检索结果-内蒙古大学图书馆

IEEE International Conference on Robotics and Automation (ICRA)

作者： Han Wang Chao Ning Longyan Li Weidong Zhang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Collision-free navigation is a critical issue in robotic systems as the environment is often dynamic and uncertain. This paper investigates a data-stream-driven motion control problem for mobile robots to avoid randomly moving obstacles when the probability distribution of the obstacle’s movement is partially observable through data and can be even time-varying. A data-stream-driven ambiguity set is firstly constructed from movement data by leveraging a Dirichlet process mixture model and is updated online using real-time data. Then we propose an Online-Learning-based Distributionally Robust Nonlinear Model Predictive control (OL-DR-NMPC) approach for limiting the risk of collision through considering the worst-case distribution within the ambiguity set. To facilitate solving the OL-DR-NMPC problem, we reformulate it as a finite-dimensional nonlinear optimization problem. To cope with the bilinear matrix inequality constraints in the nonlinear problem, we develop a parabolic relaxation and a sequential algorithm, by which the problem is further transformed into polynomial-time solvable surrogates. The simulations using a quadrotor model are employed to demonstrate the effectiveness and advantages of the proposed method.

关键词： Navigation Simulation Real-time systems Probability distribution Safety Mobile robots Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

Accelerated Simulation of Master Equation for Open Quantum systems

Accelerated Simulation of Master Equation for Open Quantum S...

引用

第42届中国控制会议

作者： Bo Yue Yanfang Wang Shibei Xue Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

Simulation of open quantum systems is undoubtedly critical to design of quantum devices and applications of quantum technologies since dynamics of open quantum systems cannot be solved analytically in general. However, the dimension of open quantum systems grows exponentially as the number of their subsystems increases or as involving complicated environments,which reduces the computational efficiency of the simulation. In this paper, we boost numerical simulation of master equations of open quantum systems from several aspects with which the total time and the occupied memory in the simulation are significantly reduced without losing precision. Our method can be applied to the simulation of non-Markovian quantum systems described by an augmented system model as well. We conduct numerical experiments on simulation of a non-Markovian spin *** with the algorithm in a well-known toolbox, QuTiP, our method can take 26.3% time and less memory under fair conditions.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Towards Autonomous Indoor Parking: A Globally Consistent Semantic SLAM System and A Semantic Localization Subsystem

arXiv

引用

arXiv 2024年

作者： Sha, Yichen Zhu, Siting Guo, Hekui Wang, Zhong Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University China Dimensional Robot Shanghai China

We propose a globally consistent semantic SLAM system (GCSLAM) and a semantic-fusion localization subsystem (SF-Loc), which achieves accurate semantic mapping and robust localization in complex parking lots. Visual cameras (front-view and surround-view), IMU, and wheel encoder form the input sensor configuration of our system. The first part of our work is GCSLAM. GCSLAM introduces a novel factor graph for the optimization of poses and semantic map, which incorporates innovative error terms based on multi-sensor data and BEV (bird’s-eye view) semantic information. Additionally, GCSLAM integrates a Global Slot Management module that stores and manages parking slot observations. SF-Loc is the second part of our work, which leverages the semantic map built by GCSLAM to conduct map-based localization. SF-Loc integrates registration results and odometry poses with a novel factor graph. Our system demonstrates superior performance over existing SLAM on two real-world datasets, showing excellent capabilities in robust global localization and precise semantic mapping. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

来源：评论

学校读者我要写书评

暂无评论

Real-Time Routing Design for LEO Satellite Networks: An Enhanced Multi-Agent DRL Approach

Real-Time Routing Design for LEO Satellite Networks: An Enha...

引用

IEEE International Conference on Communications in China Workshops (ICCC)

作者： Hailong Liao Xian Zhang Jiaen Zhou Xuehua Li Key Laboratory of Information and Communication Systems Ministry of Information Industry and the Key Laboratory of Modern Measurement & Control Technology School of Information and Communication Engineering Beijing Information Science and Technology University Beijing China State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing China

ISBN: (数字)9798350377675

ISBN: (纸本)9798350377682

Low Earth Orbit (LEO) satellite networks have been heralded as a promising solution for provisioning space-based Internet services. However, the inherent dynamic topology, characterized by frequent variations in inter-satellite link states, causes pronounced fluctuations in latency and exacerbated packet loss rates. To address the challenge, in this paper, we formulate a routing design and optimization problem to maximize the average throughput with considering the end-to-end latency constraint and the real-time routing demand in LEO satellite networks. To solve this problem, we design an enhanced Multi-Agent Deep Reinforcement Learning (MADRL) algorithm, which encapsulates the intricate interplay among LEO satellite agents and their environs within a Real-Time Markov Decision Process (RTMDP) framework, and introduces the self-attention mech-anism to endow agents with a better grasp of environmental state dynamics. Simulation results demonstrate that our proposed routing design outperforms the benchmark schemes in terms of both end-to-end latency and network average throughput.

