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A Variational Bayes Moving Horizon Estimation Adaptive Filter with Guaranteed Stability

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arXiv 2021年

作者： Dong, Xiangxiang Battistelli, Giorgio Chisci, Luigi Cai, Yunze Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Department of Information Engineering University of Florence Florence50139 Italy

This paper addresses state estimation of linear systems with special attention on unknown process and measurement noise covariances, aiming to enhance estimation accuracy while preserving the stability guarantee of the Kalman filter. To this end, the full information estimation problem over a finite interval is firstly addressed. Then, a novel adaptive variational Bayesian (VB) moving horizon estimation (MHE) method is proposed, exploiting VB inference, MHE and Monte Carlo integration with importance sampling for joint estimation of the unknown process and measurement noise covariances, along with the state trajectory over a moving window of fixed length. Further, it is proved that the proposed adaptive VB MHE filter ensures mean-square boundedness of the estimation error with any number of importance samples and VB iterations, as well as for any window length. Finally, simulation results on a target tracking example demonstrate the effectiveness of the VB MHE filter with enhanced estimation accuracy and convergence properties compared to the conventional non-adaptive Kalman filter and other existing adaptive filters. Copyright © 2021, The Authors. All rights reserved.

关键词： Importance sampling

FreeDriveRF: Monocular RGB Dynamic NeRF without Poses for Autonomous Driving via Point-Level Dynamic-Static Decoupling

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arXiv 2025年

作者： Wen, Yue Song, Liang Liu, Yijia Zhu, Siting Miao, Yanzi Han, Lijun 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 Dimanshen Technology Co. Ltd. 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

Dynamic scene reconstruction for autonomous driving enables vehicles to perceive and interpret complex scene changes more precisely. Dynamic Neural Radiance Fields (NeRFs) have recently shown promising capability in scene modeling. However, many existing methods rely heavily on accurate poses inputs and multi-sensor data, leading to increased system complexity. To address this, we propose FreeDriveRF, which reconstructs dynamic driving scenes using only sequential RGB images without requiring poses inputs. We innovatively decouple dynamic and static parts at the early sampling level using semantic supervision, mitigating image blurring and artifacts. To overcome the challenges posed by object motion and occlusion in monocular camera, we introduce a warped ray-guided dynamic object rendering consistency loss, utilizing optical flow to better constrain the dynamic modeling process. Additionally, we incorporate estimated dynamic flow to constrain the pose optimization process, improving the stability and accuracy of unbounded scene reconstruction. Extensive experiments conducted on the KITTI and Waymo datasets demonstrate the superior performance of our method in dynamic scene modeling for autonomous driving. Our implementation will be available at https://***/IRMVLab/FreeDriveRF. Copyright © 2025, The Authors. All rights reserved.

关键词： Optical flows

Research on a new hysteresis control technology for flexible high-voltage direct current transmission 2

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Research on a new hysteresis control technology for flexible...

2nd IEEE International Conference on automation, Electronics and Electrical engineering, AUTEEE 2019

作者： Zhang, Dian Qin, Qingliang Wang, Bo College of Automation Electronic Engineering Qingdao University of Science Technology Qingdao China China National Automation Control System Corp Engineering Department Beijing China

ISBN: (纸本)9781728150291

The nearest level approximation control algorithm (nlm) is employed for multi-level multi-module (mmc) in the flexible high-voltage direct current (hdvc) converter. The decimal part of this algorithm needs to input sine digital pulse width modulator (dpwm), however, since the dpwmis too sensitive and less stable, the output digital pulse becomes too narrow and the digital signal frequency changes too fast. In order to solve the multilevel problems of the inverter frequency operation, the hysteretic Schmidt comparison method is proposed to meet the requirement of precision. This method can not only ensure the stability of the output digital signal, but also can adjust the hysteretic Schmidt trigger threshold, obtain more ideal digital pulse width which reduces the digital signal output frequency and make digital output signals stable and the pulse width, the grading sorting algorithm and guarantee the reduction of the output control pulse frequency. The feasibility of the method is verified through simulation and the actual running results of this method in field-programmable gate array (fpga) show that the study of nlm control algorithm can optimize the flexible hvdc control requirements. © 2019 IEEE.

