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第41届中国控制会议

作者： Yu Zhai Zhe Liu Yanzi Miao Hesheng Wang China University of Mining and Technology MoE Key Lab of Artificial Intelligence Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Developing an efficient automatic navigation system for mobile robots is challenging in the strange scenarios where robots can only observe the environment of the surrounding limited *** other distributed automatic navigation systems exist,they often require extracting semantic information to calculate navigation action,which requires extra modules to provide perceptual information and is not *** propose an end-to-end automatic navigation system based on the reinforcement learning *** particular,the raw 3 D LiDAR data is used to directly map an efficient navigation *** design a novel dense reward function to handle the reward sparsity issue and provide a graphical representation method to enable the efficient feature learning from the raw 3 D LiDAR data in our navigation *** addition,an imitation learning based policy initialization is introduced before the subsequent reinforcement learning,which increases the learning efficiency and,in the meantime,still encouraging the robot to explore all the potential states to achieve advanced performance than the imitated *** navigation model is trained in the Webots environment and the experimental results show that our model has efficient and flexible navigation performance in complex *** importantly,trained model can be easily extended to unfamiliar environments.

关键词： End-to-end Navigation Mobile robot Reinforcement Learning 3D LiDAR

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Digital-Twin-Based Clock Synchronization in Industrial IoT Systems 13

Digital-Twin-Based Clock Synchronization in Industrial IoT S...

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13th IEEE International Conference on CYBER Technology in Automation, control, and intelligent Systems, CYBER 2023

作者： Cheng, Ting Liu, Shuai Xu, Qimin Zhu, Shanying 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 Control Science and Engineering Shandong University Jinan250061 China

ISBN: (纸本)9798350315196

Close and efficient cooperation between devices in the Industrial Internet of Things (IIoT) requires precise clock synchronization as a prerequisite. The uncertainty of IIoT networks and the complexity of industrial environments have led to less precise clock synchronization achieved by traditional algorithms and higher network resource consumption. This paper proposes a digital-twin-based clock synchronization scheme for IIoT systems. By building the digital model for each local clock to predict their clock skew, the information interaction required to achieve synchronization is reduced. In order to model the clock accurately, this paper proposes to use the extended state Kalman filter to handle uncertain dynamics and unknown measurement bias to improve the estimation accuracy of clock skew further. The simulation results show that the proposed algorithm can achieve high- precision clock synchronization while reducing the consumption of network resources. © 2023 IEEE.

关键词： Internet of things

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Explicit Predictive control of Forward DC-DC Converter Based on an Input-Mapping Method

Explicit Predictive Control of Forward DC-DC Converter Based...

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第43届中国控制会议

作者： Xiang Gu Dewei Li Aoyun Ma Yaru Yu Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In the practical application of model predictive control in power electronics, both online computational burden and model accuracy are crucial. This paper presents an explicit model predictive control method based on input-mapping *** address the issue of parameter drift in the forward DC-DC converter system, the input-mapping method is introduced to compensate for model deviations using historical data. Firstly, the average model of the forward DC-DC converter system is introduced. For the control objective of voltage tracking, an explicit predictive control using the incremental model is ***, input-mapping method is integrated with explicit predictive control. During offline computation, analytical forms of the input-mapping combination coefficients and the optimal solution function of explicit model predictive control are *** computation of combination coefficients is conducted to obtain the optimal solution rapidly. The effectiveness of the proposed method is verified through simulations in MATLAB.

关键词： Forward DC-DC converter explicit model predictive control input-mapping method

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Spatial-Temporal-Rule-based Traffic Movement Status Interpretation at Intersections *

Spatial-Temporal-Rule-based Traffic Movement Status Interpre...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Zhuang, Hanyang Gao, Liyang Qian, Yeqiang Wang, Chunxiang Yang, Ming University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University 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)9798350327182

Traffic light is the most significant component of road transportation. Traffic lights control the traffic movement at intersections by allowing the movement of some lanes and forbidding that of the others to ensure safety and efficiency. It is important for intelligent vehicles to understand the meaning of traffic lights. Conventional research works on traffic light detection and tracking consider each light independently, so the occlusion of some lights may mislead the decision of the vehicle. Since all traffic lights at an intersection work together, it is more essential to understand the traffic movement status controlled by the traffic lights rather than the perception of a single light. Therefore, this paper proposes a spatial-temporal-rule-based framework to interpret the current traffic movement status and predict the next status. The spatial information, including position and class, is obtained by traffic light detection. The temporal information is perceived by the proposed topologic-feature-based tracking method. The rule information is recognized by combination of spatial and temporal information. A dual-view camera system consisting of a telephoto camera and a wide-angle camera is adopted to ensure long perception distance and wide coverage simultaneously. The successful tracking of traffic lights from 200 m to 10 m away provides enough data to recognize the phase-change rule, which leads to correct interpretation and prediction. A customized dataset was collected, and experiments were conducted to illustrate the capability of the proposed method. © 2023 IEEE.

