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Chinese Automation Congress (CAC)

作者： Mingrui Luo En Li Rui Guo Shengchuan Li Cunfeng Kang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Grid Shandong Electric Power Company Jinan China State Grid Liaoning Electric Power Company Limited Shenyang China Mechanical engineering and Applied Electronic Technology Beijing University of Technology Beijing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The images in the low-light and narrow environment generally have the problems of non-uniform illumination, low contrast, and large random noise. Existing algorithms are mostly subject to the imaging effect of the original image, and are prone to failure in extremely weak light or strong reflective environments. This paper proposes an active and adaptive image enhancement method. First of all, this paper combines the distributed light source model and the difference in brightness between frames to complete active feedback fill light, which improves the quality of the input image. Then gamma correction, contrast limited adaptive histogram equalization and bilateral filter are designed to enhance image details and suppress noise amplification. Combined with fuzzy inference parameter self-adjustment method, algorithm adaptability is improved. Finally, through experimental verification, the method proposed in this paper can effectively enhance the images in the low-light and narrow environment.

关键词： Light sources Histograms Adaptive equalizers Filtering algorithms Brightness Image color analysis Image enhancement

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A survey on fabrication,control,and hydrodynamic function of biomimetic robotic fish

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Science China(Technological Sciences) 2017年第9期60卷 1365-1380页

作者： YU JunZhi WEN Li REN ZiYu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Mechanical Engineering and Automation Beihang University

Understanding and replicating the locomotion principles offish are fundamental in the development of artificial fishlike robotic systems,termed robotic *** paper has two objectives:(1) to review biological clues on biomechanics and hydrodynamic flow control offish swimming and(2) to summarize design and control methods for efficient and stable swimming in robotic *** review of state-of-the-art research and future-oriented new directions indicates that fish-inspired biology and engineering interact in mutually beneficial *** strong interaction offers an important insight into the design and control of novel fish-inspired robots that addresses the challenge of environmental uncertainty and competing objectives;in addition,it also facilitates refinement of biological knowledge and robotic strategies for effective and efficient swimming.

关键词： fish swimming robots robotic fish hydrodynamics motion control

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The multi-harmonic signal frequencies estimation in finite time

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Journal of Physics: Conference Series 2021年第1期1864卷

作者： A. O. Vediakova A. A. Vedyakov A. A. Pyrkin A. A. Bobtsov V. S. Gromov Department of Computer Applications and Systems St. Petersburg State University 7/9 Universitetskaya nab. St. Petersburg 199034 Russia Department of Control Systems and Informatics ITMO University 49 Kronverkskiy pr. St. Petersburg 197101 Russia Laboratory 'Control of Complex Systems' Institute of Problems of Mechanical Engineering V.O. 61 Bolshoy pr. St. Petersburg 199178 Russia

The paper presents a method to estimate the frequencies of a multi-harmonic signal in finite time. We use parameterization based on applying delay operators to a measurable signal. The result is a linear regression model with an unknown vector which depends on the signal parameters. We use Dynamic Regressor Extension and Mixing method to replace the n-th order regression model with scalar regressions. After that, we estimate the parameters separately using the standard gradient descent method. In the last step, we find algebraically the finite-time parameter estimates. The set of numerical simulations demonstrates the efficiency of the proposed approach.

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CenterNet3D: An anchor free object detector for point cloud

arXiv

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arXiv 2020年

作者： Wang, Guojun Wu, Jian Tian, Bin Teng, Siyu Chen, Long Cao, Dongpu The State Key Laboratory of Automotive Simulation and Control Jilin University Changchun130022 China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China The Department of Computer Science Hong Kong Baptist University Hong Kong The School of Data and Computer Science Sun Yat-Sen University Guangdong Guangzhou510275 China The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada

Accurate and fast 3D object detection from point clouds is a key task in autonomous driving. Existing one-stage 3D object detection methods can achieve real-time performance, however, they are dominated by anchor-based detectors which are inefficient and require additional post-processing. In this paper, we eliminate anchors and model an object as a single point-the center point of its bounding box. Based on the center point, we propose an anchor-free CenterNet3D network that performs 3D object detection without anchors. Our CenterNet3D uses keypoint estimation to find center points and directly regresses 3D bounding boxes. However, because inherent sparsity of point clouds, 3D object center points are likely to be in empty space which makes it difficult to estimate accurate boundaries. To solve this issue, we propose an extra corner attention module to enforce the CNN backbone to pay more attention to object boundaries. Besides, considering that one-stage detectors suffer from the discordance between the predicted bounding boxes and corresponding classification confidences, we develop an efficient keypoint-sensitive warping operation to align the confidences to the predicted bounding boxes. Our proposed CenterNet3D is non-maximum suppression free which makes it more efficient and simpler. We evaluate CenterNet3D on the widely used KITTI dataset and more challenging nuScenes dataset. Our method outperforms all state-of-the-art anchor-based one-stage methods and has comparable performance to two-stage methods as well. It has an inference speed of 20 FPS and achieves the best speed and accuracy trade-off. Our source code will be released at https://***/wangguojun2018/CenterNet3d. Copyright © 2020, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Cooperative Lane Change Motion Planning of Connected and Automated Vehicles: A Stepwise Computational Framework

