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RGB-Based Category-Level Object Pose Estimation via Depth Recovery and Adaptive Refinement

IEEE Robotics and Automation Letters 2025年第6期10卷 5377-5384页

作者： Yang, Hui Sun, Wei Liu, Jian Zheng, Jin Zeng, Zhiwen Mian, Ajmal Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering Changsha410082 China Hunan University State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Changsha410082 China Central South University School of Architecture and Art Changsha410082 China University of Western Australia Department of Computer Science and Software Engineering CrawleyWA6009 Australia

Category-level pose estimation methods have received widespread attention as they can be generalized to intra-class unseen objects. Although RGB-D-based category-level methods have made significant progress, reliance on depth image limits practical application. RGB-based methods offer a more practical and cost-effective solution. However, current RGB-based methods struggle with object geometry perception, leading to inaccurate pose estimation. We propose depth recovery and adaptive refinement for category-level object pose estimation from a single RGB image. We leverage DINOv2 to reconstruct the coarse scene-level depth from the input RGB image and propose an adaptive refinement network based on an encoder-decoder architecture to dynamically improve the predicted coarse depth and reduce its gap from the ground truth. We introduce a 2D–3D consistency loss to ensure correspondence between the point cloud obtained from depth projection and the objects in the 2D image. This consistency supervision enables the model to maintain alignment between the depth image and the point cloud. Finally, we extract features from the refined point cloud and feed them into two confidence-aware rotation regression branches and a translation and size prediction residual branch for end-to-end training. Decoupling the rotation matrix provides a more direct representation, which facilitates parameter optimization and gradient propagation. Extensive experiments on the REAL275 and CAMERA25 datasets demonstrate the superior performance of our method. Real-world estimation and robotic grasping experiments demonstrate our model robustness to occlusion, clutter environments, and low-textured objects. Our code and robotic grasping video are available at DA-Pose. © 2016 IEEE.

关键词： Depth perception

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Detection of Perfect Stealthy Attacks on Cyber-Physical Systems Subject to Measurement Quantizations: A Watermark-Based Strategy

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 114-125页

作者： Yu-Ang Wang Zidong Wang Lei Zou Bo Shen Hongli Dong the College of Information Science and Technology Donghua University the Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of Education IEEE the College of Electrical Engineering and Automation Shandong University of Science and Technology the Department of Computer Science Brunel University London Uxbridge the Sanya Offshore Oil and Gas Research Institute Northeast Petroleum University the Artificial Intelligence Energy Research Institute Northeast Petroleum University Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University

In this paper, the attack detection problem is investigated for a class of closed-loop systems subjected to unknownbutbounded noises in the presence of stealthy attacks. The measurement outputs from the sensors are quantized before transmission.A specific type of perfect stealthy attack, which meets certain rather stringent conditions, is taken into account. Such attacks could be injected by adversaries into both the sensor-toestimator and controller-to-actuator channels, with the aim of disrupting the normal data flow. For the purpose of defending against these perfect stealthy attacks, a novel scheme based on watermarks is developed. This scheme includes the injection of watermarks(applied to data prior to quantization) and the recovery of data(implemented before the data reaches the estimator).The watermark-based scheme is designed to be both timevarying and hidden from adversaries through incorporating a time-varying and bounded watermark signal. Subsequently, a watermark-based attack detection strategy is proposed which thoroughly considers the characteristics of perfect stealthy attacks,thereby ensuring that an alarm is activated upon the occurrence of such attacks. An example is provided to demonstrate the efficacy of the proposed mechanism for detecting attacks.

关键词： Attack detection cyber-physical systems (CPSs) perfect stealthy attacks watermark-based strategy

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Policy for Optimal Avoidance of Multiple Engagement Zones

Policy for Optimal Avoidance of Multiple Engagement Zones

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Milutinović, Dejan Von Moll, Alexander Weintraub, Isaac E. Casbeer, David Department of Electrical and Computer Engineering University of California Santa Cruz Santa CruzCA95064 United States Control Science Center Air Force Research Laboratory WPAFB OH45433 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This work formulates the feedback control strategies for vehicles to reach a goal point amongst a field of dynamic risk regions. Whereas previous work has considered deterministic versions of this problem, we consider the scenario in the context of uncertainty. This uncertainty could be due to unknown wind or other external disturbances. The risk regions’ dynamics are tightly coupled to the state of the vehicle and as a result the task of navigating through a field dynamically changes as the vehicle traverses through it. Rather than using a nonlinear program solver, the approach taken here is one of formulating the problem as a stochastic optimal control problem wherein a feedback control law is derived. This feedback control law allows a single or multiple vehicles to reach the desired goal location efficiently and with minimal risk incursion. When inside a risk region, there is a probability rate of the vehicle being neutralized. The stochastic dynamical system is modeled as a hybrid system, i.e., regime switching diffusion. The hybrid system is comprised of continuous spatial dynamics and discrete operational states corresponding to "normal" and "neutralized". The optimal control problem is discretized into a field of vehicle states and control. Using Value Iteration, the control signal at each discrete location is optimized, providing a feedback control strategy over the field. Following a discussion of the methods and approaches, this problem is formulated, simulations are performed, and conclusions and remarks are made © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Stochastic systems

