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arXiv 2021年

作者： Zhang, Han Ringh, Axel Department of Automation 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 Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Department of Mathematical Sciences Chalmers University of Technology University of Gothenburg Gothenburg41296 Sweden

The inverse linear-quadratic optimal control problem is a system identification problem whose aim is to recover the quadratic cost function and hence the closed-loop system matrices based on observations of optimal trajectories. In this paper, the discrete-time, finite-horizon case is considered, where the agents are also assumed to be homogeneous and indistinguishable. The latter means that the agents all have the same dynamics and objective functions and the observations are in terms of "snap shots" of all agents at different time instants, but what is not known is "which agent moved where" for consecutive observations. This absence of linked optimal trajectories makes the problem challenging. We first show that this problem is globally identifiable. Then, for the case of noiseless observations, we show that the true cost matrix, and hence the closed-loop system matrices, can be recovered as the unique global optimal solution to a convex optimization problem. Next, for the case of noisy observations, we formulate an estimator as the unique global optimal solution to a modified convex optimization problem. Moreover, the statistical consistency of this estimator is shown. Finally, the performance of the proposed method is demonstrated by a number of numerical examples. Copyright © 2021, The Authors. All rights reserved.

关键词： Convex optimization

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Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

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2021 IEEE International Conference on Robotics and Automation, ICRA 2021

作者： Wu, Zicong Lou, Chuqian Jin, Zhu Huang, Shaoping Liu, Ning Zou, Yun Kovac, Mirko Gao, Anzhu Yang, Guang-Zhong The Institute of Medical Robotics Department of Bioengineering Shanghai Jiao Tong University Shanghai200240 China Imperial College London Empa-Swiss Federal Laboratories for Materials Science and Technology United Kingdom Limited 999077 Hong Kong Aerial Robotics Laboratory Imperial College London LondonSW7 2AZ United Kingdom The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781728190778

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments. © 2021 IEEE

关键词： Electrospinning

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A Real-time Framework of Multi-Camera Vehicle Tracking System

A Real-time Framework of Multi-Camera Vehicle Tracking Syste...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Zhuang, Hanyang Chen, Xingyuan Lan, Jianglin Wang, Ying Lu, Zhaoxuan Wang, Chunxiang Yang, Ming University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China University of Glasgow James Watt School of Engineering GlasgowG12 8QQ United Kingdom Shanghai Jiao Tong University School of Mechanical Engineering Shanghai200040 China Shanghai Intelligent and Connected Vehicle R and D Center Co. LTD Shanghai201400 China Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

Multi-camera vehicle tracking (MCVT) system is a key technology to build an intelligent city and intelligent transportation system. The MCVT system utilizes roadside monitoring devices and computing platforms to achieve city-level road traffic perception at a finer scale by tracking each vehicle on the road to obtain the trajectory. The existing MCVT system mainly focuses on dealing with the algorithm modules separately, without studying the real-time performance and system architecture of the entire pipeline. However, in real-world applications, many of the tricks in improving evaluation metrics are not applicable since there is endless traffic flow running all the time. Therefore, this paper proposes a real-time framework of the MCVT system to streamline all the algorithm modules with proper data flow. Firstly, a multi-threaded multi-vehicle tracking (MVT) module is developed to detect vehicles in each camera. Re-identification is implemented during MVT to provide the feature for tracking in the same camera and across different cameras. Then, after the vehicle leaves the camera field of view, the feature of vehicle trajectory is calculated by averaging the feature at each frame. Meanwhile, a background thread runs continuously to match the incoming feature of vehicle trajectory with past features by conducting a topology searching method. In the end, the vehicle trajectories with well-matched features are considered to be the same vehicle. The entire pipeline has been validated on two different datasets, the precision is 0.64 in the CityFlow dataset which uses 6 cameras simultaneously. In the customized dataset, the same method can still reach real-time when using 16 cameras at the same time with smaller network modules. © 2024 IEEE.

关键词： Vehicle locating systems

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Front-end Replication Dynamic Window (FRDW) for Online Motor imagery Classification

arXiv

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arXiv 2024年

作者： Chen, Xinru An, Jiayu Wu, Huanyu Li, Siyang Liu, Bin Wu, Dongrui The Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China The Shenzhen Huazhong University of Science and Technology Research Institute Shenzhen China Beijing Fenghuo Wanjia Technology Co. Ltd. Beijing100026 China

Motor imagery (MI) is a classical paradigm in electroencephalogram (EEG) based brain-computer interfaces (BCIs). Online accurate and fast decoding is very important to its successful applications. This paper proposes a simple yet effective front-end replication dynamic window (FRDW) algorithm for this purpose. Dynamic windows enable the classification based on a test EEG trial shorter than those used in training, improving the decision speed;front-end replication fills a short test EEG trial to the length used in training, improving the classification accuracy. Within-subject and cross-subject online MI classification experiments on three public datasets, with three different classifiers and three different data augmentation approaches, demonstrated that FRDW can significantly increase the information transfer rate in MI decoding. Additionally, FR can also be used in training data augmentation. FRDW helped win national champion of the China BCI Competition in 2022. © 2024, CC BY.

