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2nd International Conference on Automation, Robotics and Computer Engineering, ICARCE 2023

作者： Ji, Daxiong Wang, Xinwei Xu, Minghui Zhang, Qiang Sharma, Sanjay Sutton, Robert Institute of Marine Electronics and Intelligent Systems Ocean Collage Zhejiang University Donghai Lab Zhoushan China School of Engineering Computing and Mathematics University of Plymouth Intelligent Autonomous Control Systems Plymouth United Kingdom

ISBN: (纸本)9798350308341

In consideration of the trajectory tracking problem of autonomous underwater vehicle (AUV) under external current disturbance, an adaptive linear active disturbance rejection control (LADRC) method is proposed. Unlike the conditional LADRC using fixed parameters for extended state observer, the proposed controller makes use of the error of estimation and automatically adjusts the parameter online. As shown in the simulation, the adaptive LADRC estimates the external current disturbance effectively, and tracks the 3D trajectory better compared with traditional LADRC. © 2023 IEEE.

关键词： Disturbance rejection

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Object Tracker Based on Siamese Network with Displacement Penalty and Template Update 4

Object Tracker Based on Siamese Network with Displacement Pe...

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4th International Conference on High Performance Big Data and Intelligent Systems, HDIS 2022

作者： Huang, Chenyu Zhang, Yu Zhao, Yi Dong, Heng Li, Zhuoming School of Electron. and Inf. Eng Harbin Institute of Technology Harbin China Faculty of Computing Harbin Institute of Technology Harbin China Beijing Institute of Control and Electronic Technology Beijing China

ISBN: (数字)9781665491440

ISBN: (纸本)9781665491440

SiamFC is equipped with a fully-convolutional Siamese network trained end-To-end on the ILSVRC15. Despite the success of the algorithm, it's still susceptible to interference from background clutter. In order to solve the problem, we propose an object tracking algorithm based on SiamFC. We introduce a spatial displacement penalty module into the tracker, to spatially weight the position where multiple peaks may occur on the score map. Using the correlation between two consecutive frames, tracker can reduce the probability of tracking the wrong analogues. SiamFC is difficult to track the object after deformation, so we define the confidence degree to measure the trustworthiness of tracking results. When the degree reaches the threshold, tracker updates the object appearance model selectively. We exploit the spatial and temporal information of the object and background to optimize the tracking process. Our tracker has higher robustness compared to SiamFC algorithm with the same complexity. We test our tracker on TC128 and VOT dataset, the simulation results show that our tracker achieves better performance in precision, AUPC and IoU than SiamFC. © 2022 IEEE.

关键词： Statistical tests

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Guaranteed Completion of Complex Tasks via Temporal Logic Trees and Hamilton-Jacobi Reachability 63

Guaranteed Completion of Complex Tasks via Temporal Logic Tr...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Jiang, Frank J. Arfvidsson, Kaj Munhoz He, Chong Chen, Mo Johansson, Karl H. Kth Royal Institute of Technology Division of Decision and Control Systems Eecs Malvinas väg 10 Stockholm10044 Sweden Simon Fraser University School of Computing Science BurnabyBC V5A 1S6 Canada

ISBN: (纸本)9798350316339

In this paper, we present an approach for guaranteeing the completion of complex tasks with cyber-physical systems (CPS). Specifically, we leverage temporal logic trees constructed using Hamilton-Jacobi reachability analysis to (1) check for the existence of control policies that complete a specified task and (2) develop a computationally-efficient approach to synthesize the full set of control inputs the CPS can implement in real-time to ensure the task is completed. We show that, by checking the approximation directions of each state set in the temporal logic tree, we can check if the temporal logic tree suffers from the 'leaking corner issue,' where the intersection of reachable sets yields an incorrect approximation. By ensuring a temporal logic tree has no leaking corners, we know the temporal logic tree correctly verifies the existence of control policies that satisfy the specified task. After confirming the existence of control policies, we show that we can leverage the value functions obtained through Hamilton-Jacobi reachability analysis to efficiently compute the set of control inputs the CPS can implement throughout the deployment time horizon to guarantee the completion of the specified task. Finally, we use a newly released Python toolbox to evaluate the presented approach on a simulated driving task. © 2024 IEEE.

关键词： Temporal logic

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Design of Personalization Warehouse Management Platform Based on SaaS Model 25

Design of Personalization Warehouse Management Platform Base...

