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arXiv 2022年

作者： Wang, Guangming Feng, Zhiheng Jiang, Chaokang Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point’s movement. Scene flow estimation is used in various applications such as autonomous driving fields, activity recognition, and virtual reality fields. As it is challenging to annotate scene flow with ground truth for real-world data, this leaves no real-world dataset available to provide a large amount of data with ground truth for scene flow estimation. Therefore, many works use synthesized data to pre-train their network and real-world LiDAR data to finetune. Unlike the previous unsupervised learning of scene flow in point clouds, we propose to use odometry information to assist the unsupervised learning of scene flow and use real-world LiDAR data to train our network. Supervised odometry provides more accurate shared cost volume for scene flow. In addition, the proposed network has mask-weighted warp layers to get a more accurate predicted point cloud. The warp operation means applying an estimated pose transformation or scene flow to a source point cloud to obtain a predicted point cloud and is the key to refining scene flow from coarse to fine. When performing warp operations, the points in different states use different weights for the pose transformation and scene flow transformation. We classify the states of points as static, dynamic, and occluded, where the static masks are used to divide static and dynamic points, and the occlusion masks are used to divide occluded points. The mask-weighted warp layer indicates that static masks and occlusion masks are used as weights when performing warp operations. Our designs are proved to be effective in ablation experiments. The experiment results show the promising prospect of an odometry-assisted unsupervised learning method for 3D scene flow in real-world data. Copyright © 2022, The Authors. All rights reserved.

关键词： Deep learning

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Atf-Bss: Adaptive Time-Frequency Blind Source Separation for High Reverberation and Echo Environments

SSRN

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SSRN 2023年

作者： Xie, Yuan Zou, Tao Chen, Ci Sun, Weijun Xie, Shengli School of Mechanical and Electrical Engineering Guangzhou University Guangdong-Hong Kong-Macao Key Laboratory of Multi-scale Information Fusion and Collaborative Optimization Control of Complex Manufacturing Process Guangzhou510006 China School of Automation Guangdong University of Technology Joint International Research Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education of the P.R.C. Guangzhou510006 China School of Automation Guangdong University of Technology Guangdong Key Laboratory of IoT Information Processing Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China School of Automation Guangdong University of Technology Key Laboratory of Intelligent Detection and the IoT in Manufacturing Ministry of Education 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Guangzhou510006 China

Blind source separation with high reverberation and echoes is an open and extremely challenging issue. Room reverberation and echoes have an important influence on acoustics quality, causing great difficulty in independent source separation. In the paper, an adaptive time-frequency blind source separation algorithm (ATF-BSS) is designed to deal with high reverberation and echoes, which can adaptively attenuate audible echoes and enhance the harmonic structure of real-world audio signals, achieving excellent separation performance. Firstly, an equalizer network is designed for the room impulse response to weakening audible echoes under high reverberation and echo environments without changing the perceived timbre. Furthermore, an adaptive time-frequency Wiener-like masking is presented to enhance the dominant signal and attenuate the other components that have less energy than the dominant signal. To the best of our knowledge, this is the first attempt to incorporate the advantages of an equalizer network for removing or weakening audible echoes and adaptive time-frequency masking to solve blind separation with high reverberation and echoes. Experimental results on public audio datasets demonstrate that the proposed ATF-BSS algorithm improves signal intelligibility and achieves much better separation performance than state-of-the-art methods. © 2023, The Authors. All rights reserved.

关键词： Reverberation

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Echo state network based symbol detection in chaotic baseband wireless communication

arXiv

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arXiv 2021年

作者： Yin, Hui-Ping Bai, Chao Ren, Hai-Peng The Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China The Xi’an Key Laboratory of Intelligent Equipment Xi’an Technological University Xi’an710021 China

In some Internet of Things (IoT) applications, multipath propagation is a main constraint of communication channel. Recently, the chaotic baseband wireless communication system (CBWCS) is promising to eliminate the inter-symbol interference (ISI) caused by multipath propagation. However, the current technique is only capable of removing the partial effect of ISI, due to only past decoded bits are available for the suboptimal decoding threshold calculation. However, the future transmitting bits also contribute to the threshold. The unavailable future information bits needed by the optimal decoding threshold are an obstacle to further improve the bit error rate (BER) performance. Different from the previous method using echo state network (ESN) to predict one future information bit, the proposed method in this paper predicts the optimal threshold directly using ESN. The proposed ESN-based threshold prediction method simplifies the symbol decoding operation by removing the threshold calculation from the transmitting symbols and channel information, which achieves better BER performance as compared to the previous method. The reason for this superior result lies in two folds, first, the proposed ESN is capable of using more future symbols information conveyed by the ESN input to get more accurate threshold;second, the proposed method here does not need to estimate the channel information using Least Square method, which avoids the extra error caused by inaccurate channel information estimation. By this way, the calculation complexity is decreased as compared to the previous method. Simulation results and experiment based on a wireless open-access research platform under a practical wireless channel, show the effectiveness and superiority of the proposed method. Copyright © 2021, The Authors. All rights reserved.