Cooperative Lane Change Motion Planning of Connected and Aut...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Zhang, Youmin Li, Bai Zhang, Yue Jia, Ning Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an710048 China Division of Systems Engineering Center for Information and Systems Engineering Boston University Boston United States Department of Mechanical Industrial and Aerospace Engineering Concordia Institute of Aerospace Design and Innovation Concordia University Montreal Canada Institute of Systems Engineering Tianjin University Tianjin China

ISBN: (纸本)9781538644522

This paper focuses on the scheme of cooperative lane change motion planning of multiple connected and automated vehicles, so as to minimize the time for lane change while penalizing large steering angles subject to hard collision avoidance constraints. Nominally this scheme should be formulated in a centralized way with the constraints of all the vehicles considered simultaneously. In order to facilitate the numerical solving process of this centralized optimization problem, we propose a stepwise computation framework. Starting with a sub-problem with all of the collision avoidance constraints removed, a sequence of sub-problems are defined by adding back the removed collision avoidance constraints gradually until the original problem takes shape in the end. The optimum of one sub-problem is always used as the initial guess when solving the next sub-problem. This iterative process continues until the optimum of the original problem is obtained. In this way, the difficulties in the original centralized problem are divided into multiple parts, and every progress made to address the partial difficulties is 'solidified' by the initial guess. © 2018 IEEE.

关键词： Collision avoidance

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Frequency estimation of a sinusoidal signal with time-varying amplitude and phase

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IFAC-PapersOnLine 2018年第32期51卷 663-668页

作者： Vedyakov, Alexey A. Vediakova, Anastasiia O. Bobtsov, Alexey A. Pyrkin, Anton A. Kakanov, Mikhail A. ITMO University Kronverkskiy pr. 49 St. Petersburg197101 Russia Department of Computer Applications and Systems St.Petersburg State University 7/9 Universitetskaya nab. St. Petersburg199034 Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg199178 Russia

This paper is devoted to frequency estimation of a non-stationary sinusoidal signal. The amplitude is supposed to be a known function within a constant factor, the phase should be known. Example of such problem statement is sensorless angular velocity estimation for permanent magnet synchronous motors. On the first step by reparametrization, a third order linear regression model is obtained. On the next step, an estimation algorithm is constructed based on a standard gradient approach. The frequency estimate can be computed from one of the model parameters using inverse trigonometric functions. To improve estimates quality for noisy measurements we propose a new identification method, which can be tuned to attenuate the noise influence. It is shown that the frequency estimation error converges to zero exponentially fast. The described algorithm does not require measuring or calculating derivatives of the input signal. The efficiency of the proposed approach is demonstrated through the set of numerical simulations. © 2018

关键词： Frequency estimation Continuous time systems Inverse problems Permanent magnets Regression analysis Angular velocity estimation Continuous time estimations Frequency estimation errors Globally convergent Identification method Linear regression models Permanent Magnet Synchronous Motor Trigonometric functions

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An efficient nondominated sorting algorithm 18

An efficient nondominated sorting algorithm

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2018 Genetic and Evolutionary Computation Conference, GECCO 2018

作者： Wang, Junchen Li, Changhe Diao, Yiya Zeng, Sanyou Wang, Hui School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan China Nanchang Institute of Technology Nanchang China

ISBN: (纸本)9781450357647

Nondominated sorting (NS) is commonly needed in multi-objective optimization to distinguish the fitness of solutions. Since it was suggested, several NS algorithms have been proposed to reduce its time complexity. In our study, we found that their performances are closely related to properties of the distribution of a data set, especially the number of fronts. To address this issue, we propose a novel NS algorithm Filter Sort. We also propose a new benchmark data generator for evaluating the performance of a NS algorithm. Experimental results show that our algorithm is superior to several state-of-the-art NS algorithms in most cases. © 2018 Copyright held by the owner/author(s).

