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Collaborative positioning for swarms:A brief survey of vision,liDAR and wireless sensors based methods

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Defence technology（防务技术） 2024年第3期33卷 475-493页

作者： Zeyu li Changhui Jiang Xiaobo Gu ying Xu Feng zhou Jianhui Cui College of Geodesy and Geomatics Shandong University of Science and TechnologyQingdao266590China Geoloc Laboratory Universite Gustave EiffelParis77454France school of automation Guangdong University of TechnologyGuangzhou510006China

As positioning sensors,edge computation power,and communication technologies continue to develop,a moving agent can now sense its surroundings and communicate with other *** receiving spatial information from both its environment and other agents,an agent can use various methods and sensor types to localize *** its high flexibility and robustness,collaborative positioning has become a widely used method in both military and civilian *** paper introduces the basic fundamental concepts and applications of collaborative positioning,and reviews recent progress in the field based on camera,liDAR(light Detection and Ranging),wireless sensor,and their *** paper compares the current methods with respect to their sensor type,summarizes their main paradigms,and analyzes their evaluation ***,the paper discusses the main challenges and open issues that require further research.

关键词： Collaborative positioning Vision liDAR Wireless sensors Sensor fusion

Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 956-964页

作者： li-ying Hao Gege Dong Tieshan li zhouhua Peng the school of Marine Electrical Engineering Dalian Maritime UniversityDalian 116026China the school of automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731the Navigation CollegeDalian Maritime UniversityDalian 116026 the Yangtze Delta Region Institute(Huzhou) Huzhou 313001China

This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external *** surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to *** reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency *** nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external *** using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of *** with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance ***,the comparison results through simulations are given to verify the effectiveness of the proposed method.

关键词： Actuator faults autonomous surface vehicle(ASVs) improved artificial potential function nonlinear state observer obstacle avoidance

Constructing long-cycling crystalline C_(3)N_(4)-based carbonaceous anodes for sodium-ion battery via N configuration control

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Carbon Energy 2024年第1期6卷 159-171页

作者： ying Wang Hongguan li Shuanlong Di Boyin Zhai Ping Niu Antonios Kelarakis Shulan Wang li li school of Metallurgy Northeastern UniversityShenyangLiaoningChina State Key Laboratory of Rolling and automation Northeastern UniversityShenyangLiaoningChina Department of Chemistry College of ScienceNortheastern UniversityShenyangLiaoningChina school of Natural Sciences UCLan Research Centre for Smart MaterialsUniversity of Central LancashirePrestonUK Foshan Graduate school of Innovation Northeastern UniversityFoshanGuangdongChina

Carbon nitrides with two-dimensional layered structures and high theoretical capacities are attractive as anode materials for sodium-ion batteries while their low crystallinity and insufficient structural stability strongly restrict their practical *** carbon nitrides with conductive carbon may relieve these ***,little is known about the influence of nitrogen(N)configurations on the interactions between carbon and C_(3)N_(4),which is fundamentally critical for guiding the precise design of advanced C_(3)N_(4)-related ***,highly crystalline C_(3)N_(4)(poly(triazine imide),PTI)based all-carbon composites were developed by molten salt *** importantly,the vital role of pyrrolic-N for enhancing charge transfer and boosting Na+storage of C_(3)N_(4)-based composites,which was confirmed by both theoretical and experimental evidence,was spot-highlighted for the first *** elaborately controlling the salt composition,the composite with high pyrrolic-N and minimized graphitic-N content was *** from the formation of highly crystalline PTI and electrochemically favorable pyrrolic-N configurations,the composite delivered an unusual reverse growth and record-level cycling stability even after 5000 cycles along with high reversible capacity and outstanding full-cell capacity *** work broadens the energy storage applications of C_(3)N_(4) and provides new prospects for the design of advanced all-carbon electrodes.

关键词： anode highly crystalline C_(3)N_(4) N configuration sodium-ion batteries ultra-long cyclic stability

A Non-line-of-Sight Error Mitigation Method in Wireless Location System

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A Non-Line-of-Sight Error Mitigation Method in Wireless Loca...

Investigation of Power Density Amplification in Stacked Triboelectric Nanogenerators

2009 2nd IEEE International Conference on Computer Science and Information technology（ICCSIT 2009）

作者： He Yuanhua and li hongsheng school of automation wuhan university of technology WHUT wuhan china

A key obstacle to high accuracy location is the None line of Sight （NLOS） transmission of signal in wireless *** adds positive error to distance *** effective location algorithm based on nonlinear constraint optimization is proposed to mitigate NLOS *** proposed method forms distance error optimization constraint using the geometric relationship between the base stations and mobile *** improves the location accuracy by calibrating the distance measurements and modifying the objective *** results show that this new method can efficiently reduce the effect of the NLOS error,and is robust to different NLOS error.

