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A comparative analysis of control strategies for stabilizing a quadrotor 2nd

A comparative analysis of control strategies for stabilizing...

2nd International conference on Europe Middle East and North Africa Information Systems and Technologies to support Learning, EMENA-ISTL 2018

作者： Labbadi, Moussa Cherkaoui, Mohamed El Houm, Yassine Guisser, M’hammed Engineering For Smart and Sustainable Systems Research Center Mohammed V University Rabat Morocco Laboratory of Signal Analysis and Information Processing Faculty of Science and Technology Settat Morocco

ISBN: (纸本)9783030035761

Isn’t it wonderful to see a floating body in the sky? Challenging multiple physics laws with remarkable control and stability. These are today’s flying vehicles. In this paper, the secret of this technique will be revealed differently. In the first place, the modeling of the system takes place using the Newton-Euler method allowing the balance of forces and moments on different parts of the manipulator, taking into account the disturbing factors acting on the aerial vehicle. It is therefore essential to design a controller (position and attitude) to ensure the stability of the floating body when following the desired set-point in the form of a 3D trajectory, a robust nonlinear controller based on the Lyapunov theory is designed. This latter has the ability to compensate the uncertain disturbing factors acting on the quadrotor. A comparative study of proportional-derivative (PD) and backstepping controllers comes to take place by comparing their performances using Matlab/Simulink as workspace environment to implement the plant model and different types of controllers. © Springer Nature Switzerland AG 2019.

关键词： Controllers

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Estimation Of Gravimetric Vegetation Moisture In The Western United States Using A Multi-Sensor Approach

Estimation Of Gravimetric Vegetation Moisture In The Western...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： David Chaparro Thomas Jagdhuber Maria Piles François Jonard Mercè Vall-Llossera Adriano Camps Carlos López-Martínez Anke Fluhrer Roberto Fernández-Morán Martin J. Baur Andrew F. Feldman Dara Entekhabi German Aerospace Center Microwaves and Radar Institute Wessling Germany Institute of Geography University of Augsburg Augsburg Germany Image Processing Lab Universitat de València València Spain Earth Observation and Ecosystem Modelling Laboratory SPHERES Research Unit Université de Liège (ULiege) Liège Belgium Department of Signal Theory and Communications and Institut d’Estudis Espacials de Catalunya CommSensLab Universitat Politècnica de Catalunya (UPC) Barcelona Spain ASPIRE Visiting International Professor UAE University CoE Al Ain UAE Department of Geography University of Cambridge Cambridge UK NASA Postdoctoral Program Biospheric Sciences Laboratory NASA Goddard Space Flight Center Greenbelt MD USA Civil and Environmental Engineering Massachusetts Institute of Technology Cambridge MA USA

Vegetation optical depth (VOD) depends on the water, structure, and biomass of vegetation. Here, we propose a multi-sensor approach to isolate the water component from the VOD and to retrieve gravimetric vegetation moisture (m g ) in the western United States. The approach estimates VOD from radar and LiDAR data and minimizes the differences between these estimates and SMAP/AMSR2 VOD observations. This minimization allows to obtain the best fitting value of m g with help of a dielectric model. Results are consistent both in space (drier vegetation in arid areas) and time (drier vegetation in drier months). The mg estimates are in the same range than in situ mg data, with some underestimation (bias ~ -0.07 kg/kg). Statistical results are reasonable (r ~ 0.45, RMSE ≤0.10 kg/kg), yet the different spatial and temporal representation of in situ and remote measurements have an impact in the direct comparisons. Our results highlight the potential for developing new vegetation moisture datasets based on VOD decomposition.

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Research on Coordinated Coverage of Non-Lambertian Optical Wireless Communications

Research on Coordinated Coverage of Non-Lambertian Optical W...

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International Conference on Computer and Communications (ICCC)

作者： Jupeng Ding Chih-Lin I Jintao Wang Hui Yang Lili Wang Key Laboratory of Signal Detection and Processing in Xinjiang Uygur Autonomous Region School of Information Science and Engineering Xinjiang University Uygur China China Mobile Research Institute Beijing China Beijing National Research Center for Information Science and Technology Tsinghua University Beijing China School of Information and Electrical Engineering Ludong University Yantai China

ISBN: (纸本)9781665409513

To a large extent, the performance of wireless optical communication system is affected by the light source radiation characteristics. Previous works are limited to rotationally symmetric Lambertian beam configurations, which fail to support target location oriented coordinated coverage. Different from the existing research, this paper proposes a coordinated coverage enhancement scheme based on asymmetric non-Lambertian optical beam configuration. Without loss of generality, this paper presents numerical analysis of coordinated and non-coordinated coverage performance in typical medium-sized indoor application scenario. Compared with non-coordinated coverage, the numerical results illustrate that the proposed coordinated coverage scheme could introduce about 4.08 dB SNR gain without transmission power increase. Therefore, non-Lambertian beam cooperation should be viewed as one efficient wireless optical communication technology.