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Study of orography–MJO interaction and its impact on rainfall variability in West Sumatra

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Journal of Earth System Science 2025年第2期134卷 1-27页

作者： Satiadi, Didi Purwaningsih, Anis Harjupa, Wendi Saufina, Elfira Fathrio, Ibnu Trismidianto Rahmatia, Fahmi Pratama, Ridho Hashiguchi, Hiroyuki Shimomai, Toyoshi Research Center for Climate and Atmosphere National Research and Innovation Agency (BRIN) Bandung Indonesia Department of Computer Engineering School of Electrical Engineering Telkom University Bandung Indonesia Disaster Prevention Research Institute Kyoto University Kyoto Japan Research Institute for Sustainable Humanosphere Kyoto University Kyoto Japan Department of Electronic and Control Systems Engineering Shimane University Shimane Japan

Abstract: This study examines the impact of orography and the Madden–Julian Oscillation (MJO) on rainfall patterns in West Sumatra, Indonesia, using ERA5 reanalysis data. We analyzed variables such as precipitation, zonal and vertical winds, vertically integrated moisture convergence (VIMC), Froude number, lifting condensation level (LCL), level of free convection (LFC), level of non-buoyancy (LNB), convective available potential energy (CAPE), and convective inhibition (CINH), focusing on MJO phases 3 (MJO-3) and 4 (MJO-4). The ERA5 data was validated with observations from the Agam Observation Station, including data from the equatorial atmosphere radar, X-band Doppler Radar, optical rain gauge, microwave radiometer, and radiosonde. Our analysis, covering 22 years (2001–2022) of hourly data from five locations at varying elevations, reveals that topography significantly influences rainfall distribution, with windward slopes and mountain peaks receiving the most rainfall. This pattern closely aligns with VIMC, indicating that moisture convergence is a key driver of rainfall variability. MJO-3 significantly enhances rainfall by reducing zonal wind speeds, thereby increasing moisture convergence, while MJO-4 has a minimal impact, with increased zonal wind speeds limiting moisture convergence. The study concludes that VIMC patterns, influenced by wind dynamics, are central to understanding rainfall variability in West Sumatra’s mountainous terrain under different MJO phases. Research highlights: Orography strongly influences rainfall in West Sumatra, with the most precipitation on windward slopes and peaks, linked to vertically integrated moisture convergence (VIMC). MJO-3 boosts rainfall by reducing zonal wind speeds, which enhances moisture convergence and emphasizes wind dynamics in rainfall variability. MJO-4 has minimal impact on rainfall, as increased zonal winds restrict moisture convergence, leading to slight changes in precipitation. VIMC is crucial for under

关键词： MJO Orography rainfall topography West Sumatra

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Physical Intrusion Attack Detection in Fieldbus Network With Passive Fail-Safe Biasing

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IEEE Transactions on Automation Science and engineering 2025年 22卷 14008-14019页

作者： Wang, Xiangming Liu, Yang Yu, Nanpeng Liu, Pengfei Deng, Nanyi Li, Yanan Liu, Ting Xi’an Jiaotong University School of Cyber Science and Engineering MoE KLINNS Laboratory Xi’an710049 China University of California at Riverside Department of Electrical and Computer Engineering RiversideCA92521 United States Xi’an Thermal Power Research Institute Company Ltd. Power Infrastructure Cyber Security Research Center Xi’an710054 China Electric Power Dispatch and Control Center of Guangdong Power Grid Company Ltd. Guangzhou510699 China

Fieldbus is widely used for real-time distributed control in Industrial control Systems (ICSs) due to its simplicity and stability. The real-world fieldbus network contains hundreds of interconnected devices, presenting a widespread network layout. Attackers can attach external intrusion devices to these communication lines to launch various attacks. In this paper, we model the fieldbus network’s channel fingerprint based on the signal’s amplitude and propose a detection method to identify potential attackers (silent intrusion devices that are eavesdropping) via channel fingerprint differences. Leveraging the passive fail-safe biasing voltage in the fieldbus network such as RS485, we can still detect the intrusion device when the fieldbus is idle (i.e., no devices are transmitting commands), which can significantly reduce the detection delay with lower sampling costs. Moreover, our method can adapt to environmental changes with little computational overhead by generating dynamic thresholds. Using a monitoring unit with stored channel fingerprints, our method can be easily deployed in fieldbus networks without occupying communication resources. The effectiveness and robustness of the proposed method have been demonstrated via extensive experiments on two real-world scenarios and one simulation scenario, where we can achieve 100% accuracy and 0% false alarm rates against various intrusion devices. © 2004-2012 IEEE.

