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Weak feedback self-mixing interference fringe slope discrimination method based on deep learning

Optoelectronics Letters 2025年

作者： ZHAO Yan LIN Maohua DU Shengzhi TONG Jigang LIU Bin HAN Fangfang School of Electrical Engineering and Automation， Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Department of Electrical Engineering， Tshwane University of Technology

In order to identify the tilt direction of the self-mixing interference (SMI) signals under weak feedback regime interfered by noise， a deep learning method is proposed. The one-dimensional U-Net (1D U-Net) neural network can discriminate the direction of self-mixing fringes accurately and quickly. For experimental SMI signals， the 1D U-Net can be used for discriminant direction after a one-step normalization. Simulation and experimental results show that the proposed method is suitable for SMI signals with noise within the whole weak feedback regime， and can maintain a high discrimination accuracy for signals interfered by 5dB noise. Combined with fringe counting method， accurate and rapid SMI signal displacement reconstruction can be realized.

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Liquid refractive index measurement method based on orthogonal polarization laser self-mixing interference

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Optoelectronics Letters 2025年

作者： ZHAO Yan WANG Haipeng DU Shengzhi TONG Jigang KANG Jun School of Electrical Engineering and Automation， Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Department of Electrical Engineering， Tshwane University of Technology

In this paper， a novel method combining orthogonal polarization laser self-mixing interference is proposed. The method utilizes a rotating cuvette to measure the refractive index of liquids at different concentrations. The cuvette is filled with the liquid to be measured and rotated by a certain angle. The change in the number of interference fringes， caused by comparing an empty cuvette with a liquid-filled cuvette， is used to calculate the refractive index of the liquid. A four-fold logic subdivision algorithm is then used to improve measurement resolution. The experimental results show that for pure water and different NaCl and glucose solutions concentrations， the average relative errors are 0.47%， 0.59%， and 2.17%， respectively， with the maximum relative error within ±2.54%. The standard deviation of all solutions is less than 3.4%.

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Hyperbolic cosine transformer for LiDAR 3D object detection

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Optoelectronics Letters 2025年

作者： Tong Jigang Yang Fanhang Yang Sen Du Shengzhi Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory， Tianjin University of Technology Department of Electrical Engineering， Tshwane University of Technology

Recently， Transformer has achieved great success in computer vision. However， it is constrained because the spatial and temporal complexity grows quadratically with the number of large points in 3D object detection applications from point clouds. Previous point-wise methods are suffering from time consumption and limited receptive fields to capture information among points. To address these limitations， we propose the cosh-attention， which reduces the computation complexity of space and time from the quadratic order to linear order with respect to the number of points. In the cosh-attention， the traditional softmax operator is replaced by non-negative ReLU activation and hyperbolic-cosine-based operator with re-weighting mechanism. Then based on the key component， cosh-attention， we present a two-stage hyperbolic cosine transformer (ChTR3D) for 3D object detection from point clouds. It refines proposals by applying cosh-attention in linear computation complexity to encode rich contextual relationships among points. Extensive experiments on the widely used KITTI dataset and Waymo Open Dataset demonstrate that， compared with vanilla attention， the cosh-attention significantly improves the inference speed with competitive performance. Experiment results show that， among two-stage state-of-the-art methods using point-level features to refine proposals， the proposed ChTR3D is the fastest one.

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Optimal Sensor Placement for Full-Set TDOA Localization Accounting for Sensor Location Errors

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Zhang, Chengjie Han, Xinyang Kong, He Ho, K.C. Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China University of Missouri Electrical Engineering and Computer Science Department ColumbiaMO65211 United States

The positioning accuracy of a signal source is influenced by where the sensors are deployed. Studies in the literature for the optimal sensor placement (OSP) of localization often ignore the presence of sensor position errors. In practice, however, it is impossible to place the sensors precisely at the desired locations. This work designs OSP by accounting for the presence of Gaussian sensor position errors that are independent and identically distributed (IID), with the full set of Time Difference of Arrival measurements corrupted by Gaussian IID noise. The criterion is the A-optimality equal to the trace of the source position Cramer-Rao Bound (CRB). We show that the presence of sensor position errors introduces a multiplication factor to the same criterion for the case without sensor position errors. The latter factor is dependent on the ratio of the sensor position error power to the range difference noise power but independent of the sensor positions, implying that the A-optimality OSP in the presence of sensor position errors is the same as in the absence. To our knowledge, this is the first time such results have been derived. Simulation studies validate the derived OSP, show the minimal OSP performance gap with sensor positioning error and without, and illustrate the better source localization accuracy by OSP. © 1965-2011 IEEE.

