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2nd International Conference on Computing and Data science, CONF-CDS 2021

作者： Zheng, Wenlong Yi, Jianjun Xiang, Haojie Zhou, Bo Wang, Danwei Zhao, Changchun Department of Mechanical Engineering East China University of Science and Technology Shanghai200237 China Intelligent Unmanned System Control Technology Joint Lab Shanghai201109 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Shanghai Aerospace Control Technology Institute Shanghai201109 China

ISBN: (纸本)9781450389570

Autonomous safe landing of UAV is an important function in many scenarios such as force landing and delivery. This paper proposes a method to autonomously select a safe landing site for vertical take-off and landing (VTOL) UAV based on point cloud, which can minimize combined risks posed during touch down at the chosen landing site. The most suitable landing site of a landing zone is selected according to the terrain complexity. In this paper, (1) fine-grained grid elevation map converted from the terrain point cloud is used to calculate the potential risk such as slope, roughness and maximum height difference. (2) A comprehensive risk model is designed to consider all above risks to recognize obstacles and risk areas, and combine the flight distance factors to obtain the final cost map. (3) We process cost map as image by OpenCV to accelerate the processing and reduce reaction time. Terrain point clouds of simulation scene and real world are used for experiments and experimental results show that the selected landing sites can meet the safety requirements, which demonstrate the effectiveness and feasibility of our proposed method. © 2021 ACM.

关键词： Unmanned aerial vehicles (UAV)

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An Object Reconstruction Method Based on Point Cloud with Range Camera 2021

An Object Reconstruction Method Based on Point Cloud with Ra...

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2nd International Conference on Computing and Data science, CONF-CDS 2021

作者： Yan, Sunchao Yi, Jianjun Ding, Hongkai Wang, Danwei Zhao, Changchun Department of Mechanical Engineering East China University of Science and Technology Shanghai200237 China Intelligent Unmanned System Control Technology Joint Lab Shanghai201109 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Shanghai Aerospace Control Technology Institute Shanghai201109 China

ISBN: (纸本)9781450389570

We present an object reconstruction approach based on point cloud. To accurately estimate sensor pose, a combination of frame-to-frame registration and frame-to-model registration is used in our approach with integration to produce the model of reconstructed object. The global optimization used in the approach distributes residual registration errors through the sensor trajectory. Our results demonstrate that the approach is fast and robust to reconstruct objects with a consumer-grade range camera. © 2021 ACM.

关键词： Global optimization

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Design of Variance-Constrained H∞ State Estimation Algorithm for Delayed Memristive Neural Networks with Attacks: An Adaptive Event-Triggered Approach

Design of Variance-Constrained H∞ State Estimation Algorith...

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IEEE International Conference on Cloud Computing and Intelligence systems (CCIS)

作者： Yan Gao Jun Hu Hui Yu Chaoqing Jia Department of Mathematics Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China

ISBN: (纸本)9781665456579

This paper studies the algorithm design of variance-constrained $H_{\infty}$ state estimation problem for delayed memristive neural networks with adaptive event-triggered mechanism. The denial-of-service attacks are modeled by a series of random variables obeying the Bernoulli distribution with known probability. In addition, the adaptive event-triggered mechanism is introduced into the sensor-to-estimator to avoid unnecessary resource consumption. Our purpose is to construct a finite-horizon state estimation algorithm, and sufficient condition is obtained for the estimation error system satisfying the $H_{\infty}$ performance requirement and the error variance boundedness. Finally, a numerical example is used to illustrate the feasibility of the presented $H_{\infty}$ state estimation algorithm.

关键词： Sufficient conditions Adaptation models Wireless sensor networks Adaptive systems Neural networks Machine learning Denial-of-service attack

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Design and Flight Test of a Compact and Rapidly-Deployable Air-Launched Inflatable-Winged Aircraft

Design and Flight Test of a Compact and Rapidly-Deployable A...

