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A landmarks-assisted diffusion model with heatmap-guided denoising loss for high-fidelity and controllable facial image generation

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Image and Vision Computing 2025年 159卷

作者： Wang, Xing Wang, Wei Su, Shixiang Lu, Mingqi Zhang, Lei Lu, Xiaobo School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Nanjing Normal University School of Electrical and Automation Engineering Nanjing210023 China

Diffusion models have significantly advanced image generation, enabling users to create diverse and realistic images from simple prompts. However, generating high-fidelity, controllable facial images remains a challenge due to the intricate details of human faces. In this paper, we present a novel diffusion model for landmarks-assisted text to face generation which directly incorporates landmarks as guidance during the diffusion process. To address the issue of global information degradation caused by fine-tuning with local information, we introduce a heatmap-guided denoising loss that selectively focuses on feature pixels most relevant to the conditioning. This biased learning strategy ensures that the model prioritizes shape and positional information, preventing excessive deterioration of its generalization ability. Unlike existing methods relying on an extra learnable branch for conditional control, our native method eliminates the conflicts inherent in dual-branch architectures when dealing with various conditions. It also enables precise manipulation of facial features, such as shape and position. Extensive experiments on CelebA-HQ and CelebAText-HQ dataset show that our method demonstrates superior performance in generating realistic and controllable facial images, outperforming existing methods in terms of fidelity, diversity, and alignment with specified landmarks. © 2025 Elsevier B.V.

关键词： Deep learning

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A Monitoring Method for the Ice Shape and the Freeze-Thaw Process of Ice Accretion on Transmission Lines Based on Circular FBG Plane Principal Strain Sensor

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arXiv 2025年

作者： Qin, Zhuoke Jia, Bin Shen, Xiahui Zhang, Lizhen Lu, Honggang Du, Chao Cui, Liqin Zhang, Li Deng, Xiao The College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan030024 China The Scientific Research Office of Shanxi Electric Power Technical College Taiyuan030021 China The College of Physics and Optoelectronics The Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education The Shanxi Key Laboratory of Precision Measurement Physics Taiyuan University of Technology Taiyuan030024 China

As a key infrastructure for China's "West-to-East Power Transmission" project, transmission lines (TL) face the threat of ice accretion under complex microclimatic conditions. This study proposes a plane principal strain sensing method based on a fiber Bragg grating circular array, achieving synchronous monitoring of 6 strains (ranging from -2000 to 2000 μΕ) across the TL cross-section. Through finite element simulation experiments, a mapping relationship between the bending of TL and the plane principal strain has been established. After completing the sensor calibration, an experimental platform for the freeze-thaw process of ice accretion on the TL was built. The relationships between ice mass and bending strain, as well as the ice shape on the TL cross-section (C-shaped and circular ice) and plane principal strain, were studied. Furthermore, a BP neural network model was developed to determine the 4 states of the icing process (no ice/freeze/stable/thaw), achieving an accuracy of 91.23%. This study provides effective monitoring of the freeze-thaw process of ice accretion on the TL, offering important technical support for the prevention and control of ice accretion in power grid. Copyright © 2025, The Authors. All rights reserved.

关键词： Thawing

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Negative-pressure soft pneumatic actuators enabled by asymmetrically distributed bending units

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Extreme Mechanics Letters 2025年 77卷

作者： Fu, Zeyu Chen, Tianyu Zou, Haoran Zhu, Zhiwei Deng, Zichen Wang, Yifan School of Mechanics Civil Engineering and Architecture Northwestern Polytechnical University Xi'an710072 China MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi'an710072 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 639798 Singapore State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao University Shijiazhuang050043 China

Soft pneumatic actuators are highly flexible and can adapt to complex environments, attracting significant attention for their ability to operate in settings where rigid actuators cannot. Most existing soft pneumatic actuators are powered by positive pressure, which has the disadvantage of volume increase during operation and risk of exploding under large pressures. In this study, we designed a new type of soft actuator by inducing asymmetric bending deformation throughout a holey structure under negative pressure. Using finite element analysis and a theoretical model, we studied the effects of various geometric parameters on the structure's bending behavior. We found that the displacement of the circle's center from the central axis is a parameter with the most significant impact on the bending behavior of the structure. By designing circular holes with offset from the central axis, the structure can bend toward the offset direction during subsequent bending deformation. Based on this deformation mechanism, we designed a soft gripper that bends upon actuation and effectively picks up objects. We further designed a bi-directional gripper that bends towards both sides and a circular gripper that contracts towards the center upon evacuation to hold objects. These soft grippers’ grasping capabilities are validated by experimental tests. Finally, by arranging the holes in a wavy pattern within the structure, we created a crawling robot that moves forward through cyclic negative pressure actuation. These findings highlight the potential of leveraging bending behaviors in asymmetrically distributed holey structures for the development of negative-pressure driven soft actuators and robots. © 2025 Elsevier Ltd

关键词： Pneumatic actuators

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Cooperative Resource Allocation for NOMA-MEC Multi-Cell Network

