A5103232173- Robotics and Sensor-Based Localization
- Robotic Path Planning Algorithms
- Space Satellite Systems and Control
- Indoor and Outdoor Localization Technologies
- Advanced Image and Video Retrieval Techniques
- Spacecraft Dynamics and Control
- Iterative Learning Control Systems
- Advanced Vision and Imaging
- Distributed Control Multi-Agent Systems
- Astro and Planetary Science
- Adaptive Control of Nonlinear Systems
- Control and Dynamics of Mobile Robots
- 3D Surveying and Cultural Heritage
- Underwater Vehicles and Communication Systems
- Advanced Control Systems Optimization
- Guidance and Control Systems
- Remote Sensing and LiDAR Applications
- Piezoelectric Actuators and Control
- Robotics and Automated Systems
- Fault Detection and Control Systems
- Advanced machining processes and optimization
- Vehicle Dynamics and Control Systems
- Autonomous Vehicle Technology and Safety
- Anomaly Detection Techniques and Applications
- Target Tracking and Data Fusion in Sensor Networks
Nanyang Technological University
2016-2025
Beijing Institute of Technology
2021
This paper presents a simple and efficient linear phase lead compensation repetitive control scheme for engineers to develop high-performance power converter systems. The helps controller achieve faster convergence rate, higher tracking accuracy, wider stability region. In the proposed scheme, is plugged into generic state-feedback-controlled Its comprehensive synthesis, which involves principle, analysis, design, modeling, implementation, experiments, systematically completely presented in...
This paper aims to give a general and unifying presentation on modeling of wheel mobile robots (WMRs) in the presence skidding slipping from perspective control design. We present kinematic models that explicitly relate perturbations vehicle slipping. Four configurations are considered, due categorically classified as input-additive, input multiplicative, and/or matched/unmatched perturbations. Furthermore, we WMR's maneuverability with controllability provides measure WMR ability track...
In this paper, a plug-in digital repetitive leaning control scheme is proposed for three-phase constant-voltage constant-frequency (CVCF) pulsewidth modulation inverters to achieve high-quality sinusoidal output voltages. the scheme, controller (RC) plugged into stable one-sampling-ahead-preview-controlled CVCF inverter system using only two voltage sensors. The RC designed eliminate periodic disturbance and/or track reference signal with zero tracking error, design theory of learning...
LiDAR-based SLAM may easily fail in adverse weathers (e.g., rain, snow, smoke, fog), while mmWave Radar remains unaffected. However, current researches are primarily focused on 2D <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$(x,y)$</tex> or 3D ( xmlns:xlink="http://www.w3.org/1999/xlink">$x, y$</tex> , doppler) and LiDAR, limited work can be found for 4D y, z$</tex> doppler). As a new entrant to the market with unique characteristics,...
Most wheeled mobile robot (WMR) controllers have been developed based on nonskidding and nonslipping assumptions. Unfortunately, wheel skidding slipping are inevitable due to tire-deformation; consequently, the stability performance of these not guaranteed. This brief aims develop a global positioning system (GPS)-based path following controller for car-like in presence slipping. The proposed control scheme uses real-time kinematic (RTK)-GPS other aiding sensors measure WMR's posture,...
In this article, a modified convolutional neural network (CNN) algorithm, namely 1D-GAPCNN-SVM, is proposed to address the early anomaly diagnosis problem. Considering fact that traditional 2D-CNN based approaches contain too many model parameters and are not suitable for fast applications using multisensor 1-D time-series measurements, 1D-CNN introduced deal with To reduce number of parameters, global average pooling layer designed substitute fully connected two or three layers. order...
This paper investigates the cyber-security problem for autonomous vehicles under sensor attacks. In particular, a model-based framework is proposed which can detect attacks and identify their sources in order to achieve secure localization of self-driving vehicles. To ensure robustness vehicle against cyber-attacks, redundancy introduced, that deploy multiple sensors, each provides real-time pose observations vehicle. A bank attack detectors developed capture anomalies measurement,...
A J2 dynamic model of satellite relative motion in the form differential equations with reference to local vertical horizontal (LVLH) coordinate is basic and critical study formation flying. Many versions [1–7] have been published. Thework [1] byKechichian presents an exact nonlinear taking into account both perturbation air drag. Kechichian applied techniques Newtonian mechanics vector calculus derive dynamics. However, his very complex does not explicitly include some components...