关键词： Multiobjective optimization

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Hazard-evaluation-oriented Moving Horizon Parallel Steering control for Driver-Automation Collaboration During Automated Driving

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1062-1073页

作者： Hongyan Guo Linhuan Song Jun Liu Fei-Yue Wang Dongpu Cao Hong Chen Chen Lv Partick Chi-Kwong Luk State Key Laboratory of Automotive Simulation and Control and the Department of Con-trol Science and Engineering Jilin University(Campus Nanling)Changchun130025China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense TechnologyChangsha 410073China Mechanical and Mechatronics Engineering Department at the University ot Waterloo 200 University Avenue West WaterlooONNZL3G1Canada Department of Automotive Engineering Cranfield UniversityBedfordshire MK43 0ALUK School of Water Energy and EnvironmentCranfield UniversityBedfordshire MK43 0ALUK

Prompted by emerging developments in connected and automated vehicles, parallel steering control, one aspect of parallel driving, has become highly important for intelligent vehicles for easing the burden and ensuring the safety of human drivers. This paper presents a parallel steering control framework for an intelligent vehicle using moving horizon *** framework considers lateral stability, collision avoidance and actuator saturation and describes them as constraints, which can blend the operation of a human driver and a parallel steering controller effectively. Moreover, the road hazard and the steering operation error are employed to evaluate the operational hazardous of an intelligent vehicle. Under the hazard evaluation,the intelligent vehicle will be mainly operated by the human driver when the vehicle operates in a safe and stable *** automated steering driving objective will play an active role and regulate the steering operations of the intelligent vehicle based on the hazard evaluation. To verify the effectiveness of the proposed hazard-evaluation-oriented moving horizon parallel steering control approach, various validations are conducted, and the results are compared with a parallel steering scheme that does not consider automated driving situations. The results illustrate that the proposed parallel steering controller achieves acceptable performance under both conventional conditions and hazardous conditions.

关键词： Hazard evaluation intelligent vehicle atera stability moving horizon optimization paralle steering control

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Rethinking temporal object detection from robotic perspectives

arXiv

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arXiv 2019年

作者： Chen, Xingyu Wu, Zhengxing Yu, Junzhi Wen, Li State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Beijing Innovation Center Engineering Science and Advanced Technology Peking University Beijing100871 China School of Mechanical Engineering and Automation Beihang University Beijing100191 China

Video object detection (VID) has been vigorously studied for years but almost all literature adopts a static accuracy-based evaluation, i.e., average precision (AP). From a robotic perspective, the importance of recall continuity and localization stability is equal to that of accuracy, but the AP is insufficient to reflect detectors' performance across time. In this paper, non-reference assessments are proposed for continuity and stability based on object tracklets. These temporal evaluations can serve as supplements to static AP. Further, we develop an online tracklet refinement for improving detectors' temporal performance through short tracklet suppression, fragment filling, and temporal location fusion. In addition, we propose a small-overlap suppression to extend VID methods to single object tracking (SOT) task so that a flexible SOT-by-detection framework is then formed. Extensive experiments are conducted on ImageNet VID dataset and real-world robotic tasks, where the superiority of our proposed approaches are validated and verified. Codes will be publicly available. Copyright © 2019, The Authors. All rights reserved.

关键词： Object recognition

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Near-Optimal Online Motion Planning of Connected and Automated Vehicles at a Signal-Free and Lane-Free Intersection

Near-Optimal Online Motion Planning of Connected and Automat...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Li, Bai Zhang, Youmin Zhang, Yue Jia, Ning Ge, Yuming Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an710048 China College of Control Science and Engineering Zhejiang University Hangzhou310027 China Department of Mechanical Industrial and Aerospace Engineering Concordia Institute of Aerospace Design and Innovation Concordia University Montreal Canada Division of Systems Engineering Center for Information and Systems Engineering Boston University BostonMA02215 United States Institute of Systems Engineering Tianjin University Tianjin300072 China China Academy of Information and Communications Technology Beijing100191 China

ISBN: (纸本)9781538644522

In this paper, we propose a cooperative motion planning method for a group of connected and automated vehicles (CAVs) crossing a lane-free intersection without using explicit traffic signaling. This multi-vehicle motion planning task is formulated as a centralized optimal control problem. However, the solution to this optimal control problem is numerically intractable due to the high dimensionality of the collision-avoidance constraints and the nonlinearity of the vehicle kinematics. A two-stage strategy is proposed for generating online solutions: at Stage 1, the CAVs are requested to reach a standard formation before entering the intersection;at Stage 2, the vehicles cross the intersection. As the motion planning sub-problem at Stage 2 begins with a standard configuration, the optimal solution to this standard sub-problem can be computed offline in advance and applied online directly. On the other hand, the formation reconfiguration sub-problem at Stage 1 is easy to solve online. Through dividing the entire dynamic process into two periods, the difficulties in the original optimal control problem are significantly reduced so that the real-time performance is achieved. © 2018 IEEE.

关键词： Motion planning

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