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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Zhi Li Jiang Wang Xiaoyang Li He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems and the Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Acoustic cameras have found many applications in practice. Accurate and reliable extrinsic calibration of the microphone array and visual sensors within acoustic cameras is crucial for fusing visual and auditory measurements. Existing calibration methods either require prior knowledge of the microphone array geometry or rely on grid search which suffers from slow iteration speed or poor convergence. To overcome these limitations, in this paper, we propose an automatic calibration technique using a calibration board with both visual and acoustic markers to identify each microphone position in the camera frame. We formulate the extrinsic calibration problem (between microphones and the visual sensor) as a nonlinear least squares problem and employ a batch optimization strategy to solve the associated problem. Extensive numerical simulations and real-world experiments show that the proposed method improves both the accuracy and robustness of extrinsic parameter calibration for acoustic cameras, in comparison to existing methods. To benefit the community, we open-source all the codes and data at https://***/AISLAB-sustech/AcousticCamera.

关键词： Visualization Accuracy Cameras Numerical simulation Acoustics Robustness Microphone arrays Calibration Optimization Sensor arrays

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Calibration of Multiple Asynchronous Microphone Arrays using Hybrid TDOA

Calibration of Multiple Asynchronous Microphone Arrays using...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Chengjie Zhang Wenda Pan Xinyang Han He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems and the Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Accurate calibration of acoustic sensing systems made of multiple asynchronous microphone arrays is essential for satisfactory performance in sound sour ce localization and tracking. State-of-the-art calibration methods for this type of system rely on the time difference of arrival and direction of arrival measurements among the microphone arrays (denoted as TDOA-M and DOA, respectively). In this paper, to enhance calibration accuracy, we propose to incorporate the time difference of arrival measurements between adjacent sound events (TDOA-S) with respect to the microphone arrays. More specifically, we propose a two-stage calibration approach, including an initial value estimation (IVE) procedure and the final joint optimization step. The IVE stage first initializes all parameters except for microphone array orientations, using hybrid TDOA (i.e., TDOA-M and TDOA-S), odometer data from a moving robot carrying a speaker, and DOA. Subsequently, microphone orientations are estimated through the iterative closest point method. The final joint optimization step estimates multiple microphone array locations, orientations, time offsets, clock drift rates, and sound source locations simultaneously. Both simulation and experiment results show that for scenarios with low or moderate TDOA noise levels, our approach outperforms existing methods in terms of accuracy. All code and data are available at https://***/AISLAB-sustech/Hybrid-TDOA-Multi-Calib.

关键词： Direction-of-arrival estimation Accuracy Time difference of arrival Position measurement Odometers Microphone arrays Calibration Arrays Optimization Noise level

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Cooperative Differential Game Guidance Laws for Target with Multiple Defenders against Missile

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Xie, Jiliang Ma, Kemao Harbin Institute of Technology National key laboratory of Complex System Control and Intelligent Agent Cooperation Harbin150001 China

Cooperative guidance laws for a target aircraft with multiple defenders against an attacking missile are investigated. The engagement is described as a nonzero-sum differential game. Terminal angle difference constraints are added to the differential game problem to avoid the potential collision problem of the defenders. A class of cost functions segmented by relative distances between the players are presented, which can better reflect the objectives of the players. In the design, a systematic switching method between norm-bounded and linear quadratic differential game guidance laws is proposed based on the expected miss distances. The equilibrium solutions are obtained, which can reflect the extreme guidance performance of the respective players. Simulations verify the effectiveness of the design. © 1965-2011 IEEE.

关键词： Cost functions

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Calibration of Multiple Asynchronous Microphone Arrays using Hybrid TDOA

arXiv

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arXiv 2025年

作者： Zhang, Chengjie Pan, Wenda Han, Xinyang Kong, He Shenzhen Key Laboratory of Control Theory and Intelligent Systems The Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology The Southern University of Science and Technology Shenzhen518055 China

Accurate calibration of acoustic sensing systems made of multiple asynchronous microphone arrays is essential for satisfactory performance in sound source localization and tracking. State-of-the-art calibration methods for this type of system rely on the time difference of arrival and direction of arrival measurements among the microphone arrays (denoted as TDOA-M and DOA, respectively). In this paper, to enhance calibration accuracy, we propose to incorporate the time difference of arrival measurements between adjacent sound events (TDOA-S) with respect to the microphone arrays. More specifically, we propose a two-stage calibration approach, including an initial value estimation (IVE) procedure and the final joint optimization step. The IVE stage first initializes all parameters except for microphone array orientations, using hybrid TDOA (i.e., TDOA-M and TDOA-S), odometer data from a moving robot carrying a speaker, and DOA. Subsequently, microphone orientations are estimated through the iterative closest point method. The final joint optimization step estimates multiple microphone array locations, orientations, time offsets, clock drift rates, and sound source locations simultaneously. Both simulation and experiment results show that for scenarios with low or moderate TDOA noise levels, our approach outperforms existing methods in terms of accuracy. All code and data are available at https://***/AISLABsustech/Hybrid-TDOA-Multi-Calib. © 2025, CC BY.

