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Interval Type-2 Fuzzy Hierarchical Adaptive Cruise Following-control for Intelligent Vehicles

IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1658-1672页

作者： Hong Mo Yinghui Meng Fei-Yue Wang Dongrui Wu the College of Electric and Information Engineering Changsha University of Science and TechnologyChangsha 410114China the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Qingdao Academy of Intelligent Industries Qingda 266109 the Center of China Economic and Social Security University of Chinese Academy of SciencesBeijing 100190China the Ministry of Education Key Laboratory on Image Information Processing and Intelligent Control the School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

Intelligent vehicles can effectively improve traffic congestion and road traffic *** cruise followingcontrol(ACFC)is a vital part of intelligent *** this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of ***,a traditional variable time headway model is improved considering the acceleration of the lead ***,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating *** reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control ***,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)***,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different ***,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.

关键词： Adaptive cruise following-control(ACFC) feedforward+fuzzy proportion integration(PI)feedback(F+FPIF) type-2 fuzzy control variable time headway

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Cross-Domain Few-Shot Incremental Learning for Point-Cloud Recognition

Cross-Domain Few-Shot Incremental Learning for Point-Cloud R...

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IEEE Workshop on Applications of Computer Vision (WACV)

作者： Yuwen Tan Xiang Xiang Key Lab of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

Sensing 3D objects is critical when 2D object recognition is not accessible. A robot pre-trained on a large point-cloud dataset will encounter unseen classes of 3D objects after deploying it. Therefore, the robot should be able to learn continuously in real-world scenarios. Few-shot class-incremental learning (FSCIL) requires the model to learn from few-shot new examples continually and not forget past classes. However, there is an implicit but strong assumption in the FSCIL that the distribution of the base and incremental classes is the same. In this paper, we focus on cross-domain FSCIL for point-cloud recognition. We decompose the catastrophic forgetting into base class forgetting and incremental class forgetting and alleviate them separately. We utilize the base model to discriminate base samples and new samples by treating base samples as in-distribution samples, and new objects as out-of-distribution samples. We retain the base model to avoid catastrophic forgetting of base classes and train an extra domain-specific module for all new samples to adapt to new classes. At inference, we first discriminate whether the sample belongs to the base class or the new class. Once classified at the model level, test samples are then passed to the corresponding model for class-level classification. To better mitigate the forgetting of new classes, we adopt the soft label and hard label replay together. Extensive experiments on synthetic-to-real incremental 3D datasets show that our proposed method can balance the performance between the base and new objects and outperforms the previous state-of-the-art methods.

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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

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Science China(Technological Sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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A Robust Recognition and Segmentation Algorithm for Retaining Walls in Mining Scenes

A Robust Recognition and Segmentation Algorithm for Retainin...

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Chinese Automation Congress (CAC)

作者： Tian Zeng Li Xiao Gang Peng Aoze Wang Zhuo Wang Zhigang Sun Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Intelligence and Automation Huazhong University of Science and Technology Wuhan China

The key for bulldozers to realize automatic operation in mine scenes is whether they can accurately identify and accurately segment the retaining walls, however, because the point cloud dataset of the mine site is too few, resulting in the deep learning-based identification and segmentation algorithm cannot be applied in this scene. At the same time, because of the rugged road surface of the mine scene, the existence of a lot of dust, numerous disturbances, retaining wall features are not obvious and other problems, the algorithms proposed by previous scholars are not perfect enough to solve the problem. We propose a point cloud recognition and segmentation algorithm based on clustering and evaluation function of integrated features. Ours firstly compensates the skew of the point cloud map with RANSAC and down samples the data by gridding the point cloud. Then reduces the influence of dust and truck materials in the scene by normal vector and variance information. Finally, screens out the candidate target class by density clustering, and identifies and segments the retaining wall by integrated feature. Our proposed algorithm is validated in several different real mine scenarios and the results show that ours has high accuracy and strong robustness.

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Safety Protection Analysis with Formal Verification for Process control System Under Cyberattacks

Safety Protection Analysis with Formal Verification for Proc...

