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Distributed collaborative complete coverage path planning based on hybrid strategy

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Journal of Systems Engineering and Electronics 2024年第2期35卷 463-472页

作者： ZHANG Jia DU Xin DONG Qichen XIN Bin School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Laboratory of autonomous intelligent unmanned Systems Beijing Institute of TechnologyBeijing 100081China

Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor *** to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.

关键词： multi-agent cooperation unmanned aerial vehicles(UAV) distributed algorithm complete coverage path planning(CCPP)

Control of 2-D Semi-Markov Jump Systems:A View from Mode Generation Mechanism

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 258-260页

作者： Yunzhe Men Jian Sun Jie Chen the National Key Laboratory of autonomous intelligent unmanned Systems the School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing institute of Technology Chongqing Innovation Center Chongqing 401120China the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of autonomous intelligent unmanned Systems Beijing Institute of TechnologyBeijing 100081China

Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-D Markov jump systems(MJSs) or 2-D semi-Markov jump systems(SMJSs).This letter investigates the control of 2-D SMJSs based on a novel mode generation mechanism,which could avoid mode ambiguousness phenomenon caused by the evolution of system mode in two different *** criterion that guarantees the almost surely exponential stability of the system is obtained.A thermal process is studied to demonstrate the availability of the proposed method.

关键词： Markov mode system

Online Consensus Control of Nonlinear Affine Systems From Disturbed Data

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 551-553页

作者： Yifei Li Wenjie Liu Jian Sun Chen Chen Jia Zhang Gang Wang National Key Laborary of autonomous intelligent unmanned Systems Beijing Institute of TechnologyBeijing 100081 Beijing institute of Technology Chongqing Innovation Center Chongqing 401120China

Dear Editor,In this letter, we introduce a novel online distributed data-driven robust control approach for learning controllers of unknown nonlinear multi-agent systems(MASs) using state-dependent representations.

关键词： agent online Online

A comprehensive review on the resynthesis of ternary cathode active materials from the leachate of Li-ion batteries

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Journal of Energy Chemistry 2024年第8期95卷 446-463,I0010页

作者： Dongwoo Kim Hyeoncheol Joo Chanmin Kim Seoa Kim Wan-Yi Kim Sangwoo Han Joongkil Park Soyeon Park Heechul Jung Sanghyuk Park Kyungjung Kwon Department of Energy and Mineral Resources Engineering Sejong UniversitySeoul 05006Republic of Korea LIB Recycling Research Group LIB Materials R&D CenterPOSCO HoldingsPohang 37859Republic of Korea Department of Future Energy Convergence Seoul National University of Science&Technology232 Gongreung-roNowon-guSeoul 01811Republic of Korea autonomous intelligent unmanned flying vehicles institute Sejong UniversitySeoul 05006Republic of Korea

This review highlights the importance of recovering valuable metals from spent Li-ion battery(LIB)cathodes through the resynthesis of cathode active materials(CAMs).The resynthesis process of CAMs,a promising recycling method that directly produces CAM precursors from LIB leachate,is *** process encompasses six key steps,including pretreatment,leaching,purification,adjustment of metal concentrations,precursor synthesis,and *** review also investigates the potential introduction of impurity elements during CAM resynthesis and provides tolerance levels for these impurities based on thorough reference ***,it addresses challenges related to the commercialization of the resynthesis ***,this review represents the first comprehensive assessment of CAM resynthesis,including the systematic evaluation of 12 impurity elements(Fe,Li,Al,Cu,C,P,F,Na,Cl,S,Mg,and Zn).Overall,this comprehensive review is poised to support the commercial development of resynthesized CAMs by offering valuable guidelines for managing impurities and streamlining the purification process.

关键词： Li-ion battery Recycling Resynthesis Leachate Impurity

Adaptive PI Control Based Stability Margin Configuration of Aircraft Control Systems with Unknown System Parameters and Time Delay

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Journal of Systems Science & Complexity 2024年第4期37卷 1507-1525页

作者： ZHANG Zhibing ZHOU Dapeng WANG Yeguang GAO Wanxin ZHANG Yanjun AVIC Shenyang Aircraft Design and Research institute Shenyang 110035China School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Lab of autonomous intelligent unmanned Systems Beijing Institute of TechnologyBeijing 100081China

The stability margin is a vital indicator for assessing the safety level of aircraft control *** should maintain sufficient stability margin to ensure safety during flight,especially in the process of large maneuver *** stability margin is generally quantified by the Bode diagram,which strictly depends on the system parameters and the open-loop transfer ***,due to the uncertain flight environments,transmission delays of sensors and mode switchings,etc.,there exist large parameter and structure uncertainties in the aircraft control systems,which make it difficult to precisely configure the stability margin to the desired value by the usual control *** address this problem,an indirect adaptive control strategy is proposed in this paper,where an adaptive PI control law with the capability of self-configuration of stability margin is *** developed control law not only achieves stable time-varying command tracking in the time domain,but also is able to automatically configure the phase margin and gain margin in the frequency ***,the simulation of the one-degree-of-freedom roll rate control model of the air vehicle verifies the validity of the proposed control method.

