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第三十四届中国控制会议

作者： ZHAO Dong BAI Yong-qiang Department of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467374439

Fast single image dehazing has been a challenging problem in many fields, such as computer vision and real-time applications. Recently, many dehazing algorithms have been proposed based on the dark channel prior(DCP). However, these algorithms aim to improve the refinement of the raw transmission map, while ignore the computational complexity of DCP ***, this paper proposes a new technique for fast single image haze removal, which achieves a good tradeoff between the dehazing performance and the computational complexity. We first decompose the observed haze image into a coarse image and a detail image using Gaussian-Laplacian pyramid. Then, the coarse image is dehazed by Dark Channel Prior and Guided filter(GDCP). For the size of the coarse image is 1/4 of the original image, the computational complexity is reduced ***, the recomposed image is blurred, since the detail image is still haze. So, we employ an unsharp filter to sharpen the blurred recomposed image. Experimental results show that the proposed dehazing technique effectively removes haze, and significantly reduces the computational complexity by 69.59% on average, compared with traditional GDCP algorithm.

关键词： single image dehazing,image restoration,dark channel prior,image pyramid,unsharp masking

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Analysis and Testing of Delay in HLA-based Distributed Simulation system

Analysis and Testing of Delay in HLA-based Distributed Simul...

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第25届中国控制与决策会议

作者： Chen Chen Lu Chao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467355339

Time is a significant concept in distributed *** the increment of simulation system scale, working efficiency of simulation system will go down very sharply due to the restrictions of time management tactics and time sequence coupling. Therefore, it is necessary to study the characteristics of delay in simulation system to improve its working effeciency. Aiming at HLA-based distributed simulation system, causes of simulation delay is analysed and principles of delay testing is explained. A method which employs synchronization point setting and an effective wall clock time querying approach is put forward. Statistics and analysis of message interaction delay is executed on the software platform of pRTI 1.3 version. The measurement of delay lays an important data foundation for time management algorithms.

关键词： Distributed Simulation system, Delay Testing, High Level Architecture, Synchronization Point.

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The SDRE based Second Order Integral Sliding Mode control for Attitude of Reentry Vehicle

The SDRE based Second Order Integral Sliding Mode Control fo...

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第三十二届中国控制会议

作者： GENG Jie SHENG Yongzhi LIU Xiangdong WANG Liang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781479900305

In this paper,a state dependent Riccati equation-based second order integral sliding mode control(SSOISMC) algorithrn is proposed for the reentry vehicle with a strong conpling,nonlinearity and ***,the state dependent Riccati equation(SDRE) controller is developed to approach the attitude controller for the nonlinear reentry vehicle without uncertainties. Then the second order integral sliding mode control theory is proposed to combine sliding mode with SDRE,and it is applied to reentry vehicle with parameter variations or external *** achievement of the second order sliding phase is *** the proposed control law,the optimal performance index is achieved and the uncertainties are rejected,furthermore, the chattering is ***,simulation is made through the assumption that aerodynamic parameters and atmospheric density are *** validity and robustness of the proposed strategies are verified by simulation results.

关键词： Flight vehicle control State dependent Riccati equation(SDRE) Second order integral sliding mode

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Analysis and Design of Application-Layer Rateless Codes Based on Reliability and Latency Trade-Off

Analysis and Design of Application-Layer Rateless Codes Base...

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IEEE Conference on Wireless Communications and Networking

作者： Haobo Huang Yusun Fu Junpeng Yin Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

With the Internet of Things (IoT) playing an increasingly crucial role in connecting diverse devices, applications have different requirements for communication and various evaluation metrics have emerged, such as Age of Information (AoI) and estimation error. Considering the fundamental trade-off between reliability and latency of the communication system, the relationship among reliability, latency, AoI and estimation error is complex. This paper proposes a remote state observation system with application-layer rateless codes to explore above relationships, addressing how to design the system for optimal performance based on varying requirements by adjusting coding parameters. By emphasizing flexible and adaptable coding strategies, we aim to convey the idea that the error-correction codes can be designed to optimize the communication system for diverse practical metrics. It is different from the traditional designs that focus on approaching the Shannon limit.

关键词： Measurement Estimation error Correlation Communication systems Reliability engineering Information age Error correction codes Internet of Things Channel coding State estimation

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Multimodal Emotion Recognition Based on Multi-Scale Facial Features and Cross-Modal Attention 26

Multimodal Emotion Recognition Based on Multi-Scale Facial F...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Bao, Chengao Chen, Luefeng Li, Min Wu, Min Pedrycz, Witold Hirota, Kaoru School of Automation China University of Geosciences Wuhan430074 China School of Automation Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6R 2G7 Canada Tokyo Institute of Technology Yokohama226-8502 Japan Tokyo Institute of Technology Tokyo226-8502 Japan

ISBN: (纸本)9798331521950

A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method. © 2025 IEEE.

