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Formation control of unmanned rotorcraft systems with state constraints and inter-agent collision avoidance

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Autonomous Intelligent Systems 2023年第1期3卷 84-95页

作者： Panpan Zhou shupeng lai Jinqiang Cui Ben M.Chen Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinN.T.Hong Kong. Department of Electrical and Computer Engineering National University of Singapore4 Engineering Drive 3Singapore117583Singapore. Peng Cheng Laboratory Shenzhen518055China.

We present in this paper a novel framework and distributed control laws for the formation of multiple unmanned rotorcraft systems,be it single-rotor helicopters or multi-copters,with physical constraints and with inter-agent collision avoidance,in cluttered *** proposed technique is composed of an analytical distributed consensus control solution in the free space and an optimization based motion planning algorithm for inter-agent and obstacle collision *** specifically,we design a distributed consensus control law to tackle a series of state constraints that include but not limited to the physical limitations of velocity,acceleration and jerk,and an optimization-based motion planning technique is utilized to generate numerical solutions when the consensus control fails to provide a collision-free ***,a sufficiency condition is given to guarantee the stability of the switching process between the consensus control and motion ***,both simulation and real flight experiments successfully demonstrate the effectiveness of the proposed technique.

关键词： Multi-agent system Unmanned systems Rotorcraft systems Formation control Consensus control

A robust online path planning approach in cluttered environments for micro rotorcraft drones

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Control Theory and Technology 2016年第1期14卷 83-96页

作者： shupeng lai Kangli WANG Hailong QIN Jin Q. CUI Ben M. CHEN NUS Graduate School for Integrative Sciences & Engineering National University of Singapore Singapore 117456 Department of Electrical & Computer Engineering National University of Singapore Singapore 117583 Temasek Laboratories National University of Singapore Singapore 117411

We present in this paper a robust online path planning method, which allows a micro rotorcraff drone to fly safely in GPS-denied and obstacle-strewn environments with limited onboard computational power. The approach is based on an effi- ciently managed grid map and a closed-form solution to the two point boundary value problem （TPBVP）. The grid map assists trajectory evaluation whereas the solution to the TPBVP generates smooth trajectories. Finally, a top-level trajectory switching algorithm is utilized to minimize the computational cost. Advantages of the proposed approach include its conservation of com- putational resource, robustness of trajectory generation and agility of reaction to unknown environment. The result has been realized on actual drones platforms and successfully demonstrated in real flight tests. The video of flight tests can be found at： http：//***/***.

关键词： Unmanned aerial vehicles mapping path planning trajectory generation

Dynamically feasible trajectory generation method for quadrotor unmanned vehicles with state constraints 36

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Dynamically feasible trajectory generation method for quadro...

Decentralized MPC-Based Trajectory Generation for Multiple Quadrotors in Cluttered Environments

第36届中国控制会议

作者： shupeng lai Kangli Wang Ben M.Chen Department of Electrical Computer Engineering National University of Singapore

ISBN: (纸本)9781538629185

The recent development on micro aerial vehicles（MAV）,especially the unmanned quadrotor proposes increased requirements on reference *** paper proposed a dynamically feasible,state constrained and smooth trajectory generation method using *** reference can be shown to satisfy the dynamics of the quadrotor and accurate tracking performance is *** algorithm can be applied for filming trajectory design,3D environment reconstruction and entertainment *** algorithm has been tested on real vehicles with actual flight experiment with satisfying results.

关键词： Quadrotor Trajectory generation B-spline Optimization

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Guidance, Navigation and Control 2021年第2期1卷 40-59页

作者： Xinyi Wang Lele Xi Yizhou Chen shupeng lai Feng Lin Ben M.Chen Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinN.T.Hong Kong School of Automation Beijing Institute of TechnologyBeijingP.R.China Peng Cheng Laboratory NanshanShenzhenGuangdongP.R.China

Challenges in motion planning for multiple quadrotors in complex environments lie in overall°ight e±ciency and the avoidance of obstacles,deadlock,and collisions among *** this paper,we present a gradient-free trajectory generation method for multiple quadrotors in dynamic obstacle-dense environments with the consideration of time consumption.A model predictive control(MPC)-based approach for each quadrotor is proposed to achieve distributed and asynchronous cooperative motion ***,the motion primitives of each quadrotor are formulated as the boundary state constrained primitives(BSCPs)which are constructed with jerk limited trajectory(JLT)generation method,a boundary value problem(BVP)solver,to obtain time-optimal *** are then approximated with a neural network(NN),pre-trained using this solver to reduce the computational *** NN is used for fast evaluation with the guidance of a navigation function during optimization to guarantee°ight safety without ***,the reference trajectories are generated using the same BVP *** simulation and experimental results demonstrate the superior performance of the proposed method.

