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arXiv 2022年

作者： Wang, Guangming Peng, Chensheng Zhang, Jinpeng 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 XLAB The Second Academy of China Aerospace Science And Industry Corporation Beijing100854 China

Multiple object tracking (MOT) is a significant task in achieving autonomous driving. Traditional works attempt to complete this task, either based on point clouds (PC) collected by LiDAR, or based on images captured from cameras. However, relying on one single sensor is not robust enough, because it might fail during the tracking process. On the other hand, feature fusion from multiple modalities contributes to the improvement of accuracy. As a result, new techniques based on different sensors integrating features from multiple modalities are being developed. Texture information from RGB cameras and 3D structure information from Lidar have respective advantages under different circumstances. However, it’s not easy to achieve effective feature fusion because of completely distinct information modalities. Previous fusion methods usually fuse the top-level features after the backbones extract the features from different modalities. In this paper, we first introduce PointNet++ to obtain multi-scale deep representations of point cloud to make it adaptive to our proposed Interactive Feature Fusion between multi-scale features of images and point clouds. Specifically, through multi-scale interactive query and fusion between pixel-level and point-level features, our method, can obtain more distinguishing features to improve the performance of multiple object tracking. Besides, we explore the effectiveness of pre-training on each single modality and fine-tuning on the fusion-based model. The experimental results demonstrate that our method can achieve good performance on the KITTI benchmark and outperform other approaches without using multi-scale feature fusion. Moreover, the ablation studies indicates the effectiveness of multi-scale feature fusion and pre-training on single modality. Copyright © 2022, The Authors. All rights reserved.

关键词： Computer vision

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Unleashing Correlation and Continuity for Hyperspectral Reconstruction from RGB Images

arXiv

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arXiv 2025年

作者： Feng, Fuxiang Cong, Runmin Wei, Shoushui Zhang, Yipeng Li, Jun Kwong, Sam Zhang, Wei The School of Control Science and Engineering Shandong University Jinan250061 China The Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan250061 China The University of California Los Angeles United States The Hubei Key Laboratory of Intelligent Geo-Information Processing The School of Computer Science China University of Geo-sciences Wuhan430078 China The Lingnan University Hong Kong

Reconstructing Hyperspectral Images (HSI) from RGB images can yield high spatial resolution HSI at a lower cost, demonstrating significant application potential. This paper reveals that local correlation and global continuity of the spectral characteristics are crucial for HSI reconstruction tasks. Therefore, we fully explore these inter-spectral relationships and propose a Correlation and Continuity Network (CCNet) for HSI reconstruction from RGB images. For the correlation of local spectrum, we introduce the Group-wise Spectral Correlation Modeling (GrSCM) module, which efficiently establishes spectral band similarity within a localized range. For the continuity of global spectrum, we design the Neighborhood-wise Spectral Continuity Modeling (NeSCM) module, which employs memory units to recursively model the progressive variation characteristics at the global level. In order to explore the inherent complementarity of these two modules, we design the Patch-wise Adaptive Fusion (PAF) module to efficiently integrate global continuity features into the spectral features in a patch-wise adaptive manner. These innovations enhance the quality of reconstructed HSI. We perform comprehensive comparison and ablation experiments on the mainstream datasets NTIRE2022 and NTIRE2020 for the spectral reconstruction task. Compared to the current advanced spectral reconstruction algorithms, our designed algorithm achieves State-Of-The-Art (SOTA) performance. Copyright © 2025, The Authors. All rights reserved.

关键词： Convolutional neural networks

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Two-Stage Virtual Inertia control Strategy with Coordination of Energy Storage system

Two-Stage Virtual Inertia Control Strategy with Coordination...

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Electrical Engineering and Mechatronics Technology (ICEEMT), IEEE International Conference on

作者： Yening Lai Zhaohui Qie Yongji Cao Hengxu Zhang Zhimin Gao Hao Qin Jian Zhang Xuening Cao State Grid Electric Power Research Institute NARI Group Corporation Nanjing China Academy of Intelligent Innovation Shandong University Jinan China Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Shandong University Jinan China

To address the lack of effective cooperative control of each inertia support resource, the principles of cooperative inertia control in the power system with a high percentage of renewable energies are studied and the problems of cooperative inertia control are summarized. To make the wind turbine generator (WTG) participate in inertia response based on rotor kinetic energy method and the photovoltaic (PV) unit participate in inertia response based on capacitive energy storage method. The inertia response stage enables the energy storage system (ESS) based on sag control to collaborate with the WTG and PV unit for inertia support, and the frequency recovery stage enables ESS based on fuzzy control to improve the frequency response performance. The fuzzy control rules are formulated to propose a virtual inertia cooperative control method for the WTG, PV unit, and ESS. A case study is conducted to verify the effectiveness of the proposed strategy.

