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New method of sparse visual saliency feature extraction and application in unmanned vehicle environment sensing

Information Technology Journal 2013年第20期12卷 5914-5921页

作者： Du, Ming-Fang Wang, Jun-Zheng Li, Jing Cao, Hai-Qing Key Laboratory of Complex System Intelligent Control Decision Beijing Institute of Technology Ministry of Education 100081 Beijing China

A new method based on Hessian matrix threshold of finding local low-level saliency features is proposed in this study after the standard local invariant feature extraction algorithm SRUF (Speeded Up Robust Features) is analyzed. In this method, the number of saliency feature points can change with the change of Hessian threshold. The saliency feature points will become sparser when Hessian threshold becomes larger. When a certain extreme threshold which is defined as Hessian Threshold Node is reached, the retained discriminative feature points are remarkable stability characteristics, also make up the best sparse saliency features set. This method is applied in the unmanned vehicle environment sensing system to help extract the before going vehicle's saliency feature and realize object tracking and obstacle detection. Experiment results show that this is an quick and robust method to determine saliency feature points quantitatively and is very suitable for the occasion which has strong demand on real-time. © 2013 Asian Network for Scientific Information.

关键词： Object detection

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Detection of Stealthy False Data Injection Attacks Against Cyber-Physical systems:A Stochastic Coding Scheme

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Journal of systems Science & complexity 2022年第5期35卷 1668-1684页

作者： GUO Haibin PANG Zhonghua SUN Jian LI Jun State Key Lab of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongging Innovation Center Chongqing 401120China Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China China Industrial Control Systems Cyber Emergency Response Team Beijing 100040China

This paper,from the view of a defender,addresses the security problem of cyber-physical systems(CPSs)subject to stealthy false data injection(FDI)attacks that cannot be detected by a residual-based anomaly detector without other defensive *** detect such a class of FDI attacks,a stochastic coding scheme,which codes the sensor measurement with a Gaussian stochastic signal at the sensor side,is proposed to assist an anomaly detector to expose the FDI *** order to ensure the system performance in the normal operational context,a decoder is adopted to decode the coded sensor measurement when received at the controller *** this detection scheme,the residual under the attack can be significantly different from that in the normal situation,and thus trigger an *** design condition of the coding signal covariance is derived to meet the constraints of false alarm rate and attack detection *** minimize the trace of the coding signal covariance,the design problem of the coding signal is converted into a constraint non-convex optimization problem,and an estimation-optimization iteration algorithm is presented to obtain a numerical solution of the coding signal covariance.A numerical example is given to verify the effectiveness of the proposed scheme.

关键词： Attack detection cyber-physical systems(CPSs) stealthy FDI attacks stochastic coding

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Optimal switching integrity attacks in cyber-physical systems

Optimal switching integrity attacks in cyber-physical system...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Guangyu Wu Jian Sun The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781538629024

In this paper, an optimal switching data integrity attack schedule method is presented. It is assumed that an attacker is able to inject false data to partial actuators of a healthy system at each instant. Optimal switching attack represents a growing class of cyber-physical attacks that aim to damage a target system via a controlled switching of attacked units. A feedback attack law is proposed to maximize a weighted quadratic performance. Two switching conditions are designed to obtain the optimal sequence of the attacked actuators via the Maximum Principle. Finally, numerical results are provided to illustrate the effectiveness of the proposed method.

关键词： Switches Actuators Cyber-physical systems Jamming Optimal control system performance

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Fault-tolerant sampled-data synchronization of Markovian jumping complex dynamical networks via looped-functional approach

Fault-tolerant sampled-data synchronization of Markovian jum...

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International Symposium on Autonomous systems (ISAS)

作者： Wang Xin Sun Jian Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781728112992

In this paper, the issue of sampled-data synchronization of Markovian jumping complex dynamical networks with sensor fault is investigated. Here, we utilize looped-functional approach to constructed Lyapunov functional with more information about r(t k ) and r(t k+1 ), which has contribution to decrease the conservatism of stability condition. Then, we design a sampled-data controller for Markovian jumping complex dynamical networks. Finally, the feasibility and superiority of our method are proved by several numerical and simulation examples.

关键词： complex networks control system synthesis fault tolerant control Lyapunov methods Markov processes network theory (graphs) sampled data systems stability synchronisation sampled data system fault-tolerant control control system synthesis Lyapunov methods Markov chain complex networks data synchronization Jumping Data sampling

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Nonuniformity Correction and Calibration Method in the High-precision CCD Measurement and Servo control system

Nonuniformity Correction and Calibration Method in the High-...

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Jing LI Junzheng WANG Bin ZHOU Wei SHEN Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

The CCD pixels nonuniformity may give a greater margin of error to measurement results in the high-precision CCD measurement and servo control *** paper analyzes the image pixels nonuniformity caused by noises,and establishes the corresponding image *** threshold value segmentation algorithm is used for image *** algorithm using two point linear method for pixel nonuniformity correction,getting center coordinates of facula by calculating the zeroth order moment and first moment of image is put forward,and a new image calibrated method that transforms the image coordinates into the real is *** results show that the algorithm can separate light intensity parts from the image,correct pixel nonuniformity,and stabilize pixel gray value of light intensity *** will make the center coordinates of image light intensity spots stable and decrease the error of the real coordinates after conversion,if the images are acquired under the same *** measurement precision as well as the control precision is improved greatly.

关键词： image Nonuniformity Correction and Calibration Method in the High-precision CCD Measurement and Servo control system CCD

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Single image haze removal algorithm using pixel-based airlight constraints

Single image haze removal algorithm using pixel-based airlig...

