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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Hanyang Zhuang Yikai Hu Chunxiang Wang Ming Yang University of Michigan - Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai China Guangxi Key Laboratory of Automobile Components and Vehicle Technology Guangxi University of Science and Technology Liuzhou China Shanghai Jiao Tong University Shanghai Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665431545

Trajectory tracking and speed control for intelligent vehicles are put forward higher requirements on accuracy by the high traffic density scenario. A standard Model Predictive control (MPC) algorithm focuses on the trajectory tracking but ignores the speed control. This paper proposes a simultaneous trajectory tracking and speed control algorithm based on MPC approach to address fine control in both space and time dimensions for intelligent vehicles. A threefold cost function including lateral and longitudinal speed as well as comfort has been proposed to improve the control algorithm. The simulations and comparisons demonstrate that the proposed method has a better tracking and speed control performance than the existing method.

关键词： Space vehicles Costs Mechatronics Trajectory tracking intelligent vehicles Velocity control Prediction algorithms

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Strategy evolution on dynamic networks

arXiv

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arXiv 2023年

作者： Su, Qi McAvoy, Alex Plotkin, Joshua B. Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China School of Data Science and Society University of North Carolina at Chapel Hill Chapel HillNC27599 United States Department of Mathematics University of North Carolina at Chapel Hill Chapel HillNC27599 United States Department of Biology University of Pennsylvania PhiladelphiaPA19104 United States Center for Mathematical Biology University of Pennsylvania PhiladelphiaPA19104 United States

Models of strategy evolution on static networks help us understand how population structure can promote the spread of traits like cooperation. One key mechanism is the formation of altruistic spatial clusters, where neighbors of a cooperative individual are likely to reciprocate, which protects prosocial traits from exploitation. But most real-world interactions are ephemeral and subject to exogenous restructuring, so that social networks change over time. Strategic behavior on dynamic networks is difficult to study, and much less is known about the resulting evolutionary dynamics. Here, we provide an analytical treatment of cooperation on dynamic networks, allowing for arbitrary spatial and temporal heterogeneity. We show that transitions among a large class of network structures can favor the spread of cooperation, even if each individual social network would inhibit cooperation when static. Furthermore, we show that spatial heterogeneity tends to inhibit cooperation, whereas temporal heterogeneity tends to promote it. Dynamic networks can have profound effects on the evolution of prosocial traits, even when individuals have no agency over network structures. © 2023, CC BY.

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Parity space-based model mismatch detection for linear discrete time-invariant systems with unknown disturbances

Parity space-based model mismatch detection for linear discr...

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第三十九届中国控制会议

作者： Yi Tang Dan Ling Hong Zhang Yanewei Wang Ying Zheng the Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and Technology School of Electrical and Information Engineering Zhengzhou University of Light Industry School of Mechanical & Electrical Engineering Wuhan Institute of Technology

Model mismatch is one of the main factors of control performance degradation. In this paper, a new model mismatch detection approach with parity space-based methods is proposed for linear discrete time-invariant（LDTI） systems. This paper establishes a parity space-based residual evaluation function for the detection of model mismatch. The problem of parity space-based model mismatch is formulated on a state space model of a LDTI system. A standard evaluation function and its thresholds for the detection of model mismatch are proposed by providing the parity model-based residuals. It is shown the proposed approach results in an optimal fault detectability without any assumptions on the probability distribution of unknown disturbances. The effectiveness of the proposed methods is demonstrated by the simulation study of the paper machine head box control example.

关键词： Parity space Model mismatch detection LDTV systems model-based residual generation

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Calibration of the internal and external parameters of wheeled robot mobile chasses and inertial measurement units based on nonlinear optimization

arXiv

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arXiv 2020年

作者： Peng, Gang Lu, Zezao Tan, Zejie He, Dingxin Li, Xinde Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan School of Automation South East University Nanjing

Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU arising from defective calibration directly affect the accuracy of robot positioning and pose estimation. While this issue has been addressed by the mature internal reference calibration methods available for IMUs, external reference calibration methods between the IMU and the chassis of a mobile robot are lacking. This study addresses this issue by proposing a novel chassis-IMU internal and external parameter calibration algorithm based on nonlinear optimization, which is designed for robots equipped with cameras, IMUs, and wheel speed odometers, and functions under the premise of accurate calibrations for the internal parameters of the IMU and the internal and external parameters of the camera. All of the internal and external reference calibrations are conducted using the robot's existing equipment without the need for additional calibration aids. The feasibility of the method is verified by its application to a Mecanum wheel omnidirectional mobile platform as an example, as well as suitable for other type chassis of mobile robots. The proposed calibration method is thereby demonstrated to guarantee the accuracy of robot pose estimation. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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Do not disturb me: Person re-identification under the interference of other pedestrians

arXiv

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arXiv 2020年

作者： Zhao, Shizhen Gao, Changxin Zhang, Jun Cheng, Hao Han, Chuchu Jiang, Xinyang Guo, Xiaowei Zheng, Wei-Shi Sang, Nong Sun, Xing Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology China Tencent Youtu Lab Sun Yat-sen University China

In the conventional person Re-ID setting, it is widely assumed that cropped person images are for each individual. However, in a crowded scene, off-shelf-detectors may generate bounding boxes involving multiple people, where the large proportion of background pedestrians or human occlusion exists. The representation extracted from such cropped images, which contain both the target and the interference pedestrians, might include distractive information. This will lead to wrong retrieval results. To address this problem, this paper presents a novel deep network termed Pedestrian-Interference Suppression Network (PISNet). PISNet leverages a Query-Guided Attention Block (QGAB) to enhance the feature of the target in the gallery, under the guidance of the query. Furthermore, the involving Guidance Reversed Attention Module and the Multi-Person Separation Loss promote QGAB to suppress the interference of other pedestrians. Our method is evaluated on two new pedestrian-interference datasets and the results show that the proposed method performs favorably against existing Re-ID methods. Our project is available at https://***/X-BrainLab/PI-ReID. Copyright © 2020, The Authors. All rights reserved.

关键词： Machine learning

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High Confidence Tracking with Offline Historical Learning and Online Correlation Filter Updating

High Confidence Tracking with Offline Historical Learning an...

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作者： Shou-dong HAN Hong-wei WANG Xin-xin XIA Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Research Institute of Huazhong University of Science and Technology in Shenzhen

Target tracking is one of the most challenging tasks in computer vision. In this paper, the high confidence tracking(HCT) algorithm is proposed by combining the offline historical learning network with online correlation filter updating model. First, the weighted historical targets are introduced into the offline learning network, which solves the problem of target loss caused by inaccurate tracking of the previous frame. Second, the target's confidence detection mechanism is proposed, and added to the correlation filter tracking algorithm, so that the model drift is avoided. Finally, we form a new high confidence tracking algorithm with offline learning. Compared with the state-of-the-art tracking algorithm, our algorithm performs outstandingly on benchmark OTB13 and OTB15, while ensuring real-time performance.

关键词： High confidence Target tracking Offline learning Online updating

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Joint multi-task cascade for instance segmentation

Joint multi-task cascade for instance segmentation

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作者： Wen, Yaole Hu, Fuyuan Ren, Jinchang Shang, Xinru Li, Linyan Xi, Xuefeng School of Electronic & Information Engineering Suzhou University of Science and Technology SuzhouJiangsu215009 China Centre for Signal and Image Processing University of Strathclyde Glasgow United Kingdom Suzhou Institute of Trade & Commerce SuzhouJiangsu215009 China Virtual Reality Key Laboratory of Intelligent Interaction and Application Technology of Suzhou Suzhou University of Science and Technology SuzhouJiangsu215009 China Suzhou Key Laboratory for Big Data and Information Service Suzhou University of Science and Technology SuzhouJiangsu215009 China

Instance segmentation requires both pixel-level classification accuracy and high-level semantic features at the target instance level, which is very challenging, and the cascade structure can effectively improve both of these problems. To make full use of the relationship between detection and segmentation, this paper proposes a joint multi-tasking cascade structure, which is not simply to cascade the two tasks of detection and segmentation, but to unitedly put them into multi-stage processing, and especially to integrate the information at different stages of the mask branch. The entire structure can effectively utilize the superior characteristics of each stage in the matter of detection and segmentation, thus improving the quality of mask prediction. The feature fusion process is introduced in the full convolution networks (FCN) branch, and the high-level and low-level features are effectively fused to enhance the contextual information of the picture semantic features. The experiments demonstrate the better results on the COCO dataset. © 2020, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Semantics

