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Adaptive coupled-sliding-variable-based finite-time control of composite formation for multi-robot systems

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Science China(Information Sciences) 2024年第10期 244-260页

作者： Xinru MA Hengyu LI Jun LIU Yueying WANG shaorong xie Jun LUO School of Mechatronic Engineering and Automation Shanghai University School of Mathematics and Computer Application Technology Jining University School of Computer Science Shanghai University College of Mechanical and Vehicle Engineering Chongqing University

This paper focuses on the finite-time control(FTC) of the composite formation consensus(CFC)problems for multi-robot systems(MRSs). The CFC problems are firstly proposed for MRSs under the complex network topology of cooperative or cooperative-competitive networks. Regarding the problems of FTC and CFC on multiple Lagrange systems(MLSs), coupled sliding variables are introduced to deal with the robustness and consistent convergence. Then, the adaptive finite-time protocols are given based on the displacement approaches. With the premised FTC, tender-tracking methods are further developed for the problems of tracking information disparity. Stability analyses of those MLSs mentioned above are clarified with Lyapunov candidates considering the coupled sliding vectors, which provide new verification for tender-tracking systems. Under the given coupled-sliding-variable-based finite-time protocols, MLSs distributively adjust the local formation error to achieve global CFC and perform uniform convergence in time-varying tracking. Finally, simulation experiments are conducted while providing practical solutions for the theoretical results.

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基于D-H参数与拉格朗日联立方程的仿生水蛇机器人运动学分析及动力学建模

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机械工程学报 2024年第15期60卷 134-148页

作者：王敏孙景健丁基恒孙翊彭艳蒲华燕罗均谢少荣上海大学机电工程与自动化学院海洋智能无人系统装备教育部工程技术研究中心上海大学人工智能研究院重庆大学机械与运载工程学院上海大学计算机工程与科学学院

随着水下环境作业需求不断增大，对机器人在极端环境作业、多任务需求等方面提出了更高的要求。为了解决对水下机器人的环境适应性、机动性等高性能需求，亟需设计一种高灵活性的水下蛇形机器人，并对其结构优化及数学建模进行深入研究... 详细信息

随着水下环境作业需求不断增大，对机器人在极端环境作业、多任务需求等方面提出了更高的要求。为了解决对水下机器人的环境适应性、机动性等高性能需求，亟需设计一种高灵活性的水下蛇形机器人，并对其结构优化及数学建模进行深入研究。因此，基于对生物蛇的仿生机理分析，设计出了一种模块化、可重构多节仿生水蛇机器人结构模型；基于D-H参数法对空间运动波形上各关节运动轨迹、前进速度进行分析，建立运动映射关系；考虑水下运动产生的水阻力和反作用力，建立水动力学模型，结合拉格朗日方程，联合建立了水蛇机器人的等效运动学及动力学模型。基于建立的联合模型，对影响水蛇机器人关节角运动、前进速度等性能的关键参数进行了详细分析。采用蜿蜒步态作为输入参考信号，利用Matlab与ADAMS进行联合仿真验证，结果表明当步态幅值α取0.8 rad、角频率ω取2 rad/s、相邻关节相位差δ取π/3 rad时，机器人呈现一种理想蜿蜒运动步态；同时，利用ADAMS分析了机器人各关节的驱动力矩和功率，结果表明机器人两端关节到中间关节驱动力矩和功率分别从约0.6 N/m增加到14.3 N/m及1.1 N·m/s增加到14.8 N·m/s；最后，搭建了机器人样机实验，对水蛇机器人蜿蜒运动驱动函数及驱动力矩等进行实验验证，实验结果表明水蛇机器人中间关节所需驱动力矩和功率相较两端关节更大，中间关节驱动力矩为两端关节驱动力矩的3.2倍，与仿真结论一致，为水蛇机器人的水下运动提供了理论依据。

