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TEA-IHPCR: Temporal Augmented-Invariant Vehicle-Infrastructure Cooperative Heterogeneous Point Cloud Registration

IEEE Transactions on Instrumentation and Measurement 2025年

作者： Zhang, Shiyan Zhang, Xu Zhang, Xinyu Chen, Yuxi Zhu, Dongwei Wu, Fan Jin, Dafeng Li, Jun Tsinghua University State Key Laboratory of Automotive Safety and Energy School Vehicles and Mobility Beijing China Tsinghua University Suzhou Automotive Research Institute Suzhou China Nanyang Technological University School of Electrical and Electronic Engineering Singapore Singapore Tsinghua University State Key Laboratory of Automotive Safety and Energy Beijing China Beijing Institute of Technology School of Computer Science and Technology Beijing China Beijing Forestry University School of Technology Beijing China Shanghai Polytechnic University School Faculty of Intelligent Manufacturing and Control Engineering Shanghai China Tsinghua University State Key Laboratory of Automotive Safety and Energy The School of Vehicle and Mobility Beijing China

In the field of autonomous driving, relying solely on environmental information captured by single vehicle's LiDAR often falls short of perception requirements in complex scenarios. Adopting a vehicle-infrastructure cooperation approach can effectively address information limitations. Therefore, the development of an algorithm that can register heterogeneous LiDAR point clouds is crucial. This paper proposes a vehicle-infrastructure cooperative heterogeneous point cloud registration network (TEA-IHPCR) based on temporal augmented information and rotation invariance. By capturing temporal augmented information between continuous frames of point clouds, data augmentation is performed on the point cloud data from both vehicle and infrastructure sides, mitigating issues of poor heterogeneous point cloud registration caused by perspective differences. The rotation invariance property can address the issue of aligning coordinate systems between the vehicle and infrastructure sides that have not been collaboratively calibrated. Simultaneously, the use of a local-level encoder capable of extracting point cloud features with rotation invariance, combined with a global-level attention mechanism that can learn cross-frame features, improves the model's performance in low-overlap rate point cloud registration. The experiments were conducted on a vehicle-infrastructure collaborative dataset while the results demonstrate the effectiveness of the proposed module in the network, as well as its superiority and efficiency compared to other networks. © 1963-2012 IEEE.

关键词： Spatio-temporal data

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Networked-based fixed-time discontinuous safety control for DDW systems under stochastic cyber-attacks and intermittent DoS attacks

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IEEE Transactions on Transportation Electrification 2025年

作者： Ding, Kui Zhu, Quanxin Huang, Tingwen Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Wuhu241000 China Hunan Normal University MOE-LCSM CHP-LCOCS School of Mathematics and Statistics Changsha410081 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

This study investigates the network-based fixed-time stabilization problem of the direct drive wheel (DDW) system of electric vehicles under stochastic cyber-attacks and intermittent denial of service (DoS) attacks via reliable discontinuous control strategy, which has important research significance for the application of the communication network security of the direct drive wheel system of electric vehicles. Firstly, aiming at the fact that the widths of control channels induced by stochastic cyber-attacks are inconsistent, a new controller based on quantization discontinuous delay control method is designed. Secondly, the actuator fault is also taken into account to conform to the actual operation of the direct drive wheel system of electric vehicles. Moreover, given the reliability of controllers in practical engineering, this work develops a new sufficient condition for easy implementation based on Lyapunov functional, and construct a new reliable discontinuous safety controller with stochastic cyber-attacks and intermittent DoS attacks to control the stability of the direct drive wheel system of electric vehicles in fixed time. Finally, the correctness and feasibility of the developed theoretical results are verified by experiments. © 2015 IEEE.

关键词： Stochastic control systems

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Maximal η-clique maintenance over uncertain graph streams

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Information sciences 2025年 717卷

作者： Ma, Ziyi Wang, Liqing Yang, Jianye Zhou, Xu Li, Kenli Gao, Cuiyun School of Artificial Intelligence Hebei University of Technology Tianjin 300401 China Chinacoal Beijing Coal Mining Machinery Co. Ltd. Beijing 102400 China Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou University Wuzhou 543002 China Department of New Networks PengCheng Laboratory Shenzhen 518055 China Cyberspace Institute of Advanced Technology Guangzhou University Guangzhou 510006 China College of Computer Science and Electronic Engineering Hunan University Changsha 410082 China School of Computer Science and Technology Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China

Maximal clique enumeration is a critical task for analyzing graph data and has a wide range of applications, such as community detection, protein complex identification, and group recommendation. Although many efficient algorithms have been proposed, most of them are designed for static or deterministic graphs. However, in many real-life applications, graphs are often highly dynamic and nondeterministic. In this paper, we study the problem of maximal η-clique maintenance (shorted as MCM) over uncertain graph streams. Given an uncertain graph G and a probability threshold η, MCM reports all incremental η-cliques in G for each update edge of G. To the best of our knowledge, we are the first to systematically study this problem. We first develop a local pivot-based enumeration technique that utilizes the pivot priority of candidates to achieve effective pruning during the maximal η-clique enumeration procedure. Based on the technique, we propose a competitive baseline approach LPMCM, which finds newly generated maximal η-cliques and internal maximal η-cliques. Although LPMCM avoids repeated enumeration of the same maximal η-cliques, it still requires expensive costs in terms of η-clique maximality determination. To further enhance maintenance efficiency, we introduce an approach HLPMCM using the hash-based maximality determination technique and an improved internal maximal η-clique enumeration technique. Extensive experiments show that HLPMCM can achieve 1.1x-19.0x speedup over the competitors and consumes slightly more memory. © 2025 Elsevier Inc.

