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6th IEEE International Conference on Computer and Communications, ICCC 2020

作者： Chen, Gongyan Zhang, Hai Fu, Wenxing Qiao, Yiqun School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728186351

In order to solve the problem that the point feature tracking is not robust enough to reduce the accuracy of the system in a low-texture environment, this paper proposes a visual inertial odometry system based on point-line features (PL-VINS). Firstly, the system improves the extraction and matching algorithm of line features to increase the speed and accuracy of the algorithm;then the line features are added to the front-end tracking and back-end optimization. Finally, the EuRoc public data set is used as the experimental object to prove the effectiveness of the algorithm. © 2020 IEEE.

关键词： Textures

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Robust composite control of telescopic wing morphing aircraft with control allocation

Robust composite control of telescopic wing morphing aircraf...

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Chinese Automation Congress (CAC)

作者： Zijian Wang Mingzhe Hou Mingrui Hao Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781665426480

In this paper, the problem of anti-disturbance, anti-saturation and fixed-time control for a class of telescopic wing morphing aircraft is studied. The telescopic wing morphing aircraft treats the variable wingspan as an extra control input to construct the dynamic model of the morphing-aided maneuver. According to the model characteristics, the controller design is divided into two loops: the speed loop and the attitude loop. Through a fixed-time continuous feedback control scheme, fixed time of the tracking reference trajectory is ensured. By combining the integral sliding mode control (ISMC) method with super-twisting control (STC), the uncertainties of aerodynamic coefficients and external disturbances are overcome. In addition, the anti-saturation problem of the aircraft actuator is solved by the initial solution correction method based on Null-space augmented solutions. The simulation result shows that the designed algorithm has great tracking performance, while the robustness and anti-saturation performance are guaranteed.

关键词： Attitude control Atmospheric modeling Heuristic algorithms Aerodynamics Robustness Trajectory Feedback control

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Zero-shot learning based on semantic embedding for ship detection 3

Zero-shot learning based on semantic embedding for ship dete...

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3rd International Conference on Unmanned systems, ICUS 2020

作者： Zhang, Zihan Zhoa, Jiajia Liang, Xinkai Northwestern Polytechnical University School of Electronics and Information Shaanxi Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Bejing China

ISBN: (纸本)9781728180250

Zero-shot detection (ZSD) is a hot topic, which can detect unseen object without training on it. This new approach rises several challenges, e.g., the imbalance between positive and negative data, ambiguity between background and unseen classes, and how to align visual feature and semantic concept. In this paper, we apply an end-to-end zero-shot network to fulfil ZSD, where polarity loss is utilized to train detection model. polarity loss puts more importance on difficult data to reduce class imbalance and can maximize the difference between positive and negative predictions. Then, we use a semantic embedding method that use word vectors in both classification and regression subnets to better align visual features and semantic features. Finally, we use MS-COCO dataset as seen classes to train detection model, then we transfer the model for our own to detect warship object. Our model performs good on unseen classes and test accuracy of using polarity loss is apparently higher than that of using focal loss. © 2020 IEEE.

关键词： Zero-shot learning

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Motion-Guided Spatial Perception for Enhanced Multi-Object Tracking: A Hierarchical Framework

SSRN

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SSRN 2023年

作者： Zheng, Yujin Qi, Hang Li, Lei Li, Shan Huang, Yan He, Chu Wang, Dingwen School of Computer Science Wuhan University Hubei Wuhan430000 China The Beijing Electro-Mechanical Engineering Institute Beijing100074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Zmvision Technology Hubei Wuhan430000 China School of Electronic Information Wuhan University Hubei Wuhan430000 China

