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Relative Localizability and Localization for Multirobot systems

IEEE Transactions on Robotics 2025年 41卷 2931-2949页

作者： Chen, Liangming Liang, Chenyang Yuan, Shenghai Cao, Muqing Xie, Lihua Southern University of Science and Technology School of System Design and Intelligent Manufacturing Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Carnegie Mellon University Robotics Institute PittsburghPA15213 United States

Inter-robot relative positions are crucial for executing various multirobot missions, such as formation maneuvering and collaborative inspection. However, the current sensing technology usually provides part of relative position information, such as inter-robot distances, bearings and angles. This prompts the study of determining inter-robot relative positions, i.e., relative localization, from these partial measurements. Based on the existing results of static networks' localizability and mobile robots' relative localization, we propose a novel concept, relative localizability to describe whether a multirobot system is relatively localizable. Given each robot's self-displacement measurements and inter-robot partial measurements in d (d ≤ 4) sampling instants, we show that a multirobot system's relative localization can be achieved in a purely algebraic and distributed manner, in which the multirobot system is said to be d-step relatively localizable. To make the results more general, we consider that the multirobot system consists of landmarks, leaders, and followers, and that the inter-robot measurements can be distances, bearings or angles. When robots' coordinate frames have different orientations, we show that the given local measurements can be used to determine robots' relative positions and their coordinate frames' relative orientations simultaneously. Simulations and experiments of relative localization for ground robots are conducted to validate the obtained results. © 2004-2012 IEEE.

关键词： Multipurpose robots

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Fault Diagnosis of Rolling Bearing in Broad Learning system Based on Multi-domain Feature Selection

Fault Diagnosis of Rolling Bearing in Broad Learning System ...

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TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Ouyang, Bing Zhang, Chao Wu, Le Liu, Guiyi Wu, Yangbiao Xu, Shuai School of Mechanical Engineering Inner Monglia University of Science and Technology Baotou014010 China Inner Monglia Key Laboratory of Intelligent Diagnosis and Control of Mechatronic System Baotou014010 China

ISBN: (纸本)9783031734069

This paper presents a novel solution for bearing fault diagnosis based on a Broad Learning system with multi-domain feature selection. Currently, the diagnosis of bearing faults is beset with numerous challenges, including operation under complex and fluctuating conditions, the subtlety of early fault indicators, noise interference in measurement signals, variations in operational conditions, and a broad spectrum of potential fault types. These factors collectively contribute to the complexity of accurately identifying and classifying bearing faults. The Broad Learning system introduced in this paper, by integrating multi-domain feature selection, enhances the model's capability to extract and utilize relevant features from noisy or incomplete data, potentially increasing diagnostic accuracy in suboptimal sensor environments. By leveraging features across multiple domains, the method based on the Broad Learning system can capture a wider array of fault characteristics, thereby broadening its applicability across various types of bearing faults and operational conditions. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Roller bearings

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Bearing Fault Diagnosis Based on an Improved Morphological Filter

Bearing Fault Diagnosis Based on an Improved Morphological F...

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TEPEN International Workshop on Fault Diagnostics and Prognostics, TEPEN-IWFDP 2024

作者： Ren, Xueping Guo, Liangjian Qiu, Fuqiang Liu, Tongtong School of Mechanical Engineering Inner Monglia University of Science and Technology Baotou014010 China Inner Monglia Key Laboratory of Intelligent Diagnosis and Control of Mechatronic System Baotou014010 China

ISBN: (纸本)9783031734069

Extraction of repetitive shock signals from vibration signals is crucial in bearing fault detection. Morphological filtering can extract the signal components based on the geometric features of the signal. In this paper, we propose an improved morphological filter for extracting fault cycle pulses from vibration signals in the time domain. Morlet wavelets are used as the main waveforms of the structural elements, which guide the construction of the structural elements based on their correlation with the defect-induced pulse, the Teager energy operator (TEO) is used to reduce the modulated signal interference. The improved morphological filtering algorithm can obtain fault features from low signal-to-noise ratio signals. The processing results of one simulated signal and two sets of experimental signals verify the effectiveness and robustness of the method. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Wiener filtering

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Target-background feature blocks and aberrance repressed correlation filters for real-time UAV tracking

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Signal, Image and Video Processing 2025年第7期19卷 1-11页

作者： Jia, Yunwei Liu, Bo Liu, Zhenzhong Wang, Tianyang Yv, Kaiying Wang, Shuo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