关键词：水蛇机器人仿生机理蜿蜒运动运动学模型动力学建模

Distributed Fault-Tolerant Consensus Tracking of Multi-Agent Systems Under Cyber-Attacks

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IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1037-1048页

作者： Chun Liu Bin Jiang Xiaofan Wang Huiliao Yang shaorong xie School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444 School of Artificial Intelligence Shanghai UniversityShanghai 200444China IEEE College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China College of Energy and Electrical Engineering Hohai UniversityNanjing 210016China School of Computer Engineering and Science Shanghai UniversityShanghai 200444China

This paper investigates the distributed fault-tolerant consensus tracking problem of nonlinear multi-agent systems with general incipient and abrupt time-varying actuator faults under ***,a decentralized unknown input observer is established to estimate relative states and actuator ***,the estimated and output neighboring information is combined with distributed fault-tolerant consensus tracking *** of reaching leader-following exponential consensus tracking of multi-agent systems under both connectivity-maintained and connectivity-mixed attacks are derived with average dwelling time,attack frequency,and attack activation rate technique,*** example verifies the effectiveness of the fault-tolerant consensus tracking algorithm.

关键词： Cyberattacks fault-tolerant consensus tracking incipient and abrupt actuator faults nonlinear multi-agent systems unknown input observer

Ocean image data augmentation in the USV virtual training scene

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Big Earth Data 2020年第4期4卷 451-463页

作者： Wei Wang Yang Li Xiangfeng Luo shaorong xie School of Computer Engineering and Science Shanghai UniversityShanghaiChina

The rapid development of intelligent navigation drives the rapid accumulation of ocean data,and the ocean science has entered the era of big ***,the complexity and variability of the ocean environments make some data *** makes ocean target detection and the unmanned surface vehicle(USV)intelligent control process in ocean scenarios face various challenges,such as the lack of training data and training *** ocean image data collection method used to capture images of complex ocean environments is costly,and it leads to a serious shortage of ocean scene image *** addition,the construction of an autonomous learning environment is crucial but *** order to solve the above problems,we propose a data collection method using virtual ocean scenes and the USV intelligent training *** on virtual ocean scenes,we obtain rare images of ocean scenes under complex weather conditions and implement the USV intelligent control training *** results show that the accuracy of ocean target detection and the success rate of obstacle avoidance of the USV are improved based on the virtual ocean scenes.

关键词： Virtual ocean scenes data augmentation intelligent control training USV obstacle avoidance

PATH FOLLOWING GPS-BASED CONTROL OF SMALL-SIZE ROBOTIC UNMANNED BLIMP

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Chinese Journal of Mechanical Engineering 2007年第2期20卷 60-63页

作者： LUO Jun xie shaorong GONG Zhenbang RAO Jinjun School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China

Robotic unmanned blimps own an enormous potential for applications in low-speed and low-altitude exploration, surveillance, and monitoring, as well as telecommunication relay platforms. To make lighter-than-air platform a robotic blimp with significant levels of autonomy, the decoupled longitude and latitude dynamic model is developed, and the hardware and software of the flight control system are designed and detailed. Flight control and navigation strategy and algorithms for waypoint flight problem are discussed. A result of flight experiment is also presented, which validates that the flight control system is applicable and initial machine intelligence of robotic blimp is achieved.

关键词： Dynamics modeling Flight control Navigation Robotic unmanned blimp

Attacking Strategy of Multiple Unmanned Surface Vehicles with Improved GWO Algorithm Under Control of Unmanned Aerial Vehicles

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Journal of Shanghai Jiaotong university(Science) 2020年第2期25卷 201-207页

作者： WU Xin PU Juan xie shaorong School of Computer Engineering and Science Shanghai UniversityShanghai 200444China Shanghai Institute for Advanced Communication and Data Science Shanghai 200444China

