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10th International Conference on systems and Informatics, ICSAI 2024

作者： Mu, Minghao Wang, Wei Lu, Xiaobo School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798331510138

Joint face super-resolution and frontalization of non-frontal low-resolution faces is of significant importance for many face analysis applications. However, at the same time, it is a challenging task. In this paper, a novel Guided Transformative Generative Adversarial Network (GT-GAN) is proposed to address the challenge of generating frontal high-resolution face images from non-frontal low-resolution face images. Existing methods usually treat super-resolution and frontalization as two separate tasks, leading to unsatisfactory processing results. GTG AN innovatively achieves both goals within a unified frame-work. Specifically, we propose Profile Attention Guidance (PAG) to generate landmark heatmaps that provide a priori pose information to the generative network and direct its attention to critical facial regions. In addition, an Attention Fusion Transformation Module (AFTM) is proposed to significantly improve the hallucination performance of the network by utilizing the attention mechanism and STNs, combined with sequential feature enhancement strategies. The experimental results show that GT-GAN exhibits superior performance in the joint face super-resolution and frontalization task on the public face dataset Multi-PIE, which provides new ideas and references for this challenging topic. © 2024 IEEE.

关键词： Generative adversarial networks

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BeltLineNet: A Shape-Prior-Guided Lightweight Network for Real-Time Deviation Detection in Circular Pipe Conveyors

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IEEE Sensors Journal 2025年第11期25卷 20024-20036页

作者： Zhao, Long Su, Jinhui Zhong, Yusheng Xie, Weiwei Su, Jinya Chen, Xisong Chen, Congyan Li, Shihua Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing210096 China Fujian Longking Intelligent Conveying Engineering Co. Ltd Longyan China

Belt deviation in circular pipe conveyor systems could lead to material spillage, environmental contamination, reduced efficiency, and accelerated belt wear. Real-time belt deviation detection is crucial for ensuring safe and efficient operation. However, existing methods, primarily developed for flat-belt systems, heavily rely on distinct belt-background semantics, making them unsuitable for circular conveyors where indistinct target features, motion blur, and occlusions pose significant challenges. To address these issues, we reformulate the deviation detection task as an object detection problem, proposing BeltLineNet, a lightweight, real-time deviation detection network specifically designed for circular pipe conveyors. Our method integrates explicit feature learning with a coarse-to-fine global feature fusion mechanism, enhancing belt line representation under complex conditions. Additionally, a shape-prior loss strategy is introduced to improve supervision during training, ensuring more accurate detection of elongated targets. The model is also optimized for real-time deployment through layer-adaptive pruning, achieving a balance between accuracy and computational efficiency. Extensive comparative experiments involving 8 state-of-the-art (SOTA) feature extraction networks and 6 feature enhancement strategies on a self-collected dataset under industrial conditions demonstrate that BeltLineNet surpasses SOTA feature extraction and fusion networks, improving average precision (AP) by 8.23% before pruning and 6.33% after pruning. © 2001-2012 IEEE.

关键词： Belt conveyors

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Reduction of data amount in data-driven design of linear quadratic regulators

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control Theory and Technology 2024年第4期22卷 532-542页

作者： Shinsaku Izumi Xin Xin School of Systems Engineering Kochi University of TechnologyKamiKochi782-8502Japan School of Automation Southeast Universityand Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of EducationNanjing210096JiangsuChina

This paper discusses the data-driven design of linear quadratic regulators,i.e.,to obtain the regulators directly from experimental data without using the models of *** particular,we aim to improve an existing design method by reducing the amount of the required experimental *** the data amount leads to the cost reduction of experiments and computation for the data-driven *** present a simplified version of the existing method,where parameters yielding the gain of the regulator are estimated from only part of the data required in the existing *** then show that the data amount required in the presented method is less than half of that in the existing method under certain *** addition,assuming the presence of measurement noise,we analyze the relations between the expectations and variances of the estimated parameters and the *** a result,it is shown that using a larger amount of the experimental data might mitigate the effects of the noise on the estimated *** results are verified by numerical examples.

