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A data-driven subspace predictive control method for air-cooled data center thermal modelling and optimization

Journal of the Franklin Institute 2023年第5期360卷 3657-3676页

作者： Li, Zhe Wang, Haoda Fang, Qiu Wang, Yaonan National Engineering Research Center for Robot Vision Perception and Control Technology Department of Control Science and Engineering Hunan University Hunan Changsha410082 China

This paper presents a data-driven predictive control method for optimizing the energy consumption of air-cooled data centers with unknown system model parameters. First, based on the measurable data of the studied system, the subspace predictive control (SPC) method is adopted to improve the energy use efficiency of the data center by regulating the power allocation of the server racks and the supply temperature of cold air, while ensuring the safe operating environment of the electronic equipment. Furthermore, a reasonable event-triggered law is designed to solve the problem of the low computational efficiency of the conventional SPC method. The simulation results illustrate that the designed event-triggered law can improve the computational efficiency of the algorithm while maintaining the control performance of the algorithm, which verifies its application prospect in practice. © 2023 The Franklin Institute

关键词： Computational efficiency

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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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Boundary Gap Based Reactive Navigation in Unknown Environments

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 468-477页

作者： Zhao Gao Jiahu Qin Shuai Wang Yaonan Wang the Department of Automation University of Science and Technology of ChinaHefei 230027China the College of Electrical and Information Engineering Hunan UniversityChangsha 410082 the National Engineering Laboratory for Robot Visual Perception and Control Technology Changsha 410082China

Due to the requirements for mobile robots to search or rescue in unknown environments,reactive navigation which plays an essential role in these applications has attracted increasing ***,most existing reactive methods are vulnerable to local minima in the absence of prior knowledge about the *** paper aims to address the local minimum problem by employing the proposed boundary gap(BG)based reactive navigation ***,the narrowest gap extraction algorithm(NGEA)is proposed to eliminate the improper ***,we present a new concept called boundary gap which enables the robot to follow the obstacle boundary and then get rid of local ***,in order to enhance the smoothness of generated trajectories,we take the robot dynamics into consideration by using the modified dynamic window approach(DWA).Simulation and experimental results show the superiority of our method in avoiding local minima and improving the smoothness.

关键词： Boundary gap local minima reactive navigation unknown environments

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An Improved Non-Parametric Method for Multiple Moving Objects Detection in the Markov Random Field

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Computer Modeling in engineering & Sciences 2020年第7期124卷 129-149页

作者： Qin Wan Xiaolin Zhu Yueping Xiao Jine Yan Guoquan Chen Mingui Sun College of Electric and Information Engineering Hunan Institute of EngineeringXiangtan411104China National Engineering Research Laboratory for Robot Vision Perception and Control Hunan UniversityChangshaChina The Laboratory for Computational Neuroscience University of PittsburghPittsburghPA 15260USA

Detecting moving objects in the stationary background is an important problem in visual surveillance ***,the traditional background subtraction method fails when the background is not completely stationary and involves certain dynamic *** this paper,according to the basic steps of the background subtraction method,a novel non-parametric moving object detection method is proposed based on an improved ant colony algorithm by using the Markov random ***,the contributions are as follows:1)A new nonparametric strategy is utilized to model the background,based on an improved kernel density estimation;this approach uses an adaptive bandwidth,and the fused features combine the colours,gradients and positions.2)A Markov random field method based on this adaptive background model via the constraint of the spatial context is proposed to extract objects.3)The posterior function is maximized efficiently by using an improved ant colony system *** experiments show that the proposed method demonstrates a better performance than many existing state-of-the-art methods.

关键词： Object detection non-parametric method markov random field

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Generative Adversarial Network with Separate Learning Rule for Image Generation

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Journal of Donghua University(English Edition) 2020年第2期37卷 121-129页

作者： YIN Feng CHEN Xinyu QIU Jie KANG Yongliang College of Automation and Electronic Information Xiangtan UniversityXiangtan 411105China National Engineering Laboratory of Robot Vision Perception and Control Technology Changsha 410012China

Boundary equilibrium generative adversarial networks(BEGANs)are the improved version of generative adversarial networks(GANs).In this paper,an improved BEGAN with a skip-connection technique in the generator and the discriminator is ***,an alternative time-scale update rule is adopted to balance the learning rate of the generator and the ***,the performance of the proposed method is quantitatively evaluated by Fréchet inception distance(FID)and inception score(IS).The test results show that the performance of the proposed method is better than that of the original BEGAN.

关键词： generative adversarial network(GAN) boundary equilibrium generative adversarial network(BEGAN) Fréchet inception distance(FID) inception score(IS)

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Electromagnetism-Like Mechanism Algorithm with New Charge Formula for Optimization

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Journal of Donghua University(English Edition) 2021年第3期38卷 231-239页

作者： YIN Feng KANG Yongliang ZHANG Dongbo QIU Jie College of Automation and Electronic Information Xiangtan University Xiangtan 411105 China National Engineering Laboratory of Robot Vision Perception and Control Technology Xiangtan University Xiangtan 411105 China

The electromagnetism-like(EM)algorithm is a meta-heuristic optimization algorithm,which uses a novel searching mechanism called attraction-repulsion between charged *** is worth pointing out that there are two potential problems in the calculation of particle charge by the original EM *** of the problems is that the information utilization rate of the population is not high,and the other problem is the decline of population diversity when the population size is much greater than the dimension of the *** contrast,it is more fully to exploit the useful search information based on the proposed new quadratic formula for charge calculation in this ***,the population size was introduced as a new multiplier term to improve the population *** the end,numerical experiments were used to verify the performance of the proposed method,including a comparison with the original EM algorithm and other well-known methods such as artificial bee colony(ABC),and particle swarm optimization(PSO).The results showed the effectiveness of the proposed algorithm.