关键词： Adaptive control aircraft control parameter uncertainty stability margin configuration

Adaptive Sensor-Fault Tolerant Control of unmanned Underwater vehicles With Input Saturation

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 907-918页

作者： Xuerao Wang Qingling Wang Yanxu Su Yuncheng Ouyang Changyin Sun the School of Artificial Intelligence the Engineering Research Center of Autonomous Unmanned System Technologyand the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent TechnologyMinistry of EducationAnhui UniversityHefei 230601China the School of Automation Southeast UniversityNanjing 210096China

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean *** active sensor fault-tolerant control scheme is ***,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor ***,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback *** is shown that the effect of sensor faults is online estimated and compensated by an adaptive *** the proposed controller,the tracking error and estimation error can asymptotically converge to ***,simulation results are performed to demonstrate the effectiveness of the proposed method.

关键词： Asymptotic stability fault-tolerant control input saturation robust integral of the sign of error unmanned underwater vehicle

Learning Scalable Task Assignment with Imperative-Priori Conflict Resolution in Multi-UAV Adversarial Swarm Defense Problem

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Journal of Systems Science & Complexity 2024年第1期37卷 369-388页

作者： ZHAO Zhixin CHEN Jie XIN Bin LI Li JIAO Keming ZHENG Yifan School of Electronics and Information Engineering Tongji UniversityShanghai 201804China Shanghai institute of intelligent Science and Technology Tongji UniversityShanghai 201804China School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Laboratory of autonomous intelligent unmanned Systems Beijing 100081China Shanghai institute of intelligent Science and Technology Tongji UniversityShanghai 201804China.

The multi-UAV adversary swarm defense(MUASD)problem is to defend a static base against an adversary UAV swarm by a defensive UAV *** the problem into task assignment and low-level interception strategies is a widely used ***-based approaches for task assignment are a promising *** studies on learning-based methods generally assume decentralized decision-making architecture,which is not beneficial for conflict *** contrast,centralized decision-making architecture is beneficial for conflict resolution while it is often detrimental to *** achieve scalability and conflict resolution simultaneously,inspired by a self-attention-based task assignment method for sensor target coverage problem,a scalable centralized assignment method based on self-attention mechanism together with a defender-attacker pairwise observation preprocessing(DAP-SelfAtt)is ***,an imperative-priori conflict resolution(IPCR)mechanism is proposed to achieve conflict-free ***,the IPCR mechanism is parallelized to enable efficient *** validate the algorithm,a variant of proximal policy optimization algorithm(PPO)is employed for training in scenarios of various *** experimental results show that the proposed algorithm not only achieves conflict-free task assignment but also maintains scalability,and significantly improve the success rate of defense.

关键词： Conflict resolution reinforcement learning scalability task assignment.

An adaptive large neighborhood search for the multi-point dynamic aggregation problem

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Control Theory and Technology 2024年第3期22卷 360-378页

作者： Shengyu Lu Bin Xin Jie Chen Miao Guo School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Lab of autonomous intelligent unmanned Systems Beijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

The multi-point dynamic aggregation(MPDA)problem is a challenging real-world *** the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required to travel between these tasks to change the time-varying state of each *** robots are allowed to collaborate on the same task or work separately until all tasks are *** is challenging to generate an effective task execution plan due to the tight coupling between robots abilities and tasks'incremental rates,and the complexity of robot *** effectiveness consideration,we use the variable length encoding to avoid redundancy in the solution *** creatively use the adaptive large neighborhood search(ALNS)framework to solve the MPDA *** the proposed algorithm,high-quality initial solutions are generated through multiple problem-specific solution construction *** heuristics are also used to fix the broken solution in the novel integrated decoding-construction repair process of the ALNS *** results of statistical analysis by the Wilcoxon rank-sum test demonstrate that the proposed ALNS can obtain better task execution plans than some state-of-the-art algorithms in most MPDA instances.

关键词： Adaptive large neighborhood search(ALNS) Multi-point dynamic aggregation(MPDA) Heuristic solution construction Multi-robot collaboration

Lead-free perovskites-based photonic synaptic devices with zero electric energy consumption

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Science China(Information Sciences) 2024年第6期67卷 433-441页

作者： Dandan HAO Di YANG Haixia LIANG Jia HUANG Fukai SHAN College of Electronics and Information Qingdao University Key Laboratory of Biofuels Qingdao Institute of Bioenergy and Bioprocess TechnologyChinese Academy of Sciences School of Materials Science and Engineering Tongji University National Key Laboratory of autonomous intelligent unmanned Systems Tongji University

The von Neumann bottleneck is a critical limitation in synaptic devices. Therefore, artificial synaptic devices resembling biological neuromorphic synapses have been developed to overcome the von Neumann bottleneck. However, synaptic devices require voltages, which results in considerable energy consumption. Here, photonic synaptic devices with the vertical structure of indium tin oxide（ITO）/SnO2/Al2O3/CsBi3I10/Au are fabricated, which can work in the self-powered mode owing to the photovoltaic effect endowed by a vertical multilayer structure. Several fundamental synaptic functions, such as excitatory postsynaptic current, paired-pulse facilitation, short-term plasticity（STP）, long-term plasticity（LTP）, pulse-frequency-dependent plasticity, transition of STP to LTP, and the learning experience are emulated. Moreover, Morse-coded external light information is decoded by self-powered photonic synaptic devices. The results indicate that self-powered photonic synaptic devices based on lead-free perovskites exhibit great potential for efficient neuromorphic computing and optical wireless communication.

关键词： photonic synaptic devices lead-free perovskites zero energy consumption synaptic plasticity Morse code

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