关键词： Modal analysis

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Near minimum-time feedback attitude control with multiple saturation constraints for agile satellites

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Chinese Journal of Aeronautics 2016年第3期29卷 722-737页

作者： Liu Xiangdong Xin Xing Li Zhen Chen Zhen Sheng Yongzhi School of Automation Beijing Institute of Technology National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Agile satellites are of importance in modern aerospace applications, but high mobility of the satellites may cause them vulnerable to saturation during attitude maneuvers due to limited rating of actuators, This paper proposes a near minimum-time feedback control law for the agile satellite attitude control system. The feedback controller is formed by specially designed cascaded sub-units. The rapid dynamic response of the modified Bang Bang control logic achieves the near optimal property and ensures the non-saturation properties on three-axis. To improve the dynamic performance, a model reference control strategy is proposed, in which the oniline near optimal attitude maneuver path is generated by the cascade controller and is then tracked by a nonlinear back-stepping controller. Furthermore, the accuracy and the robustness of the control system are achieved by momentum-based on-line inertial identification. The rapid attitude maneuvering can be applied for tasks including the move to move case. Numerical simulations are conducted to verify the effectiveness of the proposed control strategy in terms of the saturation-free property and rapidness.

关键词： Actuator saturation Attitude control Identification Momentum transfer Satellites

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Semantic and Emotional Dual Channel for Emotion Recognition in Conversation

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IEEE Transactions on Affective Computing 2025年

作者： Yang, Zhenyu Zhang, Zhibo Cheng, Yuhu Zhang, Tong Wang, Xuesong Jinan250353 China Shandong Engineering Research Center of Big Data Applied Technology Faculty of Computer Science and Technology Jinan250353 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Industrial Network and Information System Security Jinan250353 China China University of Mining and Technology Engineering Research Center of Intelligent Control for Underground Space Ministry of Education Xuzhou Key Laboratory of Artificial Intelligence and Big Data School of Information and Control Engineering Xuzhou221116 China South China University of Technology Guangdong Provincial Key Laboratory of Computational Intelligence and Cyberspace Information School of Computer Science and Engineering Guangzhou510006 China Pazhou Lab Guangzhou510335 China Engineering Research Center Ministry of Education on Health Intelligent Perception and Paralleled Digital-Human Guangzhou China

Emotion recognition in conversation (ERC) aims at accurately identifying emotional states expressed in conversational content. Existing ERC methods, although relying on semantic understanding, often encounter challenges when confronted with incomplete or misleading semantic information. In addition, when dealing with the interaction between emotional and semantic information, existing methods are often difficult to effectively distinguish the complex relationship between the two, which affects the accuracy of emotion recognition. To address the problems of semantic misdirection and emotional cross-talk encountered by traditional models when confronted with complex conversational data, we propose a semantic and emotional dual channel (SEDC) strategy for emotion recognition in conversations to process emotional and semantic information independently. Under this strategy, emotion information provides an auxiliary recognition function when the semantics are unclear or lacking, enhancing the accuracy of the model. Our model consists of two modules: the emotion processing module accurately captures the emotional features of each utterance through contrastive learning, and then constructs a dialogue emotion propagation map to simulate the emotional information conveyed in the dialogue;the semantic processing module combines an external knowledge base to enhance the semantic expression of the dialogue through knowledge enhancement strategies. This divide-and-conquer approach allows us to more deeply analyze the emotional and semantic dimensions of complex dialogues. Experimental results on the IEMOCAP, EmoryNLP, MELD, and DailyDialog datasets show that our approach significantly outperforms existing techniques and effectively improves the accuracy of dialogue emotion recognition. Our code is available at https://***/r/SEDC-FCF1. © 2010-2012 IEEE.

关键词： Contrastive Learning

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control method on serial type pump-valve coordinated electro-hydraulic servo system

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Journal of Beijing Institute of Technology 2016年第1期25卷 100-107页

作者：谢文汪首坤王军政吴建 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corresponding control strategy was *** system was constituted of a pumpcontrolled part and a valve-controlled part,the pump controlled part is used to adjust the flow rate of oil source and the valve controlled part is used to complete the position tracking control of the hydraulic *** on the system characteristics,a load flow grey prediction method was adopted in the pump controlled part to reduce the system overflow losses,and an adaptive robust control method was adopted in the valve controlled part to eliminate the effect of system nonlinearity and parametric uncertainties due to variable hydraulic parameters and system loads on the control *** experimental results validated that the adopted control strategy increased the system efficiency obviously with guaranteed high control accuracy.

关键词： pump-valve coordinated grey prediction adaptive robust control efficiency

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Adaptive robust control for electrical cylinder with friction compensation usingmodified LuGre model

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Journal of Beijing Institute of Technology 2014年第3期23卷 358-367页

作者：郝仁剑王军政赵江波汪首坤 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition be- tween a static model at a high speed and a LuGre model at a low speed to avoid instability due to dis- cretization with a finite sampling rate. To accelerate the speed of estimating time-varying parame- ters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lya- punov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point- point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy.

关键词： adaptive robust electrical cylinder friction compensation LuGre model

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Line-element based nonlinear adaptive piecewise compensating correction for LVDT sensors

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Journal of Beijing Institute of Technology 2013年第4期22卷 497-503页

作者：王立鹏王军政赵江波吴江丰 Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology

In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.

关键词： line element adaptively segment linear variable differential transformer （LVDT） non-linear compensation correction

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