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Infrastructure-Based Vehicle Localization system for Indoor Parking Lots Using RGB-D Cameras

Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 61-69页

作者：曹炳全贺越生庄瀚洋杨明 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong UniversityShanghai 200240China

Accurate vehicle localization is a key technology for autonomous driving tasks in indoor parking lots,such as automated valet ***,infrastructure-based cooperative driving systems have become a means to realizing intelligent *** this paper,we propose a novel and practical vehicle localization system using infrastructure-based RGB-D cameras for indoor parking *** the proposed system,we design a depth data preprocessing method with both simplicity and efficiency to reduce the computational burden resulting from a large amount of ***,the hardware synchronization for all cameras in the sensor network is not implemented owing to the disadvantage that it is extremely cumbersome and would significantly reduce the scalability of our system in mass ***,to address the problem of data distortion accompanying vehicle motion,we propose a vehicle localization method by performing template point cloud registration in distributed depth ***,a complete hardware system was built to verify the feasibility of our solution in a real-world *** in an indoor parking lot demonstrated the effectiveness and accuracy of the proposed vehicle localization system,with a maximum root mean squared error of 5 cm at 15Hz compared with the ground truth.

关键词： infrastructure-based RGB-D camera vehicle localization point cloud registration

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Dynamic Event-Triggered Consensus on Matrix-Weighted Networks: Leadless Case 42

Dynamic Event-Triggered Consensus on Matrix-Weighted Network...

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42nd Chinese control Conference, CCC 2023

作者： Dou, Lintao Wei, Haoyu Huang, Jian Pan, Lulu Shao, Haibin Li, Dewei College of Intelligent Science National University of Defense Technology Changsha410003 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China

ISBN: (纸本)9789887581543

This paper examines the event-triggered consensus of the multi-agent system on matrix-weighted networks, where the interdependencies among higher-dimensional states of neighboring agents are characterized by matrix-weighted edges in the network. Specifically, a novel distributed dynamic event-triggered coordination strategy is proposed for this category of generalized networks, in which an auxiliary system is employed for each agent to dynamically adjust the triggering threshold, which plays an essential role in guaranteeing that the triggering time sequence does not exhibit Zeno behavior. Distributed event-triggered control protocols are proposed to guarantee leaderless consensus for multi-agent systems on matrix-weighted networks, respectively. Remarkably, the spectrum of matrix-valued weights is crucial in event-triggered mechanism design for matrix-weighted networks, generalizing those results only applicable for scalar-weighted networks. The proposed approach allows each agent to broadcast and receive information only at its triggering instants. Finally, simulation examples are provided to demonstrate the theoretical results. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Multi agent systems

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Multisensor Deep Clustering Networks With Joint Learning Strategy for Fault Diagnosis Considering Consensus-Specific Constraint

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IEEE Sensors Journal 2025年第11期25卷 19921-19936页

作者： Xu, Yihao Lu, Mingfeng Wang, Gang Fang, Fang University of Science and Technology of China School of Management Hefei230026 China Hefei University of Technology School of Management Hefei230009 China Hefei University of Technology School of Management Key Laboratory of Process Optimization and Intelligent Decision-Making of the Ministry of Education Ministry of Education Engineering Research Center for Intelligent Decision-Making and Information System Technologies Hefei230009 China

The deep clustering method has been successfully employed for fault diagnosis (FD) due to its remarkable ability to extract deep representation features, particularly in scenarios where labeled data is unavailable. However, the separate learning strategy utilized in deep clustering-based FD methods leads to suboptimal FD results, and the consensus representation feature present in multisensor industrial data is not fully explored to improve the effectiveness of FD. To address the above problems, a novel deep clustering method named multisensor deep clustering networks (MsDCNs) with joint learning strategy is proposed for FD, which can comprehensively utilize industrial multisensor data and enable joint optimization. First, the Commonality-net uses a sensor-aware attentive encoder (SaAE) to integrate multisensor industrial data and extract the consensus representation feature. Second, the Individuality-net is established to extract the specific representation features of multisensor industrial data. Finally, a joint multisensor deep clustering learning strategy, including consensus-specific constraints, is designed to optimize the networks jointly and learn the consensus representation feature with consistent and complementary information. Extensive experiments on the gearbox and bearing datasets validate the proposed MsDCN. The results indicate that the proposed MsDCN can generate a reliable consensus representation feature to achieve better FD performance than other benchmark methods. Moreover, its capability to enhance multisensor FD with unlabeled data highlights its potential for real-world applications. © 2001-2012 IEEE.