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IEEE Transactions on Vehicular Technology 2025年

作者： Cai, Yujin Zhang, Zaichen Huang, Yongming Yu, Wenwu Nie, Xiaokai Liu, Hongzhe Southeast University School of Mathematics Jiangsu Nanjing211189 China Southeast University National Mobile Communications Research Laboratory Nanjing211189 China Purple Mountain Laboratories Nanjing211111 China Southeast University School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Southeast University Shenzhen Research Institute Shenzhen518057 China

Integrating non-orthogonal multiple access (NOMA) and mobile edge computing (MEC) enables IoT nodes to offload their complicated tasks to MEC servers. Most of the existing resource allocation schemes in NOMA-MEC networks are based on the centralized optimization framework, which may increase the communicational and computational burden on the central unit. In this paper, the NOMA-MEC multi-cell network without the central unit is considered. To minimize the task completion time and offloading cost, a joint optimization problem including sub-channel allocation, transmit power, offloaded proportions, computing frequencies of IoT nodes and MEC servers, and price of MEC resources is investigated. In order to tackle the formulated mixed integer nonlinear programming problem, a two-stage low-complexity distributed algorithm based on the cooperation of all base stations (BSs) is proposed. Specifically, in Stage 1, a distributed heuristic sub-channel allocation algorithm is designed based on the sub-channel gains. In Stage 2, with the obtained sub-channel allocation result, a cooperative distributed continuous variable optimization algorithm is devised based on the distributed optimization and alternating optimization methods. Numerical results demonstrate the convergence of the proposed two-stage algorithm for three interference cases. Besides, the impacts of system parameters and schemes on the network performance are analyzed. More importantly, the resource allocation time can be significantly shortened by employing the cooperation of BSs compared with the centralized algorithm © 1967-2012 IEEE.

关键词： Nonlinear programming

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Multiplexed model predictive attitude control for nadir-pointing satellite using only magnetorquers

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control Engineering Practice 2025年 162卷

作者： Yang, Sen Ling, Keck Voon Wang, Zhenhua Li, Huiping School of Astronautic Harbin Institute of Technology Harbin150001 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin150001 China School of Marine Science and Technology Northwestern Polytechnical University Xi'an710072 China

Due to the low failure risk of magnetorquers, the control strategy based on magnetic actuators can significantly enhance the reliability of the satellite attitude control system. In light of this advantage, this paper conducts research on model predictive control (MPC) algorithm for nadir-pointing satellites equipped only with magnetorquers. Firstly, to facilitate controller design, the linear time-varying (LTV) model for nadir-pointing satellites is derived by linearizing the nonlinear equations around the operating point. Then, leveraging this linearized representation, an LTV multiplexed MPC (MMPC) method with exponential weighting is proposed. The MMPC scheme allows for faster sampling rates and quicker responses to disturbances, thereby enhancing the overall performance of the satellite attitude control system while retaining the benefits of MPC. Finally, compared with a state-of-the-art SMPC method, the proposed method is particularly advantageous in situations where computational resources are limited, specifically for satellites that rely only on onboard computing capabilities. © 2025

关键词： Nonlinear equations

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Integrated Communication and Learned Recognizer with Customized RIS Phases and Sensing Durations

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IEEE Transactions on Communications 2025年

作者： Huang, Yixuan Yang, Jie Wen, Chao-Kai Jin, Shi Southeast University National Mobile Communications Research Laboratory Nanjing210096 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education The Frontiers Science Center for Mobile Information Communication and Security Nanjing210096 China National Sun Yat-sen University Institute of Communications Engineering Kaohsiung80424 Taiwan Southeast University Frontiers Science Center for Mobile Information Communication and Security National Mobile Communications Research Laboratory Nanjing210096 China

Future wireless communication networks are expected to be smarter and more aware of their surroundings, enabling a wide range of context-aware applications. Reconfigurable intelligent surfaces (RISs) are set to play a critical role in supporting various sensing tasks, such as target recognition. However, current methods typically use RIS configurations optimized once and applied over fixed sensing durations, limiting their ability to adapt to different targets and reducing sensing accuracy. To overcome these limitations, this study proposes an advanced wireless communication system that multiplexes downlink signals for environmental sensing and introduces an intelligent recognizer powered by deep learning techniques. Specifically, we design a novel neural network based on the long short-term memory architecture and the physical channel model. This network iteratively captures and fuses information from previous measurements, adaptively customizing RIS phases to gather the most relevant information for the recognition task at subsequent moments. These configurations are dynamically adjusted according to scene, task, target, and quantization priors. Furthermore, the recognizer includes a decision-making module that dynamically allocates different sensing durations, determining whether to continue or terminate the sensing process based on the collected measurements. This approach maximizes resource utilization efficiency. Simulation results demonstrate that the proposed method significantly outperforms state-of-the-art techniques while minimizing the impact on communication performance, even when sensing and communication occur simultaneously. Part of the source code for this paper can be accessed at https://***/kiwi1944/CRISense. © 1972-2012 IEEE.

