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SPIE 12th International Symposium on Multispectral image processing and Pattern Recognition, MIPPR 2023

作者： Li, Yiyao Chen, Zhong Sun, Wenyuan School of Journalism and Communication Central China Normal University Luoyu Road 152 Wuhan China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Luoyu Road 1037 Wuhan China National Key Laboratory of Science and Technology on Multi-spectral Information Processing Luoyu Road 1037 Wuhan China Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Luoyu Road 1037 Wuhan China Central China Normal University Library Luoyu Road 152 Wuhan China

ISBN: (数字)9781510674967

ISBN: (纸本)9781510674950

Nowadays, image recognition plays a pivotal role in acquiring data via sensors. However, the adaptability of traditional algorithms is hindered by the unpredictable nature of open environments, varying sensor quality, and image dimensions. Challenges arise in adverse conditions like inclement weather, low light, and optical distortions. Retinex-based methods have emerged as a viable solution, effectively enhancing images plagued by shadows or poor lighting. Yet, issues surface when images possess saturated colors;the conventional multi-scale Retinex with color restoration risks color inversion. Moreover, during gain compensation, extreme histogram values occupy significant gray level space, obscuring vital image details. This study delves into these challenges and proposes an enhanced multi-scale Retinex algorithm. Our approach substitutes logarithmic functions with tansig functions, eliminating color inversion risks. Additionally, a novel gain compensation method, integrating histogram stretching with Gamma correction, refines image clarity. The algorithm's robustness is evidenced in diverse scenarios, including adverse weather, low light, underwater imaging, and non-uniform lighting. Experimental results validate our method's superiority, surpassing other Retinex-based techniques both qualitatively and quantitatively. This research contributes valuable insights into image enhancement methodologies, fostering advancements in sensor-based data gathering in Smart Spaces. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： image enhancement

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Revisiting Euclidean Alignment for Transfer Learning in EEG-Based Brain-Computer Interfaces

arXiv

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arXiv 2025年

作者： Wu, Dongrui Ministry of Education Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan430074 China Hubei Key Laboratory of Brain-inspired Intelligent Systems Huazhong University of Science and Technology Wuhan430074 China

Due to the non-stationarity and large individual differences of EEG signals, EEG-based brain-computer interfaces (BCIs) usually need subject-specific calibration to tailor the decoding algorithm for each new subject, which is time-consuming and user-unfriendly, hindering their real-world applications. Transfer learning (TL) has been extensively used to expedite the calibration, by making use of EEG data from other subjects/sessions. An important consideration in TL for EEG-based BCIs is to reduce the data distribution discrepancies among different subjects/session, to avoid negative transfer. Euclidean alignment (EA) was proposed in 2020 to address this challenge. Numerous experiments from 10 different BCI paradigms demonstrated its effectiveness and efficiency. This paper revisits the EA, explaining its procedure and correct usage, introducing its applications and extensions, and pointing out potential new research directions. It should be very helpful to BCI researchers, especially those who are working on EEG signal decoding. © 2025, CC BY.

关键词： Calibration

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Equilibrium analysis of networked game under best-response dynamics

Equilibrium analysis of networked game under best-response d...

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第43届中国控制会议

作者： Yu Xia Qi Su Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Both coordination,a behavioral pattern where individuals adopt the same behavior as the majority,and anticoordination,a behavioral pattern where individuals choose a behavior different from the majority,are prevalent in social and engineering *** include the spread of social norms or innovations for coordination and the division of labor and traffic congestion for *** the large-scale interacting systems driven by coordination and anticoordination is of great significance in understanding,predicting,and optimizing the evolutionary *** existing studies have primarily focused on analyzing the convergence of networked systems and evaluating the time to reach equilibrium,our investigation delves into all possible states of a networked system and scrutinizes all equilibrium ***,we observe that the number of equilibrium states increases exponentially with the network *** for network structure properties,homogeneous networks exhibit more equilibrium states than heterogeneous ***,for specific behavioral switching thresholds,the number of equilibrium states is surprisingly higher than at neighboring switching *** work reveals the intricate interplay between evolutionary dynamics,system structure,and behavioral switching thresholds.

