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Geometry-aware 3D pose transfer using transformer autoencoder

Computational Visual Media 2024年第6期10卷 1063-1078页

作者： Shanghuan Liu Shaoyan Gai Feipeng Da Fazal Waris Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing210096China

3D pose transfer over unorganized point clouds is a challenging generation task,which transfers a source’s pose to a target shape and keeps the target’s *** deep models have learned deformations and used the target’s identity as a style to modulate the combined features of two shapes or the aligned vertices of the source ***,all operations in these models are point-wise and independent and ignore the geometric information on the surface and structure of the input *** disadvantage severely limits the generation and generalization *** this study,we propose a geometry-aware method based on a novel transformer autoencoder to solve this *** efficient self-attention mechanism,that is,cross-covariance attention,was utilized across our framework to perceive the correlations between points at different ***,the transformer encoder extracts the target shape’s local geometry details for identity attributes and the source shape’s global geometry structure for pose *** transformer decoder efficiently learns deformations and recovers identity properties by fusing and decoding the extracted features in a geometry attentional manner,which does not require corresponding information or modulation *** experiments demonstrated that the geometry-aware method achieved state-of-the-art performance in a 3D pose transfer *** implementation code and data are available at https://***/SEULSH/Geometry-Aware-3D-Pose-Transfer-Using-Transfor mer-Autoencoder.

关键词： 3D pose transfer geometry-aware transfor-mer autoencoder cross-covariance attention

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A Degeneracy-Aware LiDAR-Inertial-Visual SLAM for Degenerate Environments

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IEEE Sensors Journal 2025年第11期25卷 19376-19385页

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

Different sensors may experience degeneracy in specific scenarios, which can lead to failures in multi-sensor fusion optimization. To address the challenges of localization and mapping under such degeneracy conditions, this paper proposes a LiDAR-Inertial-Visual SLAM system with integrated degeneracy awareness. In the frontend, the system utilizes the ESIKF for tracking and incorporates a sensor degeneracy detection method to ensure that degraded sensor data do not affect the state error update. In the backend, we replace the conventional point cloud map with an adaptive voxel map to accelerate the retrieval of planar point cloud, and merge LiDAR planar features within a sliding window via region growing algorithm. Furthermore, the point-to-plane distance formula is optimized via the Rayleigh quotient theorem, which reduces the dimensionality of the optimization variables and simplifies the optimization process. Finally, we evaluate the proposed system on several challenging datasets and compare it with various state-of-the-art sensor fusion systems. The experimental results demonstrate that the proposed system achieves high localization accuracy in the majority of challenging scenarios. © 2001-2012 IEEE.

关键词： Inertial navigation systems

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Regional Multi-Agent Cooperative Reinforcement Learning for City-Level Traffic Grid Signal control

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1987-1998页

作者： Yisha Li Ya Zhang Xinde Li Changyin Sun School of Automation Southeast UniversityNanjing 210096 Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China

This article studies the effective traffic signal control problem of multiple intersections in a city-level traffic system.A novel regional multi-agent cooperative reinforcement learning algorithm called RegionSTLight is proposed to improve the traffic *** a regional multi-agent Q-learning framework is proposed,which can equivalently decompose the global Q value of the traffic system into the local values of several regions Based on the framework and the idea of human-machine cooperation,a dynamic zoning method is designed to divide the traffic network into several strong-coupled regions according to realtime traffic flow *** order to achieve better cooperation inside each region,a lightweight spatio-temporal fusion feature extraction network is *** experiments in synthetic real-world and city-level scenarios show that the proposed RegionS TLight converges more quickly,is more stable,and obtains better asymptotic performance compared to state-of-theart models.

关键词： Human-machine cooperation mixed domain attention mechanism multi-agent reinforcement learning spatio-temporal feature traffic signal control

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Sensorless control of PMSM Drives Using Octant Newton-Raphson Method and Reduced-Order EKF Considering Speed Reversal and Noise

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IEEE Transactions on Power Electronics 2025年第8期40卷 10793-10803页

作者： Xiang, Fuyuan Yu, Ke Chen, Congyan Li, Shihua Southeast University School of Automation and the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

For back electromotive force-based sensorless control in permanent magnet synchronous motor (PMSM) drives, the conventional phase-locked loop (PLL) exhibits a ±π position estimation error during speed reversal. This paper presents an octant Newton-Raphson method (ONRM) based PLL, which employs a newly defined objective function and a position octant method. It not only ensures the position estimation converges correctly during speed reversal but also improves dynamic performance compared to the conventional PLL. The applicability condition of the ONRM in the presence of noise is also analyzed in detail. Subsequently, due to the noise sensitivity of the ONRM, a reduced-order extended Kalman filter is designed to filter out the non-Gaussian noise in the position estimation while simultaneously estimating the speed. The effectiveness of the proposed sensorless control scheme is verified on a 1.5 kW PMSM drive platform. © 1986-2012 IEEE.

