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IEEE Conference on Decision and control

作者： Haoyu Wei Lulu Pan Haibin Shao Dewei Li Wenbin Yu Shibei Xue Department of Automation 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 Shanghai China

This paper examines the cluster consensus design problem on higher-order interaction networks. Specifically, the higher-order interaction mechanism is captured by matrix-weighted networks that allow the interdependency across the dimensions of the agents' states, and the matrix-valued weight matrices $A_{ij}\in \mathbb{R}^{d\times d}$ associated with specific edges are further assumed to share the same nullspace for design purposes. Under mild assumptions on network connectivity, we first examine the case that the nullspace of positive semi-definite edges is spanned by a nonzero vector $\boldsymbol{\xi}\in \mathbb{R}^{d}$ and show that the predictable cluster consensus can be achieved, which is eventually located in the 1-dimensional linear space determined by span $\{\boldsymbol{\xi}\}$ and the average of agents' initial states. Moreover, the transient state of agents in each cluster can also be explicitly characterized. Namely, the derivative of the average state of agents in each cluster is perpendicular to span $\{\boldsymbol{\xi}\}$ . To generalize the above results, we proceed to examine the case that the nullspace of positive semi-definite edges is spanned by more than one linearly independent $d$ -dimensional vector, in which case, analogous results can be obtained, and the explicit geometric interpretation is also provided.

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A Visual Kinematics Calibration Method for Manipulator Based on Nonlinear Optimization

A Visual Kinematics Calibration Method for Manipulator Based...

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2022 Chinese Automation Congress, CAC 2022

作者： Peng, Gang Wang, Zhihao Guan, Shangbin Deng, Zhang Guo, Wentao Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Beijing Railway Institute of Mechanical & Electrical Engineering Group Co. Ltd. Beijing China Wuhan Lisai Technology Co. Ltd. Wuhan China

ISBN: (纸本)9781665465335

The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not applicable to all manipulators. Another calibration method uses a camera, but the system error caused by the camera's parameters affects the calibration accuracy of the kinematics of the robot arm. In order to solve this problem, this paper reduces the dimensionality of the experimental data and redesigns the objective function to be optimized. That is, the three-dimensional positions of the feature points of the calibration plate under each manipulator attitude corresponding to the actual kinematic model and the classic D-H kinematic model are mapped into the pixel coordinate system, and the sum of Euclidean distance errors of the pixel coordinates of the two is used as the objective function to be optimized. And then, nonlinear optimization and parameter compensation are performed. The experimental results show that the pixel deviation of the end pose corresponding to the optimized D-H kinematic model proposed in this paper and the end pose corresponding to the actual kinematic model in the pixel coordinate system is 0.99 pixels. Compared with the 7.9 deviation pixels between the pixel coordinates calculated by the classic D-H kinematic model and the actual pixel coordinates, the deviation is reduced by nearly 7 pixels for an 87% reduction in error. Therefore, the proposed method can effectively avoid system errors caused by camera parameters in visual calibration, can improve the absolute positioning accuracy of the end of the robotic arm, and has good economy and universality. © 2022 IEEE.

关键词： Pixels

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Design and Implementation of Telemedicine System Using Light Fidelity and PIC16F877A Microcontroller 14

Design and Implementation of Telemedicine System Using Light...

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14th International Conference on Information Science and Technology, ICIST 2024

作者： Ezilarasan, M.R. Leung, Man-Fai Dai, Xiangguang Vel Tech Rangarajan Dr. Sagunthala R and D Instituteof Science and Technology Department of Electronics and Communication Engineering Chennai India School of Computing and Information Science Anglia Ruskin University Faculty of Science and Engineering Cambridge United Kingdom Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Three Gorges University Key Laboratory of Intelligent Chongqing Wanzhou404100 China

ISBN: (纸本)9798350353334

Medical Body Area Networks (MBANs) increasingly utilize wireless communication technologies to enhance the freedom and convenience for patients and caregivers. Currently, radio frequency (RF) is the prevalent medium in healthcare applications;however, the potential for electromagnetic interference with precision medical equipment remains a concern. This study introduces a novel design and implementation of a medical healthcare information system using the newly developed Wireless Visible Light Communication (VLC) technology, also known as Light Fidelity (Li-Fi). Visible Light Emitting Diodes (LEDs), expected to soon surpass traditional incandescent and fluorescent bulbs as the primary light source due to their energy efficiency, facilitate this technology. In this research, patient health is monitored using sensors, with results displayed on an LCD. An LED lightbulb transmits the data as light signals, which are captured by a photo-detector at the receiver's end. This setup not only displays the output on an LCD but also alerts caregivers through an auditory signal, beeping every 15 seconds for respiration and every 30 seconds for heart rate monitoring. Moreover, these lighting fixtures serve dual functions: illumination and wireless data transmission, using the rapid switching capability of LEDs. This prototype VLC-based system offers a promising alternative for data services and monitoring in hospital areas where RF use is restricted. © 2024 IEEE.

