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2024 China automation Congress, CAC 2024

作者： Wang, Ao Yang, Zhao-Hua Wu, Qing-Fan Tang, Bo Zhou, Shuai-Jun Shi, Yang-Yang School of Instrumentation and Optoelectronic Engineering Beihang University Beijing China School of Automation Beijing Institute of Technology Beijing China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9798350368604

Fast localization and tracking of multi-targets is of great significance in many fields such as guidance, area surveillance, and unmanned aerial vehicle detection, etc. Benefiting from the unique mechanism of single-pixel imaging, a single-pixel detection based tracking method with windowed geometrical moment detection is proposed to achieve fast multiple objects tracking. Fourier slice pattern is utilized to obtain a one-dimensional projection of the scene and design the window function, which is combined with zero-order geometric moment patterns to obtain the region of the multi-target at first. In the subsequent frame tracking, the window function of each target is combined with the three geometric moments patterns to obtain the center of mass position, and the window function is updated to realize the matching correlation, and the sampling rate can be as low as 0.0034%, which greatly reduces the sampling time to achieve fast tracking. With a modulated frame rate of 20kHz, tracking can be done at frame rates up to 2200 Hz. While the window overlaps, the window transformation, and multi-directional Fourier slice segmentation method are designed to solve the tracking error. A background subtraction method is applied in complex backgrounds. The simulations of a scene with a spatial resolution of 512 X 512 pixels are performed, and the results show that the proposed method tracks the localization of three targets with an error of less than one pixel in both horizontal and vertical directions. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Sliding Mode control for Uncertain Markovian Jump Systems:An Event-triggered Approach 41

Sliding Mode Control for Uncertain Markovian Jump Systems:An...

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第41届中国控制会议

作者： Yaru Yu Rongni Yang Dewei Li The Department of Automation Shanghai Jiao Tong University The School of Control Science and Engineering Shandong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,the sliding mode control problem for Markovian jump systems(MJS s) subject to parameter uncertainties and disturbances is solved via an event-triggered ***,a sliding mode surface is constructed,and then sufficient conditions are given to ensure the stochastic stability of the resultant Markov jump sliding mode ***,the system trajectories of the considered MJS s are driven onto the quasi-sliding mode band by synthesizing an event-triggered sliding mode ***,the event-triggered scheme is developed together with the design of sliding mode controller,which is different from the most existing ***,the value of the quasi-sliding mode band is also given by ***,the introduction of event-triggered scheme is capable of saving the network bandwidth utilization while maintaining a satisfactory system ***,the effectiveness of the presented approach is illustrated by utilizing a practical DC motor model.

关键词： Markovian jump systems(MJSs) sliding mode control(SMC) event-triggered scheme(ETS) uncertainty

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An Optimization Method for the Swing of a Quadrotor Flight Suspension System 25

An Optimization Method for the Swing of a Quadrotor Flight S...

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25th IEEE China Conference on System Simulation Technology and its Application, CCSSTA 2024

作者： Yang, Sen Zang, Xinlian Tong, Jigang Xie, Tian Jin, Xin Tianjin University of Technology The School of Electrical Engineering and Automation Tianjin China AVIC Xi'an Flight Automatic Control Research Institute National key laboratory of science and technology on aircraft control Xi'an China

ISBN: (纸本)9798350366600

The aim of this study is to explore optimization control methods for suspension systems during the flight of quadcopters. The traditional control method of suspension system has some problems such as oscillation and instability, so an optimization scheme based on Gaussian pseudo-general algorithm is proposed in this paper. Through numerical simulation and actual flight test, the effectiveness of the optimization algorithm in improving system stability and reducing oscillation amplitude is verified. At the same time, this study conducted a comparative analysis of the suspension system of the quadrotor vehicle and the free fall body, and the optimization algorithm is found to be feasible and can well improve the control accuracy and stability of the system, and provide strong support for the safety of the quadrotor vehicle in various application scenarios. © 2024 IEEE.

关键词： Flight testing

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Bi-objective Optimization with Partial Variable-length Coding Method for Mixed Fleet Vehicle Routing Problem 43

Bi-objective Optimization with Partial Variable-length Codin...

