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IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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Nonsingular terminal sliding mode guidance law

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2009年第SUPPL. 1期39卷 87-90页

作者： Wang, Zhao Li, Shihua Fei, Shumin School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing 210096 China Dongying 257061 China

In order to intercept maneuvering targets, a guidance law based on nonsingular terminal sliding mode (NTSM) technique is presented. The proposed NTSM contains the line-of-sight (LOS) angular rate and a desired LOS angular. Through introducing the nonlinear sliding mode surface to improve the convergent characteristics of the system, the states of the closed-loop system can be converged to the origin in finite time and the system performance is improved greatly. The LOS angular rate is nullified in finite time to guarantee the zero miss-distance between the missile and the target;the LOS angular reaches the desired value in finite time to guarantee the missile attitude of hitting the target. With the maneuverability of acceleration of the target regarded as an unknown bounded disturbance, the proposed guidance law is robust to target maneuvering by using the invariance of the variable structure control. The guidance law has a simple structure and is easy to be implemented. Two cases of target maneuvering are simulated to validate the effectiveness of the method. The simulation results show that the algorithm has strong robustness and high guidance accuracy.

关键词： Variable structure control

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Adaptive fuzzy control of output-constrained switched nonlinear systems

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ICIC Express Letters 2015年第12期9卷 3355-3362页

作者： Niu, Ben Liu, Yanli Shen, Mouquan School of Control Science and Engineering Dalian University of Technology No. 2 Linggong Road Ganjingzi District Dalian China College of Mathematics and Physics Bohai University No. 19 Keji Road New Songshan District Jinzhou China Automation Research Institute Bohai University No. 19 Keji Road New Songshan District Jinzhou China College of Electrical Engineering and Control Science Nanjing Technology University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

In this paper, the problem of adaptive fuzzy tracking control is considered of uncertain switched nonlinear systems with an output constraint. First, a barrier Lyapunov function (BLF) is employed to deal with the output constraint. Then fuzzy logic systems are used to approximate the unknown nonlinearities and backstepping technique is employed to construct an adaptive fuzzy controller. The designed controller guarantees all the closed-loop signals remain bounded while the system output converges to a small neighborhood of the desired reference signal without violating the constraint. An example is given to demonstrate the validity of the developed result. © 2015 ICIC International.

关键词： Lyapunov functions

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ISAC Prototype system for Multi-Domain Cooperative Communication Networks

arXiv

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arXiv 2024年

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

Future wireless networks are poised to transform into integrated sensing and communication (ISAC) networks, unlocking groundbreaking services such as digital twinning. To harness the full potential of ISAC networks, it is essential to experimentally validate their sensing capabilities and the role of sensing in boosting communication. However, current prototype systems fall short in supporting multiple sensing functions or validating sensing-assisted communication. In response, we have developed an advanced ISAC prototype system that incorporates monostatic, bistatic, and network sensing modes. This system supports multimodal data collection and synchronization, ensuring comprehensive experimental validation. On the communication front, it excels in sensing-aided beam tracking and real-time high-definition video transmission. For sensing applications, it provides precise angle and range measurements, real-time angle-range imaging, and radio-based simultaneous localization and mapping (SLAM). Our prototype aligns with the 5G New Radio standard, offering scalability for up to 16 user equipments (UEs) in uplink transmission and 10 UEs in downlink transmission. Real-world tests showcase the system’s superior accuracy, with root mean square errors of 2.3 degrees for angle estimation and 0.3 meters (m) for range estimation. Additionally, the estimation errors for multimodal-aided real-time radio SLAM localization and mapping are 0.25 m and 0.8 m, respectively. Copyright © 2024, The Authors. All rights reserved.

关键词： Cooperative communication

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DSTFormer: 3D Human Pose Estimation with a Dual-scale Spatial and Temporal Transformer Network

DSTFormer: 3D Human Pose Estimation with a Dual-scale Spatia...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Shaokun Zhang Xinde Li Chuanfei Hu Jianping Xu Huaping Liu School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Nanjing Center for Applied Mathematics Nanjing China Southeast University Shenzhen Research Institute Shenzhen China Science and Technology on Information Systems Engineering Laboratory Nanjing China Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Recent transformer-based methods for estimating 3D human pose have gained widespread attention, achieving state-of-the-art results. Previous methods have primarily focused on capturing motion patterns of the human body at a single scale or cascading multiple scales, such as joints, bones, and body-parts. However, they are difficult to simultaneously capture spatial-temporal motion patterns of the human body at different scales due to the complex motion patterns. To address this issue, we propose Dual-scale Spatial and Temporal transFormer (DSTFormer), which can concurrently explore the spatial dependencies and temporal motion patterns of human joints and bones. Additionally, we introduce a Gcn-Spatial Transformer Block (GSTB), which introduces Graph Convolutional Networks (GCN) into transformer to enhance the exploitation of local relationships and global information between adjacent joints or bones. Extensive experiments are conducted on the Human3.6M benchmark dataset, and superior results are reported when comparing to other state-of-the-art methods. More remarkably, our model achieves to-date the best published performance, with P1 errors of 37.9 mm and 15.6 mm, respectively.