Multi-object tracking (MOT) aims to associate objects of interest across sequences, which has rapidly progressed with the development of object detection and optimal matching techniques. However, spatio-temporal modeling complex variations, such as camera motion and occlusion in crowded scenes, have been relatively underexplored in recent years. In this work, a temporal concern through motion-guided feature aggregation module is proposed to capture multi-frame variations for instances. Additionally,an occlusion-aware head and hierarchical spatial association are proposed to handle the challenges of occlusion through spatial perception. The above approach, namely MSPNet addresses the challenges posed by occlusion effectively, resulting in improved tracking performance. Evaluation on benchmark datasets shows that MSPNet achieves the state-of-the-art performance. Specifically, MSPNet achieves 75.4% MOTA, and 72.4% IDF1 on the test set of MOT16, 74.6% MOTA, and 71.9% IDF1 on MOT17, 75.9% MOTA, and 74.4% IDF1 on MOT20, respectively. © 2023, The Authors. All rights reserved.

关键词： Object detection

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Prediction of exosomal piRNAs based on deep learning for sequence embedding with attention mechanism

Prediction of exosomal piRNAs based on deep learning for seq...

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2022 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2022

作者： Liu, Yajun Ding, Yulian Li, Aimin Fei, Rong Guo, Xie Wu, Fangxiang Xi'an University of Technology Shaanxi Key Laboratory for Network Computing and Security Technology Xi'an China University of Saskatchewan Division of Biomedical Engineering Saskatoon Canada Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China University of Saskatchewan Division of Biomedical Engineering Department of Computer Science Department of Mechanical Engineering Saskatoon Canada

ISBN: (纸本)9781665468190

PIWI-interacting RNAs (piRNAs) are a type of small non-coding RNAs which bind with the PIWI proteins to exert biological effects in various regulatory mechanisms. A growing amount of evidence reveals that exosomal piRNAs are potential biomarkers for diagnosis and treatment of complex diseases. Effective methods for the prediction of exosomal piRNAs are the foundation of piRNA functional research. In this study, we propose an end-to-end deep network for identifying exosomal piRNAs based on features learned from natural language processing (NLP) models for sequence embedding with attention mechanism. First, a benchmark dataset is constructed by processing piRNA subcellular localization annotated data and sequence data. Moreover, bagging positive unlabeled learning is applied to get the reliable negative set. Finally, we treat a piRNA sequence as a sentence and its k-mer subsequence as a token. Sequence embedding models with self-attention mechanism is designed to extract features from exosome piRNA sequences, which are used for the prediction task. Compared with three competing methods, our model achieves the best performance and reveals the key factors of exosomal piRNA sequences by the attention mechanism. Our model characterizes exosomal piRNAs and could be beneficial for researchers to investigate exosomal piRNAs' functions. © 2022 IEEE.

关键词： Embeddings

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Parametric Transformation of Timed Weighted Marked Graphs:Applications in Optimal Resource Allocation

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IEEE/CAA Journal of Automatica Sinica 2021年第1期8卷 179-188页

作者： Zhou He Ziyue Ma Zhiwu Li Alessandro Giua the College of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an 710021China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of TechnologyXi’an 710048China the School of Electro-Mechanical Engineering Xidian UniversityXi’an 710071China Institute of Systems Engineering Macao University of Science and TechnologyTaipa 999078MacaoChina the Department of Electrical and Electronic Engineering University of CagliariCagliari 09124Italy

Timed weighted marked graphs are a subclass of timed Petri nets that have wide applications in the control and performance analysis of flexible manufacturing *** to the existence of multiplicities(i.e.,weights)on edges,the performance analysis and resource optimization of such graphs represent a challenging *** this paper,we develop an approach to transform a timed weighted marked graph whose initial marking is not given,into an equivalent parametric timed marked graph where the edges have unitary *** order to explore an optimal resource allocation policy for a system,an analytical method is developed for the resource optimization of timed weighted marked graphs by studying an equivalent ***,we apply the proposed method to a flexible manufacturing system and compare the results with a previous heuristic *** analysis shows that the developed approach is superior to the heuristic approach.

关键词： Discrete event system resource allocation timed Petri net weighted marked graph

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Phase Unwrapping Based on CFAR Detection for Multi-baseline InISAR

Phase Unwrapping Based on CFAR Detection for Multi-baseline ...