关键词： Best-response dynamics Complex networks Game theory Equilibrium analysis

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Infrastructure-Based Vehicle Localization System for Indoor Parking Lots Using RGB-D Cameras

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 61-69页

作者：曹炳全贺越生庄瀚洋杨明 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong UniversityShanghai 200240China

Accurate vehicle localization is a key technology for autonomous driving tasks in indoor parking lots,such as automated valet ***,infrastructure-based cooperative driving systems have become a means to realizing intelligent *** this paper,we propose a novel and practical vehicle localization system using infrastructure-based RGB-D cameras for indoor parking *** the proposed system,we design a depth data preprocessing method with both simplicity and efficiency to reduce the computational burden resulting from a large amount of ***,the hardware synchronization for all cameras in the sensor network is not implemented owing to the disadvantage that it is extremely cumbersome and would significantly reduce the scalability of our system in mass ***,to address the problem of data distortion accompanying vehicle motion,we propose a vehicle localization method by performing template point cloud registration in distributed depth ***,a complete hardware system was built to verify the feasibility of our solution in a real-world *** in an indoor parking lot demonstrated the effectiveness and accuracy of the proposed vehicle localization system,with a maximum root mean squared error of 5 cm at 15Hz compared with the ground truth.

关键词： infrastructure-based RGB-D camera vehicle localization point cloud registration

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Switched High-Gain Based Interval Observer Design for Harmonic Oscillator System 42

Switched High-Gain Based Interval Observer Design for Harmon...

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42nd Chinese control Conference, CCC 2023

作者： Ming, Tianhang Wang, Xiaoling Liu, Bo Su, Housheng College of Automation & Ai Nanjing University of Posts and Telecommunications Nanjing210023 China Nanjing210023 China College of Information Engineering Minzu University of China Beijing100081 China Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligence Control of Ministry of Education Wuhan430074 China

ISBN: (纸本)9789887581543

In this paper, we revisit the interval observer design problem of harmonic oscillator system with unknown but bounded external disturbance and measurement noise. With the bounding information of the external disturbance and measurement noise, a high-gain interval observer is firstly defined and constructed for the harmonic oscillator system to realize the interval estimation on the state and the robust control of the system. Then, a switched high-gain interval observer is proposed to reduce the influence of the measurement noise for a tighter interval width on the state estimation. Finally, some numerical simulations are given to verify the theoretical results. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Robust control

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3D Machine Vision Enabled Shrinkage Pin Detection of Aviation Connectors in the Aircraft EWIS

3D Machine Vision Enabled Shrinkage Pin Detection of Aviatio...

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第43届中国控制会议

作者： Yao Wang Cheng Ren Jiaxin Xu Cailian Chen Xinping Guan Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Aviation connectors are responsible for information and energy transmission in the aircraft electrical wiring interconnection system(EWIS).Even a tiny shrinkage of any connector pin may lead to a critical impact on the reliability and stability of the ***,the current detection method of connector pin shrinkage mainly relies on manual visual inspection,which is prone to missed and false ***,traditional 2D machine vision methods face challenges in dealing with fine pins and deep calibers of *** address this issue,this paper designs a defect detection device and proposes a 3D-enabled shrinkage pin detection(3D-SPD) *** the device,a 4-degree-of-freedom(4-DOF) support mechanism is designed to collect the connector point cloud based on the imaging principle of a 3D structured light ***,a preprocessed method is presented to extract defective regions from the raw point ***,3D-SPD algorithm can automatically select the reference plane and detect the pin position,enabling online detection of connector shrinkage *** results show that 3D-SPD algorithm is effective in detecting shrinkage pin defects on various types of aviation connectors,with an accuracy rate of 98.62%and a shrinkage pin detection rate of 100%.

关键词： Aviation Connector EWIS 3D Machine Vision Defect Detection Shrinkage Pin

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Prediction of NOx Emission in SCR System of Thermal Power Plant Using Machine Learning Approaches

Prediction of NOx Emission in SCR System of Thermal Power Pl...

