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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Hanyang Zhuang Xingyuan Chen Jianglin Lan Ying Wang Zhaoxuan Lu Chunxiang Wang Ming Yang University of Michigan - Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai China James Watt School of Engineering University of Glasgow Glasgow United Kingdom School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Shanghai Intelligent and Connected Vehicle R&D Center Co. LTD Shanghai China Department of Automation Shanghai Jiao Tong University Shanghai Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

Multi-camera vehicle tracking (MCVT) system is a key technology to build an intelligent city and intelligent transportation system. The MCVT system utilizes roadside monitoring devices and computing platforms to achieve city-level road traffic perception at a finer scale by tracking each vehicle on the road to obtain the trajectory. The existing MCVT system mainly focuses on dealing with the algorithm modules separately, without studying the real-time performance and system architecture of the entire pipeline. However, in real-world applications, many of the tricks in improving evaluation metrics are not applicable since there is endless traffic flow running all the time. Therefore, this paper proposes a real-time framework of the MCVT system to streamline all the algorithm modules with proper data flow. Firstly, a multi-threaded multi-vehicle tracking (MVT) module is developed to detect vehicles in each camera. Re-identification is implemented during MVT to provide the feature for tracking in the same camera and across different cameras. Then, after the vehicle leaves the camera field of view, the feature of vehicle trajectory is calculated by averaging the feature at each frame. Meanwhile, a background thread runs continuously to match the incoming feature of vehicle trajectory with past features by conducting a topology searching method. In the end, the vehicle trajectories with well-matched features are considered to be the same vehicle. The entire pipeline has been validated on two different datasets, the precision is 0.64 in the CityFlow dataset which uses 6 cameras simultaneously. In the customized dataset, the same method can still reach real-time when using 16 cameras at the same time with smaller network modules.

关键词： Visualization Target tracking Roads Human-machine systems Pipelines Urban areas Cameras

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Model-Free Nonlinear Feedback Optimization

arXiv

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arXiv 2022年

作者： He, Zhiyu Bolognani, Saverio He, Jianping Dörfler, Florian Guan, Xinping Automatic Control Laboratory ETH Zürich Zürich8092 Switzerland Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative gradient-based methods are extensively used to achieve optimality, feedback optimization controllers typically require the knowledge of the steady-state sensitivity of the plant, which may not be easily accessible in some applications. In contrast, in this paper, we develop a model-free feedback controller for efficient steady-state operation of general dynamical systems. The proposed design consists of updating control inputs via gradient estimates constructed from evaluations of the nonconvex objective at the current input and at the measured output. We study the dynamic interconnection of the proposed iterative controller with a stable nonlinear discrete-time plant. For this setup, we characterize the optimality and stability of the closed-loop behavior as functions of the problem dimension, the number of iterations, and the rate of convergence of the physical plant. To handle general constraints that affect multiple inputs, we enhance the controller with Frank-Wolfe-type updates. © 2022, CC BY-SA.

关键词： Feedback control

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Global Update Guided Federated Learning

arXiv

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arXiv 2022年

作者： Wu, Qilong Liu, Lin Xue, Shibei Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China School of Electronic Information Engineering Shanghai Dianji University Shanghai201306 China

Federated learning protects data privacy and security by exchanging models instead of data. However, unbalanced data distributions among participating clients compromise the accuracy and convergence speed of federated learning algorithms. To alleviate this problem, unlike previous studies that limit the distance of updates for local models, we propose global-update-guided federated learning (FedGG), which introduces a model-cosine loss into local objective functions, so that local models can fit local data distributions under the guidance of update directions of global models. Furthermore, considering that the update direction of a global model is informative in the early stage of training, we propose adaptive loss weights based on the update distances of local models. Numerical simulations show that, compared with other advanced algorithms, FedGG has a significant improvement on model convergence accuracies and speeds. Additionally, compared with traditional fixed loss weights, adaptive loss weights enable our algorithm to be more stable and easier to implement in practice. Copyright © 2022, The Authors. All rights reserved.

关键词： Data privacy

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Construction of Minecraft Virtual Reality Scene Based on Voxel Point Cloud 8th

Construction of Minecraft Virtual Reality Scene Based on Vox...