关键词： Microphone array

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Polar-segmented vector optical field and its anomalous focal properties

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Optics Express 2025年第10期33卷 21030-21039页

作者： Gao, Xu-Zhen Song, Xin-Yu Chen, Jing-Rui Wang, Dan Xu, Shi-Tong Niu, Mingsheng Cao, Hongzhong Ma, Rende Pan, Yue School of Physics and Physical Engineering Qufu Normal University Qufu 273165 China Shandong Provincial Key Laboratory of Laser Polarization and Information Technology Qufu Normal University Qufu 273165 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education College of Physics and Optoelectronics Taiyuan University of Technology Shanxi Taiyuan 030024 China

In recent years, study of spatially structured light has become an attractive and promising area, providing more ways to explore unusual and anomalous effects in optics. Here, we propose a kind of polar-segmented vector optical field (VOF), and demonstrate anomalous focal properties. Due to the appearance of the longitudinal component in tight focusing processes, the transverse energy flow and transverse spin angular momentum (SAM) are achieved, which can be applied in areas such as manipulating particles, as the transverse energy can transport the particles and the SAM can spin the particles in more degrees. Overall, the proposed polar-segmented VOF and the corresponding anomalous focal properties are crucial for advancing theories and technologies in optics, underscoring its importance in both fundamental research and practical applications. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Circular polarization Optical fields Optical properties Optical vortex beams Spiral phase Structured light

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Structure design and analysis of a rigid-soft robotic hand with large load capacity 3

Structure design and analysis of a rigid-soft robotic hand w...

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3rd International Conference on Electrical, Electronics, and Information Engineering, EEIE 2024

作者： Wu, Peichen Lan, Fuming Hong, Wen Chen, Xiaoping Shuai, Wei Cui, Guowei Gao, Yang Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangdong Key Laboratory of Modern Control Technology Guangzhou510070 China Shanghai Institute of Aerospace System Engineering Shanghai201100 China Intelligent Manufacturing Institute of HFUT HeFei230041 China School of Computer Science and Technology University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781510688179

In recent years, soft grippers have gained significant attention due to their adaptability and safety. However, when performing horizontal object grasping, their limited structural stiffness prevents them from withstanding the torque generated by friction between the gripper and the object, leading to a loss of contact and limiting their horizontal load capacity. To address this limitation while preserving the adaptability of soft grippers, this paper proposes a gripper structure called the rigid-soft robotic hand, which incorporates lateral rigid connecting rods outside the soft joints. The paper analyzes the bending capacity of the rigid-soft joint using kinematic methods and investigates the influence of link design parameters on maximum bending angle. Subsequently, a finite element analysis is conducted to study the finger structure with the added connecting rods, aiming to optimize the link design parameters. Experimental results demonstrate the grasping capabilities of the rigid-soft gripper in both vertical and horizontal orientations. The findings show that the rigid-soft gripper significantly improves the load-carrying capacity during horizontal object grasping while maintaining the adaptability of the soft gripper. © The Authors.

关键词： Robotic arms

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Fully Distributed Output Regulation of Linear Discrete-Time Multi-Agent systems With Markov Switching Topology

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IEEE Transactions on Circuits and systems I: Regular Papers 2025年 1-9页

作者： Liu, Jiamin Li, Zhao-Yan Zhou, Bin Jimei University School of Science Xiamen361021 China Harbin Institute of Technology School of Mathematics Harbin150001 China Zhengzhou Research Institute of HIT Zhengzhou450000 China Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin150001 China

This paper studies the stochastic cooperative output regulation problem for linear discrete-time multi-agent systems (MASs) with Markov switching topologies and communication/input delays. First, a moment stability criterion for an interconnected time-homogeneous Markov jump linear systems is builded. Then, based on the moment stability criterion, a fully distributed output regulation protocol is designed to solve the stochastic cooperative output regulation problem successively. Finally, a numerical simulation is provided to validate the efficiency of the designed protocol. © 2004-2012 IEEE.

