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Hierarchical Motion Planning and Tracking for Autonomous Vehicles Using Global Heuristic Based Potential Field and Reinforcement Learning Based Predictive Control

Du, Guodong (author), Zou, Yuan (author), Zhang, Xudong (author), Li, Z. (author), Liu, Qi (author)

The autonomous vehicle is widely applied in various ground operations, in which motion planning and tracking control are becoming the key technologies to achieve autonomous driving. In order to further improve the performance of motion planning and tracking control, an efficient hierarchical framework containing motion planning and tracking...

journal article 2023

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Model predictive control and protection of MMC-based MTDC power systems

Shetgaonkar, A.D. (author), Liu, L. (author), Lekić, A. (author), Popov, M. (author), Palensky, P. (author)

Meshed offshore grids (MOGs) present a viable option for a reliable bulk power transmission topology. The station-level control of MOGs requires faster dynamics along with multiple objective functions, which is realized by the model predictive control (MPC). This paper provides control, and protection design for the Modular Multilevel...

journal article 2023

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Speed and heading control-based collision avoidance for a ship towing system

Zhang, Lei (author), Liu, Wenjie (author), Du, Zhe (author), Du, Lei (author), Li, Xiaobin (author)

Collision avoidance is a priority task for ensuring the safety of a maritime transportation system. However, for a ship towing system, which is characterized by multiple vessels and physical connections, the research works about collision avoidance is limited. Thus, this paper proposes a speed and heading control-based conflict resolution of...

journal article 2023

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Bi-level model predictive control for metro networks: Integration of timetables, passenger flows, and train speed profiles

Liu, X. (author), Dabiri, A. (author), Xun, Jing (author), De Schutter, B.H.K. (author)

This paper deals with the train scheduling problem for metro networks taking into account time-dependent passenger origin–destination demands and train speed profiles. The aim is to adjust train schedules online according to time-dependent passenger demands so that passenger satisfaction and operational costs are jointly optimized. An...

journal article 2023

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Scenario-Based MPC for Real-Time Passenger-Centric Timetable Scheduling of Urban Rail Transit Networks

Liu, X. (author), Dabiri, A. (author), De Schutter, B.H.K. (author)

Effective timetable scheduling strategies are essential for passenger satisfaction in urban rail transit networks. Most existing passenger-centric timetable scheduling approaches generate a timetable according to deterministic passenger origin-destination (OD) demands. As passenger OD demands in urban rail transit networks generally show a...

journal article 2023

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A novel GA-LSTM-based prediction method of ship energy usage based on the characteristics analysis of operational data

Wang, Kai (author), Hua, Yu (author), Huang, Lianzhong (author), Guo, Xin (author), Liu, Xing (author), Ma, Zhongmin (author), Ma, Ranqi (author), Jiang, X. (author)

Optimization of ship energy efficiency is an efficient measure to decrease fuel usage and emissions in the shipping industry. The accurate prediction model of ship energy usage is the basis to achieve optimization of ship energy efficiency. This study investigates the sequential properties of the actual voyage data from a VLOC. On this basis,...

journal article 2023

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Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

Wang, Yiping (author), Li, Xueyuan (author), Liu, Qi (author), Li, Songhao (author), Luan, Tian (author), Li, Z. (author)

The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling...

conference paper 2023

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In-situ damage mechanism investigation and a prediction model for delamination with fibre bridging in composites

Yao, Liaojun (author), Liu, J. (author), Lyu, Zhangming (author), Alderliesten, R.C. (author), Hao, Cui (author), Ren, Chuanxi (author), Guo, Licheng (author)

Carbon-fibre reinforced composites are susceptible to delamination. Fibre bridging is an important shielding mechanism frequently observed in delamination. The presence of these bridging fibres can significantly increase interlaminar resistance, making it critical to represent this phenomenon for delamination characterization in composite...

journal article 2023

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Convex economic model predictive control for blade loads mitigation on wind turbines

Pamososuryo, A.K. (author), Liu, Y. (author), Gybel Hovgaard, Tobias (author), Ferrari, Riccardo M.G. (author), van Wingerden, J.W. (author)

Economic model predictive control (EMPC) has received increasing attention in the wind energy community due to its ability to trade-off economic objectives with ease. However, for wind turbine applications, inherent nonlinearities, such as from aerodynamics, pose difficulties in attaining a convex optimal control problem (OCP), by which real...

journal article 2023

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Modeling and Efficient Passenger-Oriented Control for Urban Rail Transit Networks

Liu, X. (author), Dabiri, A. (author), Wang, Yihui (author), De Schutter, B.H.K. (author)

Real-time timetable scheduling is an effective way to improve passenger satisfaction and to reduce operational costs in urban rail transit networks. In this paper, a novel passenger-oriented network model is developed for real-time timetable scheduling that can model time-dependent passenger origin-destination demands with consideration of a...

journal article 2023

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Ship docking and undocking control with adaptive-mutation beetle swarm prediction algorithm

Wang, Le (author), Li, Shijie (author), Liu, Jialun (author), Wu, Qing (author), Negenborn, R.R. (author)