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第35届中国过程控制会议

作者： Sai Saing Lin Jingcheng Wang Shunyu Wu Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

Effective prediction of Nitrogen Oxides(NOx) emissions in thermal power plants is essential for addressing environmental pollution control. The Selective Catalytic Reduction(SCR) system plays a pivotal role in mitigating NOx output, yet its performance can vary significantly due to operational conditions. This study investigates the prediction of NOx emissions in Selective Catalytic Reduction(SCR) systems within thermal power plants. Time delay mechanism is an essential factor for accurate modeling and prediction. Therefore, we incorporate a time delay of 120 samples into our feature engineering and analysis. Six predictive models, including five regression models and one Long Short-Term Memory(LSTM) neural network, are employed to analyze the temporal dynamics of NOx emissions. The regression models were selected for their varied methodologies and strengths in handling different types of data distributions and features, whereas the LSTM model was specifically utilized for its proficiency in processing sequential data, capturing long-term dependencies crucial for time-series forecasting. The performance of these models was evaluated using three statistical metrics: Root Mean Squared Error(RMSE), Mean Absolute Error(MAE), and the coefficient of determination(R2). Among the models, the Extra Trees regression model demonstrated superior accuracy in predicting NOx emissions, outperforming other models.

关键词： Thermal power plant Nitrogen Oxides emission SCR system Machine Learning

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Depth-Aware Fusion Method Based on image and 4D Radar Spectrum for 3D Object Detection

Depth-Aware Fusion Method Based on Image and 4D Radar Spectr...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Sun, Yue Qian, Yeqiang Wang, Chunxiang Yang, Ming The Global Institute of Future Technology Shanghai Jiao Tong University Shanghai200240 China Shanghai Jiao Tong University The Department of Automation Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

ISBN: (纸本)9781665481090

Safety and reliability are crucial for the public acceptance of autonomous driving. To ensure accurate and reliable environmental perception, intelligent vehicles must exhibit accuracy and robustness in various environments. Millimeter-wave radar, known for its high penetration capability, can operate effectively in adverse weather conditions such as rain, snow, and fog. Traditional 3D millimeter-wave radars can only provide range, Doppler, and azimuth information for objects. Although the recent emergence of 4D millimeter-wave radars has added elevation resolution, the radar point clouds remain sparse due to Constant False Alarm Rate (CFAR) operations. In contrast, cameras offer rich semantic details but are sensitive to lighting and weather conditions. Hence, this paper leverages these two highly complementary and cost-effective sensors, 4D millimeter-wave radar and camera. By integrating 4D radar spectra with depth-aware camera images and employing attention mech-anisms, we fuse texture-rich images with depth-rich radar data in the Bird's Eye View (BEV) perspective, enhancing 3D object detection. Additionally, we propose using GAN-based networks to generate depth images from radar spectra in the absence of depth sensors, further improving detection accuracy. © 2024 IEEE.

关键词： Radar imaging

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Simulation Research on Generalized Proportional Integral Observer Based Active Disturbance Rejection control for Coarse Pointing Assembly 8

Simulation Research on Generalized Proportional Integral Obs...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Ma, Jijun Guo, Yulong Wang, YuNing Shi, Yongkang Beijing Research Institute of Telemetry Beijing100074 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China Research Institute of Telemetry Beijing China

ISBN: (纸本)9798331506230

The coarse pointing assembly (CPA), as the outer loop of the laser terminal, its tracking stability is the basis for ensuring laser communication. This paper presents the model of the CPA. Aiming at the disturbance factors in the low-speed operation process of the CPA, an active disturbance rejection control (ADRC) method for the position loop of the CPA is designed based on the generalized proportional integral observer (GPIO) to achieve disturbance compensation control. Finally, simulations are carried out on the system model. The simulation results show that compared with the PID control strategy adopted, the proposed ADRC strategy based on GPIO of the CPA can effectively improve the tracking accuracy. © 2024 IEEE.

关键词： Disturbance rejection

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