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8th International Conference on Cognitive systems and Information Processing, ICCSIP 2023

作者： Ji, Nuocheng Zhuang, Hanyang Yang, Ming The University of Michigan – Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China Global Institute of Future Technology Shanghai Jiao Tong University Shanghai200240 China Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789819980208

Virtual Reality is an important development direction in recent years. Minecraft, a popular sandbox game, has a great potential to become a virtual reality platform for building immersive environments. Traditional methods of building virtual reality scenes rely heavily on massive human labors and require high levels of proficiency. To address these limitations, we propose an automatic, voxelated 3D modeling method with foreground and background environment segmented that can reduce modeling costs and achieve effective application in Minecraft virtual reality scenes such as virtual campuses. The proposed method leverages the use of point cloud reconstruction using a voxelization approach. A pipeline of converting point cloud to Minecraft scene is developed. Through preprocessing, segmenting, coloring, and exporting, a Minecraft virtual reality scene can be automatically generated based on voxel point cloud. Due to the noise in point cloud may cause defect during voxelization, a denoising and smoothing method using slice scanning and voxel connectivity segmentation has been implemented. It can generate building structures with clear outlines and uniform colors. And the entire process requires low computational complexity and achieves fast generation. We conducted experiments based on this method in indoor scenes, outdoor building landmarks, and complex underground scenes, and obtained results with clear structures and smooth surfaces, saving a lot of time for subsequent detailed modeling. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： 3D modeling

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Multi-level Coordinated Energy Management for Energy Hub in Hybrid Markets with Distributionally Robust Scheduling

arXiv

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arXiv 2022年

作者： Cao, Jiaxin Yang, Bo Zhu, Shanying Chung, Chi Yung Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education China Shanghai Engineering Research Center of Industrial Intelligent Control and Management Shanghai200240 China Department of Electrical and Computer Engineering University of Saskatchewan SaskatoonSKS7N 5A9 Canada

Maintaining energy balance and economical operation is significant for multi-energy systems such as the energy hub (EH). However, it is usually challenged by the frequently changing and unpredictable uncertain parameters at different timescales. Under this scope, this paper investigates the coordinated energy management problem for day-ahead and intra-day conditions considering uncertainties of source-load and market prices concurrently. Note that the precise knowledge of distributions about uncertainties may be unaccessible before the decision-making in day-ahead phase. A two-stage chance-constrained model based on distributionally robust approach with ambiguous moment information is proposed to immunize scheduling strategies against the worst-case probability distributions. The first stage is dedicated to obtaining more energy arbitrage and operation flexibility by optimizing bidding strategies in day-ahead power, natural gas and carbon trading markets. The second stage focuses on the optimization of the worst-case expected operation cost. It provides a robust energy equipment and load scheduling strategy for the reference of subsequent intra-day arrangements. With respect to different variations of electrical and thermal components, an intra-day two-timescale coordination is implemented step by step. The energy scheduling is re-dispatched circularly to minimize the operation and penalty costs. The possible energy imbalance is also compensated by this way. As the energy management program is nonlinear, chance-constrained and multi-stage, some linearization and dual transformation techniques are designed to enhance tractability of the program. Experimental results show that the developed multi-level framework results in a carbon emission decrease of 37%, and reduces energy cost averagely 3% compared with corresponding contrasting cases. The obtained strategy validates a good tradeoff between robustness and optimality. Copyright © 2022, The Authors. All rights reser

关键词： Power markets

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Data-Driven Distributionally Robust Mixed-Integer control through Lifted control Policy

arXiv

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arXiv 2025年

作者： Ma, Xutao Ning, Chao Du, Wenli Shi, Yang Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China the Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology Shanghai200237 China the Department of Mechanical Engineering University of Victoria VictoriaBCV8W 3P6 Canada

This paper investigates the finite-horizon distributionally robust mixed-integer control (DRMIC) of uncertain linear systems. However, deriving an optimal causal feedback control policy to this DRMIC problem is computationally formidable for most ambiguity sets. To address the computational challenge, we propose a novel distributionally robust lifted control policy (DR-LCP) method to derive a high-quality approximate solution to this DRMIC problem for a rich class of Wasserstein metric-based ambiguity sets, including the Wasserstein ambiguity set and its variants. In theory, we analyze the asymptotic performance and establish a tight non-asymptotic bound of the proposed method. In numerical experiments, the proposed DR-LCP method empirically demonstrates superior performance compared with existing methods in the literature. © 2025, CC BY.

关键词： Mixed-integer linear programming

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Stability Analysis of A Class of Second-Order Phase Plane control systems:A Simulation Study

Stability Analysis of A Class of Second-Order Phase Plane Co...

