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Chinese control Conference

作者： Wei-Hua Cao Can Liu Yan Yuan Xiao-Long Zhuang Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper presents a novel single-parameter optimization method for extracting coupling matrix from either measured or electromagnetic simulated S-parameters of a narrow band coaxial-resonator filter with losses. Having had the polynomials of the S-parameters of a filter by the Cauchy method with removing phase shift, the rational polynomials can be obtained. Once the rational polynomials having been determined, a single-parameter optimization method is proposed to obtain ε and the coupling matrix with an assigned topology, which can be extracted using well established techniques. The measured Sparameters compared with the 5-parameters obtained from the coupling matrix, and the attenuation factor K is easily determined. The loss effects will be removed after obtaining the value of the attenuation factor K. The approach is useful and can be used in computer-aided tuning of microwave filters. Example is presented to illustrate the validity of the proposed method.

关键词： Scattering parameters Tuning Couplings Loss measurement Optimization methods Transmission line measurements Transmission line matrix methods

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Force control of Electro-Hydraulic Servo System Based on Load Velocity Compensation

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Journal of Beijing Institute of Technology 2018年第3期27卷 326-333页

作者： Shoukun Wang Hu Liu Junzheng Wang Deyang Zhang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In an electro-hydraulic servo control system,the force servo system is an important ***,due to the nonlinear characteristic of hydraulic systems,traditional control methods cannot achieve satisfactory control *** deal with this issue,a load velocity compensation algorithm based on the structural invariant principle is proposed in this ***,the theoretical analysis of the hydraulic and cylindrical force control system is presented,and the mathematical model of the force control system is *** the open-loop frequency response characteristics of the system are analyzed,in which the Bode diagram shows that the bandwidth of the system is obviously expanded after adopting the load velocity compensation ***,apractical hydraulic and cylindrical force servo system is introduced to validate the feasibility of the proposed controller,the experimental results demonstrate that the proposed method can improve the performance of force control and eliminate the influence of load stiffness on the dynamic characteristics of the system through a set of comparative experiments with different elastic loads.

关键词： electro-hydraulic servo control system force servo control load velocity compensation elastic load

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Automatic Cell Assembly by Two-fingered Microhand

Automatic Cell Assembly by Two-fingered Microhand

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2019 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Junnan Chen Xiaoming Liu Shengnan Dong Pengyun Li Xiaoqing Tang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CHINA Department of Systems Innovation Graduate school of Engineering Science Osaka University Toyonaka Osaka Japan Global Alliance Lab The University of Electro-Communications Tokyo Japan

We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis. Firstly, the most difficult problem we need to solve is the releasing problem caused by adhesion force. The viscosity on cell surface is much larger than the microbeads which makes cell releasing challenging. Secondly, the cell can generate its deformation, then contact area with end-effector will change during grasping process. This may influence the adhesion force and also bring problem to releasing. Thirdly, cell is much smaller, around 15μm in diameter, so we need to fabricate smaller end-effector to achieve successful manipulation and ensure the stability in the meantime. In this paper, we realize the manipulation by decreasing the adhesion forces and apply vibration to release a cell stably. We found the appropriate scale size for the end-effector is around 10μm diameter. It can not only grasp a 15μm cell but also bring little interference to the environment. As a demonstration of the proposed manipulation method, the repeated experiments were conducted to explore the dependence of adhesion force on the grasping distance, which can be helpful in the improvement of successful rate. Finally, we achieved automatic cell assembly using Hela cells.

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

Formation control for multiple agents with local measurement...

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IEEE Annual Conference on Decision and control

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

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

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 sampleddata 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.

关键词： Robot kinematics Coordinate measuring machines Mobile agents Multi-robot systems Sun Collision avoidance

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Simplified Method for Joint Calibration of 3D Ladar and Monocular Camera

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Journal of Beijing Institute of Technology 2018年第3期27卷 319-325页

作者： Jing Li Liuzhi Yu Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

To address the problem of data fusion between monocular camera image with 3 D data from laser detection and ranging(LADAR)sensor,this paper proposes a novel simplified scheme based on the planar feature method,which can meet the accuracy requirements of the joint calibration with fewer checkerboard calibration plate(CP)positions than traditional ***,a mathematical model of the joint calibration is established to obtain the calibration ***,the selection of positions and orientations of the CP are introduced and the corresponding influence to the calibration is ***,the calibration result is optimized by using a nonlinear Levenberg-Marquardt(LM)optimization approach,and the distance residual method is utilized to estimate the ***,experimental results conclude that the minimum number of positions required to meet the joint calibration accuracy in the proposed method is 5,which is less than 12 in traditional methods.