关键词： Satellites Network topology Simulation Heuristic algorithms Low earth orbit satellites Routing Throughput Real-time systems Topology Optimization

来源：评论

学校读者我要写书评

暂无评论

A third-party platoon coordination service: Pricing under government subsidies

A third-party platoon coordination service: Pricing under go...

引用

作者： Bai, Ting Johansson, Alexander Li, Shaoyuan Johansson, Karl Henrik Mårtensson, Jonas School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden KTH Royal Institute of Technology Stockholm Sweden Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Digital Futures Stockholm Sweden

This paper models a platooning system consisting of trucks and a third-party service provider (TPSP), which performs platoon coordination, distributes the platooning profit in platoons, and charges trucks in exchange for the services. Government subsidies used to incentivize platooning are also considered. We propose a pricing rule for the TPSP, which keeps part of the platooning profit including the subsidy each time a platoon is formed. In addition, a platoon coordination solution based on the distributed model predictive control (MPC) is proposed, in which the pricing rule under government subsidies is integrated. We perform a realistic simulation over the Swedish road network to evaluate the impact of the pricing rule and subsidies on the achieved profits and fuel savings. Our results show that subsidies are an effective mean to boost fuel savings from platooning. Moreover, the simulation study indicates that high pricing corresponds to a low platooning rate of the system, as trucks' incentives for platooning decrease. © 2023 The Authors. Asian Journal of control published by John Wiley & Sons Australia, Ltd on behalf of Chinese Automatic control Society.

关键词： Trucks

来源：评论

学校读者我要写书评

暂无评论

A Simplified Economic Model Predictive control Algorithm for Soft Constrained System with Changing Economic Criteria

A Simplified Economic Model Predictive Control Algorithm for...

引用

第34届中国过程控制会议

作者： Xiaowen Qi Shaoyuan Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

To improve the economic performance of soft-constrained systems,this paper proposes a new soft-constrained Economic Model Predictive control(EMPC) approach to cope with changes in economic criteria caused by variations in raw material prices,product prices,market fluctuations,disturbances,*** the one hand,terminal states are permitted to be any admissible equilibrium *** the other hand,slack variables for soft constraints are considered in the cost stage to enhance dynamic operation *** ensure the asymptotic stability,the Lyapunov-like stability constraint is ***,the effectiveness of the proposed method is demonstrated by an isothermal stirred-tank reactor process.

关键词：

来源：评论

学校读者我要写书评

暂无评论

TSN-compatible Industrial Wired/Wireless Multi-protocol Conversion Mechanism and Module 48

TSN-compatible Industrial Wired/Wireless Multi-protocol Conv...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Chen, Yingxiu Xu, Qimin Zhang, Jinglong Xu, Lei Li, Lingzhi Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

The interoperability of heterogeneous networks, including hybrid industrial wired/wireless protocols, is a vital aspect of the Industrial Internet of Things (IIoT) since various industrial protocols have coexisted. Therefore, it is hard to obtain a multiple protocol conversion solution with the flexible configuration. Moreover, the previous works do not adapt to the Time Sensitive Networking (TSN), which is considered as the potential technology of IIoT. To tackle the above problems, we proposed an architecture of the multiple conversion system supporting the conversion of multiple protocols. Then, we proposed a protocol conversion mechanism to improve the flexibility of multiple protocol conversion by separating into data and configuration planes. Moreover, we propose a TSN-compatible frame with dynamic priority mapping algorithm, which adjusts the priority in the VLAN tag by the processing delay. Finally, we develop a hardware module and system supporting multiple protocol conversion, which verify that the proposed architecture could satisfy the flexible conversion requirement through the experiments. © 2022 IEEE.

