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arXiv 2025年

作者： He, Yushen Zhao, Lei Deng, Tianchen Fang, Zipeng Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. So we present a lightweight multi-modal framework for 3D object detection and trajectory prediction. Our system synergistically integrates LiDAR and camera inputs to achieve real-time perception of pedestrians, vehicles, and riders in 3D space. The framework proposes two novel modules: 1) a Cross-Modal Deformable Transformer (CMDT) for object detection with high accuracy and acceptable amount of computation, and 2) a Reference Trajectory-based Multi-Class Transformer (RTMCT) for efficient and diverse trajectory prediction of mult-class objects with flexible trajectory lengths. Evaluations on the CODa benchmark demonstrate superior performance over existing methods across detection (+2.03% in mAP) and trajectory prediction (-0.408m in minADE5 of pedestrians) metrics. Remarkably, the system exhibits exceptional deployability - when implemented on a wheelchair robot with an entry-level NVIDIA 3060 GPU, it achieves realtime inference at 13.2 fps. To facilitate reproducibility and practical deployment, we release the related code of the method at https://***/TossherO/3D Perception and its ROS inference version at https://***/TossherO/ros packages. Copyright © 2025, The Authors. All rights reserved.

关键词： Mobile robots

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Unlock the flexibility for cooperative operation of hydrogen providers under transportation delay

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Applied Energy 2025年 394卷

作者： Xu Yang Bo Yang Zhaojian Wang Sicheng Liu Xinping Guan Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory for System Control and Information Processing Ministry of Education of China Shanghai 200240 China

Hydrogen provides a pathway to the clean transition of the future energy mix, rendering hydrogen energy service providers (HESPs) an important role in hydrogen supply. Additionally, collaborative operation through vehicle-based hydrogen transportation exhibits great potential for mitigating source–load fluctuations of HESPs. However, current collaborations on hydrogen transportation primarily focus on route selection while neglecting delay risks, which may precipitate abrupt energy deficits during the scheduling of energy receivers. This work proposes a multi-HESP cooperative game that considers a deadline assignment mechanism to ensure the robustness of hydrogen delivery while fully unlocking the scheduling flexibility supported by the road network. Considering the transportation-time uncertainty, the distributionally robust joint chance constraint (DRJCC) is introduced to model delay uncertainties effectively and improve hydrogen delivery reliability. A customized approximation method is proposed to reformulate the DRJCC model into a tractable approximation with low conservatism while enhancing flexibility in decision-making under transportation delay uncertainty. Case studies verify that the proposed framework can improve the flexibility and enthusiasm of multi-HESP cooperation under the electricity–hydrogen transmission network.

关键词： Travel time

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Condition Monitoring for Railway Point Machines Based on Sound Analysis and Support Vector Machine

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Chinese Journal of Electronics 2020年第4期29卷 786-792页

作者： SUN Yongkui CAO Yuan XIE Guo WEN Tao School of Electronic and Information Engineering Beijing Jiaotong University National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

Railway point machines(RPMS) are one of the key equipments in the railway system to switch different routes for the *** monitoring for RPMs is a vital measure to keep train operation safe and *** convenience and low cost into consideration, a novel intelligent condition monitoring method for RPMs based on sound analysis is ***-domain and frequency-domain features are obtained,and normalized using z-score standardization method to eliminate the influences of different *** particle swarm optimization(BPSO) is utilized to select the most significant discrimination feature *** effects of the selected optimal features are verified using Support vector machine(SVM), 1-Nearest neighbor(1 NN), Random forest(RF), and Naive Bayes(NB).Experiment results indicate SVM performs best on identification accuracy and computing cost compared with the other three *** identification accuracies on normal switching and reverse switching processes reach100% and 99.67%, respectively, indicating the feasibility of the proposed method.