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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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Method for Selecting Optimal Access Point of Offshore Wind Farm Integrated by VSC-HVDC 6

Method for Selecting Optimal Access Point of Offshore Wind F...

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6th International Conference on Power and Renewable Energy, ICPRE 2021

作者： Tan, Zukuang Liu, Yutian Liu, Xiaoming Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Jinan China Economic and Technology Research Institute State Grid Shandong Electric Power Company Jinan China

ISBN: (纸本)9781665449618

Because of the rapid growth of offshore wind farm (OWF) capacity, voltage-source-converter-based high-voltage direct-current (VSC-HVDC) transmission scheme is becoming a competitive transmission scheme. This paper presents a method for selecting the optimal access point of offshore wind farm integrated with VSC-HVDC. The method takes into account capability of wind power accommodation, voltage support from onshore VSCs, voltage fluctuation caused by the change of wind power, vulnerability of power system transmission networks, and construction costs. This multi-objective decision-making problem is suggested to be solved based on the theory of information entropy and fuzzy analytic hierarchy process (FAHP) method. The method is applied in Shandong Province where is developing offshore wind power rapidly to select an optimal access point by the use of PSS/E. The results demonstrate the effectiveness of the proposed method for selecting the access point of the OWF. © 2021 IEEE.

关键词： Offshore wind farms

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Quantitative Analysis of Frequency Dynamics in Real Power system 7

Quantitative Analysis of Frequency Dynamics in Real Power Sy...

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7th Asia Conference on Power and Electrical Engineering, ACPEE 2022

作者： Qin, Hao Cao, Yongji Zhang, Hengxu Gao, Zhimin Yang, Dong Ma, Huan Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Jinan China Technical University of Denmark Department of Electrical Engineering Kgs. Lyngby Denmark State Grid Shandong Electric Power Company State Grid Shandong Electric Power Research Institute Jinan China

ISBN: (纸本)9781665418195

As the proportion of renewable energy sources increases, the randomness and volatility of the frequency increase, and its dynamic behaviors are becoming more complex. In order to clearly characterize the frequency fluctuation characteristics of the power system, the long-term statistical characteristics are analyzed based on the measured data. The bimodal normal distribution is used, and the measured frequency is decomposed into continuous and short-time-scale components using the moving average method. Based on historical data, the derivation law of the frequency fluctuation characteristics of regional power system is explored, and it is found that the frequency fluctuation characteristics of different regions continue to differentiate, and the characteristics of the sending-end power system frequency being higher than the rated frequency and relatively drastic fluctuations are becoming more and more obvious. © 2022 IEEE.

关键词： Normal distribution

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Virtual Inertia control Strategy for Photovoltaic Power Generation Based on Improved Incremental Conductance Method 7

Virtual Inertia Control Strategy for Photovoltaic Power Gene...

引用

7th Asia Conference on Power and Electrical Engineering, ACPEE 2022

作者： Gao, Zhimin Cao, Yongji Zhang, Hengxu Qin, Hao Yang, Dong Ma, Huan Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Jinan China Technical University of Denmark Department of Electrical Engineering Kgs. Lyngby Denmark Institute State Grid Shandong Electric Power Company State Grid Shandong Electric Power Research Jinan China

ISBN: (纸本)9781665418195

The large-scale integration of renewable energy units such as wind and photovoltaic power has greatly reduced the equivalent rotational inertia of the power system. PV arrays are static generating elements and have no inertial response without additional control. In order to improve the stability of renewable energy grid operation, this paper proposes a virtual inertia control strategy for photovoltaic power generation by improving the incremental conductance method. This paper firstly introduces the working principle and model of the PV array, and then improves the incremental conductance method based on PI controller to propose PV power generation power reserve control strategy. The PV output is changed for inertial support based on droop control and virtual inertia control by detecting grid frequency changes. Simulation results show that this control strategy results in a better inertial response of the photovoltaic power system. © 2022 IEEE.