关键词： Solid modeling Three-dimensional displays Mechatronics Graph convolutional networks Computational modeling Pose estimation Transformers Bones Joints Robots

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Network Parameter Generation for One-Shot Object Detection

Network Parameter Generation for One-Shot Object Detection

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IEEE International Conference on Unmanned systems (ICUS)

作者： Kang Wang Jiajia Zhao Yang Wang Shuigeng Zhou Shanghai Key Lab of Intelligent Information Processing and School of Computer Science Fudan University Shanghai China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineer Institute Beijing China School of Information Engineering Nanchang University China

ISBN: (纸本)9781728137933

Recent object detection models have achieved satisfactory performance by deep learning with large-scale annotated datasets. However, these models often perform poorly when the training examples are not sufficient enough, especially for one-shot object detection where there is only one training example of each target class. In this paper, we propose a network parameter generation framework for effective one-shot object detection. By leveraging the semantic relationship between the source-domain and the target-domain (new classes), our framework can generate network parameters for the new classes directly. Furthermore, we develop two implementation schemes for this framework: weighting-based parameter generation and regression-based parameter generation. These two schemes use different information to construct the relationship and transfer knowledge from the source-domain to the target-domain. Experiments on the PASCAL-OSCD benchmark show that our methods can significantly boost the performance of one-shot object detection.

关键词： Object detection Detectors Head Training Feature extraction Task analysis Training data

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

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Chinese Automation Congress (CAC)

作者： Bin Zhang Xiaowei Jiang Li Sun Xianhe Zhang 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 Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions.

关键词： Networked control systems Gaussian noise Bandwidth Numerical simulation Downlink Decoding Colored noise

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Context-aware Emotion Recognition Based on Vision-Language Pre-trained Model

Context-aware Emotion Recognition Based on Vision-Language P...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： XingLin Li Xinde Li Chuanfei Hu Huaping Liu School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Nanjing Center for Applied Mathematics Nanjing China Southeast University Shenzhen Research Institute Shenzhen China Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Given the difficulty of recognizing ambiguous emotions in facial expression recognition tasks, we propose a visual-language model named CAER-CLIP to address this challenge. The proposed CAER-CLIP standed for Context-Aware Emotion Recognition (CAER), and were incorporated structure of the Contrastive Language–Image Pre-training (CLIP) model as promising alternative to classifier. There are two parts in CAER-CLIP model. In the visual part, facial expressions and contextual information of the image are simultaneously extracted to obtain the final feature embeddings, which are then used as a learnable “class” token for text-image pairing with desired module. In the textual part, we use text labels for emotion recognition classes as input. The outputs were merged to participate the comparative study to generated parameters of the model. The experiments demonstrate the effectiveness of the proposed method and show that our CAER-CLIP outperforms the state-of-the-art results on the CAER benchmark. The ablation experiment verified the effectiveness of both the classifier-based and text-based (ours without classifier) models, demonstrating that our method with the CAER-CLIP structure performed better, and the incorporation of a text encoder in the deep network model architecture effectively enhancing recognition accuracy.

关键词： Training Emotion recognition Visualization Accuracy Text recognition Face recognition Benchmark testing Feature extraction Data mining Context modeling

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Bayesian Framework for Multi-User Cooperative Radio SLAM

Bayesian Framework for Multi-User Cooperative Radio SLAM

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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Hang Que Jie Yang Tao Du Shuqiang Xia Chao-Kai Wen Shi Jin National Mobile Communications Research Laboratory Southeast University Nanjing China Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China ZTE Corporation Shenzhen China State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen China Institute of Communications Engineering National Sun Yat-sen University Kaohsiung Taiwan

ISBN: (数字)9798350362244

ISBN: (纸本)9798350362251

The advancement of millimeter-wave communication technology heralds new sensing capabilities. By leveraging channel multipath parameter estimates, we can harness simultaneous localization and mapping (SLAM) for precise user equipment (UE) localization and radio map construction in 6 G communication systems. Particularly in multi-UE scenarios, SLAM empowers base stations to amalgamate the local radio maps of various UEs efficiently. This study introduces a novel Bayesian framework specifically designed for multi-UE SLAM, complemented by a tailored factor graph. We also unveil a two-stage multi-UE SLAM algorithm. Our simulation results reveal that this algorithm substantially enhances radio map construction accuracy by $\mathbf{4 8. 5 \%}$ and UE localization accuracy by $13.5 \%$, outperforming single-UE cases. Moreover, the algorithm demonstrates remarkable adaptability to environmental changes, showcasing its potential for long-term evolution in dynamic settings.

关键词： Location awareness Simultaneous localization and mapping Accuracy Communication systems Heuristic algorithms Simulation Bayes methods Sensors Millimeter wave communication Land mobile radio

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Design of partitioned table for VLDB in the vehicle monitoring system

Design of partitioned table for VLDB in the vehicle monitori...

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International Conference on Multimedia Technology

作者： Yanlan Yang Hua Ye Shumin Fei Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education South-East University Nanjing China Southeast University Nanjing Jiangsu CN

ISBN: (纸本)9781612847719

As the number of vehicles in the monitoring system increases, the size of the table for storing their past data becomes very large, which brings performance troubles occurred in the systems with VLDB. To improve the data-access efficiency and keep the database stability, the original table is proposed to be partitioned. According to the functional requirements for database from the vehicle monitoring system, the range partition is suggested, with twelve partitions for one year's historical data and each partition corresponding to a separate month. Then the partitioned table is created after finishing the definitions of the partitioning function and the partitioning schema, where the former gives a rule for partitioning and the latter specifies the storage places of partitions to different file groups. Because the data in the partitioned table is separated into several file groups, the data-access is capable of parallel processing and keeps a higher efficiency. Tests show that the partitioned table works in improving the database performance and the query time is greatly reduced compared to that cost in the original table.

关键词： Servers Monitoring Optimization Vehicles Indexes Laboratories

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