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E-3DGS: 3D Gaussian splatting with exposure and motion events

Applied Optics 2025年第14期64卷 3897-3908页

作者： Yin, Xiaoting Shi, Hao Bao, Yuhan Bing, Zhenshan Liao, Yiyi Yang, Kailun Wang, Kaiwei State Key Laboratory of Modern Optical Instrumentation Zhejiang University Hangzhou China The Chair of Robotics AI and Real-Time Systems Technical University of Munich Munich Germany College of Information Science and Electronic Engineering Zhejiang University Hangzhou China School of Robotics and National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha China

Achieving 3D reconstruction from images captured under optimal conditions has been extensively studied in the vision and imaging fields. However, in real-world scenarios, challenges such as motion blur and insufficient illumination often limit the performance of standard frame-based cameras in delivering high-quality images. To address these limitations, we incorporate a transmittance adjustment device at the hardware level, enabling event cameras to capture both motion and exposure events for diverse 3D reconstruction scenarios. Motion events (triggered by camera or object movement) are collected in fast-motion scenarios when the device is inactive, while exposure events (generated through controlled camera exposure) are captured during slower motion to reconstruct grayscale images for high-quality training and optimization of event-based 3D Gaussian splatting (3DGS). Our framework supports three modes: high-quality reconstruction using exposure events, fast reconstruction relying on motion events, and balanced hybrid optimizing with initial exposure events followed by high-speed motion events. On the EventNeRF dataset, we demonstrate that exposure events significantly improve fine detail reconstruction compared to motion events and outperform frame-based cameras under challenging conditions such as low illumination and overexposure. Furthermore, we introduce EME-3D, a real-world 3D dataset with exposure events, motion events, camera calibration parameters, and sparse point clouds. Our method achieves faster and higher-quality reconstruction than event-based NeRF and is more cost-effective than methods combining event and RGB data. By combining motion and exposure events, E-3DGS sets a new benchmark for event-based 3D reconstruction with robust performance in challenging conditions and lower hardware demands. The source code and dataset are available on GitHub. © 2025 Optica Publishing Group.

关键词： Exposure controls

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Safe event-triggered control of unmanned surface vehicles with Gaussian processes: Resilience in denial of service attacks and uncertain dynamics

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engineering Applications of Artificial Intelligence 2025年 153卷

作者： Yang, Zewen Dai, Xiaobing Fang, Liang Zhou, Jiajia Yan, Zheping Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence Technical University of Munich Georg-Brauchle-Ring 60-62 Bavaria Munich80992 Germany Chair of Information-oriented Control TUM School of Computation Information and Technology Technical University of Munich Barer Str. 21 Bavaria Munich80333 Germany College of Intelligent Systems Science and Engineering Harbin Engineering University Nantong Str. 145 Heilongjiang Harbin150001 China

This paper addresses critical security challenges in cyber–physical systems arising from uncertain system dynamics and cyberattacks by proposing a learning-based event-triggered control protocol for networked unmanned surface vehicles (USVs). Leveraging Gaussian process regression, the proposed data-driven approach ensures the stabilization of USVs within a guaranteed error bound. Furthermore, a resilient event-triggered strategy is developed to maintain control performance under denial-of-service (DoS) attacks. Additionally, a rigorous stability analysis is conducted for USVs with unknown dynamics, specifying stabilization conditions of durations and frequencies of non-structured DoS attacks. Simulation results, including Monte Carlo tests, demonstrate the effectiveness of the proposed approach, highlighting its robustness and efficiency compared to time-triggered and non-learning-based methods. © 2025 The Authors

关键词： Unmanned surface vehicles

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Federated K-means clustering via dual decomposition-based distributed optimization

Franklin Open

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Franklin Open 2025年 10卷

作者： Yfantis, Vassilios Wagner, Achim Ruskowski, Martin Chair of Machine Tools and Control Systems Department of Mechanical and Process Engineering RPTU Kaiserslautern-Landau Gottlieb-Daimler-Straße 42 Kaiserslautern 67663 Germany Innovative Factory Systems German Research Center for Artificial Intelligence Trippstadter Str. 122 Kaiserslautern 67663 Germany