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IEEE International Conference on Radar

作者： Meng Ma Guangzhou Qu Shuaishuai Liu Yanjiao Yang Hucheng Pei Qingxi Chi Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781665468893

A phase unwrapping method based on constant false alarm rate (CF AR) detection is proposed for multi-baseline interferometric inverse synthetic aperture radar (InISAR). Aiming at the problem of ambiguity number estimation error under the condition of phase noise, Chinese remainder theorem (CRT) and cluster analysis are utilized to acquire the probability distribution of phase noise. By introducing CFAR detection, the novel method reduced the error probability of ambiguity number estimation. Through simulation, it is verified that the novel method can effectively suppress phase noise and obtain accurate phase unwrapping results.

关键词： Phase noise Phase measurement Radar measurements Radar Radar scattering Radar imaging Cathode ray tubes

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Rapid and Accurate Regional Star-Map Simulated Method

Rapid and Accurate Regional Star-Map Simulated Method

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Computer, control and Robotics (ICCCR), International Conference on

作者： Jian Han Jiahui Tong Cheng Tang Beijing Electro-Mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

The following topics are dealt with: mobile robots; feature extraction; learning (artificial intelligence); motion control; neural nets; path planning; optimisation; object detection; fault diagnosis; design engineering.

ISBN: (数字)9781728190358

ISBN: (纸本)9781728190365

关键词： Strips Gray-scale Reconstruction algorithms Position measurement Image reconstruction Robots Next generation networking

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Identify Influential Nodes in complex Networks: A K-Orders Entropy-Based Method

SSRN

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SSRN 2023年

作者： Wu, Yali Dong, Ang Ren, Yuanguang Jiang, Qiaoyong Department of Information and Control Engineering Xi’an University of Technology Xi’an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China The School of Computer Science and Engineering Xi’an University of Technology Xi’an710048 China

Identifying influential nodes is a recognized challenge for the tremendous number of nodes in complex networks. Most of proposed methods detect the influential nodes based on their degree or topological location, which only consider the local or global information of the network causing inaccuracy. In this paper, we propose a k-orders entropy-based method to identify influential nodes. The influence of node is determined by its entropy with local and global information. The entropy reflecting local information is measured by the different order neighbors' information of nodes while the entropy reflecting global information by the betweenness centrality. The experiments conducted on real-world networks demonstrate the proposed method is more accurate than other methods. © 2023, The Authors. All rights reserved.

关键词： complex networks

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Incremental control system Design and Flight Tests of a Micro-Coaxial Rotor UAV

arXiv

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arXiv 2022年

作者： Liu, Zhenchang Zhang, Yufei Chen, Haixin Zhang, Zhiduo Science And Technology On Complex System Control And Intelligent Agent Cooperation Laboratory School Of Aerospace Engineering Beijing100074 China Tsinghua University School Of Aerospace Engineering Beijing100084 China Beijing Institute Of Technology School Of Aerospace Engineering Beijing100081 China

In this paper, the incremental nonlinear dynamic inversion (INDI) method is applied to the control system design of coaxial rotor UAVs. The aerodynamic uncertainty and anti-disturbance problems are solved in the control system design. The designed controller gives the UAV excellent flight performance and control robustness. An incremental gain method (IGM) is proposed for the delay problem of the state derivative. This method has the advantages of less calculation load and simple parameter adjustment, which provides excellent convenience for applying INDI controllers to coaxial rotor UAVs. The principle of IGM is demonstrated by the stability analysis method of the discrete system, and the parameter selection strategy of the IGM is analyzed in detail by simulation. The advantages of the controller design method are verified by comparative flight tests of nonlinear dynamic inversion (NDI) and INDI. The experimental results show that the average trajectory tracking error of INDI is only 58.3% of that of NDI under the same wind speed. When the angular acceleration delay is less than 0.06 s, IGM can easily keep the system stable. In addition, INDI has better robustness under obvious model errors and strong input disturbance. Copyright © 2022, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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