关键词： Labeled data

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Building Temperature and Humidity Adaptive control for a Multi-Zone HVAC system Using Hybrid Modeling Method

Building Temperature and Humidity Adaptive Control for a Mul...

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2022 IEEE International Conference on Industrial Technology, ICIT 2022

作者： Jiang, Yuliang Zhu, Shanying Xu, Qimin Yang, Bo Guan, Xinping Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China 200240 Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China 200240

ISBN: (纸本)9781728119489

In this paper, the heating, ventilation and air conditioning (HVAC) system as the contributor of building climate management is studied on multi-zone climate dynamics modelling and control for occupancy comfort. The first-principles model together with data-driven model as the hybrid model is proposed for comprehensive multi-zone hygro-thermal dynamics. The unmodeled climate dynamics such as unknown nonlinearity and uncertainty is modeled in a linear form based on the compact form dynamic linearization (CFDL) method. Then model free adaptive control (MFAC) scheme including controller design and parameter estimation is proposed to realize multi-zone climate control and occupancy comfort. The dynamic response performance of the hybrid model-based adaptive control and the first-principles model-based adaptive control has been tested in a multi-zone building with four different zones. The results show that the proposed hybrid model-based adaptive control scheme can achieve obvious performance improvement in minimizing steady-state error. © 2022 IEEE.

关键词： controllers

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Chaos Raman distributed optical fiber sensing

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Light(Science & Applications) 2023年第10期12卷 2105-2121页

作者： Chenyi Wang Jian Li Xinxin Zhou Zijia Cheng Lijun Qiao Xiaohui Xue Mingjiang Zhang College of Physics Taiyuan University of TechnologyTaiyuan 030024 ShanxiChina Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of TechnologyTaiyuan 030024 ShanxiChina College of Electrical Information and Optical Engineering Taiyuan University of TechnologyTaiyuan030024ShanxiChina Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan 030032 ShanxiChina

The physics principle of pulse flight positioning is the main theoretical bottleneck that restricts the spatial resolution of the existing Raman distributed optical fiber sensing *** to the pulse width of tens of nanoseconds,the spatial resolution of the existing Raman distributed optical fiber sensing scheme with kilometer-level sensing distance is limited to the meter level,which seriously restricts the development of the optical time-domain reflection *** this paper,a chaos laser is proposed in the context of the physical principle of the Raman scattering effect,and a novel theory of chaos Raman distributed optical fiber sensing scheme is *** scheme reveals the characteristics of chaos Raman scattering light excited by a chaotic signal on the sensing ***,the chaos time-domain compression demodulation mechanism between the temperature variation information and chaos correlation peak is ***,the position of the temperature variation signal is precisely located using the delay time of the chaos correlation peak combined with the chaos pulse flight *** on this novel optical sensing mechanism,an experiment with 10 cm spatial resolution and 1.4 km sensing distance was conducted,and the spatial resolution was found to be independent of the sensing *** the limit of the existing spatial resolution theory,the spatial resolution of the proposed scheme is 50 times higher than that of the traditional *** scheme also provides a new research direction for optical chaos and optical fiber sensing.

关键词： fiber optical scattering

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Simulation Research on Generalized Proportional Integral Observer Based Active Disturbance Rejection control for Coarse Pointing Assembly 8

Simulation Research on Generalized Proportional Integral Obs...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Ma, Jijun Guo, Yulong Wang, YuNing Shi, Yongkang Beijing Research Institute of Telemetry Beijing100074 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China Research Institute of Telemetry Beijing China

ISBN: (纸本)9798331506230

The coarse pointing assembly (CPA), as the outer loop of the laser terminal, its tracking stability is the basis for ensuring laser communication. This paper presents the model of the CPA. Aiming at the disturbance factors in the low-speed operation process of the CPA, an active disturbance rejection control (ADRC) method for the position loop of the CPA is designed based on the generalized proportional integral observer (GPIO) to achieve disturbance compensation control. Finally, simulations are carried out on the system model. The simulation results show that compared with the PID control strategy adopted, the proposed ADRC strategy based on GPIO of the CPA can effectively improve the tracking accuracy. © 2024 IEEE.

