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Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space

Chinese Journal of Mechanical Engineering 2012年第4期25卷 665-673页

作者： CHEN Yang HAN Jianda wu huaiyu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China School of Information Science and Engineering Wuhan University of Science and Technology Wuhan 430081 China Graduate School Chinese Academy of Sciences Beijing 100039 China

Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past *** major difficulties are that most of existing methods only adapt to static environment instead of dynamic one,and also can not solve the inherent constraints arising from the robot body and the exterior *** address these difficulties,this research aims to provide a feasible trajectory based on quadratic programming（QP） for path planning in three-dimensional space where an autonomous vehicle is requested to pursue a target while avoiding static or dynamic ***,the objective function is derived from the pursuit task which is defined in terms of the relative distance to the target,as well as the angle between the velocity and the position in the relative velocity coordinates（RVCs）.The optimization is in quadratic polynomial form according to QP ***,the avoidance task is modeled with linear constraints in *** other constraints,such as kinematics,dynamics,and sensor range,are ***,simulations with typical multiple obstacles are carried out,including in static and dynamic environments and one of *** results indicate that the optimal trajectories of the autonomous robot in three-dimensional space satisfy the required ***,the QP model proposed in this paper not only adapts to dynamic environment with uncertainty,but also can satisfy all kinds of constraints,and it provides an efficient approach to solve the problems of path planning in three-dimensional space.

关键词： path planning in three-dimensional space obstacle avoidance target pursuit relative velocity coordinates quadratic programming

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2020年郑州市现制现售饮用水水质监测结果

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现代疾病预防控制 2024年第2期35卷 146-148页

作者：史永珍吴怀玉杜红杨宏胜郑州市卫生健康执法支队河南郑州450000

目的了解河南省郑州市现制现售饮用水水质状况,为政府制定现制现售饮用水卫生监督管理法律法规提供科学依据和技术支撑,为消费者饮用现制现售水提供参考。方法2020年10—11月,在郑州市主城9区随机抽取现制现售饮用水机,并采集出水水样,... 详细信息

目的了解河南省郑州市现制现售饮用水水质状况,为政府制定现制现售饮用水卫生监督管理法律法规提供科学依据和技术支撑,为消费者饮用现制现售水提供参考。方法2020年10—11月,在郑州市主城9区随机抽取现制现售饮用水机,并采集出水水样,按照《生活饮用水标准检验方法》检测感官指标、一般化学指标和微生物指标,依据《生活饮用水卫生标准》和水质处理器所标识的相应指标进行评价;同时对现制现售饮用水设备的安装及运行管理情况进行现场调查。结果共采集400台现制现售饮用水机出水水样,全部指标合格346台,合格率86.50%;感官性状、一般化学指标、微生物指标合格率分别为99.00%、93.50%、93.25%,差异有统计学意义(χ^(2)=18.677,P<0.05)。现场调查现制现售饮用水设备持有卫生许可批件、使用市政自来水为原水合格率100.00%,选址设计合格率88.75%,设备备案、运行维护、水质检测、信息公示合格率较低,分别为18.25%、41.25%、45.50%、12.00%。结论郑州市现制现售饮用水水质总体情况良好,但卫生管理存在较多问题。经营者需强化主体责任、规范经营行为,监管部门需制定统一监管依据、创新监管模式,形成社会共同监管合力,确保现制现售饮用水卫生安全,保障人民身体健康。

关键词：现制现售饮用水水质监测

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2018—2022年郑州市抗(抑)菌制剂违法案件分析

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现代疾病预防控制 2024年第7期35卷 561-564页

作者：史永珍杜红杨宏胜吴怀玉郑州市疾病预防控制中心河南郑州450000

目的分析郑州市2018—2022年抗(抑)菌制剂违法案件,掌握辖区抗(抑)菌制剂卫生安全问题,针对抗(抑)菌制剂卫生监督中存在的问题提出建议。方法通过国家卫生健康监督信息平台,收集2018—2022年郑州市市本级和各县(市)、区卫生健康监督机... 详细信息

