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arXiv 2024年

作者： Pan, Yiyuan Wang, Zhaojian The Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai200240 China

Modern discrete manufacturing requires real-time energy and production co-scheduling to reduce business costs. In discrete manufacturing, production lines and equipment are complex and numerous, which introduces significant uncertainty during the production process. Among these uncertainties, decision-dependent uncertainties (DDUs) pose additional challenges in finding optimal production strategies, as the signature or the shape of the uncertainty set cannot be determined before solving the model. However, existing research does not account for decision-dependent uncertainties (DDUs) present in discrete manufacturing;moreover, current algorithms for solving models with DDUs suffer from high computational complexity, making them unsuitable for the real-time control requirements of modern industry. To this end, we proposed an energy-production co-scheduling model for discrete manufacturing, taking into account decision-dependent uncertainties (DDUs). Subsequently, we devised a method for transforming the constraints associated with DDUs into linear form ones. Finally, we designed a novel algorithm based on the column-and-constraint generation (C&CG) algorithm and undertook a theoretical analysis of its performance of convergence and algorithmic complexity. A real-world engine assembly line was used to test our model and algorithm. Simulation results demonstrate that our method significantly reduces production costs and achieves better frequency regulation performance. © 2024, CC BY.

关键词： Costs

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AMFD: Distillation via Adaptive Multimodal Fusion for Multispectral Pedestrian Detection

arXiv

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arXiv 2024年

作者： Chen, Zizhao Qian, Yeqiang Yang, Xiaoxiao Wang, Chunxiang Yang, Ming Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

Multispectral pedestrian detection has been shown to be effective in improving performance within complex illumination scenarios. However, prevalent double-stream networks in multispectral detection employ two separate feature extraction branches for multi-modal data, leading to nearly double the inference time compared to single-stream networks utilizing only one feature extraction branch. This increased inference time has hindered the widespread employment of multispectral pedestrian detection in embedded devices for autonomous systems. To efficiently compress multispectral object detection networks, we propose a novel distillation method, the Adaptive Modal Fusion Distillation (AMFD) framework. Unlike traditional distillation methods, the AMFD framework fully leverages the original modal features from the teacher network, thereby significantly enhancing the performance of the student network. Specifically, a Modal Extraction Alignment (MEA) module is utilized to derive learning weights for student networks, integrating focal and global attention mechanisms. This methodology enables the student network to acquire optimal fusion strategies independent from that of teacher network without necessitating an additional feature fusion module. Furthermore, we present the SMOD dataset, a well-aligned challenging multispectral dataset for detection. Extensive experiments on the challenging KAIST, LLVIP and SMOD datasets are conducted to validate the effectiveness of AMFD. The results demonstrate that our method outperforms existing state-of-the-art methods in both reducing log-average Miss Rate and improving mean Average Precision. The code is available at https://***/bigD233/***. Copyright © 2024, The Authors. All rights reserved.

关键词： Feature extraction

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Bearing-Based Target Entrapping control of Multiple Uncertain Agents With Arbitrary Maneuvers

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IFAC-PapersOnLine 2023年第2期56卷 8821-8826页

作者： Haifan Su Ziwen Yang Shanying Zhu Cailian Chen Wenbin Yu Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the leaders move with the predesigned trajectories, and the followers are steered by an estimation-based control method, integrating a distance estimator using bearing measurements and a stress matrix-based formation controller. The signum functions are used to compensate for the uncertainties so that the agents’ accelerations can be piecewise continuous and bounded to track the desired dynamics. With proper design of the leaders’ trajectories and a geometric configuration, an affine matrix is determined so that the inter-agent relative bearings can be persistently exciting since the bearing rates are related to different weighted combinations of the affine matrix vectors. The asymptotic convergence of the estimation and control error is proved using Filipov properties and cascaded system theories. A sufficient condition for inter-agent collision avoidance is also proposed. Finally, simulation results are given to validate the effectiveness of the method.

关键词： Target entrapping control bearing measurement persistent excitation uncertainty

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Differentiator-Based Adaptive H8 Tracking control of Fully Actuated systems 3

Differentiator-Based Adaptive H8 Tracking Control of Fully A...

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3rd Conference on Fully Actuated system Theory and Applications, FASTA 2024

作者： Feng, Yuxin Li, Zhiqiang Liu, Yang He, Zhaoshui Li, Hongyi Guangdong University of Technology School of Automation Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangzhou510006 China Qingdao University of Science and Technology School of Automation and Electronics Engineering Qingdao266061 China Guangdong University of Technology School of Automation Guangzhou510006 China Key Laboratory for IoT Intelligent Information Processing and System Integration of Ministry of Education Guangzhou510006 China

ISBN: (纸本)9798350373691

This article addresses an adaptive tracking control problem for uncertain high-order fully actuated (HOFA) systems with unknown parameters and disturbances. Under the framework of backstepping, the unknown parameter is estimated and the external disturbance is handled by using adaptive control and H8 technique, respectively. Moreover, the Levant differentiator is employed to reduce the computation burden. Additionally, the boundedness of signals in the closed-loop system is proven using the Lyapunov theory. Finally, the effectiveness of the proposed scheme is validated through the simulation study. © 2024 IEEE.