Bond graph (BG) is an effective tool for modeling complex systems and it has been proven useful fault detection isolation (FDI) continuous systems. BG provides the causal relations between system's variables which allow FDI algorithms to be developed systematically from graph. In same spirit, Hybrid bond (HBG) a BG-based approach avenue model hybrid However, due mode-varying causality properties of HBG, HBG not efficiently-exploited diagnosis. this work, comprehensive study on viewpoints...
In this paper, we focus on the design of a fuel-optimal maneuver strategy to reconfigure satellite formation using low-thrust propulsion system. We cast it as an optimization problem with desired final configuration subject collision avoidance constraints paths chief and all deputy satellites. The terminal orbit states corresponding are ensured by imposing energy-matching condition geometry in formulation. addition, adopt our recently developed relative kinematics model accurately describe...
This research result consists of two parts: one is general theory on causality assignment for hybrid bond graph (HBG) and another application this concept to the quantitative fault diagnosis. From Low et al., 2008, a foundation graph-based detection isolation (FDI) design using HBG laid. Useful properties pertaining from FDI perspectives, diagnostic (DHBG) which advantageous efficient effective applications are proposed. paper continuation our previous (Low 2008). Here, DHBG exploited...
This paper analyzes the motion capability of multiple fixed-wing unmanned aerial vehicle (UAV) formations by taking speed and heading rate constraints individual UAVs into account. Unlike most existing literature investigating multi-UAV formation flying problems, which mainly focus on planner/controller design in order to achieve desired configurations, this aims at providing a quantitative description UAV maneuverability, can serve as metric for evaluating trajectory plans. Three common...
Performing collaborative semantic mapping is a critical challenge for cooperative robots to enhance their comprehensive contextual understanding of the surroundings. This article bridges gap between advances in geometry that relies on pure information fusion, and single robot focuses integrating continuous raw sensor data. In this article, novel hierarchical probabilistic framework proposed, where problem formulated distributed setting. The key novelty work modeling map fusion its...
This article studies the distributed prescribed-time coordination problem for attitude system of multiple spacecraft subject to actuator saturation under communication topology containing a directed spanning tree. The requires that every in formation reaches an agreement state preset time. time is set by user and independent any other control parameters initial spacecraft. To achieve this goal, we first design observer follower estimate leader Next, law proposed utilizing estimated In law,...
Vibratory gyroscopes are the most ideal inertial sensors in 21st century. The amplitude is an important index of vibratory gyroscopes. This article investigates asynchronous tracking control approach for signals Since manufacturing error can result stochastic signal amplitude, Markov systems adopted to approximate Because results jitter, a novel doubly fed controller with stability performance proposed reducing jitter. In practical application, regarding known degree process, partially...
Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, these approaches are built on a tremendous number redundant Gaussian ellipsoids, leading to high memory storage costs, slow training speed. To address the limitation, we propose compact Splatting system reduces parameter size ellipsoids. A sliding window-based masking strategy is first proposed reduce Then observe covariance matrix...
No AccessEngineering NoteAttitude Control of Spacecraft with Actuator UncertaintyQinglei Hu, Bing Xiao, Danwei Wang and Eng Kee PohQinglei HuDepartment Science Engineering, Harbin Institute Technology, 150001, People’s Republic China*Professor, Department number 92, West Da-zhi Street. Member AIAA.Search for more papers by this author, XiaoDepartment China†Ph.D. Candidate, Student WangSchool Electrical Electronic Nanyang Technological University, Singapore 639798, Singapore‡Professor, School...
Operating multiple robots in an unstructured environment is challenging due to its high complexity and uncertainty. In such applications, the integration of individual maps generated by heterogeneous sensors a critical problem, especially fusion sparse dense maps. This paper proposes general multi-level probabilistic framework address integrated map which independent sensor type SLAM algorithm employed. The key novelty this mathematical formulation overall problem derivation decomposition....
Enabling long-term operation during day and night for collaborative robots requires a comprehensive understanding of the unstructured environment. Besides, in dynamic environment, must be able to recognize objects collaboratively build global map. This paper proposes novel approach mapping based on multimodal environmental perception. For each mission, first apply heterogeneous sensor fusion model detect humans separate them acquire static observations. Then, is performed estimate relative...
Allogeneic stem cell transplant (alloSCT) for patients with relapsed/refractory chronic lymphocytic leukemia (CLL) can result in cure some patients. Analogous to chemotherapy and targeted therapy, we hypothesized that allogeneic cellular immunotherapies, including alloSCT donor lymphocyte infusion (DLI), would impact malignant evolution through the application of selective immunologic pressure reciprocal changes T compartment. We tested a cohort 24 treated HLA-matched +/- DLI, two mediators...