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第41届中国控制会议

作者： Nan Zhang Zhihong Peng Wei Quan School of Automation Beijing Institute of Technology Key Lab of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The localization accuracy of visual SLAM depends on the image ***,in postdisaster rescue missions,the images obtained by the camera often contain considerable noise,which affects the pose estimation based on visual *** this paper,we study the influence of random impulse noise in images on the localization accuracy of visual SLAM,and reduce these influences by denoising and removing ***,the camera image is preprocessed by the traditional image noise reduction *** at the problem of a large number of mismatches in optical flow tracking due to the influence of residual noise,the improved random sample consensus method is adopted to remove *** judge the correct matching probability of optical flow tracking results by normalized cross-correlation matching before random *** use guided sampling to select matching points to estimate the camera motion model,to increase the robustness of the SLAM ***,our method is verified in the open-source solution *** show that after random impulse noise is added to the KITTI dataset,the pose estimation accuracy of the improved SLAM is higher than the pose estimation accuracy after noise reduction only,and it is also higher than the pose estimation results of the original images in multiple sequences of the KITTI dataset.

关键词： Visual SLAM Denoise NCC

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Distributed Communication-Sliding Mirror-Descent Algorithm for Nonsmooth Resource Allocation Problem

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Journal of systems Science & Complexity 2022年第4期35卷 1244-1261页

作者： WANG Yinghui TU Zhipeng QIN Huashu School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China Key Lab of Systems and Control Academy of Mathematics and Systems ScienceBeijing100190China University of Chinese Academy of Sciences Beijing100190China

This paper considers a distributed nonsmooth resource allocation problem of minimizing a global convex function formed by a sum of local nonsmooth convex functions with coupled constraints.A distributed communication-efficient mirror-descent algorithm,which can reduce communication rounds between agents over the network,is designed for the distributed resource allocation *** employing communication-sliding methods,agents can find aε-solution in O(1/ε)communication rounds while maintaining O(1/ε^(2))subgradient evaluations for nonsmooth convex functions.A numerical example is also given to illustrate the effectiveness of the proposed algorithm.

关键词： Distributed resource allocation problem mirror-descent algorithm nonsmooth functions

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Recent advances on analysis and design of switched linear systems

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control Theory and Technology 2017年第3期15卷 242-244页

作者： Zhendong SUN Key Lab of Systems & Control Academy of Mathematics & Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Science University of Chinese Academy of Sciences Beijing 100049 China

A switched linear system is a special hybrid system that consists of a set of linear continuous-time/discrete-time subsystems and a rule that orchestrates the switching among them. The two-level （execution-supervision） structure makes the switched system theoretically interesting and practically attractive. Under active investigation for more than three decades, huge progress has been made in understanding the dynamical behavior of switched systems. In particular, it has been well recognized that, a switched linear system could produce highly nonlinear ＆ complex behaviors, for instance, controllability might not imply stabilizability, and stabilizability might not imply the existence of convex （control-）Lyapunov function.

关键词：线性切换系统 LYAPUNOV函数动力学行为设计混合动力系统子系统趣味性非线性

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Synchronization of networked systems and Laplacian-spectrum modification

Synchronization of networked systems and Laplacian-spectrum ...

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26th Chinese control Conference, CCC 2007

作者： Jianxin, Wu Huashu, Qin Yiguang, Hong Key Lab of Systems and Control Institute of Systems Science Chinese Academy of Sciences Beijing 100080 China

ISBN: (纸本)7900719229

In this paper, synchronization-related problems of networked systems are considered. Simple necessary conditions are given with help of the estimated bounds of the eigenvalues of the coupled Laplacian. These conditions are easy to check since we mainly choose maximum and minimum vertex degrees and other easily obtained network parameters. Moreover, the effects of adding/removing edges of the original network topology on synchronization is also considered. Suggestions about edge addition/removal to improve the synchronization situations in networked systems are given.

关键词： Feedback control

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Asynchronous Brain-Computer Interface Shared control of Robotic Grasping

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Tsinghua Science and Technology 2019年第3期24卷 360-370页

作者： Wenchang Zhang Fuchun Sun Hang Wu Chuanqi Tan Yuzhen Ma the Department of Computer Science and Technology Tsinghua University State Key Lab.of Intelligent Technology and Systems Institute of Medical Support Technology Academy of Military Sciences Drugs Control of PAP

The control of a high Degree of Freedom(DoF) robot to grasp a target in three-dimensional space using Brain-Computer Interface(BCI) remains a very difficult problem to solve. Design of synchronous BCI requires the user perform the brain activity task all the time according to the predefined paradigm; such a process is boring and fatiguing. Furthermore, the strategy of switching between robotic auto-control and BCI control is not very reliable because the accuracy of Motor Imagery(MI) pattern recognition rarely reaches 100%. In this paper, an asynchronous BCI shared control method is proposed for the high DoF robotic grasping task. The proposed method combines BCI control and automatic robotic control to simultaneously consider the robotic vision feedback and revise the unreasonable control commands. The user can easily mentally control the system and is only required to intervene and send brain commands to the automatic control system at the appropriate time according to the experience of the user. Two experiments are designed to validate our method: one aims to illustrate the accuracy of MI pattern recognition of our asynchronous BCI system; the other is the online practical experiment that controls the robot to grasp a target while avoiding an obstacle using the asynchronous BCI shared control method that can improve the safety and robustness of our system.

