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Area-oriented coordinated trajectory planning of dual-arm space robot for capturing a tumbling target

Chinese Journal of Aeronautics 2019年第9期32卷 2151-2163页

作者： Wenfu XU Lei YAN Zhonghua HU Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100084China

The growing amount of space debris poses a threat to operational spacecraft and the long-term sustainability of activities in outer space. According to the orbital mechanics, an uncontrolled space object will be tumbling, bringing great challenge to capture and remove it. In this paper, a dual-arm coordinated ‘‘Area-Oriented Capture'(AOC) method is proposed to capture a non-cooperative tumbling target. Firstly, the motion equation of the tumbling target is established, based on which, the dynamic properties are analyzed. Then, the ‘‘Area-Oriented Capture'concept is presented to deal with the problem of large pose(position and attitude) deviation and tumbling motion. An area rather than fixed points/devices is taken as the object to be tracked and captured. As long as the manipulators’ end-effectors move to a specified range of the objective areas(not fixed points on the target, but areas), the target satellite will be hugged by the two *** last, the proposed method and the traditional method(i.e. fixed-point oriented capture method)are compared and analyzed through simulation. The results show that the proposed method has larger pose tolerance and takes shorter time for capturing a tumbling target.

关键词： Area-oriented capture Dual-arm coordination Space debris removal Space robot Tumbling target capturing

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Mixed Motivation Driven Social Multi-Agent Reinforcement Learning for Autonomous Driving

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IEEE/CAA Journal of Automatica Sinica 2025年第6期12卷 1272-1282页

作者： Long Chen Peng Deng Lingxi Li Xuemin Hu State Key Laboratory of Multimodal Artificial Intelligence Systems and the State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing WAYTOUS Inc. Beijing Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ) Shenzhen Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China School of Computer Science and Information Engineering Hubei University Wuhan China Purdue School of Engineering and Technology Indiana University-Purdue University Indianapolis Indianapolis IN USA School of Artificial Intelligence Hubei University Wuhan Key Laboratory of Intelligent Sensing System and Security (Hubei University) Ministry of Education Wuhan China

Despite great achievement has been made in autonomous driving technologies, autonomous vehicles (AVs) still exhibit limitations in intelligence and lack social coordination, which is primarily attributed to their reliance on single-agent technologies, neglecting inter-AV interactions. Current research on multi-agent autonomous driving (MAAD) predominantly focuses on either distributed individual learning or centralized cooperative learning, ignoring the mixed-motive nature of MAAD systems, where each agent is not only self-interested in reaching its own destination but also needs to coordinate with other traffic participants to enhance efficiency and safety. Inspired by the mixed motivation of human driving behavior and their learning process, we propose a novel mixed motivation driven social multi-agent reinforcement learning method for autonomous driving. In our method, a multi-agent reinforcement learning (MARL) algorithm, called Social Learning Policy Optimization (SoLPO), which takes advantage of both the individual and social learning paradigms, is proposed to empower agents to rapidly acquire self-interested policies and effectively learn socially coordinated behavior. Based on the proposed SoLPO, we further develop a mixed-motive MARL method for autonomous driving combined with a social reward integration module that can model the mixed-motive nature of MAAD systems by integrating individual and neighbor rewards into a social learning objective for improved learning speed and effectiveness. Experiments conducted on the MetaDrive simulator show that our proposed method outperforms existing state-of-the-art MARL approaches in metrics including the success rate, safety, and efficiency. More-over, the AVs trained by our method form coordinated social norms and exhibit human-like driving behavior, demonstrating a high degree of social coordination.

关键词： Measurement Reinforcement learning Safety Driver behavior Autonomous vehicles Optimization

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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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IEEE International Conference on systems, Man and Cybernetics

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

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

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.

关键词： Perturbation methods Design methodology Quantum optics Robustness Feedback control Closed loop systems Tuning Cybernetics

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Effect of Exogenous Hydrazine on Metabolic Process of Anammox Bacteria

SSRN

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SSRN 2022年

作者： Xiang, Tao Liang, Hong Gao, Dawen Key Laboratory of Urban Stormwater System and Water Environment Ministry of Education Beijing University of Civil Engineering and Architecture Beijing100044 China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin150090 China

The effect of N2H4 (hydrazine) on AnAOB (anaerobic ammonia oxidizing bacteria) metabolic pattern is unknown. Therefore, the main purpose of this paper was to explore the effects of exogenous N2H4 on the activity, characteristics and metabolic pathway of AnAOB. The results showed that N2H4 can promote AnAOB activity within the low concentration range ( © 2022, The Authors. All rights reserved.

关键词： Electrons

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A Crack Detection Network Based on Deformable Convolution and Test Time Augmentation

A Crack Detection Network Based on Deformable Convolution an...

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2022 International Conference on Computer, Artificial Intelligence, and Control Engineering, CAICE 2022

作者： Zhang, Guoliang Du, Zexu Wu, Peng Zhang, Xiangquan Wang, Weizhou Wang, Zhiyuan Artificial Intelligence on Electric Power System State Grid Corporation Joint Laboratory State Grid Smart Grid Research Institute Co.Ltd. Beijing China State Grid Gansu Electric Power Company No.8 Beibinhe East Road Chengguan District Gansu Province Lanzhou City China Key Laboratory of Advanced Marine Communication and InformationTechnology Ministry of Industry and Information Technology Harbin150001 China

ISBN: (纸本)9781510655942

This paper proposes an improved crack detection network, which can provide convenience in pavement maintenance and reduce the burden of labor costs. The network architecture is built based on YOLOv5-l, which has a balance of accuracy and speed. We introduce deformable convolution into the designed network to adapt to the crack target, which can improve the effect of detection. During the test, we also use test time augmentation to further improve the detection performance. The results on the RDDC2020 dataset show that the proposed model has reached a high level without using data augmentation and ensemble learning. © 2022 SPIE.