In recent years, Unmanned Aerial Vehicle (UAV) tracking technology has been widely applied in fields such as agriculture and aviation. However, due to limitations in UAV computational resources and battery life, deep learning-based tracking algorithms are difficult to deploy directly. Therefore, efficient and robust tracking methods based on Discriminative Correlation Filters (DCF) have become the mainstream for UAV tracking. The traditional DCF method updates the model with a fixed step size, making it prone to contamination, while the boundary effect further limits its tracking capability. To address the issue of model contamination, an appearance model update and masking mechanism was designed, introducing feature confidence and overall confidence thresholds to evaluate the quality of features and images. Features and images with poor quality are masked, and the learning rate is reduced to prevent model contamination. This paper proposes the Target-Background Feature Block and Aberrance Repressed Correlation Filter (TBFBARCF), which introduces target and background regularization terms into the spatial filter to mitigate boundary effects and incorporates an aberrance repression regularization term into the temporal aberrance repressed filter to reduce response map aberrance. The two filters mutually constrain each other and are jointly trained. Experiments conducted on three challenging datasets, OTB100, UAV123, and UAVDT, demonstrate that the TBFBARCF tracker outperforms 11 other DCF-based trackers. Its average precision and average success rate reach 0.756 and 0.62, respectively, and it operates at a speed of 36.6 frames per second (FPS) on a CPU platform. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Drones

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Exploiting a novel perturbation structure to overcome manufacturing defect and modal overlap in mode localization MEMS gyroscope

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Nonlinear Dynamics 2025年 1-30页

作者： Zhang, Kunpeng Li, Wei Hao, Shuying Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384 China

This study presents a micro-electro-mechanical system (MEMS) gyroscope featuring an innovative perturbation structure in the perturbation stiffness induced by angular velocity is applied to a serpentine coupling beam. Considering the symmetry of the initial structure of resonators and the asymmetry in stiffness resulting from initial manufacturing defects, the dynamic characteristics in the linear regime are analyzed using the complex exponential method. By integrating the backbone curve, energy balance method, amplitude-frequency response (AFR), and bifurcation analysis, we reveal the gyroscope's dynamics, mode localization phenomenon, and sensitivity performance in the geometrically nonlinear case. Subsequently, the excitation threshold at which bifurcation occurs in the out-of-phase nonlinear normal mode (NNM) is determined. Taking the excitation voltage exceeds the bifurcation threshold, the results indicate that the mode localization due to nonlinear characteristics increases the sensitivity from 0.22 ppm/°/s to 789.4 ppm/°/s when initial manufacturing defects are not considered. Furthermore, owing to the implementation of out-of-phase dual-resonator-driven, only the out-of-phase NNM is excited and forms a mode localization phenomenon, so avoiding the phenomenon of modal overlap. Accounting for the stiffness error (± 3%) caused by initial manufacturing defects, the amplitude ratio difference sensitivity improves by 314% in the nonlinear case compared to the linear case and by 103.3% relative to the nonlinear symmetric regime. The gyroscope sensitivity escalates with the rising absolute value of the stiffness error. The novel perturbation structure design for mode localization MEMS gyroscope exploits initial stiffness errors and nonlinearity to achieve a higher sensitivity output than the initial symmetric structure. © The Author(s), under exclusive licence to Springer Nature B.V. 2025.

关键词： Manufacturing defect MEMS gyroscope Modal overlap Mode localization Nonlinear normal mode Sensitivity

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Designing high-Q Fano resonance structures for enhancing fluorescence in all-dielectric metasurfaces

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Optics Letters 2025年第9期50卷 2930-2933页

作者： He, Shuai Wang, Zhiyuan Han, Bin Li, Shan Yao, Zhenyu Guo, Yulong Chen, Zhihui Wang, Yang Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Chemical Biology and Molecular Engineering of Ministry of Education Institute of Biotechnology Shanxi University Taiyuan030006 China

Highly sensitive fluorescence detection technology is crucial for biological sensing, imaging, and photonic technologies. The fluorescence enhancement effect with the same enhancement factor at multi-wavelengths is important for highly sensitive detection. However, achieving multiwavelength fluorescence enhancement remains challenging. Here, we introduce an all-dielectric metasurface composed of symmetry-broken silicon nanocylinders integrated with graphene, which is designed to significantly enhance and dynamically modulate the fluorescence emission of a single quantum dot. By fine-tuning structural parameters and adjusting the graphene Fermi level, we achieve a tunable high-Q Fano resonance, leading to a nearly 4000-fold fluorescence enhancement. Structural parameter adjustments enable consistent fluorescence enhancement across different wavelengths. Furthermore, at specific wavelengths, fluorescence enhancement can be similarly adjusted. The proposed structure can greatly expand the design strategy of heterogeneous all-dielectric metasurfaces with the same enhancement factor at multi-wavelengths. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Magnetic resonance