关键词： Condition monitoring Sound analysis Railway point machines(RPMs) Binary particle swarm optimization(BPSO) Support vector machine(SVM)

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A Risk-Averse Just-In-Time Scheme for Learning-Based Operation of Microgrids With Coupled Electricity-Hydrogen-Ammonia Under Uncertainties

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IEEE Transactions on Sustainable Energy 2025年

作者： Li, Longyan Ning, Chao Pan, Guangsheng Zhang, Leiqi Gu, Wei Zhao, Liang Du, Wenli Shahidehpour, Mohammad Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China School of Electrical Engineering Southeast University Nanjing210096 China Zhejiang Key Laboratory of Distributed Generations and Microgrid Technology State Grid Zhejiang Electric Power Research Institute Hangzhou310014 China Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology China Department of Electrical and Computer Engineering Illinois Institute of Technology ChicagoIL60616 United States

This paper proposes a Risk-Averse Just-In-Time (RAJIT) operation scheme for Ammonia-Hydrogen-based Micro-Grids (AHMGs) to boost electricity-hydrogen-ammonia coupling under uncertainties. First, an off-grid AHMG model is developed, featuring a novel multi-mode ammonia synthesis process and a hydrogen-ammonia dual gas turbine with tunable feed-in ratios. Subsequently, a state-behavior mapping strategy linking hydrogen storage levels with the operation modes of ammonia synthesis is established to prevent cost-ineffective shutdowns. The proposed model substantially improves operational flexibility but results in a challenging nonlinear fractional program. Based upon this model, a data-driven RAJIT scheme is developed for the real-time rolling optimization of AHMGs. Unlike conventional one-size-fits-all schemes using one optimization method throughout, the data-driven RAJIT intelligently switches between cost-effective deterministic optimization and risk-averse online-learning distributionally robust optimization depending on actual risk profiles, thus capitalizing on the respective strengths of these two optimization methods. To facilitate the solution of the resulting nonlinear program, we develop an equivalent-reformulation-based solution methodology by leveraging a constraint-tightening technique. Numerical simulations demonstrate that the proposed scheme guarantees safety and yields an overall cost reduction up to 14.6% compared with several state-of-the-art methods. © 2025 IEEE.

关键词： Ammonia

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Trajectory Tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection control

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 65-73页

作者： Lu Wang Jianbo Su the Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University

We investigate the trajectory tracking problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model is established completely by the modified Rodrigues parameters, while considering dynamics of the servo actuators. Then, a hierarchical control scheme is applied to design the translational and rotational controllers based on the time-scale property of each subsystem, respectively. And the linear extended state observer and auxiliary observer are used to deal with the uncertainties and saturation. At last, global stability of the closed-loop system is analyzed based on the singular perturbation theory. Simulation results show the effectiveness of the proposed control strategy. © 2014 Chinese Association of Automation.

关键词： Aircraft control Airships Closed loop control systems Closed loop systems Disturbance rejection Landing Perturbation techniques State estimation Takeoff Trajectories Unmanned vehicles Vehicles

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Limit Set Problem of Multi-Agent systems with Finite States: An Eigenvalue-Based Approach

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Journal of systems Science & Complexity 2015年第3期28卷 570-579页

作者： WANG Lin WANG Xiaofan WANG Jinhuan Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education School of Sciences Hebei University of Technology

This paper studies the limit set of multi-agent system with finite states, in which the system is converted into a linear system through an expansion of space. Then, the structure properties of the system matrix are investigated, and the relationships between the eigenvalues and the limit set are developed. As an application, the nilpotent problem of elementary cellular automata(ECA) known as algorithmically undecidable is considered, and all the nilpotent ECA are found out which consists of rules 0, 8, 64, 239, 253, 255.

关键词： Cellular automata eigenvalue finite states limit set multi-agent system nilpotent.