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第35届中国过程控制会议

作者： Xuqing Liang Chunjie Zhou Yu-Chu Tian Xin Du Peihang Xu School of Artificial Intelligence and Automation Huazhong University of Science and Technology The Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Computer Science Queensland University of Technology

The safety protection of process control systems plays a crucial role in the overall safety of critical *** have increased the complexity of existing safety protection analysis. Traditional safety analysis methods fall short in accounting for cyberattack factors, making it challenging to conduct safety protection analysis under cyberattacks. To address this issue, this paper presents a new safety protection analysis method that considers multiple safety factors explicitly including cyberattacks using formal verification. The method consists of three main components: exhaustive system safety specifications,formal models, and system safety validation. The system safety specification component adds a cyberattack factor to system safety requirements based on the system theory process analysis(STPA) method. The formal model component considers the system's dynamic operation process, and safety protection behaviors under typical attack behaviors. The system safety validation component validates the effectiveness of system safety protection under cyberattacks by the UPPAAL tool, from the perspective of whether system safety constraints are triggered and whether the change curve of process variables is compliant. Finally, the effectiveness of the presented approach is carried out for a simplified fluid catalytic cracking(FCC) fractionating system.

关键词： Safety protection analysis Formal verification Cyberattacks System theory process analysis(STPA)

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Task Allocation and Path Planning for Multiple Destinations Oriented Towards Task Updates

Task Allocation and Path Planning for Multiple Destinations ...

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International Conference on Industrial Artificial intelligence (IAI)

作者： Yong Yang Dingxin He Huantao Mao Hong Chen Hongtao Wu Zhi-Wei Liu School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Ministry of Education Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350356618

ISBN: (纸本)9798350356625

This study addresses the complexities of orchestrating multi-target transportation tasks within multi-agent systems, constrained by load capacity. The primary objective is to engineer an advanced path planning framework that assures collision avoidance and optimal load distribution. Diverging from conventional single-path strategies, this research incorporates load factors and requires continuous dynamic multi-target point and path planning to ensure agents can efficiently navigate through a series of predetermined key points. To address this complex requirement, a two-stage multi-agent task allocation and path planning method is proposed. First, an initial solution is obtained using a suboptimal algorithm, followed by optimization iterations using the large neighborhood search algorithm to improve task allocation. In the second stage, an accelerated algorithm based on priority search is used to plan optimal paths for each agent in a predetermined order. The proposed algorithm's effectiveness is comprehensively evaluated through a series of experimental evaluations and comparisons with the commercial solver Gurobi within a limited time. The results show that the proposed method achieves optimality in both running time and minimum path cost while ensuring the load balance of agents.

关键词： Costs Navigation Heuristic algorithms Transportation Path planning Robustness Planning Resource management Optimization Multi-agent systems

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Multi-Scale Cascaded with Cross-Attention Network-Based Deformation Vector Field Estimation for Motion-Compensated 4D-CBCT Reconstruction

IEEE Transactions on Computational Imaging

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IEEE Transactions on Computational Imaging 2025年 11卷 717-731页

作者： Yuan, Peng Lyu, Fei Gao, Zhiqiang Yang, Chunfeng Hu, Dianlin Zhu, Jian Wu, Zhan Lyu, Tianling Zhao, Wei Dong, Jianmin Chen, Yang Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications Ministry of Education Southeast University Nanjing210096 China Laboratory of Image Science and Technology Southeast University Nanjing210096 China Department of Computer Science Hong Kong Baptist University Hong Kong Hong Kong Academy for Advanced Interdisciplinary Science and Technology Zhejiang University of Technology Hangzhou China School of Physics Beihang University Beijing China Beihang Hangzhou Innovation Institute Zhejiang Hangzhou China School of Shandong Cancer Hospital and Institute Shandong First Medical University Shandong Academy of Medical Sciences Jinan Shandong China School of Information Engineering Xizang Minzu University Xianyang712082 China Jiangsu Provincial Joint International Research Laboratory of Medical Information Processing The Laboratory of Image Science and Technology The School of Computer Science and Engineering Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications Southeast University Ministry of Education Nanjing210096 China

Four-Dimensional Cone Beam Computed Tomography (4D-CBCT) imaging technology offers enhanced image quality and spatial resolution for intraoperative guidance, facilitating real-time tracking of tumor position changes during radiotherapy. However, this is still a task of great challenges due to insufficient projections at each respiratory phase after phase-sorting, and the image phases reconstructed directly from phase-sorted data are discrete and discontinuous. To generate high-quality 4D-CBCT deformation vector fields (DVFs), this paper leverages the preoperative static prior image to guide intraoperative dynamic sparse-view reconstruction images for reducing anatomical structure differences, ultimately achieving continuous and dynamic 4D-CBCT imaging. In this paper, we propose a Multi-scale Cascaded residual deformable vector field estimation framework based on Cross-attention in Motioncompensated 4D-CBCT reconstruction (MCCM), which combines Multi-Scale Cascaded residual registration network (MSCNet), Cross-Attention Enhanced feature Fusion (CAEF) module and Structure-Enhanced Motion-Compensated (SEMC) module: 1) the MCCM employs a multi-scale cascaded residual network strategy, merging multi-receptive fields and multi-resolution feature maps for large-scale internal changes. 2) the CAEF is embedded into MSC-Net to facilitate effective communication and learning between features and promote the flow of information. 3) the SEMC is developed to reduce artifacts after intraoperative CBCT sparse-view reconstruction, restore global lung motion changes and local details, and enhance structural information through image fusion. The proposed method has been evaluated using simulated and clinical datasets and has shown promising results by comparative experiment. Our approach exhibits significant improvements across various evaluation metrics. © 2024 IEEE.

