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2023 4th International Conference on Electrical Technology and Automatic control, ICETAC 2023

作者： Yue, Youjun Zheng, Lihua College of Electrical Engineering and Automation Tianjin Key Laboratory of Control Theory and Application for Complex Systems Tianjin University of Technology Tianjin300384 China

In the process of oil production, the submerged oil motor works 1-3 km downhole and is connected to the inverter by a long-wire cable, which generates overvoltage at the motor end due to the problem of matching the impedance of the motor with the impedance of the power cable. The downhole environment is not suitable for the installation of precision devices, such as position sensors. To solve these problems, a sensorless control method of submerged oil motors based on a high-frequency voltage injection method is proposed. A motor terminal voltage and current observer under a long-wire cable model is designed to estimate the actual values of motor terminal voltage and current by collecting the voltage and current at the inverter terminal. A three-level inverter is used to provide energy to the submersible oil electric pump through the long-wire cable, which can effectively suppress the motor terminal overvoltage compared to the two-level inverter. The control algorithm is verified by modeling the whole system using simulation software. © Published under licence by IOP Publishing Ltd.

关键词： Cables

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AST: Annulus Swin Transformer For Pedestrians Detection Under Top-view Fisheye Image 12

AST: Annulus Swin Transformer For Pedestrians Detection Unde...

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12th International Conference on Computing and Pattern Recognition, ICCPR 2023

作者： Lu, Cheng Wei, Xuan Lu, Xiaobo School of Software Engineering Southeast University Suzhou China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Suzhou China School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798400707988

Fisheye images have a larger field of view than ordinary perspective cameras and can obtain more scene information. Therefore, object detection based on top-view fisheye images has wide applications in security monitoring, passenger flow perception, and industrial detection fields. However, due to the radial distortion symmetry of fisheye images, most current networks still need to adapt to this radial distortion symmetry. Therefore, we proposed the Annulus Swin Transformer(AST) for top-view fisheye images, which includes Annulus Window (AW) and Annulus Position Coding (APC). Traditional rectangular windows can break the radial distortion symmetry in top-view fisheye images, instead of taking advantage of it to improve the network's perception of distortion. Annulus-Window transforms it into an inner-to-outer annulus window to calculate self-attention, thereby maintaining the distortion symmetry of the fisheye image within each window, allowing the network to perceive better the degree of distortion in the fisheye image and get better detection performance. Due to the varying degree of distortion of images within each annulus, APC introduces an annulus position to work with Annulus window based on the original position encoding, enabling it to contain annulus position information. The experimental results on the dataset SEU-fisheye show that our method improves the neural network's performance markedly. © 2023 ACM.

关键词： Image enhancement

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Transformer-Based Macroscopic Regulation for High-Speed Railway Timetable Rescheduling

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1822-1833页

作者： Wei Xu Chen Zhao Jie Cheng Yin Wang Yiqing Tang Tao Zhang Zhiming Yuan Yisheng Lv Fei-Yue Wang Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Signal&Communication Research Institute China Academy Railway SciencesBeijing 100081China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

Unexpected delays in train operations can cause a cascade of negative consequences in a high-speed railway *** such cases,train timetables need to be ***,timely and efficient train timetable rescheduling is still a challenging problem due to its modeling difficulties and low optimization *** paper presents a Transformer-based macroscopic regulation approach which consists of two stages including Transformer-based modeling and policy-based ***,the relationship between various train schedules and operations is described by creating a macroscopic model with the Transformer,providing the better understanding of overall operation in the high-speed railway ***,a policy-based approach is used to solve a continuous decision problem after macro-modeling for fast *** experiments on various delay scenarios are *** results demonstrate the effectiveness of the proposed method in comparison to other popular methods.

关键词： High-speed railway reinforcement learning train timetable rescheduling Transformer

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Multi-functional motion control and simulation of a large unmanned mobile manipulator for autonomous grasping scenes 41

Multi-functional motion control and simulation of a large un...

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第41届中国控制会议

作者： Wei Ma Yirong Liu Rongsheng Wang Fang Fang Bo Zhou Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Mobile manipulator can perform complex operation tasks in a larger workspace,and has great application potential in practical *** at a large unmanned mobile manipulator for autonomous grasping scenes,this paper realizes its multi-functional motion control and ***,this paper analyzes the kinematics models of the manipulator and mobile base,and describes them with D-H parameters;The whole-body kinematics model of the mobile manipulator is obtained by integrating the mobile base and the ***,in order to meet the requirements of path planning and motion simulation of mobile manipulator in different scenarios,this paper designs three different simulation modes and realizes the simulation in virtual environment,the simulation combining actual controller and virtual robot and the simulation of digital twin ***,different experiments are designed to verify the feasibility and effectiveness of the three simulation methods.

关键词： mobile manipulation whole-body model path planning motion simulation digital twin system

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Can ChatGPT Boost Artistic Creation:The Need of Imaginative Intelligence for Parallel Art

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 835-838页

作者： Chao Guo Yue Lu Yong Dou Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

CHATGPT,one of the leading Large Language Models(LLMs),has acquired linguistic capabilities such as text comprehension and logical reasoning,enabling it to engage in natural conversations with humans.

