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S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks

IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Wang, Zhong Zhang, Lin Wang, Hesheng Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Tongji University School of Computer Science and Technology National Pilot Software Engineering School with Chinese Characteristics Shanghai201804 China

Traditional LiDAR SLAM approaches prioritize localization over mapping, yet high-precision dense maps are essential for numerous applications involving intelligent agents. Recent advancements have introduced methods leveraging neural fields to enhance mapping capabilities;however, these approaches still face several limitations. Firstly, concerning scene representation, they typically employ neural fields with high-dimensional features and multi-layer perceptron decoders utilizing non-continuous activation functions. This results in low learning efficiency and challenges in capturing high-frequency signals. Secondly, in terms of scene organization, these methods often treat the entire scene as a singular neural field, leading to inefficiencies, inflexibility, and difficulties in rectifying accumulated errors when mapping large-scale environments over extended periods. To tackle the first issue, we propose a lightweight continuous SDF regression approach by encoding the scene in single-valued embeddings and decoding SDF values from a Kolmogorov-Arnold Network. By minimizing discrepancies in measuring range, sampling distance, and decoded SDF values, we facilitate iterative frame-to-model tracking and bundle adjustment neural mapping. To mitigate the second challenge, we propose structuring the whole scene into multiple neural SDF submaps. By establishing node-node, node-submap, and loop closure constraints into a global pose graph, the system can create dense neural maps with global consistency across large-scale scenes. Experimental evaluations in both real-world and simulated settings indicate that our system achieves superior mapping completeness and accuracy, enhanced learning efficiency, reduced memory consumption, and greater flexibility compared to its counterparts. © 2025 IEEE.

关键词： Mapping

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UW-DNeRF: Deformable Soft Tissue Reconstruction with Uncertainty-Guided Depth Supervision and Local Information Integration

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IEEE Transactions on Medical Imaging 2025年 PP卷 PP页

作者： Shan, Jiwei Zhang, Zixin Li, Hao Hsieh, Cheng-Tai Li, Yirui Wu, Wenhua Wang, Hesheng School of Electronic Information and Electrical Engineering of Shanghai Jiao Tong University Shanghai200240 China Shanghai Jiao Tong University School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China

Reconstructing deformable soft tissues from endoscopic videos is a critical yet challenging task. Leveraging depth priors, deformable implicit neural representations have seen significant advancements in this field. However, depth priors from pre-Trained depth estimation models are often coarse, and inaccurate depth supervision can severely impair the performance of these neural networks. Moreover, existing methods overlook local similarities in input sequences, which restricts their effectiveness in capturing local details and tissue deformations. In this paper, we introduce UW-DNeRF, a novel approach utilizing neural radiance fields for high-quality reconstruction of deformable tissues. We propose an uncertainty-guided depth supervision strategy to mitigate the impact of inaccurate depth information. This strategy relaxes hard depth constraints and unlocks the potential of implicit neural representations. In addition, we design a local window-based information sharing scheme. This scheme employs local window and keyframe deformation networks to construct deformations with local awareness and enhances the model's ability to capture fine details. We demonstrate the superiority of our method over state-of-The-Art approaches on synthetic and in-vivo endoscopic datasets. Code is available at: https://***/IRMVLab/UW-DNeRF. © 2025 IEEE.

关键词： Endoscopy

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic systems over a Lossy Communication Channel

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Journal of systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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On Variational Model in Sobolev-Orlicz Spaces for Spatiotemporal Interpolation of Multi-Spectral Satellite Images 3

On Variational Model in Sobolev-Orlicz Spaces for Spatiotemp...

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3rd IEEE International Conference on system Analysis and Intelligent Computing, SAIC 2022

作者： Kogut, Peter Kupenko, Olga Manzo, Rosanna Pipino, Claudia Oles Honchar Dnipro National University Eos Data Analytics Ukraine Department of Differential Equations Dnipro Ukraine Ntu 'Dnipro University of Technology' Department of System Analysis and Control Dnipro Ukraine University of Salerno Department of Information Engineering Electrical Engineering and Applied Mathematics Italy University of Salerno Dipartimento di Scienze Aziendali Management and Innovation Systems Italy

