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第41届中国控制会议

作者： Yu Zhai Zhe Liu Yanzi Miao Hesheng Wang China University of Mining and Technology MoE Key Lab of Artificial Intelligence Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Developing an efficient automatic navigation system for mobile robots is challenging in the strange scenarios where robots can only observe the environment of the surrounding limited *** other distributed automatic navigation systems exist,they often require extracting semantic information to calculate navigation action,which requires extra modules to provide perceptual information and is not *** propose an end-to-end automatic navigation system based on the reinforcement learning *** particular,the raw 3 D LiDAR data is used to directly map an efficient navigation *** design a novel dense reward function to handle the reward sparsity issue and provide a graphical representation method to enable the efficient feature learning from the raw 3 D LiDAR data in our navigation *** addition,an imitation learning based policy initialization is introduced before the subsequent reinforcement learning,which increases the learning efficiency and,in the meantime,still encouraging the robot to explore all the potential states to achieve advanced performance than the imitated *** navigation model is trained in the Webots environment and the experimental results show that our model has efficient and flexible navigation performance in complex *** importantly,trained model can be easily extended to unfamiliar environments.

关键词： End-to-end Navigation Mobile robot Reinforcement Learning 3D LiDAR

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A Modified RC and Diode Co-Triggered ESD Clamp Circuit 1

A Modified RC and Diode Co-Triggered ESD Clamp Circuit

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1st Annual International EOS/ESD Symposium on Design and system, IEDS 2020

作者： Yang, Zhaonian Zhang, Yibo Mao, Pan Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an710048 China

ISBN: (纸本)9781585373284

This paper presents a new ESD clamp circuit which is co-triggered by RC and diode. It is immune to the false triggering caused by fast power-up events due to the diode detection mechanism. With the addition of a common source amplifier, the detection signal is enhanced, and the clamp device is turned on more quickly. The proposed circuit is designed in a 0.18 μm 1.8-V CMOS process and verified by numerical simulation. The characteristics and improvements of the new circuit are discussed. © 2021 EOS/ESD ASSOCIATION INC.

关键词： Diodes

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Analysis of Belief Propagation Based Cooperative Localization and Target Tracking Schemes

Analysis of Belief Propagation Based Cooperative Localizatio...

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2021 China Automation Congress, CAC 2021

作者： Li, Yichen Yu, Wenbin Wang, Lin Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665426473

The target tracking is an fundamental ability for many oceanic applications, such as ocean surveillance, underwater rescue and etc. Due to the good mobility of autonomous underwater vehicles (AUVs), they are the ideal devices to carry out the target tracking. However, their position accuracy severely affect the target tracking performance. Thus, in this paper, aiming at the problem of target tracking using multiple AUVs, we introduce two AUV cooperative localization and target tracking schemes. The two schemes are designed based on belief propagation and carry out the localization and tracking serially and in parallel, respectively. The features and differences of both schemes are compared and analyzed in detail. Moreover, their application prospects in underwater scenarios are discussed and further validated through simulations. As a result, two schemes have their own advantages in different situations and are suitable for multiple-AUV applications. © 2021 IEEE

关键词： Belief propagation

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ToF 3D vision detection and localization of soft packaging bags based on deep learning

ToF 3D vision detection and localization of soft packaging b...

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Shen, Chengyang Chen, Weidong Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation

ISBN: (纸本)9781665436786

The detection of soft packaging bags is a key step in the process of soft packaging bags unpacking. Time-of-flight(ToF) camera is used as vision sensor and a multi-scale detection method based on deep learning is proposed to solve the deformation and shielding problems of soft packaging bags. This method is improved on the basis of YOLOv3. Aiming at the texture disorder and shape change caused by the deformation of the soft packaging bags, the deformation convolution is used to replace the standard convolution for feature extraction. In view of the slow detection speed of YOLOv3, the inverted residual module based on depth separable convolution is used to replace the residual module. Aiming at the problem of non-detection caused by the occlusion between soft packaging bags, the loss function in YOLOv3 is improved and the size of anchor box is adjusted. The test is carried out when there were different degrees of shielding between the soft packaging bags and different degrees of deformation of the soft packaging bags. The experimental results show that the detection speed of this method reaches 0.8s/frame, the recall rate reaches 99%, and the relative positioning accuracy reaches 2 cm. © 2021 IEEE.