关键词： Disturbance rejection

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera 42

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

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42nd Chinese control Conference, CCC 2023

作者： Zhou, Yanling Zhang, Xuebo Wang, Runhua Zhang, Shiyong Yuan, Mingxing Yuan, Jing Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education China

ISBN: (纸本)9789887581543

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms) © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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Accelerated Simulation of Master Equation for Open Quantum systems 42

Accelerated Simulation of Master Equation for Open Quantum S...

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42nd Chinese control Conference, CCC 2023

作者： Yue, Bo Wang, Yanfang Xue, Shibei Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789887581543

Simulation of open quantum systems is undoubtedly critical to design of quantum devices and applications of quantum technologies since dynamics of open quantum systems cannot be solved analytically in general. However, the dimension of open quantum systems grows exponentially as the number of their subsystems increases or as involving complicated environments, which reduces the computational efficiency of the simulation. In this paper, we boost numerical simulation of master equations of open quantum systems from several aspects with which the total time and the occupied memory in the simulation are significantly reduced without losing precision. Our method can be applied to the simulation of non-Markovian quantum systems described by an augmented system model as well. We conduct numerical experiments on simulation of a non-Markovian spin chain. Compared with the algorithm in a well-known toolbox, QuTiP, our method can take 26.3% time and less memory under fair conditions. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Computational efficiency

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Improved Adaptive Variable Impedance control for Contact Force Tracking

Improved Adaptive Variable Impedance Control for Contact For...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Wei, Feili Gu, Chaochen Wu, Kaijie Cheng, Hao Department of Automation Shanghai Jiao Tong University Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350327182

The utilization of impedance control is capable of achieving excellent force tracking performance. However, the balance between stability and flexibility is seldom considered in current methods. To address this issue, a novel adaptive variable impedance controller for contact force tracking is proposed in this study. Lyapunov theory is applied to develop an adaptive adjustment law of damping parameter in impedance control to enhance the robot's adaptability to uncertain environment and dynamic desired force. Additionally, a force compensator is designed based on direct adaptive control to expedite the response of force tracking. What sets this proposed method apart is that it does not require an accurate understanding of environmental parameters. Instead, it dynamically modifies the impedance parameters based on the force error to guarantee the stability and coordination of the system. Simulation results indicate that the proposed controller improves the flexibility and robustness of the force tracking capability of the robot system when compared to existing variable impedance control methods and effectively diminishes force overshoot. © 2023 IEEE.

关键词： Uncertainty analysis

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Coordinated control Strategy of Grid-Connected Photovoltaic Generation system 8

Coordinated Control Strategy of Grid-Connected Photovoltaic ...

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8th Asia Conference on Power and Electrical Engineering, ACPEE 2023

作者： Zhang, Jian Zhang, Hengxu Cao, Yongji Liu, Xiaoming Zou, Shihao Ma, Ruicong Shandong University Key Laboratory of Power System Intelligent Dispatch Control of the Ministry of Education Jinan China Shandong University Academy of Intelligent Innovation Jinan China Economic and Technological Research Institute State Grid Shandong Electric Power Company Jinan China

ISBN: (纸本)9798350345520

The development and utilization of renewable energy is imperative, and photovoltaic power generation has broad development prospects. However, photovoltaic power generation systems are limited by many external conditions, which bring more problems to power output and grid connected power quality. Therefore, in order to make better use of photovoltaic power generation, this paper proposes a coordinated control strategy of the grid-connected photovoltaic generation system. The operating principle, mathematical model, and output characteristics of photovoltaic cells are analyzed. Then, the MPPT algorithm and the operating principle of DC/DC converters are studied. Moreover, the structure and control strategy of grid connected inverters are analyzed. A simulation model of a three-phase photovoltaic grid-connected inverter system is established, and a control strategy based on grid voltage orientation is adopted. A case study is conducted to verify the proposed control strategy. © 2023 IEEE.

关键词： Maximum power point trackers

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