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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Qianliang Wu Yaqing Ding Lei Luo Haobo Jiang Shuo Gu Chuanwei Zhou Jin Xie Jian Yang PCA Lab Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education Jiangsu Key Lab of Image and Video Understanding for Social Security School of Computer Science and Engineering Nanjing University of Science and Technology Visual Recognition Group Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic State Key Laboratory for Novel Software Technology Nanjing University Nanjing China School of Intelligence Science and Technology Nanjing University Suzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Point Cloud Registration (PCR) is a critical and challenging task in computer vision and robotics. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across different scans. Previous methods have encountered challenges with ambiguous matching due to the similarity among patch blocks throughout the entire point cloud and the lack of consideration for efficient global geometric consistency. To address these issues, we propose a new framework that includes several novel techniques. Firstly, we introduce a semantic-aware geometric encoder that combines object-level and patch-level semantic information. This encoder significantly improves registration recall by reducing ambiguity in patch-level superpoint matching. Additionally, we incorporate a prior knowledge approach that utilizes an intrinsic shape signature to identify salient points. This enables us to extract the most salient super points and meaningful dense points in the scene. Secondly, we introduce an innovative transformer that encodes High-Order (HO) geometric features. These features are crucial for identifying salient points within initial overlap regions while considering global high-order geometric consistency. We introduce an anchor node selection strategy to optimize this high-order transformer further. By encoding inter-frame triangle or polyhedron consistency features based on these anchor nodes, we can effectively learn high-order geometric features of salient super points. These high-order features are then propagated to dense points and utilized by a Sinkhorn matching module to identify critical correspondences for successful registration. The experiments conducted on the 3DMatch/3DLoMatch and KITTI datasets demonstrate the effectiveness of our method.

关键词： Point cloud compression computer vision Accuracy Shape Semantics Transformers Feature extraction Encoding intelligent robots

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Position control of X-Y Precision Motion Stage Based on Iterative Learning and Model Prediction

Position Control of X-Y Precision Motion Stage Based on Iter...

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Chinese control and Decision Conference, CCDC

作者： Guopeng Zhang Tao Zhang Qingxin Li Li Chen Hualiang Zhang Jingzhe Fang Yiqiang Zhang School of Artificial Intelligence Shenyang University of Technology Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Electrical Engineering Shenyang University of Technology Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

The X-Y precision planar motion stage is a highly advanced motion control device that has been widely utilized in various precision motion control fields. This platform achieves precise positioning and control of objects through precise motion along the X and Y axes, providing an outstanding solution for scientific research, industrial production, and other applications. The X-Y platform consists of two permanent magnet synchronous linear motors. In the three-loop control of the motor, when the current loop uses a PID controller, there is a problem in tuning the parameters. This paper replaces the original PID controller in the current loop with a model predictive controller. Simultaneously, addressing the issue of improving the tracking accuracy of the X-Y precision planar motion stage, a forgetting high-order variable gain PD-type iterative learning control is proposed. Subsequently, both of these control methods are applied to the Simulink model of the X-Y precision motion stage motor. This not only solves the complex problem of tuning the motor current loop parameters but also improves the tracking accuracy of the X-Y precision motion stage. The results indicate that when using both model predictive controllers and forgetting high-order variable gain PD-type iterative learning controllers for motor control, not only can the tuning of current loop parameters be omitted, but also tracking errors can be effectively reduced, and the system convergence speed can be accelerated.