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AIAA science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ge, Hang Xu, Yixiang Sun, Donglei Chen, Xinmin Chen, Boyang School of Aerospace Faculty of Science and Engineering University of Nottingham Ningbo China Zhejiang Ningbo315100 China Department of Mechanical Materials and Manufacturing Engineering UNNC-NFTZ Blockchain Laboratory University of Nottingham Ningbo China Zhejiang Ningbo315100 China Advanced Intelligent Manufacturing Research Group Control System Lab University of Nottingham Ningbo China Zhejiang Ningbo315100 China Zhejiang Provincial Engineering Research Center of Special Aircraft Ningbo Institute of Materials Technology & Engineering Chinese Academy of Sciences Zhejiang Ningbo315100 China

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

In this research, a high-altitude, compact and rapidly deployable, air-launched, inflatablewinged aircraft is designed, developed, and flight-tested to investigate the flight characteristics of inflatable-winged aircraft as well as the in-flight inflation and dynamic deployment properties when launched from various carriers. To start with, two types of inflatable wings employing different materials have been designed, fabricated, and tested, the tests including structural characteristics tests, inflation properties tests, and low-Reynolds-number wind-tunnel tests. A full-scale 30-kilogram prototype unmanned aerial vehicle with inflatable wings was then designed, assembled and tested with some basic low-altitude flights to verify the feasibility of the aerodynamic layout and the trim and stability and control characteristics. Finally, low- and high-altitude in-flight launches will be conducted to study the dynamic deployment properties and high-altitude flight characteristics of this design. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Wind tunnels

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ESND: An embedding-based framework for signed network dismantling

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Expert systems with Applications 2025年 289卷

作者： Xie, Chenwei Liu, Chuang Li, Cong Zhan, Xiu-Xiu Li, Xiang Research Center for Complexity Sciences Hangzhou Normal University Hangzhou311121 China Department of Electronic Engineering School of Information Science and Technology Adaptive Networks and Control Lab Fudan University Shanghai200433 China College of Media and International Culture Zhejiang University Hangzhou310058 China Research Institute of Intelligent Complex Systems Fudan University Shanghai200433 China

Network dismantling aims to maximize the disintegration of a network by removing a specific set of nodes or edges and is applied to various tasks in various domains, such as cracking down on crime organizations, delaying the propagation of rumors, and blocking the transmission of viruses. Most of the current network dismantling methods are tailored for unsigned networks, which only consider the connection between nodes without evaluating the nature of the relationships, such as friendship/hostility, enhancing/repressing, and trust/distrust. We here propose an embedding-based algorithm, namely ESND, to solve the signed network dismantling problem. The algorithm generally iterates the following four steps, i.e., giant component detection, network embedding, node clustering, and removal node selection. To illustrate the efficacy and stability of ESND, we conduct extensive experiments on six signed network datasets as well as null models, and compare the performance of our method with baselines. Experimental results consistently show that the proposed ESND is superior to the baselines and displays stable performance with the change in the network structure. Additionally, we examine the impact of sign proportions on network robustness via ESND, observing that networks with a high ratio of negative edges are generally easier to dismantle than networks with high positive edges. © 2025 Elsevier Ltd

关键词： Network dismantling Node clustering Node embedding Signed network

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A Pose Estimation Method for Non-Cooperative Spacecrafts Based on 3d Bounding Box Detection

SSRN

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SSRN 2023年

作者： Chen, Liwei Wu, Bin Yi, Jianjun Xia, Wenxuan Su, Lin Wu, Hailei Department of Mechanical Engineering East China University of Science and Technology Shanghai200237 China Aerospace System Engineering Shanghai NO.3888 Yuanjiang Road Minhang District Shanghai201109 China Shanghai Aerospace Control Technology Institute Shanghai201109 China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai201109 China

Relative pose estimation of a non-cooperative spacecraft is the basis of many in-orbit space tasks. In many cases, only visible light based observation methods can meet the real-time and feasibility requirements of space tasks. In this paper, we design a neural network with image as input, which can effectively extract the image and global structure features of a spacecraft with the symmetrical structure of double panels to estimate the positions and relative depths of 9 key points of the 3D bounding box fitting the main body of the spacecraft. On this basis, our post-processing method is able to further optimize the detection results by recovering the scale of relative depth detection result and a simplified ICP registration method, so as to obtain the accurate pose estimation from the detection results with errors. Experiments show that our method performs well on non-cooperative spacecrafts under different lighting conditions. © 2023, The Authors. All rights reserved.

