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2009 2nd International Congress on Image and Signal Processing, CISP'09

作者： Xiaodong, Li Shumin, Fei Tao, Zhang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation South-East University Nanjing China

ISBN: (纸本)9781424441310

In order to improve the face recognition performance using Gabor wavelet, a multi-channel dimension reduction scheme (MDRS) employing PCA algorithm is proposed. In addition, the selection of scales and orientations in Gabor transformation is investigated. Different from existing dimension reduction methods which employed ensemble dimension reduction scheme (EDRS), in MDRS model, PCA algorithm is performed on total convolution results related to a certain Gabor filter to get feature vector whose dimensions are reduced. The process is repeated according to the number of other different Gabor filters. So a given face image sample has the same number of feature vectors as that of Gabor filters, and the final augmented feature vector could be derived by concatenating all these feature vectors. The experiment results in the popular face databases such as YALE and FERET demonstrate not only that the proposed method is effective but also that the traditional selection of scale and orientation is not optimal. ©2009 IEEE.

关键词： Face recognition

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Robustness of Cooperation on Highly Clustered Scale-Free Networks

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Chinese Physics Letters 2010年第3期27卷 9-12页

作者：丛睿仇原鹰陈小杰王龙 Key Lab of Electronic Equipment Structure (Ministry of Education) Xidian University Xi'an 710071 State Key Laboratory for Turbulence and Complex Systems Center for Systems and Control College of Engineering Peking Unfversity Beijing 100871

We study the effect of mutation on the evolutionary prisoner＇s dilemma in highly clustered scale-free networks. It is found that cooperation is more sensitive and vulnerable to strategy mutation in more highly clustered networks. For small mutation rates, high clustering coefficient promotes cooperation. For medium mutation rates, high clustering coefficient inhibits the emergence of cooperation. For large mutation rates, cooperation is insensitive to clustering property. We provide explanations for the effects of clustering on cooperation with varied mutation rates.

关键词： Computational physics Environmental and Earth science

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Feature fusion methods for robust speech emotion recognition based on deep belief networks 16

Feature fusion methods for robust speech emotion recognition...

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5th International Conference on Network, Communication and Computing, ICNCC 2016

作者： Wu, Ao Huang, Yongming Zhang, Guobao Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing210096 China

ISBN: (纸本)9781450347938

The speech emotion recognition accuracy of prosody feature and voice quality feature declines with the decrease of SNR (Signal to Noise Ratio) of speech signals. In this paper, we propose novel sub-band spectral centroid weighted wavelet packet cepstral coefficients (W-WPCC) for robust speech emotion recognition. The W-WPCC feature is computed by combining the sub-band energies with sub-band spectral centroids via a weighting scheme to generate noise-robust acoustic features. And Deep Belief Networks (DBNs) are artificial neural networks having more than one hidden layer, which are first pre-trained layer by layer and then fine-tuned using back propagation algorithm. The welltrained deep neural networks are capable of modeling complex and non-linear features of input training data and can better predict the probability distribution over classification labels. We extracted prosody feature, voice quality features and wavelet packet cepstral coefficients (WPCC) from the speech signals to combine with W-WPCC and fused them by Deep Belief Networks (DBNs). Experimental results on Berlin emotional speech database show that the proposed fused feature with W-WPCC is more suitable in speech emotion recognition under noisy conditions than other acoustics features and proposed DBNs feature learning structure combined with W-WPCC improve emotion recognition performance over the conventional emotion recognition method. © 2016 ACM.

关键词： Emotion Recognition

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Effects of mechanical boundary conditions on thermal shock resistance of ultra-high temperature ceramics

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Applied Mathematics and Mechanics(English Edition) 2015年第2期36卷 201-210页

作者： Tianbao CHENG Weiguo LI Yushan SHI Wei LU Daining FANG Chongqing Key Laboratory of Heterogeneous Material Mechanics College of Aerospace Engineering Chongqing University State Key Laboratory of Coal Mine Disaster Dynamics and Control College of Resources and Environmental Science Chongqing University State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University

The effects of mechanical boundary conditions, often encountered in thermalstructural engineering, on the thermal shock resistance（TSR） of ultra-high temperature ceramics（UHTCs） are studied by investigating the TSR of a UHTC plate with various types of constraints under the first, second, and third type of thermal boundary conditions. The TSR of UHTCs is strongly dependent on the heat transfer modes and severity of the thermal environments. Constraining the displacement of the lower surface in the thickness direction can significantly decrease the TSR of the UHTC plate, which is subject to the thermal shock at the upper surface. In contrast, the TSR of the UHTC plate with simply supported edges or clamped edges around the lower surface is much better.

关键词： thermal shock resistance（TSR） ultra-high temperature ceramic（UHTC） mechanical boundary condition temperature-dependent material property thermal environment

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Global output feedback stabilization for a class of nonlinear time-delay systems via linear sampled-data control 31

Global output feedback stabilization for a class of nonlinea...

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31st Youth Academic Annual Conference of Chinese Association of Automation, YAC 2016

作者： Wang, Pan Chai, Lin Fei, Shumin School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

ISBN: (纸本)9781509044238

This thesis researches the problem of global stabilization via output feedback by using linear sampled data controller for a family of nonlinear time-delay systems which satisfy a linear growth condition. Firstly, an inductive approach is proposed to estimate the state growth in nonlinear time-delay systems. Secondly, in the condition of just the output is measurable, a linear sampled data controller via output feedback with a scaling gain is designed by means of output domination method. Finally, the scaling gain which is a positive constant and a appropriate sampling period are determined to stabilize the closed-loop system asymptotically. © 2016 IEEE.