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25th IEEE International Conference on Computer Supported Cooperative Work in Design, CSCWD 2022

作者： Guo, Qi Sun, Hongbo Ji, Wen Yantai University School of Computer and Control Engineering Shandong Yantai264005 China Institute of Computing Technology Chinese Academy of Science Beijing100190 China

ISBN: (纸本)9781665405270

SaaS is widely used in the fields of operation management, business process outsourcing, data analysis, and information security. However, with the improvement of the degree of information, the generalized SaaS platform is unable to satisfy the requirements of enterprise personalization. SaaS products face great challenges in personalized customization technology due to the application of multi-tenant architecture. The challenges include multi-tenant customization in SaaS model, data isolation during customization, and mapping of multi-tenant virtual warehouse locations to actual locations. Therefore, we decompose personalization technology into metadata driver, cloud data placement and mapping mechanism for research. We decompose the personalized technologies into metadata drive, cloud data placement, and mapping mechanism. In order to solve the problem that traditional personalization customization is unable to be applied in the SaaS field, we propose a multi-tenant personalized warehousing mode architecture, designed a personalization warehouse management platform based on SaaS model, and realized SaaS-based data isolation, interface customization, rapid positioning, and on-demand customization services. Experimental results show that the proposed multi-tenant personalized warehouse model can achieve data isolation and customization, and reflect the advantages of highly automated warehousing, shared storage resources, and on-demand customization in terms of warehouse management, data security, and user experience. © 2022 IEEE.

关键词： Metadata

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Dynamic Formation Tracking of Multi-agent Systems with Bounded Unknown Leader Input 5th

Dynamic Formation Tracking of Multi-agent Systems with Bou...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Su, Piaoyi Dong, Xiwang Zhao, Qin Li, Qingdong Ren, Zhang School of Automation Science and Electronic Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China Beijing Institute of Control and Electronics Technology Beijing100038 China

ISBN: (纸本)9789811939976

This literature investigate the dynamic formation tracking problem of multiple Lagrange systems with linear nonautonomous leader over directed topology. In order to estimate the leader system, a distributed control scheme is proposed firstly by constructing adaptive distributed observer. Secondly, this paper design a nonlinear function to decrease the influence from the leader’s bounded unknown input. Then, the dynamic formation tracking problem of multiple Euler-Lagrange systems with nonlinear uncertainties and disturbances is solved by distributed tracking algorithm. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Octree K-nearest neighbor parallel query 4

Octree K-nearest neighbor parallel query

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4th International Conference on Computer Vision and Pattern Analysis, ICCPA 2024

作者： Nong, Jian Xu, Jian He, Xi Li, Wenge Huang, Hongben Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou University Wuzhou543002 China High Performance Computing Laboratory Wuzhou University Wuzhou543002 China CCTEG Taiyuan Research Institute Co. Ltd. Taiyuan030006 China

ISBN: (纸本)9781510682528

Nearest neighbor queries have widespread applications in fields such as computer vision, data mining, pattern recognition, document retrieval, and geographic information systems. The traditional k-nearest neighbor algorithm based on branch-and-bound and octree requires the use of a priority queue to maintain the result set. However, in large-scale data scenarios, the efficiency of the priority queue decreases, leading to a decline in query efficiency. Additionally, implementing parallelism using tree-based storage structures, such as octree, can be challenging. This paper proposes a parallel k-nearest neighbor query algorithm for multi-core CPU environments based on octree. This method adopts a divide-and-conquer approach by dividing the dataset into multiple parts and constructing octree for each part. Then, it utilizes parallel max-heaps to calculate the distances of pruned data and selects the nearest K elements to achieve K-nearest neighbor query. This method utilizes multiprocessors for tree construction and result set maintenance, further accelerating the query speed. Experimental results show that in large-scale data scenarios, this method achieves significant acceleration compared to sequential query. © 2024 SPIE.

关键词： Nearest neighbor search

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Residual Network and Embedding Usage: New Tricks of Node Classification with Graph Convolutional Networks 2

Residual Network and Embedding Usage: New Tricks of Node Cla...