关键词： image fusion

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When Epipolar Constraint Meets Non-local Operators in Multi-View Stereo

When Epipolar Constraint Meets Non-local Operators in Multi-...

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International Conference on Computer Vision (ICCV)

作者： Tianqi Liu Xinyi Ye Weiyue Zhao Zhiyu Pan Min Shi Zhiguo Cao Ministry of Education School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

Learning-based multi-view stereo (MVS) method heavily relies on feature matching, which requires distinctive and descriptive representations. An effective solution is to apply non-local feature aggregation, e.g., Transformer. Albeit useful, these techniques introduce heavy computation overheads for MVS. Each pixel densely attends to the whole image. In contrast, we propose to constrain nonlocal feature augmentation within a pair of lines: each point only attends the corresponding pair of epipolar lines. Our idea takes inspiration from the classic epipolar geometry, which shows that one point with different depth hypotheses will be projected to the epipolar line on the other view. This constraint reduces the 2D search space into the epipolar line in stereo matching. Similarly, this suggests that the matching of MVS is to distinguish a series of points lying on the same line. Inspired by this point-toline search, we devise a line-to-point non-local augmentation strategy. We first devise an optimized searching algorithm to split the 2D feature maps into epipolar line pairs. Then, an Epipolar Transformer (ET) performs non-local feature augmentation among epipolar line pairs. We incorporate the ET into a learning-based MVS baseline, named ET-MVSNet. ET-MVSNet achieves state-of-the-art reconstruction performance on both the DTU and Tanks-and-Temples benchmark with high efficiency. Code is available at https://***/TQTQliu/ET-MVSNet.

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Demand-Side Frequency control in Power Network Based on Multi-Agent Deep Reinforcement Learning

Demand-Side Frequency Control in Power Network Based on Mult...

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International Conference on Industrial Artificial intelligence (IAI)

作者： Xianggang Liu Zhi-Wei Liu Ming Chi Yifan Zhang Key Laboratory of Image Processing and Intelligent Control Ministry of Education College of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

The integration of renewable energy sources into the power grid has led to new challenges in maintaining the stability of the system frequency. This paper proposes a novel approach to address the Optimal Demand Side Frequency control (ODFC) problem using Multi-Agent Deep Deterministic Policy Gradient (MADDPG) method. The proposed method models the ODFC problem as a Markov game, with centralized training based on multi-agent cooperative self-learning and associative storage service. In the decentralized execution stage, each agent independently outputs control actions to the controlled plant using local observations. Numerical simulations show that the proposed method effectively addresses the ODFC problem with superior performance compared to traditional methods.

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Semi-Supervised Generalized Source-Free Domain Adaptation (SSG-SFDA)

Semi-Supervised Generalized Source-Free Domain Adaptation (S...

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International Joint Conference on Neural Networks (IJCNN)

作者： Jiayu An Changming Zhao Dongrui Wu Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

Continual learning aims to learn on a sequence of new tasks while maintaining the performance on previous tasks. Source-free domain adaptation (SFDA), which adapts a pretrained source model to a target domain, is useful in protecting the source domain data privacy. Generalized SFDA (G-SFDA) combines continual learning and SFDA to achieve outstanding performance on both the source and the target domains. This paper proposes semi-supervised G-SFDA (SSG-SFDA) for domain incremental learning, where a pre-trained source model (instead of the source data), few labeled target data, and plenty of unlabeled target data, are available. The goal is to achieve good performance on all domains. To cope with domain-ID agnostic, SSG-SFDA trains a conditional variational auto-encoder (CVAE) for each domain to learn its feature distribution, and a domain discriminator using virtual shallow features generated by CVAE to estimate the domain ID. To cope with catastrophic forgetting, SSG-SFDA uses soft domain attention to improve the sparse domain attention in G-SFDA. To cope with insufficient labeled target data, SSG-SFDA uses MixMatch to augment the unlabeled target data and better exploit the few labeled target data. Experiments on three datasets demonstrated the effectiveness of SSG-SFDA.

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