关键词： Cramer-Rao bounds

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Point-voxel dual transformer for LiDAR 3D object detection

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Optoelectronics Letters 2025年

作者： Tong Jigang Yang Fanhang Yang Sen Du Shengzhi Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot La-boratory， Tianjin University of Technology， 391 Binshui West Road Department of Electrical Engineering， Tshwane University of Technology

Deep learning for point clouds faces the challenge of their inherent unordered nature， which makes traditional CNN-like methods not directly applicable. However， due to the inherent permutation invariance， transformers provide solutions to unordered points problems faced in LiDAR-based object detection. In this paper， a two-stage LiDAR 3D object detection framework is presented， namely Point-Voxel Dual Transformer (PV-DT3D)， which is a transformer-based method. In the proposed PV-DT3D， point-voxel fusion features are used for proposal refinement. Specifically， in the PV-DT3D， keypoints are sampled from entire point cloud scene and used to encode representative scene features via a proposal-aware voxel set abstraction module. Subsequently， following the generation of proposals by the region proposal networks (RPN)， the internal encoded keypoints are fed into dual transformer encoder-decoder architecture. In 3D object detection， the proposed PV-DT3D is the first to take advantage of both pointwise transformer and channel-wise architecture to capture contextual information from the perspective of spatial and channel dimensions. Experiments conducted on the highly competitive KITTI 3D car detection leaderboard show that， the PV-DT3D achieves superior detection accuracy among state-of-the-art point-voxel-based methods.

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Amplified treatment of mariculture effluent and pathogen with synchronously electricity generation in a self-biased photocatalytic fuel cell based on dual photoelectrode

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International Journal of Hydrogen Energy 2025年 137卷 622-635页

作者： Zeng, Honghu Lam, Sze-Mun Low, Kuan-Chee Sin, Jin-Chung Li, Haixiang Lin, Hua Huang, Liangliang Huang, Haitao Xu, Liwei Lim, Jun-Wei Jaffari, Zeeshan Haider Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin University of Technology Guilin541004 China Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of Technology Guilin541004 China Faculty of Engineering and Green Technology Universiti Tunku Abdul Rahman Jalan Universiti Bandar Barat Kampar Perak 31900 Malaysia College of Environmental Science and Engineering Guilin University of Technology Guilin541004 China HICoE-Centre for Biofuel and Biochemical Research Institute of Sustainable Energy and Resources Department of Fundamental and Applied Sciences Universiti Teknologi PETRONAS Seri Iskandar Perak Darul Ridzuan 32610 Malaysia Department of Civil Environmental and Ocean Engineering Stevens Institute of Technology 1 Castle Point Terrace HobokenNJ07030 United States

A device capable of producing electricity from wastewater treatment process is highly desirable as it addresses critical challenges in sustainable energy generation and environmental conservation. In this work, a highly efficient three-dimensional (3D) porous network structured In2O3/ZnO/FTO photoanode and a flower-like Cu2O/CuO/Cu cathode were successfully fabricated and integrated into a visible light-driven photocatalytic fuel cell (PFC) system. Material characterization revealed that In2O3 was well-dispersed on the 3D porous ZnO network, proving ample active sites for photoelectrocatalysis. The PFC utilizing mariculture effluent containing chlortetracycline hydrochloride (CTCH) as a fuel source, achieved an open-circuit voltage of 559 mV and a maximum power density of 0.3084 μW cm−2 under visible light irradiation. Furthermore, the system demonstrated a CTCH removal efficiency of 91.5 %, outperforming ZnO/FTO and In2O3/FTO electrodes in terms of degradation efficacy and energy conversion. Additionally, the cell demonstrated outstanding recyclability and remarkable antimicrobial efficacy against Escherichia coli and Bacillus cereus, underscoring its superior functionality. The boosted photoelectrocatalytic activity was credited to the formation of the In2O3/ZnO/FTO heterojunction within the porous network-structure, which provided a high specific surface area and favorable optical and electronic traits and thereby, improving the overall efficiency of the dual photoelectrode system. This PFC device facilitates simultaneous electricity generation, pollutant degradation and bacterial sterilization, offering promising multifunction applications. © 2025 Hydrogen Energy Publications LLC

关键词： Escherichia coli

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Prescribed-Time Three-Dimensional Guidance for Maneuvering Targets with Field-of-View and Approach Angle Constraints

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Kang, Honglong Wang, Pengyu Song, Shenmin Fonod, Robert Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Ecole Polytechnique Fédérale de Lausanne School of Architecture Civil and Environmental Engineering LausanneCH-1015 Switzerland

