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第35届中国控制与决策会议

作者： Hanqing Qu Siyuan Zhang Jun Zhao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Key Laboratory of Data Analytics and Optimization for Smart Industry (Northeastern University) Ministry of Education College of Information Science and Engineering Northeastern University

This paper studies the output regulation bumpless transfer control for event-triggered discrete-time switched systems under denial-of-service(DoS) *** switched systems subject to DoS,both the sensor signal and switching signal may be *** satisfy the bumpless transfer(BT) performance,we cannot use the common input zeroing *** problem that the triggering error being attacked may not follow the triggering condition ***,the controller mode may be asynchronous with the plant *** with the above two problems,we design an event-triggered dynamic error feedback controller and a switching law to guarantee that the output regulation problem for switched systems is solvable,and the BT performance can be ***,corresponding sufficient conditions are proposed in the form of linear matrix inequalities(LMIs).Finally,a numerical example is given to illustrate the validity of our results.

关键词： Discrete-time switched systems output regulation bumpless transfer control event-triggering transmission DoS attacks

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Unilateral tracking control for switched linear systems

Unilateral tracking control for switched linear systems

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第33届中国控制与决策会议

作者： Yaoli Zhang Jun Zhao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Key Laboratory of Data Analytics and Optimization for Smart Industry (Northeastern University) Ministry of Education College of Information Science and Engineering Northeastern University

In this paper,we design the controllers to asymptotically track a constant signal without overshoot for switched linear time-invariant *** component of error is shaped by one mode to realize no *** arbitrary switching signal,the closed-loop switched system is stable based on common Lyapunov *** design a state-dependent switching signal to achieve the nonovershooting tracking,when the stability or the monotonally increasing error for some one subsystem is not satisfied.A numerical example is given to illustrate the effectiveness of the proposed method.

关键词： Unilateral tracking Switched systems Nonovershooting

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Leader-Following Consensus for Switched Uncertain Multi-agent Systems with Delay Time under Directed Topology

Leader-Following Consensus for Switched Uncertain Multi-agen...

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第42届中国控制会议

作者： Guangxu He Jun Zhao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Key Laboratory of Data Analytics and Optimization for Smart Industry(Northeastern University) Ministry of Education College of Information Science and Engineering Northeastern University

The paper studies the leader-following consensus of the switched uncertain time-delay MASs under fixed directed communication *** the switching distributed controller and the minimum dwell time,the sufficient conditions in terms of matrix inequalities are obtained by L-K functional dependent on switching law to guarantee the leader-following consensus ***,an example is given to validate the effectiveness of the results.

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Socially Optimal Nash Equilibrium of Switched Linear Quadratic Differential Games

Socially Optimal Nash Equilibrium of Switched Linear Quadrat...

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第40届中国控制会议

作者： Yabing Huang Jun Zhao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Key Laboratory of Data Analytics and Optimization for Smart Industry Northeastern University Ministry of Education College of Information Science and Engineering Northeastern University

In this paper, the socially optimal Nash equilibrium of the N-player switched differential game is investigated. Specifically, the definition of the switched Nash equilibrium is presented, and the sufficient condition to construct the switched Nash equilibrium is proposed thereafter. In order to improve the efficiency of the switched Nash equilibrium, the switching strategy is designed to minimize the social costs of N players to guarantee the resulting switched Nash equilibrium is socially optimal.

关键词： Switched systems Nash equilibrium social optimum differential game

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Stability for Switched Nonlinear Systems via Event-triggered Impulsive and Switching Control

Stability for Switched Nonlinear Systems via Event-triggered...

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第33届中国控制与决策会议

作者： Zhengbao Cao Jun Zhao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Key Laboratory of Data Analytics and Optimization for Smart Industry (Northeastern University) Ministry of Education College of Information Science and Engineering Northeastern University

The paper proposes an event-triggered impulsive and switching control mechanism for a class of switched nonlinear systems,where each subsystem of such a switched system is allowed to be unstable,and there does not exist any switching law to stabilize the *** that the event-triggered impulsive and switching control can reduce the number of occurrence of impulses *** importantly,the event-triggered impulsive and switching control can not only guarantee stability of system,but also exclude Zeno ***,a numerical example is given to illustrate the effectiveness of the results.