关键词： Bit error rate

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Design and Performance Analysis of a Chaotic Pseudo Orthogonal Carriers Multi-Access Communication system

arXiv

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arXiv 2021年

作者： Bai, Chao Yao, Jun-Liang Sun, Yu-Zhe Ren, Hai-Peng Xi’an Key Laboratory of Intelligent Equipment Xi’an Technological University Xi’an710021 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China

A Chaotic Pseudo Orthogonal Carriers Multi-Access (CPOCMA) communication based on Chaotic Pseudo Orthogonal Shape-forming Filter (CPOSF) bank, Chaotic Pseudo Orthogonal Matched Filter (CPOMF) bank and Chaotic Pseudo Orthogonal Correlation Filter (CPOCF) bank is proposed in this work. At the transmitter, the multiple CPOSFs are used to generate pseudo orthogonal signals. It provides a good trade-off between spectrum efficiency and high bit transmission rate. At the receiver, the CPOMF bank and CPOCF bank are used to maximize the Signal-to-Noise Ratio (SNR) and extract the received information from each sub-channel, respectively. The received signal is demodulated by averaging the sampled sequence from the matched filter bank output and sorting the sampling sequence from the CPOCF bank output to recover the transmitted information bits. The proposed CPOCMA communication system not only offers multiuser access with high reliability and high data transmission rate, but also achieves higher spectrum efficiency. Analytical Bit Error Rate (BER) expression is derived. The proposed communication system performance has been evaluated in Additive White Gaussian Noise (AWGN) channel and wireless channel by both numerical simulations and experiments based on a Wireless open-Access Research Platform (WARP), the results show the effectiveness and the superiority of the proposed method. Copyright © 2021, The Authors. All rights reserved.

关键词： Numerical methods

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A belief rule-based fault diagnosis method for Multi-UAVs under missing attribute data

A belief rule-based fault diagnosis method for Multi-UAVs un...

引用

Cyber-Physical Social Intelligence (ICCSI), International Conference on

作者： ErKai Zhao MingRui Hao RuoHan Yang KeYuan Yue DeLin Yu School of Computer Science and Information Engineering Harbin Normal University Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China School of Electronics and Information Northwestern Polytechnical University Xi’an China School of Mathematics and Statistics Northwestern Polytechnical University Xi’an China

To reasonably improve the missing attribute data and effectively integrate sample data and uncertain expert knowledge, this paper proposes a new fault diagnosis method based on a belief rule base (BRB). In the case of missing attribute data, the maximum likelihood estimation (MLE) method is used to complete the missing attribute data, and the fault diagnosis method of the multi-UAVs is constructed by using other complete attribute data as the input information of BRB. Finally, the effectiveness of the proposed method is verified by experimental simulation.

关键词：

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Parameter estimation of time fractional heat conduction equation for monocrystalline silicon

Parameter estimation of time fractional heat conduction equa...

引用

Chinese Automation Congress (CAC)

作者： Shuyan Shi Ding Liu Zhongdan Zhao Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shananxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

ISBN: (纸本)9781665426480

In this paper, a time-fractional heat conduction model is established to describe the heat transfer process of monocrystalline silicon in the Czochralski method. The numerical solution of the fractional-order model is obtained by using implicit difference scheme. In addition, an improved grey wolf algorithm is proposed to estimate the parameters of the fractional heat conduction model using the experimental temperature data. The numerical experiment results show that the time-fractional heat conduction model has a higher explanatory ability, compared with the classical heat conduction model. The Improved Grey Wolf algorithm proposed in this paper is effective in solving the parameter estimation problem of the time-fractional heat conduction equation.

关键词： Heating systems Temperature distribution Parameter estimation Inverse problems Simulation Mathematical models Silicon

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Opportunistic Wireless control Over State-Dependent Fading Channels*

Opportunistic Wireless Control Over State-Dependent Fading C...

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IEEE Conference on Decision and control

作者： Shuling Wang Peizhe Li Shanying Zhu Cailian Chen Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

The heterogeneous system consisting of the wireless control system (WCS) and mobile agent system (MAS) is ubiquitous in Industrial Internet of Things (IIoT) systems. Within this system, the positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise the WCS’s performance. This paper focuses on the controller design for the MAS to ensure the performance of WCS in the presence of WCS and MAS coupling. Firstly, the constrained finite field network (FFN) with profile-dependent switching topology is adopted to proceed the operational control for the MAS. By virtue of the algebraic state space representation (ASSR) method, an equivalent form is obtained for the WCS and MAS coupling. A necessary and sufficient condition in terms of constrained set stabilization is then established to ensure the Lyapunov-like performance with expected decay rate. Finally, a graphical method together with the breath-first searching is provided to design state feedback controllers for the MAS. With this method, it is easy to check the constrained set stabilization of MAS and to ensure the performance requirements of WCS in the presence of WCS and MAS coupling. The study of an illustrative example shows the effectiveness of the proposed method.

