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arXiv 2021年

作者： Wang, Guangming Zhong, Jiquan Zhao, Shijie Wu, Wenhua Liu, Zhe Wang, Hesheng Department of Automation Institute of Medical Robotics Key Laboratory of System Control and Information Processing Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Department of Engineering Mechanics Shanghai Jiao Tong University Shanghai200240 China Department of Computer Science and Technology University of Cambridge CambridgeCB2 1TN United Kingdom

Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video. A novel unsupervised training framework is proposed with 3D hierarchical refinement and augmentation using explicit 3D geometry. In this framework, the depth and pose estimations are hierarchically and mutually coupled to refine the estimated pose layer by layer. The intermediate view image is proposed and synthesized by warping the pixels in an image with the estimated depth and coarse pose. Then, the residual pose transformation can be estimated from the new view image and the image of the adjacent frame to refine the coarse pose. The iterative refinement is implemented in a differentiable manner in this paper, making the whole framework optimized uniformly. Meanwhile, a new image augmentation method is proposed for the pose estimation by synthesizing a new view image, which creatively augments the pose in 3D space but gets a new augmented 2D image. The experiments on KITTI demonstrate that our depth estimation achieves state-of-the-art performance and even surpasses recent approaches that utilize other auxiliary tasks. Our visual odometry outperforms all recent unsupervised monocular learning-based methods and achieves competitive performance to the geometry-based method, ORB-SLAM2 with back-end optimization. Copyright © 2021, The Authors. All rights reserved.

关键词： Robots

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Alternate control time delay systems with input delays 11

Alternate control time delay systems with input delays

引用

11th International Conference on Information Science and Technology, ICIST 2021

作者： Ming, Xin Qi, Liyuan Tu, Dan Zhang, Wei Feng, Yuming Onasanya, B.O. Chongqing Three Gorges University School of Electronic and Information Engineering Wanzhou404100 China Chongqing Three Gorges University School of Physical Education and Health Wanzhou404100 China Chongqing Three Gorges University Key Laboratory of Intelligent Information Processing and Control Wanzhou404100 China Chongqing Three Gorges University School of Three Gorges Artificital Intelligence Wanzhou404100 China University of Ibadan Department of Mathematics Ibadan Nigeria

ISBN: (纸本)9781665412667

The alternate control systems have been elaborated in detail and have been applied in many areas, such as smart home, smart transportation, etc. However, although alternate control systems with input delays widely exist in real life, not so much attention has been given to them. This paper mainly studies the stability of alternate control systems with input delays. A new mathematical model of the alternate control system with time delay input is proposed. By using a Lyapunov function and linear matrix inequalities, the exponential stability conditions is given. At last, the effectiveness and feasibility of the method are verified through experimental simulations. © 2021 IEEE.

关键词： Lyapunov functions

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Optimal Estimator Design and Properties Analysis for Interconnected Systems with Asymmetric Information Structure

arXiv

引用

arXiv 2021年

作者： Wang, Yan Xiong, Junlin Yang, Zaiyue Su, Rong School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China School of Electrical and Electronic Engineering Nanyang Technological University Nanyang Avenue 50 Singapore Department of Automation University of Science and Technology of China Hefei230026 China Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

This paper studies the optimal state estimation problem for interconnected systems. Each subsystem can obtain its own measurement in real time, while, the measurements transmitted between the subsystems suffer from random delay. The optimal estimator is analytically designed for minimizing the conditional error covariance. The boundedness of the expected error covariance (EEC) is analyzed. In particular, a new condition that is easy to verify is established for the boundedness of EEC. Further, the properties of EEC with respect to the delay probability are studied. We found that there exists a critical probability such that the EEC is bounded if the delay probability is below the critical probability. Also, a lower and upper bound of the critical probability is derived. Finally, the proposed results are applied to a power system, and the effectiveness of the designed methods is illustrated by simulations. © 2021, CC BY-SA.

