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arXiv 2024年

作者： Xu, Haotian Liu, Shuai Wang, Bohui Wang, Jingcheng School of Control Science and Engineering Shandong University Jinan250061 China The School of Aerospace Science and Technology Xidian University Xi’an710071 China Department of Automation Shanghai Jiao Tong University 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

The distributed observer design problem holds significant importance in cases in which the output information of a system is decentralized across different subsystems. Each subsystem has a local observer and access to one part of the measurement outputs and information exchanged through communication networks. This paper focuses on the design of distributed observer with jointly connected directed switching networks. The problem presents challenges due to passive switching modes and the open-loop unboundedness that results from local observability. To overcome these challenges, we develop a network transformation mapping method whereby each local observer can classify itself into an independent subgraph based on independent judgment. Next, an observable decomposition and reorganization method is developed for the digraph case to ensure that each subgraph possesses independent dynamic properties. Asymptotic omniscience is then proven using a developed recursive proof method. This paper includes many previous results as special cases, because most are only suitable for undirected switching topologies or fast-switching cases. An adaptive coupling gain design is proposed to simplify the calculation and verification of conditions that guarantee asymptotic omniscience. Finally, simulation results with the power system show the validity of the developed theory. © 2024, CC BY.

关键词： Continuous time systems

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Design of echo state network with multi-objective optimization algorithm and l1 regularization

Design of echo state network with multi-objective optimizati...

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第34届中国控制与决策会议

作者： Zhanhong Wu Cuili Yang Beijing University of Technology Faculty of Information TechnologyBeijing Key Laboratory of Computational Intelligence and Intelligent SystemEngineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education

In this paper,a new approach for optimizing the structure and prediction error of echo state network（ESN） is *** is a kind of recurrent neural network with simple training and strong generalization *** is an important structure of ESN,which determine network ***,multi-objective optimization algorithm is used to optimize network structure and training error ***,a local search algorithm based on l regularization is used to accelerate *** experiment results of time series prediction and standard classification show that MESN can improve the network prediction performance while sparse network structure.

关键词： Echo state network multi-objective optimization algorithm l1 regularization

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DetFlowTrack: 3D Multi-object Tracking based on Simultaneous Optimization of Object Detection and Scene Flow Estimation

arXiv

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arXiv 2022年

作者： Shen, Yueling Wang, Guangming Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of 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 Shanghai 200240 China

3D Multi-Object Tracking (MOT) is an important part of the unmanned vehicle perception module. Most methods optimize object detection and data association independently. These methods make the network structure complicated and limit the improvement of MOT accuracy. we proposed a 3D MOT framework based on simultaneous optimization of object detection and scene flow estimation. In the framework, a detection-guidance scene flow module is proposed to relieve the problem of incorrect inter-frame assocation. For more accurate scene flow label especially in the case of motion with rotation, a box-transformation-based scene flow ground truth calculation method is proposed. Experimental results on the KITTI MOT dataset show competitive results over the state-of-the-arts and the robustness under extreme motion with rotation. © 2022, CC BY-NC-SA.

关键词： Object recognition

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Spatial Pyramid Attention Based Two-Stream Network for Fish Behavior Recognition

Spatial Pyramid Attention Based Two-Stream Network for Fish ...

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Chinese Automation Congress (CAC)

作者： Hao Zhang Xin Ma Yining Yu Liang Wang Lin Hao Center for Robotics School of Control Science and Engineering Shandong University Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Marine Group Ltd Jinan China Shandong Deep Sea Green Farming Ltd Qingdao China

In intensive aquaculture, achieving accurate monitoring of fish behavior is crucial for improving efficiency. Previous studies on fish behavior recognition have been limited to recognizing fish school behavior from a global perspective, disregarding the importance of recognizing behaviors that occur in local regions. In this study, a spatial pyramid attention based two-stream network (SPA-TSN) is proposed to recognize fish behavior from both global and local perspective. SPA-TSN is comprised of a spatial stream and a motion stream, both of which use a spatial pyramid attention module to obtain the spatial and temporal features of fish behavior respectively. Specifically, the spatial pyramid attention module aggregates the features from different levels of the baseline to capture the correlation between local and global information. Then, a fusion feature is obtained by adding the temporal feature to the spatial feature. The three features are assigned different weights through a learnable multiplier $M$ for behavior recognition. To validate the effectiveness of the proposed method, experiments are conducted on our established fish behavior dataset which consists four common fish behaviors. The results demonstrate that the proposed method has the best performance with an accuracy of 95.904%, performing better than state-of-the-art methods.