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43rd Chinese control Conference, CCC 2024

作者： Li, Shilong Du, Shengli Wu, Di Gao, Yongfeng Beijing University of Technology School of Artificial Intelligence and Automation Beijing100124 China Beijing Laboratory of Smart Environmental Protection Beijing100124 China Dalian University of Technology School of Control Science and Control Engineering Dalian116024 China

ISBN: (纸本)9789887581581

This paper is concerned with the routing problem of a mixed vehicle fleet composed by both electric and conventional vehicles. A bi-objective model with the aim of minimizing carbon emissions and maximising customer satisfaction is established. To further tackle the challenges posed by the distinct constraints of electric and conventional vehicles, a partial variable-length coding method is introduced to facilitate chromosome generation in the model. Then, a novel NSGA-II including the above designed coding method is proposed for solving the optimization problem. By comparing the experiments results of solving separate single-objective optimization and the two conflict optimization objectives simultaneously, it is verified that the proposed encoding approach and algorithm is effective. The results suggest that the bi-objective model is well-established, demonstrating the anticipated conflict between the two objectives. Additionally, the partial variable-length coding method is shown to be effective in achieving chromosome generation tasks. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Vehicle routing

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M-segclip: Enhancing SegCLIP with RM-MLP for Open-Vocabulary Semantic Segmentation 2

M-segclip: Enhancing SegCLIP with RM-MLP for Open-Vocabulary...

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2nd International Conference on Algorithm, Image Processing and Machine Vision, AIPMV 2024

作者： Zhang, Yuhang Che, Yanqiu Li, Shanshan Wang, Ruofan School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing & Intelligent Control Tianjin China School of Information Technology Engineering Tianjin University of Technology and Education Tianjin China

ISBN: (纸本)9798350390254

With the emergence of large-scale visual language models represented by CLIP, we have broken the great divide between vision and language. It has become possible to project features from visual models to semantic space consisting of a large amount of text. At the same time, semantic segmentation has opened the door to transferring learned visual knowledge to open vocabulary semantic segmentation. In this paper we improve and optimize a model with open vocabulary segmentation capability based on the CLIP architecture, we design an RM-MLP module and insert this module after the semantic group module in the image encoder, which is used to optimize the semantic regions aggregated by the semantic group module, and then used to generate the final segmentation results. The final experimental results show that the optimized model achieves higher segmentation accuracy on PASCAL VOC 2012 (+1.14% mIoU), and COCO (+0.43% mIoU). © 2024 IEEE.

关键词： Semantic Segmentation

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A Enhanced Feature Extraction for 3D Object Detection 25

A Enhanced Feature Extraction for 3D Object Detection

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25th IEEE China Conference on System Simulation Technology and its Application, CCSSTA 2024

作者： Meng, Qingao Tong, Jigang Yang, Sen Xie, Tian Jin, Xin Tianjin University of Technology The School of Electrical Engineering and Automation Tianjin China Avic Xi'an Flight Automatic Control Research Institute National Key Laboratory of Science and Technology on Aircraft Control Xi'an China

ISBN: (纸本)9798350366600

3D object detection is crucial for autopilot and augmented reality applications. However, accurate feature extraction is the key to achieve high-precision detection, but traditional methods face the challenges of information loss and computational inefficiency. To address this, we propose an enhanced feature extraction method. We first divide the 3D space into voxel grids of varying scales. Then, using 3D sparse convolution, we extract features which are compressed along the Z axis to form BEV (Bird's Eye View) feature images. An efficient multi-scale attention mechanism is then employed to enhance these BEV features. The refined feature map is subsequently located and classified through a CT-stacking module and RPN (Region Proposal Network). Voxel features from the proposal and 3D backbone are passed through a voxel RoI pool to directly extract RoI features from the 3D features for further refinement. Finally, a cascaded attention network refines the proposal and strengthens confidence prediction. Experiments on test set validate our method effectiveness, showing improved accuracy over traditional voxel methods. Overall, this enhanced feature extraction technique offers a promising solution for 3D target detection, particularly in scenarios demanding high real-time performance and precision. © 2024 IEEE.