关键词： Multi-quadrotor systems motion planning motion primitive model predictive control

Efficient safe corridor navigation with jerk limited trajectory for quadrotors

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Efficient safe corridor navigation with jerk limited traject...

Pathogenesis, diagnosis, and treatment of epilepsy: electromagnetic stimulation-mediated neuromodulation therapy and new technologies

第37届中国控制会议

作者： shupeng lai Menglu Lan Ben M.Chen Department of Electrical Computer Engineering National University of Singapore (NUS) Graduate School for Integrative Science and Engineering NUS

Quadrotors commonly operate in low attitude and obstacle-strewn environment. To guarantee its safety, it has to be operated inside the certain safe area. This paper presents an efficient technique to generated jerk limited trajectory that leads a quadrotor to travel inside such safe area. By limiting the trajectory’s velocity, acceleration, and jerk, it is made feasible regarding the vehicle’s physical limits. The underlying trajectory generation algorithm is extremely efficient and takes only several microseconds to produce the results. Finally, the algorithm is tested with real flight experiments.

关键词： Quadrotor Trajectory generation

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Neural Regeneration Research 2025年第4期20卷 917-935页

作者： Dian Jiao lai Xu Zhen Gu Hua Yan Dingding Shen Xiaosong Gu Academy of Medical Engineering and Translational Medicine Tianjin UniversityTianjinChina Key Laboratory of Advanced Drug Delivery Systems of Zhejiang Province College of Pharmaceutical SciencesZhejiang UniversityHangzhouZhejiang ProvinceChina Affiliated Hospital of Nantong University NantongJiangsu ProvinceChina

Epilepsy is a severe,relapsing,and multifactorial neurological *** regarding the accurate diagnosis,prognosis,and in-depth pathogenesis are crucial for the precise and effective treatment of *** pathogenesis of epilepsy is complex and involves alterations in variables such as gene expression,protein expression,ion channel activity,energy metabolites,and gut microbiota *** results are lacking for conventional treatments for *** resection of lesions,drug therapy,and non-drug interventions are mainly used in clinical practice to treat pain associated with ***-pharmacological treatments,such as a ketogenic diet,gene therapy for nerve regeneration,and neural regulation,are currently areas of research *** review provides a comprehensive overview of the pathogenesis,diagnostic methods,and treatments of *** also elaborates on the theoretical basis,treatment modes,and effects of invasive nerve stimulation in neurotherapy,including percutaneous vagus nerve stimulation,deep brain electrical stimulation,repetitive nerve electrical stimulation,in addition to non-invasive transcranial magnetic stimulation and transcranial direct current *** studies have shown that electromagnetic stimulation-mediated neuromodulation therapy can markedly improve neurological function and reduce the frequency of epileptic ***,many new technologies for the diagnosis and treatment of epilepsy are being ***,current research is mainly focused on analyzing patients’clinical manifestations and exploring relevant diagnostic and treatment methods to study the pathogenesis at a molecular level,which has led to a lack of consensus regarding the mechanisms related to the disease.

关键词： diagnosis drug treatment electroencephalography epilepsy monitoring epilepsy nerve regeneration neurostimulation non-drug interventions pathogenesis prediction

Meningeal lymphatic vessel crosstalk with central nervous system immune cells in aging and neurodegenerative diseases

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Neural Regeneration Research 2025年第3期20卷 763-778页

作者： Minghuang Gao Xinyue Wang Shijie Su Weicheng Feng Yaona lai Kongli Huang Dandan Cao Qi Wang Science and Technology Innovation Center Guangzhou University of Chinese MedicineGuangzhouGuangdong ProvinceChina Institute of Clinical Pharmacology Guangzhou University of Chinese MedicineGuangzhouGuangdong ProvinceChina The Sixth Affiliated Hospital Sun Yat-sen UniversityGuangzhouGuangdong ProvinceChina

Meningeal lymphatic vessels form a relationship between the nervous system and periphery, which is relevant in both health and disease. Meningeal lymphatic vessels not only play a key role in the drainage of brain metabolites but also contribute to antigen delivery and immune cell activation. The advent of novel genomic technologies has enabled rapid progress in the characterization of myeloid and lymphoid cells and their interactions with meningeal lymphatic vessels within the central nervous system. In this review, we provide an overview of the multifaceted roles of meningeal lymphatic vessels within the context of the central nervous system immune network, highlighting recent discoveries on the immunological niche provided by meningeal lymphatic vessels. Furthermore, we delve into the mechanisms of crosstalk between meningeal lymphatic vessels and immune cells in the central nervous system under both homeostatic conditions and neurodegenerative diseases, discussing how these interactions shape the pathological outcomes. Regulation of meningeal lymphatic vessel function and structure can influence lymphatic drainage, cerebrospinal fluid-borne immune modulators, and immune cell populations in aging and neurodegenerative disorders, thereby playing a key role in shaping meningeal and brain parenchyma immunity.