关键词： electromagnetism-like(EM)mechanism stochastic search method constrained optimization global optimization attraction-repulsion

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Intelligent monitoring method of bearings based on PCA-SOM 4

Intelligent monitoring method of bearings based on PCA-SOM

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4th International Conference on Testing technology and Automation engineering, TTAE 2024

作者： Xiao, Xianghui Dai, Yanting Yin, Baixin Yuan, Xiaofang College of Automation Foshan University Guangdong Foshan520000 China National Engineering Laboratory of Robot Vision Perception and Control Technology Hunan Changsha410082 China

ISBN: (数字)9781510686656

ISBN: (纸本)9781510686649

To address the issues of excessive maintenance and untimely maintenance of bearings, this paper proposes a performance evaluation method for bearing condition monitoring based on the combination of Principal Component Analysis (PCA) and Self-Organizing Map (SOM) networks. This method utilizes PCA to reduce the dimensionality of dual-domain features and conducts clustering analysis using the SOM network, constructing a minimal quantization error as a degradation indicator to assess the bearing degradation state. This is an unsupervised approach that does not require the setting of training labels for the network. Experiments were conducted on the IMS dataset, and the results indicate that this method can effectively identify early bearing faults and reduce reliance on human expertise, thereby enhancing both overall efficiency and the intelligence level of assessments, ultimately achieving intelligent bearing fault recognition. © 2024 SPIE.

关键词： Conformal mapping

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A Mobile robotic System for Data Center Thermal Environment Measurement and Reconstruction

A Mobile Robotic System for Data Center Thermal Environment ...

引用

2021 China Automation Congress, CAC 2021

作者： Qin, Ronghan Fang, Qiu Wang, Yaonan The National Engineering Laboratory for Robot Visual Perception and Control Technology Hunan University Hunan Changsha410082 China

ISBN: (纸本)9781665426473

Data centers are the key infrastructure for information services. The monitoring of the thermal environment of the data center computer room is an important work for its safe operation. This paper proposed a mobile robotic system for data center thermal environment measurement, which can freely sample the temperature and humidity data around the facilities within the computer room. On one hand, measuring the temperature and humidity in a mobile way can obtain far more environmental data than fixed-point sensors. On the other hand, the mobile robot can be used instead of manual inspection. In addition, a temperature field reconstruction method is provided based on the sampled temperature data. Theoretically, the temperature of locations that have not been measured can be evaluated by interpolating sample temperature around them. The reconstruction of the temperature field can present the variation of the temperature more clearly and help find the hot spots or locations with low cooling efficiency during the operation. Lastly, experiments are carried out to study the measurement error of the mobile robotic system and an error correction method is proposed. After that, the relationship between the temperature reconstruction error and the layout of sampling points is investigated. © 2021 IEEE

关键词： Interpolation

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An insulator feature-enhanced segmentation method based on the residual-type attention mechanism 5

An insulator feature-enhanced segmentation method based on t...

引用

5th IEEE Advanced Information Management, Communicates, Electronic and Automation control Conference, IMCEC 2022

作者： Tang, Xin Mao, Jianxu Yi, Junfei Tao, Ziming He, Zhenyu College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Vision Perception and Control Technology Changsha China

ISBN: (纸本)9781665479677

As an crucial component of power line, the timely check for the state of insulator is necessary for the normal running of transmission lines. In view of debasement of insulator segmentation accuracy in current transmission line caused by complex background, low contrast, and the quality of images is not guaranteed, we improve U-Net by combining attention mechanism and residual connection. Residual connection is added to the encoder part to improve the extraction of low-level semantic information, and the attention mechanism is added to the decoder part for integrating high and low level features better and reduce the error between them. We confirm the effectiveness of the improved module through experiments, while the results showing that the improved U-Net model segmentation performance on insulator dataset is improved from 0.875 to 0.912. And our method also outperforms previous segmentation work on insulator dataset. © 2022 IEEE.

关键词： Electric lines

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Fusion Visual Saliency with Dual-Spectral Saliency of Anomaly Detection for Hyperspectral Herbal Oral Liquid 9

Fusion Visual Saliency with Dual-Spectral Saliency of Anomal...

引用

9th Symposium on Novel Photoelectronic Detection technology and Applications

作者： Yin, Ating Mao, Jianxu Wang, Yaonan Zeng, Kai Zhang, Hui Li, Yaping College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center of Robot Vision Perception and Control Technology Changsha China

ISBN: (纸本)9781510664432

Chinese herbal oral liquid can leach a variety of effective ingredients from herbs and has become a major drug for clinical application. However, it is easy to produce or introduce foreign matters that are very faint in the automatic filling production process. To solve the challenge of low accuracy of faint foreign matter detection, in this paper, we proposed a salient-based anomaly detection method which is fuses visual saliency with dual-spectral saliency (VDS) for the hyperspectral herbal oral liquid. Specifically, we first select the most discriminative bands via the band selection method to generate the pseudo-color map. Subsequently, the histogram-based contrast method is introduced to select the saliency feature map with the largest variance of color features, while fusing the multi-scale gradient features to obtain the preliminary vision-based anomaly detection map. After that, the spectral angles and spectral Euclidean distances are calculated separately based on the oral liquid hyperspectral images to fused into dual-spectral saliency maps. Finally, the dual-spectral saliency map is employed to suppress the background information of the preliminary anomaly detection map. The experimental results show that our proposed method outperforms the state-of-the-art anomaly detection methods, which accurately and quickly achieve the detection of faint foreign matter in the hyperspectral herbal oral liquid. It will accelerate the process of automated filling production lines for oral liquid in the pharmaceutical industry. © 2023 SPIE.

关键词： Anomaly detection

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