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Chaotic system optimal tracking using data-based synchronous method with unknown dynamics and disturbances

Chinese Physics B 2017年第3期26卷 268-275页

作者：宋睿卓魏庆来 School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

We develop an optimal tracking control method for chaotic system with unknown dynamics and disturbances. The method allows the optimal cost function and the corresponding tracking control to update synchronously. According to the tracking error and the reference dynamics, the augmented system is constructed. Then the optimal tracking control problem is defined. The policy iteration （PI） is introduced to solve the rain-max optimization problem. The off-policy adaptive dynamic programming （ADP） algorithm is then proposed to find the solution of the tracking Hamilton-Jacobi- Isaacs （HJI） equation online only using measured data and without any knowledge about the system dynamics. Critic neural network （CNN）, action neural network （ANN）, and disturbance neural network （DNN） are used to approximate the cost function, control, and disturbance. The weights of these networks compose the augmented weight matrix, and the uniformly ultimately bounded （UUB） of which is proven. The convergence of the tracking error system is also proven. Two examples are given to show the effectiveness of the proposed synchronous solution method for the chaotic system tracking problem.

关键词： adaptive dynamic programming approximate dynamic programming chaotic system zero-sum

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Effective Indoor Fire Detection with Channel Shuffle Module 21

Effective Indoor Fire Detection with Channel Shuffle Module

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5th International Conference on Computer Science and Application engineering, CSAE 2021

作者： Ge, Haotian Cao, Yichao Lu, Xiaobo School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9781450389853

In recent years, methods based on computer vision and deep learning become the mainstream approaches in fire detection. However, the expensive computation cost of 3D convolutional neutral network (CNN) is unbearable and it is difficult for them to capture the fire regions of videos in time. In this paper, we design a module named channel shuffle module (CSM) based on 2D CNN to keep the balance between computation cost and accuracy. By fusing RGB frame and differential frame, CSM improves the ability of 2D CNN in temporal information extraction which much less cost than methods based on 3D CNN. Four different structures of CSM are proposed and we choose the best one by experiment results. Also, experiments prove that the performances of TSN and TSM are improved with CSM in sequence classification. The accuracy of TSM with CSM is 99.2045%, false positive rate reaches 0.7890% and false negative rate reaches 0.4530%, which demonstrates the efficiency of CSM in temporal feature modeling.. © 2021 Association for Computing Machinery. All rights reserved.

关键词： Fires

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A new approach of optimal control for a class of continuous-time chaotic systems by an online ADP algorithm

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Chinese Physics B 2014年第5期23卷 138-144页

作者：宋睿卓肖文栋魏庆来 School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

We develop an online adaptive dynamic programming （ADP） based optimal control scheme for continuous-time chaotic systems. The idea is to use the ADP algorithm to obtain the optimal control input that makes the performance index function reach an optimum. The expression of the performance index function for the chaotic system is first presented. The online ADP algorithm is presented to achieve optimal control. In the ADP structure, neural networks are used to construct a critic network and an action network, which can obtain an approximate performance index function and the control input, respectively. It is proven that the critic parameter error dynamics and the closed-loop chaotic systems are uniformly ultimately bounded exponentially. Our simulation results illustrate the performance of the established optimal control method.

关键词： adaptive dynamic programming adaptive critic designs optimal control continuous-time chaoticsystem

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Task Sequence Planning Algorithm for Cooperative Assembly of Dual-arm Robot

Task Sequence Planning Algorithm for Cooperative Assembly of...

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2021 China Automation Congress, CAC 2021

作者： Zhang, Jin Gan, Yahui Wang, Zhengwei 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)9781665426473

Dual-arm collaborative robots have gradually become a research hotspot in the field of robotics due to their unique collaboration and flexibility, and they have a wide range of application prospects especially in the assembly manufacturing industry. However, the existing dual-arm robot lacks autonomy in assembly operations, especially when faced with a large number of randomly placed assembly parts, how to make the robot have independent assembly task decision-making ability is a challenge. In response to this problem, this paper proposes a new dual-arm robot collaborative assembly task sequence planning algorithm, which fully considers the constraints of the dual-arm robot's mechanical structure, kinematics, characteristics of objects to be assembled, interference between objects, etc.. Firstly, The algorithm uses the Monte Carlo method to analyze the working space of the left and right arms of the dual-arm robot, while taking into account the structural constraints of the robot. Then, according to the characteristics of the object to be assembled, the idea of interference sphere is proposed to analyze the interference between objects in the assembly task. The influence of the operation, and finally combined with the movement cost of the dual-arm assembly, the assembly task sequence is effectively planned. The algorithm was verified by simulation using the ABB YuMi dual-arm collaborative robot, and the experimental results proved the feasibility and effectiveness of the algorithm. © 2021 IEEE

关键词： Monte Carlo methods

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A Two-step Model for Multi-object Tracking 21

A Two-step Model for Multi-object Tracking

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5th International Conference on Computer Science and Application engineering, CSAE 2021

作者： Zhang, Shuaishuai Lu, Xiaobo Du, Songlin Southeast University Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education School of Automation Nanjing China

ISBN: (纸本)9781450389853

Multi-object tracking is widely used in video analysis. However, due to the limitation of detector performance, many multi-object tracking models have the problem of detecting two objects into one object in some occlusion scenes. In this paper, we propose a twostep model for handling this problem. In the first step model, the non-occlusion targets are detected and embeddings are extracted, while the occlusion areas are identified. The second step model processes the occlusion areas to obtain occlusion targets' accurate positions and embeddings. Finally, we integrate and optimize the output results of the two steps models. Experiments show that the number of false positives and missed positives in our model's object detection is significantly reduced. The multi-object tracking performance (MOTA metric) is improved by nearly 3% compared with other models.. © 2021 Association for Computing Machinery. All rights reserved.