关键词： Extended Kalman filters

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Efficient Circuit Diagram Retrieval via Graph Representation

Efficient Circuit Diagram Retrieval via Graph Representation

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2024 China Automation Congress, CAC 2024

作者： Gao, Ming Chen, Hongcai Zhang, Kanjian Wei, Haikun Key Laboratory of Measurement and Control of Complex System Ministry of Education School of Automation Southeast University Nanjing China

ISBN: (纸本)9798350368604

In the field of electronic engineering, the retrieval of circuit diagrams has become an area of considerable research interest. This is attributed to the critical role it plays in consulting legacy electronic designs and in the identification of design plagiarism. Existing image retrieval techniques, which are proficient in managing natural images, typically involve the conversion of images into feature vectors and retrieve similar images according to the closeness of these vectors. However, these methods encounter limitations when adapted to the more specialized and complex domain of circuit diagrams. This paper introduces an innovative approach to the retrieval of circuit diagrams through the use of a graph representation of these diagrams. This novel approach effectively transforms the retrieval task into a graph retrieval problem. The methodology proposed in this paper is comprised of two main components: A recognition algorithm for circuit diagrams designed to accurately extract the components and the topological structure of the circuit and a retrieval strategy based on graph similarity. This methodology is pioneering in its use of graph representation for circuit diagram retrieval, incorporating topological features that are often not considered by conventional image retrieval methods. The experimental results presented in this paper validate the effectiveness of the proposed approach. © 2024 IEEE.

关键词： Circuit Diagram Recognition Circuit Diagram Retrieval Circuit Graph Representation Graph Retrieval

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Disturbance Observer-based Pointing control of Leighton Chajnantor Telescope

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Research in Astronomy and Astrophysics 2024年第1期24卷 135-150页

作者： Weirui Chen Zheng Wang School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China

Leighton Chajnantor Telescope(LCT), i.e., the former Caltech Submillimeter Observatory telescope, will be refurbished at the new site in Chajnantor Plateau, Chile in 2023. The environment of LCT will change significantly after its relocation, and the telescope will be exposed to large wind disturbances directly because its enclosure will be completely open during observation. The wind disturbance is expected to be a challenge for LCT's pointing control since the existing control method cannot reject this disturbance very well. Therefore, it is very necessary to develop a new pointing control method with good capability of disturbance rejection. In this research, a disturbance observer—based composite position controller(DOB-CPC) is designed, in which an H∞feedback controller is employed to compress the disturbance, and a feedforward linear quadratic regulator is employed to compensate the disturbance precisely based on the estimated disturbance signal. Moreover, a controller switching policy is adopted, which applies the proportional controller to the transient process to achieve a quick response and applies the DOB-CPC to the steady state to achieve a small position error. Numerical experiments are conducted to verify the good performance of the proposed pointing controller(i.e., DOB-CPC) for rejecting the disturbance acting on LCT.

关键词： instrumentation:miscellaneous methods:analytical methods:numerical telescopes

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Balanced prioritized experience replay in off-policy reinforcement learning

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Neural Computing and Applications 2024年第25期36卷 15721-15737页

作者： Lou, Zhouwei Wang, Yiye Shan, Shuo Zhang, Kanjian Wei, Haikun Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China School of Automation Southeast University Nanjing210096 China

In Off-Policy reinforcement learning (RL), the experience imbalance problem can affect learning performance. The experience imbalance problem refers to the phenomenon that the experiences obtained by the agent during the learning process are unevenly distributed in the state space, resulting in the agent’s inability to accurately estimate the value of each potential state. This problem is typically caused by environments with high-dimensional state and action spaces, as well as the exploration–exploitation mechanism inherent in RL. This article proposes a balanced prioritized experience replay (BPER) algorithm based on experience rarity. First, an evaluation metric to quantify experience rarity is defined. Then, the sampling priority of each experience is calculated according to this metric. Finally, prioritized experience replay is performed according to the sampling priority. BPER increases the sampling frequency of high-rarity experiences and decreases the sampling frequency of low-rarity experiences, enabling the agent to learn more comprehensive knowledge. We evaluate BPER on a series of MuJoCo continuous control tasks. Experimental results show that BPER can effectively improve the learning performance while mitigating the impact of the experience imbalance problem. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Reinforcement learning