关键词： such has reasoning

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Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 231-239页

作者： Yahui Liu Bin Tian Yisheng Lv Lingxi Li Fei-Yue Wang the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 IEEE the Transportation and Autonomous Systems Institute(TASI)and the Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis(IUPUI)Indianapolis 46202 USA

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://***/yahuiliu99/PointC onT.

关键词： Content-based Transformer deep learning feature aggregator local attention point cloud classification

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End-point Steady control for Whole-Body control Mobile Manipulators by Null Space Tunation 8

End-point Steady Control for Whole-Body Control Mobile Manip...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Zhang, Enjin Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education NanJing China

ISBN: (纸本)9798350300178

This paper deal with the end-point steady control problem of a mobile manipulators(MM) at the velocity level. Mobile manipulators are usually kinematically redundant when performing tasks, so multiple subtasks can be performed simultaneously, such as tracking the trajectory of the end effector(EE), optimizing manipulability, etc. First, the mobile manipulators system is modeled as an ordinary jointed manipulator. The velocity of the EE has a higher priority, scheduling low-priority tasks in the null space of high-priority tasks leaves high-priority tasks unaffected. The damped least square method is used to generate a kinematic inverse solution with singular robustness, and the gradient projection method is used to optimize the manipulability measure. By analyzing the structure of the Jacobian matrix, the complexity of gradient calculation is reduced. Finally, the effectiveness of the proposed algorithm is verified by simulation experiments. © 2023 IEEE.

关键词： Jacobian matrices

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Bézier-UKF Enhanced Incremental MPC Planner for Quadrotor Based Target Following 25

Bézier-UKF Enhanced Incremental MPC Planner for Quadrotor B...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Zhang, Haodi Su, Jinya Li, Shihua School Of Automation Southeast University Nanjing China Southeast University Key Laboratory Of Measurement And Control Of Complex Systems Of Engineering Ministry Of Education Nanjing China

ISBN: (纸本)9798350340266

This paper presents a vision-based tracking control for a quadrotor to follow a moving target without assuming any quadrotor-target communication. Constant turn rate & acceleration model (CTRA) is first drawn to describe the target's motion, allowing to infer unmeasurable target motion variables while mitigating the adverse effects of vision sensor noises through an unscented Kalman filter (UKF). Then the target's future trajectory is firstly predicted by using a Bézier curve, which is further treated as virtual observation of the CTRA model within the prediction horizon so that a better target trajectory prediction is derived by using the proposed Bézier- UKF fusion predictor method. The outputs of Bézier- UKF predictor are input into an incremental model predictive control (IMPC) planner as the target reference, enabling the derivation of the desired position, velocity and acceleration signal for the quadrotor. These signals are implemented by the low-level SE(3) geometric controller. Finally, we conduct a comparative study of the proposed method against baseline planners such as MPC and IMPC planners in high-fidelity AirSim simulation environment, demonstrating better target following performance. © 2024 IEEE.

关键词： Model predictive control

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Enhancing Human-AI Trust by Describing AI Decision-Making Behavior

Enhancing Human-AI Trust by Describing AI Decision-Making Be...

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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Lou, Zhouwei Wei, Haikun School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798350316308

Air combat game is a highly complex and dynamic decision-making problem that is crucial for ensuring national security and improving combat efficiency. In recent years, artificial intelligence (AI) technologies such as deep reinforcement learning have made significant progress in the air combat game field, surpassing human experts' capabilities. However, the decision-making process of AI algorithms often lacks transparency and interpretability, resulting in low trust in them, which limits their promotion and application in practical scenarios. To enhance human-AI trust, this paper proposes a decision explanation method based on natural language generation. As the most direct means of information transmission, natural language can help people quickly understand the behavior and intent of AI algorithms. Taking a one-on-one air combat game as an experimental scenario, this paper constructs a combat dataset mapping temporal states to behavioral explanations and designs an attention-based Encoder-decoder architecture (AED) capable of generating natural language descriptions of current AI decision-making behavior based on a period of combat data. Experimental results show that AED can accurately describe the decision-making behavior of AI algorithms and help improve the level of human-AI trust. © 2023 IEEE.

关键词： Deep learning

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YOLO-MSP: Effective Cigarette Detection YOLO Network for Surveillance Scenario 10

YOLO-MSP: Effective Cigarette Detection YOLO Network for Sur...

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10th International Conference on systems and Informatics, ICSAI 2024

作者： Zhang, Zhiwei Lu, Xiaobo School of Automation Southeast University Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China

ISBN: (纸本)9798331510138

This paper presents an new approach to enhance the detection of smoking behavior using object detection neural networks, focusing on the challenge of small object detection, namely cigarettes in video frames. We introduce a Multi-Spatial Pooling (MSP) bottleneck mechanism integrated into a YOLOv8 backbone, which significantly improves the network's ability to discern smaller objects without compromising real-time inference capabilities. This enhancement facilitates the extraction of relevant features across various scales and efficiently handles the computational overhead, thereby boosting the detection accuracy and operational efficiency. Our results demonstrate a substantial improvement in performance metrics over traditional and existing neural network approaches, making this method highly suitable for real-time applications in diverse scenarios. © 2024 IEEE.

关键词： Deep learning

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