关键词： Brain computer interface

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Model-Predictive-control-based Simultaneous Trajectory Tracking and Speed control for intelligent Vehicles*

Model-Predictive-Control-based Simultaneous Trajectory Track...

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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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Giant-cavity-based quantum sensors with enhanced performance

arXiv

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arXiv 2022年

作者： Zhu, Y.T. Wu, R.B. Peng, Z.H. Xue, Shibei 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 Center for intelligent and networked systems Department of Automation Tsinghua University Beijing100084 China Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Key Laboratory for Matter Microstructure and Function of Hunan Province Department of Physics Synergetic Innovation Center for Quantum Effects and Applications Hunan Normal University Changsha410081 China

Recent progresses have revealed that quantum systems with multiple position-dependent couplings, e.g., giant atoms, can exhibit some unconventional phenomena, such as non-exponential decay etc. However, their potential applications are still open questions. In this paper, we propose a giant-cavity-based quantum sensor for the first time, whose performance can be greatly enhanced compared to traditional cavity-based sensors. In our proposal, two cavities couple to a dissipative reservoir at multiple points while they couple to a gain reservoir in a single-point way. To detecting a unknown parameter using this sensor, a waveguide is coupled to one of the cavities where detecting fields can pass through for homodyne detection. We find that multiple position-dependent couplings can induce an inherent non-reciprocal coupling between the cavities, which can enhance the performance of sensors. Output noise in our scheme can be reduced to the shot noise level, which is about one order magnitude lower than the results in Ref. [Lau and Clerk (2018)]. Besides, the signal-to-noise ratio per photon is also enhanced by about one order of magnitude. These results show that the multiple-point-coupling structure is beneficial to nowadays quantum devices. Copyright © 2022, The Authors. All rights reserved.

关键词： Couplings

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Design and Analysis of Neural Networks Based on Linearly Translated Features

Design and Analysis of Neural Networks Based on Linearly Tra...

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International Conference on intelligent control and information processing (ICICIP)

作者： Jiasen Wang Jun Wang Wei Zhang City University of Hong Kong Kowloon Tong Hong Kong Shenzhen Research Institute City University of Hong Kong Shenzhen China Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Three Gorges University Wanzhou Chongqing China

ISBN: (数字)9781728100159

ISBN: (纸本)9781728100166

In this paper, neural networks based on linearly translated features (LTFs) are presented. LTFs including uniform, non-uniform, and multiple translation vectors are embedded into feedforward neural networks. Learning algorithms are presented for the neural networks. Learning capabilities of the neural networks are analyzed. Experimental results on approximation' identification, and evaluation problems are reported to substantiate the efficacy of the neural networks and learning algorithms.

关键词： TV Training Heuristic algorithms Artificial neural networks Games Measurement

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A Born-Again Takagi-Sugeno-Kang Fuzzy Classifier with Decoupled Fuzzy Dark Knowledge Distillation

SSRN

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SSRN 2024年

作者： Zhang, Xiongtao Yin, Zezong Jiang, Yunliang Jiang, Yizhang Sun, Danfeng Liu, Yong School of Information Engineering Huzhou University Huzhou31300 China Zhejiang Key Laboratory of Intelligent Education Technology and Application Zhejiang Normal University Jinhua321004 China School of Computer Science and Technology Zhejiang Normal University Jinhua321004 China School of Artificial Intelligence and Computer Science Jiangnan University Wuxi 214122 China Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Ministry of Education Wuhan430074 China School of Computer Science Hangzhou Dianzi University Hangzhou310018 China College of Control Science and Engineering Zhejiang University Hangzhou310027 China