关键词： Tracking loops Trajectory tracking Predictive models Motors Mathematical models Motion control Tuning

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Semantic Communications:Theories,Technologies and Applications

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中国通信（英文版） 2024年第7期21卷前插1-前插5页

作者： Zhang Ping Shi Guangming Cui Shuguang Zhang Zhaoyang Niu Kai Xiao Yong Qin Zhijin Dai Jincheng Shao Shuo Deniz Gündüz Eleonora Grassucci School of Information and Communication Engineering at Beijing University of Posts and Telecommunications State Key Laboratory of Networking and Switching Technology IMT-2020(5G)Experts Panel Experts Panel for China's 6G development Peng Cheng Laboratory School of Artifi-cial Intelligence Xidian University electrical and computer engineering with the University of Arizona Texas A&M University UC Davis Chinese Univer-sity of Hong Kong(Shenzhen)(CUHK-Shenzhen) Zhejiang University School of Artificial Intelli-gence BUPT School of Electron-ic Information and Communications at the Huazhong University of Science and Technology(HUST) WuhanChina Peng Cheng Laboratory Guang-zhouChina and the Pazhou Laboratory(Huangpu)Guang-zhouChina Tsinghua University BeijingChina Key Laboratory of Universal Wireless Communications Ministry of EducationBeijing University of Posts and Telecommunications School of Electronics Informa-tion and Electrical EngineeringShanghai Jiao Tong Univer-sityChina Information Processing in the Electrical and Electronic Engineering Department at Imperial College London UK Intelligent Systems and Networks Group Department at Imperial College London UK Department of Information Engineering Electronicsand Telecommunications of the Sapienza University of Rome

The last seventy years have witnessed the transi-tion of communication from Shannon's theoretical concept to current high-efficiency practical *** respect to Shannon information theory,to fulfill the high-bandwidth utilization,any further increase in the data rate requires a significant augmentation in the received signal power unless the bandwidth is extended in proportion to the incre-mental data rate.

关键词： Special issues and sections Semantics Communication systems Data processing Information theory Data augmentation

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Formation learning algorithms for mobile agents subject to 2-D dynamically changing topologies

Formation learning algorithms for mobile agents subject to 2...

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American control Conference

作者： Deyuan Meng Yingmin Jia Junping Du Jun Zhang Wenling Li Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 P. R. China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 P. R. China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 P. R. China

ISBN: (纸本)9781479901777

In this paper, we consider a two-dimensional (2-D) formation problem for multi-agent systems subject to switching topologies that dynamically change along both a finite time axis and an infinite iteration axis. We present a distributed iterative learning control (ILC) algorithm via the nearest neighbor rules. By employing the 2-D approach, we develop both the asymptotic and exponentially fast convergence of our formation ILC, which can be guaranteed by conditions in terms of the spectral radius and the matrix norms, respectively.

关键词： Multi-agent systems ILC switching topologies formation learning algorithms learning algorithms Multi-agent systems International Labour Conference Mobile agents spectral radius

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Active Simultaneously Transmitting and Reflecting Surface Assisted NOMA Networks

arXiv

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arXiv 2024年

作者： Yue, Xinwei Xie, Jin Ouyang, Chongjun Liu, Yuanwei Shen, Xia Ding, Zhiguo The Key Laboratory of Information and Communication Systems Ministry of Information Industry Beijing Information Science and Technology University Beijing100101 China The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China The School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Beijing100191 China The Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi United Arab Emirates Department of Electrical Engineering Princeton University Princeton United States

The novel active simultaneously transmitting and reflecting surface (ASTARS) has recently received a lot of attention due to its capability to conquer the multiplicative fading loss and achieve full-space smart radio environments. This paper introduces the ASTARS to assist non-orthogonal multiple access (NOMA) communications, where the stochastic geometry theory is used to model the spatial positions of pairing users. We design the independent reflection/transmission phase-shift controllers of ASTARS to align the phases of cascaded channels at pairing users. We derive new closed-form and asymptotic expressions of the outage probability and ergodic data rate for ASTARS-NOMA networks in the presence of perfect/imperfect successive interference cancellation (pSIC). The diversity orders and multiplexing gains for ASTARS-NOMA are derived to provide more insights. Furthermore, the system throughputs of ASTARS-NOMA are investigated in both delay-tolerant and delay-limited transmission modes. The numerical results are presented and show that: 1) ASTARS-NOMA with pSIC outperforms ASTARS assisted-orthogonal multiple access (ASTARS-OMA) in terms of outage probability and ergodic data rate;2) The outage probability of ASTARS-NOMA can be further reduced within a certain range by increasing the power amplification factors;3) The system throughputs of ASTARS-NOMA are superior to that of ASTARS-OMA in both delay-limited and delay-tolerant transmission modes. Copyright © 2024, The Authors. All rights reserved.