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2nd International Conference on Computer, Big Data and Artificial Intelligence, ICCBDAI 2021

作者： Chi, Huixuan Wang, Yuying Hao, Qinfen Xia, Hong Institute of Computing Technology Chinese Academy of Sciences Beijing China School of Control and Computer Engineering North China Electric Power University Beijing China

Graph Convolutional Networks (GCNs) and subsequent variants have been proposed to solve tasks on graphs, especially node classification tasks. In the literature, however, most tricks or techniques are either briefly mentioned as implementation details or only visible in source code. In this paper, we first summarize some existing effective tricks used in GCNs mini-batch training. Based on this, two novel tricks named GCN_res Framework and Embedding Usage are proposed by leveraging residual network and pre-trained embedding to improve baseline’s test accuracy in different datasets. Experiments on Open Graph Benchmark (OGB) show that, by combining these techniques, the test accuracy of various GCNs increases by 1.21%∼2.84%. We open source our implementation at https://***/ytchx1999/PyGOGB-Tricks. © 2022 institute of Physics Publishing. All rights reserved.

关键词： Convolution

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ROCFL: A Robust Clustered Federated Learning Framework towards Heterogeneous Data

ROCFL: A Robust Clustered Federated Learning Framework towar...

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2023 International Conference on Intelligent Communication and Networking, ICN 2023

作者： Li, Zihan Guan, Zhitao Yuan, Shuai An, Ningyu Liang, Xiao North China Electric Power University School of Control and Computer Engineering Beijing China Canada State Grid Smart Grid Research Institute State Grid Laboratory of Grid Advanced Computing and Applications Beijing China

ISBN: (纸本)9798350357677

As a decentralized machine learning approach, federated learning has become a key solution for numerous applications. However, one primary challenge lies in the data heterogeneity issue when developing effective federated learning algorithms. While many existing frameworks address the concern of non-independent and identically distributed data(non-IID), they have not considered heterogeneity of data quality. Therefore, we propose ROCFL, a robust clustered federated learning method in this study, which can amplify the disparity in weight allocation between models trained on different quality data. We first develop an optimal clustering matching mechanism that groups clients with similar data distributions. This allows the optimal clustering model to be derived without specifying a predetermined number of clusters. Next, we introduce a personalized weight allocation strategy, which assigns a weight benchmark to each cluster based on its cluster importance index. This strategy mitigates the negative impacts of low-quality data during model aggregation. Finally, we design a federated aggregation strategy grounded in a sampling approach. It not only ensures unbiased sampling but also significantly reduces both computational and communication overheads. Experiments have been carried out and the results demonstrate that higher accuracy and robustness can be achieved by ROCFL in scenarios wherein data distribution and quality heterogeneity coexist, in comparison with the benchmarks. © 2023 IEEE.

关键词： Learning algorithms

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Cross Spectral Image Registration for Fever Detection

Cross Spectral Image Registration for Fever Detection

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2022 IEEE International Conference on Signal Processing, Informatics, Communication and Energy Systems, SPICES 2022

作者： Mathew, Joseph George, Sudhish N. Control and Instrumentation Group Centre for Development of Advanced Computing Thiruvananthapuram India National Institute of Technology Calicut Department of Electronics and Communication Engineering Kozhikode India

ISBN: (纸本)9781665449403

An infrared thermal imaging system can screen large groups of people quickly, non-intrusively and with a high level of confidence in spotting febrile subjects. A thermal imaging system must identify individuals with a body core temperature above 38°C to effectively do this. Conventionally, this is per-formed using thermal imaging cameras in the Long Wave Infra Red (LWIR) region. But the issue with most of these systems is that it fails to read the temperature at the inner eye canthi, which is the ideal location on the face for fever detection. This is owing to the lack of distinguishing features that are available on a thermal image. Hence, in this paper, an attempt is made to read the temperature at the inner eye canthus by first detecting the eye region by running the Viola - Jones Haar Cascade algorithm over the visible images, in a popular synchronized visible and thermal face dataset. Subsequently, this identified region of interest in the visible image is registered against its corresponding thermal image using the ORB algorithm to locate the eye canthus area on the thermal image. Experimental results analysed in this paper proves that a read out of the temperature at this pixel location can be a sufficiently accurate estimate of the core body temperature of the subject being screened. © 2022 IEEE.

关键词： Image registration

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Adaptive Trajectory Tracking control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1007-1021页

作者： Yunjun Zheng Jinchuan Zheng Ke Shao Han Zhao Hao Xie Hai Wang the School of Mechanical Engineering Hefei University of TechnologyHefei 230009China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyHawthorn VIC 3122Australia the School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China the Shanghai Aerospace Control Technology Institute Shanghai 201109 the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the College of Science HealthEngineering and EducationMurdoch UniversityPerth WA6150Australia

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external *** paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for *** with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances *** advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier *** benefit is that the overestimation of control gain can be eliminated,resulting in chattering ***,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the *** stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

关键词： Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control

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