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IEEE International Conference on Robotics and Automation (ICRA)

作者： Anjun Chen Xiangyu Wang Kun Shi Shaohao Zhu Bin Fang Yingfeng Chen Jiming Chen Yuchi Huo Qi Ye State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Tsinghua University Beijing China Fuxi AI Lab NetEase Hangzhou China State Key Lab of CAD&CG Zhejiang Lab Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province

3D human reconstruction from RGB images achieves decent results in good weather conditions but degrades dramatically in rough weather. Complementary, mmWave radars have been employed to reconstruct 3D human joints and meshes in rough weather. However, combining RGB and mmWave signals for robust all-weather 3D human reconstruction is still an open challenge, given the sparse nature of mmWave and the vulnerability of RGB images. In this paper, we present ImmFusion, the first mmWave-RGB fusion solution to reconstruct 3D human bodies in all weather conditions robustly. Specifically, our ImmFusion consists of image and point backbones for token feature extraction and a Transformer module for token fusion. The image and point backbones refine global and local features from original data, and the Fusion Transformer Module aims for effective information fusion of two modalities by dynamically selecting informative tokens. Extensive experiments on a large-scale dataset, mmBody, captured in various environments demonstrate that ImmFusion can efficiently utilize the information of two modalities to achieve a robust 3D human body reconstruction in all weather conditions. In addition, our method's accuracy is significantly superior to that of state-of-the-art Transformer-based LiDAR-camera fusion methods.

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Reachability Analysis of a Rigid-Flexible Cable Robot for Interior Coating of Tanker Ships 8

Reachability Analysis of a Rigid-Flexible Cable Robot for In...

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8th International Conference on Automation, control and Robotics engineering, CACRE 2023

作者： Liu, Hanqing Duan, Jinhao Shao, Zhufeng Zhang, Zhaokun Rao, Jing Tsinghua University State Key Laboratory of Tribology Institute of Manufacturing Engineering Department of Mechanical Engineering Beijing China Tsinghua University Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control Department of Mechanical Engineering Beijing China Pengcheng Laboratory Shenzhen China Shanghai Shipbuilding Technology Research Institute Shanghai China

ISBN: (纸本)9798350302776

Tanker ship is an important transportation equipment for petroleum. Due to the strong permeability and solubility of refined oil product, the high-quality inner wall special coating of tanker ships needs to be carried out regularly, which relies on manual operation with poor working conditions in confined space, high labor intensity, long cycle and fluctuating coating quality. This paper designs a lightweight rigid-flexible robot with a cable-driven parallel robot (CDPR) and a symmetric mechanical arm in series. The workspace analysis of the CDPR is completed based on kinematic and static modeling. The size of the symmetric mechanical arm and the terminal reachability are analyzed considering the interference. The results show that the proposed rigid-flexible cable robot can cover all the areas to be coated, which provides a new automatic solution for the inner wall special coating of tanker ships. © 2023 IEEE.

关键词： Coatings

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Robust adaptive control of hypersonic flight vehicle with asymmetric AOA constraint

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science China(Information sciences) 2020年第11期63卷 195-207页

作者： Yuyan GUO Bin XU Weixin HAN Shuai LI Yueping WANG Yu ZHANG School of Automation Northwestern Polytechnical University Department of Computing The Hong Kong Polytechnic University Flight Automatic Control Research Institute State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang University

This paper investigates the state-constrained controller design of a hypersonic flight vehicle(HFV) based on an asymmetric barrier Lyapunov function(ABLF). The robust adaptive back-stepping controller with integral terms is applied for the HFV longitudinal dynamics. Considering the asymmetric angle of attack(AOA) constraint caused by the unique structure and scramjet, the controller is modified by constructing an ABLF, where the asymmetric constraint on AOA tracking error is introduced. Combined with the constraint on virtual control, the AOA is restricted to a predefined asymmetric interval. The system stability and the AOA constraint are guaranteed via Lyapunov analysis. Simulation results verify that the AOA can be kept in the given asymmetric interval while the altitude reference signal is tracked.

关键词： hypersonic flight vehicle HFV integral back-stepping control adaptive control asymmetric barrier Lyapunov function ABLF angle of attack (AOA) constraint

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Evolution and modeling of mine water inflow and hazard characteristics in southern coalfields of China:A case of Meitanba mine

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International Journal of Mining science and technology 2022年第3期32卷 513-524页

作者： Jinhai Liu Yanlin Zhao Tao Tan Lianyang Zhang Sitao Zhu Fangyan Xu School of Emergency Technology and Management North China Institute of Science and TechnologyBeijing 101601China Hunan Provincial Key Laboratory of Safe Mining Techniques of Coal Mines Work Safety Key Lab on Prevention and Control of Gas and Roof Disasters for Southern Coal MinesHunan University of Science and TechnologyXiangtan 411201China Department of Civil and Architectural Engineering and Mechanics University of ArizonaTucsonAZ 85721USA School of Civil and Resource Engineering University of Science and Technology BeijingBeijing 100083China Shandong Succeed Mining Safety Engineering CO. LTDTai’an 271000China