关键词： Wireless communication Integrated optics Optical losses Numerical analysis Optical switches Optical fiber communication Optical transmitters

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Simulation studies on a new innovative design of a hybrid solar distiller MSDH alimented with a thermal and photovoltaic energy

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Materials Today: Proceedings 2021年 45卷 7653-7660页

作者： Noureddine El Moussaoui Khalil Kassmi Spiros Alexoupolos Klemens Schwarzer Hamid Chayeb Najib Bachiri Mohamed First University Faculty of Science Department of Physics Laboratory of Electromagnetic Signal Processing & Renewable Energy LESPRE Team Electronic Materials & Renewable Energy EMRE Oujda Morocco Association Humain and Environnement of Berkane (AHEB) Berkane Morocco Solar-Institut Jülich (SIJ) FH Aachen Germany Engineering Office of Energy and Environmental Technology (IBEU) Jülich Germany

In this paper, we present the structure, the simulation the operation of a multi-stage, hybrid solar desalination system (MSDH), powered by thermal and photovoltaic (PV) (MSDH) energy. The MSDH system consists of a lower basin, eight horizontal stages, a field of four flat thermal collectors with a total area of 8.4 m 2 , 3 Kw PV panels and solar batteries. During the day the system is heated by thermal energy, and at night by heating resistors, powered by solar batteries. These batteries are charged by the photovoltaic panels during the day. More specifically, during the day and at night, we analyse the temperature of the stages and the production of distilled water according to the solar irradiation intensity and the electric heating power, supplied by the solar batteries. The simulations were carried out in the meteorological conditions of the winter month (February 2020), presenting intensities of irradiance and ambient temperature reaching 824 W/m 2 and 23 °C respectively. The results obtained show that during the day the system is heated by the thermal collectors, the temperature of the stages and the quantity of water produced reach 80 °C and 30 Kg respectively. At night, from 6p.m. the system is heated by the electric energy stored in the batteries, the temperature of the stages and the quantity of water produced reach respectively 90 °C and 104 Kg for an electric heating power of 2 Kw. Moreover, when the electric power varies from 1 Kw to 3 Kw the quantity of water produced varies from 92 Kg to 134 Kg. The analysis of these results and their comparison with conventional solar thermal desalination systems shows a clear improvement both in the heating of the stages, by 10%, and in the quantity of water produced by a factor of 3.

关键词： Multi-stage desalination system Batterie Flat plate thermal collector Photovoltaic panel Hourly flow rate: distilled water production

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Multi-modal Remote Sensing Image Registration via Modality Perception and Self-Supervised Position Estimation

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IEEE Transactions on Geoscience and Remote Sensing 2025年 63卷

作者： Xiao, Yun Zhang, Chunlei Jiang, Bo Chen, Yuan Tang, Jin Anhui University Key Laboratory of Intelligent Computing & Signal Processing (Anhui University) Anhui Provincial Key Laboratory of Security Artificial Intelligence School of Artificial Intelligence Hefei 230601 China Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province Anhui Provincial Key Laboratory of Multimodal Cognitive Computation School of Computer Science and Technology Hefei 230601 China Anhui University School of Internet Hefei 230601 China

Multi-modal remote sensing images registration ensures that images from different sensors or modalities are spatial and informational consistent for effective comparison and analysis. However, due to the non-linear modality gaps that exist between images, making it difficult to focus only on the spatial position differences of the images and ignore the modality gaps. In this paper, to address this issue, we propose a new framework for Multi-Modal remote sensing image Registration, named MMRNet. The proposed framework comprises the following main aspects. First, a novel self-supervised Positional Misalignment Estimator (PME) is designed for multi-modal image registration. PME is able to efficiently overcome the modality gaps and learn the positional differences between multi-modal images more reliably, optimizing the registration loss by minimizing the positional differences directly. Then, a new paradigm of modality translation, termed Modality Perception Module (MPM), is introduced to effectively learn modality gaps and perform modality translation in the case of positional misalignment. Finally, we further design the modality perception guidance loss to supervise the modality translation task, which can encourage the fidelity of the generated pseudo-modality images. Our registration network integrates both rigid registration model and non-rigid registration model. Experimental results demonstrate that the proposed registration framework can obtain obviously superior performance in both rigid and non-rigid image registration tasks on optical-SAR data, optical-map data and optical-infrared data. © 1980-2012 IEEE.

