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arXiv 2023年

作者： Wang, Guangming Zheng, Yu Guo, Yanfeng Liu, Zhe Zhu, Yixiang Burgard, Wolfram Wang, Hesheng Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China China Department of Artificial Intelligence Shanghai Jiao Tong University Shanghai200240 China Electrical and Computer Engineering University of California Los Angeles United States Institute of Artificial Intelligence Shanghai Jiao Tong University Shanghai200240 China Department of Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Engineering University of Technology Nuremberg Germany

Robot localization using a previously built map is essential for a variety of tasks including highly accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines illumination-invariant LiDAR-based mapping with economical image-based localization. However, the recent works for image-to-point cloud registration either divide the registration into separate modules or project the point cloud to the depth image to register the RGB and depth images. In this paper, we present I2PNet, a novel end-to-end 2D-3D registration network. I2PNet directly registers the raw 3D point cloud with the 2D RGB image using differential modules with a unique target. The 2D-3D cost volume module for differential 2D-3D association is proposed to bridge feature extraction and pose regression. 2D-3D cost volume module implicitly constructs the soft point-to-pixel correspondence on the intrinsic-independent normalized plane of the pinhole camera model. Moreover, we introduce an outlier mask prediction module to filter the outliers in the 2D-3D association before pose regression. Furthermore, we propose the coarse-to-fine 2D-3D registration architecture to increase localization accuracy. We conduct extensive localization experiments on the KITTI Odometry and nuScenes datasets. The results demonstrate that I2PNet outperforms the state-of-the-art by a large margin. In addition, I2PNet has a higher efficiency than the previous works and can perform the localization in real-time. Moreover, we extend the application of I2PNet to the camera-LiDAR online calibration and demonstrate that I2PNet outperforms recent approaches on the online calibration task. Copyright © 2023, The Authors. All rights reserved.

关键词： Calibration

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Production Scheduling Application Software for Small Medium Enterprises

Production Scheduling Application Software for Small Medium ...

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International Conference on System Science and engineering (ICSSE)

作者： Xuan-Thuyen Le The-Anh-Tu Nguyen Ngoc-Hieu Pham Ngoc-Huy Tran Innovation Fablab Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam Department of Control & Automation Faculty of Electrical & Electronics Engineering Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam Department of Mechatronics Cao Thang Technical College Ho Chi Minh City Vietnam

Derived from the current implementation of the production plan as well as the production schedule, Enterprise Resource Planning software with a built-in production scheduling algorithm helps optimize the uses of resources, reduce production time, increase productivity, and increase customer service levels. In this research, the available management platform (Odoo) with Python as the main programming language is proposed to build a system to support suitable schedule production plans helps shorten processing time and reduce order delay. In addition, the results are shown in detail and can be flexibly modified manually on the Gantt chart. The feasibility of the production scheduling application is shown by the Gantt chart before and after the scheduling. Moreover, the order delay rate has been reduced from 15% to 3.33%.

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Exploiting the Intrinsic Neighborhood Semantic Structure for Domain Adaptation in EEG-based Emotion Recognition

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IEEE Transactions on Affective Computing 2025年

作者： Yang, Yi Wang, Ze Song, Yu Jia, Ziyu Wang, Boyu Jung, Tzyy-Ping Wan, Feng Macau University of Science and Technology Macao Centre for Mathematical Sciences Respiratory Disease AI Laboratory on Epidemic Intelligence and Medical Big Data Instrument Applications Faculty of Innovation Engineering 999078 China Tianjin University of Technology School of Electrical Engineering and Automation Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Tianjin300384 China Chinese Academy of Sciences Beijing Key Laboratory of Brainnetome and Brain-Computer Interface and Brainnetome Center Institute of Automation Beijing100045 China Western University Department of Computer Science Brain Mind Institute LondonONN6A 3K7 Canada University of California at San Diego Swartz Center for Computational Neuroscience Institute for Neural Computation La Jolla CA92093 United States University of Macau Department of Electrical and Computer Engineering Faculty of Science and Technology China University of Macau Centre for Cognitive and Brain Sciences Centre for Artificial Intelligence and Robotics Institute of Collaborative Innovation 999078 China

