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3D Localization for Multiple AUVs in Anchor-Free Environments by Exploring the Use of Depth information

IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1051-1053页

作者： Yichen Li Wenbin Yu Xinping Guan the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai Jiao Tong UniversityShanghai 200240China

Dear Editor,This letter investigates the cooperative localization problem for multiple autonomous underwater vehicles(AUVs)in underwater anchor-free environments,where AUV localization errors grow without bound due to the accumulated errors in inertial measurements(termed accumulated errors hereafter)and the lack of anchors(with known positions).

关键词： AUVs underwater hereafter

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Safety-Aware Scheduling of Real-Time control Systems With Burst Computing Tasks

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2025年 3卷 218-227页

作者： Cheng, Ting Liang, Yonghui Li, Hui Xu, Qimin Zhu, Shanying Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China

This paper investigates the safety-aware task scheduling problem of real-time control systems in the presence of burst computing tasks. The basic idea is to adaptively release resources from low-criticality control tasks, ensuring timely completion of burst computing tasks and keeping the control system state within a safe threshold. An efficient algorithm called ADP-Opt is proposed to solve the problem. It first decouples the complex original problem into multiple subproblems, which greatly reduces the search space and improves the solution efficiency. In the subproblem, safety is maintained by limiting the upper bound of the system state's deviation to below the threshold. By introducing a penalty term in the cost function related to computing resources, we aim to balance the impact of control computing tasks on control performance and the consumption of computing resources. Consequently, the overall cost of the control system can be minimized while releasing enough resources for burst computing tasks. Simulation results show that the scheduling decisions made by ADP-Opt approach the optimal decision and maintain the safety of the control systems. © 2023 IEEE.

关键词： Real time control

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HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation

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Chinese Journal of Electronics 2023年第1期32卷 189-198页

作者： GUAN Qi SHENG Zihao XUE Shibei 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

Real-time six degrees-of-freedom(6D)object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and lightweight model, namely high-resolution 6D pose estimation network(HRPose). We adopt the efficient and small HRNetV2-W18 as a feature extractor to reduce computational burdens while generating accurate 6D poses. With only 33% of the model size and lower computational costs, our HRPose achieves comparable performance compared with state-of-the-art models. Moreover, by transferring knowledge from a large model to our proposed HRPose through output and feature-similarity distillations, the performance of our HRPose is improved in effectiveness and efficiency. Numerical experiments on the widely-used benchmark LINEMOD demonstrate the superiority of our proposed HRPose against state-of-the-art methods.

关键词： Knowledge engineering Computational modeling Pose estimation Grasping Benchmark testing Feature extraction Real-time systems

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Fluorescence sensor based on IFE between AEP@UCNPs and oxTMB for the determination of Cd^(2+)in paddy rice combined with HRP enzyme inhibition mechanism

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Food Science and Human Wellness 2025年第1期14卷 154-160页

作者： Haizhen Ding Shuai Hou Siqi Zhao Liping Guo Ao Sun Qiuhui Hu Leiqing Pan Qiang Liu Chao Ding Collaborative Innovation Center for Modern Grain Circulation and Safety Key Laboratory of Grains and Oils Quality Control and ProcessingCollege of Food Science and EngineeringNanjing University of Finance and EconomicsNanjing 210023China College of Food Science and Technology Nanjing Agricultural UniversityNanjing 210095China

Cadmium ion(Cd^(2+))detection technology plays a prominent role in food safety and human ***,we designed and constructed an 2-aminoethyl dihydrogen phosphate(AEP)@upconversion nanoparticles(UCNPs)fluorescence sensor for quantitative detection of Cd^(2+)in paddy rice based on inner filter effect(IFE)combined with enzyme inhibition *** AEP modification UCNPs can offer a stable fluorescence donor at 658 nm and be quenched by the oxidized tetramethylbenzidine(oxTMB)catalyzed by horseradish peroxidase(HRP)*** addition of Cd^(2+),the fluorescence of AEP@UCNPs fluorescence sensor was weaken due to the IFE between AEP@UCNPs and *** addition of Cd^(2+),HRP enzyme activity was inhibited by Cd^(2+),leading to the decreased oxTMB,resulting in the enhance upconversion fluorescence *** a result,the fluorescence intensity signal at 658 nm of the IFE-based AEP@UCNPs fluorescence sensor increased linearly with the increase in Cd^(2+)in a wide range from 0.5μmol/L to 6μmol/L and the limit of detection(LOD)was 24.6 n mol/*** addition,our proposed IFE-based AEP@UCNPs fluorescence sensor can achieve Cd^(2+)detection in paddy rice in 30 min.

关键词： Paddy rice Cd^(2+) Enzyme inhibition Upconversion nanoparticles(UCNPs) Inner filter effect(IFE)

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Distributed Economic MPC for Synergetic Regulation of the Voltage of an Island DC Micro-Grid

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 734-745页

作者： Yi Zheng Yanye Wang Xun Meng Shaoyuan Li Hao Chen IEEE the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Haixi Institutes Chinese Academy of SciencesJinjiang 362216China

In this paper,distributed model predictive control(DMPC) for island DC micro-grids(MG) with wind/photovoltaic(PV)/battery power is proposed,which coordinates all distributed generations(DG) to stabilize the bus voltage together with the insurance of having computational efficiency under a real-time *** on the feedback of the bus voltage,the deviation of the current is dispatched to each DG according to cost over the prediction ***,to avoid the excessive fluctuation of the battery power,both the discharge-charge switching times and costs are considered in the model predictive control(MPC) optimization problems.A Lyapunov constraint with a time-varying steady-state is designed in each local MPC to guarantee the stabilization of the entire *** voltage stabilization of the MG is achieved by this strategy with the cooperation of *** numeric results of applying the proposed method to a MG of the Shanghai Power Supply Company shows the effectiveness of the distributed economic MPC.

