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arXiv 2024年

作者： Zhang, Yichen Chen, Xinyi Liu, Peize Wang, Junzhe Zou, Hetai Pan, Neng Gao, Fei Shen, Shaojie The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China

As quadrotors take on an increasingly diverse range of roles, researchers often need to develop new hardware platforms tailored for specific tasks, introducing significant engineering overhead. In this article, we introduce the UniQuad series, a unified and versatile quadrotor platform series that offers high flexibility to adapt to a wide range of common tasks, excellent customizability for advanced demands, and easy maintenance in case of crashes. This project is fully open-source at https://***/UniQuad. Copyright © 2024, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Enriching Physical-Virtual Interaction in AR Gaming by Tracking Identical Real Objects

arXiv

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arXiv 2025年

作者： Yu, Liuchuan Huang, Ching-I Wang, Hsueh-Cheng Yu, Lap-Fai Computer Science Department George Mason University FairfaxVA United States Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Taiwan Faculty of Electrical and Computer Engineering Department and Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Taiwan Faculty of Computer Science Department George Mason University FairfaxVA United States

Augmented reality (AR) games, particularly those designed for headsets, have become increasingly prevalent with advancements in both hardware and software. However, the majority of AR games still rely on pre-scanned or static scenes, and interaction mechanisms are often limited to controllers or hand-tracking. Additionally, the presence of identical objects in AR games poses challenges for conventional object tracking techniques, which often struggle to differentiate between identical objects or necessitate the installation of fixed cameras for global object movement tracking. In response to these limitations, we present a novel approach to address the tracking of identical objects in an AR scene to enrich physical-virtual interaction. Our method leverages partial scene observations captured by an AR headset, utilizing the perspective and spatial data provided by this technology. Object identities within the scene are determined through the solution of a label assignment problem using integer programming. To enhance computational efficiency, we incorporate a Voronoi diagram-based pruning method into our approach. Our implementation of this approach in a farm-to-table AR game demonstrates its satisfactory performance and robustness. Furthermore, we showcase the versatility and practicality of our method through applications in AR storytelling and a simulated gaming robot. Our video demo is available at: https://***/ rPGkLYuKvCQ. Copyright © 2025, The Authors. All rights reserved.

关键词： Computational efficiency

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TRNet: Two-Tier Recursion Network for Co-Salient Object Detection

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IEEE Transactions on Circuits and Systems for Video Technology 2025年第6期35卷 5844-5857页

作者： Cong, Runmin Yang, Ning Liu, Hongyu Zhang, Dingwen Huang, Qingming Kwong, Sam Zhang, Wei Shandong University School of Control Science and Engineering Jinan250061 China Ministry of Education Key Laboratory of Machine Intelligence and System Control Jinan250061 China Beijing Jiaotong University Institute of Information Science Beijing100044 China Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing100044 China Northwestern Polytechnical University Brain and Artificial Intelligence Laboratory School of Automation Xi'an710129 China University of Chinese Academy of Sciences School of Computer Science and Technology Beijing101408 China Lingnan University Hong Kong

Co-salient object detection (CoSOD) is to find the salient and recurring objects from a series of relevant images, where modeling inter-image relationships plays a crucial role. Different from the commonly used direct learning structure that inputs all the intra-image features into some well-designed modules to represent the inter-image relationship, we resort to adopting a recursive structure for inter-image modeling, and propose a two-tier recursion network (TRNet) to achieve CoSOD in this paper. The two-tier recursive structure of the proposed TRNet is embodied in two stages of inter-image extraction and distribution. On the one hand, considering the task adaptability and inter-image correlation, we design an inter-image exploration with recursive reinforcement module to learn the local and global inter-image correspondences, guaranteeing the validity and discriminativeness of the information in the step-by-step propagation. On the other hand, we design a dynamic recursion distribution module to fully exploit the role of inter-image correspondences in a recursive structure, adaptively assigning common attributes to each individual image through an improved semi-dynamic convolution. Experimental results on five prevailing CoSOD benchmarks demonstrate that our TRNet outperforms other competitors in terms of various evaluation metrics. The code and results of our method are available at https://***/rmcong/TRNetTCSVT2025. © 1991-2012 IEEE.

