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IEEE Conference on Decision and control

作者： Weiqiang Chen Liangming Chen Jie Mei Hongwei Zhang School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Center for Control Science and Technology Southern University of Science and Technology Shenzhen China

Multi-agent formations have many practical applications. Measurement noises are inevitable in multi-agent formations, in which, however, the existing results mainly focus on special types of noises, and the analytical discussion on the effect of general noises is challenging and remains open. This motivates us to study the effect of stochastic measurement noises on displacement-based multi-agent formations, which are described by a general form of stochastic processes with finite second-order moments. First, for the case of unbiased measurement noises, a sufficient and necessary condition is derived for the existence of solutions in the stochastic dynamics of multi-agent formations. Then, several statistical features and convergence of formation errors are analyzed. In particular, for the case of unbiased measurement noises described by zero-mean wide-sense stationary processes, an upper bound on the mean square convergence of formation errors is obtained. Finally, we demonstrate the effectiveness of our theoretical results through a simulation example.

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Perturbation towards easy samples improves targeted adversarial transferability 23

Perturbation towards easy samples improves targeted adversar...

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Proceedings of the 37th International Conference on Neural Information Processing Systems

作者： Junqi Gao Biqing Qi Yao Li Zhichang Guo Dong Li Yuming Xing Dazhi Zhang School of Mathematics Harbin Institute of Technology Department of Control Science and Engineering Harbin Institute of Technology and C 3 I Department of Electronic Engineering Tsinghua University and Frontis.AI

The transferability of adversarial perturbations provides an effective shortcut for black-box attacks. Targeted perturbations have greater practicality but are more difficult to transfer between models. In this paper, we experimentally and theoretically demonstrated that neural networks trained on the same dataset have more consistent performance in High-Sample-Density-Regions (HSDR) of each class instead of low sample density regions. Therefore, in the target setting, adding perturbations towards HSDR of the target class is more effective in improving transferability. However, density estimation is challenging in high-dimensional scenarios. Further theoretical and experimental verification demonstrates that easy samples with low loss are more likely to be located in HSDR. Perturbations towards such easy samples in the target class can avoid density estimation for HSDR location. Based on the above facts, we verified that adding perturbations to easy samples in the target class improves targeted adversarial transferability of existing attack methods. A generative targeted attack strategy named Easy Sample Matching Attack (ESMA) is proposed, which has a higher success rate for targeted attacks and outperforms the SOTA generative method. Moreover, ESMA requires only 5% of the storage space and much less computation time comparing to the current SOTA, as ESMA attacks all classes with only one model instead of seperate models for each class. Our code is available at https://***/gjq100/ESMA

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Perturbation Towards Easy Samples Improves Targeted Adversarial Transferability

arXiv

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arXiv 2024年

作者： Gao, Junqi Qi, Biqing Li, Yao Guo, Zhichang Li, Dong Xing, Yuming Zhang, Dazhi School of Mathematics Harbin Institute of Technology China Department of Control Science and Engineering Harbin Institute of Technology China C3I Department of Electronic Engineering Tsinghua University China Frontis.AI China

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Design and Realization of Unmanned Vehicle Autonomous Navigation System Based on Binocular Camera

Design and Realization of Unmanned Vehicle Autonomous Naviga...

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Computer Science, Electronic Information engineering and Intelligent control technology (CEI), IEEE International Conference on

作者： Tianxing Guo Lianlei Lin Huanyu Liu Junbao Li Department of Automatic Test and Control School of Electronics and Information Engineering Harbin Institute of Technology Harbin China Information Countermeasure Technique Institute School of Computer Science and Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Aiming at the navigation problem of unmanned vehicles in extreme environments such as communication interference and limited GPS signals, this study proposes an autonomous navigation method based on binocular cameras. The method enables the unmanned vehicle to complete the task of localization and map building using only binocular images, without the need for other sensors or signal sources. Meanwhile, this study also proposes a local path planning obstacle avoidance method based on depth map, which, when combined with global localization information, can take into account both local obstacle avoidance and global path navigation, and can cope with random environmental changes. The system uses a single sensor for autonomous obstacle avoidance and navigation, which reduces the computational requirements and ensures the low cost of the navigation system. In order to verify the reliability and effectiveness of the system under signal-constrained conditions, the system is evaluated in a simulation environment and a real field scenario, respectively. The experimental results show that the system is able to achieve reliable localization and path planning under signal-constrained conditions.