关键词： Errors

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Quantum Interference between Photons and Single Quanta of Stored Atomic Coherence

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Physical Review Letters 2022年第8期128卷 083605-083605页

作者： Xingchang Wang Jianmin Wang Zhiqiang Ren Rong Wen Chang-Ling Zou Georgios A. Siviloglou J. F. Chen Shenzhen Institute for Quantum Science and Engineering and Department of Physics Southern University of Science and Technology Shenzhen 518055 China International Quantum Academy (SIQA) and Shenzhen Branch Hefei National Laboratory Futian District Shenzhen 518055 China State Key Laboratory of Precision Spectroscopy School of Physics and Electronic Science East China Normal University Shanghai 200241 China Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan 030024 Shanxi China CAS Key Laboratory of Quantum Information University of Science and Technology of China Hefei 230026 Anhui China Guangdong Provincial Key Laboratory of Quantum Science and Engineering Southern University of Science and Technology Shenzhen 518055 China

Essential for building quantum networks over remote independent nodes, the indistinguishability of photons has been extensively studied by observing the coincidence dip in the Hong-Ou-Mandel interferometer. However, indistinguishability is not limited to the same type of bosons. For the first time, we hereby observe quantum interference between flying photons and a single quantum of stored atomic coherence (magnon) in an atom-light beam splitter interface. We demonstrate that the Hermiticity of this interface determines the type of quantum interference between photons and magnons. Consequently, not only the bunching behavior that characterizes bosons is observed, but counterintuitively, fermionlike antibunching as well. The hybrid nature of the demonstrated magnon-photon quantum interface can be applied to versatile quantum memory platforms, and can lead to fundamentally different photon distributions from those occurring in boson sampling.

关键词： Electromagnetically induced transparency Quantum description of light-matter interaction Quantum optics Single photon sources Atomic ensemble Atom & ion cooling Coherent control Photon counting

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Robust Light Bullets in Rydberg Gases with Moiré Lattice

SSRN

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SSRN 2023年

作者： Li, Ze-Yang Li, Jun-Hao Zhao, Yuan Cui, Jin-Long He, Jun-Rong Ruan, Guo-Long Malomed, Boris A. Xu, Si-Liu School of Electronic and Information Engineering Hubei University of Science and Technology Xianning437100 China Laboratory of Optoelectronic Information and Intelligent Control Hubei University of Science and Technology Xianning437100 China School of Biomedical Engineering and Medical Imaging Xianning Medical College Hubei University of Science and Technology Xianning437100 China Department of Physical Electronics School of Electrical Engineering Faculty of Engineering Tel Aviv University P.O.B. 39040 Ramat Aviv Tel Aviv Israel Instituto de Alta Investigación Universidad de Tarapacá Casilla 7D Arica Chile

Rydberg electromagnetically-induced transparency has been widely studied as a medium supporting light propagation under the action of nonlocal nonlinearities. Recently, optical potentials based on moiré lattices (MLs) were introduced for exploring unconventional physical states. Here, we predict a possibility of creating fully three-dimensional (3D) light bullets (LBs) in cold Rydberg gases under the action of ML potentials. The nonlinearity includes local self-defocusing and long-range focusing terms, the latter one induced by the Rydberg-Rydberg interaction. We produce zero-vorticity LB families of the fundamental, dipole, and quadrupole types, as well as vortex LBs. They all are gap solitons populating finite bandgaps of the underlying ML spectrum. Stable subfamilies are identified utilizing the combination of the anti-Vakhitov-Kolokolov criterion, computation of eigenvalues for small perturbations, and direct simulations. © 2023, The Authors. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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The Combination of Two control Strategies for Series Hybrid Electric Vehicles

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IEEE/CAA Journal of Automatica Sinica 2019年第2期6卷 596-608页

作者： Can Luo Zhen Shen Simos Evangelou Gang Xiong Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Cloud Computing Center Chinese Academy of Sciences IEEE Department of Electrical and Electronic Engineering Imperial College London Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries

With most countries paying attention to the environment protection, hybrid electric vehicles have become a focus of automobile research and development due to the characteristics of energy saving and low emission. Power follower control strategy(PFCS) and DC-link voltage control strategy are two sorts of control strategies for series hybrid electric vehicles(HEVs). Combining those two control strategies is a new idea for control strategy of series hybrid electric vehicles. By tuning essential parameters which are the defined constants under DClink voltage control and under PFCS, the points of minimum mass of equivalent fuel consumption(EFC) corresponding to a series of variables are marked for worldwide harmonized light vehicles test procedure(WLTP). The fuel economy of series HEVs with the combination control schemes performs better compared with individual control scheme. The results show the effects of the combination control schemes for series HEVs driving in an urban environment.

