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作者： Zhu, Hao You, Qing Chen, Wenjie School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

A lot of vision systems have been embedded in devices around us, like mobile phones, vehicles and UAVs. Many of them still need interactive operations of human users. However, specifying accurate object information could be a challenging task due to video jitters caused by camera shakes and target motions. In this paper, we first collect practical hand drawn bounding boxes on real-life videos which are captured by hand-held cameras and UAV-based cameras. We give a deep look into human-computer interactive operations on unstable images. The collected data shows that human input suffers heavy deviations which are harmful to interaction accuracy. To achieve robust interactions on unstable platforms, we propose a target-focused video stabilization method which utilizes a proposal-based object detector and a tracking-based motion estimation component. This method starts with a single manual click and outputs stabilized video stream in which the specified target stays almost stationary. Our method removes not only camera jitters but also target motions simultaneously, therefore offering an comfortable environment for users to do further interactive operations. The experiments demonstrate that the proposed method effectively eliminates image vibrations and significantly increases human input accuracy. © Copyright 2018 The Institute of Electronics Information and Communication Engineers.

关键词： Cameras

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A distributed high-density resistivity meter working on a two-wire cable

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Journal of Physics: Conference Series 2021年第1期1754卷

作者： Xiquan Dong Wang Luo Hongpeng Wang Jian Ge Huan Liu Haobin Dong School of Automation China University of Geosciences Wuhan Hubei 430074 China Hubei Key Laboratory of Advance Control and Intelligent Automation for Complex Systems Wuhan Hubei 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan Hubei 430074 China

High-density resistivity meter is a common instrument used in shallow geophysical exploration. At present, the structure of the centralized high-density resistivity meter is bulky, while the distributed instrument needs more than 7 core cables, and the long measuring line needs to relay power supply to the intelligent electrode to provide enough voltage, so it is not convenient to use in the field. Aiming at the above problems, a new type of distributed high-density meter is developed, which can realize the power supply, communication, and measurement functions of distributed high-density meter and carry out multi-channel measurement through the time-division multiplexing of a two-wire cable and the short-time power supply of supercapacitor. Finally, the performance of the instrument was verified by experiments.

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Dynamic constrained multi-objective evolutionary algorithms with a novel selection strategy for constrained optimization 18

Dynamic constrained multi-objective evolutionary algorithms ...

引用

2018 Genetic and Evolutionary Computation Conference, GECCO 2018

作者： Jiao, Ruwang Li, Changhe Zeng, Sanyou Jiang, Yuhong China University of Geosciences Wuhan China China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781450357647

The recently proposed dynamic constrained multi-objective evolutionary algorithm (DCMOEA) is effective to handle constrained optimization problems (COPs). However, one drawback of DCMOEA is it mainly searches the global optimum from infeasible regions, which may result in the bias against feasible solutions. Then the useful information about the optimal direction of feasible regions is not fully used. To overcome this defect, this paper proposes a novel selection strategy based on DCMOEA framework, called NSDCMOEA to solve COPs. The performance of NSDCMOEA is evaluated using a set of benchmark suites. Experimental results validate that the proposed method is better than or very competitive to five state-of-the-art algorithms. © 2018 Copyright held by the owner/author(s).

关键词： Constrained optimization

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Formation control for multiple agents with local measurements: Continuous-time and sampled-data-based cases

arXiv

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arXiv 2019年

作者： Wang, Chen Li, Shuai Xia, Weiguo Sun, Jinan Xie, Guangming National Engineering Research Center for Software Engineering Peking University Beijing100871 China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing100871 China

We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric pattern while keeping a desired distance to a static/moving target. The prescribed formation is a general one which can be any geometric pattern, and the neighboring relationship of the N-agent system only has the requirement of containing a directed spanning tree. To solve the formation control problem, a distributed controller is proposed based on the idea of decoupled design. One merit of the controller is that it only uses each agent's local measurements in its local frame, so that a practical issue that the lack of a global coordinate frame or a common reference direction for real multi-robot systems is successfully solved. Considering another practical issue of real robotic applications that sampled data is desirable instead of continuous-time signals, the sampled-data based controller is developed. Theoretical analysis of the convergence to the desired formation is provided for the multiagent system under both the continuous-time controller with a static/moving target and the sampled-data based one with a static target. Numerical simulations are given to show the effectiveness and performance of the controllers. Copyright © 2019, The Authors. All rights reserved.