关键词： Switched Systems Event-triggered Mechanism Impulsive Control Switching Control Stability

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PARE: A Plane-Assisted Autonomous Robot Exploration Framework in Unknown and Uneven Terrain

PARE: A Plane-Assisted Autonomous Robot Exploration Framewor...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Pu Xu Zhaoqiang Bai Haoming Liu Zheng Fang Faculty of Robot Science and Engineering Northeastern University Shenyang China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Key Laboratory of Data Analytics and Optimization for Smart Industry Ministry of Education Northeastern University Shenyang China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Identifying traversable areas is a critical task for unmanned vehicles exploring safely through unstructured environments. In practice, the ambiguity in perceiving terrain traversability usually brings great challenges for autonomous exploration in unknown and uneven terrain, which often leads to conservative strategies or potential risk of vehicle damage, resulting in many unexplored areas in the environment. To that end, this paper proposes a plane-assisted autonomous robot exploration framework (PARE) to achieve maximum volume and safe autonomous exploration. The process is carried out by a three-step dual-layer framework: constructing a local tree using Plane-Assisted RRT* (PA-RRT*), calculating exploration gain based on terrain information, and maintaining a global search graph. Firstly, the planar feature metrics (flatness, sparsity, elevation variation, slope and slope variation) are introduced to determine the terrain traversability. Secondly, to completely explore the rugged environment, we propose a dual-layer exploration framework comprising local and global strategies. A local planner based on PA-RRT* is proposed to find the best path by evaluating the planar information and the volumetric gain within the local exploration tree. Meanwhile, a global planner constructed by graph is proposed to record unexplored nodes with high exploration gain from the local tree to ensure a high level of exploration volume. Extensive simulation and real-world experiments demonstrate that our method significantly outperforms existing frameworks, with an average improvement of more than 12% in exploration volume.

关键词： Measurement Intelligent robots Autonomous vehicles Autonomous robots

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AO-DETR: Anti-Overlapping DETR for X-Ray Prohibited Items Detection

arXiv

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arXiv 2024年

作者： Li, Mingyuan Jia, Tong Wang, Hao Ma, Bowen Lin, Shuyang Cai, Da Chen, Dongyue College of Information Science and Engineering Northeastern University Liaoning Shenyang110819 China Foshan Graduate School of Innovation Northeastern University Guangdong Foshan528311 China Key Laboratory of Data Analytics and Optimization for Smart Industry Ministry of Education Northeastern University Liaoning Shenyang110819 China

Prohibited item detection in X-ray images is one of the most essential and highly effective methods widely employed in various security inspection scenarios. Considering the significant overlapping phenomenon in X-ray prohibited item images, we propose an Anti-Overlapping DETR (AO-DETR) based on one of the state-of-the-art general object detectors, DINO. Specifically, to address the feature coupling issue caused by overlapping phenomena, we introduce the Category-Specific One-to-One Assignment (CSA) strategy to constrain category-specific object queries in predicting prohibited items of fixed categories, which can enhance their ability to extract features specific to prohibited items of a particular category from the overlapping foreground-background features. To address the edge blurring problem caused by overlapping phenomena, we propose the Look Forward Densely (LFD) scheme, which improves the localization accuracy of reference boxes in mid-to-high-level decoder layers and enhances the ability to locate blurry edges of the final layer. Similar to DINO, our AO-DETR provides two different versions with distinct backbones, tailored to meet diverse application requirements. Extensive experiments on the PIXray and OPIXray datasets demonstrate that the proposed method surpasses the state-of-the-art object detectors, indicating its potential applications in the field of prohibited item detection. The source code will be released at https://***/Limingyuan001/AO-DETR. Copyright © 2024, The Authors. All rights reserved.

关键词： Object detection

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Open-Vocabulary X-ray Prohibited Item Detection via Fine-tuning CLIP

arXiv

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arXiv 2024年

作者： Lin, Shuyang Jia, Tong Wang, Hao Ma, Bowen Li, Mingyuan Chen, Dongyue The College of Information Science and Engineering Northeastern University Liaoning Shenyang110819 China The Key Laboratory of Data Analytics and Optimization for Smart Industry Ministry of Education Northeastern University Liaoning Shenyang110819 China The Foshan Graduate School of Innovation Northeastern University Guangdong Foshan528311 China

