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第35届中国控制会议

作者： LI Jiang-Wei ZHENG Ding-Fu GUAN Zhi-Hong CHEN Chao-Yang JIANG Xiao-Wei ZHANG Xian-He College of Automation Huazhong University of Science and Technology The Key Laboratory of Ministry of Education for Image Processing and Intelligent Control (Huazhong University of Science and Technology) School of Information and Electrical Engineering Hunan University of Science and Technology College of Mechatronics and Control Engineering Hubei Normal University

ISBN: (纸本)9781509009107

3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to obtain3 D *** the process,consistent frames of RGB-D data are captured and *** Closest Point(ICP)algorithm and incremental registration method are employed to perform the fine ***,we use OctoMap to store 3D map of octree representation,an efficient data ***,our results demonstrate the practical applicability and effectiveness of the proposed approach.

关键词： 3D mapping Kinect OctoMap Mobile Robots

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Robust flocking for non-identical second-order nonlinear multi-agent systems

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Autonomous intelligent Systems 2021年第1期1卷 81-90页

作者： Xiuxian Li Housheng Su Li Li Department of Control Science and Engineering College of Electronics and Information Engineeringand Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 200092China Institute for Advanced Study Tongji UniversityShanghai 200092China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of ChinaHuazhong University of Science and TechnologyLuoyu Road 1037Wuhan 430074China

This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external *** contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more ***,the interaction topology is undirected and *** that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero *** proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several *** example is given to illustrate the validity of the theoretical results.

关键词： Flocking Multi-agent systems Second-order nonlinear systems Non-identical dynamics

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Changes in spectrum mapping in rhythmic movement involved in walking after spinal cord injury

Changes in spectrum mapping in rhythmic movement involved in...

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2013 IEEE International Conference on Medical Imaging Physics and Engineering, ICMIPE 2013

作者： Wei, Li Zhiqiao, Yan Yue, Huang Jiang, Xu Image Processing and Intelligent Control Key Laboratory Education Ministry of China China School of Automation Huazhong University of Science and Technology Wuhan 430074 China Rehabilitation Department Tongji Hospital Wuhan 430074 China

ISBN: (纸本)9781467360128

Spectrum mapping reflects the strength of brain electrical activity in different frequency band. The current study analyzes changes in electroencephalography (EEG) after spinal cord injury (SCI) on the basis of spectrum mapping. Comparing spectrum mappings of SCI patients and normal subjects, the fact that beta rhythm dominated in brain electrical activity during walking period was concluded. In addition, the proportion of delta wave increased and slightly exceeded that of beta wave after spinal cord injury and power values in delta band of SCI patients performed greater than that of normal subjects. © 2013 IEEE.

关键词： Electroencephalography

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Improvement and invariance analysis of Zernike moments 1

Improvement and invariance analysis of Zernike moments

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1st International Conference on Communications, Circuits and Systems, ICCCAS 2002

作者： Bin, Ye Xiong, Peng Jia State Key Laboratory for Image Processing and Intelligent Control Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology WuhanHubei430074 China

ISBN: (纸本)0780375475

An improved Zernike moment using a region-based shape descriptor is presented. The improved Zernike moment not only has rotation invariance, but also has scale invariance that the unimproved Zernike moment does not have. The experimental results show that the improved Zernike moment has better invariant properties than the unimproved Zernike moment using a region-based shape descriptor. © 2002 IEEE.

关键词： image enhancement

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Representative Graph Neural Network 16th

Representative Graph Neural Network

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16th European Conference on Computer Vision, ECCV 2020

作者： Yu, Changqian Liu, Yifan Gao, Changxin Shen, Chunhua Sang, Nong Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China The University of Adelaide Adelaide Australia

ISBN: (纸本)9783030585709

Non-local operation is widely explored to model the long-range dependencies. However, the redundant computation in this operation leads to a prohibitive complexity. In this paper, we present a Representative Graph (RepGraph) layer to dynamically sample a few representative features, which dramatically reduces redundancy. Instead of propagating the messages from all positions, our RepGraph layer computes the response of one node merely with a few representative nodes. The locations of representative nodes come from a learned spatial offset matrix. The RepGraph layer is flexible to integrate into many visual architectures and combine with other operations. With the application of semantic segmentation, without any bells and whistles, our RepGraph network can compete or perform favourably against the state-of-the-art methods on three challenging benchmarks: ADE20K, Cityscapes, and PASCAL-Context datasets. In the task of object detection, our RepGraph layer can also improve the performance on the COCO dataset compared to the non-local operation. Code is available at https://***/RepGraph. © 2020, Springer Nature Switzerland AG.

关键词： Semantic Segmentation

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Statistical boundary extraction base on quantum particle motion

Statistical boundary extraction base on quantum particle mot...