关键词： central nervous system meningeal lymphatic vessels immunity myeloid cells lymphatic cells neurodegenerative disease

Structural Modal Parameter Recognition and Related Damage Identification Methods under Environmental Excitations: A Review

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Structural Durability & Health Monitoring 2025年第1期19卷 25-54页

作者： Chao Zhang Shang-Xi lai Hua-Ping Wang School of Civil Engineering and Mechanics Lanzhou UniversityLanzhou730000China Key Laboratory of Special Functional Materials and Structural Design Ministry of EducationLanzhou UniversityLanzhou730000China

Modal parameters can accurately characterize the structural dynamic properties and assess the physical state of the ***,it is particularly signiﬁcant to identify the structural modal parameters according to the monitoring data information in the structural health monitoring(SHM)system,so as to provide a scientiﬁc basis for structural damage identiﬁcation and dynamic model modiﬁ*** view of this,this paper reviews methods for identifying structural modal parameters under environmental excitation and brieﬂy describes how to identify structural damages based on the derived modal *** paper primarily introduces data-driven modal parameter recognition methods(e.g.,time-domain,frequency-domain,and time-frequency-domain methods,etc.),brieﬂy describes damage identiﬁcation methods based on the variations of modal parameters(e.g.,natural frequency,modal shapes,and curvature modal shapes,etc.)and modal validation methods(e.g.,Stability Diagram and Modal Assurance Criterion,etc.).The current status of the application of artiﬁcial intelligence(AI)methods in the direction of modal parameter recognition and damage identiﬁcation is further *** on the pre-vious analysis,the main development trends of structural modal parameter recognition and damage identiﬁcation methods are given to provide scientiﬁc references for the optimized design and functional upgrading of SHM systems.

关键词： Structural health monitoring data information modal parameters damage identiﬁcation AI method

Establishment of human cerebral organoid systems to model early neural development and assess the central neurotoxicity of environmental toxins

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Neural Regeneration Research 2025年第1期20卷 242-252页

作者： Daiyu Hu Yuanqing Cao Chenglin Cai Guangming Wang Min Zhou Luying Peng Yantao Fan Qiong lai Zhengliang Gao Fundamental Research Center Shanghai Yangzhi Rehabilitation Hospital(Shanghai Sunshine Rehabilitation Center)School of MedicineTongji UniversityShanghaiChina Institute of Geriatrics(Shanghai University) Affiliated Nantong Hospital of Shanghai University(The Sixth People’s Hospital of Nantong)Shanghai University School of MedicineNantongJiangsu ProvinceChina Shanghai Engineering Research Center of Organ Repair Shanghai University School of MedicineShanghaiChina Key Laboratory of Arrhythmias Ministry of EducationShanghai East HospitalSchool of MedicineTongji UniversityShanghaiChina

Human brain development is a complex process,and animal models often have significant *** address this,researchers have developed pluripotent stem cell-derived three-dimensional structures,known as brain-like organoids,to more accurately model early human brain development and *** enable more consistent and intuitive reproduction of early brain development,in this study,we incorporated forebrain organoid culture technology into the traditional unguided method of brain organoid *** involved embedding organoids in matrigel for only 7 days during the rapid expansion phase of the neural epithelium and then removing them from the matrigel for further cultivation,resulting in a new type of human brain organoid *** cerebral organoid system replicated the temporospatial characteristics of early human brain development,including neuroepithelium derivation,neural progenitor cell production and maintenance,neuron differentiation and migration,and cortical layer patterning and formation,providing more consistent and reproducible organoids for developmental modeling and toxicology *** a proof of concept,we applied the heavy metal cadmium to this newly improved organoid system to test whether it could be used to evaluate the neurotoxicity of environmental *** organoids exposed to cadmium for 7 or 14 days manifested severe damage and abnormalities in their neurodevelopmental patterns,including bursts of cortical cell death and premature *** exposure caused progressive depletion of neural progenitor cells and loss of organoid integrity,accompanied by compensatory cell proliferation at ectopic *** convenience,flexibility,and controllability of this newly developed organoid platform make it a powerful and affordable alternative to animal models for use in neurodevelopmental,neurological,and neurotoxicological studies.

关键词： cadmium cell death cell proliferation cortical development environmental toxins neural progenitor cells neurogenesis neurotoxicology organoids stem cells