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Spatio-Temporal Context Modeling for Road Obstacle Detection 1

4th International Conference on Machine Learning for Cyber Security, ML4CS 2022

作者： Wu, Xiuen Wang, Tao Liang, Lingyu Li, Zuoyong Ching, Fum Yew College of Computer and Data Science Fuzhou University Fuzhou350108 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou350108 China The Key Laboratory of Cognitive Computing and Intelligent Information Processing of Fujian Education Institutions Wuyi University Wuyishan354300 China School of Electronic and Information Engineering South China University of Technology Guangzhou510641 China Ministry of Education Key Laboratory of Computer Network and Information Integration Southeast University Nanjing211189 China Guangzhou510320 China Penang11800 Malaysia

ISBN: (数字)9783031200960

ISBN: (纸本)9783031200953

Road obstacle detection is an important problem for vehicle driving safety. In this paper, we aim to obtain robust road obstacle detection based on spatio-temporal context modeling. Firstly, a data-driven spatial context model of the driving scene is constructed with the layouts of the training data. Then, obstacles in the input image are detected via the state-of-the-art object detection algorithms, and the results are combined with the generated scene layout. In addition, to further improve the performance and robustness, temporal information in the image sequence is taken into consideration, and the optical flow is obtained in the vicinity of the detected objects to track the obstacles across neighboring frames. Qualitative and quantitative experiments were conducted on the Small Obstacle Detection (SOD) dataset and the Lost and Found dataset. The results indicate that our method with spatio-temporal context modeling is superior to existing methods for road obstacle detection. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Object detection

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Robust Adatpive Sliding Mode Tracking control for an AUV

Robust Adatpive Sliding Mode Tracking Control for an AUV

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2021 China Automation Congress, CAC 2021

作者： Zheng, Jiaqi Yu, Wenbin Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665426473

In our work, the research on trajectory tracking with time-varying disturbances is investigated via robust adaptive sliding mode control (RASMC). We first design a nonsingular sliding mode surface for tracking error system and show that the sliding mode surface is continuous. Then, since the underwater environment is very complex and the AUV's mathematical model is strongly nonlinear and highly coupled with uncertainties, we propose the robust adaptive law to ensure the superior robust performance of AUV system. The obtained results suggest that the proposed controller can reduce chattering and tracking error by designing a nonsingular sliding mode surface. © 2021 IEEE

关键词： Environmental regulations

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Initial Alignment Method for SINS of UAV Based on Digital Filter Pretreatment

Initial Alignment Method for SINS of UAV Based on Digital Fi...

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2021 China Automation Congress, CAC 2021

作者： Yang, Wenbo Xu, Jie Li, Shaoyuan Wang, Jianjun Wang, Zhifeng Department of Automation Shanghai Polytechnic University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China

ISBN: (纸本)9781665426473

The two-stage method, which is divided into coarse alignment and fine alignment, is a traditional initial alignment method for SINS (Strapdown inertial navigation system, SINS). First, the coarse alignment is carried out based on the transformation relationship between the geographic information of the earth and the output of inertial measurement unit, and then the fine alignment is carried out based on optimal estimation. However, this method can mainly solve the alignment problem under angular interference. Aiming at in-motion alignment for SINS of UAVs (Unmanned aerial vehicle, UAV) under linear interference, this paper introduced the idea of digital filter and designed the digital filter by analyzing the frequency characteristic of useful signal. Then the reference velocity information is filtered to realize isolation of linear interference at specific frequency. Thus, the in-motion alignment problem under the combined action of angular interference and linear interference is effectively solved. Finally, numerical simulation results show the effectiveness of the above method. © 2021 IEEE

关键词： Digital filters

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Adaptive Neural Consensus Tracking control for Nonlinear Multiagent systems with Dead Zone and Sensor Faults 42

Adaptive Neural Consensus Tracking Control for Nonlinear Mul...

