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2024 China Automation Congress, CAC 2024

作者： Jingyu, Zhang Qin, Fang Mingjian, Sun Rong, Xiong Wang, Yue Haojian, Lu School of Information Science and Engineering Harbin Institute of Technology Weihai China Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Control Science and Engineering Harbin Institute of Technology Heilongjiang China

ISBN: (纸本)9798350368604

Due to their inherent flexibility and high human-computer interaction potential, soft continuum robots have been developed and popularized in industrial and medical scenarios. However, when moving in an unstructured environment, the contact with environment will change the configuration parameters of the robot, which brings problems to the control. Aiming at improving the control performance of soft continuum robots in an unstructured environment, a contact-aided model is proposed to estimate the varying configurations of the robot. Besides, a model-based controller is proposed to control the robot in an unstructured environment. To verify the performance of the proposed method, a small-scale soft continuum robot is designed and fabricated. Through the characterization experiment, the robot shows a large workspace by changing the contact position, and the kinematic model is verified. Through the trajectory tracking experiment, the robot showed good accuracy, with an average error of 1.2mm. Through an exploration experiment in the unstructured environment, the robot showed good control effect, with an average error of 1.9mm. This work enhances the application capability of the soft continuum robots in unstructured environments. © 2024 IEEE.

关键词： Microrobots

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A Joint Estimation Method of SOC and SOH for Lithium-ion Battery Considering Cyber-Attacks Based on GA-BP

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Computers, Materials & Continua 2024年第9期80卷 4497-4512页

作者： Tianqing Yuan Na Li Hao Sun Sen Tan Key Laboratory of Modern Power System Simulation and Control&Renewable Energy Technology Ministry of EducationNortheast Electric Power UniversityJilin132012China Department of Electrical Engineering Northeast Electric Power UniversityJilin132012China College of Information and Control Engineering Jilin Institute of Chemical TechnologyJilin132022China Center for Research on Microgrids Department of EnergyAalborg UniversityAalborg9220Denmark

To improve the estimation accuracy of state of charge(SOC)and state of health(SOH)for lithium-ion batteries,in this paper,a joint estimation method of SOC and SOH at charging cut-off voltage based on genetic algorithm(GA)combined with back propagation(BP)neural network is proposed,the research addresses the issue of data manipulation resulting ***,anomalous data stemming fromcyber-attacks are identified and eliminated using the isolated forest algorithm,followed by data ***,the incremental capacity(IC)curve is derived fromthe restored data using theKalman filtering algorithm,with the peak of the ICcurve(ICP)and its corresponding voltage serving as the health factor(HF).Thirdly,the GA-BP neural network is applied to map the relationship between HF,constant current charging time,and SOH,facilitating the estimation of SOH based on ***,SOC estimation at the charging cut-off voltage is calculated by inputting the SOH estimation value into the trained model to determine the constant current charging time,and by updating the maximum available *** show that the root mean squared error of the joint estimation results does not exceed 1%,which proves that the proposed method can estimate the SOC and SOH accurately and stably even in the presence of false data injection attacks.

关键词： Lithium-ion batteries state of charge state of health cyber-attacks genetic algorithm back propagation neural network

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A Line Complex-Based Evolutionary Algorithm for Many-Objective Optimization

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1150-1167页

作者： Liang Zhang Qi Kang Qi Deng Luyuan Xu Qidi Wu the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the Jiangsu Province Support Software Engineering R&D Center for Modern Information Technology Application in Enterprise Suzhou 215104China the Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 200092China

In solving many-objective optimization problems(MaO Ps),existing nondominated sorting-based multi-objective evolutionary algorithms suffer from the fast loss of selection *** candidate solutions become nondominated during the evolutionary process,thus leading to the failure of producing offspring toward Pareto-optimal front with *** we find a more effective way to select nondominated solutions and resolve this issue?To answer this critical question,this work proposes to evolve solutions through line complex rather than solution points in Euclidean ***,Plücker coordinates are used to project solution points to line complex composed of position vectors and momentum *** position vectors of the solution points,momentum vectors are used to extend the comparability of nondominated solutions and enhance selection ***,a new distance function designed for high-dimensional space is proposed to replace Euclidean distance as a more effective distancebased *** on them,a novel many-objective evolutionary algorithm(MaOEA)is proposed by integrating a line complex-based environmental selection strategy into the NSGAⅢ*** proposed algorithm is compared with the state of the art on widely used benchmark problems with up to 15 *** results demonstrate its superior competitiveness in solving MaOPs.

