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arXiv 2024年

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

Radio imaging is rapidly gaining prominence in the design of future communication systems, with the potential to utilize reconfigurable intelligent surfaces (RISs) as imaging apertures. Although the sparsity of targets in three-dimensional (3D) space has led most research to adopt compressed sensing (CS)-based imaging algorithms, these often require substantial computational and memory burdens. Drawing inspiration from conventional Fourier transform (FT)-based imaging methods, our research seeks to accelerate radio imaging in RIS-aided communication systems. To begin, we introduce a two-stage wavenumber domain 3D imaging technique: first, we modify RIS phase shifts to recover the equivalent channel response from the user equipment to the RIS array, subsequently employing traditional FT-based wavenumber domain methods to produce target images. We also determine the diffraction resolution limits of the system through k-space analysis, taking into account factors including system bandwidth, transmission direction, operating frequency, and the angle subtended by the RIS. Addressing the challenge of limited pilots in communication systems, we unveil an innovative algorithm that merges the strengths of both FT- and CS-based techniques by substituting the expansive sensing matrix with FT-based operators. Our simulation outcomes confirm that our proposed FT-based methods achieve high-quality images while demanding few time, memory, and communication resources. Copyright © 2024, The Authors. All rights reserved.

关键词： Fourier transforms

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RIS-aided Single-frequency 3D Imaging by Exploiting Multi-view Image Correlations

arXiv

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arXiv 2024年

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

Retrieving range information in three-dimensional (3D) radio imaging is particularly challenging due to the limited communication bandwidth and pilot resources. To address this issue, we consider a reconfigurable intelligent surface (RIS)-aided uplink communication scenario, generating multiple measurements through RIS phase adjustment. This study successfully realizes 3D single-frequency imaging by exploiting the near-field multi-view image correlations deduced from user mobility. We first highlight the significance of considering anisotropy in multi-view image formation by investigating radar cross-section properties and diffraction resolution limits. We then propose a novel model for joint multi-view 3D imaging that incorporates occlusion effects and anisotropic scattering. These factors lead to slow image support variation and smooth coefficient evolution, which are mathematically modeled as Markov processes. Based on this model, we employ the Expectation Maximization-Turbo-Generalized Approximate Message Passing algorithm for joint multi-view single-frequency 3D imaging with limited measurements. Simulation results reveal the superiority of joint multi-view imaging in terms of enhanced imaging ranges, accuracies, and anisotropy characterization compared to single-view imaging. Combining adjacent observations for joint multi-view imaging enables a reduction in the measurement overhead by 80%. Copyright © 2024, The Authors. All rights reserved.

关键词： Anisotropy

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Stochastic DoS Attack Allocation Against Collaborative Estimation in Sensor Networks

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IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1225-1234页

作者： Ya Zhang Lishuang Du Frank L.Lewis School of Automation Southeast Universityand also with the Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of EducationNanjing 210096China University of Texas at Arlington Research Institute Fort WorthTX 76118 USA IEEE

In this paper,denial of service(DoS)attack management for destroying the collaborative estimation in sensor networks and minimizing attack energy from the attacker perspective is *** the communication channels between sensors and a remote estimator,the attacker chooses some channels to randomly jam DoS attacks to make their packets randomly dropped.A stochastic power allocation approach composed of three steps is ***,the minimum number of channels and the channel set to be attacked are ***,a necessary condition and a sufficient condition on the packet loss probabilities of the channels in the attack set are provided for general and special systems,***,by converting the original coupling nonlinear programming problem to a linear programming problem,a method of searching attack probabilities and power to minimize the attack energy is *** effectiveness of the proposed scheme is verified by simulation examples.

关键词： Attack allocation denial of service(DoS)attack packet loss remote estimation sensor networks

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Dynamic Multi-Person Mesh Recovery From Uncalibrated Multi-View Cameras

Dynamic Multi-Person Mesh Recovery From Uncalibrated Multi-V...

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： Buzhen Huang Yuan Shu Tianshu Zhang Yangang Wang Southeast University China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9781665426893

Dynamic multi-person mesh recovery has been a hot topic in 3D vision recently. However, few works focus on the multi-person motion capture from uncalibrated cameras, which mainly faces two challenges: the one is that inter-person interactions and occlusions introduce inherent ambiguities for both camera calibration and motion capture; The other is that a lack of dense correspondences can be used to constrain sparse camera geometries in a dynamic multi-person scene. Our key idea is incorporating motion prior knowledge into simultaneous optimization of extrinsic camera parameters and human meshes from noisy human semantics. First, we introduce a physics-geometry consistency to reduce the low and high frequency noises of the detected human semantics. Then a novel latent motion prior is proposed to simultaneously optimize extrinsic camera parameters and coherent human motions from slightly noisy inputs. Experimental results show that accurate camera parameters and human motions can be obtained through one-stage optimization. The codes will be publicly available at https://***.