关键词： Liquid crystal displays

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Securing Mobile Robotic Networks Against Replacement Attack

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IEEE Transactions on Automatic control 2025年

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping Cai, Lin Shanghai Jiao Tong University Dept. of Automation China Ministry of Education of China The Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China University of Victoria Dept. of Electrical and Computer Engineering BC Canada

The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper aims to secure the ubiquitous formation control of MRNs against the replacement attack, where an external robot can replace a formation robot by compromising the communication and physically interfering with the victim simultaneously. To counter this advanced attack, the novel idea of this work is to leverage the physical proximity of the formation shape and the interaction topology among robots for defense design. First, from the physical proximity perspective, we propose the convex neighbor polygon (CNP) to capture the geometric characteristic of the formation robots, and design a CNP-based security mechanism for the robots during the replacement attack. Then, from the interaction perspective, we introduce the indirect controllability to characterize the possibility that the attacker leverages the interaction between robots to deactivate the CNP mechanism, and establish the conditions regarding the topology structure and the attack input to counter the replacement. Finally, based on the obtained conditions, we demonstrate how to design the initiatory topology among the formation robots to enhance the defense performance. Comparative simulations verify the effectiveness of the proposed method. © 1963-2012 IEEE.

关键词： Topology

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A Ship Power Sharing Strategy Based on Shapley Value Method and Cartel Mechanism

A Ship Power Sharing Strategy Based on Shapley Value Method ...

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Complex Systems and intelligent Science (CSIS-IAC), International Annual Conference on

作者： Zhengxu Zhang Jie Yang Kai Ma Shiliang Guo Hui Li School of Electrical Engineering Yanshan University Qinhuangdao China Key Laboratory of Power Electronics for Energy Conservation and Drive Control of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Intelligent Control and Neural Information Processing of the Ministry of Education Yanshan University Qinhuangdao China

ISBN: (数字)9798331504755

ISBN: (纸本)9798331504762

With the development of the maritime industry, the number and capacity of existing port cold-ironing (CI) equipment can no longer meet the power demand of ships during berthing, resulting in significant carbon emissions from ships within the port area. Therefore, a ship power sharing strategy based on Shapley value method and Cartel mechanism is proposed. Firstly, the rolling optimization model of ship power scheduling is established to adjust the ship power scheduling strategy according to the real-time information. Secondly, the cooperative game model of ship power sharing is established, and the cost sharing among cooperative ships is realized by Shapley value method. Finally, in order to reduce the situation that ships increase their own profits by deviating from cooperation and affect the overall profits, this paper introduces Cartel mechanism to punish the behavior of deviating from cooperation. The simulation results show that the power sharing strategy proposed in this paper can reduce the total ship cost and carbon emission by 5.28% and 3.78%, respectively. The introduction of Cartel mechanism can increase the cost of non-cooperative behavior, thus ensuring that all ships take cooperative behavior. The power sharing strategy based on Shapley method and Cartel mechanism proposed in this paper is helpful to the construction of green ports.

关键词： Costs Job shop scheduling Optimization models Simulation Carbon dioxide Microgrids Games Seaports Real-time systems Marine vehicles

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Semantic Transformation-Based Data Augmentation for Few-Shot Learning

SSRN

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SSRN 2023年

作者： Pan, Mei-Hong Xin, Hong-Yi Shen, Hong-Bin Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Jiaotong University Shanghai200240 China

Few-shot learning (FSL) as a data-scarce method, aims to recognize instances of unseen classes solely based on very few examples. However, the model can easily become overfitted due to the biased distribution formed with extremely limited training data. This paper presents a task specific data augmentation approach by transferring samples from base dataset to the novel tasks in an encoder-decoder paradigm, which guarantees generating semantically meaningful features. Specifically, the feature transfer process is carried out in semantic space. We further impose a compactness constraint to the generated features with the prototypes working as the reference points, which ensures the generated features distribute around the class centers. Moreover, we incorporate the cluster centers of the query set with the prototypes of the support set to reduce the bias of the class centers. With the supervision of the compactness loss, the model is encouraged to generate discriminative features with high inter-class dispersion and intra-class compactness. Extensive experiments show that our method outperforms the state-of-the-arts on four benchmarks, namely MiniimageNet, TieredimageNet, CUB and CIFAR-FS. © 2023, The Authors. All rights reserved.

关键词： Motion planning

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RHNet: A Real-Time High-Resolution Network for Surface Defect Detection

RHNet: A Real-Time High-Resolution Network for Surface Defec...

