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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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Multi Scale Attention Network for Crowd Counting 21

Multi Scale Attention Network for Crowd Counting

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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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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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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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Autonomous Path Planning and Realization for Dual Robot Cooperation Based on ROS Framework 8

Autonomous Path Planning and Realization for Dual Robot Coop...

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

作者： Shao, Jiawei 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

To realize dual-robot autonomous path planning and realization, the trajectory planning research of dual-robot is carried out using the open-source robot operating system ROS as the simulation platform. The motion planning-related file configuration is completed by using MoveIt! In trajectory planning, cubic spline interpolation is performed on the trajectory points generated by the RRT-Connect path planning algorithm to complete the planning of the dual-arm assembly task. The communication between ROS nodes and ROS is established in the controller, and the processed trajectory points are communicated with the controller through ROS-Industrial. The experimental results show that the trajectory of the dual robot movement process is smooth and continuous, the stability is strong, and the error is small, which can ensure the completion of basic assembly tasks. © 2023 IEEE.

关键词： Motion planning

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Mean-square exponential stability for stochastic time-varying delay systems with Markovian jumping parameters:a delay decomposition approach

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Journal of systems engineering and Electronics 2011年第5期22卷 816-824页

作者： Li Ma Feipeng Da Key Laboratory of Measurement and Control for Complex Systems of Engineering Ministry of Education Research Institute of Automation Southeast University Nanjing 210096 E R. China College of Electronic and Information Engineering Jiangsu University Zhenjiang 212013 P. R. China

The mean-square exponential stability problem is investigated for a class of stochastic time-varying delay systems with Markovian jumping parameters. By decomposing the delay interval into multiple equidistant subintervals, a new delay-dependent and decay-rate-dependent criterion is presented based on constructing a novel Lyapunov functional and employing stochastic analysis technique. Besides, the decay rate has no conventional constraint and can be selected according to different practical conditions. Finally, two numerical examples are provided to show that the obtained result has less conservatism than some existing ones in the literature.

关键词： stochastic systems time-varying delay Markov chain linear matrix inequality (LMI).

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Research on Drag control Algorithm of Cooperative Robot Based on Torque Compensation

Research on Drag Control Algorithm of Cooperative Robot Base...

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2021 China Automation Congress, CAC 2021

作者： Zhu, Dezhi 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)9781665426473

At present, the teaching methods of collaborative robot drag based on joint current feedback mainly include integral and partial dynamics model, both of which can make robots dragged. However, there are few researches aimed at the advantages and disadvantages of the drag effect and the specific application requirements of the systematic comparative study. Based on the above problems, two zero-force control methods are used on the same 6 degree-of-freedom(DOF) cooperative robot in this paper. And method of torque compensation is improved by parameter identification. Firstly, both of the two methods need to model and analyse the robotic arm. However, processes of the method based on integral dynamics model are modeling, excitation trajectory, filtering, identification and vertification. The zero-force control based on partial dynamics model mainly focuses on the compensation of gravity torque and static friction torque. The gravity term in the dynamic equation is adopted by modeling. The difference in this part is that the parameters of gravity moment function are identified, that is, the weight moment is calculated under the condition of the mass and center of mass deviation are unknown. Finally, NaiWei robot which is a six-joints cooperative robot in China is taken as the experimental object to test and compare. The experimental results show that method of partial dynamics model needs smaller force than integral dynamics model. And the comparison of drag power can be displayed by sensor. © 2021 IEEE

关键词： Force control

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Self-evolution of an assembly workshop in knowledgeable manufacturing environment

Self-evolution of an assembly workshop in knowledgeable manu...

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2nd International Conference on Precision Mechanical Instruments and measurement Technology, ICPMIMT 2014

作者： Jiang, Tian-Hua Yan, Hong-Sen School of Automation MOE Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing 210096 China

ISBN: (纸本)9783038351948

In this study, the self-evolution problem of knowledgeable manufacturing systems is studied by taking an assembly workshop as an example. The rolling horizon procedure (RHP) is adopted to implement the self-evolution process of the workshop. The whole dynamic self-evolution process is decomposed into several static decision processes. At each decision point, a static decision sub-problem needs to be solved. A general mathematical model of these sub-problems is built, and a bi-level genetic algorithm (BiGA) is designed. Simulation results show that the model and algorithm are feasible and effective. By comparison, the system with self-evolution operations has a better production performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Genetic algorithms

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Solving the Collaborative Problem in the Process of Dual-Arm Robot Assembly Based on Fully Constrained Synchronous Collaboration Mode

Solving the Collaborative Problem in the Process of Dual-Arm...

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2022 Chinese Automation Congress, CAC 2022

作者： Sui, Shunfan Gan, Yahui Dai, Xianzhong Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9781665465335

In this paper, a fully constrained collaboration synchronization model is proposed to solve the cooperative problem in the dual-arm assembly process. Compared with the single-arm robot, the dual-arm robot has higher flexibility and larger working space, but it is more difficult to control. It has its inherent constraint relationship during movement. The dual-arm cooperation constraint is the basis of the dual-arm motion planning. The paper first analyzes the constraint relationship between the two arms when the rigid body is transported by the two arms and the assembly of the shaft hole respectively. The study finds that there are many common points between the two movements: during the movement process, the two manipulators always maintain a constraint relationship with the object. On this basis, the full constraint is proposed to solve the position and pose constraints of the tool hands when the arms are moved. Finally, the simulation experiment of dual-arm handling rigid body and shaft-hole assembly is carried out to verify that the proposed dual-arm cooperation mode can effectively realize the dual-arm cooperative motion. © 2022 IEEE.

关键词： Motion planning

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