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Robust reinforcement learning with UUB guarantee for safe motion control of autonomous robots

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Science China(Technological Sciences) 2024年第1期67卷 172-182页

作者： ZHANG RuiXian HAN YiNing SU Man LIN ZeFeng LI HaoWei ZHANG LiXian School of Astronautics Harbin Institute of TechnologyHarbin 150001China School of Management Harbin Institute of TechnologyHarbin 150001China Beijing institute of Tracking and Telecommunication Technology Beijing 100094China

This paper addresses the issue of safety in reinforcement learning(RL)with disturbances and its application in the safety-constrained motion control of autonomous *** tackle this problem,a robust Lyapunov value function(rLVF)is *** rLVF is obtained by introducing a data-based LVF under the worst-case disturbance of the observed *** the rLVF,a uniformly ultimate boundedness criterion is *** criterion is desired to ensure that the cost function,which serves as a safety criterion,ultimately converges to a range via the policy to be ***,to mitigate the drastic variation of the rLVF caused by differences in states,a smoothing regularization of the rLVF is *** train policies with safety guarantees under the worst disturbances of the observed states,an off-policy robust RL algorithm is *** proposed algorithm is applied to motion control tasks of an autonomous vehicle and a cartpole,which involve external disturbances and variations of the model parameters,*** experimental results demonstrate the effectiveness of the theoretical findings and the advantages of the proposed algorithm in terms of robustness and safety.

关键词： motion control reinforcement learning robustness stability

Theoretical Exploration of Alloying Effects on Stabilities and Mechanical Properties ofγʹPhase in Novel Co–Al–Nb-Base Superalloys

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Acta Metallurgica Sinica(English Letters) 2024年第7期37卷 1238-1248页

作者： Guan-Cheng Gu Zhao-Jing Han Ze-Yu Chen Zhao-Xuan Li Sheng-Bao Xia Zheng-Ning Li Hua Jin Wei-Wei Xu Xing-Jun Liu Shenzhen Research institute of Xiamen University School of Aerospace EngineeringXiamen UniversityXiamen361005China institute of Materials Genome and Big Data Harbin Institute of TechnologyShenzhen518055China

The new developedγ/γʹCo–Al–Nb-base alloys show great potentials as high-temperature ***,finding appropriate compositions to improve performance of alloys still poses a great challenge to the development of Co–Al–Nb-base *** by the lack of alloying effects on fundamental properties of criticalγʹphase,we systematically performed a theoretical investigation on the effect of alloying elements TM(TM:Ti,V,Cr,Zr,Mo,Ta,W,Re,and Ru)on phase stabilities and mechanical properties of L1_(2)-typeγʹ(Co,Ni)_(3)(Al,Nb).By analyzing the stability ofγʹphase with respect to its competitive B2 and D0_(19) phases,the results shown that Ti,V,and Cr enhance the L1_(2) stability and widen the L1_(2)–D0_(19) energy barrier,in which V yields the maximum *** analysis of electronic structure indicated that the alternation of valence electrons at fermi level would be the atomic origin for doping TM inγʹ*** calculated results of mechanical properties shown that V and Cr are expected to be optimal dopant for enhancing the strength and the ductility ofγʹ*** addition of Ta is also beneficial for enhancing the strength at the slight expense of ductility ofγʹ*** drawing the mechanical maps,the preferred composition range for the phases with desired properties is roughly demarcated in theory for the multi-addition of V/Cr and V/Ta inγʹ*** findings would be useful for optimizing the performance of novelγ/γʹCo–Al–Nb-base superalloys.

关键词： Co-Al-Nb-base superalloys γ/γʹdual-phase Phase stability Mechanical properties First-principle methods

Multi-Robot Cooperative Localization: Time-Varying Unobservable Subspace Analysis and Consistent Algorithm Design

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Journal of Systems Science & Complexity 2024年第5期37卷 1937-1955页

作者： HAO Ning HE Fenghua YAO Yu School of Astronautics Harbin Institute of Technology

This paper investigates the problem of cooperative localization(CL) for a multi-robot system(MRS) under dynamic measurement topology, which involves a group of robots collectively estimating their poses with respect to a common reference frame using ego-motion measurements and robot-to-robot relative measurements. The authors provide a theoretical analysis of the time-varying unobservable subspace and propose a consistent cooperative localization algorithm. First, the authors introduce the relative measurement graph(RMG) to represent the relative pose measurements obtained by the MRS at each instant. Then, the authors derive the local observability matrix over a time *** equivalent relationship is established between the local observability matrix and the spectral matrices of the RMG. Moreover, the authors present a method for constructing the unobservable subspace based on the RMG under different topology conditions. Based on this analysis, the authors design a consistent cooperative localization algorithm that satisfies the constraints of the time-varying unobservable subspace. An analytical optimal solution is derived for the constrained optimization *** Carlo numerical simulations are conducted to demonstrate the consistency and accuracy of the proposed method.