The use of distributed optimization in machine learning can be motivated either by the resulting preservation of privacy or the increase in computational efficiency. On the one hand, training data might be stored across multiple devices. Training a global model within a network where each node only has access to its confidential data requires the use of distributed algorithms. Even if the data is not confidential, sharing it might be prohibitive due to bandwidth limitations. On the other hand, the ever-increasing amount of available data leads to large-scale machine learning problems. By splitting the training process across multiple nodes its efficiency can be significantly increased. This paper aims to demonstrate how dual decomposition can be applied for distributed training of K-means clustering problems. After an overview of distributed and federated machine learning, the mixed-integer quadratically constrained programming-based formulation of the K-means clustering training problem is presented. The training can be performed in a distributed manner by splitting the data across different nodes and linking these nodes through consensus constraints. Finally, the performance of the subgradient method, the bundle trust method, and the quasi-Newton dual ascent algorithm are evaluated on a set of benchmark problems. The main benefit stemming from the formulation of the clustering problem as a mixed-integer program and from the use of dual decomposition within a federated learning framework, apart from the preservation of privacy, is the computation of a lower bound of the objective of the overall clustering problem. In this way, the worst-case distance of any found solution to the global optimum can be easily assessed. While the mixed-integer programming-based formulation of the clustering problems suffers from weak integer relaxations, the presented approach can potentially be used to enable an efficient solution in the future, both in a central and distributed sett

关键词： Clustering Distributed optimization Dual decomposition Federated learning

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Data imputation methods for intermittent renewable energy sources: Implications for energy system modeling

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Energy Conversion and Management 2025年 339卷

作者： Mantuano, Claudio Omoyele, Olalekan Hoffmann, Maximilian Weinand, Jann Michael Panella, Massimo Stolten, Detlef Forschungszentrum Jülich GmbH Institute of Climate and Energy Systems – Jülich Systems Analysis (ICE-2) Jülich 52425 Germany RWTH Aachen University Chair for Fuel Cells Faculty of Mechanical Engineering Aachen 52062 Germany Sapienza University of Rome Department of Computer Control and Management Engineering (DIAG) Rome 00185 Italy Sapienza University of Rome Department of Information Engineering Electronics and Telecommunications (DIET) Rome 00184 Italy

To incorporate a high share of intermittent renewable sources in energy systems, energy system optimization models rely on weather and climate time series data. However, data for renewable energy sources often contains missing values due to sensor or transmission faults. This study evaluates various data imputation methods for minutely-resolved global horizontal irradiance, direct normal irradiance, and wind speed time series, with missingness ranging from two to ninety percent. Alongside standard statistical tests, a novel validation criterion is introduced by directly evaluating the impact of imputation methods on energy system modeling. While certain imputation methods demonstrate strong point-wise statistical accuracy, they do not necessarily preserve the underlying data distribution. The performance of these methods is strongly influenced by the type of time series and the missingness mechanism, either continuous gaps or randomly missing data points. In energy system optimization, multiple imputation by chained equations, k-nearest neighbors, linear interpolation, and simple moving average yield the best results, outperforming more sophisticated deep learning-based methods. Overall, k-nearest neighbors consistently outperformed the other approaches across all validation criteria. By comprehensively evaluating the statistical performance of imputation methods and their impact on energy system modeling, this study offers valuable insights for researchers and practitioners addressing missing data in energy system applications. © 2025 The Authors

关键词： Data imputation Energy system optimization Energy time series Machine learning Renewable energy systems Self-sufficiency

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Redundant configuration coordinates and nonholonomic velocity coordinates in analytical mechanics

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IFAC-PapersOnLine 2018年第2期51卷 409-414页

作者： Konz, Matthias Rudolph, Joachim Chair of Systems Theory and Control Engineering Saarland University Saarbrücken66123 Germany

Several established concepts of analytical mechanics are reviewed and extended to include redundant configuration coordinates and nonholonomic velocity coordinates. The main motivation for redundant coordinates is that the resulting formulations can be global, whereas minimal coordinates might necessarily be local depending on the topology of the configuration space e.g. for SO(3). The resulting formulations for Lagrange's equations, the Gibbs-Appell equations and the coefficients of the Levi-Civita connection are derived. These are then applied to the example of the free rigid body to derive the well-known Newton-Euler equations. © 2018

关键词： Mechanics Rigid structures Analytical mechanics Energy method First principles Gibbs Appell equations Newton Euler equation Redundant configuration Redundant coordinates Rigid body

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EIGENVALUE ASSIGNMENT OF TWO-DIMENSIONAL systems USING PID controlLERS

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INTERNATIONAL JOURNAL OF systems SCIENCE 1981年第4期12卷 407-422页

作者： PARASKEVOPOULOS, PN KOSMIDOU, OI Chair of Automatic Control Systems School of Engineering Democritus University of Thrace Xanthi Greece

The paper considers the problem of eigenvalue assignment of linear multivariable two-dimensional systems using dynamic state or output feedback. The particular compensator applied is of the PID form, i.e. it involves a proportional (P), an integral (I) and a derivative (D) term. The algorithm proposed reduces the problem to that of solving a linear system of equations. Furthermore, conditions are established for the problem to have a solution.