关键词： Geometry Three-dimensional displays Semantics Dynamics Cameras Calibration Noise measurement

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Automatic steel grabbing robot system for scrap steel processing production line

Automatic steel grabbing robot system for scrap steel proces...

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IEEE International Conference on Robotics and Biomimetics

作者： Rongsheng Wang Bo Zhou Yirong Liu Fang Fang Zeqing Chang Yuyao Sun Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing P.R. China

ISBN: (纸本)9781665405362

Steel grabbing robot, which is a breed of robotic excavator driven by hydraulic system, has been manipulated by industrial workers to grab scrap steel for many years. In order to solve equipment loss and operational problems due to nonstandard manual operations and unsystematic managements during the grabbing process, this paper designs an automatic steel grabbing robot system, which consists of grabbing robot prototype’s hardware architecture, forward and reverse kinematics analysis and trajectory planning of joint-space schemes and Cartesian-space schemes for actual application scenarios. Moreover, Simulations are carried out using MATLAB, which demonstrate the correctness and efficiency of the system.

关键词： Interpolation Service robots Trajectory planning systems architecture Kinematics Production Hardware

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Variable impedance control method for robot contact force based on TD3 algorithm

Variable impedance control method for robot contact force ba...

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Chinese Automation Congress (CAC)

作者： Xin Shen Kaiwei Ma Mingxing Yang Shuang Gao Shuo Chao Fengyu Xu College of Automation and College of Artificial Intelligence Nanjing University of Posts and Telecommunications Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China Anhui Province Key Laboratory of Special Heavy Load Robot Maanshan China

As a common method of traditional force control, impedance control has been widely used in robot machining field. However, impedance control with fixed parameters cannot dynamically adapt to the manufacturing environment. This paper presents a variable impedance control method for contact forces based on the TD3 (Twin Delayed Deep Deterministic Policy Gradient) algorithm. The method builds on the original impedance model to obtain the optimal impedance parameters for each stage by stochastic exploration of the continuous action space, reducing the reliance on human experience and multiple attempts in the selection of traditional impedance parameters. In this paper, gantry robot is taken as the research object. The simulation results show that the variable impedance control method has faster adjustment time and more stable, and the average position tracking error is about 0.11cm and the force tracking error is about 0.01N.

关键词： Adaptation models Heuristic algorithms Simulation Force Neural networks Stochastic processes Process control

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Monocular Visual SLAM based on VGG Feature Point Extraction 39

Monocular Visual SLAM based on VGG Feature Point Extraction

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39th Chinese control Conference, CCC 2020

作者： Dai, Xu-Yang Meng, Qing-Hao Zheng, Wen-Jian Zhu, Shao-Kai Tianjin University Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin300072 China

ISBN: (纸本)9789881563903

Significant progress has been made in the field of visual SLAM (Simultaneous Localization and Mapping). However, the localization accuracy of visual SLAM can be significantly reduced in low-texture and illumination-changing environments. To solve these problems, an enhanced visual SLAM algorithm based on VGG (Visual Geometry Group) network was proposed in this paper. Firstly, the VGG network for feature point extraction was incorporated into the visual odometry (VO) to achieve robust camera pose estimation. Secondly, an automatic corner annotation method was adopted to set up the training database, which could reduce the workload of data annotation. Thirdly, to make the backend optimization more suitable for the VGG based VO, the BA (bundle adjustment) optimization process was improved. Experimental results showed that, the proposed visual SLAM method outperformed the mainstream ORB-SLAM (Oriented FAST and Rotated BRIEF SLAM) method, in terms of the number of effective feature points, the robustness of feature matching process to light changes, and the accuracy of robot pose estimation. © 2020 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Extraction

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Concept, Principle, and Modeling of Driving Risk Entropy Based on Human-Vehicle-Road Coupling Model for Autonomous Vehicle

SSRN

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SSRN 2024年

作者： Gao, Hongbo Yang, Hanqing Zhu, Juping Su, Huiping Wang, Ning Xie, Liping Li, Keqiang Department of Automation University of Science and Technology of China Hefei230026 China Institute of Advanced Technology University of Science and Technology of China Hefei230088 China School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore Chongqing College of Mobile Communication Chongqing400044 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing210096 China State Key Laboratory of Automotive Safety and Energy Tsinghua University Beijing100084 China