关键词： asynchronous Brain-Computer Interface (BCI) shared control motor imagery robotic grasping

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Distributed MPC with Application to AGC of Power System with Wind-Photovoltaic Hybrid Generation 36

Distributed MPC with Application to AGC of Power System with...

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第36届中国控制会议

作者： Yubin Jia Changyin Sun School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781538629185

In modern power system,renewable energy（e.g.,wind and solar energy） is an essential part of the smart *** problem of the fluctuate output of renewable energy generation and cooperation with traditional energy generation present significant challenges to the automatic generation control（AGC） in future smart *** paper presents a distributed model of AGC that contains thermal,hydro and wind-solar power *** on this model,we formulate a distributed model predictive control（DMPC） problem and propose a quadratic programming（QP） based approach to solve *** performance of the proposed method is demonstrated through simulations.

关键词： Distributed model predictive control wind and solar generation system automatic generation control

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An Enhanced Local Ternary Patterns Method for Face Recognition 33

An Enhanced Local Ternary Patterns Method for Face Recogniti...

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第三十三届中国控制会议

作者： WANG Zhenyu HUANG Rong YANG Wankou SUN Changyin School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

Feature descriptor based methods(*** Binary Patterns,Local Ternary Patterns) have gained encouraging results in face *** one needs to manually set the threshold in Local Ternary Patterns(LTP).The threshold in LTP is not data adaptive and not robust to *** some cases,we may not give a suitable threshold for *** by Weber's Law,here a data adaptive threshold strategy is prosed for LTP and an enhanced LTP is given for face *** evaluate the enhanced LTP on ORL and FERET face databases and the results demonstrate that the enhanced LTP significantly improves the performances.

关键词： local ternary patterns,Weber's Law,feature descriptor,face recognition

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Distilling Siamese Trackers with Attention Mask 41

Distilling Siamese Trackers with Attention Mask

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第41届中国控制会议

作者： Han Sun Yongqiang Bai Wenbo Zhang State Key Lab of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In recent years,the introduction of Siamese network has brought new vitality to the object tracking ***,high-performance Siamese trackers cannot run at a real-time speed on mobile devices due to their complex and huge *** distillation is a common and effective model compression method,but it is difficult to be applied to the challenging task like object *** find out the fundamental cause is that the imbalance between the foreground and background in the object tracking task,which aggravates the problem of insufficient feature extraction ability of small ***,we propose the attention mask distillation(AMD) to help the student tracker focus on the foreground area faster and more *** attention mask can be easily obtained from the feature maps and brings fine-granularity to the traditional binary *** experimental results on OTB100 and VOT2018 show that our method enables the student tracker perform as well as the teacher *** the same time,it's able to run on the CPU at a hyper-real-time of 66 fps and achieves nearly 9 times model compression *** low computational and storage costs make it possible to deploy high-performance trackers on resource-constrained platforms.

关键词： Object Tracking Siamese Network Knowledge Distillation Attention Mask

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Emulating manual welding process by two cooperative robots 33

Emulating manual welding process by two cooperative robots

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第三十三届中国控制会议

作者： GAN Yahui DAI Xianzhong DA Qi School of Automation Southeast University Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479947249

The problem of how to emulate a manual welding process by two cooperative robotic manipulators is investigated in this *** emulating process is intrinsically a trajectory planning process for the two cooperative *** of skilled welders and technical requirements in a welding process have been modeled and integrated into the robot trajectory planning *** model of trajectory planing for two cooperative robots doing a welding task is in a constrained optimization form.A Genetic Algorithm solver has been adopted to solve such an optimization ***-connect-pipe welding experiment has been carried out at the end of the paper and the weld results verified the effectiveness of our method.

关键词： emulate manual welding,cooperative robot,Genetic Algorithm,Pipe-connect-pipe welding

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Tracking the carbon footprint of global generative artificial intelligence

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Innovation 2025年第5期6卷

作者： Ding, Zhaohao Wang, Jianxiao Song, Yiyang Zheng, Xiaokang He, Guannan Chen, Xiupeng Zhang, Tiance Lee, Wei-Jen Song, Jie State Key Lab of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing102206 China National Engineering Laboratory for Big Data Analysis and Applications Peking University Beijing100871 China Department of Electrical and Electronic Engineering University of Hong Kong Hong Kong999077 China Department of Industrial Engineering and Management College of Engineering Peking University Beijing100871 China Jan C. Willems Center for Systems and Control University of Groningen Groningen9700AB Netherlands Energy Systems Research Center University of Texas at Arlington ArlingtonTX76019 United States

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