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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

共 5311 条记录，以下是361-370 订阅

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Distributed Resilient Estimator for Networked Systems Under Deception Attacks

Distributed Resilient Estimator for Networked Systems Under ...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Weiwei Zhan Zhiqiang Miao Yang Hu Yizong Chen Yanjie Chen Yaonan Wang College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center of Robot Visual Perception and Control Technology Changsha China School of Mechanical Engineering and Automation Fuzhou University Fuzhou China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Deception attacks are employed to compromise cyber-physical systems through fake data injection. this paper concentrates on the distributed resilient estimation issue of multi-sensor networked systems under deception attacks. In order to detect deception attacks, we utilize Kullback-Leibler(K-L) divergence as a criterion to distinguish the discrepancy between the deceived information and the estimated information. When the attack does not exist, the transmitted information can be restored to ensure the resilient estimation performance. Based on the extended Kalman filter design method, a distributed resilient estimation with a dual-gain mechanism is developed. this advanced approach dynamically adjusts the weighting balance between the predictive model and sensor data inputs, achieving the optimal estimation during the shutdown and activation of spoofing attacks. Finally, numerical simulations are provided to further illustrate the results.

关键词： Measurement Fault tolerance Design methodology Buildings Estimation Predictive models Cyber-physical systems Robot sensing systems Numerical simulation Kalman filters

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Target Detection and Position Measurement Based on Machine vision for AGV 8

Target Detection and Position Measurement Based on Machine V...

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8th international conference on automation, control and robotics Engineering, CACRE 2023

作者： Zhang, Guiyang Zhu, Lingyu Ji, Siyu Wu, Xu Suzhou Tztek Technology Company Limited School of Mechanical Engineering Changshu Institute of Technology Optical Measurement Center Suzhou215500 China Changshu Institute of Technology School of Mechanical Engineering Suzhou215500 China East China Normal University Software Engineering Institute Shanghai200062 China

ISBN: (纸本)9798350302776

this paper proposes a strategy based on cooperative target to realize automatic guided vehicle (AGV) terminal detection and position measurement. Firstly, the enhanced YOLOv3 algorithm based on cross layer connection is employed to detect the interest area of the marker points, upon which more refined local features are restored to improve the adaptability to small targets. then, a high-precision 3D reconstruction with the aid of the ellipse center coordinates is demonstrated to ensure the reliability and avoid the loss of targets due to the failure of landmarks caused by environmental factors. the experimental results revealed that the positioning accuracy error is less than 1.5mm and the misrecognition rate is superior to 1% whilst the AGV is within 5m from the target. Consequently, the proposed approach has the crucial application in rapid and stable AGV terminal vision positioning. © 2023 IEEE.

关键词： Automatic guided vehicles

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Direct Yaw Moment Fault Tolerant Tracking control for Lateral Vehicle Dynamics

Direct Yaw Moment Fault Tolerant Tracking Control for Latera...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Salama Makni Ahmed El Hajjaji Mohamed Chaabane MIS Laboratory University of Picardie Jules Verne Amiens France STA Laboratory LR11ES50 University of Sfax Sfax Tunisia

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Over the last decades, an increasing interest has been considered in improving vehicle performances by using advanced control systems. Nevertheless, the implementation of these systems can be a source of faults. To ensure vehicle stability without performance degradation, problems of both estimation and tracking control design are studied for vehicle dynamics in presence of faults and parametric uncertainties. the first part of this paper focuses on sideslip angle, yaw rate and fault estimations via a Proportional Integral observer (PIO). then, a PIO based tracking control design method, explained via a block diagram, is proposed not only to maintain vehicle stability but also to track the desired trajectories despite the fault effects. the observer and controller gains are computed by solving convex optimization problems under Linear Matrix Inequality (LMI) constraints. Finally, simulation results are presented to prove the effectiveness of the proposed process.

关键词： Uncertainty control design Simulation Estimation Observers Stability analysis Trajectory Linear matrix inequalities Vehicle dynamics Robots

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Adaptive Finite-Time Preassigned Performance control for Hypersonic Vehicles with Lumped Perturbations

Adaptive Finite-Time Preassigned Performance Control for Hyp...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Chengfeng Luo Rugang Tang Xin Ning Zheng Wang School of Astronautics Northwestern Polytechnical University Xi'an China National Key Laboratory of Aerospace Flight Dynamics Northwestern Polytechnical University Xi'an China Department of Aeronautical and Aviation Engineering Hong Kong Polytechnic University Hong Kong China Northwest Institute of Mechanical and Electrical Engineering Xianyang China Unmanned System Research Institute Northwestern Polytechnical University Xi'an China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

this paper proposes an adaptive finite-time preassigned performance control (PPC) approach to solve the attitude control problem of hypersonic vehicles (HSVs) suffering from lumped disturbances. A specific preassigned performance function guaranteeing finite-time stability and small overshoot is presented to constrain the attitude tracking errors. Moreover, a novel synchronous disturbance estimation is presented to build a disturbance observer (DO). Based on the devised preassigned performance function and the information from the DO, an adaptive finite-time preassigned performance controller is devised to solve the attitude control problem. Finally, numerical examples demonstrate the validity of the presented algorithm.

