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SSRN 2023年

作者： Pei, Haodong Zhang, Jin Hong, Lu Zhang, Rui Li, Weishi Xia, Haojie School of Instrument Science and Opto-electronics Engineering Hefei University of Technology Hefei230009 China Anhui Province Key Laboratory of Measuring Theory and Precision Instrument Hefei230009 China Engineering Research Center of Safety Critical Industrial Measurement and Control Technology Ministry of Education Hefei230009 China

In this article, we propose a visual SLAM positioning accuracy improvement method based on point and line features. Our method leverages the perspective and photometric invariance of point features and the local gradient adaptability of line features to handle low-texture and repetitive-texture scenarios, where point features alone are not reliable. However, line features may suffer from endpoint uncertainty due to occlusion and other factors, which affects the re-projection error calculation based on their direction vectors. This leads to some line features degrading along the camera direction. To tackle this issue, we analyze the causes of line feature degradation and propose a method to identify and filter out these degraded line features. We evaluate our method on the TUM RGB-D benchmark and a real dataset and show that it can effectively reduce the trajectory error of visual SLAM based on point and line features. © 2023, The Authors. All rights reserved.

关键词： Textures

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Unequal Error Protection Rateless Codes for Spatial Audio Transmission

Unequal Error Protection Rateless Codes for Spatial Audio Tr...

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International Conference on Communication Technology (ICCT)

作者： Junpeng Yin Yusun Fu Haobo Huang Jinhui Tang Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China School of Electronic Information and Electrical Engineering the Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363760

ISBN: (纸本)9798350363777

Spatial audio is an important component of the metaverse. With the rapid increase of the spatial resolution and the number of objects, the data volume of the spatial side information has grown larger. However, the low bit rate transmission of spatial side information in the object-based audio coding methods leads to the low-quality reconstruction of spatial side information with limited bandwidth. To address this issue, this paper constructs a cascade design of spatial audio coding and unequal error protection (UEP) rateless codes. Furthermore, the further protection of specific spatial side information is proposed for different scenarios, which effectively addresses the limitation of traditional spatial audio coding in side information protection. For the situation where the code length K of different importance levels is different, we propose an adaptive degree distribution (ADD), adding K to the selection probability as an influencing factor, which has better performance than other degree distribution for short code length. ADD is used to replace the multiple degree distribution strategy of the traditional unequal error protection scheme, and the block error rate (BER) is reduced nearly 10 times compared with the traditional scheme.

关键词： Codes Error analysis Metaverse Distribution strategy Spatial audio Bit rate Symbols Communications technology Protection Spatial resolution

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Frequency Perception Network for Camouflaged Object Detection

arXiv

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arXiv 2023年

作者： Cong, Runmin Sun, Mengyao Zhang, Sanyi Zhou, Xiaofei Zhang, Wei Zhao, Yao School of Control Science and Engineering Key Laboratory of Machine Intelligence and System Control Ministry of Education Shandong University Jinan Shandong China School of Automation Hangzhou Dianzi University Zhejiang Hangzhou China Institute of Information Science Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing Jiaotong University Beijing China Institute of Information Engineering Chinese Academy of Sciences Beijing China

Camouflaged object detection (COD) aims to accurately detect objects hidden in the surrounding environment. However, the existing COD methods mainly locate camouflaged objects in the RGB domain, their performance has not been fully exploited in many challenging scenarios. Considering that the features of the camouflaged object and the background are more discriminative in the frequency domain, we propose a novel learnable and separable frequency perception mechanism driven by the semantic hierarchy in the frequency domain. Our entire network adopts a two-stage model, including a frequency-guided coarse localization stage and a detail-preserving fine localization stage. With the multi-level features extracted by the backbone, we design a flexible frequency perception module based on octave convolution for coarse positioning. Then, we design the correction fusion module to step-by-step integrate the high-level features through the prior-guided correction and cross-layer feature channel association, and finally combine them with the shallow features to achieve the detailed correction of the camouflaged objects. Compared with the currently existing models, our proposed method achieves competitive performance in three popular benchmark datasets both qualitatively and quantitatively. The code will be released at https://***/rmcong/FPNet_ACMMM23. © 2023, CC BY-NC-SA.