关键词： Couplings Wireless communication Fading channels State feedback Mobile agents Optical wavelength conversion Switches

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Building Temperature and Humidity Adaptive control for a Multi-Zone HVAC system Using Hybrid Modeling Method

Building Temperature and Humidity Adaptive Control for a Mul...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Yuliang Jiang Shanying Zhu Qimin Xu Bo Yang Xinping Guan Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781728119496

In this paper, the heating, ventilation and air conditioning (HVAC) system as the contributor of building climate management is studied on multi-zone climate dynamics modelling and control for occupancy comfort. The first-principles model together with data-driven model as the hybrid model is proposed for comprehensive multi-zone hygro-thermal dynamics. The unmodeled climate dynamics such as unknown nonlinearity and uncertainty is modeled in a linear form based on the compact form dynamic linearization (CFDL) method. Then model free adaptive control (MFAC) scheme including controller design and parameter estimation is proposed to realize multi-zone climate control and occupancy comfort. The dynamic response performance of the hybrid model-based adaptive control and the first-principles model-based adaptive control has been tested in a multi-zone building with four different zones. The results show that the proposed hybrid model-based adaptive control scheme can achieve obvious performance improvement in minimizing steady-state error.

关键词： Adaptation models HVAC Parameter estimation Uncertainty Atmospheric modeling Buildings Ventilation

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Multi-type and Multi-level Feature Fusion Network for RGBD Indoor Semantic Segmentation

Multi-type and Multi-level Feature Fusion Network for RGBD I...

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Chinese control and Decision Conference, CCDC

作者： Yuwen Xia Chaochen Gu Kaijie Wu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665478977

RGBD images, which refer to the three-channel color images augmented with depth channel, have been greatly exploited to improve the performance of scene semantic segmentation. RGBD semantic segmentation task is of great significance to help the development of robot navigation and grasping. However, most existing methods addressing RGBD semantic segmentation lack effective feature fusion modules. To address the aforementioned problem, we propose a novel network with two novel modules for feature fusion, namely Channel-Attention based Complementary Feature Fusion Module (CAC-FFM) and Cross-Layer Feature Fusion Module (CL-FFM). Specifically, CAC-FFM, which is essentially based on the channel-attention mechanism, effectively utilizes the complementary information of RGB and depth to generate fusion features, and CL-FFM captures patch-wise features from low-level feature maps to assist the training of high-level features so as to further optimize the segmentation results. Experimental results on the publicly available NYUDv2 dataset validate the effectiveness and superiority of our proposed method.

关键词： Training Cross layer design Correlation Navigation Semantic segmentation Grasping Excavation

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Pseudo-LiDAR for Visual Odometry

arXiv

引用

arXiv 2022年

作者： Deng, Huiying Wang, Guangming Feng, Zhiheng Jiang, Chaokang Wu, Xinrui Miao, Yanzi Wang, Hesheng Advanced Robotics Research Center AI Research Institute School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

As one of the important tasks in the field of robotics and machine vision, LiDAR/visual odometry provides tremendous help for various applications such as navigation, location, etc. In the existing methods, LiDAR odometry shows superior performance, but visual odometry is still widely used for its price advantage. Conventionally, the task of visual odometry mainly rely on the input of continuous images. However, it is very complicated for the odometry network to learn the epipolar geometry information provided by the images. In this paper, the concept of pseudo-LiDAR is introduced into the odometry to solve this problem. The pseudo-LiDAR point cloud back-projects the depth map generated by the image into the 3D point cloud, which changes the way of image representation. Compared with the stereo images, the pseudo-LiDAR point cloud generated by the stereo matching network can get the explicit 3D coordinates. Since the 6 Degrees of Freedom (DoF) pose transformation occurs in 3D space, the 3D structure information provided by the pseudo-LiDAR point cloud is more direct than the image. Compared with sparse LiDAR, the pseudo-LiDAR has a denser point cloud. In order to make full use of the rich point cloud information provided by the pseudo-LiDAR, a projection-aware dense odometry pipeline is adopted. Most previous LiDAR-based algorithms sampled 8192 points from the point cloud as input to the odometry network. The projection-aware dense odometry pipeline takes all the pseudo-LiDAR point clouds generated from the images except for the error points as the input to the network. While making full use of the 3D geometric information in the images, the semantic information in the images is also used in the odometry task. The fusion of 2D-3D is achieved in an image-only based odometry. Experiments on the KITTI dataset prove the effectiveness of our method. To the best of our knowledge, this is the first visual odometry method using pseudo-LiDAR. Copyright © 2022, The Authors. A

关键词： Pipelines

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