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Stabilization of a class of fuzzy stochastic jump systems with partial information on jump and sojourn parameters

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Science China(Technological Sciences) 2021年第2期64卷 353-363页

作者： CAI Bo WENG Rui ZHANG RuiXian LIANG Ye ZHANG LiXian School of Astronautics Harbin Institute of TechnologyHarbin 150001China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

This paper addresses the problem of the design of controller for fuzzy semi-Markov jump systems with hidden modes against the incomplete information on probability density functions of sojourn time. Two ubiquitous circumstances in practice are taken into account, which are often ignored in other related work:(1) the phenomenon that system modes cannot be accessed entirely is considered proactively;(2) finitely accessible information on probability density functions is studied in this paper. By virtue of hidden semi-Markov chain, the underlying systems are modeled as hidden semi-Markov jump systems, which are more general than semi-Markov jump systems. Sufficient conditions on the existence of desired accessible-mode-dependent fuzzy controller are derived such that the fuzzy hidden semi-Markov jump systems is mean square stable. Based on the emission probability matrix, the presented control policy overcomes the possible mode-mismatch between the system mode and the accessible ***, an example is provided to demonstrate the effectiveness of the proposed control method.

关键词： hidden modes probability density function stochastic switching systems time-varying controller Takagi-Sugeno(T-S)fuzzy system

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Bioimage-based protein subcellular location prediction： a comprehensive review

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Frontiers of Computer Science 2018年第1期12卷 26-39页

作者： Ying-Ying XU Li-Xiu YAO Hong-Bin SHEN Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China

Subcellular localization of proteins can provide key hints to infer their functions and structures in cells. With the breakthrough of recent molecule imaging techniques, the usage of 2D bioimages has become increasingly popular in automatically analyzing the protein subcellular location pat- terns. Compared with the widely used protein 1D amino acid sequence data, the images of protein distribution are more intuitive and interpretable, making the images a better choice at many applications for revealing the dynamic char- acteristics of proteins, such as detecting protein translocation and quantification of proteins. In this paper, we systemati- cally reviewed the recent progresses in the field of automated image-based protein subcellular location prediction, and clas- sified them into four categories including growing of bioim- age databases, description of subcellular location distribution patterns, classification methods, and applications of the pre- diction systems. Besides, we also discussed some potential directions in this field.

关键词： bioimage informatics protein subcellular loca-tion prediction global and local features multi-location pro-tein recognition

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A Bandit Method Using Probabilistic Matrix Factorization in Recommendation

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Journal of Shanghai Jiaotong university(Science) 2015年第5期20卷 535-539页

作者：涂世涛朱兰娟 Key Laboratory of System Control and Information Processing of Ministry of Education Department of Automation Shanghai Jiaotong University

In recommendation system,sparse data and cold-start user have always been a challenging *** a linear upper confidence bound(UCB) bandit approach as the item selection strategy based on the user historical ratings and user-item context,we model the recommendation problem as a multi-arm bandit(MAB)problem in this *** the engine to recommend while it learns,we adopt probabilistic matrix factorization(PMF) in this strategy learning phase after observing the *** particular,we propose a new approach to get the upper bound statistics out of latent feature *** the experiment,we use two public datasets(Netfilx and MovieLens) to evaluate our proposed *** model shows good results especially on cold-start users.

关键词： recommend matrix factorization bandit

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Distributed state estimation and data fusion in wireless sensor networks using multi-level quantized innovation

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Science China(information Sciences) 2016年第2期59卷 217-231页

作者： Zhi ZHANG Jianxun LI Liu LIU Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China College of Telecommunications & Information Engineering Nanjing University of Posts and Telecommunications

Low energy consumption and limited power supply are significant factors for wireless sensor networks(WSNs); thus, distributed state estimation and data fusion with quantized innovation are explored. The universal features of practical WSNs are investigated, and a dynamic transmission strategy is introduced. Furthermore,quantization state estimation based on Bayesian theory is derived. Unlike previous algorithms suitable for processing scalar measurement, the proposed distributed data fusion algorithm is applicable to general vector measurement. Furthermore, the efficiency of the proposed dynamic transmission strategy is analyzed. It is concluded that the proposed algorithm is more efficient than previous methods, and its estimation accuracy comparable to that of the standard Kalman filtering, which is based on analog-amplitude vector measurement.

关键词： data fusion distributed state estimation target tracking Kalman filtering quantization wireless sensor networks

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