This paper presents a three-dimensional (3D) guidance law for homing missiles to intercept maneuvering targets, while ensuring a desired final approach angle and satisfying field-of-view (FOV) constraints. First, a line-of-sight (LOS) vector shaping method is introduced in the range domain. The desired approach angle and FOV constraint can be satisfied by precisely tracking a specified LOS vector profile. Then, a feedback guidance law is designed using a prescribed-time control technique for nullifying the LOS tracking errors. This guidance law employs an extended state observer to estimate and compensate for unknown target maneuvers, with a rigorous analysis conducted to ensure the stability of the entire system. Unlike existing studies, the proposed guidance law does not require linearization procedures and switching logic, which avoids discontinuous guidance command and facilitates practical implementation. Finally, extensive numerical simulations and comparison studies validate the effectiveness, robustness, and superiority of the proposed method. © 1965-2011 IEEE.

关键词： Guided missiles

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Tuning function based adaptive prescribed-time parameter estimation and tracking control design

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Automatica 2025年 177卷

作者： Shi, Wenrui Keliris, Christodoulos Hou, Mingzhe Polycarpou, Marios M. Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China KIOS Research and Innovation Center of Excellence and the Department of Electrical and Computer Engineering University of Cyprus Nicosia1678 Cyprus

Most existing prescribed-time (PT) control results focus on the stabilization/regulation problem, with only a few results considering the tracking control problem. In this paper, an adaptive PT tracking control method is proposed for a class of strict feedback nonlinear systems with linearly parametric uncertainties which can be non-vanishing and include both matched and mismatched parts. By using the normalization technique and a novel cutoff function, a two-filter-based parameter estimation error reconstruction mechanism is designed. Furthermore, an improved tuning function based backstepping design solution is provided. Different from the classic tuning function based backstepping results, some additional terms which are designed through the reconstructed parameter estimation errors, are embedded into the virtual control laws, the actual control law and the adaptive laws. Moreover, in order to avoid potential numerical problems in the implementation of the scheme, a modified adaptive PT control scheme is proposed. Finally, two simulation examples are employed to illustrate the effectiveness of the proposed control method. © 2025 Elsevier Ltd

关键词： Adaptive control systems

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On Uniform Observability of Linear Time-varying Systems with respect to Subspaces and Its Applications

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IEEE Transactions on Automatic control 2025年

作者： Liu, Tao Huang, Jie Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Shatin Hong Kong

Recently, the notion of uniform observability with respect to a subspace was proposed in [21] and was utilized to solve the synchronization problem for single-integrator multi-agent systems with time-varying matrix-weighted couplings. This paper further explores the concept of uniform observability of a linear time-varying system with respect to a subspace. We will first establish the invariance property of uniform observability with respect to some invariant subspace under time-varying output feedback control. Then, based on this invariance property, we will establish an exponential convergence result with respect to an invariant subspace for a class of linear switched systems. Leveraging this exponential convergence result, we will solve the exponential synchronization problem for general linear multi-agent systems over jointly connected switching networks. It is noted that the exponential synchronization problem was also studied recently by some more sophisticated methods. Compared with these methods, our method is much simpler. Moreover, our method leads to an explicit characterization of the exponential synchronization rate. © 1963-2012 IEEE.

关键词： Linear time-invariant system

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Smooth finite-dimensional time-varying feedback for chained nonholonomic systems with distributed input delays

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Automatica 2025年 177卷

作者： Zhang, Kang-Kang Yang, Xuefei Zhang, Kai Department of Mechanical Engineering University of Hong Kong Hong Kong Department of Computer Science KU Leuven HeverleeB-3001 Belgium Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China Department of Biomedical Engineering City University of Hong Kong Hong Kong

This paper investigates the smooth finite-dimensional time-varying control problem for chained nonholonomic systems with distributed input delays. For the scalar distributed delay system, a smooth finite-dimensional nonhomogeneous controller is proposed. By using a smooth time-varying state transformation, a chained nonholonomic system with distributed input delay is transformed into a linear time-varying system with a distributed input delay. With the aid of the inherent structural properties of chained nonholonomic system, smooth finite-dimensional linear time-varying controllers are constructed. Unlike traditional predictor feedback, which involves infinite-dimensional terms, the proposed controllers are finite-dimensional and easier to implement. By utilizing Barbalat's lemma, it is shown that the proposed control laws can drive the states to zero. Both state feedback and observer-based output feedback are considered. The effectiveness of the proposed methods is verified through a numerical example. © 2025 Elsevier Ltd

关键词： Delay control systems

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