关键词： Convolution

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Vision-Based Autonomous Landing of a Quadrotor UAV on a Double-Layered Nested Landing Marker

Vision-Based Autonomous Landing of a Quadrotor UAV on a Doub...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Mu, Lingxia Zhang, Yuan Xin, Jing Zhang, Youmin School of Automation and Information Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Department of Mechanical and Industrial Engineering Concordia University MontrealH3G 1M8 Canada

ISBN: (纸本)9789811966125

This paper focuses on the vision-based autonomous landing mission of a quadrotor unmanned aerial vehicle (UAV). A double-layered nested Aruco landing marker is designed which can adapt to the situation that the field of sight of airborne camera changes as the UAV’s altitude decreases during the landing. Then, considering that the landing marker might be obstructed in certain situation, traditional Aruco detection method cannot effectively recognize marker. A YOLOv4 deep learning algorithm is used for marker detection. In addition, to address the problem of false detection in some test results, normalized Wasserstein distance is used to replace the non-maximum suppression to deal with redundant frames. The UAV’s relative location to the marker is then calculated and landing mission is finally achieved by the image-based visual servoing strategy. The simulation on Gazebo demonstrates that the designed marker is effective for the UAV landing mission and the revised YOLOv4 detection algorithm can increase detection results accuracy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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Prediction of piRNA-mRNA interactions based on an interactive inference network

Prediction of piRNA-mRNA interactions based on an interactiv...

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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Liu, Yajun Li, Ru Li, Aimin Fei, Rong Guo, Xie Wu, Fang-Xiang Xi'an University of Technology Shaanxi Key Laboratory for Network Computing and Security Technology Xi'an China Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China University of Saskatchewan Division of Biomedical Engineering Department of Computer Science Department of Mechanical Engineering Saskatoon Canada

ISBN: (纸本)9798350337488

As the largest class of small non-coding RNAs, piRNAs primarily present in the reproductive cells of mammals, which influence post-transcriptional processes of mRNAs in multiple ways. Effective methods for predicting piRNA and mRNA target relationships can help identify piRNA functions, investigate the possibility of piRNAs as biomarkers and therapeutic targets. In this study, we propose a computational approach for classifying the relationships of piRNA-mRNA pairs based on an interactive inference network (IIN). First, we gather piRNA-mRNA target data, collect sequence data by position alignment, and construct a benchmark dataset. Furthermore, a reliable negative set is constructed by positive-unlabeled learning. Finally, we view a piRNA and a mRNA sequence as a premise and hypothesis sentence, respectively, and IIN model is used to predict the relationship between them. The experiments demonstrate that our method effectively characterizes piRNA-mRNA interaction and could be beneficial for researchers to investigate piRNA functions. © 2023 IEEE.

关键词： interactive inference network noncoding RNA piRNA-mRNA interactions positive-unlabeled learning

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Aβ-Aggregation-Generated Blue Autofluorescence Illuminates Senile Plaques as well as Complex Blood and Vascular Pathologies in Alzheimer’s Disease

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Neuroscience Bulletin 2024年第8期40卷 1115-1126页

作者： Hualin Fu Jilong Li Chunlei Zhang Peng Du Guo Gao Qiqi Ge Xinping Guan Daxiang Cui Institute of Nano Biomedicine and Engineering School of Sensing Science and EngineeringSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghai 200240China National Center for Translational Medicine Shanghai Jiao Tong UniversityShanghai 200240China Department of Colorectal Surgery School of MedicineXinhua HospitalShanghai Jiao Tong UniversityShanghai 200092China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China The Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

Senile plaque blue autofluorescence was discovered around 40 years ago,however,its impact on Alzheimer’s disease(AD)pathology has not been fully *** analyzed senile plaques with immunohistochemistry and fluorescence imaging on AD brain sections and also Aβ aggregation in *** DAPI or Hoechst staining,the nuclear blue fluorescence could only be correctly assigned after subtracting the blue plaque *** flower-like structures wrapping dense-core blue fluorescence formed by cathepsin D staining could not be considered central-nucleated neurons with defective lysosomes since there was no nuclear staining in the plaque core when the blue autofluorescence was *** Aβ self-oligomers and Aβ/hemoglobin heterocomplexes generated blue *** Aβ amyloid blue autofluorescence not only labels senile plaques but also illustrates red cell aggregation,hemolysis,cerebral amyloid angiopathy,vascular plaques,vascular adhesions,and *** summary,we conclude that Aβ-aggregation-generated blue autofluorescence is an excellent multi-amyloidosis marker in Alzheimer’s disease.

