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Online Multi-Object Tracking Under Moving Unmanned Aerial Vehicle Platform Based on Object Detection and Feature Extraction Network

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 388-399页

作者：刘增敏王申涛姚莉秀蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China key laboratory of System Control and Information Processing of ministry of education Shanghai 200240China Shanghai Engineering Research Center of intelligent Control and Management Shanghai 200240China key laboratory of marine intelligent equipment and System of ministry of education Shanghai Jiao Tong UniversityShanghai 200240China JD Business Growth Department Beijing 100176China Institute of marine equipment Shanghai Jiao Tong UniversityShanghai 200240China

In order to solve the problem of small object size and low detection accuracy under the unmanned aerial vehicle(UAV)platform,the object detection algorithm based on deep aggregation network and high-resolution fusion module is ***,a joint network of object detection and feature extraction is studied to construct a real-time multi-object tracking *** the problem of object association failure caused by UAV movement,image registration is applied to multi-object tracking and a camera motion discrimination model is proposed to improve the speed of the multi-object tracking *** simulation results show that the algorithm proposed in this study can improve the accuracy of multi-object tracking under the UAV platform,and effectively solve the problem of association failure caused by UAV movement.

关键词： moving unmanned aerial vehicle(UAV)platform small object feature extraction image registration multi-object tracking

Design and Verification of Parallel Hip Exoskeleton Considering Output Torque Anisotropy

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Journal of Bionic Engineering 2024年第3期21卷 1305-1320页

作者： Jilong Xu Yunzhan Niu Fucai Liu Engineering Research Center of the ministry of education for intelligent Control System and intelligent equipment Yanshan UniversityQinhuangdao066004China key laboratory of Industrial Computer Control Engineering of Heibei Province Yanshan UniversityQinhuangdao066004China College of Mechanical Engineering Yanshan UniversityQinhuangdao066004China

In rehabilitation training,it is crucial to consider the compatibility between exoskeletons and human legs in ***,most exoskeletons today adopt an anthropomorphic serial structure,which results in rotational centers that are not precisely aligned with the center of the hip *** address this issue,we introduce a novel exoskeleton called the Parallel Hip Exoskeleton(PH-Exo)in this ***-Exo is meticulously designed based on the anisotropic law of output *** the friction of the drive components,a dynamic model of the human-machine complex is *** analysis demonstrates that PH-Exo not only exhibits outstanding torque performance but also achieves high controllability in both flexion/extension and adduction/abduction ***,a robust controller is designed to address model uncertainty,friction,and external *** experiments indicate that under the control of the robust controller,each motor achieves excellent tracking performance.

关键词： Hip exoskeleton Parallel mechanism Misalignment Anisotropy Output torque

Cognitive Navigation for intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru Cui Zhe Liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE key laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

State estimation for delayed switched positive systems: delayed radius approach

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Science China(Information Sciences) 2024年第8期67卷 190-205页

作者： Weizhong CHEN Zhongyang FEI Xudong ZHAO Zheng-Guang WU School of Electronics and Information Xi'an Polytechnic University Research Institute of intelligent Control and Systems Harbin Institute of Technology key laboratory of intelligent Control and Optimization for Industrial equipment of ministry of education Dalian University of Technology School of Control Science and Engineering Dalian University of Technology State key laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, an interval estimation scheme is developed for delayed switched positive systems（DSPS） with mode-dependent average dwell time switching. A lossless zonotopic estimation approach is proposed for the delayed intersection zonotope with the positive generator matrix. First, considering the existence of asynchronism between the system mode and the correction matrix mode, the mismatched intersection zonotope is constructed for DSPS to verify the consistency between the system model and ***, by utilizing the introduced radius definitions, the ?∞performance is addressed to optimize the size of delayed intersection zonotopes. Subsequently, we present a joint-design approach of switching signals and the mode-dependent correction matrix by constructing positive generator matrix-based delayed radius functions. Furthermore, guaranteed nonnegative state bounds are derived for the considered DSPS based on the proposed lossless zonotopic estimation criteria. Finally, detailed simulations are conducted to validate the feasibility and superiority of the developed methods.