关键词： Cameras

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AoI-Reliability Analysis with Block Length over Erasure Channels Using Rateless Codes 24

AoI-Reliability Analysis with Block Length over Erasure Chan...

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24th IEEE International Conference on Communication Technology, ICCT 2024

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

ISBN: (纸本)9798350363760

As a metric to measure the information freshness, Age of Information (AoI) is widely used to evaluate low-latency high-reliability communication. Since the communication in Industrial Internet of Things (IIoT) often has the special requirements, the relationship among AoI, reliability and block length in time-critical scenarios with bounded latency and non-time-critical scenarios without bounded latency is explored respectively in this paper, based on erasure channels using rateless codes. We build a model using LT codes over erasure channels and consider two metrics: average AoI and bounded AoI. Theoretical analysis and simulation results show that AoI has a minimum value with different block lengths. Furthermore, we draw a conclusion that the minimum value of AoI under different reliability is monotonically decreasing functioned with reliability. Finally, the impact of overhead on reliability and AoI of LT codes in time-critical scenarios is studied. © 2024 IEEE.

关键词： Turbo codes

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Spatio-Temporal Context Modeling for Road Obstacle Detection 1

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4th International Conference on Machine Learning for Cyber Security, ML4CS 2022

作者： Wu, Xiuen Wang, Tao Liang, Lingyu Li, Zuoyong Ching, Fum Yew College of Computer and Data Science Fuzhou University Fuzhou350108 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou350108 China The Key Laboratory of Cognitive Computing and Intelligent Information Processing of Fujian Education Institutions Wuyi University Wuyishan354300 China School of Electronic and Information Engineering South China University of Technology Guangzhou510641 China Ministry of Education Key Laboratory of Computer Network and Information Integration Southeast University Nanjing211189 China Guangzhou510320 China Penang11800 Malaysia

ISBN: (数字)9783031200960

ISBN: (纸本)9783031200953

Road obstacle detection is an important problem for vehicle driving safety. In this paper, we aim to obtain robust road obstacle detection based on spatio-temporal context modeling. Firstly, a data-driven spatial context model of the driving scene is constructed with the layouts of the training data. Then, obstacles in the input image are detected via the state-of-the-art object detection algorithms, and the results are combined with the generated scene layout. In addition, to further improve the performance and robustness, temporal information in the image sequence is taken into consideration, and the optical flow is obtained in the vicinity of the detected objects to track the obstacles across neighboring frames. Qualitative and quantitative experiments were conducted on the Small Obstacle Detection (SOD) dataset and the Lost and Found dataset. The results indicate that our method with spatio-temporal context modeling is superior to existing methods for road obstacle detection. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Object detection

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Boltzmann Robust Soliton Distribution for Rateless Codes 24

Boltzmann Robust Soliton Distribution for Rateless Codes

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24th IEEE International Conference on Communication Technology, ICCT 2024

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

ISBN: (纸本)9798350363760

The decoding success rate may be worse when classical degree distributions are used in short-packet transmission of rateless codes, especially in industrial communication scenarios. A novel Boltzmann degree distribution is proposed for Luby Transform (LT) codes. The Boltzmann degree distribution has a high decoding success rate for short-packet transmission but a lower decoding success rate in long-packet transmission. To balance the performance of rateless codes for short and long packet transmission, the Boltzmann degree distribution and the robust soliton distribution (RSD) are combined with a new joint degree distribution, called Boltzmann Robust Soliton Distribution (BRSD). Simulation results show that compared with RSD and Poisson robust soliton distribution (PRSD), the proposed joint distribution can achieve a higher decoding success rate and reduce the average degree, especially in short-packet transmission of industrial communication. © 2024 IEEE.

关键词： Decoding

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ADMEOOD: Out-of-Distribution Benchmark for Drug Property Prediction

ADMEOOD: Out-of-Distribution Benchmark for Drug Property Pre...