ISBN: (数字)9798350396744

ISBN: (纸本)9798350396744

We propose a new two-level variational model in Sobolev-Orlicz spaces with non-standard growth conditions of the objective functional and discuss its applications to the spatiotemporal interpolation of multi-spectral satellite images. At the first level, we deal with the temporal interpolation problem that can be cast as a state constrained optimal control problem for anisotropic convection-diffusion equation, whereas at the second level we solve a constrained minimization problem with a nonstandard growth energy functional that lives in variable Sobolev-Orlicz spaces. The characteristic feature of the proposed model is the fact that the variable exponent, which is associated with non-standard growth in spatial interpolation problem, is unknown a priori and it depends on the solution of the first-level optimal control problem. It makes this spatiotemporal interpolation problem rather challenging. In view of this, we discuss the consistency of the proposed model, study the existence of optimal solutions, and derive the corresponding optimality systems. In particular, we apply this approach to the well-known prediction problem of the Daily MODIS Surface Reflectance at the Landsat-Like Resolution. © 2022 IEEE.

关键词： Image reconstruction

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Orthogonal On-Rotor Sensing Vibrations for Condition Monitoring of Rotating Machines

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Journal of Dynamics, Monitoring and Diagnostics 2022年第1期1卷 29-36页

作者： Yuandong Xu Xiaoli Tang Guojin Feng Dong Wang Craig Ashworth Fengshou Gu Andrew D.Ball Dynamics Group Department of Mechanical EngineeringImperial College LondonLondonUK School of Engineering and Technology Aston UniversityBirminghamUK School of Mechanical Engineering Hebei University of TechnologyTianjinChina State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong UniversityChina Control System Integration Ltd LittleboroughUK Centre for Efficiency and Performance Engineering University of HuddersfieldHuddersfieldUK

Thanks to the fast development of micro-electro-mechanical systems(MEMS)technologies,MEMS accelerometers show great potentialities for machine condition *** overcome the problems of a poor signal to noise ratio(SNR),complicated modulation,and high costs of vibration measurement and computation using conventional integrated electronics piezoelectric accelerometers,a triaxialMEMS accelerometer-based on-rotor sensing(ORS)technology was developed in this *** wireless data transmission capability,the ORS unit can be mounted on a rotating rotor to obtain both rotational and transverse dynamics of the rotor with a high *** orthogonal outputs lead to a construction method of analytic signals in the time domain,which is versatile in fault detection and diagnosis of rotating *** case studies based on an induction motor were carried out,which demonstrated that incipient bearing defect and half-broken rotor bar can be effectively diagnosed by the proposed measurement and analysis ***,vibration signals from translational on-casing accelerometers are less capable of detecting such *** demonstrates the superiority of the ORS vibrations in fault detection of rotating machines.

关键词： On-rotor sensing vibration condition monitoring rotating machines

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Multi-objective Optimization of A CCHP system Model Integrated with P2G for Decarbonization 6

Multi-objective Optimization of A CCHP System Model Integrat...

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6th IEEE Conference on Energy Internet and Energy system Integration, EI2 2022

作者： Wei, Pengyu Bamisile, Olusola Cai, Dongsheng Li, Jian Adun, Humphrey Huang, Qi Chengdu University of Technology School of Nuclear Technology and Automation Engineering Chengdu China University of Electronic Science and Technology of China Sichuan Provincial Key Lab of Power System Wide-area Measurement and Control Chengdu China Cyprus International University KKTC Energy Systems Engineering Department Mersin10 Turkey

ISBN: (纸本)9798350347159

To realize the dual carbon policy, the goal of energy saving, and emission reduction, it is important to develop ways to better promote the low carbon economic operation of energy systems. Therefore, this research proposes an optimal operation strategy considering the electric-gas-cooling-heat demand response. Considering the demand response of each participant, an integrated energy system model with photovoltaic, wind energy, and traditional grid as energy supply. Also, electric energy, natural gas, cooling, and heating subsystems with co-production are established. With minimizing the overall system operation cost and optimizing environmental protection, the improved particle swarm optimization algorithm is used to solve the multi-constrained objective optimization problem. Finally, the optimized model is tested. The results from this study show that the energy system under cogeneration can find a balance between economy and environmental friendliness, and provide a reference for the subsequent energy supply configuration. © 2022 IEEE.