In order to enpower the hight performance as well as interpretability of low-order TSK fuzzy classifier, a born-again TSK fuzzy classier embedded with decoupled fuzzy dark knowledge distillation called HTSK-LLM-DKD is proposed in this study. HTSK-LLM DKD achieves the following distinctive characteristics: 1) It takes high-order TSK as teacher model and low-order TSK fuzzy classifier as student model, and leverages the proposed Least Learning Machine based Decoupling Knowledge Distillation to distill the fuzzy dark knowledge from high-order TSK fuzzy classifier to low-order TSK fuzzy classifier, which resulting in low-order TSK fuzzy classifier endowed with enhanced performance surpassing or at least comparable to high-order TSK fuzzy classifier;specifically 2) The Negative Euclidean distance between the output of teacher model and each class is employed to obtain the teacher logits, and then it computes teacher/student soft labels by the softmax function with distilling temperature parameter;3) By reformulating the Kullback Leibler divergence, it decouples fuzzy dark knowledge into target class knowledge and non-target class knowledge, and transfers them to student model, which taking HTSK-LLM-DKD with outstanding performance and relatively fast running speed. Extensive experiment results on UCI benchmarking datasets and real-world dataset Cleveland Heart Disease demonstrate the effectiveness of the proposed HTSK-LLM-DKD. © 2024, The Authors. All rights reserved.

关键词： Students

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NeRF in Robotics: A Survey

arXiv

引用

arXiv 2024年

作者： Wang, Guangming Pan, Lei Peng, Songyou Liu, Shaohui Xu, Chenfeng Miao, Yanzi Zhan, Wei Tomizuka, Masayoshi Pollefeys, Marc Wang, Hesheng The University of Cambridge ETH Zurich Switzerland The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China ETH Zurich Zurich Switzerland Mechanical Systems Control Laboratory University of California Berkeley United States

Meticulous 3D environment representations have been a longstanding goal in computer vision and robotics fields. The recent emergence of neural implicit representations has introduced radical innovation to this field as implicit representations enable numerous capabilities. Among these, the Neural Radiance Field (NeRF) has sparked a trend because of the huge representational advantages, such as simplified mathematical models, compact environment storage, and continuous scene representations. Apart from computer vision, NeRF has also shown tremendous potential in the field of robotics. Thus, we create this survey to provide a comprehensive understanding of NeRF in the field of robotics. By exploring the advantages and limitations of NeRF, as well as its current applications and future potential, we hope to shed light on this promising area of research. Our survey is divided into two main sections: The Application of NeRF in Robotics and The Advance of NeRF in Robotics, from the perspective of how NeRF enters the field of robotics. In the first section, we introduce and analyze some works that have been or could be used in the field of robotics from the perception and interaction perspectives. In the second section, we show some works related to improving NeRF's own properties, which are essential for deploying NeRF in the field of robotics. In the discussion section of the review, we summarize the existing challenges and provide some valuable future research directions for reference. © 2024, CC BY-NC-ND.

关键词： Robotics

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Fast Intra Mode Prediction Algorithms for SCBS in VVC SCC

Fast Intra Mode Prediction Algorithms for SCBS in VVC SCC

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International Conference on Acoustics, Speech, and Signal processing (ICASSP)

作者： Dayong Wang Yishen Deng Weisheng Li Xin Lu Frederic Dufaux Bo Hang Ce Zhu Key Laboratory of Big Data Intelligent Computing Chongqing University of Posts and Telecommunications Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou University Chongqing Key Laboratory of Image Cognition Chongqing University of Posts and Telecommunications Faculty of Computing Engineering and Media (CEM) De Montfort University Université Paris-Saclay CNRS CentraleSupélec Laboratoire des Signaux et systèmes The Computer School Hubei University of Arts and Science School of Information and Communication Engineering University of Electronic Science and Technology of China

Versatile Video Coding (VVC) now supports Screen Content Coding (SCC) by integrating two efficient coding modes: Intra Block Copy (IBC) and Palette (PLT). However, the numerous modes and the Quad-Tree Plus Multi-Type Tree (QTMT) structure inherent to VVC contribute to a very high coding complexity. To effectively reduce the computational complexity of VVC SCC, we propose a fast Intra mode prediction algorithm for VVC SCC. More specifically, we first use the difference of minimum Sum of Absolute Transformed Differences (SATD) value of four Directional Modes (DMs) of Intra and the SATD value of the IBC-merge mode to determine whether to early skip Intra checking. Subsequently, we use a decision tree to determine whether to early terminate the checking after block differential pulse coded modulation (BDPCM). Finally, we employ a decision tree to determine whether to early skip multiple transform selection (MTS) and low frequency non-separable transform (LFNST) checking. The results demonstrate that our algorithm achieves an average encoding time reduction of 34.34% with a negligible Bjøntegaard delta bitrate increase of 0.46%.

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