Tight Collision Probability for UAV Motion Planning in Uncertain Environment

Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate robot localization and modeling errors further exacerbate these challenges. Recent research on UAV motion planning in static environments has been unable to cope with the rapidly changing surroundings, resulting in trajectories that may not be feasible. Moreover, previous approaches that have addressed dynamic obstacles or external disturbances in isolation are insufficient to handle the complexities of such environments. This paper proposes a reliable motion planning framework for UAVs, integrating various uncertainties into a chance constraint that characterizes the uncertainty in a probabilistic manner. The chance constraint provides a probabilistic safety certificate by calculating the collision probability between the robot's Gaussian-distributed forward reachable set and states of obstacles. To reduce the conservatism of the planned trajectory, we propose a tight upper bound of the collision probability and evaluate it both exactly and approximately. The approximated solution is used to generate motion primitives as a reference trajectory, while the exact solution is leveraged to iteratively optimize the trajectory for better results. Our method is thoroughly tested in simulation and real-world experiments, verifying its reliability and effectiveness in uncertain environments.Comment: Paper Accepted by IROS 202

CyberLiveApp: a secure sharing and migration approach for live virtual desktop applications in a cloud environment

In recent years we have witnessed the rapid advent of cloud computing, in which the remote software is delivered as a service and accessed by users using a thin client over the Internet. In particular, the traditional desktop application can execute in the remote virtual machines without re-architecture providing a personal desktop experience to users through remote display technologies. However, existing cloud desktop applications mainly achieve isolation environments using virtual machines (VMs), which cannot adequately support application-oriented collaborations between multiple users and VMs. In this paper, we propose a flexible collaboration approach, named CyberLiveApp, to enable live virtual desktop applications sharing based on a cloud and virtualization infrastructure. The CyberLiveApp supports secure application sharing and on-demand migration among multiple users or equipment. To support VM desktop sharing among multiple users, a secure access mechanism is developed to distinguish view privileges allowing window operation events to be tracked to compute hidden window areas in real time. A proxy-based window filtering mechanism is also proposed to deliver desktops to different users. To support application sharing and migration between VMs, we use the presentation streaming redirection mechanism and VM cloning service. These approaches have been preliminary evaluated on an extended MetaVNC. Results of evaluations have verified that these approaches are effective and useful

Study on the control algorithm for lower limb exoskeleton based on ADAMS/Simulink co-simulation

A sliding mode control algorithm based on proportional switching function was developed to make the lower limb exoskeleton more fit the human walking gait trajectory. It could improve the comfort of the exoskeleton wearer and enhance the reliability of the system. The three-dimensional mechanical model of the exoskeleton built using software SolidWorks was introduced to ADAMS and then the model parameters were set. The model was combined with the software MATLAB so that the human-machine cooperation control algorithm for lower limb exoskeleton based on ADAMS and Simulink co-simulation was developed. The simulation result was compared with the desired trajectory and the trajectory under PID control. The research discovered that the ability of trajectory tracking under the sliding mode control was much better than that under PID control. It provided an important theoretical basis for the research on human-machine cooperation control algorithm

Multi-Agent Robust Control Synthesis from Global Temporal Logic Tasks

This paper focuses on the heterogeneous multi-agent control problem under global temporal logic tasks. We define a specification language, called extended capacity temporal logic (ECaTL), to describe the required global tasks, including the number of times that a local or coupled signal temporal logic (STL) task needs to be satisfied and the synchronous requirements on task satisfaction. The robustness measure for ECaTL is formally designed. In particular, the robustness for synchronous tasks is evaluated from both the temporal and spatial perspectives. Mixed-integer linear constraints are designed to encode ECaTL specifications, and a two-step optimization framework is further proposed to realize task-satisfied motion planning with high spatial robustness and synchronicity. Simulations are conducted to demonstrate the expressivity of ECaTL and the efficiency of the proposed control synthesis approach.Comment: 7 pages, 3 figure

Co3O4@CoS core-shell nanosheets on carbon cloth for high performance supercapacitor electrodes