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ON THE INPUT OUTPUT DECOUPLING OF 2-D systems BY STATE FEEDBACK

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JOURNAL OF THE FRANKLIN INSTITUTE-engineering AND APPLIED MATHEMATICS 1982年第1期314卷 55-76页

作者： MERTZIOS, BG PARASKEVOPOULOS, PN Chair of Automatic Control Systems Democritus University of Thrace School of Engineering Xanthi Greece

The problem of designing a linear state feedback controller for single-input single-output decoupling of linear multivariable 2-D (two-dimensional) systems is discussed. A method is presented for the determination of the decoupling controller matrices which, when applied to the open-loop system, yield a closed-loop system whose transfer function matrix is diagonal and nonsingular. Necessary and sufficient conditions are established for the state feedback decoupling problem to have a solution. Two examples are included to illustrate the proposed decoupling method.

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Architectures for integrating functional safety into modular process plants

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IFAC-PapersOnLine 2015年第21期48卷 1321-1326页

作者： Pfeffer, Annett Urbas, Leon Chair of Process Control Systems Engineering Technische Universität Dresden Germany

As an approach to cope with rising volatility of sales markets and increasingly shorter development cycles, process industries are expecting much from the concept of modularization. However, a topic that is still rarely focused in this context is safety. Therefore, this paper is focused on the expected challenges of engineering functional safety including the architectures of safety instrumented systems, and the requirements of modularization. Possible architectures are presented and discussed in relation to the requirements of functional safety in modular process plants. © 2015

关键词： Architecture

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SENSITIVITY ANALYSIS OF 2-D systems

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IEEE TRANSACTIONS ON CIRCUITS AND systems 1981年第8期28卷 833-838页

作者： PARASKEVOPOULOS, PN MERTZIOS, BG Chair of Automatic Control Systems School of Engineering Democritus University of Thrace Xanthi Greece

This paper considers the sensitivity analysis of linear timeinvariant multivariable 2-D systems. Procedures that can be easily programmed on a digital computer are presented for the determination of the deviations that are caused by the system's parameter changes about their nominal values of: 1) eigenvalues, 2) coefficients of the characteristic polynomial, and 3) the coefficient matrices of the numerator of the transfer function.

关键词： Sensitivity analysis Transfer functions Feedback Stability Mercury (metals) Sufficient conditions Algebra Circuit synthesis Information analysis Counting circuits

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Emergency control systems in the Uninterrupted Traction Power Supply of Subways

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Russian Electrical engineering 2018年第9期89卷 507-511页

作者： Grechishnikov, V.A. Kurov, N.D. Vlasov, S.P. Electric Traction Chair Institute of Transport Engineering and Control Systems Russian University of Transport Moscow127055 Russia

Abstract: Traction dc power supply systems with a traditional feed voltage of 825 V are part of the basic transport infrastructure of metropolitan cities. The development of electrified railroads has resulted in the mainstream use of these systems. There are many works about their strengths and weaknesses;however, modern circumstances make it necessary to operate and upgrade these systems, maintain their usability, and improve their efficiency. New rolling stock with asynchronous engines is being launched for subway service with increased loads and travel speeds. In these conditions, one of the main features of maintaining the course of transportation is to guarantee uninterrupted power supply of electric rolling stock. This can be made possible through appropriate and timely responses by maintenance personnel, power dispatchers, automation and emergency control systems. The microprocessor systems used at the modern level of technological development have been embodied in intelligent terminals of feeder lines of electric traction networks used in subway service. Their algorithmic part must be improved and upgraded for compliance with the current realities of subway service by integrating emergency control equipment algorithms, full-scale analysis of analog processes in the electric traction network, discrete signals of automatic controls and telemechanics, and states and switches of cross-connect equipment, which must facilitate increased automation of the traction substation and make it completely unattended. © 2018, Allerton Press, Inc.

关键词： Automation

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