关键词： Consistency cooperative localization multi-robot system null space relative measurement graph time-varying unobservable subspace

Finite-time composite learning control for nonlinear teleoperation systems under networked time-varying delays

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Science China(Information Sciences) 2024年第6期67卷 279-296页

作者： Yana YANG Huixin JIANG Changchun HUA Junpeng LI institute of Electrical Engineering Yanshan University

The robust finite-time synchronization control problem is investigated for master-slave networked nonlinear telerobotics systems(NNTSs) in this article. Although there have been some research achievements on finite-time control for the NNTSs, these studies are based on the strong assumptions of communication time delays or can only achieve finite-time bounded convergence even when the external forces are *** and in view of the importance of these issues, a novel robust composite learning adaptive control scheme rendering the finite-time master-slave synchronization is proposed in this paper. In particular, the influence of time delays on finite-time convergence of the system is analyzed by employing the multi-dimension finite-time small-gain framework. Meanwhile, in order to achieve accurate and fast estimation of uncertain parameters of the system, both the online historical and the instantaneous data of the estimation data are explored to derive the new parameter adaptive law under a more realizable interval-excitation(IE) ***, the convergence of the position/force synchronization errors and the adaptive parameter estimation errors is obtained in finite time, and enhanced robustness of the closed-loop system will also be ***, the superior performance of the proposed control algorithms is validated by numerical simulations and hardware experiments.

关键词： networked teleoperation systems finite-time control exact parameter estimation small-gain theorem unknown communication delays

Performance of the Multilayer Film for Infrared Stealth based on VO_(2) Thermochromism

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Journal of Thermal Science 2024年第4期33卷 1312-1324页

作者： LI Yaru WANG Fuqiang ZHANG Aoyu FU Zhichang SU Ronghua GAO Tengfei WANG Zhen GUO Jicheng ORDOS institute of Technology Ordos017000China School of Energy Science and Engineering Harbin Institute of TechnologyHarbin150001China School of New Energy Harbin Institute of Technology at WeihaiWeihai264209China Defense Engineering institute AMSPLABeijing100850China

With the development of detection and identification technology,infrared stealth is of great value to realize anti-reconnaissance detection of military *** present,infrared stealth materials generally have deficiency,such as complex structure,inconvenient radiation regulation and cumbersome preparation steps,which greatly limit the practical application of infrared stealth *** view of the above deficiency of infrared stealth materials,we proposed a kind of multilayer film for infrared stealth using VO2thermochromism based on the temperature response mechanism of tuna to adjust its color,and through the intelligent reversible radiation regulation mechanism to meet the infrared stealth requirements of tanks in different actual *** results show that when the temperature increases from 300 K to 373 K,the peak emissivity of the film decreases from 94%to 20%in the 8-14μm band after structural optimization,which can realize the infrared stealth of the high temperature target in the 8-14μm *** average emissivity of the multilayer film for infrared stealth at3-5μm and 8-14μm band can be reduced to 34%and 27%at 373 K,and the peak emissivity at 5-8μm band can reach 65%,realizing dual-band infrared stealth in the 3-5μm and 8-14μm bands and heat dissipation in the 5-8μm *** multilayer film for infrared stealth based on VO2thermochromism designed by the authors can meet the characteristics of simple film structure,convenient radiation regulation and simple preparation.

关键词： vanadium dioxide multilayer film infrared stealth thermal management

A novel evasion guidance for hypersonic morphing vehicle via intelligent maneuver strategy

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Chinese Journal of Aeronautics 2024年第5期37卷 441-461页

作者： Xun LI Xiaogang WANG Hongyu ZHOU Yu LI Department of Aerodynamics Harbin Institute of TechnologyHarbin 150001China Beijing Aerospace Technology institute Beijing 100074China

This paper presents a novel evasion guidance law for hypersonic morphing vehicles,focusing on determining the optimized wing's unfolded angle to promote maneuverability based on an intelligent ***,the pursuit-evasion problem is modeled as a Markov decision *** the agent's action consists of maneuver overload and the unfolded angle of wings,which is different from the conventional evasion guidance designed for fixed-shape *** reward function is formulated to ensure that the miss distances satisfy the prescribed bounds while minimizing energy ***,to maximize the expected cumulative reward,a residual learning method is proposed based on proximal policy optimization,which integrates the optimal evasion for linear cases as the baseline and trains to optimize the performance for nonlinear engagement with multiple ***,offline training guarantees improvement of the constructed evasion guidance law over conventional ***,the guidance law for online implementation includes only analytical *** maps from the confrontation state to the expected angle of attack and the unfolded angle while retaining high computational *** show that the proposed evasion guidance law can utilize the change of unfolded angle to extend the maximum overload *** it surpasses conventional maneuver strategies by ensuring better evasion efficacy and higher energy efficiency.