关键词： Network intrusion

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A Comprehensive Methodology of Field-Oriented control Design With Parameter Variation Analysis for Interior Permanent Magnet Synchronous Machine Drives

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IEEE Access 2025年 13卷 89524-89541页

作者： Tiago Davi Curi Busarello Abdullah Bubshait Oruganti V. S. R. Varaprasad Abdulhakeem Alsaleem Marcelo Godoy Simões Department of Control Automation and Computation Engineering Federal University of Santa Catarina Florianopolis Brazil Department of Electrical Engineering College of Engineering King Faisal University Al Ahsa Saudi Arabia Smart Transportation Electrification and Energy Research (STEER) Group Department of Electrical Computer and Software Engineering Faculty of Engineering and Applied Science Ontario Tech University Oshawa ON Canada Department of Electrical Engineering College of Engineering Qassim University Buraydah Saudi Arabia School of Technology and Innovations University of Vaasa Vaasa Finland

This paper proposes a comprehensive methodology for Field-Oriented control (FOC) with parameter variation analysis for Interior Permanent Magnet Synchronous Machines (IPMSM). The modeling approach for an IPMSM is first presented, followed by a step-by-step procedure for designing a vector-controlled strategy. The formulation is based on a dq-rotating reference frame aligned with the rotor shaft position. A key distinction of this methodology from traditional approaches is that the current controller is designed in the time domain based on desired time constants, while the speed control is formulated within a frequency response domain framework. The proposed hybrid approach enables accurate tuning of the Proportional-Integrator (PI) controllers for both current and speed control loops. Additionally, a parameter variation analysis is conducted to enhance the proposed methodology. The validity region for the design procedure is presented, ensuring that for any wide speed variation of the machine, loop gains are properly tuned. One of the main advantages of the proposed methodology is that it provides a fast, reliable, and accurate technique for implementing IPMSM drive systems. Results from a controller Hardware-in-the-Loop (C-HIL) setup with an external microcontroller are presented. The comprehensive design approach is validated under two different IPMSM parameter sets, demonstrating its effectiveness.

关键词： PI control Stators Tuning Mathematical models Velocity control Rotors Vectors Stator windings Robustness Microcontrollers

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A distributed algorithm with network-independent step-size and event-triggered mechanism for economic dispatch problem

A distributed algorithm with network-independent step-size a...

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作者： Chen, Baitong Yang, Jianhua Lu, Wei Pedrycz, Witold Sun, Changhai School of Control Science and Engineering Dalian University of Technology Dalian China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Institute of Systems Engineering Macau University of Science and Technology SARTaipa 999078 China Research Center of Performance and Productivity Analysis Istinye University Istanbul Turkey School of Electrical Engineering Dalian University of Technology Dalian China

The economic dispatch problem (EDP) poses a significant challenge in energy management for modern power systems, particularly as these systems undergo expansion. This growth escalates the demand for communication resources and increases the risk of communication failures. To address this challenge, we propose a distributed algorithm with network-independent step sizes and an event-triggered mechanism, which reduces communication requirements and enhances adaptability. Unlike traditional methods, our algorithm uses network-independent step sizes derived from each agent's local cost functions, thus eliminating the need for detailed network topology knowledge. The theoretical derivation identifies a range of step size values that depend solely on the objective function's strong convexity and the gradient's Lipschitz continuity. Furthermore, the proposed algorithm is shown to achieve a linear convergence rate, assuming the event triggering threshold criteria are met for linear convergence. Numerical experiments further validate the effectiveness and advantages of our proposed distributed algorithm by demonstrating its ability to maintain good convergence characteristics while reducing communication frequency. © 2024 John Wiley & Sons Ltd.

关键词： Cost functions

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Digital engineering Framework for Promoting Health and Human Performance with Immersive Technology

Digital Engineering Framework for Promoting Health and Human...

