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Artificial Intelligence technology (ACAIT), Asian Conference on

作者： Runlin Zhou Peiliang Huang Dingwen Zhang Jun Ren AHU-IAI AI Joint Laboratory Anhui University Hefei China Hefei Comprehensive National Science Center Institute of Artificial Intelligence Hefei China School of Automation Northwestern Polytechnical University Xi’an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9798350359145

ISBN: (纸本)9798350359152

Low-light image enhancement (LLIE) is an important task in computer vision, aiming to improve the visual perception or interpretability of images captured in poorly illuminated environments. Recently, deep learning based methods have been extensively explored to address this issue. While many of these methods have achieved significant advancements in various evaluation metrics for LLIE, only a few have made progress in improving inference speed for the resulting images. As a result, achieving both high-quality enhancements and efficient inference speed remains a challenge. To tackle this challenge, we propose SeqEnhance, a fast LLIE method based on a predefined parameterized image processing pipeline. Our approach combines the inference capabilities of deep neural networks for parameter estimation and the efficient processing capabilities of image processing pipelines to generate enhanced images in an end-to-end manner. The experimental results demonstrate that the proposed method achieves competitive performance on image quality evaluation metrics such as PSNR and SSIM with a fast inference speed.

关键词： Measurement Image quality Deep learning Computer vision Parameter estimation Pipelines Artificial neural networks

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Optimization of Missile Path Planning Based on APMO-HV Algorithm

Optimization of Missile Path Planning Based on APMO-HV Algor...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Hu Zhang Shuai Wang Tonglin Liu Aimin Zhou Yi Zhang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-mechanical Engineering Institute Beijing China School of Mechanical Engineering Changzhou University Changzhou China Shanghai Key Laboratory of Multidimensional Information Processing School of Computer Science and Technology East China Normal University Shanghai China

In this paper, with considerations of low efficiency of missile path planning (MPP) by traditional aggregation technology, it uses affinity propagation based multi-objective evolutionary algorithm with hypervolume environment selection (APMO-HV) to solve the problem of MPP after establishing the MPP model. The experimental part compares and analyzes APMO-HV with six state-of-the-art algorithms, and applies it to address the MPP problem. The experimental results show that compared with the other six algorithms, APMO-HV has achieved the best solution performance in both the GLT test suite and MPP problem. This not only validates the effect of the proposed algorithm, but also enriches and improves the research results of MPP.

关键词： Missiles Optimization Path planning Turning Planning Target tracking Sociology

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Tightly-Coupled Lidar-Visual-Inertial Odometry and Mapping in Real Time

Tightly-Coupled Lidar-Visual-Inertial Odometry and Mapping i...

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Chinese control Conference (CCC)

作者： Wenyu Ma Bailing Tian Hanchen Lu Hongming Shen School of Electrical and Information Engineering Tianjin University Tianjin P. R. China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing P. R. China

We proposed a tightly-coupled Lidar-visual-inertial odometry and mapping method, which takes advantage of measurement of Lidar, visual and inertial sensors to achieve highly accurate, real-time 6DoF state estimation and map-building in GNSS-denied environments. The proposed odometry is a tightly-coupled optimization-based method, obtains robust and low drift odometry by fusing pre-integrated IMU measurements, visual features from the image, and geometric features from Lidar data. Further, we adapt an online method to mitigate degeneracy in optimization problems to improve robustness in environmentally degenerate cases. Simulation and real-world experiments show that the proposed method exhibits similar or better robustness and accuracy with the state-of-the-art SLAM methods.

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Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water

Non-contact transportation and rotation of micro objects by ...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

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Distributed Full Order Sliding Mode control for Finite-time Attitude Synchronization and Tracking of Spacecraft

Distributed Full Order Sliding Mode Control for Finite-time ...

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第37届中国控制会议

作者： Nsubuga Latifu Zhuoyue Song Chao Duan Zhen Li Housheng Su Qinghe Wu Xiangdong Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Key Laboratory of Drive and Control of Servo Motion System Ministry of Industry and Information Technology School of Automation Huazhong University of Science and Technology

This paper investigates a distributed finite-time attitude synchronization and tracking problem of multiple spacecraft when a time varying reference signal is available to only a subset of group *** Rodrigues parameters are used for attitude representation.A two layer sliding mode surface with fast non-singular terminal sliding mode surface（FNTSMS） as the inner layer and terminal sliding mode surface（TSMS） as the outer layer is used to create a full order sliding mode *** proposed distributed attitude coordination control law guarantees attitude synchronization and tracking as long as their exists atleast one spacecraft that has a direct access to the virtual leader’s time varying ***-time stability of the closed loop system is guaranteed by Lyapunov-based stability *** results are presented to validate the performance of the proposed control strategy.

关键词： Attitude synchronization Attitude tracking Finite-time Full-order sliding mode（FOSM） Distributed control

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Design and Implement the Continuous Flickering SSVEP-BCI in Augmented Reality

Design and Implement the Continuous Flickering SSVEP-BCI in ...

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作者： Ruiyan Wang Yufeng Ke Shuang Liu Jiale Du Cheng Xu Bohao Xing Dong Ming Tianjin International Engineering Institute Tianjin University Tianjin University Academy of Medical Engineering and Translational Medicine Tianjin University School of Precision Instruments & Opto-Electronics Engineering Tianjin University Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory

Brain-computer interface(BCI) provides a new way to express our minds without peripheral nerves and muscles. In this work, a process control recognition method based on continuous flickering is proposed to output continuous commands. Phase matching method was applied in this work, matching the test data with the template with the same phase to improve the accuracy. We also put forward a high tolerance criterion and give a new definition to the recognition result of attention shift period. We first conducted a screen-based continuous flickering feasibility verification experiment using correlation component analysis algorithm(TRCA) method, and the recognition accuracy reached 85% and 90% under high tolerance criterion. The average offline simulation information translates rate(ITR) was 455.8 bit/min, and the highest ITR reached 524.7 bit/min, which certificated the feasibility. Furthermore, we carried out a drone control experiment based on augmented reality(AR)-BCI using extended filter bank canonical correlation analysis(extended-FBCCA), and achieved an average accuracy of 90% and ITR of 49.1 bit/min, having better performance than repetitive visual stimulus(RVS) with intervals.