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42nd Chinese control Conference, CCC 2023

作者： Huang, Chengjie Chen, Ci Liu, Zhi Li, Zhenni Guangdong University of Technology Guangzhou510006 China Guangdong Key Laboratory of IoT Information Technology Guangzhou510006 China 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Guangzhou510006 China Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education Guangzhou510006 China Key Laboratory of Intelligent Detection and the Internet of Things in Manufacturing Ministry of Education Guangzhou510006 China

ISBN: (纸本)9789887581543

In this paper, an adaptive neural tracking control design is investigated for uncertain multiagent systems (MASs) with actuator dead zone and sensor faults. The adaptive control technique based on neural networks is employed to handle the uncertainty in the systems, which, however, results in a bounded tracking error from most existing works. To achieve the asymptotic tracking performance, we proposed a direct adaptive strategy via the tuning function method. Technically, a Lyapunov function with a series of smooth functions is designed, which benefits proposing of an asymptotic controller. Then, under the framework of direct adaptive control, an inverse compensation scheme, as well as a fault-tolerant mechanism, are considered for disposing of the actuator dead zone and sensor failures. As a result, user-preset tracking performance is achieved and the system error in the MASs converges to a predefined range. An example in the simulation section illustrates the effectiveness of the proposed method. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Multi agent systems

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Distributed Short-Term Load Forecasting for Interconnecting Power systems

Distributed Short-Term Load Forecasting for Interconnecting ...

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2021 China Automation Congress, CAC 2021

作者： Guan, Yaonan Li, Dewei Xi, Yugeng Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China China

ISBN: (纸本)9781665426473

The social factors which exert an important influence on the load variations are difficult to adopt in centralized load forecasting models. A distributed short-term load forecasting method is proposed in this paper to compensate for the lack of social factors in load forecasting of the interconnecting power system network. In this method, we focus on the influence of social factors rather than the elements themselves. First, a classification method is proposed to arrange systems into several functional groups according to their load curve feature. Second, the interactions between systems are introduced into the model to represent social factors' influence on systems. Finally, experiments are conducted to verify the advantage of the proposed model. © 2021 IEEE

关键词： Data mining

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End-To-End Autonomous Exploration for Mobile Robots in Unknown Environments through Deep Reinforcement Learning

End-To-End Autonomous Exploration for Mobile Robots in Unkno...

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2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022

作者： Li, Zhi Xin, Jinghao Li, Ning Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Department of Automation Shanghai Jiao Tong University Shanghai200240 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Autonomous exploration in unknown environments is a significant capability for mobile robots. In this paper, we present an end-To-end autonomous exploration model based on deep reinforcement learning (DRL), which takes the sensor data and a novel exploration map as inputs, and directly outputs the motion control commands of the robot. In contrast to the existing DRL-based exploration methods, the proposed model has no requirements to be combined with the traditional exploration or navigation algorithms, resulting in lower computational complexity. We directly transfer the DRL-based model trained in the training map to four test maps with different sizes and layouts, and the results show that the robot can rapidly adapt to unknown scenes. Besides, a comparison study with RRT-exploration algorithm indicates that the proposed model can reach a higher map exploration rate within less distance and time. Furthermore, we also conduct experiments on the real physical robot to demonstrate the transferability of learned policy from simulation to reality. A video of our experiments in the Gazebo simulator and real world can be found here1 © 2022 IEEE.

关键词： Reinforcement learning

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Lead-free perovskite Cs_(2)AgBiBr_(6)photodetector detecting NIR light driven by titanium nitride plasmonic hot holes

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Photonics Research 2024年第3期12卷 522-533页

作者： ZIJIAN LIU YUYING XI WENBO ZENG TING JI WENYAN WANG SITONG GUO LINLIN SHI RONG WEN YANXIA CUI GUOHUI LI College of Physics College of Electronic Information and Optical EngineeringKey Laboratory of Advanced Transducers and Intelligent Control System of Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan 030032China

Lead-free perovskite Cs_(2)AgBiBr_(6)manifests great potential in developing high-performance,environmentally friendly,solution-processable photodetectors(PDs).However,due to the relatively large energy bandgap,the spectrum responses of Cs_(2)AgBiBr_(6)PDs are limited to the ultraviolet and visible region with wavelengths shorter than 560 *** this work,a broadband Cs_(2)AgBiBr_(6)PD covering the ultraviolet,visible,and near infrared(NIR)range is demonstrated by incorporating titanium nitride(TiN)nanoparticles that are prepared with the assistance of self-assembled polystyrene sphere *** addition,an atomically thick Al2O3layer is introduced at the interface between the Cs_(2)AgBiBr_(6)film and TiN nanoparticles to alleviate the dark current deterioration caused by nanoparticle *** a result,beyond the spectrum range where Cs_(2)AgBiBr_(6)absorbs light,the external quantum efficiency(EQE)of the TiN nanoparticle incorporated Cs_(2)AgBiBr_(6)PD is enhanced significantly compared with that of the control,displaying enhancement factors as high as 2000 over a broadband NIR wavelength *** demonstrated enhancement in EQE arises from the photocurrent contribution of plasmonic hot holes injected from TiN nanoparticles into Cs_(2)AgBiBr_(6).This work promotes the development of broadband solution-processable perovskite PDs,providing a promising strategy for realizing photodetection in the NIR region.