关键词： HTTP

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Predicting CircRNA-Disease Associations Based on Improved Weighted Biased Meta-Structure

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Journal of computer Science & Technology 2021年第2期36卷 288-298页

作者： Xiu-Juan Lei Chen Bian Yi Pan School of Computer Science Shaanxi Normal UniversityXi'an 710119China School of Computer Science and Control Engineering Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Department of Computer Science Georgia State UniversityAtlantaGA 30302U.S.A

Circular RNAs(circRNAs)are RNAs with a special closed loop structure,which play important roles in tumors and other *** to the time consumption of biological experiments,computational methods for predicting associations between circRNAs and diseases become a better *** the limited number of verified circRNA-disease associations into account,we propose a method named CDWBMS,which integrates a small number of verified circRNA-disease associations with a plenty of circRNA information to discover the novel circRNA-disease *** adopts an improved weighted biased meta-structure search algorithm on a heterogeneous network to predict associations between circRNAs and *** terms of leave-one-out-cross-validation(LOOCV),10-fold cross-validation and 5-fold cross-validation,CDWBMS yields the area under the receiver operating characteristic curve(AUC)values of 0.9216,0.9172 and 0.9005,***,case studies show that CDWBMS can predict unknow circRNA-disease *** conclusion,CDWBMS is an effective method for exploring disease-related circRNAs.

关键词： circular RNA(circRNA) circRNA-disease association meta-structure heterogeneous network

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Identifiability and Solvability in Inverse Linear Quadratic Optimal control Problems

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Journal of Systems Science & Complexity 2021年第5期34卷 1840-1857页

作者： LI Yibei WAHLBERG Bo HU Xiaoming Optimization and Systems Theory Department of MathematicsKTH Royal Institute of TechnologySE-10044StockholmSweden Division of Decision and Control School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologySE-10044StockholmSweden

In this paper, the inverse linear quadratic(LQ) problem over finite time-horizon is *** the output observations of a dynamic process, the goal is to recover the corresponding LQ cost function. Firstly, by considering the inverse problem as an identification problem, its model structure is shown to be strictly globally identifiable under the assumption of system invertibility. Next, in the noiseless case a necessary and sufficient condition is proposed for the solvability of a positive semidefinite weighting matrix and its unique solution is obtained with two proposed algorithms under the condition of persistent excitation. Furthermore, a residual optimization problem is also formulated to solve a best-fit approximate cost function from sub-optimal observations. Finally, numerical simulations are used to demonstrate the effectiveness of the proposed methods.

关键词： Inverse optimal control linear quadratic regulators model identifiability

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Model predictive control for tracking using artificial references: Fundamentals, recent results and practical implementation 63

Model predictive control for tracking using artificial refer...

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Krupa, P. Kohler, J. Ferramosca, A. Alvarado, I. Zeilinger, M.N. Alamo, T. Limon, D. Computer Science Group L'Aquila Italy Institute for Dynamic Systems and Control Eth Zürich ZürichCH-8092 Switzerland University of Bergamo Information and Production Engineering Department of Management Via Marconi 5 BG Dalmine24044 Italy Universidad de Sevilla Department of Systems Engineering and Automation Seville Spain

ISBN: (纸本)9798350316339

This paper provides a comprehensive tutorial on a family of Model Predictive control (MPC) formulations, known as MPC for tracking, which are characterized by including an artificial reference as part of the decision variables in the optimization problem. These formulations have several benefits with respect to the classical MPC formulations, including guaranteed recursive feasibility under online reference changes, as well as asymptotic stability and an increased domain of attraction. This tutorial paper introduces the concept of using an artificial reference in MPC, presenting the benefits and theoretical guarantees obtained by its use. We then provide a survey of the main advances and extensions of the original linear MPC for tracking, including its non-linear extension. Additionally, we discuss its application to learning-based MPC, and discuss optimization aspects related to its implementation. © 2024 IEEE.

关键词： Predictive control systems

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Frequency Domain Auto-tuning of Structured LPV controllers for High-Precision Motion control

arXiv

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arXiv 2024年

作者： Broens, Yorick Butler, Hans Tóth, Roland The Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands ASML Veldhoven Netherlands The Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Hungary

Motion systems are a vital part of many industrial processes. However, meeting the increasingly stringent demands of these systems, especially concerning precision and throughput, requires novel control design methods that can go beyond the capabilities of traditional solutions. Traditional control methods often struggle with the complexity and position-dependent effects inherent in modern motion systems, leading to compromises in performance and a laborious task of controller design. This paper addresses these challenges by introducing a novel structured feedback control auto-tuning approach for multiple-input multiple-output (MIMO) motion systems. By leveraging frequency response function (FRF) estimates and the linear-parameter-varying (LPV) control framework, the proposed approach automates the controller design, while providing local stability and performance guarantees. Key innovations include norm-based magnitude optimization of the sensitivity functions, an automated stability check through a novel extended factorized Nyquist criterion, a modular structured MIMO LPV controller parameterization, and a controller discretization approach which preserves the continuous-time (CT) controller parameterization. The proposed approach is validated through experiments using a state-of-the-art moving-magnet planar actuator *** Codes 37M15 © 2024, CC BY.