关键词： Environmental protection

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Distributed Event-Triggered Formation control for a Multi-robotic Fish system

Distributed Event-Triggered Formation Control for a Multi-ro...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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A Multimodal Fault Diagnosis Model Utilizing GAF Transformation for controllable Pitch Propeller Hydraulic system

A Multimodal Fault Diagnosis Model Utilizing GAF Transformat...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Huihuang Cai Wei Chen Huanglong Fu Hua Wang Jingcheng Wang Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Shanghai Marine Equipment Research Institute Shanghai China Department of Automation the Key Laboratory of System Control and Information Processing Ministry of Education of China and the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University Xi'an China

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

The hydraulic system of the controllable pitch propeller (CPP) serves as the power source for adjusting the blade pitch. Due to its structural complexity and harsh operating conditions, any malfunction of this system could significantly impair the vessel's navigation. Apart from the pitch command and the pitch feedback of CPP itself, the number and types of sensors added for fault diagnosis are not fixed. Therefore, this study establishes a multimodal fault diagnosis model based on Gramian angular field(GAF). By considering the deviation values of pitch feedback and pitch command as key variables, this model transforms them into a two-dimensional image using GAF, thereby obtaining more effective feature information. Image features are extracted using ResNet, while the temporal features of additional sensors are extracted using GRU. Finally, a multi-head attention mechanism is employed for feature fusion. This method achieves a classification accuracy of 100% in the classification of four types of hydraulic system faults simulated on the experimental platform.

关键词： Fault diagnosis Propellers Navigation Hydraulic systems Transforms Sensor phenomena and characterization Feature extraction Sensor systems Marine vehicles Load modeling

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An Iterative Method for a Frequency Domain PID controller Synthesis

An Iterative Method for a Frequency Domain PID Controller Sy...

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SICE Annual Conference

作者： Kenjiro Minamikawa Yasushi Kami Eitaku Nobuyama Atsushi Hosokawa Department of Mechanical and Electronic System Engineering Advanced Course of National Institute of Technology Akashi College Hyogo Japan Department of Electrical Systems Engineering Hiroshima Institute of Technology Hiroshima Japan Department of Intelligent and Control Systems Kyushu Institute of Technology Fukuoka Japan Department of Electrical and Computer Engineering National Institute of Technology Akashi College Hyogo Japan

This study is concerned with a control system design method with frequency response data named a finite number of frequency responses(an FNFR) model. In this paper a numerical descent direction is introduced and an iterative method for solving control problems formulated with the FNFR model is proposed with the descent direction. One feature of our approach is to update controller variables so that they approach to a feasible region of considering control problems from the outside. The efficiency of our method is shown by numerical examples.

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Blockchain-based peer to peer energy trading using distributed model predictive control

Blockchain-based peer to peer energy trading using distribut...

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European control Conference (ECC)

作者： Manuel Sivianes Ascensió n Zafra-Cabeza Carlos Bordons Systems Engineering and Automatic Control Department School of Engineering Universidad de Sevilla Seville Spain System Engineering and Automation Department School of Engineering Universidad de Sevilla Seville Spain Systems Engineering and Automatic Control Department ENGREEN Laboratory of Engineering for Energy and Environmental Sustainability Universidad de Sevilla Seville Spain

ISBN: (数字)9783907144077

ISBN: (纸本)9781665497336

The energy network is experiencing a decentralizing process due to the recent inclusion of distributed energy resources (DERs), such as photovoltaics (PV), electric vehicles (EV), or batteries. This paradigmatic shift involves new challenges that require enhancing the electricity system's flexibility while preserving its integrity and stability. One way of dealing with them is by unbundling the electrical network into smaller, more manageable units, known as microgrids (MG). Nonetheless, the usage of distributed architectures leads to more exchanged data and control information between end agents, involving security or privacy issues. In this context, blockchain technology emerges as a feasible solution that promises transparent, tamper-proof, and safe systems in a decentralized ecosystem. This paper proposes a distributed energy management platform that takes full advantage of the blockchain technology to enable safe peer to peer (P2P) transactions. A Distributed model predictive control (DMPC) scheme is adopted, and its performance is compared with the centralized approach.

关键词： Photovoltaic systems Smart contracts Microgrids Prediction algorithms Stability analysis Blockchains Peer-to-peer computing

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