目的分析郑州市2018—2022年抗(抑)菌制剂违法案件,掌握辖区抗(抑)菌制剂卫生安全问题,针对抗(抑)菌制剂卫生监督中存在的问题提出建议。方法通过国家卫生健康监督信息平台,收集2018—2022年郑州市市本级和各县(市)、区卫生健康监督机构查处的抗(抑)菌制剂违法案件信息,对案件来源、违法主体、违法情形和处罚结果进行分析。结果2018—2022年,郑州市卫生健康监督机构共查处抗(抑)菌制剂违法案件66起,73.42%的违法主体为生产企业,违法情形中占比前3位的分别是:标签说明书不符合规定(56.63%)、违反卫生安全评价规定(22.89%)、卫生质量不合格(7.23%)和夸大宣传(7.23%)。对违法案件罚款58起,占87.88%;警告8起,占12.12%。结论郑州市消毒产品生产企业抗(抑)菌制剂消毒产品存在标签说明书、卫生安全评价不符合规定等突出问题,生产企业需强化主体责任,保证产品质量合格、安全有效;监管部门需创新监管模式,加强部门协作,进一步规范抗(抑)菌制剂生产经营活动,全面保护公众的健康及消费权益。

关键词：抗(抑)菌制剂违法案件卫生安全

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Nanodroplet-mediated catheter-directed sonothrombolysis of retracted blood clots

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Microsystems & Nanoengineering 2021年第1期7卷 77-83页

作者： Leela Goel huaiyu wu Bohua Zhang Jinwook Kim Paul A.Dayton Zhen Xu Xiaoning Jiang Department of Mechanical&Aerospace Engineering North Carolina State UniversityRaleighNC 27695USA The Joint Department of Biomedical Engineering The University of North Carolina at Chapel Hill and North Carolina State UniversityChapel HillNC 27599USA Department of Biomedical Engineering University of MichiganAnn ArborMI 48109USA

One major challenge in current microbubble(MB)and tissue plasminogen activator(tPA)-mediated sonothrombolysis techniques is effectively treating retracted blood clots,owing to the high density and low porosity of retracted ***(NDs)have the potential to enhance retracted clot lysis owing to their small size and ability to penetrate into retracted clots to enhance drug *** the first time,we demonstrate that a sub-megahertz,forwardviewing intravascular(FVI)transducer can be used for ND-mediated sonothrombolysis,in *** this study,we determined the minimum peak negative pressure to induce cavitation with low-boiling point phase change nanodroplets and clot *** then compared nanodroplet mediated sonothrombolysis to MB and tPA mediate *** clot lysis as a percent mass decrease in retracted clots was 9±8%,9±5%,16±5%,14±9%,17±9%,30±8%,and 40±9%for the control group,tPA alone,tPA+US,MB+US,MB+tPA+US,ND+US,and ND+tPA+US groups,*** retracted blood clots,combined ND-and tPA-mediated sonothrombolysis was able to significantly enhance retracted clot lysis compared with traditional MB and tPA-mediated sonothrombolysis *** nanodroplet with tPA-mediated sonothrombolysis may provide a feasible strategy for safely treating retracted clots.

关键词： thrombolysis directed boiling

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智能制造视域下自动化专业学生工程创新能力培养

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中国冶金教育 2024年第2期 17-21页

作者：郑秀娟熊凌吴怀宇程磊向森武汉科技大学信息科学与工程学院湖北武汉430081

智能制造对自动化专业人才培养提出了新的要求,具有良好工程实践能力和工程创新能力的自动化专业应用型人才是实现智能制造的重要支撑和关键。为满足这一人才培养需求,总结了本校以“面向产业需求、夯实基础理论、强化工程实践、培养创... 详细信息

智能制造对自动化专业人才培养提出了新的要求,具有良好工程实践能力和工程创新能力的自动化专业应用型人才是实现智能制造的重要支撑和关键。为满足这一人才培养需求,总结了本校以“面向产业需求、夯实基础理论、强化工程实践、培养创新能力”为目标进行的探索与实践。

关键词：智能制造自动化专业工程创新能力

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Asynchronous Fusion in Positioning of Mobile Robot based on Vision-aided Inertial Navigation

Asynchronous Fusion in Positioning of Mobile Robot based on ...

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第36届中国控制会议

作者： Dai Yating Cheng Lei Peng Rui Nong Xiaoqi Xu Wenxia Chen Yang wu huaiyu wu Qiuxuan School of information science and engineering Wuhan university of science and technology School of automation Hangzhou dianzi university School of computer science and engineering Wuhan institute of technology

ISBN: (纸本)9781538629185

This paper presents a binocular vision-aided inertial navigation system of mobile robot for positioning and navigation in the GPS-denied environment with fuzzy *** system consists of two common cameras and a low-cost inertial measurement unit（IMU）.The stereo camera inertial measurement unit（SC-IMU） hardware is designed and fixed on the mobile robot to collect related data.A novel fusion method is proposed according to the two modules operating at different data rates,which fuses the current position of robot acquired by the IMU and the binocular camera system,and achieves the intermittent correction for the localization of inertial navigation system（INS）.We show experimental results to validate the reliability and effectiveness of the proposed algorithm.