关键词： DC-Link voltage control power follower control strategy series hybrid electric vehicles tuning

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Real-time and ultrafast optical pulse quantization based on slicing the supercontinuum

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Chinese Optics Letters 2021年第8期19卷 69-74页

作者： Ya Guo Qiang Cai Zhiwei Jia Bingjie Xu Zhensen Gao Qianwu Zhang Ruonan Zhang Adonis Bogris K.Alan Shore Yuncai Wang Pu Li Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China School of Information Engineering Guangdong University of TechnologyGuangzhou 510006China Key Laboratory of Specialty Fiber Optics and Optical Access Networks Shanghai UniversityShanghai 200444China School of Electronics and Information Northwestern Polytechnical UniversityXi’an 710072China Science and Technology on Communication Security Laboratory Institute of Southwestern CommunicationChengdu 610041China Department of Informatics and Computer Engineering University of West AtticaAthens 12243Greece School of Electronic Engineering Bangor UniversityWales LL571UTUnited Kingdom

All-optical analog-to-digital conversion is a paramount issue in modern science. How to implement real-time and ultrafast quantization to optical pulses with different intensities in an all-optical domain is a central problem. Here, we report a realtime demonstration of an all-optical quantization scheme based on slicing the supercontinuum in a nonlinear fiber. In comparison with previous schemes through off-line analysis of the power of different optical spectral components in the supercontinuum, this, to the best of our knowledge, is the first demonstration of such functionality online in the time ***, the extinction ratio among the quantized outputs can exceed 10 d B, which further confirms the feasibility of the proposed quantization scheme. The current 3 bit resolution in the proof-of-principle experiment is limited by the current experimental condition, but it can be expected to be greatly enhanced through improving both the spectral width of the generated supercontinuum and the number of filtering channels used.

关键词： all-optical analog-to-digital conversion photonic quantization all-optical signal processing supercontinuum generation

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An efficient and adaptable multimedia system for converting PAL to VGA in real-time video processing

An efficient and adaptable multimedia system for converting ...

引用

作者： Jain, Deepak Kumar Jacob, Sunil Alzubi, Jafar Menon, Varun Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of Automation Chongqing University of Posts and Telecommunications Chongqing400065 China Center for Robotics SCMS School of Engineering and Technology Kerala683576 India School of Engineering Al-Balqa Applied University Salt19117 Jordan Department of Computer Science and Engineering SCMS School of Engineering and Technology Kerala683576 India

Real-time video processing has found its range of applications from defense to consumer electronics for surveillance, video conferencing, etc. With the advent of Field Programmable Gate Arrays (FPGAs), flexible real-time video processing systems which can meet hard real-time constraints are easily realized with short development time. Most of the existing solutions have high utilization of system resources and are not quite flexible with many applications. Here we propose a hardware–software co-design for an FPGA-based real-time video processing system to convert video in standard Phase Alternating Line (PAL) 576i format to standard video of Video Graphics Array (VGA)/Super Video Graphics Array (SVGA) format with little utilization of resources. Switching between multiple video streams, character/text overlaying, and skin color detection are also incorporated with the system. The system is also adaptable for rugged applications. VHSIC Hardware Description Language (VHDL) codes for the architecture were synthesized using Altera Quartus II and targeted for Altera Stratix I FPGA. Results achieved confirm that the proposed system performs efficient conversion with very less resource utilization compared to the existing solutions. Since the proposed system is also flexible, many other applications can be incorporated in the future. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Field programmable gate arrays (FPGA)

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Curiosity-based Robot Navigation under Uncertainty in Crowded Environments

arXiv

引用

arXiv 2021年

作者： Cai, Kuanqi Chen, Weinan Wang, Chaoqun Zhang, Hong Meng, Max Q.-H. Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China School of Electro-mechanical Engineering Guangdong University of Technology China School of control science and Engineering Shandong University Shandong China Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Shenzhen Research Institute of The Chinese University of Hong Kong Shenzhen518057 China