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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Wei, Shuoying Li, Songquan Guo, Yifei Zhu, Lida Wen, Xinlong Zhu, Rongbo College of Informatics Huazhong Agricultural University Wuhan430070 China Shenzhen Institute of Nutrition and Health Huazhong Agricultural University Shenzhen518000 China Shenzhen Branch Guangdong Laboratory for Lingnan Modern Agriculture Genome Analysis Laboratory of the Ministry of Agriculture Agricultural Genomics Institute at Shenzhen Chinese Academy of Agricultural Sciences Shenzhen518000 China Engineering Research Center of Intelligent Technology for Agriculture Ministry of Education Hubei Wuhan430074 China Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Hubei Wuhan430074 China

ISBN: (纸本)9798350337488

Obtaining accurate and effective information for drug molecules is a crucial and challenging task, which relies on high-quality chemical knowledge. However, chemical knowledge has been accumulated over the past 100 years from various regions, laboratories, and experimental purposes, which contains a lot of noise and inconsistency, leading to the out-of-distribution (OOD) problem. OOD may results in weak robustness and unsatisfied performance. In order to solve OOD learning problem with noise, a novel benchmark: ADMEOOD is proposed, which is a systematic OOD dataset curator and specifically designed for drug property prediction. ADMEOOD screens 27 Absorption, Distribution, Metabolism and Excretion (ADME) drug properties from Chembl and relevant literature. This paper explicitly make distinctions between two kinds of OOD data shifts: Noise Shift and Concept Conflict Drift (CCD). Overall, ADME contains 6 domain annotations combined with noise, CCD and no shifts, resulting in 18 different splits in total. ADMEOOD provides performance results on a variety of SOTA OOD models. The results demonstrate a significant difference performance between in-distribution and OOD data. Moreover, Empirical Risk Minimization and other models exhibit distinct trends in different domains and measurement types. The ADMEOOD benchmark can be accessed via https://***/qweasdzxc-wsy/ADMEOOD/. © 2023 IEEE.

关键词： ADME Benchmark Drug property prediction Out-of-distribution

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Spatial Distillation based Distribution Alignment (SDDA) for Cross-Headset EEG Classification

arXiv

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arXiv 2025年

作者： Liu, Dingkun Li, Siyang Wang, Ziwei Li, Wei Wu, Dongrui 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 Shenzhen Huazhong University of Science and Technology Research Institute Shenzhen518000 China

A non-invasive brain-computer interface (BCI) enables direct interaction between the user and external devices, typically via electroencephalogram (EEG) signals. However, decoding EEG signals across different headsets remains a significant challenge due to differences in the number and locations of the electrodes. To address this challenge, we propose a spatial distillation based distribution alignment (SDDA) approach for heterogeneous cross-headset transfer in non-invasive BCIs. SDDA uses first spatial distillation to make use of the full set of electrodes, and then input/feature/output space distribution alignments to cope with the significant differences between the source and target domains. To our knowledge, this is the first work to use knowledge distillation in cross-headset transfers. Extensive experiments on six EEG datasets from two BCI paradigms demonstrated that SDDA achieved superior performance in both offline unsupervised domain adaptation and online supervised domain adaptation scenarios, consistently outperforming 10 classical and state-of-the-art transfer learning algorithms. Copyright © 2025, The Authors. All rights reserved.

关键词： Transfer learning

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Global Consensus for Heterogeneous Saturated Multi-Agent Systems via Sampled-Data control 63

Global Consensus for Heterogeneous Saturated Multi-Agent Sys...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Qian, Juan Wang, Xiaoling Astolfi, Daniele Su, Housheng Jiang, Guo-Ping Nanjing University of Posts and Telecommunications College of Automation and the College of Artificial Intelligence Nanjing210023 China Nanjing210023 China Université Claude Bernard Lyon 1 Cnrs Lagepp Umr 5007 43 boulevard du 11 novembre 1918 VilleurbanneF-69100 France East China University of Science and Technology Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education Shanghai200237 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Luoyu Road 1037 Wuhan430074 China

ISBN: (纸本)9798350316339

This paper addresses the global consensus problem for multi-input multi-output saturated systems within a sampled-data framework, aiming to advance global consensus, manage heterogeneous actuator saturation across components, and preserve distributed characteristics by using sampled-data feedback. We propose a distributed control algorithm that incorporates a redesigned saturation function, represented as decentralized dynamic saturation levels. These levels for each agent's dimensions are autonomously updated through an adaptive strategy, which mitigates heterogeneous saturation by carefully selecting constant and time-varying saturation parameters in it. Lyapunov analysis proves that global consensus can be achieved under the proposed control law, provided the sampling periods of all agents remain below a calculated threshold. An example is given to demonstrate the effectiveness of this approach. © 2024 IEEE.

关键词： Decentralized control

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