关键词： Environmental selection line complex many-objective optimization problems(MaOPs) Plücker coordinate

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Lightweight UAV target detection algorithm 6

Lightweight UAV target detection algorithm

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2024 6th International Conference on Artificial Intelligence Technologies and Applications, ICAITA 2024

作者： Zhang, Xiaozheng Bao, Dayang Zhao, Haili Wang, Qi Department of Information and Control Technology China North Vehicle Research Institute Beijing100072 China School of Electronic Information Engineering Changchun University of Science and Technology Changchun130022 China

Aiming at the public area UAV detection task, the target is easy to occlude, the scale variation is large, and the existing detection algorithm model parameters are large. In this paper, the lightweight network model YOLOv5s-UD is designed for the low-altitude UAV target detection algorithm. In this detection model, the proposed approach employs the streamlined Shufflenetv2 architecture to enhance the core network. To optimize the UAV’s relevant feature data, the CBAM attention module is integrated during the feature amalgamation phase. Furthermore, the GSConv is implemented to upgrade conventional convolution within the neck network, ensuring a reduction in model parameters without compromising detection precision. Experimental outcomes reveal a 36.2% computational reduction compared to the YOLOv5s algorithm, with an average detection accuracy of 84.1%. This demonstrates the algorithm’s capability to efficiently detect UAV targets while minimizing computational loads, thereby exhibiting significant practical significance. © 2024 Institute of Physics Publishing. All rights reserved.

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A joint sparse Bayesian learning for wideband DOA estimation

A joint sparse Bayesian learning for wideband DOA estimation

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2024 Conference on Spectral technology and Applications, CSTA 2024

作者： Zhao, Yonghong Liu, Jisong Wang, Junlong Dong, Shuxin Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing Department of Automation and Information Engineering Xi'an University of Technology Shaanxi Xi'an710048 China

ISBN: (纸本)9781510683082

Wideband direction of arrival (DOA) estimation using sensor array is a noteworthy problem frequently occurring in many applications involving radar, sonar, and communication. We present a wideband DOA method based on a sparse Bayesian learning of multiple sub-bands jointly with the redundant dictionary matrix at the reference frequency. Explicitly enforcing the focusing operation and the singular value decomposition (SVD) to sensor measurements is motivated by a desire to decrease the computational complexity and storage capacity. A joint sparse Bayesian learning framework is proposed to deal with multiple sub-bands under one segment to obtain the DOA information. Moreover, the proposed method can be directly extended to multiple segments. Comparing to other wideband DOA estimation methods, the proposed method has the advantages of increased resolution, higher accuracy, and correlation of the sources, as well as not requiring the initial angles for the focusing matrix. Simulations are provided to show the effectiveness and improved performance of the proposed method. © 2024 SPIE.

关键词： Direction of arrival

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Solving PnP Problem Using Improved Sparrow Search Algorithm

Solving PnP Problem Using Improved Sparrow Search Algorithm

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2024 International Symposium on Intelligent Signal Processing and Communication Systems, ISPACS 2024

作者： Riku, Kurihara Matsushima, Kousuke Advanced Engineering Course National Institute of Technology Kurume College Kurume Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Kurume Japan

ISBN: (纸本)9798350389210

The Perspective-n-Point (PnP) problem is a fundamental challenge in engineering that plays a crucial role in fields such as computer vision and augmented reality. This problem aims to estimate the position and orientation (pose) of a camera from known 3D points and their corresponding 2D projections on the image plane. With recent technological advancements, application areas such as autonomous vehicles, drones, and robotics are demanding increasingly faster and more accurate camera pose estimation. To address this challenge, we have introduced an improved Sparrow Search Algorithm (SSA) with the capability to dynamically restrict the search area. While the conventional SSA demonstrated excellent optimization capabilities, it faced efficiency issues when searching in high-dimensional spaces, such as those encountered in PnP problems. Our enhancement enables the algorithm to leverage information obtained during the search process to gradually narrow down the search area, thereby more efficiently locating the optimal solution. © 2024 IEEE.

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Multi-Lens Visual SLAM with Integrated Moving Object Removal using Unsupervised Models 1

Multi-Lens Visual SLAM with Integrated Moving Object Removal...

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1st International Conference on Robotics, engineering, Science, and technology, RESTCON 2024

作者： Hara, Ryoichirou Matsushima, Kousuke Kurume College Advanced Engineering Course National Institute of Technology Fukuoka Japan Kurume College National Institute of Technology Department of Control and Information Systems Engineering Fukuoka Japan

ISBN: (纸本)9798350348842

In Advanced Driver-Assistance Systems (ADAS), SLAM (Simultaneous Localization and Mapping) technology is required to accurately estimate the position and orientation of onboard cameras. Compared to LiDAR SLAM, Visual SLAM has the advantage of collecting rich environmental information at a lower cost. However, the accuracy of the estimated pose and map construction is greatly reduced by moving objects in the camera scene. To solve this problem, a multi-camera SLAM has been proposed, which works robustly in dynamic environments by using multiple cameras to acquire more feature points from omnidirectional environmental information. In this paper, we propose a robust SLAM system based on a multi-camera SLAM system combined with object detection and semantic segmentation networks. We then evaluate the robustness of the proposed method by comparing it to SLAM systems that do not remove moving objects. Experimental results showed that the Absolute Trajectory Error and the Relative Position Error performed better than conventional SLAM by masking moving objects. It also showed that more static objects were detected and constructed in the map. © 2024 IEEE.