关键词： Incremental maintenance Maximal clique Pivot enumeration Uncertain graph streams

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OBSERVER-BASED H_∞ control FOR TIME-DELAY-CONFORMABLE FRACTIONAL-ORDER TAKAGI–SUGENO FUZZY SYSTEMS

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Fractals 2025年

作者： Rhaima, Mohamed Gassara, Hamdi McHiri, Lassaad Department of Statistics and Operations Research College of Science King Saud University P.O. Box 2455 Riyadh 11451 Saudi Arabia Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering National School of Engineering of Sfax University of Sfax PB 1173 Sfax 3038 Tunisia Department of Mathematics Panthéon-Assas Université Paris II 92 Rue d’Assas Paris 75006 France

This work focuses on implementing H∞ Observer-Based control (OBC) for a class of Nonlinear Conformable fractional-order Delayed Systems (NCDSs) represented by the Takagi–Sugeno fuzzy model (TSFM). The aim is to deve... 详细信息

This work focuses on implementing H_∞ Observer-Based control (OBC) for a class of Nonlinear Conformable fractional-order Delayed Systems (NCDSs) represented by the Takagi–Sugeno fuzzy model (TSFM). The aim is to develop conditions, utilizing the Lyapunov approach, that guarantee the existence of both a controller and an observer. These conditions are formulated as linear matrix inequalities (LMIs). Additionally, an H_∞ optimization technique is employed to mitigate the effects of disturbances on the controlled output. An example is provided to demonstrate the validity of the proposed scheme. © The Author(s)

关键词： Conformable Fractional-Order Derivative Lyapunov Method Observer Design Stability Analysis Takagi–Sugeno Fuzzy Model

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Aircraft-on-ground path following control by dynamical adaptive backstepping

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Chinese Journal of Aeronautics 2013年第3期26卷 668-675页

作者： Chen Bihua Jiao Zongxia Shuzhi Sam Ge Science and Technology on Aircraft Control Laboratory Beihang University Department of Electrical & Computer Engineering National University of Singapore

The necessity of improving the air traffic and reducing the aviation emissions drives to investigate automatic steering for aircraft to effectively roll on the ground. This paper addresses the path following control problem of aircraft-on-ground and focuses on the task that the aircraft is required to follow the desired path on the runway by nose wheel automatic steering. The proposed approach is based on dynamical adaptive backstepping so that the system model does not have to be transformed into a canonical triangular form which is necessary in conventional backstepping design. This adaptive controller performs well despite the lack of information on the aerodynamic load and the tire cornering stiffness parameters. Simulation results clearly demonstrate the advantages and effectiveness of the proposed approach.

关键词： Adaptive control Aircraft-on-ground Backstepping Nonlinear dynamical systems Path following

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Design of the electromagnetic mill and the air stream ratio model.

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IFAC-PapersOnLine 2017年第1期50卷 14964-14969页

作者： Wolosiewicz-Glb, M. Foszcz, D. Ogonowski, Sz. AGH University of Science and Technology Faculty of Mining and Geoengineering Department of Environmental Engineering and Mineral Processing Poland Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Institute of Automatic Control Poland

Complex mineral raw materials processing is an essential operation in modern industry. Innovative technologies help in constant improving of the efficiency and performance. The paper presents a design of electromagnetic mill, its technological structure and control system. In comparison to conventional solutions, the electromagnetic mill is a fully automated system. It operates in more effective way. The proper selection of the physical and process parameters of the system is crucial for efficiency of the process. The device stands out because of its low energy consumption. The air stream ratio model has been presented for the dry grinding and classification unit with the electromagnetic mill. The concept of the grinding system is described along with indirect measurement methodology. Supervisory control algorithm based on the model structure is derived. © 2017

关键词： Structural design Algorithms Automation control systems Energy utilization Grinding (machining) Mineral industry Air streams Efficiency and performance electromagnetic mill Grinding media Indirect measurements Innovative technology Low energy consumption Technological structures

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Reverse aperiodic resonance in low- to high-dimensional bistable systems: A complement to stochastic resonance studies in logic circuits

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Communications in Nonlinear science and Numerical Simulation 2025年 149卷