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Logistics Demand Forecasting and Scheduling Optimization Using K-Means Clustering and Deep Q-Network

Logistics Demand Forecasting and Scheduling Optimization Usi...

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Electronics, Energy systems and Power engineering (EESPE), IEEE International Conference on

作者： Kun Liang Hang Zhang School of Management Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (数字)9798350389579

ISBN: (纸本)9798350389586

With the rapid development of e-commerce and supply chain management, logistics demand forecasting and scheduling optimization have become key links in improving logistics efficiency and service quality. To meet this challenge, this paper proposes a logistics demand forecasting and scheduling optimization method that combines K-Means clustering with deep Q network (DQN). Cluster analysis is used to reduce data complexity, and deep reinforcement learning is used to achieve intelligent scheduling. First, the background, challenges and research motivation of logistics demand forecasting and scheduling optimization are introduced. Secondly, the research results in related fields are reviewed, and the shortcomings of current research are pointed out. Then, the K-Means clustering algorithm, deep $\mathbf{Q}$ network theory and specific models of logistics demand prediction and scheduling optimization are elaborated. Then, the performance of the proposed method is designed and tested. The experimental results show that the proposed method can significantly improve the accuracy of logistics demand prediction, up to 0.93, optimize scheduling strategies, reduce logistics costs, and improve customer satisfaction.

关键词： Training Accuracy Costs Computational modeling Customer satisfaction Demand forecasting Clustering algorithms Predictive models Scheduling Logistics

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Development of a 3-RRS Micromanipulator Based on Origami-Inspired Spherical Joint

Development of a 3-RRS Micromanipulator Based on Origami-Ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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Analysis and Design of Application-Layer Rateless Codes Based on Reliability and Latency Trade-Off

Analysis and Design of Application-Layer Rateless Codes Base...

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2025 IEEE Wireless Communications and Networking Conference, WCNC 2025

作者： Huang, Haobo Fu, Yusun Yin, Junpeng Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798350368369

With the Internet of Things (IoT) playing an increasingly crucial role in connecting diverse devices, applications have different requirements for communication and various evaluation metrics have emerged, such as Age of Information (AoI) and estimation error. Considering the fundamental trade-off between reliability and latency of the communication system, the relationship among reliability, latency, AoI and estimation error is complex. This paper proposes a remote state observation system with application-layer rateless codes to explore above relationships, addressing how to design the system for optimal performance based on varying requirements by adjusting coding parameters. By emphasizing flexible and adaptable coding strategies, we aim to convey the idea that the error-correction codes can be designed to optimize the communication system for diverse practical metrics. It is different from the traditional designs that focus on approaching the Shannon limit. © 2025 IEEE.

关键词： Integrated circuit design

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Analysis and Design of Application-Layer Rateless Codes Based on Reliability and Latency Trade-Off

Analysis and Design of Application-Layer Rateless Codes Base...

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IEEE Conference on Wireless Communications and Networking

作者： Haobo Huang Yusun Fu Junpeng Yin Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

关键词： Measurement Estimation error Correlation Communication systems Reliability engineering Information age Error correction codes Internet of Things Channel coding State estimation

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UWB Non-Line-of-Sight Recognition and Suppression Methodology

UWB Non-Line-of-Sight Recognition and Suppression Methodolog...

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International Conference on Communication Software and Networks, ICCSN

作者： Zhengshuai Ni Haibo Zhou Guozheng Zhang Wangbei Xu National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University Tianjin China

Ultra-Wide Band (UWB) positioning system has become the main research object in indoor positioning field due to its superior positioning performance. Accuracy at the scale of centimeters is achievable in an ideal positioning scenario. Nonetheless, the intricate and changeable indoor surroundings may cause UWB signals to propagate beyond the line-of-sight (LOS) and weaken in signal strength, resulting in a considerable reduction in the precision of positioning. In this paper, methods for identifying non-line-of-sight (NLOS) errors, alleviating NLOS errors, and integrating multi-sensor information are analyzed and studied to provide reference for improving the NLOS positioning accuracy of UWB.

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

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2022 Chinese Automation Congress, CAC 2022

作者： Zhang, Bin Jiang, Xiaowei Sun, Li Zhang, Xianhe School of Automation China University of Geosciences Wuhan430074 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan430074 China School of Electrical Engineering and Automation Hubei Normal University Huangshi435002 China

ISBN: (纸本)9781665465335

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions. © 2022 IEEE.

关键词： Networked control systems

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