关键词： Senile plaque Blue autofluorescence Aβ Amyloid aggregation Hemoglobin Cathepsin D.Microaneurysm Alzheimer's disease

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An Adaptive Nonlinear Filter for Uncertain Measurement Noise

An Adaptive Nonlinear Filter for Uncertain Measurement Noise

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Dong, Xiangxiang Zhang, Lulu Lv, Runyan Cai, Yunze Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of Marine Intelligent Equipment and System Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789811581540

An improved adaptive variational Bayesian (VB) nonlinear filter is proposed. Through Cubature sampling, inverse Wishart distribution is introduced to jointly estimate system states and inaccurate measurement noise for nonlinear systems. Furthermore, to avoid non-positive definite problem of the state covariance matrix in joint estimation, Singular Value Decomposition (SVD) is introduced to VBCKF, based on which SVD-VBCKF is designed. Besides, computational complexity of proposed filter is analyzed theoretically. Simulation results demonstrate that proposed SVD-VBCKF has higher filtering accuracy. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Singular value decomposition

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A Communication-Efficient Distributed Optimization Algorithm with Linear Convergence over Directed Graphs

A Communication-Efficient Distributed Optimization Algorithm...

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Asian control Conference

作者： Yuzhu Duan Ziwen Yang Shanying Zhu Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Ministry of Education of China Shanghai P. R. China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

The Industrial Internet of Things (IIoT) is increasingly emerging as a novel paradigm for information exchange within industrial production environments. To facilitate the efficient operation of IIoT, there is an urgent requirement for communication-efficient methods to transmit extensive production data. This paper proposes a communication-efficient distributed optimization algorithm tailored for the strongly convex and smooth convex optimization problems over a directed graph. To encompass a broader class of compressors, the assumption of compressor is relaxed to contain both relative and absolute errors. To mitigate compression errors, we adopt differential compression technique and dynamic scaling factor in the algorithm. In particular, under this compression assumption, a non-uniform quantizer is introduced to enable finite-bit transmission over communication channels and an upper bound of the required bits with this quantizer is provided. Moreover, we prove the linear convergence of the proposed algorithm with compression, and numerical examples are provided to verify the performance of the proposed algorithm.

关键词： Upper bound Heuristic algorithms Directed graphs Production Compressors Convex functions Optimization

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Model Predictive control for T-S Fuzzy Markovian Jump systems Using Dynamic Prediction Optimization

arXiv

引用

arXiv 2024年

作者： Zhang, Bin Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

In this paper, the model predictive control (MPC) problem is investigated for the constrained discrete-time Takagi-Sugeno fuzzy Markovian jump systems (FMJSs) under imperfect premise matching rules. To strike a balance between initial feasible region, control performance, and online computation burden, a set of mode-dependent state feedback fuzzy controllers within the frame of dynamic prediction optimizing (DPO)-MPC is delicately designed with the perturbation variables produced by the predictive dynamics. The DPO-MPC controllers are implemented via two stages: at the first stage, terminal constraints sets companied with feedback gain are obtained by solving a "min-max" problem;at the second stage, and a set of perturbations is designed felicitously to enlarge the feasible region. Here, dynamic feedback gains are designed for off-line using matrix factorization technique, while the dynamic controller state is determined for online over a moving horizon to gradually guide the system state from the initial feasible region to the terminal constraint set. Sufficient conditions are provided to rigorously ensure the recursive feasibility of the proposed DPO-MPC scheme and the mean-square stability of the underlying FMJS. Finally, the efficacy of the proposed methods is demonstrated through a robot arm system example. © 2024, CC BY.

关键词： Predictive control systems

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