关键词： Estimation error Attitude control Simulation Perturbation methods Prediction algorithms Stability analysis Robustness Hypersonic vehicles Robots Convergence

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Region Tracking control for Nonlinear Systems Based on Stochastic Resonance

Region Tracking Control for Nonlinear Systems Based on Stoch...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Xing Liu Tong Wang Chao Yang Feng Yao College of Mechanical and Electrical Engineering Harbin Engineering University Harbin China Institute of Materials China Academy of Engineering Physics Mianyang China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

this paper investigates region tracking problem for a nonlinear system subject to measurement noise. Its purpose is to make enough use of the prescribed boundaries to reduce the fluctuations of control inputs and energy consumption. A novel region tracking control scheme is proposed based on bistable stochastic resonance. To construct a bistable stochastic resonance model, the tracking error is treated the Brownian particle and a weak periodic signal is added to the model, while the error in the dynamic loop is considered as noise. If the potential parameters are properly selected, the optimal stochastic resonance of the tracking error occurs. then, the tracking error will switch between the potential wells determined by the potential parameters. Finally, the new design is applied on an over-actuated underwater vehicle. the results verify the superiority of the proposed controller in region tracking performances, including the use of the prescribed boundaries and fluctuations of control inputs.

关键词： Energy consumption Fluctuations Tracking Stochastic resonance Noise Potential well Switches control systems Nonlinear systems Underwater vehicles

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BLIP-Adapter: Bridging vision-Language Models with Adapters for Generalizable Face Anti-spoofing 18

BLIP-Adapter: Bridging Vision-Language Models with Adapters ...

引用

18th IEEE international Joint conference on Biometrics, IJCB 2024

作者： Zhang, Bin Zhu, Xiangyu Gao, Li Zhang, Xiaoyu Lei, Zhen Chinese Academy of Sciences Institute of Information Engineering China University of Chinese Academy of Sciences School of Cyber Security China China Mobile Financial Technology Co. Ltd. China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation China University of Chinese Academy of Sciences School of Artificial Intelligence China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Hong Kong

ISBN: (纸本)9798350364132

Face anti-spoofing is essential for ensuring the security of facial recognition systems against spoofing attacks. Recent methods have transferred vision-Language models to face anti-spoofing (e.g., FLIP and CLIPC8), demonstrating that learning perception from supervision in natural language can enhance the model's detection performance. However, such methods exhibit limited depth in the interaction between images and texts, resulting in poor performance on fine-grained understanding tasks such as face anti-spoofing. Besides, the lack of diversity in image-text pairs for face anti-spoofing further hinders such methods from playing their best. To address these issues, we propose a novel fine-tuning strategy for vision-Language models in face anti-spoofing. this strategy introduces the Bootstrapping Language-Image Pre-training model (BLIP), known for its novel interaction mechanisms and superior image-text comprehension, to construct a more generalized feature representation for face anti-spoofing. Furthermore, we propose an Adapter module for the text branch to reduce the negative impact of insufficient data diversity and catastrophic forgetting. Extensive experiments conducted on various cross-domain testing benchmarks demonstrate the significant superiority of our method over the state-of-the-art, highlighting its effectiveness and robustness. © 2024 IEEE.

关键词： Visual languages

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vision-based Air-writing Character Segmentation and Reproduction 5

Vision-based Air-writing Character Segmentation and Reproduc...

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5th international conference on robotics, Intelligent control and Artificial Intelligence, RICAI 2023

作者： Zhang, Yi Zeng, Chao Yang, Chenguang College of Automation Science and En-gineering South China University of Technology Guangzhou China College of Automation Guangdong University of Technology Guangzhou China

ISBN: (纸本)9798350357950

To address the writing needs of visually impaired individuals, this paper proposes an air-writing segmentation and reproduction system that combines the advantages of air-writing with the efficiency of robotic learning by demonstration (LID). the solution utilizes the Mediapipe Hand to record the writer's continuous spatial character trajectory in front of the camera, and later uses a rule-based approach to achieve automatic segmentation of the continuous character trajectory. In addition, the utilization of dynamic movement primitives (DMPs) maintains the writer's original writing habits while reproducing the char-acters in a designated area, adhering to the writing specifications and ensuring legibility. the proposed system was tested on 15 sets of continuous word trajectories covering 26 letters, experimen-tally proves the effectiveness of the algorithm. © 2023 IEEE.