关键词： Data-driven design Linear quadratic regulators Linear systems Riccati equation Stochastic properties

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HarmonyNav: Robot Navigation in Human-Robot Coexistence Environment Considering Group and Pedestrian Intentions

HarmonyNav: Robot Navigation in Human-Robot Coexistence Envi...

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2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Wang, Yutao Fang, Fang Liu, Chenyang Fan, Tao Li, Yi The Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

Service robots must navigate efficiently and harmoniously in human-robot coexistence environments. Previous studies often treated pedestrians as independent entities, ignoring human intentions and leading to group intersections and performance issues. We introduce HarmonyNav, a crowd navigation algorithm that enhances human-robot harmony. Our method uses Human-Robot Interaction sub-networks to account for indirect group impacts on pedestrians and predicts pedestrian trajectories to infer intentions. Employing proximal policy optimization (PPO) in reinforcement learning, we develop a harmonious navigation policy. In simulation experiments, our results show improved navigation performance, reducing group intersections and individual intrusions. © The Institution of Engineering & Technology 2024.

关键词： Reinforcement learning

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Prescribed-Time Nash Equilibrium Seeking for Pursuit-Evasion Game

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1518-1520页

作者： Lei Xue Jianfeng Ye Yongbao Wu Jian Liu D.C.Wunsch Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096 School of Automation Southeast UniversityNanjing 210096China Department of Electrical and Computer Engineering Missouri University of Science and TechnologyRollaMO 65409 USA IEEE

Dear Editor,This letter is concerned with prescribed-time Nash equilibrium(PTNE)seeking problem in a pursuit-evasion game(PEG)involving agents with second-order *** order to achieve the prior-given and user-defined convergence time for the PEG,a PTNE seeking algorithm has been developed to facilitate collaboration among multiple pursuers for capturing the evader without the need for any global ***,it is theoretically proved that the prescribedtime convergence of the designed algorithm for achieving Nash equilibrium of ***,the effectiveness of the PTNE method was validated by numerical simulation results.A PEG consists of two groups of agents:evaders and *** pursuers aim to capture the evaders through cooperative efforts,while the evaders strive to evade *** is a classic noncooperative *** has attracted plenty of attention due to its wide application scenarios,such as smart grids[1],formation control[2],[3],and spacecraft rendezvous[4].It is noteworthy that most previous research on seeking the Nash equilibrium of the game,where no agent has an incentive to change its actions,has focused on asymptotic and exponential convergence[5]-[7].

关键词： seeking prescribed convergence

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Collision-free and Effecient Robotic Grasping based on Hierarchical Reinforcement Learning

Collision-free and Effecient Robotic Grasping based on Hiera...

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2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Li, Yi Fang, Fang Liu, Chenyang Wang, Yutao Fan, Tao School of Automation Southeast University China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

In the realm of robotics, grasping within unstructured environments has consistently been a challenging task. Direct grasping often results in failures due to collisions, and some pre-grasping maneuvers can eliminate the tightly stacked state between objects, thereby enhancing the success rate of grasping. In this paper, we opt for pushing as a pre-grasping maneuver. We propose a deep Q-network with a fused convolutional feature enhancement module to improve action value estimation, enhancing the robot’s pushing and grasping abilities. Additionally, a hierarchical reinforcement learning framework optimizes action sequences for better synergy between pushing and grasping. In simulated experiments, the model achieved a high grasp success rate with just a few hours of training, outperforming other methods in the literature. © The Institution of Engineering & Technology 2024.

关键词： Adversarial machine learning

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Fixed-Time Consensus-Based Nash Equilibrium Seeking

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 267-269页

作者： Mengwei Sun Jian Liu Lu Ren Changyin Sun the Institutes of Physical Science and Information Technology Anhui UniversityHefei 230601China IEEE the School of Automation and the Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China the School of Artificial Intelligence and the Engineering Research Center of Autonomous Unmanned System Technology Ministry of EducationAnhui UniversityHefei 230601China

Dear Editor,This letter examines the fixed-time stability of the Nash equilibrium(NE)in non-cooperative *** propose a consensus-based NE seeking algorithm for situations where players do not have perfect information and communicate via a topology *** proposed algorithm can achieve NE in a fixed time that does not depend on initial conditions and can be adjusted in advance.