Autonomous docking and undocking control is an important part of intelligent ship motion control. In this study, the adaptive-mutation beetle swarm prediction (AMBS-P) algorithm is used to propose a control approach for autonomous docking and undocking. Firstly, this paper introduces the principle of the AMBS-P algorithm, then the convergence...

journal article 2022

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Robust Locomotion Exploiting Multiple Balance Strategies: An Observer-Based Cascaded Model Predictive Control Approach

Ding, J. (author), Han, Linyan (author), Ge, Ligang (author), Liu, Yizhang (author), Pang, Jianxin (author)

Robust locomotion is a challenging task for humanoid robots, especially when considering dynamic disturbances. This article proposes a disturbance observer-based cascaded model predictive control (MPC) approach for bipedal locomotion, with the capability of exploiting ankle, stepping, hip and height variation strategies. Specifically, based...

journal article 2022

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Lightweight and Accurate DNN-Based Anomaly Detection at Edge

Zhang, Qinglong (author), Han, Rui (author), Xin, Gaofeng (author), Liu, Chi Harold (author), Wang, Guoren (author), Chen, Lydia Y. (author)

Deep neural networks (DNNs) have been showing significant success in various anomaly detection applications such as smart surveillance and industrial quality control. It is increasingly important to detect anomalies directly on edge devices, because of high responsiveness requirements and tight latency constraints. The accuracy of DNN-based...

journal article 2022

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Intelligent UAV Swarm Cooperation for Multiple Targets Tracking

Zhou, Longyu (author), Leng, Supeng (author), Liu, Qiang (author), Wang, Q. (author)

With the advantages of easy deployment and flexible usage, Unmanned Aerial Vehicle (UAV) has advanced the Multi-Target Tracking (MTT) applications. The UAV-MTT system has great potentials to execute dull, dangerous, and critical missions for frontier defense and security. A key challenge in UAV-MTT is how to coordinate multiple UAVs to track...

journal article 2021

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Microbial community assembly and metabolic function in top layers of slow sand filters for drinking water production

Chen, L. (author), Zhai, Y. (author), van der Mark, Ed (author), Liu, G. (author), van der Meer, Walter (author), Medema, G.J. (author)

Slow sand filters (SSFs) are widely applied to treat potable water; the removal of contaminants (e.g., particles, organic matter, and microorganism) occurs primarily in the top layer. However, the development of the microbial community and its metabolic function is still poorly understood. In the present study, we analyzed the microbial...

journal article 2021

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Image-based modelling for Adolescent Idiopathic Scoliosis: Mechanistic machine learning analysis and prediction

Tajdari, Mahsa (author), Pawar, Aishwarya (author), Li, Hengyang (author), Tajdari, F. (author), Maqsood, Ayesha (author), Cleary, Emmett (author), Saha, Sourav (author), Zhang, Yongjie Jessica (author), Sarwark, John F. (author), Liu, Wing Kam (author)

Scoliosis, an abnormal curvature of the human spinal column, is characterized by a lateral deviation of the spine, accompanied by axial rotation of the vertebrae. Adolescent Idiopathic Scoliosis (AIS) is the most common type, affecting children between ages 8 to 18 when bone growth is at its maximum rate. We propose a mechanistic machine...

journal article 2021

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Fault-tolerant individual pitch control of floating offshore wind turbines via subspace predictive repetitive control

Liu, Y. (author), Frederik, J.A. (author), Ferrari, Riccardo M.G. (author), Wu, P. (author), Li, Sunwei (author), van Wingerden, J.W. (author)

Individual pitch control (IPC) is an effective and widely used strategy to mitigate blade loads in wind turbines. However, conventional IPC fails to cope with blade and actuator faults, and this situation may lead to an emergency shutdown and increased maintenance costs. In this paper, a fault-tolerant individual pitch control (FTIPC) scheme...

journal article 2021

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Spatio-temporal prediction of missing temperature with stochastic Poisson equations: The LC2019 team winning entry for the EVA 2019 data competition

Cheng, D. (author), Liu, Z. (author)

This paper presents our winning entry for the EVA 2019 data competition, the aim of which is to predict Red Sea surface temperature extremes over space and time. To achieve this, we used a stochastic partial differential equation (Poisson equation) based method, improved through a regularization to penalize large magnitudes of solutions. This...

journal article 2020

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A dynamic OD prediction approach for urban networks based on automatic number plate recognition data

Liu, Jing (author), Zheng, Fangfang (author), van Zuylen, H.J. (author), Li, Jie (author)

OD flows provide important information for traffic management and planning. The prediction of dynamic OD matrices gives the possibility to apply anticipatory traffic management measures. In this paper, we propose an OD prediction approach based on the data obtained by Automated Number Plate Recognition (ANPR) cameras. The principal component...

journal article 2020

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Automatic Docking for Underactuated Ships Based on Multi-Objective Nonlinear Model Predictive Control

Li, Shijie (author), Liu, Jialun (author), Negenborn, R.R. (author), Wu, Qing (author)

Autonomous shipping refers to the ability of a ship to independently control its own actions while transporting cargo from one port to another, which places higher requirements on ship motion control methods. When a ship enters a port, it is important to ensure that the ship sails from the fairway area to the assigned position at the berth...

journal article 2020