关键词： Location awareness Navigation Reliability theory Path planning Sensor systems Sensors Collision avoidance

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A Semi-Supervised Method Using Cycle Consistency and Multi-Perspective Dilated for Sar-to-Optical Translation

SSRN

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SSRN 2024年

作者： Wang, Jinyu Yang, Haitao Liu, Zhengjun Chen, Hang Department of Space Equipment The Academy of Equipment Beijing101416 China Department of Automation Measurement and Control Harbin Institute of Technology Harbin150001 China Space Engineering University China

Synthetic Aperture Radar (SAR) is a powerful imaging sensor capable of operating in any weather and at any time, despite its image interpretation poses challenges. Translating SAR images to optical (S2O) can serve as a beneficial supplement for target detection, image alignment, and image fusion. The existing S2O translation employs solely unsupervised or supervised techniques. However, the supervised method requires a substantial quantity of aligned data support, while the unsupervised method fails to guarantee the quality of image generation. This research presents a novel semi-supervised S2O generating approach that can obtain domain-level and pixel-level mapping relationships. A dual-branch cycle consistency loss has been developed to independently constrain supervised and unsupervised modules. To improve global and sparsity feature extraction, the generator combines sliding dilated convolution with multi-respective parallel branching. Using just 1100 pairs of training sets, extensive experiments have demonstrated that the suggested strategy outperforms baseline methods in both subjective and objective standards. Where FID is optimized by 23.41%, 49.25%, 48.57%, 16.73%, and 42.32% on the five land classes. © 2024, The Authors. All rights reserved.

关键词： Radar imaging

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Model-Free Load Frequency control of Nonlinear Power Systems Based on Deep Reinforcement Learning

arXiv

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arXiv 2024年

作者： Chen, Xiaodi Zhang, Meng Wu, Zhengguang Wu, Ligang Guan, Xiaohong The School of Cyber Science and Engineering Xi’an Jiaotong University Xi’an710049 China The College of Control Science and Engineering Zhejiang University Zhejiang Hangzhou310027 China The Department of Control Science and Engineering School of Astronautics Harbin Institute of Technology Harbin150001 China

Load frequency control (LFC) is widely employed in power systems to stabilize frequency fluctuation and guarantee power quality. However, most existing LFC methods rely on accurate power system modeling and usually ignore the nonlinear characteristics of the system, limiting controllers’ performance. To solve these problems, this paper proposes a model-free LFC method for nonlinear power systems based on deep deterministic policy gradient (DDPG) framework. The proposed method establishes an emulator network to emulate power system dynamics. After defining the action-value function, the emulator network is applied for control actions evaluation instead of the critic network. Then the actor network controller is effectively optimized by estimating the policy gradient based on zeroth-order optimization (ZOO) and backpropagation algorithm. Simulation results and corresponding comparisons demonstrate the designed controller can generate appropriate control actions and has strong adaptability for nonlinear power systems. Copyright © 2024, The Authors. All rights reserved.

关键词： controllers

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Adaptive Active Fault-Tolerant Attitude control for Spacecraft with Adaptive Prescribed Performance

Adaptive Active Fault-Tolerant Attitude Control for Spacecra...

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International Symposium on Autonomous Systems (ISAS)

作者： Ze Yang Baoqing Yang Ruihang Ji Jie Ma Control and Simulation Center Harbin Institute of Technology Harbin China Department of Electrical and Computer Engineering National University of Singapore Singapore

For spacecraft attitude control affected by environmental disturbance, parameter uncertainty and actuator fault, a novel composite active fault-tolerant scheme, combining a strong tracking Cubature Kalman filter (STCKF) with adaptive prescribed performance control (APPC), is investigated in this paper. The proposed STCKF is capable of estimating lumped fault rapidly but accurately, and it is robust to model uncertainty. An adaptive finite-time prescribed performance function (APPF) whose boundaries can be flexibly adjusted in the case of actuator faults is proposed. Then an active fault tolerant controller is designed using nonsingular terminal sliding mode control (NTSMC) in conjunction with APPF. Simulation experiments and comparisons show that the proposed strategy exhibits better fault tolerance, lower conservatism and better steady-state performance.

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A Weighted Collaborated Representation Anomaly Detector for Hyperspectral Image 15

A Weighted Collaborated Representation Anomaly Detector for ...