Due to the inherent non-stationarity and individual differences present in electroencephalogram (EEG) signals, developing a generalizable model that performs well on new subjects is challenging in EEG-based emotion recognition. Most existing domain adaptation (DA) methods typically mitigate these discrepancies by aligning the marginal distributions of domain feature representations. However, when there is a significant difference in the class-conditional distribution between domain features and labels, the domain-invariant features learned by aligning marginal distributions may have limited discriminative ability for unlabeled target instances or even prove counterproductive. To address this issue, we propose a Neighborhood Semantic Aware Learning-based Dynamic Graph Attention Convolution (NSAL-DGAT) approach that learns target semantic information by considering the inter-domain semantic topological structure, thereby improving classifier adaptation for target instances. Specifically, the proposed NSAL framework is designed to capitalize on the insight that after domain feature alignment, some target samples and their neighboring source samples exhibit similar semantics. By leveraging the neighborhood topological structure, we extract and incorporate semantic target features to train a more transferable classifier. Besides, we implement an entropy weighting mechanism to emphasize representative target semantic information, encouraging target instances to prioritize high-confidence individuals within the source neighborhood. We have conducted extensive experiments on the public SEED dataset and our collected the Hearing-Impaired EEG Dataset (HIED). The experimental results underscore the efficacy of our proposed NSAL-DGAT approach, showcasing state-of-the-art accuracy in subject-dependent as well as subject-independent scenarios. The source code is available at https://***/YYingDL/NSAL-DGAT. © 2010-2012 IEEE.

关键词： Speech analysis

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Nearest-Better Network for Fitness Landscape Analysis of Continuous Optimization Problems

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IEEE Transactions on Evolutionary Computation 2024年

作者： Diao, Yiya Li, Changhe Zeng, Sanyou Yang, Shengxiang Coello, Carlos A. Coello China University of Geosciences School of Automation Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China Anhui University of Sciences and Technology School of Artificial Intelligence Hefei China China University of Geosciences School of Mechanical Engineering and Electronic Information Wuhan China De Montfort University School of Computer Science and Informatics LeicesterLE1 9BH United Kingdom Department of Computer Science CINVESTAV-IPN 07360 Mexico Tecnologico de Monterrey Faculty of Excellence The School of Engineering and Sciences N.L. Monterrey Mexico

Fitness landscape analysis (FLA) is quite important in evolutionary computation. In this paper, we propose a novel FLA method, the nearest-better network (NBN), which uses the nearest-better relationship to simplify the original fitness landscape of continuous optimization problems. We introduce an efficient algorithm to calculate NBN for continuous problems. We also propose four numerical measurements and a 3D visualization method based on NBN. Experiments show that compared to the other main FLA methods, the four numerical measurements proposed here can effectively measure the four intended features: neutrality, ruggedness, modality, and basin of attraction, respectively, and common features of the fitness landscape can be maintained in 3D NBN visualization, regardless of the scale of the problem. NBN also provides a view of how algorithms search in high-dimensional problems with the help of the 3D NBN visualization. © 1997-2012 IEEE.

关键词： Optimization algorithms

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A Pricing Rule for Third-Party Platoon Coordination Service Provider

A Pricing Rule for Third-Party Platoon Coordination Service ...

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Asian control Conference

作者： Ting Bai Alexander Johansson Shaoyuan Li Karl Henrik Johansson Jonas Må rtensson Integrated Transport Research Lab Digital Futures and Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China

We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services. This paper studies one class of pricing rules, where the third-party service provider keeps part of the platooning profit each time a platoon is formed. Furthermore, we propose a platoon coordination solution based on distributed model predictive control in which the pricing rule is integrated. To evaluate the effect of the pricing on the platooning system, we perform a simulation over the Swedish road network. The simulation shows that the platooning rate and profit highly depend on the pricing. This suggests that pricing needs to be set carefully to obtain a satisfactory platooning system in the future.