关键词： delayed switched positive systems interval estimation asynchronous correction matrix zonotopes mode-dependent average dwell time

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Algorithm for Solving Traveling Salesman Problem Based on Self-Organizing Mapping Network

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 463-470页

作者：朱江辉叶航航姚莉秀蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China key laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China Shanghai Engineering Research Center of intelligent Control and Management Shanghai 200240China key laboratory of marine intelligent equipment and System Ministry of EducationShanghai 200240China Huawei Technologies Co. Ltd.Shanghai 201206China

Traveling salesman problem(TSP)is a classic non-deterministic polynomial-hard optimization *** on the characteristics of self-organizing mapping(SOM)network,this paper proposes an improved SOM network from the perspectives of network update strategy,initialization method,and parameter *** paper compares the performance of the proposed algorithms with the performance of existing SOM network algorithms on the TSP and compares them with several heuristic *** show that compared with existing SOM networks,the improved SOM network proposed in this paper improves the convergence rate and algorithm *** with iterated local search and heuristic algorithms,the improved SOM net-work algorithms proposed in this paper have the advantage of fast calculation speed on medium-scale TSP.

关键词： traveling salesman problem(TSP) self-organizing mapping(SOM) combinatorial optimization neu-ral network

Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization

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IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2082-2098页

作者： Wei Ren Zhuo-Rui Pan Weiguo Xia Xi-Ming Sun the key laboratory of intelligent Control and Optimization for Industrial equipment of ministry of education Dalian University of Technology the School of Control Science and Engineering Dalian University of Technology

Linear temporal logic(LTL) is an intuitive and expressive language to specify complex control tasks, and how to design an efficient control strategy for LTL specification is still a challenge. In this paper, we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL specifications. Based on the regions of interest involved in the LTL formula, an accepting path is derived first to provide a high-level solution for the controller synthesis problem. Second, we develop a dynamic quantization based approach to verify the realization of the accepting *** realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller design. Third, the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control strategy. Both abstraction construction and controller design are local and dynamic, thereby resulting in the potential reduction of the computational complexity. Since each quantization region can be considered locally and individually,the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing methods. Finally,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots.

关键词： Abstraction-based control design dynamic quantization formal methods linear temporal logic (LTL)

Flow Field Simulation and Parameter Analysis of Hydraulic Unbalanced Bionic Self-recovery Actuator for Rotary equipment

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Journal of Bionic Engineering 2024年第1期21卷 325-343页

作者： Wei Li Xin Pan Dehong Ge Jinji Gao key laboratory of Engine Health Monitoring-Control and Networking of ministry of education Beijing University of Chemical TechnologyBeijing 100029China Beijing key laboratory of High-End Mechanical equipment Health Monitoring and Self-Recovery Beijing University of Chemical TechnologyBeijing 100029China

The rotor is the most important component of rotating machinery,and the vibration produced by its mass unbalance has a serious influence on the secure and steady operation of the machine,so an effective online suppression technology is urgently needed.A new hydraulic unbalanced bionic self-recovery system is introduced,imitating the way of manually repairing faulty *** accomplish the effect of actuator mass redistribution,the technology employs pressurized air to drive the quantitative transfer of liquid in the reservoir cavity at opposite *** can complete the online adjustment of the equipment's balancing state and suppress the unbalanced vibration of equipment in real time,which gives the equipment the ability to maintain an autonomous health state and improve equipment *** composition and working principle of the system are introduced in detail,and the key performance parameters,such as the minimum running speed and the balancing liquid transfer speed,are analyzed *** fluid-solid coupling model of the actuator was established,and the two-phase flow from inside the hydraulic unbalanced bionic self-recovery actuator was simulated under multiple working conditions and the performance parameters were quantitatively analyzed.A balancing simulation test bed was built,and its effectiveness was verified by performance parameter tests and unbalanced bionic self-recovery *** experimental results show that the mass distribution adjustment of the balancing disk can be achieved using different viscosity balancing liquid,and the response of liquid viscosity 10 cSt is faster than that of liquid viscosity 100 cSt in the process of balancing liquid transfer,and the time is reduced by more than 75%;the system can reduce the simulated rotor amplitude from 18.3μm to 10.6μm online in real time,which provides technical support for the subsequent development of a new generation of bionic intelligent equipment.