关键词： Spacecraft

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A Cyclic Small Phase Theorem

arXiv

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arXiv 2023年

作者： Chen, Chao Chen, Wei Zhao, Di Chen, Jianqi Qiu, Li KU Leuven Leuven3001 Belgium The Department of Mechanics and Engineering Science State Key Laboratory for Turbulence and Complex Systems Peking University Beijing100871 China The Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong

This paper introduces a brand-new phase definition called the segmental phase for multi-input multi-output linear time-invariant systems. The underpinning of the definition lies in the matrix segmental phase which, as its name implies, is graphically based on the smallest circular segment covering the matrix normalized numerical range in the unit disk. The matrix segmental phase has the crucial product eigen-phase bound, which makes itself stand out from several existing phase notions in the literature. The proposed bound paves the way for stability analysis of a cyclic feedback system consisting of multiple subsystems. A cyclic small phase theorem is then established as our main result, which requires the loop system phase to lie between −π and π. The proposed theorem complements a cyclic version of the celebrated small gain theorem. In addition, a generalization of the proposed theorem is made via the use of angular scaling techniques for reducing conservatism. Copyright © 2023, The Authors. All rights reserved.

关键词： Linear time-invariant system

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Sound Field control by Using Equivalent Input Disturbance method

Sound Field Control by Using Equivalent Input Disturbance me...

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Industrial Cyber-Physical systems (ICPS)

作者： Toshiki Watanabe Jinhua She Zewen Wang Department of Sustainable Engineering Tokyo university of technology Japan School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Laboratory for Future Interdisciplinary Research of Science and Technology (FIRST) Tokyo Institute of Technology Yokohama Kanagawa Japan

Low-frequency noise, such as road noise from automobiles and interior noise from bullet train cars, is detrimental to passenger comfort. Active noise control provides us with a way of suppressing low-frequency noise. It generates a sound of the same amplitude and opposite phase as noise and uses it to cancel the noise. Conventional active noise control is complicated to apply. Thus, the objective of this study is to establish a sound field control system by using the equivalent-input-disturbance method. system identification was performed to obtain an ideal plant of a duct. The control system is constructed based on the equivalent-input-disturbance approach with a low-order controller. The experimental results showed a suppression effect of about 50% of the sound field.

关键词： Roads Noise reduction Ducts Channel estimation Auditory system Cyber-physical systems control systems

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Decentralized control for Optimal Lq Problems in Stochastic systems with Unknown Uncertainties

SSRN

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SSRN 2023年

作者： Zhang, Zhaorong Xu, Juanjuan Fu, Minyue Li, Xun Department of Applied Mathematics The Hong Kong Polytechnic University Kowloon999077 Hong Kong School of Control Science and Engineering Shandong University Jinan250061 China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Guangdong Shenzhen518055 China

In this paper, we study the optimal control problem of a linear quadratic stochastic system where the randomness results from multiplicative noises. Especially, two controllers having access to different information are involved in the system. Different from most of the existing results which are based on the condition that the information of multiplicative noise is known during the design of optimal controllers, we focus on a more general case that the statistical information of the multiplicative noise is inaccessible. Under this setting, we propose a stochastic approximation algorithm to derive the solutions to algebraic Riccati equations and obtain the optimal and stabilizing decentralized controllers. © 2023, The Authors. All rights reserved.

关键词： Stochastic systems

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Emotion Recognition Empowered Human-Computer Interaction with Domain Adaptation Network

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IEEE Transactions on Consumer Electronics 2024年

作者： Xu, Xu Fu, Chong Chen, Junxin Northeastern University School of Computer Science and Engineering Shenyang110004 China Dalian University of Technology China The School of Software Dalian116621 China Northeastern University School of Computer Science and Engineering Shenyang110004 China Northeastern University Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Shenyang110819 China Ministry of Education Engineering Research Center of Security Technology of Complex Network System Shenyang110004 China Dalian University of Technology School of Software Dalian116621 China

Multi-modal emotion recognition plays a vital role in the human-computer interaction (HCI) for consumer electronics. Nowadays, many studies have developed multi-modal fusion algorithms for this ***, two challenging issues remain unsolved, i.e., inefficient multi-modal feature fusion and unclear distance in feature *** this end, we develop a novel framework, namely LAFDA-Net, for cross-subject emotion recognition using EEG and eye movement *** is based on low-rank fusion and domain adaptation *** specifically, the multi-modal signals are input into the feature extraction branch in parallel to generate ***, these features are fused by the low-rank fusion branch, reducing complexity and avoiding ***, the fused features are flattened and sent to the classification branch to determine the emotion *** training, these features are input into the domain adaptive branch to bridge the gap between the source domain and target *** benchmark datasets, i.e., SEED, SEED-IV, and SEED-V, are employed for performance *** results demonstrate that the proposed LAFDA-Net is robust, effective, and has advantages over peer methods. © 1975-2011 IEEE.

关键词： Emotion Recognition

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