关键词： Continuous time systems

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Neural Network Based Active Fault-tolerant control of Spacecraft via Prescribed Performance

Neural Network Based Active Fault-tolerant Control of Spacec...

引用

Asian control Conference

作者： Ze Yang Baoqing Yang Ruihang Ji Jie Ma Control and Simulation Center Harbin Institute of Technology Harbin China Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper mainly studies the fault diagnosis and fault tolerance control of spacecraft attitude control system (ACS). Firstly, a novel model-free fault diagnosis network (FDN) is constructed based on Bi-LSTM neural networks. It uses only historical data to approximate the ACS mechanism, generate residuals, and combine adaptive thresholds to detect actuator and sensor faults. Secondly, to solve the problem of missing angular rate measurement caused by sensor faults, a fault-tolerant controller based on adaptive tracking differentiator (ATD) to generate virtual angular rate and have prescribed performance is designed to improve the robustness to faults and avoid performance degradation. Finally, simulation results are given to evaluate the effectiveness of the proposed scheme.

关键词： Fault diagnosis Space vehicles Fault tolerance Analytical models Actuators Attitude control Simulation

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Improvement of the Predictive control Method for the High-Level controller 17

Improvement of the Predictive Control Method for the High-Le...

引用

17th IEEE International Conference on Advanced Trends in Radioelectronics, Telecommunications and computer engineering, TCSET 2024

作者： Budashko, Vitalii Sandler, Albert Glazeva, Oksana Educational and Scientific Institute of Automation and Electrical Engineering National University 'Odessa Maritime Academy' NUOMA Odesa Ukraine National University 'Odessa Maritime Academy' NUOMA Department of the theory of automatic control and computer technology Odesa Ukraine National University 'Odessa Maritime Academy' NUOMA Department of electrical engineering and electronics Odesa Ukraine

ISBN: (纸本)9798331520564

Automation of ship maneuvering in limited sailing conditions usually requires 100% redundancy of thrusters (THRs) of various modifications and their locations in accordance with the matrix. The hierarchy of the motion control system is branched by levels using high-level motion controllers and THRs control distribution algorithms, which allows for a modular design with software, where the high-level controller (HLC) can be designed without comprehensive information about the thruster motors, and the input signal branching and speed limits are handled by the motion controller. But, for certain THRs configurations, this branching leads to the decrease in control efficiency due to the limitation of data on the physical characteristics of the ships and the operation of the motion controller. This research examines different approaches to improving control efficiency using methods of nonlinear predictive control models as a basis for developing motion controllers with decision optimization based on relevant constraints. The implemented branched system is the result of solving two simple problems of ship's motion, which highlight the related problems. The use of different approaches to eliminate the identified shortcomings made it possible to develop the nonlinear controller that combines the motion controller with distributed control of the THRs and ensuring the certain level of system reliability. The modularity of the control system is provided by the expansion of the closed system, which made it possible to achieve an increase in efficiency during the combined mode of operation. The obtained solution of nonlinear control with time-varying constraints made it possible to increase the accuracy of the control with a decrease in the duration of the pause in response to the change of the disturbance within 10% © 2024 IEEE.

关键词： Predictive control systems

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Research on Modeling and Simulation Method of Laser System for Multi-domain Unified Model 21st

Research on Modeling and Simulation Method of Laser System f...

引用

21st Asia Simulation Conference, AsiaSim 2022

作者： Huang, Weijian Li, Dong Ma, Tao Yi, Siqiang An, Baoran Institute of Computer Application China Academy of Engineering Physics Mianyang China Suzhou Tongyuan Software & Control Technology Co. Ltd. Suzhou China

ISBN: (纸本)9789811991943

The optical axis accuracy and beam efficiency of laser equipment are the key indicators that affect the performance of the equipment. The modeling and simulation of its system dynamics model is an important means for its analysis and evaluation. The existing system dynamics modeling methods do not support optical system modeling, which leads to the fragmentation of the multi-domain system model of laser equipment and the inefficiency of frequency domain analysis. Focusing on the co-simulation analysis requirements of the opto-mechanical system of laser equipment, a laser system modeling and simulation method for multi-domain unified models is proposed in this paper. Based on the lumped parameter method and geometric optics, the energy flow model of the laser system is established, and the unified theoretical modeling of the opto-mechanical coupling system is achieved. The research results of this paper will be applied to the unified modeling and co-simulation of the opto-mechanical coupling system, providing a theoretical and technical basis for the high-precision and efficient design verification of laser equipment. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Frequency domain analysis

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