关键词： wireless location non-line-of-sight constrained optimization

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Energy & Environmental Materials 2024年第5期7卷 372-379页

作者： Fan Shen Qin Zhang Hengyu Guo Chen Cao ying Gong Junlei Wang Yan Peng Zhongjie li school of Mechatronic Engineering and automation Shanghai University Department of Applied Physics Chongqing University Institute of Artificial Intelligence School of Future Technology Shanghai University school of Mechanical and Power Engineering Zhengzhou University Shanghai Artificial Intelligence Laboratory

In engineering practice, the output performance of contact separation TENGs(CS-TENGs) increases with the increase of tribo-pair area, which includes increasing the size of single layer CS-TENGs (SCS-TENGs) or the number of units (zigzag TENGs). However, such two strategies show significant differences in output power and power density. In this study, to seek a universal CS-TENG design solution, the output performance of a SCS-TENG and a zigzag TENG (Z-TENG) is systematically compared, including voltage,current, transferred charge, instantaneous power density, and charging power density. The relationship between contact area and output voltages is explored, and the output voltage equation is fitted. The experimental results reveal that SCS-TENGs yield better performance than Z-TENGs in terms of voltage, power, and power density under the same total contact area.

关键词： contact separation power density triboelectric nanogenerators zigzag

A comparative study of data-driven battery capacity estimation based on partial charging curves

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Journal of Energy Chemistry 2024年第1期88卷 409-420,I0010页

作者： Chuanping lin Jun Xu Delong Jiang Jiayang Hou ying liang Xianggong Zhang Enhu li Xuesong Mei State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049ShaanxiChina Shaanxi Key Laboratory of Intelligent Robots School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049ShaanxiChina Department of Electrical Engineering and automation Luoyang Institute of Science and TechnologyLuoyang 471023HenanChina wuhan Institute of Marine Electric Propulsion China State Shipbuilding Corporation LimitedWuhan 430064HubeiChina Gresgying Digital technology Ltd. Xi’an 710086ShaanxiChina

With its generality and practicality, the combination of partial charging curves and machine learning(ML) for battery capacity estimation has attracted widespread attention. However, a clear classification,fair comparison, and performance rationalization of these methods are lacking, due to the scattered existing studies. To address these issues, we develop 20 capacity estimation methods from three perspectives:charging sequence construction, input forms, and ML models. 22,582 charging curves are generated from 44 cells with different battery chemistry and operating conditions to validate the performance. Through comprehensive and unbiased comparison, the long short-term memory(LSTM) based neural network exhibits the best accuracy and robustness. Across all 6503 tested samples, the mean absolute percentage error(MAPE) for capacity estimation using LSTM is 0.61%, with a maximum error of only 3.94%. Even with the addition of 3 m V voltage noise or the extension of sampling intervals to 60 s, the average MAPE remains below 2%. Furthermore, the charging sequences are provided with physical explanations related to battery degradation to enhance confidence in their application. Recommendations for using other competitive methods are also presented. This work provides valuable insights and guidance for estimating battery capacity based on partial charging curves.

关键词： lithium-ion battery Partial charging curves Capacity estimation Data-driven Sampling frequency

Partial Inverse Grain Size Dependence of Strength in High Mn Steels Microalloyed With Nb

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Journal of Iron and Steel Research International 2012年第9期19卷 68-72页

作者： DING Hua 1 , 2 , li Hua-ying 1 , DING Hao 1 , QIU Chun-lin 2 , TANG Zheng-you 1 ( 1.school of Materials and Metallurgy , Northeastern university , Shenyang 110819 , liaoning , china 2.State Key Lab of Rolling and automation , Northeastern university , Shenyang 110819 , liaoning , china ) school of Materials and Metallurgy Northeastern University Shenyang Liaoning China State Key Lab of Rolling and automation Northeastern University Shenyang Liaoning China

Two steels without and with Nb addition were chosen to investigate the effects of Nb on the microstructures and the mechanical properties of Fe-Mn-Al-Si *** results revealed that Nb refined the grains markedly and both TRIP and TWIP effects occurred during deformation *** Nb containing steel possesses higher yield strength and much lower tensile strength , the latter being explained by the suppression of TRIP effect due to the increase of stacking fault *** indicates grain refining is secondary for strengthening of steels when TRIP or TWIP effect exists during the deformation of low carbon and high Mn steels.