关键词： perovskite titanium ultraviolet

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Interval Type-2 Fuzzy Hierarchical Adaptive Cruise Following-control for Intelligent Vehicles

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1658-1672页

作者： Hong Mo Yinghui Meng Fei-Yue Wang Dongrui Wu the College of Electric and Information Engineering Changsha University of Science and TechnologyChangsha 410114China the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Qingdao Academy of Intelligent Industries Qingda 266109 the Center of China Economic and Social Security University of Chinese Academy of SciencesBeijing 100190China the Ministry of Education Key Laboratory on Image Information Processing and Intelligent Control the School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

Intelligent vehicles can effectively improve traffic congestion and road traffic *** cruise followingcontrol(ACFC)is a vital part of intelligent *** this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of ***,a traditional variable time headway model is improved considering the acceleration of the lead ***,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating *** reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control ***,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)***,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different ***,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.

关键词： Adaptive cruise following-control(ACFC) feedforward+fuzzy proportion integration(PI)feedback(F+FPIF) type-2 fuzzy control variable time headway

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An Integrated Smart Manufacturing Platform Powered by Microservices

An Integrated Smart Manufacturing Platform Powered by Micros...

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Asian control Conference

作者： Yuxiang Liu Mengqi Han Annan Xu Qi Liu Bo Yang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

With the rapid development of the manufacturing industry, traditional control systems can no longer meet the requirements of flexibility, efficiency, and intelligence for smart manufacturing. In order to fully utilize technologies such as microservices and enhance the flexibility of smart manufacturing, we propose a microservice-based architecture integrating sensing, communication, computation, and control, dedicated to achieving integrated management and configuration of the production process. In this architecture, each production stage is designed as an independent microservice, capable of being flexibly deployed in various edge controllers. Therefore, a universal edge controller can simultaneously act as a PLC, router, data acquisition device, and edge server, greatly simplifying the complexity of equipment deployment. The microservice-based integrated architecture not only improves the efficiency of data routing but also helps simplify the integration of new sensors and actuators, making adjustments of production lines more convenient, thereby enhancing the scalability and flexibility of the system. We implemented the proposed architecture based on a validation scenario, and the experimental results demonstrate the enormous development potential of this architecture.

关键词： Scalability Microservice architectures Restful API Computer architecture Production Routing Sensor systems

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Two-Archive-Based Competitive Swarm Optimizer for Constrained Multiobjective Optimization 5

Two-Archive-Based Competitive Swarm Optimizer for Constraine...

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5th International Conference on Data-Driven Optimization of Complex systems, DOCS 2023

作者： Li, Lianghao He, Cheng Lin, Jianqing Pan, Linqiang School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China Wuhan China School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798350393521

Constrained multiobjective optimization problems (CMOPs) are prevalent in various real-world applications, presenting a formidable challenge to existing evolutionary algorithms when faced with intricate constraints. When solving CMOPs, a crucial concern is achieving a balance between convergence, diversity, and feasibility. To address these challenges, this paper proposes a two-archive-based constrained multiobjective competitive swarm optimizer. The algorithm preserves two collaborative and complementary archives to improve population convergence and feasibility. By implementing a competitive particle swarm mechanism, offspring solutions are generated by drawing upon solutions from both archives, thus capitalizing on their synergistic effect and exceptional information. An adaptive parameter is also used to adjust the bias in choosing the winner in the paired competition during the evolution. The experimental results demonstrate the effectiveness of the proposed algorithm in handling constrained multiobjective optimization problems. © 2023 IEEE.

关键词： Constraint handling

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