In this paper,the hydrogeological characteristics in the southern coalfields of China are first briefly ***,taking the Meitanba mine as an example,the evolution and modeling of mine water inflow are ***,the hazard characteristics related to mine water and mud inrush are *** results show that the main mine water sources in the Meitanba mine area are groundwater,surface water and *** evolution of mine water inflow with time indicates that the water inflow is closely related to the development of karst structures,the amount of water from rainfall infiltration,and the scope of groundwater depression *** mine water inflow increases with time due to the increase in mining depth and the expansion of groundwater depression *** the big well method and following the potential superposition principle,a hydrogeological model considering multi-well interactions has been developed to predict the mine water *** on the monitored data in the Meitanba mine area over a period of nearly 60 years,it is found that with increasing mining depth,the number of water and mud inrush points tended to ***,the average water and mud flow rate per point tended to increase.

关键词： Mine water Hydrogeological model Groundwater Karst mining area

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Parametric Optimization of a Permanent Magnet Driver for Implantable Intramedullary Nail 1

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23rd IFToMM China International Conference on Mechanism and Machine science and engineering, IFToMM CCMMS 2022

作者： Lee, ShiKeat Nie, Zhenguo Xu, Handing Hu, Kai Lin, Hanwei Liu, Xin-Jun The State Key Laboratory of Tribology Department of Mechanical Engineering Tsinghua University Beijing100084 China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing100084 China Jiangsu Key Lab of Special Robot Technology Hohai University Jiangshu Changzhou213022 China

ISBN: (数字)9789811993985

ISBN: (纸本)9789811993978

An intramedullary lengthening nail avoids complications frequently found in the external fixator and shows remarkable clinical results. The magnetic drive is the mainstream actuation method for intramedullary lengthening nails which shows good results, but clinicians claim insufficient distraction torque of the intramedullary lengthening nail will occur occasionally. In this paper, we investigate the optimal parameters for magnetic drive intramedullary lengthening nail based on parametric modeling to ensure the rotor magnet is rotated synchronously and the distraction torque is sufficient for bone lengthening. The driver-rotor magnet model is established, and parametric optimization of the angular position of the driver magnet local coordinate system, the angular velocity of the driver magnet, the number of driver magnets, and the number of pole pairs of the driver magnet to determine optimal values. Optimal parameters are selected and verified by experiments. The results show that a pair of single-pole pairs of the driver magnet rotating with an angular speed of 50 rpm can meet the minimal distraction torque of 1.5 N mm, which is around 5.6 N mm. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Permanent magnets

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F&F Attack: Adversarial Attack against Multiple Object Trackers by Inducing False Negatives and False Positives

F&F Attack: Adversarial Attack against Multiple Object Track...

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International Conference on Computer Vision (ICCV)

作者： Tao Zhou Qi Ye Wenhan Luo Kaihao Zhang Zhiguo Shi Jiming Chen Zhejiang University College of Control Science and Engineering and the State Key Laboratory of Industrial Control Technology Zhejiang University Key Lab of CS&AUS of Zhejiang Province Sun Yat-sen University Australian National University

Multi-object tracking (MOT) aims to build moving trajectories for number-agnostic objects. Modern multi-object trackers commonly follow the tracking-by-detection strategy. Therefore, fooling detectors can be an effective solution but it usually requires attacks in multiple successive frames, resulting in low efficiency. Attacking association processes improves efficiency but may require model-specific design, leading to poor generalization. In this paper, we propose a novel False negative and False positive attack (F&F attack) mechanism: it perturbs the input image to erase original detections and to inject deceptive false alarms around original ones while integrating the association attack implicitly. The mechanism can produce effective identity switches against multi-object trackers by only fooling detectors in a few frames. To demonstrate the flexibility of the mechanism, we deploy it to three multi-object trackers (ByteTrack, SORT, and CenterTrack) which are enabled by two representative detectors (YOLOX and CenterNet). Comprehensive experiments on MOT17 and MOT20 datasets show that our method significantly outperforms existing attackers, revealing the vulnerability of the tracking-by-detection paradigm to detection attacks.