关键词： HVDC power transmission

MRI-guided robot intervention—current state-of-the-art and new challenges

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Med-X 2023年第1期1卷 141-181页

作者： Shaoping Huang Chuqian Lou Ying Zhou Zhao He Xuejun Jin Yuan Feng Anzhu Gao Guang-Zhong Yang Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong UniversityShanghai 200240China National Engineering Research Center of Advanced Magnetic Resonance Technologies for Diagnosis and Therapy(NERC-AMRT) Shanghai Jiao Tong UniversityShanghai 200240China Materials and Technology Center of Robotics EmpaDübendorf 8600Switzerland State Key Lab of Metal Matrix Composites and School of Materials Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China Institute of Medical Robotics and Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China The Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

Magnetic Resonance Imaging(MRI)is now a widely used modality for providing multimodal,high-quality soft tissue contrast images with good spatiotemporal resolution but without subjecting patients to ionizing *** addition to its diagnostic potential,its future theranostic value lies in its ability to provide MRI-guided robot intervention with combined structural and functional mapping,as well as integrated instrument localization,target recognition,and in situ,in vivo monitoring of the therapeutic *** of current applications include neurosurgery,breast biopsy,cardiovascular intervention,prostate biopsy and *** applications in targeted drug delivery and MRI-guided chemoembolization are also being *** promising progress has been made in recent years,there are still significant basic science research and engineering *** paper provides a comprehensive review of the current state-of-the-art in MRI-guided robot intervention and allied technologies in actuation,sensing,new materials,interventional instruments,and interactive/real-time *** future research directions and new clinical developments are also discussed.

关键词： MRI-guided robot intervention Actuation Sensing Materials Interventional instruments Interactive/realtime MRI

Wavelet Transform-Based High-Definition Map Construction From a Panoramic Camera

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Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 569-576页

作者： ZHUANG Hanyang ZHOU Xuejun WANG Chunxiang QIAN Yuhan University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong UniversityShanghai 200240China Guangxi Key Laboratory of Automobile Components and Vehicle Technology Guangxi University of Science and TechnologyLiuzhou 545006GuangxiChina Noblelift Intelligent Equipment Co. Ltd.Huzhou 313100ZhejiangChina Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

High-definition(HD)maps are key components that provide rich topologic and semantic information for decision-making in vehicle autonomous driving systems.A complete ground orthophoto is usually used as the base image to construct the HD *** ground orthophoto is obtained through inverse perspective transformation and image *** the image mosaicing,multiple consecutive orthophotos are stitched together using pose information and image *** this study,wavelet transform is introduced to the image mosaicing process to alleviate the information loss caused by image *** the orthophoto wavelet transform,high-frequency and low-frequency components are fused using different strategies to form a complete base image with clearer local *** results show that the accuracy of the orthophotos generated using this method is improved.

关键词： high-definition(HD)map wavelet transform image registration panorama

Motion Projection Consistency Based 3D Human Pose Estimation with Virtual Bones from Monocular Videos

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arXiv 2021年

作者： Wang, Guangming Zeng, Honghao Wang, Ziliang Liu, Zhe Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Key Laboratory of Marine Intelligent Equipment and System Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China The Department of Computer Science and Technology University of Cambridge CambridgeCB3 0FD United Kingdom

Real-time 3D human pose estimation is crucial for human-computer interaction. It is cheap and practical to estimate 3D human pose only from monocular video. However, recent bone splicing based 3D human pose estimation method brings about the problem of cumulative error. In this paper, the concept of virtual bones is proposed to solve such a challenge. The virtual bones are imaginary bones between non-adjacent joints. They do not exist in reality, but they bring new loop constraints for the estimation of 3D human joints. The proposed network in this paper predicts real bones and virtual bones, simultaneously. The final length of real bones is constrained and learned by the loop constructed by the predicted real bones and virtual bones. Besides, the motion constraints of joints in consecutive frames are considered. The consistency between the 2D projected position displacement predicted by the network and the captured real 2D displacement by the camera is proposed as a new projection consistency loss for the learning of 3D human pose. The experiments on the Human3.6M dataset demonstrate the good performance of the proposed method. Ablation studies demonstrate the effectiveness of the proposed inter-frame projection consistency constraints and intra-frame loop constraints. Copyright © 2021, The Authors. All rights reserved.

关键词： E-learning

A Compatibility Evaluation Method for Substation Protection and Monitoring system Based on G1 Method and Expert Investigation

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A Compatibility Evaluation Method for Substation Protection ...