关键词： Convolution

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Cover Image, Volume 41, Number 1, January 2024

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Journal of Field robotics 2023年第1期41卷

作者： Lefan Guo Gangfeng Liu Yongsheng Luo Peng Jiang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China MNR Key Laboratory for Polar Science Polar Research Institute of China Shanghai China

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Payload-agnostic decoupling and hybrid vibration isolation control for a maglev platform with redundant actuation

arXiv

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arXiv 2020年

作者： Gong, Zhaopei Ding, Liang Li, Shaozhen Yue, Honghao Gao, Haibo Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

Payload-specific vibration control may be suitable for a particular task but lacks generality and transferability required for adapting to the various payload. Self-decoupling and robust vibration control are the crucial problem to achieve payload-agnostic vibration control. However, there are problems still unsolved. In this article, we present a maglev vibration isolation platform (MVIP), which aims to attenuate vibration in payload-agnostic task under dynamic environment. Since efforts trying to suppress disturbance will encounter inevitable coupling problems, we analyzed the reasons resulting in it and proposed unique and effective solutions. To achieve payload-agnostic vibration control, we proposed a new control strategy, which is the main contribution of this article. It consists of self-construct radial basis function neural network inversion (SRBFNNI) decoupling scheme and hybrid adaptive feed-forward internal model control (HAFIMC). The former one enables the MVIP creating a self inverse model with little prior knowledge and achieving self-decoupling. For the unique structure of MVIP, the vibration control problem is stated and addressed by the proposed HAFIMC, which utilizes the adaptive part to deal with the periodical disturbance and the internal mode part to deal with the stability. Copyright © 2020, The Authors. All rights reserved.

关键词： Inverse problems

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Dynamic Visual SLAM Based on Semantic Information and Multi-View Geometry

Dynamic Visual SLAM Based on Semantic Information and Multi-...

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Automation, Control and robotics Engineering (CACRE), International Conference on

作者： Junyi Shi Fusheng Zha Wei Guo Pengfei Wang Mantian Li State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Visual Simultaneous Localization and Mapping(Visual SLAM) is considered to be one of the important foundations for mobile robots to move toward intelligence, which gives robots the ability to autonomously locate and construct maps in an unknown environment. In the past decades, great progress has been made in the field of visual SLAM, relatively mature algorithm system and program architecture are gradually ***, the current researches on visual SLAM mostly assume that the surrounding environment is static, which greatly limits the application of SLAM systems in real world. Aiming at the urgent need of mobile robots for precise localization and map construction in dynamic environment, methods are proposed in this paper. Image semantic segmentation based on deep learning and multi-view geometry methods are combined to recognize and segment moving objects. Only background features are used for camera tracking to avoid the impact of moving ***, an experimental platform is built using RGBD camera and motion capture device, the effectiveness of the algorithm is verified by public datasets and real scene data.

关键词： semantic SLAM dynamic mapping multi-view geometry

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Fault Diagnostic Opportunities for Electromagnetic Coils of Active Magnetic Bearings using Physics-of-Failure Analysis

Fault Diagnostic Opportunities for Electromagnetic Coils of ...

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system Reliability and Safety Engineering (SRSE), International Conference on

作者： Ruiqi Li Kai Wang Peng Zeng Jiwei Cao 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 University of Chinese Academy of Sciences Beijing China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Electrical Engineering Harbin Institute of Technology China

Active magnetic bearings (AMBs) have many advantages over traditional oil bearings due to their non-contact characteristics. They are environmentally friendly solution and have been proven to be highly reliable and available. Electromagnetic coils are vital components of AMB and they are failure prone. In this paper, the failure mode of magnetic bearing coil and its corresponding failure mechanism are reviewed by FMMEA method, and the existing coil fault diagnosis methods are introduced. Future directions for coil insulation health monitoring aiming at the application characteristics of AMBs are also discussed.

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Magnetic Ordering of Ammonium Cations in NH4I, NH4Br and NH4Cl

arXiv

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arXiv 2024年

作者： Yen, Fei Meng, Lei Gao, Tian Hu, Sixia School of Science Harbin Institute of Technology Shenzhen University Town Guangdong Shenzhen518055 China State Key Laboratory on Tunable Laser Technology Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System Harbin Institute of Technology Shenzhen University Town Guangdong Shenzhen518055 China School of Mathematics and Physics Shanghai University of Electric Power 2588 Changyang Road Shanghai200090 China Sustech Core Research Facilities Southern University of Science and Technology 1088 Xueyuan Blvd. Guangdong Shenzhen518055 China

The different types of magnetism arise mainly from how electrons move and interact with each other. In this work, we show how protons (H+) also exhibit magnetic behavior. We measured the magnetic susceptibility of the ammonium halides and identified pronounced increases at 232 K, 233 K and 243 K for NH4I, NH4Br and NH4Cl, respectively, which all coincide to the geometric ordering of its ammonium cations. With extensive literature establishing the fact that the ammonium cations exhibit rotational motion even towards the lowest temperatures, we take into account that the orbital motion of the protons carries a magnetic moment and find it to be larger than that of the paired electrons. Consequently, the structural phase transitions are magnetically-driven as the system attempts to lift 8-fold energy degeneracies of the proton orbitals via Jahn-Teller distortions. Our findings identify that NH4+ cations are capable of comprising magnetism which appears to be ubiquitous in ammonia-based molecular solids. © 2024, CC BY-NC-ND.

关键词： Magnetic moments

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