关键词： image registration modality translation Multi-modal learning remote sensing processing rigid and non-rigid transformation

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MSCIAIG-Net: Multi-scale spatial-channel interactive attention and interpretable guidance for fine-grained ship classification and visual inference network in remote sensing images

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Engineering Applications of Artificial Intelligence 2025年 157卷

作者： Chengqiang Zhao Shijie Chen Jiashu Zhang Sichuan Province Key Laboratory of Signal and Information Processing Southwest Jiaotong University Chengdu 611756 China School of Information Science and Technology Southwest Jiaotong University Chengdu 611756 China School of Engineering and Physics Science Heriot-Watt University Edinburgh EH144AS UK School of Computing and Artificial Intelligence Southwest Jiaotong University Chengdu 611756 China

Fine-grained ship classification (FGSC) in remote sensing images (RSI) with high visual similarity is becoming increasingly important in civil and military applications involving ship monitoring. Existing studies predominantly seek to enhance the accuracy of classification and recognition of artificial intelligence models only by designing deep network structures or algorithms, which often extract redundant information containing much background noise, ultimately degrading the robustness of the fine-tuned model. We provide a multi-scale spatial-channel interactive attention and interpretable guidance network (MSCIAIG-Net) for FGSC in RSI. This is the first study to understand and address the issue of robustness degradation resulting from parameter redundancy in FGSC models for RSI through visualized attributions. Specifically, a multi-scale spatial channel interactive attention module (MSCIAM) is designed to model and interact with the importance between multi-scale spatial and channel features. Under the guidance of interpretability, a novel fine-grained classification loss with visual interpretation is developed, which strengthens the network's ability to learn discriminative feature representations in salient regions. Additionally, an interpretability-analysis-based network pruning (IANP) strategy is introduced to reduce the noise and redundant information from the network, thereby achieving model compression and performance enhancement within a certain range without sacrificing accuracy. Furthermore, performance verification is implemented on the public dataset, Fine-grained Ship Collection-23 (FGSC-23), and our collated dataset, and MSCIAIG-Net attains the competitive accuracy and interpretability under identical conditions. Notably, for MSCIAIG-Net with Residual Network 50 Layers as the backbone network verified on FGSC-23, its overall accuracy ( OA ) and average accuracy ( AA ) improves by 6.79 % and 5.54 %, respectively.

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Pneumatic soft bionic actuators inspired by elephant trunk for multidisciplinary robotics applications

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Physica Scripta 2025年第7期100卷 075013-075013页

作者： Xiaohui Guo Deli Kong Zihan Lin Xianghui Li Yupeng Shao Zhaobin Li Yinuo Chen Xinyu Wu Weiqiang Hong Tianxu Zhang Xiaowen Zhu Congguang He Junjie Qiu Xiangchen Zhao Qi Hong Yunong Zhao Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Integrated Circuits Anhui University Hefei 230601 People’s Republic of China State Key Laboratory of High-Performance Precision Manufacturing Dalian University of Technology Dalian 116024 People’s Republic of China Key Laboratory for Micro/Nano Technology and System of Liaoning Province Dalian University of Technology Dalian 116024 People’s Republic of China School of Physics University of Science and Technology of China Hefei 230000 People’s Republic of China

Soft robots in technology makes rapid development in the field of robotics, so that robots are widely used in all aspects of life. This paper proposed a bionic elephant trunk structure of pneumatic actuator (SPA). To solve the insufficient tip force and bending angle of SPA, mathematical model and Finite Element Analysis (FEA) are used to determine the optimal parameters of the SPA. Based on optimized SPAs, robots for multidisciplinary applications are developed. These applications include soft gripper with high gripping force of up to 480 N, a quadruped soft robot capable of adapting complex amphibious environments, and a robot designed to assist with sign language communication. These demonstrate the versatility of soft robots in addressing challenges across various domains, such as healthcare, human-machine interaction, and environmental exploration.

