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A New Recursive Composite Adaptive controller for Robot Manipulators

Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

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LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map

LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Po...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Xinrui Wu Jianbo Xu Puyuan Hu Guangming Wang Hesheng Wang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Department of Engineering University of Cambridge Cambridge U.K

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Localization using a monocular camera in the pre-built LiDAR point cloud map has drawn increasing attention in the field of autonomous driving and mobile robotics. However, there are still many challenges (e.g. difficulties of map storage, poor localization robustness in large scenes) in accurately and efficiently implementing cross-modal localization. To solve these problems, a novel pipeline termed LHMap-loc is proposed, which achieves accurate and efficient monocular localization in LiDAR maps. Firstly, feature encoding is carried out on the original LiDAR point cloud map by generating offline heat point clouds, by which the size of the original LiDAR map is compressed. Then, an end-to-end online pose regression network is designed based on optical flow estimation and spatial attention to achieve real-time monocular visual localization in a pre-built map. In addition, a series of experiments have been conducted to prove the effectiveness of the proposed method. Our code is available at: https://***/IRMVLab/LHMap-loc.

关键词： Location awareness Point cloud compression Visualization Laser radar Accuracy Robot vision systems Real-time systems

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Distributed Cooperative Decision-Making of Cross-Domain Swarm

Distributed Cooperative Decision-Making of Cross-Domain Swar...

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2023 China Automation Congress, CAC 2023

作者： Liu, Xingyu Yuwen, Cheng Zhang, Wangcheng Sun, Mingyang Jian, Ding Zhen, Ziyang State Key Laboratory of Mechanics and Control for Aerospace Structures China College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China CASIC Research Institute of Intelligent Decision Engineering Wuhan China UAV System Company Limited Aviation Industry Corporation of China Chengdu China

ISBN: (纸本)9798350303759

This paper investigates a cooperative decision-making problem of the cross-domain swarm system involving unmanned surface vehicles (USVs) and unmanned aerial vehicles (UAVs). Different from the distributed optimization of multi-agent systems, the cooperative decision-making problem considers the payoff functions that depend on the states of all agents. Each agent can only adjust its own state. To address the cooperative decision-making problem, a two-time scale system is constructed, where the fast model includes an average consensus for gradient estimation of the global function and the slow model incorporates a feedback control of all USVs and UAVs. By the Lyapunov analysis, the optimal solution is globally exponentially stable. Finally, a cooperative encirclement task is utilized to verify the effectiveness of the proposed algorithm. © 2023 IEEE.

关键词： Unmanned surface vehicles

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Trajectory Optimization and control Method Based on Multistage Nonlinear Model Predictive control 4

Trajectory Optimization and Control Method Based on Multista...

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4th International Seminar on Artificial Intelligence, Networking and Information Technology, AINIT 2023

作者： Zheng, Qingchun Peng, Zhi Zhu, Peihao Zhai, Ran Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin China School of Mechanical Engineering Tianjin University of Technology Tianjin China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350314526

To improve the trajectory optimization efficiency of robot manipulators, this paper proposes a novel approach for trajectory optimization and control of manipulators based on multistage nonlinear model predictive control (msNLMPC). This approach is realized by using a neural state space model as the prediction model of nonlinear model predictive control (NLMPC). The simulation results show that the actual trajectory of the manipulator in our proposed scheme coincides with the desired trajectory. The manipulator achieves the control task of following the optimal trajectory. Our proposed method improves the trajectory optimization efficiency of the robot manipulator. © 2023 IEEE.

关键词： Model predictive control

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Aβ-Aggregation-Generated Blue Autofluorescence Illuminates Senile Plaques as well as Complex Blood and Vascular Pathologies in Alzheimer’s Disease

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Neuroscience Bulletin 2024年第8期40卷 1115-1126页

作者： Hualin Fu Jilong Li Chunlei Zhang Peng Du Guo Gao Qiqi Ge Xinping Guan Daxiang Cui Institute of Nano Biomedicine and Engineering School of Sensing Science and EngineeringSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghai 200240China National Center for Translational Medicine Shanghai Jiao Tong UniversityShanghai 200240China Department of Colorectal Surgery School of MedicineXinhua HospitalShanghai Jiao Tong UniversityShanghai 200092China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China The Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