关键词： Multi agent systems

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CBS-GAN: A Band Selection Based Generative Adversarial Net for Hyperspectral Sample Generation

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IOP Conference Series: Earth and Environmental Science 2021年第1期734卷

作者： Yulin Qiao Mostofa Zaman Mohammad Yi Li Xiaobo Liu Zhihua Cai School of Automation China University of Geosciences (Wuhan) 430074 Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems 430074 Wuhan China Hubei Key Laboratory of Intelligent Geo-Information Processing China University of Geosciences Wuhan 430078 China School of Computer Science China University of Geosciences (Wuhan) 430078 Wuhan China

Sample generation is an effective method to improve the performance of hyperspectral image classification by generating virtual samples for training sample expansion in the training process of classification. However, there are some defects existing in the previous sample generation methods including the lack of spatial information, the redundant generation and the damage of the original spectral components. In this paper, we propose conditional band selection generative adversarial net, named CBS-GAN, to handle this problem. Firstly, the band selection net of CBS-GAN is utilized to avoid redundant bands and keep original spectral information, then the generation net of CBS-GAN generates the spatial-spectral data blocks by selected bands for sample generation. The experiments of classification are also used to demonstrate the availability of virtual samples generated by our method.

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Distribution system state estimation: an overview of recent developments

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 4-17页

作者： Wang Gang Giannakis Georgios B Chen Jie Sun Jian Department of Electrical and Computer Engineering and Digital Technology Center University of Minnesota USA Minneapolis MN 55455 School of Automation Beijing Institute of Technology Beijing 100081 Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

In the envisioned smart grid, high penetration of uncertain renewables, unpredictable participation of (industrial) customers, and purposeful manipulation of smart meter readings, all highlight the need for accurate, fast, and robust power system state estimation (PSSE). Nonetheless, most real-time data available in the current and upcoming transmission/distribution systems are nonlinear in power system states (i.e., nodal voltage phasors). Scalable approaches to dealing with PSSE tasks undergo a paradigm shift toward addressing the unique modeling and computational challenges associated with those nonlinear measurements. In this study, we provide a contemporary overview of PSSE and describe the current state of the art in the nonlinear weighted least-squares and least-absolutevalue PSSE. To benchmark the performance of unbiased estimators, the Cramer-Rao lower bound is developed. Accounting for cyber attacks, new corruption models are introduced, and robust PSSE approaches are outlined as well. Finally, distribution system state estimation is discussed along with its current challenges. Simulation tests corroborate the effectiveness of the developed algorithms as well as the practical merits of the theory.

关键词： State estimation Cramer-Rao bound Feasible point pursuit Semidefinite relaxation Proximal linear algorithm Composite optimization Cyber attack Bad data detection

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An Electrocommunication System Using FSK Modulation and Deep Learning Based Demodulation for Underwater Robots

An Electrocommunication System Using FSK Modulation and Deep...

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2020 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Qinghao Wang Ruijun Liu Wei Wang Guangming Xie State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab Peking University Beijing China Guangxi University of Science and Technology Liuzhou China Massachusetts Institute of Technology Cambridge MA USA Computer Science and Artificial Intelligence Lab (CSAIL) Massachusetts Institute of Technology Cambridge MA USA Institute of Ocean Research Peking University Beijing China Peng Cheng Laboratory Shenzhen China

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Underwater communication is extremely challenging for small underwater robots which typically have stringent power and size constraints. In our previous work, we developed an artificial electrocommunication system which could be an alternative for the communication of small underwater robots. This paper further presents a new electrocommunication system that utilizes Binary Frequency Shift keying (2FSK) modulation and deep-learning-based demodulation for underwater robots. We first derive an underwater electrocommunication model that covers both the near-field area and a large transition area outside of the near-field area. 2FSK modulation is adopted to improve the anti-interference ability of the electric signal. A deep learning algorithm is used to demodulate the electric signal by the receiver. Simulations and experiments show that with the same testing condition, the new communication system outperforms the previous system in both the communication distance and the data transmitting rate. In specific, the newly developed communication system achieves stable communication within the distance of 10 m at a data transfer rate of 5 Kbps with a power consumption of less than 0.1 W. The substantial increase in communication distance further improves the possibility of electrocommunication in underwater robotics.

