardware Platform 2

Design and Implementation of OpenWSN Hardware Platform

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2nd International Conference on Algorithms, High Performance Computing and Artificial Intelligence, AHPCAI 2022

作者： Zhang, Shusheng Xie, Chuang Liu, Jun Zhao, Chun Yang, Zhijia Mao, Jizhi College of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350334784

This paper proposes a new wireless sensor network hardware platform based on OpenWSN project launched by the University of California, Berkeley. The hardware platform's processor uses a 32-bit microcontroller (STM32F103RCT6) produced by STMicroelectronics (ST), and the wireless module uses the WISA470 chip. The final experimental results show that this platform can support the Open WSN project very well. © 2022 IEEE.

关键词： Wireless sensor networks

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Autonomous Free-Floating Underwater Assembly control for an Underwater Biomimetic Vehicle-Manipulator System

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IEEE Transactions on Industrial Electronics 2025年

作者： Bai, Xuejian Wang, Yu Lv, Jiaqi Cheng, Long Wang, Shuo Tan, Min Liaoning University of Technology Jinzhou 121001 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing 100190 China Idriverplus Technology Company Ltd. Beijing 100192 China Tsinghua University School of Vehicle and Mobility Beijing 100084 China

In this article, an improved coordinated control method based on the tracking differentiator with a median filter and dynamic surface control was proposed for an autonomous free-floating underwater assembly manipulation. In addition, the disturbances caused by the manipulator’s motion were considered and compensated by a feedforward controller of the manipulator. Furthermore, the inward counter-propagating sinusoidal waves of the biomimetic undulatory-finned propulsors were adopted and a fuzzy logic controller was designed to realize the transformation between the control parameters and the demanded propulsive forces. The stability of the proposed control scheme was proven by the Lyapunov theory. Finally, practical experiments verified that the control scheme can complete the autonomous free-floating underwater assembly manipulation task, which indicated the good feasibility and robustness of the proposed methods. © 1982-2012 IEEE.

关键词： Autonomous free-floating control dynamic surface control (DSC) underwater assembly control underwater biomimetic vehicle-manipulator system (UBVMS)

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Micro-displacement Amplifying Mechanism of a Piezoelectric Single Crystal Actuator and Its Motion Characterization 17

Micro-displacement Amplifying Mechanism of a Piezoelectric S...

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

作者： Zhang, Tianlu Du, Zhangming Zhou, Chao Cao, Zhiqiang Wang, Shuo Cheng, Long Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex System Beijing China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex System Beijing China

ISBN: (纸本)9781728164151

Piezoelectric single crystal actuator is useful in the micro- and nano-scaled. But the range of the operation is limited. The paper presented the amplifying mechanism of the single crystal actuator in order to amplify the output of the piezoelectric actuator in micro- and nano-applications. Due to the single crystal's expansion when the applied signals decrease, the paper developed the adjustable spring that added to the amplifying mechanism. This paper tested the characteristics of the amplifying mechanism by designed a set of experiment device. The input and output displacement of the amplifying mechanism driven by kinds of signals were measured. It can concluded that the amplifying mechanism achieve the positive and negative displacement response and show its accuracy and stable. These excellent properties of the amplifying mechanism amplify the micro-displacement and expand the operating range of single crystal actuator in micro- and nano-positioning applications. © 2020 IEEE.

关键词： Piezoelectric actuators

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GPIO Based Iterative Learning control for Manipulators with Time-Varying Disturbances

GPIO Based Iterative Learning Control for Manipulators with ...

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第42届中国控制会议

作者： Huangyuwei Lu Zuo Wang Jiankun Sun Xi Xiao Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex systems of Engineering Ministry of Education Shenzhen Research Institute Southeast University School of Artificial Intelligence and Automation Huazhong University of Science and Technology Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration

To improve the disturbance rejection ability and repetitive tracking accuracy of manipulators,a composite iterative learning control(ILC) scheme via generalized proportional integral observer(GPIO) is proposed.A high-order polynomial is first employed to model the time-varying disturbances that include unmodeled dynamics,parameter uncertainties and load fluctuations.A GPIO is then designed to estimate the disturbances and high-order time *** introducing estimations into a PD-type ILC at each iteration,a composite control scheme is obtained,such that the undesirable influence of time-varying disturbances can be effectively attenuated in the repetitive tracking process of *** this paper,the rigorous stability analysis of the closed-loop system is presented to guarantee that the tracking error exponentially converges to zero as the iteration number tends to *** effectiveness of the proposed control scheme is finally verified by simulation results.

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