关键词： Topology

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Real-Time Semantic Segmentation of Maritime Navigation Scene Based on Improved Fast-SCNN

Real-Time Semantic Segmentation of Maritime Navigation Scene...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Chen, Li-Jia Zou, Jia-Min Zhou, Yang Hao, Guo-Zhu Wang, Yang School of Shipping Wuhan University of Technology Wuhan430070 China Hubei Provincial Key Laboratory of Inland Waterway Shipping Technology Wuhan University of Technology Wuhan430070 China Intelligent Transportation System Research Center Wuhan University of Technology Wuhan430070 China National Key Laboratory of Waterway Traffic Control Wuhan University of Technology Wuhan430070 China

ISBN: (纸本)9789819639762

Waterway navigation scene segmentation is crucial for safe and efficient autonomous vessel operation. To address the issues of large parameter sizes in current high-resolution semantic segmentation models, the difficulty in deployment on embedded devices, and inaccurate segmentation in navigation scenarios, this study proposes an improved Fast-SCNN-based real-time semantic segmentation network for waterway scenes. The proposed network is enhanced by incorporating a dual attention mechanism in the context branch, which allows feature extraction along spatial and channel dimensions to be guided more effectively, thereby improving accuracy. A pyramid pooling module based on decomposed dilated convolution is designed to enhance the model's multi-scale feature representation capabilities while ensuring real-time performance is maintained. Additionally, a loss function combining Focal Loss and Dice Loss is introduced to enhance focus on hard-to-classify samples and improve prediction accuracy for target regions, thereby significantly enhancing the model's ability to recognize minority-class targets. Experimental results have demonstrated that the improved model achieves a segmentation accuracy (mIoU) of 80.6% on the constructed On_Water_Dataset, with an inference speed of 90.1 frames per second, Segmentation accuracy increased by 16.9% relative to the original model. Deployment and experimental verification on embedded devices have confirmed that real-time performance is maintained while effectively segmenting complex backgrounds and multi-scale objects in waterway navigation scenarios. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Semantic Segmentation

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Binary-Encoding-Based Quantized Kalman Filter: An Approximate MMSE Approach

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IEEE Transactions on Automatic control 2025年第5期70卷 3181-3196页

作者： Liu, Qinyuan Nie, Yao Wang, Zidong Dong, Hongli Jiang, Changjun Tongji University School of Computer Science and Technology Shanghai201804 China Tongji University Key Laboratory of Embedded System and Service Computing Ministry of Education Shanghai201804 China Tongji University Shanghai Artificial Intelligence Laboratory Shanghai201804 China Brunel University London Department of Computer Science UxbridgeUB8 3PH United Kingdom Northeast Petroleum University Artificial Intelligence Energy Research Institute Daqing163318 China Northeast Petroleum University Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Daqing163318 China

In this article, the Kalman filter design problem is investigated for linear discrete-time systems under binary encoding schemes. Under such a scheme, the local information is quantized into a bit string by the remote sensor based on a probabilistic quantizer, and then the bit string is transmitted via memoryless binary symmetric channels (BSCs). Due to the communication link noises, the bit flipping occurs in a random manner, and thus, the transmission of the bit string would suffer from specific bit-error rates. With the received bits, a recursive binary-encoding-based quantized Kalman filter is established in the approximate minimum mean-square error (MMSE) sense, which relies on the Gaussian approximation of the conditional probability density function at each iteration. Furthermore, the proposed estimator is shown to be of a Kalman-like type through performance analysis, which exhibits computational complexity comparable to the conventional Kalman filter. Subsequently, a posterior Cramér-Rao lower bound is derived for the proposed binary-encoding-based quantized Kalman filter. The effectiveness of the proposed estimator is demonstrated through numerical results. © 1963-2012 IEEE.

关键词： Mean square error

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Single Domain Generalization in Vibration Damper Detection Using Frequency Domain Attention and Scale-Invariant Learning

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IEEE Transactions on Power Delivery 2025年

作者： Yang, Ke Zhao, Xiaoyu Ge, Xinyu Hu, Zhedong Wang, Qianming Zhai, Yongjie North China Electric Power University School of Control and Computer Engineering Baoding071003 China Baoding Key Laboratory of Intelligent Robot Perception and Control in Electric Power System Baoding China

Improving the generalization capability of vibration damper detection model for transmission lines is essential for its application in complex power scenarios. Variations in vibration damper types, and unmanned aerial vehicle(UAV) shooting distances lead to domain shift, which impacts detection performance. This paper proposes a single domain generalization (SDG) detection method for vibration dampers that integrates structural knowledge to guide the model in extracting domaininvariant features (DIF), combining frequency domain attention (FDA) and scale-invariant learning (SIL). Different types of vibration dampers exhibit combinatory structural invariance, while dampers of varying scales demonstrate aspect ratio invariance. First, a learnable weight matrix is applied to the amplitude spectrum after Fourier transformation, preserving low-frequency information while attenuating high-frequency components. This approach retains structural features and reduces morphological differences. Next, SIL is introduced to emphasize aspect ratios during bounding box regression, improving the model's capacity to handle scale variations and enhancing feature generalization. Experimental results demonstrate that without significantly increasing the number of parameters and model size, the proposed method achieves AP50 of 60.8% and 77.1% in the two target domains, respectively, representing increases of 3.3% and 4.0% over the original model, thus offering strong support for the practical application of intelligent detection models. © 1986-2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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