New Energy and Power engineering (ICNEPE), International Conference on

作者： Hao Xia Xiongyao Deng Shizhong Ma Yuxiang Yan Ancheng Xue Yu Liu Zhihuai Shu Naichao Chang Zhongqing Li Jiangwen Meng Xuewei Dou Shenqiang Wang Fangying Wu Chen Fan State Key Laboratory of Alternate Electrical Power System with Renewable Energy Source (North China Electric Power University) Beijing China National Electric Power Dispatching and Control Center of State Grid Corporation of China Beijing China China Electric Power Research Institute Beijing China Beijing Sifang Engineering Co. Ltd Beijing China Power Automation Department China Electric Power Research Institute Nanjing China

In existing protection and monitoring system of substation(S-PMS), there are compatibility problems between hardware and software or between software-hardware combinations and systems, including differences in communication protocols between different manufacturers and differences in system adaptation. Compatibility issues have become a growing focus area for the power industry. This paper proposes a method to evaluates the compatibility of the protection and monitoring system of substation based on the G1 and expert investigation, for the existing or unbuilt substations. In detail, Firstly, according to the compatibility requirements of the substation protection and monitoring system, corresponding indicators are proposed and a comprehensive compatibility evaluation model is constructed. Secondly, based on the comprehensive evaluation model, the evaluation results of typical stations without domestic chips and optimized stations using domestic chips are compared to verify the feasibility of the proposed method.

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Strategy evolution on dynamic networks

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arXiv 2023年

作者： Su, Qi McAvoy, Alex Plotkin, Joshua B. 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 Data Science and Society University of North Carolina at Chapel Hill Chapel HillNC27599 United States Department of Mathematics University of North Carolina at Chapel Hill Chapel HillNC27599 United States Department of Biology University of Pennsylvania PhiladelphiaPA19104 United States Center for Mathematical Biology University of Pennsylvania PhiladelphiaPA19104 United States

Models of strategy evolution on static networks help us understand how population structure can promote the spread of traits like cooperation. One key mechanism is the formation of altruistic spatial clusters, where neighbors of a cooperative individual are likely to reciprocate, which protects prosocial traits from exploitation. But most real-world interactions are ephemeral and subject to exogenous restructuring, so that social networks change over time. Strategic behavior on dynamic networks is difficult to study, and much less is known about the resulting evolutionary dynamics. Here, we provide an analytical treatment of cooperation on dynamic networks, allowing for arbitrary spatial and temporal heterogeneity. We show that transitions among a large class of network structures can favor the spread of cooperation, even if each individual social network would inhibit cooperation when static. Furthermore, we show that spatial heterogeneity tends to inhibit cooperation, whereas temporal heterogeneity tends to promote it. Dynamic networks can have profound effects on the evolution of prosocial traits, even when individuals have no agency over network structures. © 2023, CC BY.

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An Integration Evaluation Method for Substation Protection and Monitoring system Based on G1 Method and Expert Investigation

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An Integration Evaluation Method for Substation Protection a...

New Energy and Power engineering (ICNEPE), International Conference on

作者： Xiongyao Deng Yuxiang Yan Chang Lin Hao Xia Ancheng Xue Zhihuai Shu Yu Liu Naichao Chang Chen Fan Zhongqing Li Jiangwen Meng Xuewei Dou Shenqiang Wang Long Zhang Fangying Wu State Key Laboratory of Alternate Electric Power System with Renewable Energy Source (North China Electric Power University) Beijing China National Electric Power Dispatching and Control Center of State Grid Corporation of China Beijing China Power Automation Department China Electric Power Research Institute Nanjing China China Electric Power Research Institute Beijing China Beijing Sifang Engineering Co. Ltd Beijing China

Substation is the core hub of power system. With the expansion of the scale of the power system and the improvement of its intelligence, the problems of the redundancy of architecture and equipment in the protection and monitoring system of substation can no longer be ignored. This paper proposes an evaluation method for integration in the protection and monitoring system based on G1 method. Firstly, according to the requirements of integration in the protection and monitoring system, the corresponding indicators are proposed to form an index system for evaluating integration. And then, an evaluation method is proposed for integration of the protection and monitoring system, based on G1 method and expert investigation. Finally, the feasibility of the evaluation method is verified by comparing and analyzing the evaluation results of a typical substation and its structural optimization substation.

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