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Annual IEEE Systems Conference

作者： Gayathri Boopathy Emi Aoki Flore Norcéide Charles Thompson Erika Lewis Kavitha Chandra Department of Electrical and Computer Engineering Center for Advanced Computation and Telecommunications Department of Physical Therapy & Kinesiology UMass Movement Research Center University of Massachusetts Lowell Lowell USA

ISBN: (数字)9798331508180

ISBN: (纸本)9798331508197

The need for point-of-care health solutions and digital health interventions continues to increase, driven by an aging population and those displaced from the systemic impacts of environmental, infrastructural, and economic factors. These demographic and social shifts are placing unprecedented strain on the healthcare system. In response to these challenges, digital health solutions are emerging, although data indicates low confidence among both consumers and healthcare professionals due to a lack of regulatory oversight compared to traditional medical systems. This research explores the use of augmented reality (AR) technology in physical therapy and rehabilitation as a potential digital health intervention. The focus is on improving upper limb and hand mobility. This study employs a digital engineering design process in collaboration with physical therapists and clinical researchers. The goal is to utilize data from the AR sensors to capture quantitative information about a patient's therapeutic progress. The Digital engineering framework presented can be applied for improving the validation and verification of technology-based digital health interventions, with the potential to enhance access to rehabilitation resources. Use-case and requirement diagrams are developed through close collaboration with physical therapy clinicians, to assess user engagement and therapeutic outcomes. Activity diagrams capture successive stages of improvement in the proposed system. The performance of the AR application in tracking joint angles and measuring mobility during prescribed gestures is evaluated against published normative values, highlighting the potential of this technology to improve upon manual measurement methods.

关键词： Hands Point of care Medical treatment Collaboration Manuals Electronic healthcare Sensors Modeling Augmented reality Strain

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Distill & Contrast: A New Graph Self-Supervised Method With Approximating Nature Data Relationships

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IEEE Transactions on Knowledge and Data engineering 2025年第6期37卷 3284-3297页

作者： He, Dongxiao Zhao, Jitao Guo, Rui Feng, Zhiyong Huo, Cuiying Jin, Di Pedrycz, Witold Zhang, Weixiong Tianjin University College of Intelligence and Computing Tianjin300350 China Department of Measurement and Control Systems Gliwice44-100 Poland University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Istinye University Research Center of Performance and Productivity Analysis Istanbul34010 Turkey Hong Kong Polytechnic University Department of Data Science and Ai Hong Kong

Contrastive Learning (CL) has emerged as a popular self-supervised representation learning paradigm that has been shown in many applications to perform similarly to traditional supervised learning methods. A key component of CL is mining the latent discriminative relationships between positive and negative samples and using them as self-supervised labels. We argue that this discriminative contrastive task is, in essence, similar to a classification task, and the "either positive or negative"hard label sampling strategies are arbitrary. To solve this problem, we explore ideas from data distillation, which considers probabilistic logit vectors as soft labels to transfer model knowledge. We attempt to abandon the classical hard sampling labels in CL and instead explore self-supervised soft labels. We adopt soft sampling labels that are extracted, without supervision, from the inherent relationships in data pairs to retain more information. We propose a new self-supervised graph learning method, Distill and Contrast (D&C), for learning representations that closely approximate natural data relationships. D&C extracts node similarities from the features and structures to derive soft sampling labels, which also eliminate noise in the data to increase robustness. Extensive experimental results on real-world datasets demonstrate the effectiveness of the proposed method. © 2025 IEEE.

关键词： Self-supervised learning

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Resilient Cooperative control of Multiple DC Microgrids With Interconnection Networks Against Cyber Attacks

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2025年 3卷 116-126页

作者： Xiao, Feng Liu, Shiyu Wei, Bo Fang, Fang Qin, Jiahu North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Beijing102206 China North China Electric Power University School of Control and Computer Engineering Beijing102206 China North China Electric Power University New Energy Generation National Engineering Research Center Beijing102206 China University of Science and Technology of China Department of Automation Hefei230027 China

The two control objectives of voltage regulation and precise current sharing are conflicting in multi-bus DC microgrids. In this paper, a distributed control strategy is proposed, and it can achieve accurate current sharing and regulate the voltage of a critical node to the rated value. However, such a distributed control system is susceptible to potential cyber attacks that could deteriorate microgrids performances by corrupting communication links or actuators. To overcome these difficulties, we design the interconnected communication networks to establish a resilient cooperative system of multiple microgrids against unknown bounded injection attacks. The proposed resilient control strategy can achieve the control objectives of maintaining voltage regulation and current sharing within each microgrids under different operating conditions, and the interconnected system consisting of multiple microgrids cooperates to mitigate the adverse effect of cyber attacks. The dynamics and stability of the overall close-loop system of the DC microgrids are analyzed, in the present or absent of cyber attacks. Simulation results validate the effectiveness of the proposed approach in two 4-bus DC microgrids. © 2023 IEEE.

关键词： Cyber attacks

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