关键词： 3D LADAR monocular camera joint calibration plane calibration method distance residual

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Convolutional ordinal regression forest for image ordinal estimation

arXiv

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arXiv 2020年

作者： Zhu, Haiping Shan, Hongming Zhang, Yuheng Che, Lingfu Xu, Xiaoyang Zhang, Junping Shi, Jianbo Wang, Fei-Yue The Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai200433 China The Institute of Science and Technology for Brain-inspired Intelligence MOE Frontiers Center for Brain Science Fudan University Shanghai200433 China The Shanghai Center for Brain Science and Brain-inspired Technology Shanghai201210 China The GRASP Laboratory University of Pennsylvania PhiladelphiaPA United States The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The Institute of Systems Engineering Macau University of Science and Technology 999078 China The University of Chinese Academy of Sciences Beijing100049 China

Image ordinal estimation is to predict the ordinal label of a given image, which can be categorized as an ordinal regression problem. Recent methods formulate an ordinal regression problem as a series of binary classification problems. Such methods cannot ensure that the global ordinal relationship is preserved since the relationships among different binary classifiers are neglected. We propose a novel ordinal regression approach, termed Convolutional Ordinal Regression Forest or CORF, for image ordinal estimation, which can integrate ordinal regression and differentiable decision trees with a convolutional neural network for obtaining precise and stable global ordinal relationships. The advantages of the proposed CORF are twofold. First, instead of learning a series of binary classifiers independently, the proposed method aims at learning an ordinal distribution for ordinal regression by optimizing those binary classifiers simultaneously. Second, the differentiable decision trees in the proposed CORF can be trained together with the ordinal distribution in an end-to-end manner. The effectiveness of the proposed CORF is verified on two image ordinal estimation tasks, i.e. facial age estimation and image aesthetic assessment, showing significant improvements and better stability over the state-of-the-art ordinal regression methods. Copyright © 2020, The Authors. All rights reserved.

关键词： Decision trees

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Sensorless control of a Tubular Oscillatory LPMSM based on MARS and Deadbeat Current Predictive control

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IOP Conference Series: Materials Science and Engineering 2020年第6期768卷

作者： Kang Lu Tao Wu Haonan Chen He Wang Jia Gao School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China

In the vector control system of the tubular oscillatory linear permanent magnet (PM) synchronous motor (LPMSM), it is difficult for traditional mechanical sensors to accurately obtain the feedback information under harsh conditions. In this work, a speed sensorless vector control system is designed and applied to the tubular oscillatory LPMSM which adopts the model reference adaptive system (MRAS), and the deadbeat current predictive control (DCPC) is also adopted to replace the traditional PI current loop to establish the coordination controller, which overcomes the difficulties of global optimization and PI control parameter setting. And the method is proved by the simulation results and it gets better dynamic performance.

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SoccerNet 2023 Challenges Results

arXiv

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arXiv 2023年

作者： Cioppa, Anthony Giancola, Silvio Somers, Vladimir Magera, Floriane Zhou, Xin Mkhallati, Hassan Deliège, Adrien Held, Jan Hinojosa, Carlos Mansourian, Amir M. Miralles, Pierre Barnich, Olivier De Vleeschouwer, Christophe Alahi, Alexandre Ghanem, Bernard Van Droogenbroeck, Marc Kamal, Abdullah Maglo, Adrien Clapés, Albert Abdelaziz, Amr Xarles, Artur Orcesi, Astrid Scott, Atom Liu, Bin Lim, Byoungkwon Chen, Chen Deuser, Fabian Yan, Feng Yu, Fufu Shitrit, Gal Wang, Guanshuo Choi, Gyusik Kim, Hankyul Guo, Hao Fahrudin, Hasby Koguchi, Hidenari Ardö, Håkan Salah, Ibrahim Yerushalmy, Ido Muhammad, Iftikar Uchida, Ikuma Be'ery, Ishay Rabarisoa, Jaonary Lee, Jeongae Fu, Jiajun Yin, Jianqin Xu, Jinghang Nang, Jongho Denize, Julien Li, Junjie Zhang, Junpei Kim, Juntae Synowiec, Kamil Kobayashi, Kenji Zhang, Kexin Habel, Konrad Nakajima, Kota Jiao, Licheng Ma, Lin Wang, Lizhi Wang, Luping Li, Menglong Zhou, Mengying Nasr, Mohamed Abdelwahed, Mohamed Liashuha, Mykola Falaleev, Nikolay Oswald, Norbert Jia, Qiong Pham, Quoc-Cuong Song, Ran Hérault, Romain Peng, Rui Chen, Ruilong Liu, Ruixuan Baikulov, Ruslan Fukushima, Ryuto Escalera, Sergio Lee, Seungcheon Chen, Shimin Ding, Shouhong Someya, Taiga Moeslund, Thomas B. Li, Tianjiao Shen, Wei Zhang, Wei Li, Wei Dai, Wei Luo, Weixin Zhao, Wending Zhang, Wenjie Yang, Xinquan Ma, Yanbiao Joo, Yeeun Zeng, Yingsen Gan, Yiyang Zhu, Yongqiang Zhong, Yujie Ruan, Zheng Li, Zhiheng Huang, Zhijian Meng, Ziyu Belgium Saudi Arabia Sportradar Norway UCLouvain Belgium EPFL Switzerland EVS Broadcast Equipment Belgium Baidu Research United States Belgium Sharif University of Technology Iran Footovision France Zewail City of Science Technology and Innovation Egypt Université Paris-Saclay CEA France Universitat de Barcelona Spain Computer Vision Center Spain Nagoya University Japan Research Center for Applied Mathematics and Machine Intelligence Zhejiang Lab China AIBrain United States OPPO Research Institute China Germany Meituan China Tencent Youtu Lab China Amazon Prime Video Sport United States Sogang University Korea Republic of The University of Tokyo Japan Spiideo Sweden University of Tsukuba Japan School of Artificial Intelligence Beijing University of Posts and Telecommunications China Normandie Univ INSA Rouen LITIS France Shanghai Jiao Tong University China Key Laboratory of Intelligent Perception and Image Understanding The Ministry of Education Xidian University China NASK - National Research Institute Poland Robo Space China Tongji University China Sportlight Technology United Kingdom School of Control Science and Engineering Shandong University China lRomul Russia Aalborg University Denmark Turing AI Cultures GmbH Germany Information Systems Technology and Design Singapore University of Technology and Design Singapore Sun Yat-sen University China