Senile plaque blue autofluorescence was discovered around 40 years ago,however,its impact on Alzheimer’s disease(AD)pathology has not been fully *** analyzed senile plaques with immunohistochemistry and fluorescence imaging on AD brain sections and also Aβ aggregation in *** DAPI or Hoechst staining,the nuclear blue fluorescence could only be correctly assigned after subtracting the blue plaque *** flower-like structures wrapping dense-core blue fluorescence formed by cathepsin D staining could not be considered central-nucleated neurons with defective lysosomes since there was no nuclear staining in the plaque core when the blue autofluorescence was *** Aβ self-oligomers and Aβ/hemoglobin heterocomplexes generated blue *** Aβ amyloid blue autofluorescence not only labels senile plaques but also illustrates red cell aggregation,hemolysis,cerebral amyloid angiopathy,vascular plaques,vascular adhesions,and *** summary,we conclude that Aβ-aggregation-generated blue autofluorescence is an excellent multi-amyloidosis marker in Alzheimer’s disease.

关键词： Senile plaque Blue autofluorescence Aβ Amyloid aggregation Hemoglobin Cathepsin D.Microaneurysm Alzheimer's disease

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Remote Sensing Image Object Detection Based on Improved Sparse R-CNN

Journal of Network Intelligence

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Journal of Network Intelligence 2023年第4期8卷 1303-1320页

作者： Zhao, Li-Quan Chen, Chun-Lu Zhong, Tie Cui, Ying Jia, Yan-Fei Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education Northeast Electric Power University Jilin 132012 China School of Electric Power Engineering Northeast Electric Power University Jilin 132012 China Zhuhai Power Supply Bureau Guangdong Electric Power Corporation Zhuhai 519000 China School of Electrical and Information Engineering Beihua University Jilin 132013 China

A more precise sparse region convolutional neural network algorithm is developed to increase the accuracy of remote sensing object recognition. Firstly, a new intersection over union method is proposed to solve the problem that the intersection over union used in sparse region convolutional neural network cannot well measure the offset between the ground-truth box and the proposal box. It introduces multiple geo-metric factors that are overlap area, center point distance, vertex distance between the ground-truth box and the proposal box, and diagonal distance of minimum enclosing of the ground-truth box and the proposal box and into the new intersection over union. The proposed intersection over union can measure the offset between the ground-truth box and the proposal box to optimal the proposal box. Secondly, to improve the detection precision of sparse region convolutional neural network, a dual branches dynamic instance interaction head is designed. The proposed dynamic interaction head consists of a fully connected branch and a convolution branch. The fully connected head is used for both bounding box regression and object classification. The convolution branch is only used for bounding box regression. Compared with original sparse region convolutional neural network, the average mAP and recall are 3.55% and 5.75% higher, and the average detection speed is only 0.85 FPS slower. The proposed method realizes balance between detection precision and detection speed. © 2023, Taiwan Ubiquitous Information CO LTD. All rights reserved.

关键词： Remote sensing

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Tension Cable Configuration and Dynamic Modeling of Truss Modular Deployable Antenna 1

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23rd IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2022

作者： Tian, Dake Guo, Zhenwei Jin, Lu Gao, Haiming Zhang, Junwei Shi, Zuwei Hu, Anjun Zhao, Bingfeng School of Mechanical Engineering Shenyang Jianzhu University Liaoning Shenyang110168 China School of Civil Engineering Shenyang Jianzhu University Liaoning Shenyang110168 China Key Laboratory of Vibration and Control of Aero-Propulsion System of Ministry of Education Northeastern University Liaoning Shenyang110819 China

ISBN: (数字)9789811993985

ISBN: (纸本)9789811993978

Aiming at the development needs of large-scale, modular and on-orbit assembly of satellite antenna, a hexagonal prism modular truss deployable antenna structure with strong topology and good adaptability is proposed. The structure composition and deployment principle of the antenna are expounded. In order to improve the stiffness of the configuration antenna, two types of tension cable configurations are proposed based on the structural characteristics of the hexagonal prism module. Firstly, the static analysis model of the antenna deployment state is established based on the node method, and the mechanical influence relationship between the tension cable and the antenna beams is established, and the value range of pretightening force of the tension cable is derived. Secondly, based on the coordinates of the key nodes of the antenna structure, the dynamic analysis model of the three-layer 19-module antenna support structure is established. Finally, by comparing and analyzing the dynamic characteristics of no cable, cross tension cable and parallel tension cable, the influence of tension cable configuration on antenna stiffness is verified. The analysis results show that the overall stiffness of the antenna support structure can be increased by more than 2.6 times by the two tension cable configurations, and the parallel tension cable is more indigenous to the increase of the antenna stiffness. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Stiffness

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Online Identification of Boost Converter Components with Multiple Updating RLS Algorithm

Online Identification of Boost Converter Components with Mul...