关键词： Distributed model predictive control(DMPC) Lyapunovbased model predictive control micro-grid(MG) voltage control

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Identification of Rice Species and Adulteration Using Gas Chromatography-ion Mobility Spectrometry and Multi-classification Maximum-interval Twin Support Vector Machine 3

Identification of Rice Species and Adulteration Using Gas Ch...

引用

3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing, AIAHPC 2023

作者： Lian, Feiyu Fu, Maixia College of Information Science and Engineering Henan University of Technology Zhengzhou450001 China Key Laboratory of Grain Information Processing and Control Henan University of Technology Ministry of Education Zhengzhou450001 China

ISBN: (数字)9781510666580

ISBN: (纸本)9781510666573

Gas chromatography-ion mobility spectrometry (GC-IMS) was applied to identify rice varieties and adulteration in order to address the inefficiencies caused by the dependence on intricate biochemical procedures for the identification of rice species and *** original migration profile data for the identification of rice varieties and adulteration were provided by testing the volatile flavor substances of 5 kinds of rice. The original data was compressed through principal component analysis (PCA), which was then used as the classifier's input. An improved multi-classification maximum-interval twin support vector machine (MMTSVM) was proposed to construct a multi-classifier with increased classification efficiency and accuracy compared to the conventional support vector machine. The experimental results on the testing set demonstrated that the accuracy of rice variety identification was close to 94.00%, which was obviously better than that of conventional support vector machines, decision trees, and other models. At the same time, the experimental results also showed that the accuracy of the GC-IMS method inidentifying adulterated rice reached 93.3%, outperforming the traditional chromatographic or spectral analysis methods. © 2023 SPIE.

关键词： Principal component analysis

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Cognitive Navigation for Intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru Cui Zhe Liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

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Current-Aided Multiple-AUV Cooperative Localization and Target Tracking in Anchor-Free Environments

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 792-806页

作者： Yichen Li Wenbin Yu Xinping Guan Department of Automation Shanghai Jiao Tong UniversityShanghai 200240 Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai Jiao Tong UniversityShanghai 200240China IEEE

In anchor-free environments,where no devices with known positions are available,the error growth of autonomous underwater vehicle(AUV)localization and target tracking is unbounded due to the lack of references and the accumulated errors in inertial *** paper aims to improve the localization and tracking accuracy by involving current information as extra *** first integrate current measurements and maps with belief propagation and design a distributed current-aided message-passing scheme that theoretically solves the localization and tracking *** on this scheme,we propose particle-based cooperative localization and target tracking algorithms,named CaCL and CaTT,*** AUV localization,CaCL uses the current measurements to correct the predicted and transmitted position information and alleviates the impact of the accumulated errors in inertial *** target tracking,the current maps are applied in CaTT to modify the position prediction of the target which is calculated through historical *** effectiveness and robustness of the proposed methods are validated through various simulations by comparisons with alternative methods under different trajectories and current conditions.

关键词： Anchor-free belief propagation cooperative localization current-aided target tracking

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Research and application of composite stochastic resonance in enhancement detection

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Chinese Physics B 2024年第1期33卷 264-273页

作者：高蕊焦尚彬薛琼婕 School of Automation and Information Engineering Xi'an University of TechnologyXi'an 710048China School of Electronic and Electrical Engineering Baoji University of Arts and SciencesBaoji 721016China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of TechnologyXi'an 710048China

Aiming at the problem that the intermediate potential part of the traditional bistable stochastic resonance model cannot be adjusted independently, a new composite stochastic resonance(NCSR) model is proposed by combining the Woods–Saxon(WS) model and the improved piecewise bistable model. The model retains the characteristics of the independent parameters of WS model and the improved piecewise model has no output saturation, all the parameters in the new model have no coupling characteristics. Under α stable noise environment, the new model is used to detect periodic signal and aperiodic signal, the detection results indicate that the new model has higher noise utilization and better detection ***, the new model is applied to image denoising, the results showed that under the same conditions, the output peak signal-to-noise ratio(PSNR) and the correlation number of NCSR method is higher than that of other commonly used linear denoising methods and improved piecewise SR methods, the effectiveness of the new model is verified.

关键词： Woods–Saxon improved piecewise model composite stochastic resonance(SR) image denoising

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Kalman Filter Adaptive Speed Tracking control for High-speed Trains with Noise Interference 7

Kalman Filter Adaptive Speed Tracking Control for High-speed...

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7th International Conference on Intelligent Robotics and control Engineering, IRCE 2024

作者： Zhang, Chunli Xie, Yuwei Yan, Lei Qian, Fucai Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing College of Automation and Information Engineering Xi'an China

ISBN: (纸本)9798350352399

In this paper, high-speed train is regarded as a single prime point, a new tracking control method combining adaptive control and Kalman filtering is proposed. This paper solves the noise interference problem in the tracking control process of high-speed train. The method first linearises the original system, then uses Kalman filtering to do model estimation, and the controller is designed for the predictive model through adaptive control. Finally, MATLAB is used to simulate and verify the effectiveness of this method. This proposed method successfully solves the problems of nonlinearity, noise interference and unknown parameters in system. The error caused by resistance in the high-speed train tracking control process can be dealt with effectively. © 2024 IEEE.

关键词： Kalman filters

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