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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Qian Ku Wu Tiejun Zhang Ya School of Automation Southeast University Nanjing Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing China School of Cyber Science and Engineering Southeast University Nanjing China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This paper studies the detection and identification problem of malicious network traffic and proposes a rule extraction algorithm based on interpretable models. The algorithm utilizes interpretable greedy trees as the foundational model and extends its applicability to handle multi-classification problems, thereby enhancing interpretability and detection accuracy. This methodology furnishes a more dependable and secure framework for discerning attack categories within the domain of network security. The experiment results show that the proposed algorithm achieves better balance between interpretability and identification precision.

关键词： Accuracy Automation Telecommunication traffic Artificial neural networks Network security Classification algorithms complexity theory Computer security Robots

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Intrinsic-feature-guided 3D Object Detection

arXiv

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arXiv 2025年

作者： Zhang, Wanjing Wang, Chenxing School of Automation Southeast University 2# Sipailou Xuanwu Nanjing210096 China Key laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road driving environments, target objects referring to vehicles, pedestrians and cyclists are well-suited for enhancing representation through the complete template guidance, considering their grid and topological structures. Therefore, this paper presents an intrinsic-feature-guided 3D object detection method based on a template-assisted feature enhancement module, which extracts intrinsic features from relatively generalized templates and provides rich structural information for foreground objects. Furthermore, a proposal-level contrastive learning mechanism is designed to enhance the feature differences between foreground and background objects. The proposed modules can act as plug-and-play components and improve the performance of multiple existing methods. Extensive experiments illustrate that the proposed method achieves the highly competitive detection results. Code will be available at https://***/zhangwanjingjj/***. Copyright © 2025, The Authors. All rights reserved.

关键词： Object recognition

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Ensuring Port Safety: Improved YOLOX and DeepSORT for Accurate Detection and Tracking of Trucks and Truck Drivers

Ensuring Port Safety: Improved YOLOX and DeepSORT for Accura...

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Chinese control Conference (CCC)

作者： Xueqin Zheng Jinya Su Jun Yang School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

An optimized YOLOX+DeepSORT method is proposed to accurately detect and track container trucks and truck drivers at the working position of automated rubber tire gantries in ports, while ensuring their safety during the whole working process. In the proposed method, the improved YOLOX performs object detection and its output is used as the input for multi -object tracking using DeepSORT. The improved YOLOX model is developed through replacing standard convolution with depthwise separable convolution, adding the convolutional block attention module to enhance feature extraction, and using Focal Loss in the loss function to address sample imbalances. Comparative experiments were carried out on a self-built dataset, showing a 4.32% increase in mAP and improved reasoning speed for improved YOLOX compared to the original YOLOX. Furthermore, the optimized method shows a 3.57% increase in Multi-Object Tracking Accuracy and a 1.73% increase in Multi-Object Tracking Precision compared to the benchmark YOLOX+DeepSORT.

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Event-triggered receding horizon control via actor-critic design

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Science China(Information Sciences) 2020年第5期63卷 131-145页

作者： Lu DONG Xin YUAN Changyin SUN School of Automation Southeast University College of Electronics and Information Engineering Tongji University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

In this paper, we propose a novel event-triggered near-optimal control for nonlinear continuoustime systems. The receding horizon principle is utilized to improve the system robustness and obtain better dynamic control performance. In the proposed structure, we first decompose the infinite horizon optimal control into a series of finite horizon optimal problems. Then a learning strategy is adopted, in which an actor network is employed to approximate the cost function and an critic network is used to learn the optimal control law in each finite horizon. Furthermore, in order to reduce the computational cost and transmission cost, an event-triggered strategy is applied. We design an adaptive trigger condition, so that the signal transmissions and controller updates are conducted in an aperiodic way. Detailed stability analysis shows that the nonlinear system with the developed event-triggered optimal control policy is asymptotically *** results on a single-link robot arm with different noise types have demonstrated the effectiveness of the proposed method.

关键词： event-triggered control receding horizon control actor-critic design optimal control nonlinear systems neural networks

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Robust Speed Regulation of PMSM Under Disturbances and Noises Using Composite Model Predictive control

Robust Speed Regulation of PMSM Under Disturbances and Noise...

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Chinese control Conference (CCC)

作者： Linxuan Mao Jinya Su Shihua Li School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

This paper presents a single-loop Model Predictive control strategy that incorporates a reduced-order Generalized Proportional Integral Observe and a Kalman filter to enhance the speed regulation of Permanent Magnet Synchronous Motor systems in the presence of complex disturbances and measurement noises. The proposed controller design seamlessly integrates the predictive control, disturbance observer, and state filter components, and it was evaluated through simulation comparisons. The performance of the proposed method is evaluated using various metrics, including maximum velocity drop, recovery time, and variance of steady-state error, which demonstrate its superior response performance and anti-disturbance ability when compared to other existing methods without state filtering.