Unmanned combat system is one of the important means to capture information superiority,carry out precision strike and accomplish special combat tasks in information *** attack strategy plays a crucial role in unmanned combat system,which has to ensure the attack by unmanned surface vehicles(USVs)from *** meet the challenge,we propose a task allocation algorithm called distributed auction mechanism task allocation with grey wolf optimization(DAGWO).The traditional grey wolf optimization(GWO)algorithm is improved with a distributed auction mechanism(DAM)to constrain the initialization of wolves,which improves the optimization process according to the actual *** addition,one unmanned aerial vehicle(UAV)is employed as the central control system to establish task allocation model and construct fitness function for the multiple constraints of USV attack *** proposed DAGWO algorithm can not only ensure the diversity of wolves,but also avoid the local optimum *** results show that the proposed DAGWO algorithm can effectively solve the problem of attack task allocation among multiple USVs.

关键词： unmanned surface vehicle(USV) attack strategy grey wolf optimization(GWO) task allocation unmanned aerial vehicle(UAV)

激光诱导击穿光谱结合随机森林的铌钽矿中铀钍元素定量分析

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冶金分析 2024年第5期44卷 92-100页

作者：彭玲玲谢绍荣孟祥厅焦宝宝刘林刘小亮东华理工大学核技术应用创新联合实验室江西省地质局实验测试大队先进核能技术设计与安全教育部重点实验室

铌钽矿石中富含的铀(U)和钍(Th)等放射性元素含量的分析测定是铌钽矿开发过程中的重要环节，对于辐射安全评估和环境保护具有重要的意义。本文基于激光诱导击穿光谱(LIBS)技术结合随机森林(RF)算法，在实验室条件下开展了铌钽矿石中放... 详细信息

铌钽矿石中富含的铀(U)和钍(Th)等放射性元素含量的分析测定是铌钽矿开发过程中的重要环节，对于辐射安全评估和环境保护具有重要的意义。本文基于激光诱导击穿光谱(LIBS)技术结合随机森林(RF)算法，在实验室条件下开展了铌钽矿石中放射性元素U、Th含量的定量分析工作。利用传统高纯锗(HPGe)γ能谱仪对11个铌钽矿石样品进行U、Th含量的测定，并设为LIBS的参考值。其中的9个样品设置为训练集，用于RF的建模；余下2个样品设为测试集用于模型验证。采用全谱面积归一化后的LIBS光谱及其相应含量作为RF算法的数据集，首先通过五折交叉验证对RF的决策树数量参数进行了优化，再结合重要性得分阈值设定探讨了LIBS光谱的波长特征的筛选对于预测结果的影响。结果显示，结合波长特征筛选，以优化的决策树参数建立RF模型，训练集中U和Th均方根误差(RMSEC)分别为48和313μg/g;对于2#、6#样品中U和Th含量的预测，测试集均方根误差(RMSEV)分别为141、209μg/g和750、914μg/g;两种元素多次测量预测值的相对标准偏差(RSD)均在7%以内，且多次测量平均值与γ谱仪测量值相比，两种元素的预测相对误差(RE)均在8%以内。上述结果表明LIBS技术结合RF算法可以有效地实现铌钽矿石中放射性元素U和Th的定量分析，为铌钽矿石的精准开采与评估提供参考。

关键词：激光诱导击穿光谱(LIBS) 铌钽矿铀钍定量分析随机森林(RF)

Electrochromic-Induced Rechargeable Aqueous Batteries: An Integrated Multifunctional System for Cross-Domain Applications

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Nano-Micro Letters 2023年第6期15卷 304-334页

作者： Qi Zhao Zhenghui Pan Binbin Liu Changyuan Bao Ximeng Liu Jianguo Sun shaorong xie Qing Wang John Wang Yanfeng Gao Department of Materials Science and Engineering Shanghai UniversityShanghai 200444People’s Republic of China Department of Materials Science and Engineering National University of SingaporeSingapore 117574Singapore Department of Materials Science and Engineering Tongji UniversityShanghai 200092People’s Republic of China Department of Computer Engineering and Science Shanghai UniversityShanghai 200444People’s Republic of China National University of Singapore(Chongqing)Research Institute Chongqing 401120People’s Republic of China Institute of Materials Research and Engineering A*StarSingapore 138634Singapore Key Laboratory of Comprehensive and Highly Efficient Utilization of Salt Lake Resources Qinghai Institute of Salt LakesChinese Academy of SciencesXining 810008People’s Republic of China