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Geometric Methods for Assessing the Value and Demands of Energy Storage in Power system Operation

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Energy Internet 2025年第1期2卷 86-103页

作者： Qi Lv Boshen Zheng Shengwei Mei Wei Wei Department of Electrical Engineering State Key Laboratory of Power System Operation and Control Tsinghua University Beijing China

Driven by the desire of a low-carbon society, the penetration level of renewable generation in the power grid of China will still grow fast in the near future. As the synchronised generators whose output is controllable are gradually replaced by volatile energy resources, energy storage is expected to play a vital role in regulation services and flexibility provision. Because the capital cost of energy storage is still relatively high, it is important to assess the value or demand of energy storage before making an investment decision. This paper presents two representative mathematical tools to achieve this target in a geometric fashion. The first one is the multi-parametric programming method. It depicts the reduced cost by deploying energy storage through post-optimal value function, which is easy to visualise or can be embedded in high-level optimisation problems such as storage sizing. The second one is a polyhedral projection method. It represents all feasible power-energy capacity pairs of a storage unit to achieve a certain target. The above methods remove the need of repeatedly solving a large number of problems with varying capacity parameters. Simple examples are given for illustration, and the presented methods can also directly handle problems with complex models and constraints.

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A Synthetic Inertia control Scheme for Inverter Utilizing Its DC Side Capacitor 2nd

A Synthetic Inertia Control Scheme for Inverter Utilizing It...

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2nd International Conference on Smart Electrical Grid and Renewable Energy, SEGRE 2024

作者： Zhang, Mingmin Luo, Ziyi Chen, Wanxing Yu, Jiaqi Guo, Wenming Li, Yong Hunan Province University Key Laboratory of Energy Storage Power System Cyber-Physical Control Changsha University Changsha China College of Electrical and Information Engineering Hunan University Changsha China

ISBN: (纸本)9789819624553

Insufficient inertia has retrained the progress toward a one hundred percent inverter-based power generation. To solve this issue, a promising way is to exploit synthetic inertia based on the power electronic inverters. Taking advantage of energy stored in the DC side capacitor, this paper proposes a synthetic inertia control scheme for inverters without a DC side battery. The basic mechanism of the synthetic inertia control is derived by comparing the working principle between a synchronous generator and a three-phase inverter. Thereafter, the control algorithm of the inverter is designed by three parts, including synthetic inertia control loop, reactive power control loop and line oscillation damping control loop. Finally, simulation results based on a simplified microgrid are presented to verify the self-grid synchronization and grid-supportive characteristics of the inverter. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Synchronous generators

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GENERATIVE ADVERSARIAL NETWORKS FOR REMOTE SENSING IMAGE DEHAZING WITH COLOR FEATURE RESTORATION

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International Journal of Innovative Computing, Information and control 2025年第2期21卷 323-338页

作者： Zhao, Liquan Qin, Yuqing Jia, Yanfei Key Laboratory of Modern Power System Simulation and Control and Renewable Energy Technology Ministry of Education Northeast Electric Power University No. 169 Changchun Road Jilin132012 China College of Electric and Information Engineering Beihua University No. 3999 Beijing Road Jilin132013 China

Remote sensing images are often affected by atmospheric factors such as haze during the acquisition process, resulting in blurring and low contrast in the collected remote sensing images. This problem impacts the image quality, thereby affecting the analysis of remote sensing images. To mitigate the impact of haze on remote sensing images, a generative adversarial network is proposed. It comprises a generative network and an adversarial network. Firstly, a novel feature extraction module is designed to enhance the capability of extracting useful information from remote sensing images. It enables the network to focus more on regions with dense haze, allowing it to extract more important information while filtering out irrelevant details. Secondly, a residual attention module is designed which can allocate different weights based on varying haze density in the feature map. This module readjusts features outputted by the encoder, facilitating better image restoration. Thirdly, a multi-scale module is also incorporated to extract feature information across various image scales. Lastly, a color feature extraction module is designed to extract color features. The novel feature extraction module, residual attention module, multi-scale module, and color feature extraction module are utilized for constructing the generative network. Besides, an adversarial network is also designed to indirectly enhance the dehazing capability of the generative network. Synthetic and real datasets are used to test six different methods for dehazing remote sensing images, respectively. The proposed method achieves higher PSNR, SSIM, and lower MSE on the synthetic remote sensing dataset. On the other hand, it achieves lower PIQE, BRISQUE, and higher MetaIQA on the real remote sensing dataset. The proposed method has best performance in dehazing remote sensing images than other methods. © 2025, Int. J. Innov. Comput. Inf. control. All rights reserved.

关键词： Generative adversarial networks

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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