关键词： Frequency domain analysis

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Target Tracking Algorithm Based on Occlusion Prediction

SSRN

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SSRN 2023年

作者： Shang, Qing Zhang, Jin Yan, GuangZong Hong, Lu Zhang, Rui Xia, HaoJie School of Instrument Science and Opto-electronics Engineering Hefei University of Technology Hefei230009 China Anhui Province Key Laboratory of Measuring Theory and Precision Instrument Hefei230009 China Engineering Research Center of Safety Critical Industrial Measurement and Control Technology Ministry of Education Hefei230009 China

Occlusion and similar target interference are one of the most challenging scenes in visual target tracking tasks. At present, the target tracking algorithm based on the Siamese network framework often causes partial or complete loss of the target by using the maximum confidence location strategy. Aiming at the above problems, this paper designs a tracking method based on occlusion prediction and multi-peak response information fusion. At the same time, in order to reduce the interference of similar targets, a dynamically adjusted background suppression method is designed. First, the input image is processed by dynamic background suppression. Then, the maximum confidence point and local peak point are obtained by using the classification response map output by the network, and the final target position is obtained by fusing the occlusion prediction information and local peak point position information to correct the target position. The experimental results show that this method has a good effect in dealing with target occlusion interference. In the interference test based on OTB data set, applying this method to SiamBan and SiamGat can achieve a maximum tracking success rate of about 7% and a tracking accuracy improvement of 10%. © 2023, The Authors. All rights reserved.

关键词： Forecasting

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Adaptive Fault-Tolerant Boundary control of a Flexible Marine Riser-vessel system Under Actuator and Structural Failures

Adaptive Fault-Tolerant Boundary Control of a Flexible Marin...

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Chinese control and Decision Conference, CCDC

作者： Mengfei Li Dong Zhao Wenjing Ren Darong Huang School of Artificial Intelligence Anhui University Hefei P. R. China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai P. R. China School of Electrical Engineering and Automation Hefei University of Technology Hefei P. R. China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

This paper develops an adaptive fault-tolerant boundary control scheme for riser-vessel systems to deal with actuator failure and structural failure, simultaneously. The marine riser-vessel system dynamics is modeled by a fourth-order partial-ordinary differential equation. An adaptive fault-tolerant boundary control framework is proposed, which together with the designed adaptive update law guarantees the uniformly ultimately boundedness of the closed-loop system. The simulation results show that the developed fault-tolerant control method can still make the system state converge in a small area of zero in the presence of actuator failure and structural failure.

关键词： Vibrations Fault tolerance Actuators Asymptotic stability system dynamics Simulation Fault tolerant systems

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Omnidirectional Sound Wave Absorption Based on the Multi-Oriented Acoustic Meta-Materials

SSRN

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SSRN 2024年

作者： Bai, Xiaotian Xiao, Zhaoyang Shi, Huaitao Zhang, Ke Luo, Zhong Wu, Yuhou Shenyang University of Technology China Shenyang Jianzhu University China School of Mechanical Engineering Shenyang Jianzhu University Liaoning Shenyang110168 China Joint International Research Laboratory of Modern Construction Engineering Equipment and Technology Liaoning Shenyang110168 China Key Laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education Northeastern University Liaoning Shenyang110167 China

Acoustic meta-materials have become a hot topic in rotary equipment sound absorption with advantages of small size and additional mass, but the effectiveness is significantly limited by the incident angle and the absorption performance is not good in random sound fields. This paper proposes a multi-oriented acoustic meta-material(MOAMM) that can be applied in omnidirectional sound wave absorption, which is composed of unit cells with different orientations. The single cell is designed as a double-cavity labyrinth structure, and the unit cells are distributed uniformly in a circumference to adapt to incident waves from different directions. The absorption performance is compared with the structure of same-oriented distribution, and parametric studies are carried out for the change of sound absorption performance of MOAMM. Results show that the sound absorption coefficient of MOAMM maintains over 0.8 when facing with sound waves from different direction, and the frequency range changes with the entrance width, channel width and cell size. Experimental results have verified the excellent performance of the proposed structure, which provides new approaches for effective control of sound radiation. © 2024, The Authors. All rights reserved.

关键词： Acoustic fields

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Industrial Cyber-Physical systems (ICPS)

作者： Xiangxiang Zhang Wenkai Hu Ahmad W. Al-Dabbagh Weihua Cao School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering The University of British Columbia Kelowna Canada

In industrial facilities, alarm systems are essential for process monitoring. However, due to the simplicity of alarm configuration and the poor performance of the alarm system, alarm floods often happen. Similarity analysis of alarm floods compares alarm flood sequences to look for common patterns. These patterns can offer information that is helpful in identifying root causes of alarm floods. Existing methods for alarm flood similarity analysis can only conduct similarity measures based on match operations for alarms represented by text strings; as a result, the match operations ignore the correlations between alarm occurrences. In this work, a new alarm flood similarity analysis method based on word embedding and Move-Split-Merge (MSM) distance is proposed, in order to reveal sequence similarity from a new perspective. The contributions are mainly twofold: 1) The correlations of alarm occurrences are considered in the alarm encoding via word embedding; 2) The MSM distance is calculated to analyze the similarity of alarm flood sequences of different lengths. Then, clustering results are compared with the original true labels of the alarm floods. The effectiveness of the proposed method is demonstrated by a case study with alarm data generated by a public industrial model of the Vinyl Acetate Monomer process.