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2011 IEEE International conference on intelligent Computation and Bio-Medical Instrumentation, ICBMI 2011

作者： Sun, Yangguang Ding, Mingyue College of Computer Science South-Central University for Nationalities Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China College of Life Science and Technology Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780769546230

A novel statistical method was proposed for boundary extraction of interested objects in this letter. The proposed method was inspired by the physical nature of quantum and the statistical property of wave function. By introducing the polymer representation of quantum particle and based on quantum particle motion in the gradient-based image potential field, the boundary extraction was realized in our method. Experimental results demonstrated that our method has the capability to make the boundary extraction with arbitrary initialization and topology changes possible. © 2011 IEEE.

关键词： Statistical methods

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Optimal Power and Gas Flow of Energy Internet with Non-Isothermal Process and Energy Storage 43

Optimal Power and Gas Flow of Energy Internet with Non-Isoth...

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43rd Chinese control Conference, CCC 2024

作者： Liu, Chen He, Shiyuan Wang, Xinyi Liu, Xiao-Kang Huazhong University of Science and Technology School of Artificial Intelligence and Automation Wuhan430074 China Huazhong University of Science and Technology Ministry of Education Key Laboratory of Image Processing and Intelligent Control Wuhan430074 China

ISBN: (纸本)9789887581581

The electrical-gas coupled power flow problem is one of the most basic problems under Energy Internet. In order to achieve a more complete analysis of the electric-gas coupled power flow, this paper establishes a novel integrated energy system model that considers electricity and natural gas. This model integrates the power system AC power flow model and the non-isothermal process of natural gas pipeline transmission, achieving a more accurate description of the power grid and gas network power flow. At the same time, the beneficial effects of energy storage units on the network of each part of the system are analyzed. Through simulation design, the benefits of energy storage access on system cost and security are analyzed and quantified. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Energy storage

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Lithium-ion battery state-of-charge estimation using a real-time moving horizon estimation algorithm

Lithium-ion battery state-of-charge estimation using a real-...

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2021 CAA Symposium on Fault Detection, Supervision, and Safety for Technical Processes, SAFEPROCESS 2021

作者： Yan, Jiayu Li, Song Wan, Yiming Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan China 29th Research Institute of China Electronics Technology Group Corporation Chengdu China

ISBN: (纸本)9781665401159

For battery management systems, it is significant to reliably estimate state-of-charge (SOC) from limited measurements in real time. Based on a nonlinear SOC-dependent equivalent circuit model, we propose a real-time moving horizon estimation (MHE) algorithm for SOC estimation. For efficient computation, the sequential quadratic programming strategy is applied, and each quadratic programming (QP) iteration is solved via the structure-exploiting forward and backward recursions. To account for the limited computation time allowed within each sampling interval, the proposed algorithm does not fully solve the receding horizon optimization problem over each sliding window, but performs fixed number of QP iterations. The simulation results show that compared to the existing fully solved MHE applied to SOC estimation, the proposed real-time MHE algorithm significantly saves computation time at the cost of a slight loss of estimation performance. © 2021 IEEE.

关键词： Quadratic programming

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Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking control

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Journal of Shanghai Jiaotong university(Science) 2021年第4期26卷 446-453页

作者： ZHANG Lalu Xiangxiang Dong YAO Lixiu CAI Yunze Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai200240China Department of Automation Shanghai Jiao Tong UniversityShanghai200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai Jiao Tong UniversityShanghai200240China

Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.

关键词： mobile sensor network velocity-varying target tracking flocking control Kalman-consensus filtering

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An improved mapping method of buffer for line-based architecture of 2-D DWT

An improved mapping method of buffer for line-based architec...

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2005 International Conference on Communications, Circuits and Systems

作者： Xiong, Cheng-Yi Wang, Cheng-Jun Tian, Jin-Wen Liu, Jian College of Electronic Information Engineering South-Center University for Nationalities Wuhan 430074 China Key Laboratory of Education Huazhong University of Science and Technology Ministry for Image Processing and Intelligent Control Wuhan 430074 China

ISBN: (纸本)0780390156

The number of arithmetic units used in one-dimensional (1-D) discrete wavelet transform (DWT) is the main consideration for reducing the area of VLSI implementation of 1-D DWT, while the size of intermediate memory used for data buffering is another dominate factor of effecting hardware complexity of VLSI implementation for two-dimensional (2-D) DWT. In this paper, we exploit the essential relationship between the size of temporal buffer (TB) required in the line-based architecture for 2-D DWT (LBA2DDWT) and the number of register used in 1-D DWT module, and present an improved method of mapping the registers used in 1-D DWT to the TB required in LBA2DDWT. Comparison results with the other design reported in previous literature demonstrate that, the proposed mapping method can reduce efficiently the size of memory required in LBA2DDWT. © 2005 IEEE.

关键词： Wavelet transforms

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