关键词： Stochastic systems

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Recent advances in networked control systems

Recent advances in networked control systems

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2007 International Conference on control, Automation and systems (ICCAS 2007), vol.5

作者： Zengqi Sun Hongbo Li Yan Wang Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China School of Automation Science and Electrical Engineering Beijing Aeronautics and Astronautics University Beijing China

This paper presents a comprehensive overview of the current state of research in the area of Networked control systems (NCSs) first. Then two modeling and control methods are introduced for NCSs in details. The first one is a stochastic control method, which investigates the H{sub}∞ control problem for NCSs with random network-induced delay. The second one is a switch control method, which focuses on solving the stabilization problem for NCSs in discrete-time domain, where both network-induced delay and packet dropout are taken into account. Illustrative examples are given to demonstrate the effectiveness of the proposed approaches. Finally, this paper concludes with the discussion of possible future development of NCSs from a control perspective.

关键词： Networked control systems (NCSs) Network-induced delay Packet dropout Stability H{sub}∞

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Simultaneous state and parameter estimation: The role of sensitivity analysis

arXiv

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arXiv 2020年

作者： Liu, Jianbang Gnanasekar, Aristarchus Zhang, Yi Bo, Song Liu, Jinfeng Hu, Jingtao Zou, Tao Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institute for Robotics & Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Department of Chemical & Materials Engineering University of Alberta EdmontonABT6G 1H9 Canada Key Laboratory of Energy Thermal Conversion & Control Southeast University Nanjing210096 China School of Mechanical and Electrical Engineering Guangzhou University Guangzhou510006 China

State and parameter estimation is essential for process monitoring and control. Observability plays an important role in both state and parameter estimation. In simultaneous state and parameter estimation, the parameters are often augmented as extra states of the original system. When the augmented system is observable, various existing state estimation approaches may be used to estimate the states and parameters simultaneously. However, when the augmented system is not observable, how we should proceed to maximally extract the information contained in the measured outputs is not clear. This paper concerns about simultaneous state and parameter estimation when the augmented system is not fully observable. Specifically, we first show how sensitivity analysis is related to observability of a dynamical system, and then illustrate how it may be used to select variables for simultaneous estimation. We also propose a moving horizon state estimation (MHE) design that can use the variable selection results in a natural way. Extensive simulations are carried out to show the efficiency of the proposed approach. Copyright © 2020, The Authors. All rights reserved.

关键词： Sensitivity analysis

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Performance Analysis of OMA/NOMA-aided Satellite Communication Networks: A Stochastic Geometry Approach

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IEEE Transactions on Communications 2024年

作者： Li, Kecheng Wang, Jun Hou, Tianwei Li, Anna Yue, Xinwei Liu, Yuanwei Chen, Wei School of Electronic and Information Engineering Beijing Jiaotong University Beijing100044 China School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom KU Leuven Leuven3001 Belgium School of Computing and Communications Lancaster University LancasterLA1 4WA United Kingdom Key Laboratory of Information and Communication Systems Ministry of Information Industry China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China Department of Electrical and Electronic Engineering The University of Hong Kong Hong Kong