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Parameter Estimation of Redundant System 15th

Parameter Estimation of Redundant System

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15th International Conference on intelligent information Hiding and Multimedia Signal processing, IIH-MSP 2019, held in conjunction with the 12th International Conference on Frontiers of information Technology, Applications and Tools, FITAT 2019

作者： Xie, Chao-Fan Xu, Lin Zhang, Fuquan Xu, Lu-Xiong Department of Electrical Engineering I-Shou University KaohsiungTaiwan Taiwan Electronic Information and Engineering Institute Fuqing Branch of Fujian Normal University Fuqing FuzhouFuJian China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou350121 China School of Software Beijing Institute of Technology Beijing100081 China Key Laboratory of Nondestructive Testing Fuqing Branch of Fujian Normal University Fuqing FuzhouFuJian China

ISBN: (纸本)9789811397134

The components usually are redundant and they are often connected to larger systems in series or in parallel. For large systems, the order estimation formulas of different types of components are very important which are deduced by collecting the data of overall faults. The estimation properties in the sense of probability are given. It is the asymptotic convergence of probability. Continue to improve variance estimator to achieve asymptotically minimum uniform variance estimator. This ensures the practicability of the theoretical formula. Further study uses computer simulation to estimate series and parallel systems in which the components are redundant, and it gives the specific handing framework. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Computer simulation Estimation Redundant

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Modified image dehazing method based on dark channel prior 2nd

Modified image dehazing method based on dark channel prior

引用

2nd International Conference on Smart Vehicular Technology, Transportation, Communication and Applications, VTCA 2018

作者： Hu, Junpeng Cao, Xinrong Chen, Xinwei Li, Zuoyong Zhang, Fuquan College of Mathematics and Computer Science Fuzhou University Fuzhou China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China

ISBN: (纸本)9783030045845

image dehazing is an important research topic in the field of image processing and computer vision. image dehazing aims to remove haze in images and make image scenes clearer. image dehazing based on dark channel prior is a currently popular type of methods. However, image dehazing results obtained by existing methods based on dark channel prior usually have color distortion and low brightness causing partial image details invisible. To alleviate this issue, we presented a modified method based on dark channel prior. First, the proposed method estimates the value of atmospheric light by using a quadtree algorithm, and uses the dark channel prior to pixelwisely estimate and optimize medium transmission. Second, the proposed method uses a classic atmospheric scattering model to generate an initial image dehazing result, and transforms the result from RGB (Red, Green, and Blue) color space to HSV (Hue, Saturation, and Value) color space. Finally, the proposed method conducts the CLAHE (Contrast Limited Adaptive Histogram Equalization) algorithm on the V component of the initial result, and maps the result into the RGB space to obtain final image dehazing result. Experimental results showed that the proposed method effectively alleviated color distortion and made image scenes clearer in image dehazing results. © Springer Nature Switzerland AG 2019.

关键词： Demulsification

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Vibration fatigue analysis and research of URV shunt reactor 14

Vibration fatigue analysis and research of URV shunt reactor

引用

14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019

作者： Li, Shengmin Zheng, Zhicong Liang, Jining Xiao, Yamin Faculty of Automation and Information Engineering Xi'an University Ot Technology Xi'an710048 China Intelligent Information Processing Shaanxi Key Laboratory of Complex System Control Xi' an710048 China

ISBN: (纸本)9781538694909

Problems of vibration fatigue in UHV reactor is mentioned, comparative analysis of several commonly used fatigue analysis methods, finally, the modal superposition method is used to calculate the structural fatigue caused by vibration. Through analysis of reactor vibration data, the reason for using frequency domain signals as fatigue frequency domain load spectrum to calculate the service life of reactors. In order to perform reactor fatigue analysis, a finite element model of the reactor was first built using ANSYS Workbench finite element integration software, the frequency response function FRF is obtained by harmonic response analysis, and then the vibration time domain signal are transformed into frequency signal as load spectrum input with the power density spectrum, finally, nCode fatigue analysis software is used to estimate the service life of the reactor. © 2019 IEEE.

关键词： Finite element method

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