关键词： Embeddings

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RSD-Diff: Boundary-Frequency Feature-Enhanced Rail Surface Defect Inspection with Diffusion-Based Transformer Decoder 10

RSD-Diff: Boundary-Frequency Feature-Enhanced Rail Surface D...

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10th International Conference on systems and Informatics, ICSAI 2024

作者： Wang, Dezhou Su, Shixiang Lu, Xiaobo School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798331510138

Rail surface defect inspection is an essential task for the railway system. However, due to the similarity of the background and defect foreground pixels, uneven textures, irregular shapes and multiple scales of the existing defects, the inspection accuracy is still required to be further improved. In this paper, we first expand our dataset by GAN-based method for the scarcity of the defect samples. Then, we propose a diffusion-based model to perform the classification and segmentation task. The diffusion model predicts the mask from the Gaussian noise broken ground truth by successive designed transformer decoder. Meanwhile, to better distinguish the pixels in the boundary or other illegible regions, a boundary-frequency feature enhancement module (BFM) is proposed to make the model pay more attention to the defect-related features. Experiments on the rail surface defect dataset revealed that the proposed diffusion-based transformer decoder and BFM can work well together and efficiently improve the rail surface defect segmentation accuracy. © 2024 IEEE.

关键词： Decoding

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Seismocardiographic Signals Detection Based on Circulant Singular Spectrum Analysis through Millimeter Wave Radar 6

Seismocardiographic Signals Detection Based on Circulant Sin...

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6th International Conference on Signal and Image Processing, ICSIP 2021

作者： Hu, Haiyang Chen, Yuhao Li, Shihua Yang, Jun Sun, Zhenxing Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9780738133737

Aiming at the problem that Seismocardiography (SCG) signal detection cannot be promoted due to the bulkiness of the equipment and the SCG containing 7 fiducial points is difficult to extract, this paper proposes a non-contact SCG signal detection algorithm based on the circulant singular spectrum analysis (CiSSA) that runs on a millimeter-wave radar platform. In order to make the detection equipment portable and achieve non-contact detection, this paper uses a millimeter-wave radar working in the 60-64GHz frequency band to collect the signal returned from the surface of the human chest cavity. Then the signal is processed by static clutter elimination and maximum energy distance gate positioning algorithm to improve the signal-to-noise ratio, especially to reduce the interference problem caused by people's tiny movement. For the key problem that the SCG curve extracted by traditional filtering methods are fuzzy and the fiducial points are difficult to identify, the CiSSA method is used to improve the accuracy and completeness of SCG curve extraction. By CiSSA, the signal is embedded into trajectory matrix, and then decomposed into component matrices containing various frequency characteristics. Next, the component matrices are grouped according to the frequency distribution characteristics of the SCG signal, and finally the result of the grouping is reconstructed into a high-precision SCG signal with clear and distinguishable fiducial points. Experiments show that the proposed SCG detection method can accurately extract the SCG curve, clearly distinguish 7 fiducial points of the SCG, and the success rate of detection can reach 97%. This provides the possibility for the popularization of SCG signal detection. © 2021 IEEE.

关键词： Signal detection

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Multi Scale Attention Network for Crowd Counting 21

Multi Scale Attention Network for Crowd Counting

引用

5th International Conference on Computer Science and Application engineering, CSAE 2021

作者： Yang, Xiangpeng Lu, Xiaobo Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education Nanjing China

ISBN: (纸本)9781450389853

Reasonable management and control of extra crowded scenes have become a hot topic in recent years. Counting people from density map generated from the object location annotations is an effective way to analyze crowd information and control crowds in severely congested scenes. In this paper, we propose a novel endto- end crowd counting method called MSANet for crowd counting. MSANet consists of the VGG16 backbone as the fronted part, two branches as the back-end part, including the attention map extractor to predict crowd states (means with people or not), and density map branch to regress the density map. What is more, to obtain high-resolution density map, we combine different scale maps from the front part to the back-end part. On the design of the loss function, to enhance the resolution of the predicted map and its structural similarity to ground truth, we proposed a new loss function for crowd counting. The test result based on the public dataset ShanghaiTech and Subway Crowd Counting Dataset supported by the Nanjing Metro demonstrates the effectiveness of our method.. © 2021 Association for Computing Machinery. All rights reserved.

关键词： Statistical tests

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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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Guided Transformative GAN: Joint Face Image Super-Resolution and Frontalization 10

Guided Transformative GAN: Joint Face Image Super-Resolution...

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10th International Conference on systems and Informatics, ICSAI 2024

作者： Mu, Minghao Wang, Wei Lu, Xiaobo School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798331510138

Joint face super-resolution and frontalization of non-frontal low-resolution faces is of significant importance for many face analysis applications. However, at the same time, it is a challenging task. In this paper, a novel Guided Transformative Generative Adversarial Network (GT-GAN) is proposed to address the challenge of generating frontal high-resolution face images from non-frontal low-resolution face images. Existing methods usually treat super-resolution and frontalization as two separate tasks, leading to unsatisfactory processing results. GTG AN innovatively achieves both goals within a unified frame-work. Specifically, we propose Profile Attention Guidance (PAG) to generate landmark heatmaps that provide a priori pose information to the generative network and direct its attention to critical facial regions. In addition, an Attention Fusion Transformation Module (AFTM) is proposed to significantly improve the hallucination performance of the network by utilizing the attention mechanism and STNs, combined with sequential feature enhancement strategies. The experimental results show that GT-GAN exhibits superior performance in the joint face super-resolution and frontalization task on the public face dataset Multi-PIE, which provides new ideas and references for this challenging topic. © 2024 IEEE.

关键词： Generative adversarial networks

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