作者： Shen, Mengen Yang, Jianhua Sanjuán, MiguelA.F. Chen, Huatao Wang, Zhongqiu Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment School of Mechanical and Electrical Engineering China University of Mining and Technology Jiangsu Xuzhou221116 China Nonlinear Dynamics Chaos and Complex Systems Group Departamento de Física Universidad Rey Juan Carlos Tulipán s/n Madrid Móstoles28933 Spain Division of Dynamics and Control School of Mathematics and Statistics Shandong University of Technology Zibo255000 China School of Computer Science and Technology China University of Mining and Technology Jiangsu Xuzhou221116 China

As circuits continue to shrink in size, noise has emerged as a critical challenge in achieving optimal performance. Stochastic resonance in logic circuits offers an innovative approach to harness noise constructively;however, current implementations are limited to basic logical functions such as OR, AND, NOR, and NAND, restricting broader applications. This paper introduces a three-dimensional (3D) coupling model to investigate the counterintuitive phenomena that arise in nonlinear systems under noise. Compared to the one-dimensional Langevin equation and the two-dimensional Duffing equation, the 3D coupling model features more adjustable parameters and coupling interactions, enhancing the system's dynamic behavior. The study demonstrates that increasing noise intensity triggers reverse aperiodic resonance, leading to signal phase reversal and amplitude amplification. This phenomenon is attributed to the motion of Brownian particles in a bistable potential well. Additionally, reverse aperiodic resonance addresses the lack of logical negation in traditional stochastic resonance systems by introducing noise-driven phase reversal, providing a novel alternative to conventional inverters. © 2025 Elsevier B.V.

关键词： Sequential circuits

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Effective Two-Stage Double Auction for Dynamic Resource Trading in Edge Networks via Overbooking

arXiv

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arXiv 2025年

作者： Wu, Sicheng Liwang, Minghui Wang, Deqing Wang, Xianbin Wu, Chao Tang, Junyi Li, Li Jiao, Zhenzhen The School of Informatics Xiamen University Fujian China The Department of Control Science and Engineering The National Key Laboratory of Autonomous Intelligent Unmanned Systems Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Tongji University Shanghai China The Department of Electrical and Computer Engineering Western University ON Canada The School of Public Affairs Zhejiang University Hangzhou310027 China School of Information Science and Engineering Lanzhou University Lanzhou China The iF-Labs Beijing Teleinfo Technology Co. Ltd. CAICT China

To facilitate responsive and cost-effective computing resource scheduling and service delivery over edge-assisted mobile networks, this paper investigates a novel two-stage double auction methodology via utilizing an interesting idea of resource overbooking to overcome dynamic and uncertain nature from edge servers (sellers) and demand from mobile devices (as buyers). The proposed auction integrates multiple essential factors such as social welfare maximization and decision-making latency (e.g., the time for determining winning seller-buyer pairs) reduction, by introducing a stagewise strategy: an overbooking-driven pre-double auction (OPDAuction) for determining long-term cooperations between sellers and buyers before practical resource transactions as Stage I, and a real-time backup double auction (RBDAuction) for handling residual resource demands during actual transactions. In particular, by applying a proper overbooking rate, OPDAuction helps with facilitating trading contracts between appropriate sellers and buyers as guidance for future transactions, by allowing the booked resources to exceed supply. Then, since pre-auctions may cause risks, our RBDAuction adjusts to real-time market changes, further enhancing the overall social welfare. More importantly, we offer an interesting view to show that our proposed two-stage auction can support significant design properties such as truthfulness, individual rationality, and budget balance. Through extensive experiments, we demonstrate good performance in social welfare, time efficiency, and computational scalability, outstripping conventional methods in dynamic edge computing settings. Copyright © 2025, The Authors. All rights reserved.

关键词： Budget control

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Data Identification Optimal control for Quantized Linear Systems under DoS Attacks

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Wang, Xianming Li, Liwei Shen, Mouquan Zhao, Xudong Wang, Qing-Guo Zhu, Zheng Hong Nanjing Tech University School of Mechanical and Power Engineering Nanjing211816 China Nanjing Tech University College of Electrical Engineering and Control Science Nanjing211816 China Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Dalian116024 China Beijing Normal University Institute of Ai and Future Networks Zhuhai519087 China BNU-HKBU United International College Guangdong Provincial Key Laboratory Irads Department of Computer Science Zhuhai519087 China York University Department of Mechanical Engineering TorontoONM3J 1P3 Canada

This paper is devoted to data identification optimal control for quantized linear systems under denial of service (DoS) attacks. A least-squares algorithm is provided to identify the unknown system matrices using a data-based representation. An output estimation algorithm utilizing identified matrices is supplied to offset DoS attacks. Consequently, an optimal controller is built on the quantized and attacked data by adaptive dynamic programming. Sufficient conditions are presented to guarantee that the resultant closed-loop system is ultimately uniformly bounded. An example is produced to verify the validity of the proposed approach. © 1965-2011 IEEE.

关键词： Optimal control systems

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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

arXiv

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arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

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