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第33届中国控制与决策会议

作者： Zhihua Chen Yongchun Xie Yong Guo Kai Zhang Jinhua Guo Wangkui Liu Yong Li Zhibin Zhu Beijing Institue of Control Engineering School of Automation Northwestern Polytechnical University School of Electrical Engineering Southwest Jiaotong University Department of System Engineering China Academy of Launch Vehicle Technology

This paper investigates the stability analysis problem for a class of second-order phase plane control(PPC)systems via computer *** to the PPC method's nonlinearities arising from state-dependent switching and periodic sampling,the stability analysis problem of the closed-loop PPC system is very difficult even for the secondorder linear *** this paper,we aim at studying the stability of a class of second-order PPC systems by proposing a so-called globally uniformly ultimate boundedness(GUUB) conjecture based on the computer simulation *** particular,to a certain extent,the future proof of this conjecture will further promote the development of the stability analysis of general sampled-data switched control systems.

关键词： Phase plane control second-order system state-dependent switching periodic sampling switched system stability analysis computer simulation globally uniformly ultimately bounded spacecraft control open problem

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Precise LiDAR SLAM in Structured Scene Using Finite Plane and Prior Constraint

Precise LiDAR SLAM in Structured Scene Using Finite Plane an...

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IEEE International Conference on Robotics and Biomimetics

作者： Yuhui Xie Wentao Zhao Jiahao Wang Jingchuan Wang Weidong Chen Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai Jiao Tong University Shanghai China Ministry of Education School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665481106

In this paper, we propose a precise LiDAR SLAM in optimization framework using plane-like object as landmark. Compared to general methods, finite plane feature is used to represent landmark and a new residual model is designed, making constraint from edge of landmark can be used to limit the parallel position between LiDAR and landmark, leading to a more accurate result. Moreover, floor plan is used to provide global pose for reduction of drift, and additionally feature orientation prior is used to prevent map distortion when updating the inaccurate part of floor plan. Experiments are conducted using data collected in real environment. The result qualitatively shows that proposed method can build a corrected map from floor plan without distortion, and quantitatively verifies that proposed method can outperform other baseline methods in accuracy.

关键词： Laser radar Simultaneous localization and mapping Image analysis Biomimetics Distortion Floors Robots

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Experimental Prototype of High-Efficiency Wind Turbine Based on Magnus Effect 27

Experimental Prototype of High-Efficiency Wind Turbine Based...

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27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Lukin, Aleksandr Demidova, Galina L. Lukichev, Dmitry V. Rassolkin, Anton Kallaste, Ants Vaimann, Toomas Belahcen, Anouar ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9781728141589

The main feature of Magnus wind turbine is the ability to produce energy at low wind speed. This benefit lets to use such types of turbines in smart homes, which are an important part of the development of distributed energy systems, growth of blockchain electricity technology and needs for duplication of the solar energy system in the private buildings. This paper presents topology of two cylinders Magnus wind turbine in order to ensure the highest values of power coefficient and the Magnus force. The optimal ratio of wind speed and cylinder rotation speed were detected to eliminate the oscillations caused by the Von Karman vortex street phenomenon. © 2020 IEEE.

关键词： Wind power

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An Efficient Planning and control Framework for Quadrotors Based on Heuristic Search and Data-Driven Model Predictive control

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IEEE Transactions on Industrial Electronics 2025年

作者： Wang, Sifei Wang, Yaonan Miao, Zhiqiang Wang, Xiangke He, Wei Wang, Hesheng Hunan University College of Electrical and Information Engineering Changsha 410082 China National Engineering Research Center for Robot Visual Perception and Control Changsha 410082 China National University of Defense Technology College of Intelligence Science and Technology Changsha 410073 China Beijing Information Science and Technology University School of Automation Institute of Artificial Intelligence Beijing 100083 China University of Science and Technology School of Intelligence Science and Technology Beijing 100083 China Shanghai Jiao Tong University Department of Automation Shanghai 200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai 200240 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin 150001 China

This article presents a framework for quadrotors that integrate planning and control, which employs a heuristic depth-first search (HDFS) with data-driven model predictive control (MPC). The proposed framework intends to enable multiquadrotor systems to traverse cluttered environments containing obstacles and disturbances. The heuristic function enables quadrotors to identify a secure route in a timely manner. The heuristic function setup employed by HDFS results in a reduction in the number of rasters accessed, particularly in scenarios that are not labyrinthine. This consequently leads to an enhancement in computational speed for multiquadrotor systems when compared to the A* algorithm. Furthermore, data-driven MPC enhances the nominal model of the quadrotor by modeling the disturbance while tracking the desired states. Consequently, data-driven MPC is capable of attaining superior tracking precision in a disturbance environment when compared to MPC without data-driven. The transformation from the path to the desired states of the quadrotor is achieved through the utilization of B-splines and differential flatness. Simulations and experiments substantiate the efficacy of the proposed approach. © 1982-2012 IEEE.

关键词： Collision avoidance data-driven depth-first search model predictive control multiquadrotor systems

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