关键词： Ethernet

来源：评论

学校读者我要写书评

暂无评论

PS-Loc: Robust LiDAR Localization with Prior Structural Reference

PS-Loc: Robust LiDAR Localization with Prior Structural Refe...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Rui Li Wentao Zhao Tianchen Deng Yanbo Wang Jingchuan Wang Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Ministry of Education Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Prior structural reference like floor plan is readily accessible in indoor scene, which exhibits the potential of improving localization quality without the requirements of a previously-built high-precision map. This paper introduces a novel optimal transport-based framework for prior structural reference-based localization, aiming to improve the robustness for the robot localization. Leveraging the spacial relations of structures, a matching method based on optimal transport theory is proposed and it improves the robustness of matching results in dynamic scene and rapid rotation conditions. Additionally, this paper handles metric inaccuracies in the known structural reference by implementing an prior guided plane adjustment-based updating strategy. This strategy combines prior and observational information to jointly optimize the structural information within a sliding window. The performance of the framework is validated through real-world experiments, demonstrating superior accuracy and robustness to disturbances from dynamic occlusion and rapid rotation compared to common state-of-the-art SLAM and localization methods.

关键词： Location awareness Measurement Laser radar Simultaneous localization and mapping Accuracy Robustness Robot localization Intelligent robots Floors

来源：评论

学校读者我要写书评

暂无评论

Data-Driven Distributionally Robust Electricity-Hydrogen Trading Considering The Carbon Intensity of Hydrogen Production

Data-Driven Distributionally Robust Electricity-Hydrogen Tra...

引用

Asian control Conference

作者： Longyan Li Chao Ning Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper proposes a data-driven distributionally robust local electricity-hydrogen market framework, where Hydrogen-based Micro-Grids (HMGs) supply hydrogen to heterogeneous Hydrogen Users (HUs) including hydrogen refueling stations and industrial plants. In this framework, the coordination between HMGs and HUs is cast as a multi-leader multi-follower Stackelberg game. Specifically, HMGs determine an integrated hydrogen-carbon price and carry out electricity trading through a non-cooperative game. Meanwhile, HUs act as followers adjusting hydrogen purchase strategies. Furthermore, the self-dispatching of HMGs and HUs are modeled as distributionally robust optimization problems considering source-load and hydrogen demand uncertainties, respectively. To hedge against these uncertainties, a novel Bayesian nonparametric hybrid ambiguity set is constructed based on local Wasserstein balls and moment information. Finally, a distributed algorithm is developed to solve the market clearing problem. Comparative studies validate that the proposed framework outperforms existing methods, demonstrating a total income improvement of 12.3% and a carbon emission reduction of 11.6%.

关键词： Uncertainty Hydrogen Carbon dioxide Pricing Games Production Power markets

来源：评论

学校读者我要写书评

暂无评论

Round-trip multi-band quantum access network

引用

Photonics Research 2023年第8期11卷 1449-1464页

作者： YUEHAN XU TAO WANG HUANXI ZHAO PENG HUANG GUIHUA ZENG State Key Laboratory of Advanced Optical Communication Systems and Networks Center of Quantum Sensing and Information ProcessingShanghai Jiao Tong UniversityShanghai 200240China Shanghai Research Center for Quantum Sciences Shanghai 201315China Hefei National Laboratory CAS Center for Excellence in Quantum Information and Quantum PhysicsHefei 230026China

The quantum network makes use of quantum states to transmit data,which will revolutionize classical communication and allow for some breakthrough *** key distribution(QKD)is one prominent application of quantum networks,and can protect data transmission through quantum *** this work,we propose an expandable and cost-effective quantum access network,in which the round-trip structure makes quantum states travel in a circle to carry information,and the multi-band technique is proposed to support multiuser *** on the round-trip multi-band quantum access network,we realize multi-user secure key sharing through the continuous-variable QKD(CV-QKD)*** to the encoding characteristics of CV-QKD,the quadrature components in different frequency bands can be used to transmit key information for different *** feasibility of this scheme is confirmed by comprehensive noise analysis,and is verified by a proof-of-principle *** results show that each user can achieve excess noise suppression and 600 bit/s level secure key generation under 30 km standard fiber *** networks have the ability of multi-user access theoretically and could be expanded by plugging in simple ***,it paves the way for near-term largescale quantum secure networks.

关键词： networks network quantum

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：