关键词： Backstepping

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Spatial-Temporal-Rule-based Traffic Movement Status Interpretation at Intersections *

Spatial-Temporal-Rule-based Traffic Movement Status Interpre...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Zhuang, Hanyang Gao, Liyang Qian, Yeqiang Wang, Chunxiang Yang, Ming University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350327182

Traffic light is the most significant component of road transportation. Traffic lights control the traffic movement at intersections by allowing the movement of some lanes and forbidding that of the others to ensure safety and efficiency. It is important for intelligent vehicles to understand the meaning of traffic lights. Conventional research works on traffic light detection and tracking consider each light independently, so the occlusion of some lights may mislead the decision of the vehicle. Since all traffic lights at an intersection work together, it is more essential to understand the traffic movement status controlled by the traffic lights rather than the perception of a single light. Therefore, this paper proposes a spatial-temporal-rule-based framework to interpret the current traffic movement status and predict the next status. The spatial information, including position and class, is obtained by traffic light detection. The temporal information is perceived by the proposed topologic-feature-based tracking method. The rule information is recognized by combination of spatial and temporal information. A dual-view camera system consisting of a telephoto camera and a wide-angle camera is adopted to ensure long perception distance and wide coverage simultaneously. The successful tracking of traffic lights from 200 m to 10 m away provides enough data to recognize the phase-change rule, which leads to correct interpretation and prediction. A customized dataset was collected, and experiments were conducted to illustrate the capability of the proposed method. © 2023 IEEE.

关键词： Cameras

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AoI-Reliability Analysis with Block Length over Erasure Channels Using Rateless Codes 24

AoI-Reliability Analysis with Block Length over Erasure Chan...

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24th IEEE International Conference on Communication Technology, ICCT 2024

作者： Huang, Haobo Fu, Yusun Qiao, Yue Yin, Junpeng Yan, Weiwu Shanghai Jiao Tong University Ningbo Artificial Intelligence Institute Ningbo China Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798350363760

As a metric to measure the information freshness, Age of Information (AoI) is widely used to evaluate low-latency high-reliability communication. Since the communication in Industrial Internet of Things (IIoT) often has the special requirements, the relationship among AoI, reliability and block length in time-critical scenarios with bounded latency and non-time-critical scenarios without bounded latency is explored respectively in this paper, based on erasure channels using rateless codes. We build a model using LT codes over erasure channels and consider two metrics: average AoI and bounded AoI. Theoretical analysis and simulation results show that AoI has a minimum value with different block lengths. Furthermore, we draw a conclusion that the minimum value of AoI under different reliability is monotonically decreasing functioned with reliability. Finally, the impact of overhead on reliability and AoI of LT codes in time-critical scenarios is studied. © 2024 IEEE.

关键词： Turbo codes

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Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile

Thermally Drawn Monolithic Polymer Continuum Robot with Lase...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Liu, Huanghua Zou, Yun Xu, Zheng Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350325706

Continuum robots have the great potential in endoluminal diagnosis and intervention toward narrow and confined workspace. However, fabrication of continuum robots still poses a grant challenge in its miniaturization. To solve this, this paper designs a thermally drawn monolithic polymer continuum robot with laser cutting profile. First, the continuum robot is designed with two degrees of freedom (DOF) for shape deflection, and it consists of four optical fibers with the fiber Bragg grating (FBG) sensor on each for tension sensing as driving cables. Second, its main body is a multi-channel polycarbonate (PC) tube produced by thermal drawing process, and a series of rectangular cutouts are made on it via laser cutting process. By combining these two fabrication processes, the developed continuum robot realizes the integration of the multi-channel structure and the notch feature. Third, a control framework of puller-follower controller using the integrated tension sensing is proposed for teleoperation control. Finally, experimental setup is built for the robot validation, and results show that the repeated positioning accuracy of the robot is 1.08 mm. Moreover, a micro endoscope and a needle are added to the end of the continuum robot, and a phantom study of auripuncture and drug delivery is completed to verify the preliminary feasibility. And the proposed fabrication approach enables the miniaturization and complex structure for the cable-driven continuum robots. © 2023 IEEE.

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End-to-end Flow Scheduling Optimization for Industrial 5G and TSN Integrated Networks

End-to-end Flow Scheduling Optimization for Industrial 5G an...