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第43届中国控制会议

作者： Yijie Wang Zhigang Ren Jianpu Cai Zongze Wu Shengli Xie School of Automation Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of EducationGuangdong University of Technology Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangdong University of Technology College of Mechatronics and Control Engineering Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ)Shenzhen University Key Laboratory of Intelligent Detection and The Internet of Things in Manufacturing (GDUT) Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In the industrial domain, surface defect detection after multiple processing steps is crucial for improving the outgoing quality of products. However, due to the characteristics of surface defects, such as low contrast, irregular shapes, small and elongated features, and significant noise. To address these issues, this paper proposes a novel real-time high-resolution network(RHNet). Unlike previous models, RHNet emphasizes the importance of modeling spatial information to capture small ***, the output feature maps of each module are maintained at 1/4 resolution of the original image. We introduce a short-term dual-branch module(SDBM) to handle real-time processing of high-resolution feature maps. Additionally, FPAPPM is proposed for swift extraction of deep information and multi-scale context. Through extensive experiments, we demonstrate that our proposed model exhibits robust defect modeling capabilities and detection performance while still meeting real-time requirements.

关键词： Surface defect inspection Anomaly detection Semantic segmentation Deep learning Pattern recognition

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Facial Affect Analysis: Learning from Synthetic Data & Multi-Task Learning Challenges

arXiv

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arXiv 2022年

作者： Li, Siyang Xu, Yifan Wu, Huanyu Wu, Dongrui Yin, Yingjie Cao, Jiajiong Ding, Jingting Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Ant Group Hangzhou China

Facial affect analysis remains a challenging task with its setting transitioned from lab-controlled to in-the-wild situations. In this paper, we present novel frameworks to handle the two challenges in the 4th Affective Behavior Analysis In-The-Wild (ABAW) competition: i) Multi-Task-Learning (MTL) Challenge and ii) Learning from Synthetic Data (LSD) Challenge. For MTL challenge, we adopt the SMM-EmotionNet with a better ensemble strategy of feature vectors. For LSD challenge, we propose respective methods to combat the problems of single labels, imbalanced distribution, fine-tuning limitations, and choice of model architectures. Experimental results on the official validation sets from the competition demonstrated that our proposed approaches outperformed baselines by a large margin. The code is available at https://***/sylyoung/ABAW4-HUST-ANT. © 2022, CC BY-NC-ND.

关键词： Face recognition

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Simulation-based Method for Determing Parameters of Material Price Adjustment Model in Large-scale Hydropower Development in China

Simulation-based Method for Determing Parameters of Material...

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2021智慧城市与智能建造高端论坛

作者： Lijing Yang Zhenyuan Liu Xi Chen Yaodi Fan Hualin Chen School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Education Ministry for Image Processing and Intelligent Control Yalong River Hydropower Development Company LTD

In the construction of large-scale hydropower projects in China,enormous amounts of materials are *** by various factors,fluctuation of materials price is very common during the *** protect the benefits of the demander and the supplier,reasonable material price adjustment methods need to be set in the procurement bidding documents.A price adjustment model is established considering price fluctuation stratifying and risk sharing.A simulation-based method is proposed for determing parameters in the model,and the simulation process is optimized with the optimal computing budget allocation *** on the judgment of engineers and real data of a hydropower project in Sichuan,China,and simulation cases are generated and the experimental results are analyzed with the *** results show that the simulation-based method provides scientific and reasonable support for determing parameters of material price adjustment model,and the optimal computing budget allocation algorithm plays an optimizing role.

关键词： Large-scale Hydropower Development Material Price Adjustment Parameters Determing Simulation Optimal Computing Budget Allocation TOPSIS

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Construction of Minecraft Virtual Reality Scene Based on Voxel Point Cloud 8th

Construction of Minecraft Virtual Reality Scene Based on Vox...

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8th International Conference on Cognitive Systems and Information processing, ICCSIP 2023

作者： Ji, Nuocheng Zhuang, Hanyang Yang, Ming The University of Michigan – Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China Global Institute of Future Technology Shanghai Jiao Tong University Shanghai200240 China 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)9789819980208

Virtual Reality is an important development direction in recent years. Minecraft, a popular sandbox game, has a great potential to become a virtual reality platform for building immersive environments. Traditional methods of building virtual reality scenes rely heavily on massive human labors and require high levels of proficiency. To address these limitations, we propose an automatic, voxelated 3D modeling method with foreground and background environment segmented that can reduce modeling costs and achieve effective application in Minecraft virtual reality scenes such as virtual campuses. The proposed method leverages the use of point cloud reconstruction using a voxelization approach. A pipeline of converting point cloud to Minecraft scene is developed. Through preprocessing, segmenting, coloring, and exporting, a Minecraft virtual reality scene can be automatically generated based on voxel point cloud. Due to the noise in point cloud may cause defect during voxelization, a denoising and smoothing method using slice scanning and voxel connectivity segmentation has been implemented. It can generate building structures with clear outlines and uniform colors. And the entire process requires low computational complexity and achieves fast generation. We conducted experiments based on this method in indoor scenes, outdoor building landmarks, and complex underground scenes, and obtained results with clear structures and smooth surfaces, saving a lot of time for subsequent detailed modeling. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： 3D modeling

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