关键词： Feature extraction

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Integrated design and performance optimization of three-electrode sliding discharge plasma power supply

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Plasma Science and Technology 2024年第11期26卷 152-161页

作者： Borui ZHENG Linwu WANG Jianbo ZHANG Shaojie QI Yuhong CHEN Haodong LIU Dongliang BIAN School of Automation and Information Engineering Xi’an University of TechnologyXi’an 710048People’s Republic of China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an 710048People’s Republic of China School of Mechanical and Precision Instrument Engineering Xi’an University of TechnologyXi’an 710048People’s Republic of China Science and Technology on Plasma Dynamics Laboratory Air Force Engineering UniversityXi’an 710038People’s Republic of China

The three-electrode sliding dielectric barrier discharge(TES-DBD) plasma actuator significantly enhances the ionization rate and momentum exchange between charged particles and neutral particles by incorporating a parallel DC electrode into the standard DBD design. This design improves the body force and induced jet velocity while allowing flexible control of the induced jet angle, overcoming the limitations of discharge extension and uncontrollable direction in traditional DBD plasma actuators. An integrated plasma power supply has been designed specifically for TES-DBD plasma actuators, streamlining the power supply management. The methodology involves designing the circuit topology for the TES-DBD power supply, followed by simulating and validating its operating principles using Multisim software. The operational performance of the power supply is evaluated through a comprehensive analysis of its electrical,thermal, and aerodynamic properties specific to TES-DBD plasma actuation.

关键词： plasma flow control dielectric barrier discharge three-electrode sliding discharge plasma power supply

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Multiple Static Target Hunting Based on the RRT and OSPA Distance

Multiple Static Target Hunting Based on the RRT and OSPA Dis...

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2024 China automation Congress, CAC 2024

作者： Liu, Weifeng Ren, Shiwei Tang, Jiawei Su, Zijun School of Electrical and Control Engineering Shaanxi University of Science and Technology Xi’an China School of Automation Hangzhou Dianzi University Hangzhou China University of Electronic Science and Technology Chengdu China

ISBN: (纸本)9798350368604

This paper considers multiple static target hunting control and path planning using multi-agents. The whole hunting process can be classified into two stages. The first is cruising stage, where the agents move in a certain formation to approach the multiple static targets. Once the agents enter into certain ranges around the targets, the agents will switch into the second stage of hunting. In these two stages, it is required to consider several issues: the agent controlling, path planning, and task allocation. Specifically, the traditional multi-agent controlling algorithm, rapidly-exploring random tree (RRT), and optimal sub-pattern assignment (OSPA) are respectively used in the process. Simulation experiment shows that the path planning and hunting algorithm can efficiently realize the formation movement and multiple static targets hunting. © 2024 IEEE.

关键词： Multi agent systems

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A 3D Spiral-Zigzag Gas Leakage Source Search Algorithm Based on Olfaction and Vision 6

A 3D Spiral-Zigzag Gas Leakage Source Search Algorithm Based...

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6th International Conference on Industrial Artificial Intelligence, IAI 2024

作者： Han, Ze-Rong Li, Ji-Gong Yang, Jing School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin China School of Information Technology Engineering Tianjin University of Technology and Education Tianjin China

ISBN: (纸本)9798350356618

Accidents such as fires and chemical leakage, which occur from time to time, seriously endanger public safety. The use of robot to discover and track the source of gas/chemical plume can replace traditional manual search, greatly reducing the risk and cost of search and improving efficiency. Most of the existing gas leakage source search methods are applied in two-dimensional environments, and for the scenarios where the plume is visible, the efficiency of searching and the success rate of source localization only relying on the olfaction is usually low. To this end, this paper proposes a plume finding and tracing method based on olfaction and vision with a drone in 3D outdoor environments. In the plume finding phase, olfactory information is combined with visual object detection in the 3D Spiral algorithm to improve plume finding efficiency. During the plume tracing phase, the drone performs a 3D Zigzag motion to rapidly approach the source of the gas leakage. If the plume is lost during tracing, the 3D Spiral algorithm, which combines olfactory and visual information, is used again in local area with a view to find the plume again. Experimental and simulation results show that the efficiency of plume finding can be significantly improved by using visual object detection for the plume, and the proposed plume finding and tracing method combining olfactory and visual information has high search efficiency and success rate. © 2024 IEEE.

关键词： Object tracking

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive Systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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