关键词： Roads Pricing Predictive control

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A Distributed control framework for the optimal operation of DC microgrids

arXiv

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arXiv 2022年

作者： Fu, Zao Cucuzzella, Michele Cenedese, Carlo Yu, Wenwu Scherpen, Jacquelien M.A. School of Cyber Science and Engineering Southeast University Nanjing211189 China Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Electrical Computer and Biomedical Engineering University of Pavia Pavia27100 Italy Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zürich Physikstrasse 3 Zürich8092 Switzerland

In this paper we propose an original distributed control framework for DC mcirogrids. We first formulate the (optimal) control objectives as an aggregative game suitable for the energy trading market. Then, based on the dual theory, we analyze the equivalent distributed optimal condition for the proposed aggregative game and design a distributed control scheme to solve it. By interconnecting the DC mcirogrid and the designed distributed control system in a power preserving way, we steer the DC microgrid's state to the desired optimal equilibrium, satisfying a predefined set of local and coupling constraints. Finally, based on the singular perturbation system theory, we analyze the convergence of the closed-loop system. The simulation results show excellent performance of the proposed control framework. © 2022, CC BY-NC-SA.

关键词： Perturbation techniques

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Swin Transformer with Spatial and Local Context Augmentation for Enhanced Semantic Segmentation of Remote Sensing Images

IEEE Open Journal of Signal Processing

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IEEE Open Journal of Signal Processing 2025年 6卷 608-620页

作者： Ding, Rong-Xing Xu, Yi-Han Yu, Gang Zhou, Wen Zhou, Ding Nanjing Forestry University College of Information Science and Technology Artificial Intelligence Nanjing210037 China Qinghai University School of Computer Technology and Applications Xining810016 China The University of Sheffield Department of Electronic and Electrical Engineering SheffieldS10 2TN United Kingdom University of Surrey 5G/6G Innovation Centre SurreyGU2 7XH United Kingdom Guangzhou Maritime University College of Low Altitude Equipment and Intelligent Control Guangzhou510725 China University of Malaya Faculty of Engineering Kuala Lumpur50603 Malaysia

Semantic segmentation of remote sensing images is extensively used in crop cover and type analysis, and environmental monitoring. In the semantic segmentation of remote sensing images, owning to the specificity of remote sensing images, not only the local context is required, but also the global context information makes an important role in it. Inspired by the powerful global modelling capability of Swin Transformer, we propose the LSENet network, which follows the encoder-decoder architecture of the UNet network. In encoding phase, we propose spatial enhancement module (SEM), which helps Swin Transformer further enhance feature extraction by encoding spatial information. In decoding stage, we propose local enhancement module (LEM), which is embedded in the Swin Transformer to improve the Swin Transformer to assist the network to obtain more local semantic information so as to classify pixels more accurately, especially in the edge region, the adding of LEM enables to obtain smoother edges. The experimental results on the Vaihingen and Potsdam datasets demonstrate the effectiveness of our proposed method. Specifically, the mIoU metric is 78.58% on the Potsdam dataset, 72.59% on the Vaihingen dataset and 64.49% on the OpenEarthMap dataset. © 2020 IEEE.

关键词： Semantic Segmentation

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Retinal Disorder Diagnosis Based on Hybrid Deep Learning Models

SSRN

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SSRN 2022年

作者： Sedik, Ahmed El-Hag, Noha A. El-Hoseny, Heba M. El-Banby, Ghada M. Khalaf, Ashraf A.M. Abd El-Samie, Fathi E. El-Shafai, Walid Department of the Robotics and Intelligent Machines Faculty of Artificial Intelligence Kafrelsheikh University Egypt Menoufia University Egypt Department of Electronics and Electrical Communication Engineering Al-Obour High Institute for Engineering and Technology Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Deptartment of Electronics and Electrical Communication Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University Riyadh84428 Saudi Arabia Security Engineering Lab Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia

Anomaly detection from medical images is badly needed for automated diagnosis. For example, medical images obtainedwith several modalities such as magnetic resonance (MR) and confocal microscopy need to be classified for anomaly *** MR images may contain tumors that need to be detected with anomaly detection techniques. In MR imaging, braintumors are represented as areas composed of abnormal cells that need to be detected. In addition, confocal microscopy can be used for retinal imaging. Hence, there is a need to apply classification techniques for diagnosing diseases of the eye such as Diabetic Retinopathy (DR), which leads to exudates in different regions of the retina. The detection of exudates is necessary for the diagnosis of DR. In this paper, two models are presented for the classification of MR and retinal images. Much research has been done in this area, but it did not achieve high accuracy of classification in an acceptable time. In addition, the previous models did not consider both types of image modalities considered in this paper. The suggested models are Convolutional Neural Network (CNN) and Convolutional Long Short-Term Memory (Conv-LSTM). They are used to classify © 2022, The Authors. All rights reserved.

关键词： Ophthalmology

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A Constructive Semi-global Differential Game Design Method for Multi-agent Systems under Input Constraint and Collision Avoidance

A Constructive Semi-global Differential Game Design Method f...

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2021 China automation Congress, CAC 2021

作者： Wu, Xiongjun Zhou, Jialing Li, Yuanlong Chen, Chunfang Li, Kai The 802 Institute of Shanghai Academy of Space Flight Technology Eighth Academy of China Aerospace Science and Technology Corporation National Defense Key Laboratory of Science and Technology on Electromagnetic Scattering Shanghai201109 China School of Automation Nanjing University Science and Technology Nanjing210094 China Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The 802 Institute of Shanghai Academy of Space Flight Shanghai210094 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China

ISBN: (纸本)9781665426473

The constructive semi-global differential game concept is introduced into the multi-agent's cooperative controller designing of typical autonomous unmanned systems subject to controller input constraint as well as the collision avoidance requirements simultaneously. The problem of driving each agent which is assume to subject to input constraint nonlinearity from the initial position to a desired one and at the same time avoiding collisions (referring to both static obstacles and other agents) is modeled and transformed into multi-agent's collision avoidance problem. In view of the requirement that different agents working together might possibly have individual but conflicting purpose (such as in the multi-missile cooperative detection requiring slowly and continuing actions vs fast formation control scenario, and multi-agents' fast arriving vs avoiding different kinds of obstacles). The differential game theory provided a mechanism or framework for investigating different kinds of problems in which several players seek to achieve individual purposes or goals, which might be competing rather than cooperation. In view of the input constraints, the problem is reduced as a semi-global differential game. Conditions are established to guarantee input constraints are satisfied, and mainly by using the Hamilton-Jacobi-Isaacs (HJI for short) PDIs and as well as Ε-Nash equilibria. The semi-global property of the states are also guaranteed. It provides a description in terms of the invariant set for the overall differential game system under constraint controller input. Illustrative examples are carried out to verify the effectiveness of the method, and also the feasibility of the suggested control protocols. © 2021 IEEE

关键词： Multi agent systems

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Optimization of Directional Landmark Deployment for Visual Observer on SE(3)

arXiv

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arXiv 2022年

作者： Lei, Zike Chen, Xi Tan, Ying Chen, Xiang Chai, Li The School of Information Science and Engineering Wuhan University of Science and Technology Hubei 430081 China The Engineering Research Center of Metallurgical Automation and Measurement Technology Wuhan University of Science and Technology Hubei 430081 China The School of Electrical Mechanical and Infrastructure Engineering The University of Melbourne VIC3010 Australia The Department of Electrical and Computer Engineering University of Windsor ONN9B 3P4 Canada The College of Control Science and Engineering Zhejiang University Hangzhou310027 China

An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models of both landmarks and the monocular camera. In particular, a new concept of Multiple Coverage Probability (MCP) is defined to characterize the probability of at least n landmarks being covered simultaneously by a camera at a fixed position. The optimization is conducted with respect to the position and pose of the given number of landmarks to maximize MCP through globally exploration of the given 3-D space. By adopting the elimination genetic algorithm, the global optimal solutions can be obtained, which are then applied to improve the convergent performance of the visual observer on SE(3) as a demonstration example. Both simulation and experimental results are presented to validate the effectiveness of the proposed landmark deployment optimization method. © 2022, CC BY-NC-SA.

关键词： Probability

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