关键词： Hypersonic vehicles Variable-sweep wings Evasion guidance Reinforcement learning Pursuit-evasion problem

Remote sensing of air pollution incorporating integrated-path differential-absorption and coherent-Doppler lidar

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Defence Technology（防务技术） 2024年第1期31卷 594-601页

作者： Ze-hou Yang Yong Chen Chun-li Chen Yong-ke Zhang Ji-hui Dong Tao Peng Xiao-feng Li Ding-fu Zhou School of Physics Beijing Institute of TechnologyBeijing 100081China Southwest institute of Technical Physics Chengdu 610041SichuanChina School of Optics and Photonics Beijing Institute of TechnologyBeijing 100081China

An innovative complex lidar system deployed on an airborne rotorcraft platform for remote sensing of atmospheric pollution is proposed and *** system incorporates integrated-path differential absorption lidar(DIAL) and coherent-doppler lidar(CDL) techniques using a dual tunable TEA CO_(2)laser in the 9—11 μm band and a 1.55 μm fiber *** combining the principles of differential absorption detection and pulsed coherent detection,the system enables agile and remote sensing of atmospheric *** static tests validate the system’s real-time detection capabilities,including the measurement of concentration-path-length product(CL),front distance,and path wind speed of air pollution plumes over long distances exceeding 4 *** experiments is conducted with the *** of the pollutant concentration and the wind field is carried out in an approximately 1 km slant range over scanning angle ranges from 45°to 65°,with a radial resolution of 30 m and10 *** test results demonstrate the system’s ability to spatially map atmospheric pollution plumes and predict their motion and dispersion patterns,thereby ensuring the protection of public safety.

关键词： Differential absorption LIDAR Coherent Doppler lidar Remoting sensing Atmospheric pollution

Low-temperature graphitization of lignin via Co-assisted electrolysis in molten salt

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Green Energy & Environment 2024年第9期9卷 1449-1458页

作者： Shijie Li Wei-Li Song Xue Han Qingqing Cui Yan-li Zhu Shuqiang Jiao institute of Advanced Structure Technology Beijing Institute of Technology State Key Laboratory of Advanced Metallurgy University of Science and Technology Beijing State Key Laboratory of Explosion Science and Technology Beijing Institute of Technology

The ever-growing energy demand and environmental issues have stimulated the development of sustainable energy ***,an efficient and environmentally friendly electrochemical transformation technology was proposed to prepare highly graphitized carbon materials from an abundant natural resource-lignin （LG）.The preparation process mainly includes pyrolytic carbonization of raw LG material and electrochemical conversion of amorphous carbon ***,with the assistance of Co catalyst,the graphitization degree of the products was significantly improved,in which the mechanism was the removal of heteroatoms in LG and the rearrangement of carbon atoms into graphite ***,tunable microstructures （nanoflakes） under catalytic effects could also be observed by controlling the electrolytic *** with the products CN1 （without catalyst） and CN5 （with 10%catalyst）,the specific surface area are 158.957 and202.246 m2g-1,*** used as the electrode material for lithium-ion batteries,CN5 delivered a competitive specific capacity of～350 m Ah g-1（0.5 C） compared with commercial *** strategy proposed in this work provides an effective way to extract value-added graphite materials from lignin and can be extended to the graphitization conversion of any other amorphous carbon precursor materials.

关键词： Lignin Graphitic carbon Electrochemical conversion Lithium-ion batteries

Multi-UAVs Collaborative Path Planning in the Cramped Environment

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 529-538页

作者： Siyuan Feng Linzhi Zeng Jining Liu Yi Yang Wenjie Song School of Automation Beijing Institute of TechnologyNanjing 210039China Nanjing Research institute of Electronics Technology Nanjing 210039China Yichang Testing Technique Research institute Yichang 443003China IEEE

Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few *** benchmark and source code are released in https://***/inin-xingtian/multi-UAVs-path-planner.

关键词： Collision avoidance conflict resolution multi-unmanned aerial vehicles(UAVs)system path planning