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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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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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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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Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

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Journal of Shanghai Jiaotong university(Science) 2022年第5期27卷 638-648页

作者： LÜRunyan PENG Na WU Yi CAI Yunze Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Jiao Tong UniversityShanghai200240China Shanghai Aerospace Electronic Technology Institute Shanghai Academy of Spaceflight TechnologyShanghai201109China Alibaba(China)Co. Ltd.Hangzhou311121China

This paper focuses on the spatial registration algorithm under the earth-center earth-fixed(ECEF)coordinate system for multiple mobile *** sensor measurement biases are discussed with the attitude information of the platform into ***,the biased measurement model is ***,the maximum likelihood registration(MLR)algorithm is discussed to simultaneously estimate the measurement biases and the target ***,an improved online MLR(IMLR)algorithm is proposed through a sliding window of adaptive *** results demonstrate that the proposed IMLR algorithm effectively improves the realtime ability of the system and can approach similar estimation accuracy to the conventional MLR algorithm.

关键词： spatial registration 3D sensors improved online maximum likelihood registration(IMLR)

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Explicit Predictive control of Forward DC-DC Converter Based on an Input-Mapping Method

Explicit Predictive Control of Forward DC-DC Converter Based...

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第43届中国控制会议

作者： Xiang Gu Dewei Li Aoyun Ma Yaru Yu Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In the practical application of model predictive control in power electronics, both online computational burden and model accuracy are crucial. This paper presents an explicit model predictive control method based on input-mapping *** address the issue of parameter drift in the forward DC-DC converter system, the input-mapping method is introduced to compensate for model deviations using historical data. Firstly, the average model of the forward DC-DC converter system is introduced. For the control objective of voltage tracking, an explicit predictive control using the incremental model is ***, input-mapping method is integrated with explicit predictive control. During offline computation, analytical forms of the input-mapping combination coefficients and the optimal solution function of explicit model predictive control are *** computation of combination coefficients is conducted to obtain the optimal solution rapidly. The effectiveness of the proposed method is verified through simulations in MATLAB.

关键词： Forward DC-DC converter explicit model predictive control input-mapping method

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Signal Temporal Logic Based Vehicle Trajectory Planning Under Mandatory Stop Rule for Heavy Vehicle Right Turns at Signal-Free Intersections

Signal Temporal Logic Based Vehicle Trajectory Planning Unde...

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International Conference on Intelligent Transportation

作者： Wanqing Zuo Yunwen Xu Youren Chen Dewei Li School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

The blind spots of heavy vehicles during right turns arise a safety concern for traffic. Hence, the regulation mandating heavy vehicles to come to a complete stop before making right turns is crucial in ensuring intersection safety. However, the current trajectory planning methods struggle to integrate these traffic regulations, and the restrictions imposed by such traffic rules greatly impact traffic efficiency at intersections. This paper proposes a signal temporal logic (STL) based trajectory planning method for connected and autonomous vehicles (CAVs) at a signal-free intersection, where traffic rules for heavy vehicles are conveniently described by STL formulas. All CAVs at the intersection are modeled without predefined paths to enhance the flexibility of trajectories. Each STL formula is encoded in a standardized way as a conjunction of inequality and equality constraints for the optimization, and the whole trajectory planning of CAVs is achieved through solving a mixed-integer nonlinear programming (MINLP) problem. Simulation results indicate that our method improves traffic efficiency in the scenario with heavy vehicles right turns.

关键词： Connected vehicles Trajectory planning Simulation Programming Regulation Trajectory Safety Planning Logic Autonomous vehicles

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Thermal analysis and package optimization for the multi-wavelength laser bar module

Thermal analysis and package optimization for the multi-wave...

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2022 International Symposium on Semiconductor and Electronic Technology, ISSET 2022

作者： Sun, Wanjun Yang, Lijiao Xie, Jianan Zhang, Xiaxia Sha, Yang Mi, Shuai Lin, Tao College of Automation and Information Engineering Xi’an University of Technology Shaanxi Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Shaanxi Xi’an710048 China

To meet the demand of the laser application market for semiconductor laser function diversification, this paper proposes a handheld multi-wavelength laser stack packaging module. The 808 nm, 915 nm, and 980 nm semiconductor laser bars are selected for the integrated assembly of the multi-wavelength module. However, with the continuous increase of the optical power density of the integrated packaging module, thermal management has become a key factor affecting the performance and life of the device. In this paper, the finite element analysis method is used to analyze the influence of the arrangement of three laser stripe chips in the stacked packaging structure on the heat dissipation of the multi-wavelength module. The simulation results show that the heat dissipation efficiency of the multi-wavelength module can be improved by 13.74 % by changing the arrangement of chips. A back heat dissipation packaging structure with higher heat dissipation efficiency is proposed, and the influence of chip arrangement and working mode on the thermal characteristics of the device in the new packaging structure is simulated and analyzed. According to the simulation results, a chip arrangement that can make the heat dissipation effect of the multi-wavelength module achieve the best is determined. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Semiconductor lasers

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Cyber topology design guaranteed structural controllability for networked systems

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Science China(information Sciences) 2022年第11期65卷 303-304页

作者： Jianbin MU Shaoyuan LI Jing WU Ning LI Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University

Dear editor,Structure analysis is of crucial importance for achieving reliable system functionality. In many real-world systems, the exact parameters of system model are not available owing to modeling uncertainties or measurement noise, and then structural controllability is pursued in control configuration design. As first proposed by Lin in [1],

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Online-Learning-Based Distributionally Robust Motion control with Collision Avoidance for Mobile Robots

Online-Learning-Based Distributionally Robust Motion Control...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Han Wang Chao Ning Longyan Li Weidong Zhang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Collision-free navigation is a critical issue in robotic systems as the environment is often dynamic and uncertain. This paper investigates a data-stream-driven motion control problem for mobile robots to avoid randomly moving obstacles when the probability distribution of the obstacle’s movement is partially observable through data and can be even time-varying. A data-stream-driven ambiguity set is firstly constructed from movement data by leveraging a Dirichlet process mixture model and is updated online using real-time data. Then we propose an Online-Learning-based Distributionally Robust Nonlinear Model Predictive control (OL-DR-NMPC) approach for limiting the risk of collision through considering the worst-case distribution within the ambiguity set. To facilitate solving the OL-DR-NMPC problem, we reformulate it as a finite-dimensional nonlinear optimization problem. To cope with the bilinear matrix inequality constraints in the nonlinear problem, we develop a parabolic relaxation and a sequential algorithm, by which the problem is further transformed into polynomial-time solvable surrogates. The simulations using a quadrotor model are employed to demonstrate the effectiveness and advantages of the proposed method.

关键词： Navigation Simulation Real-time systems Probability distribution Safety Mobile robots Collision avoidance

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