关键词： Fixed seeking letter

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A Model-Based Unmatched Disturbance Rejection control Approach for Speed Regulation of a Converter-Driven DC Motor Using Output-Feedback

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 365-376页

作者： Lu Zhang Jun Yang Shihua Li School of Automation Southeast UniversityKey Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education IEEE Department of Aeronautical and Automotive Engineering Loughborough University

The speed regulation problem with only speed measurement is investigated in this paper for a permanent magnet direct current(DC)motor driven by a buck *** lumping all unknown matched/unmatched disturbances and uncertainties together,the traditional active disturbance rejection control(ADRC)approach provides an intuitive solution for the problem under ***,for such a higher-order disturbed system,the increase of poles for the extended state observer(ESO)therein will lead to drastically growth of observer gains,which causes severe noise *** paper aims to propose a new model-based disturbance rejection controller for the converter-driven DC motor system using *** of estimating lumped disturbances directly,a new observer is constructed to estimate the desired steady state of control signal as well as errors between the real states and their desired steady-state ***,a controller with only speed measurement is proposed by utilizing the *** performance of the proposed method is tested through experiments on *** is further shown via numerical calculations and experimental results that the poles of the observer within the proposed control approach can be largely increased without significantly increasing magnitude of the observer gains.

关键词： Bandwidth widening converter-driven direct current(DC)motor disturbance observer model-based disturbance rejection speed regulation

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Design of low-power, high-precision wireless temperature transmitter based on wifi

Design of low-power, high-precision wireless temperature tra...

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2023 Jiangsu Annual Conference on Automation, JACA 2023

作者： Wang, Lening Wang, Xiaojun Jiang, Rongfu Gao, Yifeng Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

ISBN: (纸本)9781839539848

In order to enhance the performance of temperature transmitters and facilitate their integration into intelligent and wireless systems, a novel design is proposed, incorporating a pseudo self-balancing electric bridge to achieve a high-precision and wide-range temperature measurement capability. This advanced transmitter not only maximizes the measurement range of thermal resistance but also ensures exceptional temperature accuracy. It seamlessly transfers data to a server through the utilization of the WIFI protocol. Furthermore, the transmitter is equipped with wireless communication capabilities, allowing data transmission through a 4-20mA current loop. The calibration and configuration processes can be conveniently carried out via a USB interface. Rigorous testing validates that the accuracy of the transmitter conforms to the stringent specifications outlined in GB/T 34072-2017 for 0.1-level temperature transmitters. Additionally, when operated with battery power, the transmitter exhibits commendably low average power consumption. © The Institution of Engineering & Technology 2023.

关键词： Transmitters

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Multi-functional motion control and simulation of a large unmanned mobile manipulator for autonomous grasping scenes 41

Multi-functional motion control and simulation of a large un...

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第41届中国控制会议

作者： Wei Ma Yirong Liu Rongsheng Wang Fang Fang Bo Zhou Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Mobile manipulator can perform complex operation tasks in a larger workspace,and has great application potential in practical *** at a large unmanned mobile manipulator for autonomous grasping scenes,this paper realizes its multi-functional motion control and ***,this paper analyzes the kinematics models of the manipulator and mobile base,and describes them with D-H parameters;The whole-body kinematics model of the mobile manipulator is obtained by integrating the mobile base and the ***,in order to meet the requirements of path planning and motion simulation of mobile manipulator in different scenarios,this paper designs three different simulation modes and realizes the simulation in virtual environment,the simulation combining actual controller and virtual robot and the simulation of digital twin ***,different experiments are designed to verify the feasibility and effectiveness of the three simulation methods.

关键词： mobile manipulation whole-body model path planning motion simulation digital twin system

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