X-ray prohibited item detection is an essential component of security check and categories of prohibited item are continuously increasing in accordance with the latest laws. Previous works all focus on close-set scenarios, which can only recognize known categories used for training and often require time-consuming as well as labor-intensive annotations when learning novel categories, resulting in limited real-world applications. Although the success of vision-language models (e.g. CLIP) provides a new perspectives for open-set X-ray prohibited item detection, directly applying CLIP to X-ray domain leads to a sharp performance drop due to domain shift between X-ray data and general data used for pre-training CLIP. To address aforementioned challenges, in this paper, we introduce distillation-based open-vocabulary object detection (OVOD) task into X-ray security inspection domain by extending CLIP to learn visual representations in our specific X-ray domain, aiming to detect novel prohibited item categories beyond base categories on which the detector is trained. Specifically, we propose X-ray feature adapter and apply it to CLIP within OVOD framework to develop OVXD model. X-ray feature adapter containing three adapter submodules of bottleneck architecture, which is simple but can efficiently integrate new knowledge of X-ray domain with original knowledge, further bridge domain gap and promote alignment between X-ray images and textual concepts. Extensive experiments conducted on PIXray and PIDray datasets demonstrate that proposed method performs favorably against other baseline OVOD methods in detecting novel categories in X-ray scenario. It outperforms previous best result by 15.2 AP50 and 1.5 AP50 on PIXray and PIDray with achieving 21.0 AP50 and 27.8 AP50 respectively. Furthermore, our model can be directly transferred to different X-ray datasets without fine-tuning, verifying its generalization ability. Copyright © 2024, The Authors. All rights reserved.

关键词： Object detection

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Model-independent measurement of cosmic curvature with the latest H(z) and SNe Ia data: A comprehensive investigation

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Physical Review D 2023年第6期108卷 063522-063522页

作者： Jing-Zhao Qi Ping Meng Jing-Fei Zhang Xin Zhang Key Laboratory of Cosmology and Astrophysics (Liaoning Province) and Department of Physics College of Sciences Northeastern University Shenyang 110819 China Key Laboratory of Data Analytics and Optimization for Smart Industry (Ministry of Education) Northeastern University Shenyang 110819 China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang 110819 China

In the context of the discrepancies between the early and late universe, we emphasize the importance of independent measurements of the cosmic curvature in the late universe. We present an investigation of the model-independent measurement of the cosmic curvature parameter Ωk in the late universe with the latest Hubble parameter H(z) measurements and type Ia supernovae (SNe Ia) data. For that, we use two reconstruction methods, the Gaussian process (GP) and artificial neural network (ANN) methods, to achieve the distance construction from H(z) data. Our analysis reveals that the GP method provides the most precise constraint on Ωk, with a constraint precision of ξ(Ωk)=0.13, surpassing recent estimations using similar methods. The GP method consistently indicates a preference for a flat universe at the 2σ confidence level. Moreover, we find that the choice of reconstruction method influences the estimation of Ωk. The ANN reconstruction method exhibits higher sensitivity to the addition of BAO H(z) data, resulting in comparable constraint precision to the GP method. A discrepancy exists between the best-fit values obtained by these two reconstruction methods, indicating their dependence on the reconstruction approach. However, we anticipate that with the improvement of sample size and precision of observational H(z) data, the estimation of Ωk using this approach will become more robust and reliable.

关键词： Cosmological parameters

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A Discussion of the Mapping from the Unified Search Space to the Search Space of the Optimized Task in Evolutionary Multitasking optimization

A Discussion of the Mapping from the Unified Search Space to...

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Chinese Automation Congress (CAC)

作者： Shuangshuang Yao Zhiming Dong Xianpeng Wang Qingqing Liu Hangyu Lou Yumeng Zhao College of Information Science and Engineering Northeastern University Shenyang China Key Laboratory of Data Analytics and Optimization for Smart Industry Northeastern University Shenyang China Institute of Industrial & Systems Engineering Northeastern University Shenyang China

ISBN: (纸本)9781665426480

Multitasking evolutionary algorithms enable the communication of information between different tasks and the mining of valuable knowledge by encoding all individuals into a unified search space. The mapping of decision variables of the same dimension for different tasks in the unified search space has the same dimensional index, i.e., the same encoded position. In this paper, we disrupt this mapping relationship so that decision variables of the same dimension for different tasks correspond to different encoded positions in the unified search space, to analyze and discuss the effect of this mapping relationship on the performance of the algorithm. A series of experimental results suggest that the mapping relationship between the decision variables of different tasks in a multitasking evolutionary algorithm has a significant impact on the performance of the algorithm.

关键词： Automation Evolutionary computation Multitasking Encoding Indexes Task analysis optimization

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