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第42届中国控制会议

作者： Tong Zhou Zhicheng Zhang Zhiqiang Zuo Yijing Wang Peng Li Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information EngineeringTianjin University Key Laboratory of System Control and Information Processing Ministry of Education

In this paper,component parameters of the boost converter are identified online using a multiple updating recursive least squares(MURLS) *** component parameters,such as resistance,inductor inductance and capacitor capacitance,are obtained directly through the identification procedure rather than transfer function *** MURLS algorithm is applied to improve the rapidity of system identification compared to the traditional recursive least squares(RLS) algorithm,which is verified by a comparative simulation between MURLS and RLS and the simulation of a load-switching scenario.

关键词：

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A review on the catalytic pyrolysis of lipids to produce alternative aromatic hydrocarbons: Synthesis of hierarchically porous zeolites and aromatization mechanism

Circular Economy

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Circular Economy 2025年第1期4卷

作者： Song, Pengye Guo, Shaojie Zuo, Menghao Wang, Xin Qiu, Huiyu Shen, Boxiong Tianjin Key Laboratory of Clean Energy and Pollution Control School of Energy and Environmental Engineering Hebei University of Technology Tianjin300401 China School of Chemical Engineering Hebei University of Technology Tianjin300130 China Hebei Engineering Research Center of Pollution Control in Power System Tianjin300401 China

Catalytic pyrolysis of non-edible lipids to produce alternative aromatic hydrocarbons is an important strategy to reduce CO2 emission in the petrochemical industry, which is hindered by coking and quick deactivation of zeolites. Hierarchically porous zeolites can mitigate this problem. In this review, the catalytic pyrolysis of non-edible lipids for aromatic hydrocarbons and the mechanism of aromatization are comprehensively summarized. First, the synthesis of hierarchically porous zeolite catalysts, including hard template methods, soft template methods, and postprocessing methods, which are necessary for further discussion of catalyst applications and aromatization mechanisms, is discussed. Hierarchically porous zeolite catalysts, which retain the excellent catalytic activity and selectivity of microporous zeolites, can essentially and substantially improve mass transfer and diffusion efficiency in zeolites to avoid fast deactivation of catalysts due to coking. Second, the application of hierarchically porous zeolites in aromatic hydrocarbon production is summarized. The loading of metal oxides in hierarchically porous zeolites can largely improve the deoxygenation performance of oxygen-containing lipid feedstocks. This review also discusses the aromatization mechanism used during catalytic pyrolysis to produce renewable liquid products. The formation of olefins or unsaturated groups and dehydrogenation are the critical steps for aromatization. Future research can prioritize the synergistic interaction between micropores and mesopores in hierarchically porous zeolite catalysts. Efforts can also be directed towards rational modification of the acidity of catalysts through methods such as surface modification and support optimization. This review provides necessary information about technologies for the sustainable transformation from fossil fuel-based aromatic hydrocarbons to bio-based aromatic hydrocarbons. © 2025 The Author(s)

关键词： Aromatization

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An end-to-end instance segmentation method based on improved ConvNeXt V2

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International Journal of Wireless and Mobile Computing 2024年第4期26卷 384-392页

作者： Wang, Wenlu Sun, Ying Xu, Manman Bai, Dongxu Huang, Li Zou, Chunlong Chen, Baojia Tang, Dalai Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan China College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan China College of Mechanical Engineering Hubei University of Automotive Technology Hubei Shiyan China Hubei Key Laboratory of Hydroelectric Machinery Design and Maintenance China Three Gorges University Hubei Yichang China School of Computer Information Management Inner Mongolia University of Finance and Economics Hohhot China

In order to improve the efficiency of indoor mobile robots in locating and segmenting environmental instances, an instance segmentation method based on RTMDet is proposed. Firstly, the more powerful ConvNeXt V2 is used as the backbone network of the model, which improves the performance of the existing RTMDet model. Subsequently, NAS-FPN is used as a converged network to detect the network at any given time. Finally, AdamW is used as the model optimiser, which effectively solves the problem of excessive memory occupation when updating parameters and improves the performance of the model. The proposed method obtains the highest evaluation index in all cases. After training and testing on the Cityscapes data set, the recognition accuracy reaches 65.0%. © 2024 Inderscience Enterprises Ltd.

关键词： Statistical tests

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