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Inverse Reinforcement Learning Integrated Reinforcement Learning for Single Intersection Traffic Signal control

Inverse Reinforcement Learning Integrated Reinforcement Lear...

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International Conference on Industrial Artificial Intelligence (IAI)

作者： Shiyi Gu Tingting Zhang Ya Zhang School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China College of Command and Control Engineering Army Engineering University Nanjing China

Traffic Signal control (TSC) optimization is vital for efficient traffic flow in urban intersections. Recent research has explored the application of Reinforcement Learning (RL) agents to tackle TSC challenges. However, the selection of an appropriate reward function in RL agent training still relies on subjective judgment and experience. To address this issue, an Inverse Reinforcement Learning (IRL) integrated RL algorithm is proposed. In the IRL learning section, expert trajectory data are collected and analyzed by Relative Entropy IRL (REIRL). The latent reward of expert policy is reconstructed and utilized in RL agent training process. In the RL control section, a Double Dueling Deep Q Network is applied under a cycle control framework. As verified in simulations, the introduction of expert experience improves the performance of the RL agent to the expert level and concurrently enables robustness to expert policy noises.

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A compensation method for the packet loss deviation in system identification with event-triggered binary-valued observations

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Science China(Information Sciences) 2020年第12期63卷 266-268页

作者： Jing-Dong DIAO Jin GUO Changyin SUN School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education

Dear editor,With the rapid development of network and communication technology, group systems interrelated in terms of both time and space are commonly encountered, such as sensor networks, multi-agent systems, and sm... 详细信息

关键词： system identification event-triggered binary-valued observations packet loss convergence

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Finite Time Disturbance Observer-Based Tube Model Predictive control for Vehicle Platoon systems with Guaranteed L∞ String Stability

Finite Time Disturbance Observer-Based Tube Model Predictive...

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第34届中国控制与决策会议

作者： Qian Chen Jinhao Liu Jun Yang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

This paper investigates optimal longitudinal control problems for a vehicle platoon in presence of parameter uncertainties and external ***,a multi-constraint multi-objective optimization model is developed,where physical limits,safety constraints,driving comfort,and fuel economy are taken into *** reduce communication burden and avoid network congestion,the preceding vehicle's acceleration is obtained by employing a finite time disturbance observer(FTDO).As for the parameter uncertainties as well as external disturbances,they are estimated as a lumped disturbance by exploiting a ***,under a predecessor following communication topology,a FTDO-based tube model predictive control method with explicit consideration of string stability is ***,numerical simulations illustrate the effectiveness and superiority of the proposed control approach.

关键词： Vehicle Platoon Longitudinal control Finite Time Disturbance Observer Model Predictive control Predecessor-follower L_∞ String Stability

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Vision-Based Autonomous Landing of a Quadrotor UAV on a Double-Layered Nested Landing Marker

Vision-Based Autonomous Landing of a Quadrotor UAV on a Doub...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Mu, Lingxia Zhang, Yuan Xin, Jing Zhang, Youmin School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Department of Mechanical and Industrial Engineering Concordia University MontrealH3G 1M8 Canada

ISBN: (纸本)9789811966125

This paper focuses on the vision-based autonomous landing mission of a quadrotor unmanned aerial vehicle (UAV). A double-layered nested Aruco landing marker is designed which can adapt to the situation that the field of sight of airborne camera changes as the UAV’s altitude decreases during the landing. Then, considering that the landing marker might be obstructed in certain situation, traditional Aruco detection method cannot effectively recognize marker. A YOLOv4 deep learning algorithm is used for marker detection. In addition, to address the problem of false detection in some test results, normalized Wasserstein distance is used to replace the non-maximum suppression to deal with redundant frames. The UAV’s relative location to the marker is then calculated and landing mission is finally achieved by the image-based visual servoing strategy. The simulation on Gazebo demonstrates that the designed marker is effective for the UAV landing mission and the revised YOLOv4 detection algorithm can increase detection results accuracy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Maximum power point tracking of photovoltaic array in partial shading condition based on improved Gray Wolf optimization algorithm

Maximum power point tracking of photovoltaic array in partia...

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第34届中国控制与决策会议

作者： Chuang Kou Chenxi Li Kanjian Zhang Jinxia Zhang Haikun Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of AutomationSoutheast University

The partial shading condition(PSC) makes it challenging for the PV system to find the maximum power *** this paper,an improved gray wolf algorithm(GWO) is proposed by introducing elimination mechanism,greedy mechanism and adjusting the convergence factor which overcomes the contradiction between global exploration ability and convergence *** fast varying irradiance and PSC,IGWO has been compared with GWO,particle swarm optimization(PSO),and adaptive particle swarm optimization(APSO),the results shows the superiority of IGWO in the MPPTs of the PV system.

关键词： MPPT IGWO Population selection mechanism Greedy mechanism Convergence factor

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