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Consistent and Asymptotically Statistically-Efficient Solution to Camera Motion Estimation

arXiv

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arXiv 2024年

作者： Zeng, Guangyang Zeng, Qingcheng Li, Xinghan Mu, Biqiang Chen, Jiming Shi, Ling Wu, Junfeng The School of Data Science Chinese University of Hong Kong Shenzhen Shenzhen518172 China The College of Control Science and Engineering The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong

Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix, which is not optimal in the maximum likelihood (ML) sense. In this paper, we dive into the original measurement model with respect to the rotation matrix and normalized translation vector and formulate the ML problem. We then propose a two-step algorithm to solve it: In the first step, we estimate the variance of measurement noises and devise a consistent estimator based on bias elimination;In the second step, we execute a one-step Gauss-Newton iteration on manifold to refine the consistent estimate. We prove that the proposed estimate owns the same asymptotic statistical properties as the ML estimate: The first is consistency, i.e., the estimate converges to the ground truth as the point number increases;The second is asymptotic efficiency, i.e., the mean squared error of the estimate converges to the theoretical lower bound - Cramer-Rao bound. In addition, we show that our algorithm has linear time complexity. These appealing characteristics endow our estimator with a great advantage in the case of dense point correspondences. Experiments on both synthetic data and real images demonstrate that when the point number reaches the order of hundreds, our estimator outperforms the state-of-the-art ones in terms of estimation accuracy and CPU time. Copyright © 2024, The Authors. All rights reserved.

关键词： Maximum likelihood estimation

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Security Issues and Defensive Approaches in Deep Learning Frameworks

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Tsinghua science and technology 2021年第6期26卷 894-905页

作者： Hongsong Chen Yongpeng Zhang Yongrui Cao Jing Xie Department of Computer Science University of Science and Technology Beijing(USTB)Beijing 100083China Beijing Key Laboratory of Knowledge Engineering for Materials Science Beijing 100083China Department of Computer Science and Technology University of Science and Technology Beijing(USTB)Beijing 100083China Defense Electronics Institute China Industrial Control System Cyber Emergency Response TeamBeijing 100040China

Deep learning frameworks promote the development of artificial intelligence and demonstrate considerable potential in numerous ***,the security issues of deep learning frameworks are among the main risks preventing the wide application of *** on deep learning frameworks by malicious internal or external attackers would exert substantial effects on society and *** start with a description of the framework of deep learning algorithms and a detailed analysis of attacks and vulnerabilities in *** propose a highly comprehensive classification approach for security issues and defensive approaches in deep learning frameworks and connect different attacks to corresponding defensive ***,we analyze a case of the physical-world use of deep learning security *** addition,we discuss future directions and open issues in deep learning *** hope that our research will inspire future developments and draw attention from academic and industrial domains to the security of deep learning frameworks.

关键词： adversarial examples deep learning frameworks defensive approaches security issues

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Reconstructing Three-Degree-of-Freedom Pose through Temporal Phase-Shifted Low-Coherence Spatial Interferograms 16

Reconstructing Three-Degree-of-Freedom Pose through Temporal...

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16th Pacific Rim Conference on Lasers and Electro-Optics, CLEO-PR 2024

作者： Shi, Liheng Zhang, Jinxu Gu, Yingying Gai, Fangqin Liu, Jing Wu, Guanhao Tsinghua University State Key Laboratory of Precision Measurement Technology and Instruments Department of Precision Instrument Beijing100084 China Yangtze Delta Region Institute of Tsinghua University Zhejiang Research Center of Opto-electronic Sensing Zhejiang 314006 China Beijing Institute of Control Engineering Space Optoelectronic Measurement and Perception Lab. Beijing100190 China China Academy of Space Technology National Key Laboratory of Space Intelligent Control Beijing100094 China

We introduce a method for measuring three degrees of freedom using low-coherence light and temporal phase-shifting to discern position and orientation from the coherence envelope shape, enabling direct measurement wit... 详细信息

ISBN: (纸本)9798350372076

关键词： Degrees of freedom (mechanics)

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A Fault-Tolerant Soft/Hard Hybrid control for Fault Diagnosis of Aero-engine Sensors

A Fault-Tolerant Soft/Hard Hybrid Control for Fault Diagnosi...

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第35届中国控制与决策会议

作者： Hang Yang Tao Sun Xian Du Xi-Ming Sun Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology School of Control Science and Engineering Dalian University of Technology Department of Automation Tsinghua University

In this brief paper,a fault-tolerant soft/hard hybrid control scheme based on the Kalman filter is proposed for fault diagnosis of aero-engine *** designed soft fault diagnosis system,in particular,can detect whether a fault exists by residual processing sensor measurement values and a set of Kalman filter estimation values and summing their weighted squares to compare the known *** addition,to determine whether there is a fault,the developed hard fault diagnosis system compares the residual absolute value of the sensor measurement value and the estimated value of a Kalman filter with the known threshold ***,some numerical simulations of the fault of the low-pressure rotor speed sensor of an aero-engine are performed to validate the proposed method's feasibility and fault tolerance.

关键词： Aero-engine sensors fault detection fault-tolerant control hybrid control Kalman filter

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