关键词： Object detection

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Event-triggered control of nonlinear systems under deception and Denial-of-Service attacks 63

Event-triggered control of nonlinear systems under deception...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Seifullaev, Ruslan Teixeira, Andre M. H. Ahlen, Anders Uppsala University Division of Systems and Control Department of Information Technology Sweden Uppsala University Division of Signals and Systems Department of Electrical Engineering Sweden

ISBN: (纸本)9798350316339

We address the problem of event-triggered networked control of nonlinear systems under simultaneous deception and Denial-of-Service (DoS) attacks. By DoS attacks, we refer to disruptions in the communication channel that prevent sensor measurements from reaching the controller. When the system undergoes a deception attack, the controller receives a modified output, deviating from the sensor's original measurement. We implement the input delay approach and the Lyapunov-Krasovskii technique to obtain sufficient conditions, expressed in terms of linear matrix inequalities (LMIs), that characterize the duration of the DoS interruptions under which input-to-state stability (ISS) of the closed-loop system is preserved. Furthermore, we explore scenarios involving simultaneous attacks, where the DoS is modeled as a stochastic Bernoulli process. The closed-loop system is then considered as a stochastic impulsive system. In a similar manner, we derive conditions to ensure mean-square ISS for this case. A numerical example illustrates the efficiency of the results. © 2024 IEEE.

关键词： Stochastic systems

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Mobile Generalized Category Discovery for Road Damage Detection

Mobile Generalized Category Discovery for Road Damage Detect...

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2024 International Symposium on Intelligent Signal Processing and Communication Systems, ISPACS 2024

作者： Rintaro, Akashi Matsushima, Kousuke Advanced Engineering Course National Institute of Technology Kurume College Kurume Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Kurume Japan

ISBN: (纸本)9798350389210

In recent years, there has been a considerable amount of research conducted on the topic of road damage detection using deep learning techniques, with the aim of supporting the safe driving of mobility vehicles. To date, convolutional neural networks and supervised learning with large datasets have been employed for road damage detection, demonstrating high classification accuracy. However, all images in the dataset must be manually labeled. Moreover, images cannot be classified into classes that are not included in the training dataset. The real world presents a vast array of damage types, and the unlabeled input images encompass both known and unknown classes. This renders the system unsuitable for use in providing safe driving support for mobility. Considering this background, Generalized Category Discovery (GCD) has been put forth as a potential solution, aiming to achieve accurate classification in a comprehensive setting where both known and unknown classes are present in unlabeled data. The purpose of this study is to propose a novel model for GCD with the aim of providing safe driving assistance for mobility. The model is based on the pre-trained MobileViT. To validate its performance, this paper examines its performance on the general CIFAR-10 and CIFAR-100 datasets and on a road damage-specific dataset, and discusses the challenges encountered. © 2024 IEEE.

关键词： Convolutional neural networks

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Cross-modal three-dimensional intrinsic image decomposition for hyperspectral and LiDAR image joint classification 43

Cross-modal three-dimensional intrinsic image decomposition ...

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43rd Chinese control Conference, CCC 2024

作者： Yu, Wenbo Zhang, Miao Soochow University School of Electronics and Information Engineering Suzhou215021 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China

ISBN: (纸本)9789887581581

Existing remote sensing technologies capture discriminant information of on-ground objects and materials from a distance for accurate land-cover identification. Specifically, hyperspectral and light detection and ranging (LiDAR) images record spectral and spatial information and elevation information, respectively. Aligning and fusing both RS modalities comprehensively is beneficial to improving classification performance. However, this alignment and fusion are always challenged by the enormous RS modality gap. In this paper, a cross-modal three-dimensional intrinsic image decomposition (CM3DIID) is presented for hyperspectral and LiDAR image joint classification. Intrinsic image decomposition contributes to enhancing semantic information and making RS modalities clear. Our motivation is to construct a unique cross-modal intrinsic image decomposition for three-dimensional data cubes specifically, facilitating robust discriminant information extraction. Specifically, the hyperspectral image contributes to restricting the decomposed reflectance component, making the samples with similar spectral curves very close. The LiDAR image is considered to search samples with similar elevations, which should be closed in the shading component. The whole optimization process is clearly analyzed and achieved by constructing a deep learning network. The proposed CM3DIID constructs a connection bridge between hyperspectral and LiDAR images for information switching and modality fusing. Multiple experiments are conducted on two widely used hyperspectral and LiDAR datasets to verify the effectiveness and feasibility of the proposed CM3DIID. The final results clearly prove that the proposed CM3DIID is capable of generating better classification performance than other state-of-the-art comparison techniques. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Image enhancement

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