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Linear-quadratic and norm-bounded combined differential game guidance scheme with obstacle avoidance for attacking defended aircraft in three-player engagement

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Defence Technology（防务技术） 2024年第12期42卷 136-155页

作者： Xintao Wang Ming Yang Songyan Wang Mingzhe Hou Tao Chao Control and Simulation Center Harbin Institute of TechnologyHarbin 150001China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes a pursuer,an interceptor,and an *** confrontation between the players is divided into four phases(P1-P4)by introducing the switching time,and proposing different guidance strategies according to the phase where the static obstacle is located:the linear quadratic game method is employed to devise the guidance scheme for the energy optimization when the obstacle is located in the P1 and P3 stages;the norm-bounded differential game guidance strategy is presented to satisfy the acceleration constraint under the circumstance that the obstacle is located in the P2 and P4 ***,the radii of the static obstacle and the interceptor are taken as the design parameters to derive the combined guidance strategy through the dead-zone function,which guarantees that the pursuer avoids the static obstacle,and the interceptor,and attacks the ***,the nonlinear numerical simulations verify the performance of the game guidance strategy.

关键词： Active defense aircraft Differential game theory Three-player confrontation Energy optimization Acceleration constraint Obstacle avoidance

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Echo state network based symbol detection in chaotic baseband wireless communication

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Digital Communications and Networks 2023年第6期9卷 1319-1330页

作者： Huiping Yin Chao Bai Haipeng Ren Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of TechnologyXi'an710048China Xi'an Key Laboratory of Intelligent Equipment Xi'an Technological UniversityXi'an710021China

The Chaotic Baseband Wireless Communication system(CBWCS)is expected to eliminate the Inter-Symbol Interference(ISI)caused by multipath propagation by using the optimal decoding threshold that is the sum of the ISI caused by past decoded bits and the ISI caused by future transmitting ***,the current technique is only capable of removing partial effects of the ISI,because only past decoded bits are available for the suboptimal decoding threshold *** unavailability of the future information needed for the optimal decoding threshold is an obstacle to further improve the Bit Error Rate(BER)*** contrast to the previous method using Echo State Network(ESN)to predict one future bit,the proposed method in this paper predicts the optimal decoding threshold directly using *** proposed ESN-based threshold prediction method simplifies the symbol decoding operation by avoiding the iterative prediction of the output waveform points using ESN and accumulated error caused by the iterative *** this approach,the calculation complexity is reduced compared to the previous ESN-based *** proposed method achieves better BER performance compared to the previous *** reason for this superior result is ***,the proposed ESN is capable of using more future symbols information conveyed by the ESN input to obtain more accurate threshold rather than the previous method in which only one future symbol was ***,the proposed method here does not need to estimate the channel information using Least Squared(LS)method,which avoids the extra error caused by inaccurate channel information *** results and experiment based on a wireless open-access research platform under a practical wireless channel show the effectiveness and superiority of the proposed method.

关键词： Chaotic baseband wireless communication system(CBWCS) Inter-symbol interference(ISI) Echo state network(ESN) Threshold prediction

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The Current Research Status of Unmanned Aerial Vehicle Maneuver Penetration Decision-Making 5

The Current Research Status of Unmanned Aerial Vehicle Maneu...

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5th International Conference on Artificial Intelligence and Computer Engineering, ICAICE 2024

作者： Zhuang, Yutao National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China

ISBN: (纸本)9798331528911

In modern warfare, maneuver penetration is an essential aspect of unmanned aerial vehicle (UAV) combat operations. As the capabilities of both offensive and defensive sides continue to improve, the operational patterns of maneuver penetration scenarios are constantly evolving. This paper first introduces the maneuver capabilities and detection characteristics of both offensive and defensive systems in contemporary warfare, providing a macro definition of the maneuver penetration problem. Then, it conducts a survey and analysis of the applications of traditional and new artificial intelligence algorithms in maneuver penetration decision-making. Finally, it discusses the future research directions and challenges of artificial intelligence algorithms in this field and envisions the development of maneuver penetration decision-making. © 2024 IEEE.

关键词： Deep reinforcement learning

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