关键词： Deep learning Bit error rate Modulation Frequency shift keying Unmanned underwater vehicles Frequency division multiplexing Demodulation

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A Modular Magneto-Inductive Sensor for Low Vector Magnetic Field Measurements

arXiv

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arXiv 2020年

作者： Liu, Huan Wang, Xiaobin Zhao, Changfeng Wang, Zehua Jian, Ge Dong, Haobin Liu, Zheng School of Automation China University of Geosciences Hubei Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Hubei Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Wuhan430074 China School of Engineering University of British Columbia Okanagan Campus KelownaBCV1V 1V7 Canada

The low magnetic field measurement has been utilized since ancient times in order to find economic resources, to detect magnetic anomalies, etc. In this case, the vector magnetic survey can simultaneously obtain the modulus and direction information of the magnetic field, which can contribute to obtaining more precise information and characteristics of magnetic field resources. This paper is concerned with the potential to exploit the signals of vector magnetic field measurement with a magneto-inductive (MI) sensor. To evaluate the capability of the MI sensor, a test platform is set up and its performance including the noise floor, the resolution, the sensitivity, etc., are comprehensively characterized. Further, a comparative geomagnetic observation and magnetic anomaly detection among the proposed MI sensor, a high-precision Overhauser sensor, and a commonly used and accepted commercial MI sensor are conducted. The experimental results identify the capability of the proposed MI sensor in weak magnetic detection. Copyright © 2020, The Authors. All rights reserved.

关键词： Magnetic fields

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Synchronous Detector for GMI Magnetic Sensor Based on Lock-in Amplifier 37

Synchronous Detector for GMI Magnetic Sensor Based on Lock-i...

引用

37th Chinese control Conference, CCC 2018

作者： Wang, Jinchao Jin, Fang Zhu, Lei Zhao, Zhi Rao, Hengchang Song, Junlei Dong, Kaifeng Wenqin, M. School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

ISBN: (纸本)9789881563941

A new concept of a synchronous detector for Giant Magneto-Impedance (GMI) sensors is presented. This concept combines a lock-in amplifier, with outstanding capabilities, high speed and a feedback approach that ensures the amplitude detection with easily adjustable gain. The synchronous detector is capable of measuring high-frequency and very low amplitude signals without the use of diode-based active rectifiers or analog switches. In comparison with most of the commercially available diode-based peak detectors, the linearity of the synchronous detector is generally better, especially for low level amplitudes. The synchronous detector has been used for the amplitude measurement of single frequency sine signal and for the demodulation of amplitude-modulated signal. It has also been successfully integrated in a GMI sensor prototype. Magnetic field measurements in open- and closed-loop of this sensor have been conducted. The measured sensitivity was about 1.02 V/Oe in open-loop while it was 0.12V/Oe in close-loop. The above research provides technical accumulation for the design of sensor nodes based on GMI sensor wireless sensor networks. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Demodulation

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Finite-Time H∞ state estimation for discrete time-delayed stochastic switched genetic regulatory networks with uncertain sojourn probabilities 37

Finite-Time H∞ state estimation for discrete time-delayed s...

引用

37th Chinese control Conference, CCC 2018

作者： Chuanyu, Ren Xiongbo, Wan School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

ISBN: (纸本)9789881563941

This paper investigates the problem of finite-time H∞ state estimation for discrete-time stochastic switched genetic regulatory networks (GRNs) with time-varying delays and exogenous disturbances. A new discrete time-delayed stochastic switched GRN model with uncertain sojourn probabilities is devised, which is more general than the switched GRNs model with completely known sojourn probabilities. The sufficient conditions which guarantee the stochastic finite-time boundedness of the estimation error dynamics with a prescribed H∞ disturbance attenuation level are derived. By solving several matrix inequalities, the state estimator parameters can be obtained. A numerical example is given to illustrate the effectiveness of our results. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： State estimation

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