The increasing quality of service requirements and demand for satellite services necessitate higher data rates, spectral efficiency, and stability in satellite communication networks. Therefore, this paper investigates the non-orthogonal multiple access (NOMA) assisted satellite communication networks, where multiple users are uniformly distributed over a spherical hat according to the homogeneous Poisson point process (HPPP). Based on the characteristics of HPPP, we analyze the distance distributions of users. To evaluate the performance of the proposed networks, we first derive the closed-form expressions and approximated expressions of the outage probability (OP) for paired NOMA users. To obtain more insights into the proposed networks, the ergodic rate and diversity orders for paired NOMA users are also derived. Spectral efficiency is derived for NOMA and orthogonal multiple access (OMA) assisted satellite communication networks. Our analytical results demonstrate that the diversity order of the proposed networks is all one. Numerical results confirm that: 1) compared to OMA, the proposed NOMA-assisted satellite network demonstrates superior outage performance and spectral efficiency, especially in the higher power regimes;2) fading factors have negligible effects on OP and spectral efficiency;and 3) under certain target rates for both near and far users, the outage performance of far users in NOMA-assisted satellite communication networks is superior to that of near users. © 2024 Institute of electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Satellite communication systems

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A new logistic map based chaotic biogeography-based optimization approach for cluster analysis

A new logistic map based chaotic biogeography-based optimiza...

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IEEE International Conference on Progress in Informatics and Computing (PIC)

作者： Shui-Hua Wang Hui-Min Lu Yu-Jie Li Yang Wang Zhi-Min Chen Yu-Min Wei Wen-Juan Jia Fang-Yuan Liu Yu-Dong Zhang Hunan Provincial Key Laboratory of Network Investigational Technology Hunan Policy Academy Changsha Hunan China School of Computer Science and Technology Nanjing Normal University Nanjing Jiangsu China Department of Electrical Engineering CUNY New York NY USA Department of Mechanical and Control Engineering Kyushu Institute of Technology Fukuoka Prefecture Japan School of Information Engineering Yangzhou University Yangzhou Jiangsu China School of Physics and Electronic Engineering Taizhou University Taizhou Zhejiang China School of Electronic Information Shanghai Dianji University Shanghai China School of Energy and Mechanical Engineering Nanjing Normal University Nanjing Jiangsu China Key Laboratory of Intelligent Computing and Information Processing in Fujian Provincial University Quanzhou Normal University Quanzhou Fujian China

ISBN: (纸本)9781509034857

Cluster analysis is important in scientific and industrial fields. In this study, we proposed a novel chaotic biogeography-based optimization (CBBO) method, and applied it in centroid-based clustering methods. The results over three types of simulation data showed that this proposed CBBO method gave better performance than chaotic particle swarm optimization, genetic algorithm, firefly algorithm, and quantum-behaved particle swarm optimization. In all, our CBBO method is effective in centroid-based clustering.

关键词： Genetic algorithms Optimization Clustering algorithms Particle swarm optimization Algorithm design and analysis Logistics Mathematical model

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Learning Greenhouse Climate control Policy from Monitored Data

Learning Greenhouse Climate Control Policy from Monitored Da...

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Chinese Automation Congress (CAC)

作者： Xiaoxuan Zhao Haoyu Wang Xiujuan Wang Udom Lewlomphaisarl Dong Li Jing Hua Mengzhen Kang The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Institute of Automation Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Beijing Engineering Research Center of Intelligent Systems and Technologies Beijing China National Electronics and Computer Technology Center Pathum Thani Thailand Institute of Digital Agriculture Zhejiang Academy of Agricultural Sciences Hangzhou China Qingdao AgriTech Co. Ltd. Qingdao China

The knowledge of solar greenhouse growers on environment control plays an important role in greenhouse production and management. We proposed a way to extract the control strategies from the monitored data of greenhouses by building a long short-term memory (LSTM) model. The result is verified according to the real monitored data of a solar greenhouse, which shows that the model can learn the control strategy of a ventilator in the solar greenhouse. Through monitored data and models, the knowledge of greenhouse ventilation control can be learned, and automatic control can be achieved in a greenhouse with a similar configuration.

关键词： Ventilators Green buildings Buildings Production Ventilation Data models Data mining

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