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2024 IEEE Global Communications Conference, GLOBECOM 2024

作者： Liu, Houling Li, Mingyan Gu, Fuqiang Li, Qihao Zhang, Weiting Guo, Songtao Chongqing University College of Computer Science Chongqing400044 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China Jilin University College of Communication Engineering Changchun130015 China Beijing Jiaotong University School of Electronic and Information Engineering Beijing100091 China

ISBN: (纸本)9798350351255

The integrated of the fifth generation (5G) and time-sensitive networking (TSN) is a promising approach to meet the requirements of deterministic forwarding with extremely low latency and high flexibility for the Industrial Internet of Things (IIoT). However, due to the large dissimilarity of protocol stacks, the 5G system normally serves as a logical bridge for TSN, performing hold-and-forward operations in Base Stations (BSs) under the current 5G-TSN frameworks. To provide ubiquitous and seamless connectivity for IIoT devices, this paper focuses on the integrated enhancement of 5G and TSN by optimizing the scheduling of time-sensitive flows with end-to-end latency of 5G-TSN transmission taken into consideration. Specifically, we propose a novel architecture named GF-CQF, which combines 5G Grant-free (GF) access with TSN Cyclic Queuing and Forwarding (CQF). Subsequently, the distributed flow scheduling problem based on GF-CQF architecture is established due to the high timeliness demands. To alleviate the impact of the uncertainty inherent in 5G channels on end-to-end deterministic transmission, a feature-aware decentralized real-time scheduling (FDRS) policy based on Multi-agent Reinforcement Learning is proposed. FDRS allows each agent at BS to adaptively allocate TSN injection slots for flows mainly based on dynamic 5G transmission performance and TSN network resource state so that TSN queue overflow can be avoided and flow delay constraints can be guaranteed. Simulations show that FDRS offers superior scheduling capabilities under the limited TSN queue resources. © 2024 IEEE.

关键词： 5G mobile communication systems

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Boltzmann Robust Soliton Distribution for Rateless Codes 24

Boltzmann Robust Soliton Distribution for Rateless Codes

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24th IEEE International Conference on Communication Technology, ICCT 2024

作者： Tang, Jinhui Fu, Yusun Qiao, Yue Yin, Junpeng Huang, Haobo Shanghai Jiao Tong University Ningbo Artificial Intelligence Institute Ningbo China Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798350363760

The decoding success rate may be worse when classical degree distributions are used in short-packet transmission of rateless codes, especially in industrial communication scenarios. A novel Boltzmann degree distribution is proposed for Luby Transform (LT) codes. The Boltzmann degree distribution has a high decoding success rate for short-packet transmission but a lower decoding success rate in long-packet transmission. To balance the performance of rateless codes for short and long packet transmission, the Boltzmann degree distribution and the robust soliton distribution (RSD) are combined with a new joint degree distribution, called Boltzmann Robust Soliton Distribution (BRSD). Simulation results show that compared with RSD and Poisson robust soliton distribution (PRSD), the proposed joint distribution can achieve a higher decoding success rate and reduce the average degree, especially in short-packet transmission of industrial communication. © 2024 IEEE.

关键词： Decoding

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Hybrid signal fusion for target detection in distributed PA-MIMO radar systems on moving platforms

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Zhou, Dingsen Yang, Minglei Lian, Hao Greco, Maria Sabrina Gini, Fulvio Xidian University National Key Laboratory of Radar Signal Processing Shaanxi Xi'an710071 China Science and Technology on Underwater Test and Control Laboratory Dalian116013 China University of Pisa Department of Information Engineering Pisa56122 Italy

Distributed phased multiple-input multiple-output (PA-MIMO) radar systems on moving platforms combine the spatial diversity of MIMO radars with the coherent gain of phased-array radars, making them ideal for dynamic environments. However, challenges such as motion-induced channel variability, Doppler shifts, and complex parameter estimation often hinder target detection. Traditional methods like non-coherent fusion (NCF) and coherent fusion (CF) struggle to adapt to such variability, leading to suboptimal performance. In this paper, we propose a hybrid signal fusion (HSF) scheme that integrates joint space-time-phase compensation (JSTPC) with a compressed fusion network. The JSTPC module mitigates motion-induced phase errors and ensures precise alignment of received signals, while the compressed fusion network combines CF and NCF stages, leveraging their respective strengths to adaptively manage channel correlation variability. We also develop a joint parameter estimation algorithm to accurately extract direction of departure, direction of arrival, and Doppler frequency, thereby ensuring precise signal reconstruction and enhancing the detection process by estimating key parameters in real time. Theoretical analyses of detection thresholds and probabilities, derived using moment-matching techniques, further validate the reliability of the proposed scheme. Monte Carlo simulations and theoretical analyses for diverse radar configurations and channel correlation scenarios show that the proposed HSF scheme achieves 2 dB detection gain improvement over NCF. © 2025 IEEE.

关键词： Frequency estimation

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