关键词： Process monitoring Correlation Clustering algorithms Alarm systems Cyber-physical systems Industrial facilities Data models

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Adaptive Internal Time-Step Adjustment for Fast Power system Dynamic Simulations Based on Trapezoidal Integration of Elementary Transfer Function Blocks

SSRN

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SSRN 2023年

作者： Li, Changgang Hang, Yun Liu, Yutian Terzija, Vladimir Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University 17923 Jingshi Road Jinan250061 China School of Engineering Newcastle University Newcastle Upon Tyne NE1 7RU United Kingdom

With the development of renewable energy sources, the scale and complexity of power systems are continuously increasing, resulting in a high requirement for the efficiency of dynamic simulation. Increasing the simulation time-step is a possible measure for the fixed time-step (FTS) method to accelerate the simulation, yet also a potential cause for deteriorating the simulation accuracy. To improve the overall power system dynamic simulation speed without jeopardizing the expected accuracy, this paper proposes a novel Adaptive Internal Time-Step Adjustment (AITSA) method based on Trapezoidal integration of elementary transfer function blocks (ETFBs). For ETFBs with different time constants, three different integration modes are defined, including single-step integration, multiple-step integration, and static approximation. Each ETFB can select an appropriate integration mode and adaptively adjust its internal time-step. Implementation of static approximation for ETFBs with small time constants is given. Discussion on the determination of threshold values of internal time-step is provided, which mainly affects the accuracy of the system. The proposed method is applied to the open-source Simulation Toolkit for Electrical Power systems (STEPS). Different cases are tested to obtain the maximum simulation time-step that can maintain numerical stability and validate the efficiency and accuracy of the proposed method. © 2023, The Authors. All rights reserved.

关键词： Integration

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Robust optimization-based fusion of GNSS and Visual-Inertial-Wheel Odometry

Robust optimization-based fusion of GNSS and Visual-Inertial...

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IEEE International Conference on Robotics and Biomimetics

作者： Jake Jie Hou Xinrui Wu Jiwei Shan Dun Li Hesheng Wang Department of Automation Shanghai Jiao Tong University China Shanghai Karlang Industrial Nantong Intelligent Technology Co. Ltd China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665481106

SLAM is significant to autonomous mobile robots. In order to realize drift-free state estimation and provide accurate localization results for the subsequent navigation, we develop an optimization-based framework consisting of a high-frequency Inertial-Wheel Odometry(IWO), Visual-Inertial-Wheel Odometry(VIWO) and a global fusion module. To fuse the local state with the position provided by GNSS, we perform ternary edge in factor graph optimization to estimate the transformation between the local frame and ENU coordinate. Thanks to the tightly-coupled VIWO, the localization property of the odometry presents more robustness, and improve the accuracy of global fusion. A noise repropagation strategy is introduced to ensure the consistency of the IMU and wheel odometer. We evaluate the proposed system on public datasets and test it in real-world scenario. The experimental results show that our system achieves accurate pose estimation in outdoor environments.

关键词： Location awareness Global navigation satellite system Simultaneous localization and mapping Robot kinematics Wheels Robustness Sensors

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Multiplicative Fault Detection and Isolation in Dynamic systems Using Data-Driven K-Gap Metric based kNN Algorithm

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IFAC-PapersOnLine 2022年第6期55卷 169-174页

作者： Caroline Charlotte Zhu Linlin Li Steven X. Ding Institute of Automatic Control and Complex Systems (AKS) University of Duisburg-Essen Duisburg 47057 Germany Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing 100083 Beijing China

In this paper, a fault detection and isolation scheme for multiplicative faults in dynamic systems based on data-driven K-Gap metric and k-nearest neighbour (kNN) classification is proposed. To detect multiplicative faults, the standard classification task of kNN is studied from the viewpoint of system analysis. To this end, the data-driven stable kernel representation based on input/output data is presented for feature extraction capturing the dynamic of linear time-invariant (LTI) systems. Data-driven K-Gap metric is used as an alternative tool for distance measure between two kernel subspaces in the kNN algorithm. A simulation example on the three-tank system (DTS200) demonstrates the successful detection and isolation of various multiplicative faults

关键词： Fault detection isolation multiplicative faults data-driven methods multiclass classification process monitoring K-Gap gap metrics

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