关键词： Power control

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What Matters for 3D Scene Flow Network

arXiv

引用

arXiv 2022年

作者： Wang, Guangming Hu, Yunzhe Liu, Zhe Zhou, Yiyang Tomizuka, Masayoshi Zhan, Wei 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 Jiao Tong University China MoE Key Lab of Artificial Intelligence Shanghai Jiao Tong University China Mechanical Systems Control Laboratory University of California Berkeley United States

3D scene flow estimation from point clouds is a low-level 3D motion perception task in computer vision. Flow embedding is a commonly used technique in scene flow estimation, and it encodes the point motion between two consecutive frames. Thus, it is critical for the flow embeddings to capture the correct overall direction of the motion. However, previous works only search locally to determine a soft correspondence, ignoring the distant points that turn out to be the actual matching ones. In addition, the estimated correspondence is usually from the forward direction of the adjacent point clouds, and may not be consistent with the estimated correspondence acquired from the backward direction. To tackle these problems, we propose a novel all-to-all flow embedding layer with backward reliability validation during the initial scene flow estimation. Besides, we investigate and compare several design choices in key components of the 3D scene flow network, including the point similarity calculation, input elements of predictor, and predictor & refinement level design. After carefully choosing the most effective designs, we are able to present a model that achieves the state-of-the-art performance on FlyingThings3D and KITTI Scene Flow datasets. Our proposed model surpasses all existing methods by at least 38.2% on FlyingThings3D dataset and 24.7% on KITTI Scene Flow dataset for EPE3D metric. We release our codes at https://***/IRMVLab/3DFlow. Copyright © 2022, The Authors. All rights reserved.

关键词： Embeddings

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Multi-Segment Droop control and Optimal Parameter Setting Strategy of Wind Turbine for Frequency Regulation

SSRN

引用

SSRN 2023年

作者： Gao, Haishu Zhang, Feng Ding, Lei Cornélusse, Bertrand State Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan250061 China Departments of Computer Science Electrical Engineering and Geography University of Liège Liège Belgium

Traditionally virtual inertia is the control strategy of wind turbines when participating in frequency regulation. However, it has inherent defects in measurement error amplification, due to the frequency differential, and it may incur large response power deviation or even inverse response. Also, when control delay of wind turbines is taken into consideration, virtual inertia is essentially a kind of fast power response, just the same as droop control of wind turbines. Hence, considering the reliability of droop control, it’s valuable to explorer a novel droop control method without virtual inertia, as the frequency response model of wind turbines. For this reason, a multi-segment droop control strategy was proposed to provide a reliable frequency regulation model for wind turbines, which can be broadly applied in other inverter-based power sources. Firstly, based on the extended system frequency response (SFR) model, a differential equation including piecewise time-varying coefficient was established to analyze the frequency response of the presented strategy. To deal with impulse function emerged during the deduction, the impulse function balancing principle and the integration by parts algorithm were adopted. Then the analytical expression of the frequency response with multi-segment droop control strategy can be obtained. Subsequently, based on analytical expression, the performance of multi-segment droop control strategy was theoretically analyzed via comparison with traditional virtual inertia control, and meanwhile the conclusion that the presented multi-segment droop control has better frequency regulation performance can be got. Furthermore, to achieve optimal frequency regulation performance, a Lagrangian function was established to get the optimal parameters of the proposed control strategy, according to the relationship between the frequency nadir and frequency regulation parameters. During its solution, the exponential homotopy algorithm was adopted. F

关键词： Wind turbines

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Disturbance Rejection in Lower-Limb Rehabilitation Robot with Parameter Uncertainties

Disturbance Rejection in Lower-Limb Rehabilitation Robot wit...

引用

intelligent systems, International Workshop on

作者： He Wang Jinhua She Feng Wang Juan Zhao Seiichi Kawata School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan

ISBN: (数字)9798350353303

ISBN: (纸本)9798350353310

This paper presents a method integrated equivalent-input-disturbance (EID) and repetitive control (RC) to mitigate the effects of non-linearity and uncertainty in a pedaling rehabilitation robot. The repetitive controller is designed to ensure accurate steady-state tracking of periodic signal. Meanwhile, the EID estimator, combined with a state observer, is responsible for estimating and compensating for the impacts of non-linearity, parameter uncertainties, and disturbances caused by patients with lower-limb impairments. We design a Lyapunov stability function to assess the stability of system. The parameters of the control gain are obtained by linear matrix inequality (LMI). The results confirm the effectiveness of the proposed method.

关键词： Uncertain systems Accuracy Uncertainty Simulation Observers Assistive robots Stability analysis Steady-state Robots Lyapunov methods

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