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15th IEEE International Conference on Electronic Measurement and Instruments, ICEMI 2021

作者： Ma, Ning Liu, Qi Wu, Wenbo He, Qiangmin Liu, Liansheng Peng, Yu Harbin Institute of Technology Department of Test and Control Engineering Harbin China Beijing Institute of Space Mechanics Electricity Beijing China

ISBN: (纸本)9781665444910

Hyperspectral image can provide valuable information for resource development, environment protection, national defense construction, etc. As one key technique for processing hyperspectral image, the anomaly detection can discover the region of interest, which is the direct information for the following analysis. However, how to identify the anomalous target or zone contained in the hyperspectral image is always a difficult problem. Especially, the accuracy of anomaly detection is usually low. Some useful information may be missed, and the following action cannot be implemented in time. To address this issue, this article proposes a novel anomaly detection method for processing hyperspectral image. Firstly, the collaborated representation-based anomaly detector (CRD) for hyperspectral image is studied. The influence factor on the anomaly detection accuracy is determined. Then, a weighted method is proposed to decrease the false alarm of anomaly detection result. To be specific, the weights are generated by the reconstruction errors of the under test hyperspectral image with a stacked autoencoder network. In this way, the performance of the anomaly detection algorithm is enhanced. Two real hyperspectral image datasets are utilized to evaluate the proposed method. Experimental results show that different Lagrange multiplier values have influence on the anomaly detection results. The receiver operating characteristic curve is used as one metric for evaluating anomaly detection results. The proposed method outperforms the collaborated representation AD and the benchmark detector-local Reed Xiaoli AD (RXD). The proposed method provides a novel anomaly detection strategy for the practical application of hyperspectral image. © 2021 IEEE.

关键词： Spectroscopy

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Complex Permeability Determination for EE Core Based on Flexible PCB Fixture and Magnetic Flux Path Length Analysis

Complex Permeability Determination for EE Core Based on Flex...

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China Power Supply Society Electromagnetic Compatibility Conference (CPEMC)

作者： Huamin Jie Zhenyu Zhao Yongqi Chang Changdong Wang Shiqi Jiang Richard Xian-Ke Gao Kye Yak See School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore Department of Electrical and Computer Engineering National Univeristy of Singapore Singapore Singapore Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Electronics and Information Engineering Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China A*STAR Institute of High Performance Computing Singapore Singapore

ISBN: (数字)9798331509552

ISBN: (纸本)9798331509569

The complex permeability of magnetic cores acts as a vital factor in electromagnetic interference (EMI) filtering choke design and optimization. Many efforts have been reported for toroid cores, but fewer target those with other shapes, such as EE, EI, UU, and UI cores. Owing to their commonly used in planar EMI filters, determining the complex permeability of them is of significance. Targeting EE cores, this paper presents a flexible printed circuit board (PCB)-based fixture adapter tailored designed for performing the measurement, while the corresponding core permeability can be calculated through magnetic flux path length analysis. The experiments validate the effectiveness and accuracy of the proposed methods, spanning a wide frequency range up to 120 MHz.

关键词： Magnetic flux Accuracy Flexible printed circuits Magnetic cores Fixtures Electromagnetic interference Permeability measurement Length measurement Permeability Inductors

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Extremum seeking-based online identification of spatially cyclic disturbances for rotating systems

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IFAC-PapersOnLine 2023年第2期56卷 8764-8769页

作者： Qingquan liu Xin Huo Kang-Zhi Liu Minghui Chu Aijing Wu Control and Simulation Center Harbin Institute of Technology Harbin 150080 P.R. China Department of Electrical and Electronic Engineering Chiba University Chiba 263-8522 Japan

Spatially cyclic disturbances widely exist in rotating systems. They seriously affect the position and velocity tracking accuracy of the system. The precondition of rejecting disturbances is to obtain their related information. However, such disturbances are difficult to estimate since their time periods are generally time-varying and change with the velocity. In this paper, an extremum seeking (ES) based online identification method of spatially cyclic disturbance is proposed. The construction method of performance function is put forward, where it includes a band-pass filter and a notch filter. Besides, the envelope curve is used to outline the amplitude of periodic function in real-time. Further, the extreme value analysis of the ES-based identifier is derived. This method is independent of system parameters. The simulation results validate that the spatial cycle and amplitude of such disturbance can be accurately identified online during one operation, even if the system is still in a transient state.

关键词： Spatially cyclic disturbance Extremum seeking (ES) Envelope curve Online identification Identification for control

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