Mobile robots have become more and more popular in large-scale and crowded environments, such as airports, shopping malls, etc. However, due to sparse landmarks and crowd noise, localization in this environment is a great challenge. Furthermore, it is unreliable for the robot to navigate safely in crowds while considering human comfort. Thus, how to navigate safely with localization precision in that environment is a critical problem. To solve this problem, we proposed a curiosity-based framework that can find an effective path with the consideration of human comfort and crowds, localization uncertainty, and the cost-to-go to the target. Three parts are involved in the proposed framework: the distance assessment module, the Curiosity for Positive Content (CPC), namely information-rich areas, and the Curiosity for Negative Content (CNC), namely crowded areas. CPC is introduced when the real-time localization uncertainty evaluation is not satisfied. This factor is predicted through the propagation of uncertainty along the candidate trajectory to provoke the robot to approach localization-referenced landmarks. The Human Comfort and Crowd Density Map (HCCDM) based on the Gaussian Mixture Model (GMM) is established to calculate CNC, which drives the robot to bypass the crowd and consider human comfort. The evaluation is conducted in a series of large-scale and crowded environments. The results show that our method can find a feasible path that can consider the localization uncertainty while simultaneously avoiding the crowded area. Copyright © 2021, The Authors. All rights reserved.

关键词： Motion planning

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State Estimation for Integrated Energy Systems: Motivations, Advances, and Future Work

引用

IEEE Transactions on Power Systems 2024年

作者： Zhao, Junbo Srivastava, Ankur Guo, Ye Cetenovic, Dragan Lin, Yuzhang Levi, Victor Yin, Guanxiong Huang, Manyun Zhang, Tingting Li, Zhigang Chen, Yanbo Exposito, Antonio G. Zhang, Wen Zheng, Weiye Chakrabarti, Saikat Li, Yang Sharma, Ankush Kamwa, Innocent Guo, Qinglai Terzija, Vladimir Mili, Lamine University of Connecticut Department of Electrical and Computer Engineering StorrsCT06269 United States Tsinghua University Tsinghua-Berkeley Shenzhen Institute Shenzhen518055 China The University of Manchester Department of Eee ManchesterM13 9PL United Kingdom University of Kragujevac Faculty of Technical Sciences Čačak Čačak32000 Serbia New York University Department of Electrical and Computer Engineering NY11201 United States Tsinghua University Department of Electrical Engineering Beijing100084 China Hohai University College of Energy and Electrical Engineering Nanjing210098 China Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan250061 China The Chinese University of Hong Kong-Shenzhen School of Science and Engineering Shenzhen518172 China North China Electric Power University School of Electrical and Electronic Engineering Beijing102206 China University of Sevilla Spain Sevilla41092 Spain South China University of Technology School of Electrical Power Engineering Guangzhou510641 China Indian Institute of Technology Kanpur Department of Electrical Engineering Kanpur208016 India Northeast Electric Power University School of Electrical Engineering Jilin132012 China Laval University Department of Electrical and Computer Engineering QuebecQCG1V 0A6 Canada Tsinghua University State Key Laboratory of Power Systems Department of Electrical Engineering Beijing100084 China Newcastle University School of Engineering Newcastle upon TyneNE1 7RU United Kingdom Virginia Polytechnic Institute and State University Bradley Department of Electrical and Computer Engineering Falls ChurchVA22043 United States

This paper summarizes the technical activities of a three-year-long IEEE Task Force (TF) on State Estimation (SE) for Integrated Energy Systems (IES). It presents the formal definition and characteristics of IES, along with the comprehensive discussion on Electric Power Systems (EPS) model, and static and dynamic models associated with heating and natural gas systems. The paper also identifies the barriers of SE for IES, such as estimation modeling, observability analysis, and measurement requirements, together with addressing multi-scale dynamics. An extensive comparative analysis between Integrated Energy Systems-State Estimation (IES-SE) and more established Electric Power System-State Estimation (EPS-SE) is presented. The paper also provides future research needs and directions related to IES-SE. © 1969-2012 IEEE.

关键词： Power system analysis

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