关键词： grain size strength high Mn steel Nb

A Visual Attention Model for Robot Object Tracking

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International Journal of automation and computing 2010年第1期7卷 39-46页

作者： Jin-Kui Chu Rong-Hua li Qing-ying li Hong-Qing Wang school of Mechanical Engineering, Dalian university of technology, Dalian 116024, PRC school of Mechanical Engineering Dalian University of Technology Dalian PRC

Inspired by human behaviors, a robot object tracking model is proposed on the basis of visual attention mechanism, which is fit for the theory of topological perception. The model integrates the image-driven, bottom-up attention and the object-driven, top-down attention, whereas the previous attention model has mostly focused on either the bottom-up or top-down attention. By the bottom-up component, the whole scene is segmented into the ground region and the salient regions. Guided by top-down strategy which is achieved by a topological graph, the object regions are separated from the salient regions. The salient regions except the object regions are the barrier regions. In order to estimate the model, a mobile robot platform is developed, on which some experiments are implemented. The experimental results indicate that processing an image with a resolution of 752 × 480 pixels takes less than 200 ms and the object regions are unabridged. The analysis obtained by comparing the proposed model with the existing model demonstrates that the proposed model has some advantages in robot object tracking in terms of speed and efficiency.

关键词： Object tracking visual attention topological perception salient regions weighted similarity equation

Space advanced technology demonstration satellite

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Science china(Technological Sciences) 2024年第1期67卷 240-258页

作者： ZHANG XiaoFeng CHEN Wen ZHU XiaoCheng MENG Na HE JunWang BI XingZi ZHANG YongHe SHI Qi li Fei liU Rui FENG ZhengGong liU liu li JinSong WU HaiChen XU DongXiao li TaiJie HUANG JiangJiang liU Shuo li TianTong YU XianSheng GAO Yang zhou Heng BAN HanYu ZHANG Yanli ZHANG YueTing YANG yingQuan HE Tao DUAN Xuliang CHEN Xin WANG YaMin SUN AnTai ZHANG KuoXiang SUN ying WANG YaoBin FAN ChengCheng XIONG Shaolin li XinQiao WEN XiangYang liNG ZhiXing SUN XiaoJin ZHANG Chen BAI XianYong WANG ZhanShan DENG YuanYong TIAN Hui YANG JianFeng XUE HongBo SANG Peng liU JinGuo ZHENG HuiLong ZHU Xiang HE JianWu li Hui XU LuXiang XU ShuYan CHEN WenWu liU ZhenDong WANG Zhaoli MAO XiangLong GAO Rong li ZongXuan DING GuoPeng WANG XinYu DOU RunJiang WENG LuBin LUO Hao WANG YaPing liANG XianFeng FANG ZiRuo Innovation Academy for Microsatellites Chinese Academy of SciencesShanghai 201203China Institute of High Energy Physics Chinese Academy of SciencesBeijing 100049China National Astronomical Observatory of china Beijing 100101China Shanghai Institute of Technical Physics Chinese Academy of SciencesShanghai 200083China Institute of Precision Optical Engineering School of Physics Science and EngineeringTongji UniversityShanghai 200092China school of Earth and Space Sciences Peking UniversityBeijing 100871China Xi’an Institute of Optics and Precision Mechanics Chinese Academy of SciencesXi’an 710119China National Space Science Center Chinese Academy of SciencesBeijing 100190China Shenyang Institute of automation Chinese Academy of SciencesShenyang 110016China Institute of Engineering Thermophysics Chinese Academy of SciencesBeijing 100190China Institute of Mechanics Chinese Academy of SciencesBeijing 100190China Shanghai Institute of Organic Chemistry Chinese Academy of SciencesShanghai 200032China Hangzhou Institute for Advanced Study University of Chinese Academy of SciencesHangzhou 310024China Nanyang Technological university Singapore 569830Singapore Dalian Institute of Chemical Physics Chinese Academy of SciencesDalian 116023China Technical Institute of Physics and Chemistry Chinese Academy of SciencesBeijing 100049China Changchun Institute of Optics Fine Mechanics and PhysicsChinese Academy of SciencesChangchun 130033China Institute of Semiconductors Chinese Academy of SciencesBeijing 100083China Institute of automation Chinese Academy of SciencesBeijing 100190China school of Aeronautics and Astronautics Zhejiang UniversityHangzhou 310058China

The Space Advanced technology demonstration satellite(SATech-01),a mission for low-cost space science and new technology experiments,organized by Chinese Academy of Sciences(CAS),was successfully launched into a Sun-synchronous orbit at an altitude of~500 km on July 27,2022,from the Jiuquan Satellite Launch *** as an experimental platform for space science exploration and the demonstration of advanced common technologies in orbit,SATech-01 is equipped with 16 experimental payloads,including the solar upper transition region imager(SUTRI),the lobster eye imager for astronomy(LEIA),the high energy burst searcher(HEBS),and a High Precision Magnetic Field Measurement System based on a CPT Magnetometer(CPT).It also incorporates an imager with freeform optics,an integrated thermal imaging sensor,and a multi-functional integrated imager,*** paper provides an overview of SATech-01,including a technical description of the satellite and its scientific payloads,along with their on-orbit performance.

关键词： SATech-01 spacecraft design scientific instruments on-orbit performance