关键词： ITR red Design and Implement the Continuous Flickering SSVEP-BCI in Augmented Reality SSVEP

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Distributed differential evolution algorithm with adaptive parameters

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Kongzhi yu Juece/control and Decision 2014年第4期29卷 701-706页

作者： Zhang, Chun-Mei Chen, Jie Xin, Bin School of Automation Ministry of Education Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China School of Electronic Information Engineering Taiyuan University of Science and Technology Taiyuan 030024 China

An adaptive distributed differential evolution algorithm is proposed based on the change of the individual's fitness value. Firstly, the initial population is divided into several subpopulations. When the migration condition is satisfied, the best individual in each subpopulation will replace the worst individual of its neighbor subpopulations according to the Von Neumann topology. The migration mechanism among subpopulations enables the information to be communicated in the whole population. Meanwhile, the adaptive mechanism of F and CR is presented for assigning different F and CR to each individual according to the individual's fitness. Numerical results show that, the proposed algorithm is beneficial to explore the solution space, which can avoid the premature convergence and search the excellent solutions.

关键词： Optimization

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Multi-source signals guiding swarm robots search

Multi-source signals guiding swarm robots search

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22nd International Conference on Industrial, Engineering and Other Applications of Applied intelligent systems, IEA/AIE 2009

作者： Xue, Songdong Zeng, Jianchao Du, Jing Yang, Xiaomei College of Electrical and Information Engineering Lanzhou University of Technology 85 Langongping Lanzhou Gansu 730050 China Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technology 66 Waliu Road Taiyuan Shanxi 030024 China North Automatic Control Technology Institute China North Industries Group Corporation 351 South Sports Road Taiyuan Shanxi 030006 China

ISBN: (纸本)3642025676

Victim search with swarm robots on gas outburst spot in coal mines is investigated. Upon modeling swarm robotic system with extended particle swarm optimization, heterogeneous signals are fused by each robot independently as fitness evaluate. To fuse signals of intermittent sound of call for help, periodic radio frequency waves and continuous gas, concepts of detection-success binary logic and perceptual event are introduced into describing detection process. Based on statistical properties, detectable range, localization type and accuracy, priority is determined with information entropy-based criteria. Then the best-found position is decided in a distributed fashion through election operation. Simulation conducted in closed signal propagation environment indicates the approximate relation between fusion value and distance, i.e., the nearer the robot is far away from target, the higher the fusion of signals. © 2009 Springer Berlin Heidelberg.

关键词： Swarm intelligence

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Time series generator adversarial network with stochastic process for the degradation generation and prediction

Time series generator adversarial network with stochastic pr...

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Data Driven control and Learning systems (DDCLS)

作者： Anqi Shangguan Nan Feng Lingxia Mu Rong Fei Xinhong Hei Guo Xie Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China School of computer science and Engineering Xi'an University of Technology Xi'an China

Since the cumbersome collection process and high cost, the collected degradation of the product is basically small samples, which will affect the accuracy of reliability evaluation. It is necessary to expand the degradation to improve the accuracy of later reliability assessment. Therefore, a degradation generation and prediction method is proposed combining the time series generator adversarial network (TimeGAN) and stochastic process. Firstly, the input degradation is expanded by the sliding window to improve the later training accuracy; Then, the construction of the generator in TimeGAN is linked with the stochastic process to make the generation data more realistic. Finally, the results of degradation prediction by the Gated Recurrent Unit (GRU) can be obtained. Two datasets and different generation methods are adopted to evaluate the effectiveness of the proposed method. The results shows that the Kullback-Leibler(KL) divergence is the smallest, and the prediction error is the smallest compared with the other methods. So, the proposed method is proved that it is valid in the degradation generation and prediction, and can be used for the further reliability assessment of the product in the industrial system.

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Aircraft Autonomous Positioning Based on a Coarse to Fine Multi-modal Image Registration Scheme

Aircraft Autonomous Positioning Based on a Coarse to Fine Mu...

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Power Electronics, Computer Applications (ICPECA), IEEE International Conference on

作者： Fangde Sun Wenxing Fu Xiaohui Lu Jing Dong Songlai Han School of Aeronautics and Astronautics Central South University Changsha China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China People’s Liberation Army 91039th Unit Beijing China Aerospace Science and Engineering National University of Defense Technology Changsha China

ISBN: (数字)9781728190044

ISBN: (纸本)9781728190051

In this paper, an autonomous positioning method based on coarse-to-fine multi-modal image matching is proposed for UAV navigation in GPS denied environment. Coarse image matching refers to roughly determining the approximate position of the real-time image in the reference image. Fine image matching refers to iterative matching around the position obtained by coarse image matching to achieve more accurate matching results. Besides, RANSAC is adopted to eliminate the outliers of image matching. After getting the result of image matching, we use PNP to estimate the position of the aircraft. The proposed position method has the advantages of high accuracy and reliability. The experimental results show that the average error of the position of the proposed method is 59%.

关键词： Image registration Image matching Aerospace electronics Real-time systems Power electronics Reliability Aircraft

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