关键词： air-writing character segmentation Dynamic Movement Primitives (DMPs)

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Research on automatic alignment system of H-pillar assembly equipment of high-speed railway catenary based on visual guidance 9

Research on automatic alignment system of H-pillar assembly ...

引用

9th international conference on Energy Materials and Electrical Engineering, ICEMEE 2023

作者： Zhang, Yaqiang Ding, Huanhuan Li, Junwei Cssc Haiwei Tech Co. Ltd. Henan Zhengzhou450000 China

ISBN: (纸本)9781510672765

In the traditional sense, the assembly and installation of OCS pillars is carried out by manual hoisting, which requires a lot of manpower to bind the pillars, manually assist the alignment, unbind the pillars and other installation operations. there are some problems in the operation process, such as poor safety, low efficiency, high labor cost, high risk of high-altitude operation and so on. this paper presents a system of automatic alignment guided by binocular vision, which improves the construction process of high-speed railway catenary, improves the work efficiency and reduces the operation risk. this system is equipped with a binocular vision camera and customized specific targets for position difference calibration and guidance, and motion control is achieved through high-precision, multi degree of freedom robotic arms, thereby achieving automatic alignment and installation function. On the one hand, it has improved the reliability and automation level of the installation of the H-shaped pillar assembly of the high-speed rail contact system, and on the other hand, it provides strong support for the construction of intelligent high-speed rail and high-quality high-speed rail, which has profound significance. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Assembly equipment Automatic alignment Binocular vision control systems robotics Visualization Motion controllers Cameras Calibration Imaging systems

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Using Laplace Transform to Optimize the Hallucination of Generation Models

Using Laplace Transform to Optimize the Hallucination of Gen...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Cheng Kang Xinye Chen Daniel Novak Xujing Yao Department of Cybernetics Czech Technical University in Prague Prague Czech Republic Department of Numerical Mathematics Charles University Prague Czech Republic College of Computer and Information Engineering Nanjing Tech University Nanjing Jiangsu China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

To explore the feasibility of avoiding the confident error (or hallucination) of generation models (GMs), we for-malise the system of GMs as a class of stochastic dynamical systems through the lens of control theory. Numerous factors can be attributed to the hallucination of the learning process of GMs, utilising knowledge of control theory allows us to analyze their system functions and system responses. Due to the high complexity of GMs when using various optimization methods, we cannot figure out their solution of Laplace transform, but from a macroscopic perspective, simulating the source response provides a virtual way to address the hallucination of GMs. We also find that the training progress is consistent with the corresponding system response, which offers us a useful way to develop a better optimization component. Finally, the hallucination problem of GMs is fundamentally optimized by using Laplace transform analysis.

关键词： Training Learning systems Laplace equations Optimization methods Stochastic processes Process control control theory Dynamical systems Robots Lenses

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Primary brain tumors Image segmentation based on 3D-UNET with deep supervision and 3D brain modeling 5

Primary brain tumors Image segmentation based on 3D-UNET wit...

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5th international conference on robotics and Computer vision, ICRCV 2023

作者： Dong, Yan Wang, Ting Ji, Xiangjun Li, Zhenxing Ma, Chiyuan College of Electrical Engineering and Control Science Nanjing Tech University NanJing China Jinling Hospital Affiliated Hospital of Medical School Nanjing University NanJing China

ISBN: (纸本)9798350326369

Accurate 3D geometric modeling is essential for surgeons to diagnose and to operate in time. Clear and accurate image segmentation methods are the premise issue of accurate geometric modeling. Due to the complex characters of the brain tissue and the strong function of each part, in this paper, we proposed an image segmentation method based on the 3D U-net neural network with the deep supervision, which rapidly divided primary brain tumors from normal brain tissues. three-dimensional geometric brain modeling are built so that surgeons may quickly make an accurate diagnose. A simulation platform was built based on Python software, visual studio software, Visualization Toolkit and 3D Slicer software. Experiments results show the accuracy and rapidity of the proposed algorithm. © 2023 IEEE.

关键词： Brain

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