关键词： Long short-term memory

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Safe RL-based Adaptive Cooperative Game control of Wing Deformation and Flight State Tracking for Morphing Hypersonic Vehicles

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Wang, Jun-Wei Wang, Feng Wu, Huai-Ning Liu, Zhou-Yang University of Science and Technology Beijing School of Intelligence Science and Technology Beijing100083 China Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Beihang University Hangzhou International Innovation Institute Hangzhou311115 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing100074 China

This study addresses the issue of adaptive cooperative game control (ACGC) design for wing deformation and flight state tracking of morphing hypersonic vehicles (MHVs) with variable wing shapes, input constraints and state constraints. To access a better flight control performance, the wing deformation parameter is extended in this work as an auxiliary control input. An oriented-coordinated-control nonlinear differential equation model is first established to describe the complicated longitudinal flight state tracking error dynamics of the MHV. Then, a control barrier function (CBF) is introduced and incorporated into the value function as a risk penalty term of state security constraint. Based on the differential game (DG) theory, the optimal coordinated control problem for the MHV with input constraints and state constraints is treated as a constrained cooperative DG that is further formulated as a Hamilton-Jacobi-Bellman (HJB) equation with barrier and hyperbolic functions. A safe RL algorithm is proposed to solve the above HJB equation and an online Pareto joint control strategy is achieved thereby. Hereafter the stability analysis of the closed-loop state tracking error system is done by the Lyapunov technique. Meanwhile, both state and input constraints are met during the the parameter learning regulation process. At last, a simulation study is performed to support the proposed safe RL-ACGC algorithm. © 2025 IEEE.

关键词： Hyperbolic functions

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Semi-Global Stabilization via Homogeneous Output Feedback for a Class of Nonlinear Time-Delay systems

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Journal of systems Science & complexity 2016年第6期29卷 1538-1552页

作者： WANG Pan CHAI Lin FEI Shumin Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University

The semi-global stabilization problem for a class of nonlinear systems with state time-delay is addressed in this paper. By using Lyapunov-Krasovskii functional method and homogeneous dom- ination approach, a homogeneous observer and an output feedback controller with a scaling gain are designed. Then the sealing gain is adjusted such that the closed-loop system is semi-global asymptoti- cally stable. A numerical example is presented to illustrate the effectiveness of the obtained results in this paper.

关键词： Homogeneous domination approach Lyapunov-Krasovskii functional nonlinear time-delay systems output feedback semi-global.

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Ellipsoidal bounding set-membership identification approach for robust fault diagnosis with application to mobile robots

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Journal of systems Engineering and Electronics 2017年第5期28卷 986-995页

作者： Bo Zhou Kun Qian Xudong Ma Xianzhong Dai School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

A robust fault diagnosis approach is developed by incorporating a set-membership identification (SMI) method. A class of systems with linear models in the form of fault related parameters is investigated, with model uncertainties and parameter variations taken into account explicitly and treated as bounded errors. An ellipsoid bounding set-membership identification algorithm is proposed to propagate bounded uncertainties rigorously and the guaranteed feasible set of faults parameters enveloping true parameter values is given. Faults arised from abrupt parameter variations can be detected and isolated on-line by consistency check between predicted and observed parameter sets obtained in the identification procedure. The proposed approach provides the improved robustness with its ability to distinguish real faults from model uncertainties, which comes with the inherent guaranteed robustness of the set-membership framework. Efforts are also made in this work to balance between conservativeness and computation complexity of the overall algorithm. Simulation results for the mobile robot with several slipping faults scenarios demonstrate the correctness of the proposed approach for faults detection and isolation (FDI).

关键词： set-membership identification fault diagnosis fault detection and isolation (FDI) bounded error mobile robot

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Adaptive fault-tolerant controller design for airbreathing hypersonic vehicle with input saturation

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Journal of systems Engineering and Electronics 2013年第3期24卷 488-499页

作者： Haibin Sun Shihua Li Changyin Sun Key Laboratory of Measurement and Control of Complex Systems of Engineering(Ministry of Education) School of AutomationSoutheast University

The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle （AHV） with actuator faults and external disturbances. Firstly, a fault-tolerant control strategy is presented for the longitudinal model of an AHV, which guarantees that velocity and altitude track their reference trajectories at an exponential convergence rate. However, this method needs to know the minimum value of the actuator efficiency factor and the upper bound of the external disturbances, which makes it not easy to implement. Then an improved adaptive fault-tolerant control scheme is proposed, where two adaptive laws are employed to estimate the upper bound of the external disturbances and the minimum value of the actuator efficiency factor, respectively. Secondly, the problem of designing a control scheme with control constraints is further considered, and a new adaptive fault-tolerant control strategy with input saturation is designed to guarantee that velocity and altitude track their reference trajectories. Finally, simulation results are given to show the effectiveness of the proposed methods.

关键词： airbreathing hypersonic vehicle （AHV） fault-tolerant control （FTC） adaptive control input saturation.

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