Multifunctional electrochromic-induced rechargeable aqueous batteries(MERABs) integrate electrochromism and aqueous ion batteries into one platform, which is able to deliver the conversion and storage of photo-thermal-electrochemical *** ion batteries compensate for the drawbacks of slow kinetic reactions and unsatisfied storage capacities of electrochromic devices. On the other hand, electrochromic technology can enable dynamically regulation of solar light and heat radiation. However,MERABs still face several technical issues, including a trade-off between electrochromic and electrochemical performance, low conversion efficiency and poor service life. In this connection, novel device configuration and electrode materials, and an optimized compatibility need to be considered for multidisciplinary applications. In this review,the unique advantages, key challenges and advanced applications are elucidated in a timely and comprehensive manner. Firstly, the prerequisites for effective integration of the working mechanism and device configuration, as well as the choice of electrode materials are examined. Secondly, the latest advances in the applications of MERABs are discussed, including wearable, self-powered, integrated systems and multisystem conversion. Finally, perspectives on the current challenges and future development are outlined, highlighting the giant leap required from laboratory prototypes to large-scale production and eventual commercialization.

关键词： Electrochromic Aqueous batteries Multifunctional Integration

Three-dimensional knotting of W_(17)O_(47)@PEDOT:PSS nanowires enables high-performance flexible cathode for dual-functional electrochromic and electrochemical device

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InfoMat 2022年第4期4卷 100-111页

作者： Qi Zhao Jinkai Wang Xinghui Ai Yujuan Duan Zhenghui Pan shaorong xie John Wang Yanfeng Gao Department of Materials Science and Engineering Shanghai UniversityShanghaiChina Department of Materials Science and Engineering National University of SingaporeSingaporeSingapore Department of Computer Engineering and Science Shanghai UniversityShanghaiChina

An efficient integration of electrochromic and electrochemical devices into one flexible entity enables both energy storage and energy-saving *** this purpose,achieving both high electrochromic and electrochemical performance is the key ***,a new 3D architecture is successfully made by knotting W_(17)O_(47)@PEDOT(poly(3,4-ethylenedioxythiophene)):PSS(poly(styrenesulfonate))nanowires with NaWO_(3)nanoknots,and interestingly,the 3D W_(17)O_(47)/(NaWO_(3)-knots)@PEDOT:PSS cathode thus-made simultaneously exhibits a large optical modulation(79.7%at 633 nm),an ultra-long cycling life(76%of original optical modulation retained after 12400 cycles),and a high areal capacitance(55.1 mF cm^(-2)at 0.1 mA cm^(-2)).Our density functional theory(DFT)calculations demonstrate that the much improved dual-functional performance is correlated to the raised electronic conductivity and ion adsorption at the W_(17)O_(47)/(NaWO_(3)nanoknots)interface,together with the ion adsorption of PEDOT:PSS in the 3D-knotted *** a proof-of-concept application,different-sized flexible dual-functional electrochromic/electrochemical devices(FDEDs)were assembled and investigated for various application scenarios,including a smart window(15 cm×10 cm),a wearable wristband(20 cm×2.5 cm),and a smart *** smart window made of the FDED enables a large temperature difference of 27.6℃ confirm-tested in model houses,where the energy source also powers three light-emitting diodes(LEDs).The understandings of the key governing principles in the electrodes and dual-functionalities provide a timely foundation for the new generation flexible multifunctional devices.

关键词： 3D knotting of W_(17)O_(47)@PEDOT:PSS nanowires dual-functionalities electrochromic and electrochemical integration flexible cathode