关键词： Mobile robot Stereo vision Asynchronous Kalman filter Vision-aided inertial navigation system

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Design of an improved LADRC controller for a dual-joint robotic arm system

Design of an improved LADRC controller for a dual-joint robo...

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第40届中国控制会议

作者： Jiashun Dong huaiyu wu Zhihuan Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology School of Information Science and Engineering Wuhan University of Science and Technology

This paper designs an improved linear active disturbance rejection controller（LADRC） for a dual-joint robotic arm system. Firstly, the model of the dual-joint manipulator was established;Secondly, the manipulator control system based on traditional linear active disturbance rejection controller（LADRC） was designed, and the stability and rapidity of the linear active disturbance rejection control were analyzed. Then, in order to improve the tracking speed and the robustness of the system, an improved LADRC controller with proportional-derivative term（ILADRC PD） is designed for the first joint of the manipulator,and an improved LADRC controller with adaptive gain（ILADRC AG） is designed for the second joint of the ***, numerical simulation is presented via comparing the improved LADRC with the traditional method, which demonstrates that the controller proposed in this study has better performance.

关键词： LADRC dual-joint robotic arm system proportional-derivative item adaptive gain

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Distributed Non-Fragile State Estimation for discrete nonlinear systems with parameter uncertainties

Distributed Non-Fragile State Estimation for discrete nonlin...

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第40届中国控制会议

作者： Ping Xu huaiyu wu Xiujuan Zheng Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

The distributed non-fragile state estimation problem is proposed for a class of discrete nonlinear systems with parameter uncertainties. Considering the parameter uncertainty of the system and the stochastic disturbance of the corresponding filter gain, a distributed non-fragile recursive state estimator is designed. Based on the strategy of linear consensus, a distributed non-fragile recursive filter is derived for each sensor node. Due to some uncertain parameters of the system, the upper bound of the filter error covariance is further derived. Then, the filter gain is obtained by minimizing the upper bound of the error covariance. Finally, an indoor localization system for mobile robots is provided to verify the proposed state estimator.

关键词： Non-fragile state estimation distributed filtering parameter uncertainties wireless sensor network

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Multi-Domain Image Super-Resolution Generative Adversarial Network for Low-Resolution Person Re-Identification

Multi-Domain Image Super-Resolution Generative Adversarial N...

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第40届中国控制会议

作者： Siwen Chen huaiyu wu Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

Person re-identification（ReID） is an important task in video surveillance *** address the issue that various low-resolutions and scale mismatching always exist in the real world,a multi-domain image-to-image translation network,termed Multi-Domain image Super-Resolution Generative Adversarial Network（MSRGAN）,is proposed to learn the mapping relationship between the various low-resolution domains and the high-resolution *** can ensure that the transferred image has a similar resolution as in the target *** is also able to keep the identity information of images from low-resolution domain during the *** addition,a novel ReID model,termed CSA-ReID in which channel attention and spatial attention module are introduced,is designed to learn resolution-invariant deep *** proposed method achieves 90.7% rank-1 accuracy and 96.4% rank-5 accuracy on multiple low-resolutions Market-1501 *** experimental results prove that the proposed method achieves promising generalization ability and accuracy compared with the state-of-theart methods.

关键词： person re-identification cross-resolution super-resolution attention

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Receding Horizon Control for Mobile Robot Path Planning in Unknown Dynamic Environments

Receding Horizon Control for Mobile Robot Path Planning in U...

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第26届中国控制与决策会议

作者： Yang Chen Lei Cheng huaiyu wu Yanhua Yang wuhan University of Science and Technology Shenyang Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479937097

Path planning is one of the critical issues in mobile robot applications. Traditional methods for path planning in unknown dynamic environment generally plan one step rather than multiple controlling steps. This paper proposes an approach with multiple controlling steps which integrates receding horizon control(RHC) for mobile robot path planning in which the obstacle avoidance problem is converted into mathematic constraint. Besides, the distance from target to robot is optimized through involving a quadratic cost function. Finally, a quadratic constrained quadratic programming(QCQP) is generated, from which a sequence including multiple control steps is easily obtained. Based on the proposed approach, simulations are demonstrated to verify the effectiveness of the novel method.

关键词： Path planning Receding Horizon Control Constraints

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