关键词： Engineering self-recovery-Bionics Simulation analysis Self-recovery regulation

Regulating electrochemical performances of lithium battery by external physical field

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Rare Metals 2024年第6期43卷 2391-2417页

作者： Shi-Kang Wang Shuai Wu Yi-Cheng Song Hassanien Gomaa Cui-Hua An Qi-Bo Deng Ning Hu School of Mechanical Engineering School of Materials Science and EngineeringHebei University of TechnologyTianjin 300401China Shanghai key laboratory of Mechanics in Energy Engineering Shanghai 200444China Department of Chemistry Faculty of ScienceAl-Azhar UniversityAssiut 71524Egypt Tianjin key laboratory of Power Transmission and Safety Technology for New Energy Vehicles Tianjin 300401China State key laboratory of Reliability and Intelligence Electrical equipment Key Laboratory of Advanced Intelligent Protective Equipment TechnologyMinistry of EducationHebei University of TechnologyTianjin 300130China

Lithium batteries have always played a key role in the field of new energy ***,non-controllable lithium dendrites and volume dilatation of metallic lithium in batteries with lithium metal as anodes have limited their ***,a large number of studies have shown that the electrochemical performances of lithium batteries can be enhanced through the regulation of external physical ***,it significantly hinders the growth of lithium dendrites and promoting the reaction *** review summarizes recent innovations in the investigation of various physical fields of lithium *** application of magnetic field in the synthesis of lithium battery electrode materials is *** influence factors and regulation mechanism of various physical fields on the electrochemical performance of lithium batteries are reviewed *** addition,the current research status and existing challenges,along with future directions for the evolution of lithium batteries,are minutely discussed and *** strategies for the further evolution of lithium batteries have also been provided.

关键词： Lithium battery External field assist Reaction kinetics Lithium dendrite

Numerical analysis of wind effects on aerodynamic characteristics of a ducted fan

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Chinese Journal of Aeronautics 2024年第5期37卷 263-280页

作者： Yiwei LUO Tianfu AI Yuhang HE Bin XU Yuping QIAN Yangjun ZHANG State key laboratory of intelligent Green Vehicle and Mobility School of Vehicle and MobilityTsinghua UniversityBeijing 100084China key laboratory of Conveyance and equipment ministry of education East China Jiaotong UniversityNanchang 330013China Vehicle Research Center School of Mechanical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

Ducted fans have been extensively used in Unmanned Aerial Vehicles(UAVs)for a variety of missions because of high efficiency,high safety and low ***,as a kind of typical meteorological condition,brings significant aerodynamic interference to the ducted fan,which seriously threatens flight stability and *** this work,the numerical simulation with the Unsteady Reynolds Averaged Navier-Stokes(URANS)method and the sliding mesh technique is performed to evaluate the steady wind *** results show that the wind will lead to serious unsteady effects in the flow field,and the thrust fluctuates at the blade passing frequency of 200 *** the wind speed increases,the rotor thrust increases,the duct thrust decreases,and the total thrust changes *** instability may occur when the wind speed exceeds 8 m/*** the angle of low-speed wind increases,the rotor thrust changes little,the duct thrust increases,and the total thrust *** addition,we figure out that cases with the same crosswind ratio are similar in results,and increasing the rotating speed or fan radius is beneficial to performance improvement in *** findings are essential to the ducted fan design and UAV flight control design for stable and safe operations in wind conditions.

关键词： Unmanned Aerial Vehicle(UAV) Ducted fan Wind effect Thrust fluctuations Computational Fluid Dynamics(CFD)