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International Conference on Automation and Computing (ICAC)

作者： Zhenwei Gao Yongqiang Bai Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Fast single image dehazing has been a challenging problem in many fields, such as computer vision and real-time applications. The existing image dehazing algorithms cannot achieve a trade-off between the dehazing performance and the computational complexity. The proposed approach first applies the mean filter twice to estimate airlight, which include pixel-based dark channel and bright channel constraints. And then the relationship between channel values of the restored image and atmospheric light is qualitatively analyzed to give the optimum estimate of atmospheric light. Using the airlight and atmospheric light, we can easily restore the scene radiance via the atmospheric scattering model. Compared with others, the main advantage of the proposed approach is its high speed and significant visibility improvement even in the sky and white areas. This speed allows the enhanced haze image to be applied in real-time processing applications. A comparative study and quantitative evaluation are proposed with a few other state of the art algorithms which demonstrates that similar or better quality results are obtained.

关键词： Atmospheric modeling Image restoration Real-time systems Channel estimation Scattering Filtering Computational modeling

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Decentralized control for Arbitrarily Interconnected systems over Lossy Network

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自动化学报 2010年第9期36卷 1321-1327页

作者： LI Hui School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China Key Laboratory of Complex System Intelligent Control and Decision Ministry of EducationBeijing 100081P.R.China

This paper deals with the control of arbitrarily topological interconnected systems where information communicated between subsystems may be lost due to unreliable links. First, the stochastic variable that is responsible for the communication status of lossy network is regarded as a source of model uncertainty. The system is modeled in the framework of linear fractional transformation with a deterministic nominal system and a stochastic model uncertainty. Then, the robust control theory is employed for system analysis. The largest probability of communication failure, tolerated by the interconnected systems keeping mean square stable, can be obtained by solving a μ synthesis optimization problem. Decentralized state feedback controllers are designed to ensure that the whole system is mean square stable for a given communication failure rate, based on the technique of linear matrix inequalities. An illustrative example is presented finally to verify the effectiveness of the proposed model and method

关键词：拓扑子系统通信故障率随机变量

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Large Receptive Field Boundary Matching Networks for Generating Better Proposals

Large Receptive Field Boundary Matching Networks for Generat...

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第40届中国控制会议

作者： Lei Xu Jiexi Liu Bo Chen Beijing Institute of Technology School of Automation Key Laboratory of Complex System Intelligent Control and Decision

Temporal Action Detection is a research hotspot in Video *** is necessary not only to give the specific moments of the beginning and end of each action instance in the video,but also to give the category of the action *** present,most of the methods in temporal action detection are divided into two steps:The video is divided into a series of video clips to determine whether each clip is an action instance,and the fragments that are not an action instance are deleted;Segments that may be action instances are then classified to get the final *** present,the difficulties in action detection research mainly include the following two points:1) The boundary is not *** from action recognition,action detection requires precise positioning,but an action in life is often not very *** is also the reason why the mean average precision(mAP) of action detection is low at present.2) The time span is *** life,an action often spans a very long *** movements such as waving can last for a few seconds,while long movements such as rock climbing or cycling can last for tens of minutes,which makes it extremely difficult for us to extract *** view of the above difficulties,this paper proposes a large receptive field boundary matching network(LRFBMN) model which takes advantage of the relationship between proposals to improve the accuracy of proposal *** model is mainly divided into two parts:1) Clipping feature map is processed by large kernel convolution,and then proposal feature is generated by ROI-pooling;2) The proposals are arranged in a certain order to form a fixed graph,and the information exchange between graph nodes is realized by using convolution with *** experiments,this model is 2.35% higher than baseline and 1.06% higher than state-of-the-art in THUMOS14 data set.

关键词： Temporal Action Detection Video Understanding Proposal Large Receptive Field

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PI Tuning and Optimization for Speed control of PMSM Based on Multivariable Sliding-Mode Extremum Seeking

PI Tuning and Optimization for Speed Control of PMSM Based o...

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第34届中国控制与决策会议

作者： Fan Li Wei Shen Chuanyu Ge Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781665478977

The PI controller is the most basic and widely used for the permanent magnet synchronous motor speed *** cumbersome parameter adjustment process makes it difficult for the PI controller to balance convenience and *** this end,this paper presents a new PI tuning and optimization scheme based on multivariable sliding-mode extremum ***,by analyzing the frequency domain model of permanent magnet synchronous motor,the analytical calculation formulas of controller parameters and motor parameters are derived as the initial value of PI parameter ***,a multivariable sliding-mode extremum seeking optimizer is designed to optimize the control parameters by minimizing the cost function based on the feedback error *** feasibility of the above scheme is proved by theoretical derivation,and the simulation and experimental results also verify the feasibility and effectiveness of the proposed method.

关键词： permanent-magnet synchronous motor(PMSM) multivariable sliding mode extremum seeking(MSME) self-tuning parameter optimization

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Object Tracking Algorithm of Adaptive Kernel-Bandwidth for Mean-Shift Based on Optical-flows

Object Tracking Algorithm of Adaptive Kernel-Bandwidth for M...

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第三十二届中国控制会议

作者： Qinlong He Junzheng Wang Jing Li Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology

ISBN: (纸本)9781479900305

To obtain and update the kernel-bandwidth,we present an adaptive bandwidth obtainment algorithm based on object contour extraction from optical-flow *** combination of modified mountain cluster approach and fast scanning window contour extractor guarantees the speed of this algorithm.A novel ellipse detection method based on a modified RANSAC is adopted to reduce the *** results demonstrate that the algorithm select the proper size of tracking kernel-bandwidth with minor extra computational overhead and keep up with the object robustly when the scale changed rapidly.

关键词： object tracking mean shift kernel bandwidth mountain cluster RANSAC

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