关键词： Closed loop systems

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Adaptive Multi-Dimensional Taylor Network Tracking control for Stochastic Nonlinear systems with Full-State Constraints and Input Saturation 8

Adaptive Multi-Dimensional Taylor Network Tracking Control f...

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8th International Conference on Robotics and Automation engineering, ICRAE 2023

作者： Zheng, Xiao-Yi Yan, Hong-Sen Ministry of Education School of Automation Southeast University Key Laboratory of Measurement Control of Complex Systems of Engineering Nanjing210096 China

ISBN: (纸本)9798350327656

In this study, an adaptive tracking controller using multi-dimensional Taylor network (MTN) is presented for state-constrained nonlinear stochastic systems with saturated input, in which MTN is implemented to model the unknown nonlinear functions. Firstly, the barrier Lyapunov function (BLF) and backstepping technique are combined under a unified framework to eliminate the impact of full-state constraints. Then, the effect raised by saturated input is solved by introducing an appropriate auxiliary system. Furthermore, by employing the Lyapunov stability theorem, the designed adaptive controller could ensure that all closed-loop signals are bounded in probability, the output signal can track the desired signal successfully, the tracking error is bounded by the expected bound, and the system state constraints are never violated. Finally, the efficiency of the suggested control methodology is confirmed by providing an example. © 2023 IEEE.

关键词： Lyapunov functions

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HarmonyNav: Robot Navigation in Human-Robot Coexistence Environment Considering Group and Pedestrian Intentions

HarmonyNav: Robot Navigation in Human-Robot Coexistence Envi...

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2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Wang, Yutao Fang, Fang Liu, Chenyang Fan, Tao Li, Yi The Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

Service robots must navigate efficiently and harmoniously in human-robot coexistence environments. Previous studies often treated pedestrians as independent entities, ignoring human intentions and leading to group intersections and performance issues. We introduce HarmonyNav, a crowd navigation algorithm that enhances human-robot harmony. Our method uses Human-Robot Interaction sub-networks to account for indirect group impacts on pedestrians and predicts pedestrian trajectories to infer intentions. Employing proximal policy optimization (PPO) in reinforcement learning, we develop a harmonious navigation policy. In simulation experiments, our results show improved navigation performance, reducing group intersections and individual intrusions. © The Institution of engineering & Technology 2024.

关键词： Reinforcement learning

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A nested constraints based anti-disturbance collision-free formation control scheme for multi-mobile robot systems

A nested constraints based anti-disturbance collision-free f...

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2022 Chinese Automation Congress, CAC 2022

作者： Wang, Guodong Wang, Xiangyu Li, Shihua Niu, Dan Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing210096 China

ISBN: (纸本)9781665465335

This paper investigates distributed formation control of multi-mobile robot systems with collision avoidance. A novel nested constraints based anti-disturbance formation control scheme is established, which contains two parts. In the first part, a formation signal generator is constructed on the communication network by using proper distributed cooperative control approaches and artificial potential field-based methods, such that it "completes"the desired formation control task in its outputs. In the second part, by combining proper disturbance estimations, some nonlinear tracking controllers are designed for the robots to track the corresponding outputs of the generator asymptotically. A "nested constraint mechanism"is put forward accordingly and applied to limit the generator's outputs and the robots' tracking errors. In this way, the studied multi-mobile robot systems realize the formation control goal with collision avoidance. Compared with existing results, the proposed method has a better plug-and-play feature to deal with the tight encapsulations of the practical robot products, and has better convergence performances with the existence of disturbances. Some experiments are given to validate the effects of the proposed methods. © 2022 IEEE.

关键词： Collision avoidance

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An Adaptive Event-Triggered Secondary Regulation Strategy for Microgrids with Loss of Effectiveness Actuator Faults 49

An Adaptive Event-Triggered Secondary Regulation Strategy fo...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Qiu, Xuechao Wang, Xiangyu Niu, Dan Wang, Xiangyu School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9798350331820

In this paper, an adaptive event-triggered secondary regulation strategy is investigated for microgrids with loss of effectiveness actuator faults. In order to deal with unknown loss of effectiveness actuator faults, a distributed secondary regulation strategy is proposed, which achieves voltage and frequency regulations, as well as power sharing. Meanwhile, to save system resources and relieve the communication burden, an adaptive event-triggered mechanism is designed. Finally, some simulation results are given to validate the proposed strategy, which indicates that the proposed strategy reduces the controller updates and increases the reliability of system. © 2023 IEEE.

关键词： Actuators

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Transformer Based Multi-modal Fusion For Place Recognition with Self-attention Mechanism

Transformer Based Multi-modal Fusion For Place Recognition w...

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2022 Chinese Automation Congress, CAC 2022

作者： Pan, Yan Yu, Xiang Chang, Zeqing Fang, Fang Zhou, Bo School of Automation Southeast University Ministry of Education The Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China

ISBN: (纸本)9781665465335

Autonomous driving still leaves a challenging task that how to apply the complementary information captured from different sensors, i.e. cameras and LiDAR, to handle place recognition task. In this paper, a brand new pipeline was designed to tackle the retrieval problem with a multi-modal late fusion. The light-weighted convolutional blocks is applied to encode features from images, followed by converting them into pseudo point clouds. Inspired by the progress of the Transformer, the network employs a residual point transformer module to extract feature vectors for 3D points and pseudo point clouds respectively. Finally, the two corresponding local descriptors are fused to get a robust fused global descriptor, which is capable of place recognition task after end-to-end training. Experimental results collected from sequence 00, 02, 05, 06 of KITTI dataset validate that fusing information from two modalities is able to enhance performance. © 2022 IEEE.

关键词： Autonomous vehicles

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