In this work, a two-step electrodeposition strategy is developed for the synthesis of core-shell Co3O4@CoS nanosheet arrays on carbon cloth (CC) for supercapacitor applications. Porous Co3O4 nanosheet arrays are first directly grown on CC by electrodeposition, followed by the coating of a thin layer of CoS on the surface of Co3O4 nanosheets via the secondary electrodeposition. The morphology control of the ternary composites can be easily achieved by altering the number of cyclic voltammetry (CV) cycles of CoS deposition. Electrochemical performance of the composite electrodes was evaluated by cyclic voltammetry, galvanostatic charge-discharge and electrochemical impedance spectroscopy techniques. The results demonstrate that the Co3O4@CoS/CC with 4 CV cycles of CoS deposition possesses the largest specific capacitance 887.5 F·g-1 at a scan rate of 10 mV·s-1 (764.2 F·g-1 at a current density of 1.0 A·g-1), and excellent cycling stability (78.1% capacitance retention) at high current density of 5.0 A·g-1 after 5000 cycles. The porous nanostructures on CC not only provide large accessible surface area for fast ions diffusion, electron transport and efficient utilization of active CoS and Co3O4, but also reduce the internal resistance of electrodes, which leads to superior electrochemical performance of Co3O4@CoS/CC composite at 4 cycles of CoS deposition. © 2017 by the authors.National Natural Science Foundation of China [21371057]; International Science and Technology Cooperation Program of China [2016YFE0131200, 2015DFA51220]; International Cooperation Project of Shanghai Municipal Science and Technology Committee [15520721100

Deviation between willingness and actual behavior regarding community participation in protected areas: A case study in Shengjin lake national nature reserve in China

Introduction: The deviation between high willingness and poor actual behaviors in community participation has become an obstacle to achieving effective management and resource protection of protected areas. Therefore, it is necessary to investigate this deviation and its influencing factors.Methods: Based on a field survey of community residents in the Shengjin Lake National Nature Reserve (SJLNNR) in Anhui Province, China, this study uses a Logistic-ISM model to analyze the key factors influencing the deviation and the hierarchical structure supporting those key factors.Results: There is a significant deviation between participation willingness and actual behavior in SJLNNR. This deviation is characterized by eight key factors. Among these, awareness of the necessity of establishing SJLNNR is a direct factor at the surface level. Participation of important or recognizable people; average annual family income; understanding of environmental protection laws and regulations; realization of environmental improvement effect; satisfaction with SJLNNR authority; and future earnings expectations are all intermediate indirect factors. Furthermore, resident member is a fundamental factor. Resident members refer to those who live at home for six months or more during a calendar year.Discussion: These results indicate that there are three possible practical reasons for the deviation: 1) The lack of young and middle-aged adults is the root cause. 2) Inadequate ecological compensation is the direct trigger. 3) Individual internal psychological factors have significant effects. Furthermore, this study provides policy implications for converting willingness into actual participation in the community and promoting sustainable development

Electric Field Effect in Multilayer Cr2Ge2Te6: a Ferromagnetic Two-Dimensional Material

The emergence of two-dimensional (2D) materials has attracted a great deal of attention due to their fascinating physical properties and potential applications for future nanoelectronic devices. Since the first isolation of graphene, a Dirac material, a large family of new functional 2D materials have been discovered and characterized, including insulating 2D boron nitride, semiconducting 2D transition metal dichalcogenides and black phosphorus, and superconducting 2D bismuth strontium calcium copper oxide, molybdenum disulphide and niobium selenide, etc. Here, we report the identification of ferromagnetic thin flakes of Cr2Ge2Te6 (CGT) with thickness down to a few nanometers, which provides a very important piece to the van der Waals structures consisting of various 2D materials. We further demonstrate the giant modulation of the channel resistance of 2D CGT devices via electric field effect. Our results illustrate the gate voltage tunability of 2D CGT and the potential of CGT, a ferromagnetic 2D material, as a new functional quantum material for applications in future nanoelectronics and spintronics.Comment: To appear in 2D Material

Effects of inkjet printed toughener on delamination suppression in drilling of carbon fibre reinforced plastics (CFRPs)

Delamination has been recognised as the predominant damage induced during the drilling of carbon fibre reinforced plastics (CFRPs). It could significantly reduce the bearing capacity and shorten the service life of the designed component. To enhance the delamination resistance of CFRPs for different applications, great affords have been done to improve their interlaminar fracture toughness. However, due to the difficulty in accurately controlling the amount of the toughener applied in the interface, effect of the toughener content on the toughening efficiency is rarely studied. In this work, an experimental research was developed to investigate the performance of the toughener on the improvement of delamination resistance in the drilling of CFRPs and parametrically optimise the toughener content with the consideration of different feed rates. Specifically, poly(methyl methacrylate) (PMMA) solutions with various concentrations were selected to add on the CFRP prepreg, and co-cured together with layups. The inkjet printing technology was adopted to deposit the PMMA solutions for precisely controlled toughener contents. Through drilling experiments on the toughened CFRPs, it was found that the optimal content of the PMMA solution was 10 wt% to offer the least delamination, in particular, for the situation under the highest feed rate condition. The toughing mechanisms were also concluded by analysing the histories of the thrust force and torque in the drilling process. The results of this study is significantly contribute to the locally toughening of the composite interfaces and the improvement of the drilling quality, which is specifically helpful to strengthen the joint property for the structural design stage for the aircraft