Driving risk entropy, based on entropy law, is an innovative concept proposed for intelligent driving systems. The concept deals with the driving risks caused by the human-vehicle-road system from the driving information obtained;however, driving risks are difficult to assess due to many influencing factors and great uncertainty. The risk entropy model of vehicles is visualized by introducing the concept of basic isotropic risk elliptic line (BIREL). Further incorporating the concept of information entropy, risk entropy models for vehicle interaction and vulnerable participants are established, and the risk entropy model for roads is developed using raster coordinates. Ultimately, a three-dimensional driving risk entropy model is constructed based on the human-vehicle-road coupling model, with appropriate weights assigned to each parameter through the DDPG algorithm. Experimental results demonstrate the effectiveness of the driving risk entropy model. © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Secure Communication of Active RIS Assisted NOMA Networks

arXiv

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arXiv 2024年

作者： Li, Xuehua Pei, Yingjie Yue, Xinwei Liu, Yuanwei Ding, Zhiguo The Key Laboratory of Information and Communication Systems Ministry of Information Industry The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China The School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi United Arab Emirates

As a revolutionary technology, reconfigurable intelligent surface (RIS) has been deemed as an indispensable part of the 6th generation communications due to its inherent ability to regulate the wireless channels. However, passive RIS (PRIS) still suffers from some pressing issues, one of which is that the fading of the entire reflection link is proportional to the product of the distances from the base station to the PRIS and from the PRIS to the users, i.e., the productive attenuation. To tackle this problem, active RIS (ARIS) has been proposed to reconfigure the wireless propagation condition and alleviate the productive attenuation. In this paper, we investigate the physical layer security of the ARIS assisted non-orthogonal multiple access (NOMA) networks with the attendance of external and internal eavesdroppers. To be specific, the closed-form expressions of secrecy outage probability (SOP) and secrecy system throughput are derived by invoking both imperfect successive interference cancellation (ipSIC) and perfect SIC. The secrecy diversity orders of legitimate users are obtained at high signal-to-noise ratios. Numerical results are presented to verify the accuracy of the theoretical expressions and indicate that: i) The SOP of ARIS assisted NOMA networks exceeds that of PRIS-NOMA, ARIS/PRIS-assisted orthogonal multiple access (OMA);ii) Due to the balance between the thermal noise and residual interference, introducing excess reconfigurable elements at ARIS is not helpful to reduce the SOP;and iii) The secrecy throughput performance of ARIS-NOMA networks outperforms that of PRIS-NOMA and ARIS/PRIS-OMA networks. Copyright © 2024, The Authors. All rights reserved.

关键词： Signal to noise ratio

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Performance Analysis of Double Reconfigurable Intelligent Surfaces Assisted NOMA Networks

arXiv

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arXiv 2024年

作者： Li, Xuehua Lian, Xuanhao Yue, Xinwei Lu, Zhiping Huang, Chongwen Hou, Tianwei The Key Laboratory of Information and Communication Systems Ministry of Information Industry The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China State Key Laboratory of Wireless Mobile Communications [CICT Beijing100191 China The College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China The School of Electronic and Information Engineering Beijing Jiaotong University Beijing100044 China The Institute for Digital Communications Friedrich-Alexander Universität Erlangen-Nürnberg [FAU Erlangen91054 Germany

This paper introduces double cascaded reconfigurable intelligent surfaces (RISs) to non-orthogonal multiple access (NOMA) networks over cascaded Rician fading and Nakagami-m fading channels, where two kinds of passive RIS (PRIS) and active RIS (ARIS) are taken into consideration, called PRIS-ARIS-NOMA networks. Additionally, new closed-form and asymptotic expressions for outage probability and ergodic data rate of two non-orthogonal users are derived with the imperfect/perfect successive interference cancellation schemes. The scenario is modelled around two non-orthogonal users and focuses on analyzing their communication characteristics. Based on the approximate results, the diversity orders and ergodic data rate slopes of two users are obtained in the high signal-to-noise ratios. In addition, the system throughput of PRIS-ARIS-NOMA in delay-limited mode and delay-tolerant mode are discussed according to the outage probability and ergodic data rate. The simulation results verify the correctness of the formulas and yields the following insights: 1) The outage behaviors of PRIS-ARIS-NOMA outperforms than that of PRIS-ARIS assisted orthogonal multiple access (OMA);2)Use of PRIS-ARIS-NOMA is better than use of PRIS-ARIS-OMA in small transmit power threshold scenarios 3) By increasing the number of reflecting elements of RISs, the PRIS-ARIS-NOMA is able to achieve the enhanced outage performance;and 4) The PRIS-ARIS-NOMA has the higher ergodic data rate and system throughput than double PRISs-NOMA. Copyright © 2024, The Authors. All rights reserved.

关键词： Fading channels

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