The SoccerNet 2023 challenges were the third annual video understanding challenges organized by the SoccerNet team. For this third edition, the challenges were composed of seven vision-based tasks split into three main themes. The first theme, broadcast video understanding, is composed of three high-level tasks related to describing events occurring in the video broadcasts: (1) action spotting, focusing on retrieving all timestamps related to global actions in soccer, (2) ball action spotting, focusing on retrieving all timestamps related to the soccer ball change of state, and (3) dense video captioning, focusing on describing the broadcast with natural language and anchored timestamps. The second theme, field understanding, relates to the single task of (4) camera calibration, focusing on retrieving the intrinsic and extrinsic camera parameters from images. The third and last theme, player understanding, is composed of three low-level tasks related to extracting information about the players: (5) re-identification, focusing on retrieving the same players across multiple views, (6) multiple object tracking, focusing on tracking players and the ball through unedited video streams, and (7) jersey number recognition, focusing on recognizing the jersey number of players from tracklets. Compared to the previous editions of the SoccerNet challenges, tasks (2-3-7) are novel, including new annotations and data, task (4) was enhanced with more data and annotations, and task (6) now focuses on end-to-end approaches. More information on the tasks, challenges, and leader-boards are available on https://***. Baselines and development kits can be found on https://***/SoccerNet. © 2023, CC BY.

关键词： Computer vision

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Fog Removal Method of Slope Monitoring Image Based On Vision Detection

Fog Removal Method of Slope Monitoring Image Based On Vision...

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Chinese control Conference

作者： Xianzhen Sang Yue Yang Xianhe Hou Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan

In the slope monitoring based on image detection, the main work is to process the acquired slope image. The landslide occurred mostly in the rain, fog and other complex weather conditions. If we can process effectively and fast fog images according to the fog horizon slope vision images. It would be helpful for subsequent image segmentation, object extraction, positioning, and improving the accuracy and efficiency of detection of slope deformation. Based on the visual technology in slope monitoring, we compared two kinds of defogging algorithm of slope images. One is a kind of image enhancement method of non-physical model, mainly including: equalization algorithm and homomorphic filtering algorithm, McCann Retinex algorithm and multi-scale Retinex algorithm and a global histogram. The other is the image restoration method based on physical model, including the dark channel prior bilateral filtering algorithm, and combined with the theory of dark channel prior to fog algorithm. The experimental results show that the histogram equalization method has the advantage of fast imaging quality in slope visual image processing, and is more suitable for slope monitoring.

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An optimization method for coupling matrix elements of microwave filter

An optimization method for coupling matrix elements of micro...

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Chinese control Conference

作者： Xiao-Long Zhuang Wei-Hua Cao Yan Yuan Can Liu Yu-Sheng Guo China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper proposes a coupling matrix element optimization method for microwave filters. The traditional method is more complex and does not directly optimize the filter coupling matrix elements. The firefly algorithm optimization method used in this paper directly optimizes the elements of the N + 2 order coupling matrix. Compared with the traditional method, it has better speed and optimization effect. First, the elements of the specific coupling matrix are introduced into the optimization algorithm to be executed, then the matrix is iterated through the set objective function. Finally, when the optimized data is within the allowable range, the optimization of the elements of the coupling matrix is stopped and optimization is performed. The resulting coupling matrix outputs the response. To prove the effectiveness of the proposed method, three methods were used to optimize the coupling matrix elements of the fourth-order filter and compare the final optimization results.

关键词： Couplings Tuning Transmission line matrix methods Integrated circuit modeling Optimization methods Cats

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