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DHMM-Based Asynchronous Finite-Time Sliding Mode Control for Markovian Jumping Lur’e Systems

Research Square

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Research Square 2021年

作者： Nie, Rong Du, Wenli Li, Zhongmei Zhou, Zhao He, Shuping Key Laboratory of Smart Manufacturing in Energy Chemical Process East China University of Science and Technology Ministry of Education Shanghai200237 China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education School of Electrical Engineering and Automation Anhui University Hefei230601 China School of Electronic Information and Electrical Engineering Chengdu University Chengdu610106 China

This paper is concerned with the asynchronous problem for a class of Markovian jumping Lur’s system (MJLSs) via sliding mode control (SMC) in continuous-time domain. Specifically, the discrete hidden Markovian model (DHMM) is employed to describe the nonsynchronization between the controller modes and the MJLSs modes. In particular, considering the nonlinearity of MJLSs, a novel Lur’e-integral-type sliding surface is constructed. In order to ensure the finite-time stability of sliding mode dynamics and the accessibility of the specified sliding surface, the asynchronous Lur’e-type SMC law of the detector mode is presented. Finally, an example of DC motor is provided to demonstrate the effectiveness of the proposed technique. © 2021, CC BY.

关键词： Sliding mode control

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LasHeR: A large-scale high-diversity benchmark for RGBT tracking

arXiv

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arXiv 2021年

作者： Li, Chenglong Xue, Wanlin Jia, Yaqing Qu, Zhichen Luo, Bin Tang, Jin Sun, Dengdi Information Materials and Intelligent Sensing Laboratory of Anhui Province Anhui Provincial Key Laboratory of Multimodal Cognitive Computation School of Artificial Intelligence Anhui University Hefei230601 China Information Materials and Intelligent Sensing Laboratory of Anhui Province Key Lab of Intelligent Computing and Signal Processing of Ministry of Education Anhui Provincial Key Laboratory of Multimodal Cognitive Computation School of Computer Science and Technology Anhui University Hefei230601 China

RGBT tracking receives a surge of interest in the computer vision community, but this research field lacks a large-scale and high-diversity benchmark dataset, which is essential for both the training of deep RGBT trackers and the comprehensive evaluation of RGBT tracking methods. To this end, we present a Large-scale High-diversity benchmark for short-term RGBT tracking (LasHeR) in this work. LasHeR consists of 1224 visible and thermal infrared video pairs with more than 730K frame pairs in total. Each frame pair is spatially aligned and manually annotated with a bounding box, making the dataset well and densely annotated. LasHeR is highly diverse capturing from a broad range of object categories, camera viewpoints, scene complexities and environmental factors across seasons, weathers, day and night. We conduct a comprehensive performance evaluation of 12 RGBT tracking algorithms on the LasHeR dataset and present detailed analysis. In addition, we release the unaligned version of LasHeR to attract the research interest for alignment-free RGBT tracking, which is a more practical task in real-world applications. The datasets and evaluation protocols are available at: https://***/mmic-lcl/Datasets-and-benchmark-code. Copyright © 2021, The Authors. All rights reserved.

关键词： Large dataset

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Control of space-dependent four-wave mixing in a four-level atomic system

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Physical Review A 2020年第3期102卷 033516-033516页

作者： Jing Qiu Zhiping Wang Dongsheng Ding Zhixiang Huang Benli Yu Key Laboratory of Opto-Electronic Information Acquisition and Manipulation Ministry of Education Anhui University Hefei 230601 China Key Laboratory of Quantum Information University of Science and Technology of China Hefei Anhui 230026 China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Anhui University Hefei 230039 China

We propose a scheme to demonstrate the manipulation of space-dependent four-wave mixing (FWM) in a four-level atomic system. By adjusting the detuning of the control field, one can effectively control the FWM output field transferred from a pump beam carrying orbital angular momentum. More interestingly, by appropriate choice of the intensity of the control field, the FWM field can be significantly enhanced and phase twist is almost completely suppressed. Furthermore, the superposition modes created by the interference between the FWM field and a same-frequency Gaussian beam are also discussed, showing many interesting properties. Our results may open some possibilities for phase imprinting in Bose-Einstein condensates or atom manipulation with optical tweezers.

关键词： Angular momentum of light Atom optics Coherent control Optical coherence

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