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Low-Cost Approach for Improving Video Transmission Efficiency in WVSN

Journal of Shanghai Jiaotong university(Science) 2020年第5期25卷 600-605页

作者： LIU Min DENG Bin TANG Ying WU Minghu WANG Juan Hubei Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System.Hubei University of Technology Wuhan 430068.China Department of Electrical and Computer Engineering.Rowan University GlassboroNJ 08028USA State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Institute of Smart Education Qingdao Academy of Intelligent IndustriesQingdao 266041ShandongChina

The wireless visual sensor network(WVSN)as a new emerged intelligent visual system,has been applied in many video monitoring ***,there is still great challenge because of the limited wireless network *** resolve the problem,we propose a real-time dynamic texture approach which can detect and reduce the temporal redundancy during many successive image ***,an adaptively learning background model is improved to discover successive similar image frames from the inputting video ***,the dynamic texture model based on the singular value decomposition is adopted to distinguish foreground and background element ***,a background discarding strategy based on visual motion coherence is proposed to determine whether each image frame is streamed or *** evaluate the trade-off performance of the proposed method,it is tested on the CDW-2014 dataset,which can accurately detect the first foreground frame when the moving objects of interest appear in the field of view in the most tested dynamic scenes,and the misdetection rate of the undetected foreground frames is near to *** to the original stream,it can reduce the occupied bandwidth a lot and its computational cost is relatively lower than the state-of-the-art methods.

关键词： wireless visual sensor network(WVSN) temporal redundancy foreground background dynamic texture

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Security of Networked control systems with Incomplete Information Based on Game Theory

Security of Networked Control Systems with Incomplete Inform...

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Chinese control Conference (CCC)

作者： Lei Gao Jian Sun Jun Li Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China China Industrial Control Systems Cyber Emergency Response Team

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

The security problem of networked control systems (NCSs) suffering denial of service(DoS) attacks with incomplete information is investigated in this paper. Data transmission among different components in NCSs may be blocked due to DoS attacks. We use the concept of security level to describe the degree of security of different components in an NCS. Intrusion detection system (IDS) is used to monitor the invalid data generated by DoS attacks. At each time slot, the defender considers which component to monitor while the attacker considers which place for invasion. A one-shot game between attacker and defender is built and both the complete information case and the incomplete information case are considered. Furthermore, a repeated game model with updating beliefs is also established based on the Bayes' rule. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.

关键词： Security Games Energy consumption Monitoring Packet loss Bayes methods

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Society 5.0: Metaverse Facilitated Human-centric “5H” Services Across Cyber-Physical-Social Spaces

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IFAC-PapersOnLine 2024年第3期58卷 159-164页

作者： Xiao Wang Jun Huang QingHua Ni Zhe Wan HuaDan Xue Larry Stapleton Fei-Yue Wang Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei 230601 China Macau University of Science and Technology Macau 999078 China Beijing Normal University Beijing 100875 China Department of Radiology Peking Union Medical College Hospital Shuaifuyuan Beijing 100730 Dongcheng District China Brownsbarn Thomastown Co. Kilkenny Ireland R95D8P2 Qingdao Academy of Intelligent Industries Qingdao 266109 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Cyber-Physical-Social systems bridge the gap between social resource organization and distribution, and give birth to Society 5.0, which represents a transformative vision aimed at realizing the human-centric paradigm for more efficient and effective sustainable development. In this paper, we discuss the decentralized paradigm in fostering human needs-driven smart services, in line with Maslow’s hierarchy of needs theory. Societies 5.0 is committed to optimizing the use of natural, artificial, and social resources by enhancing democratic participation and ensuring that decision-making processes are more transparent, reliable, and aligned with the needs of the populace in sustainable ways. Moreover, our discussion extends to how Society 5.0’s principles correlate with the United Nations Sustainable Development Goals (SDGs), providing a framework that supports health, education, and poverty reduction, among other targets. This approach also aligns with the Human Development Index (HDI), reinforcing the notion that technological progress in Society 5.0 does not overshadow but rather complements and enhances human values, paving a synergistic path towards sustainable development that is both advanced and fundamentally human-centric.

关键词： Cyber-Physical-Social systems Society 5.0 Human-Centric Services Socio-technical synergistic sustainable development

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An Easy-implemented Optimization Method of Trajectory Planning Based on Polynomial Interpolation

An Easy-implemented Optimization Method of Trajectory Planni...

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第40届中国控制会议

作者： Guangrong Chen Ming Ma Sheng Guo Bowen Hou Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Firstly,the forward kinematics and inverse kinematics of a five axis manipulator are ***,an easyimplemented optimization method of trajectory planning based on seventh order polynomial interpolation is *** proposed optimization method can capture the time optimal trajectory,while the actuators specifications including speed,acceleration of motor can be guaranteed as ***,simulation results validate the effectiveness and efficiency of proposed optimization *** research provides an insight for the application of trajectory optimization on the controller with low computing capability and real-time requirement.

关键词： Trajectory planning Optimization method Polynomial interpolation Manipulator

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Fractional-order Virtual Model control for Trotting Motion of Quadruped Robot

Fractional-order Virtual Model Control for Trotting Motion o...

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第32届中国控制与决策会议

作者： JiangBo Zhao Shicheng Ma Shanshuai Niu Junzheng Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology

Virtual model control(VMC) is the most widely-used method for motion control of quadruped *** could decrease the abrupt ground reaction force and realize compliant interaction between foot and ground at the cost of control *** improve the robustness and precision of VMC,we integrate a fractional-order virtual damper with the classical VMC and propose a fractional-order VMC(FOVMC) for quadruped robot trotting *** we provide the implementation details about optimization-based FOVMC parameter tuning method and carry out the trotting experiments on the quadruped robot *** experiment results demonstrate that FOVMC could improve the precision of single-leg motion control and achieve a better whole-body trotting performance than classical VMC.

关键词： Fractional-order calculus Virtual model control Quadruped robot Trotting

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A Novel Fractional Order Impedance control and Its Performance Analysis

A Novel Fractional Order Impedance Control and Its Performan...

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第33届中国控制与决策会议

作者： Guangrong Chen Huafeng Lu Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high performance position control for ***,this paper proposes a novel dynamic interaction model:fractional order impedance control,to address this ***,an integral item is added into the traditional impedance model to eliminate the tracking ***,the idea of fractional order is introduced to make the orders of inertia,damping,and stiffness change from integers to fractions to achieve more significant compliant ***,simulation results validate the advantages of proposed fractional order impedance control and it can be also employed to absorb/increase,hold/keep,and dissipate/decrease system energy to achieve jumping,bouncing and friendly contact,***,stability analysis and three criterions of choosing and tuning 6 classic parameters in the proposed fractional order impedance control are both given out.

关键词： Dynamic interaction Compliance control Fractional order Impedance control Performance analysis

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Feature refinement attention U-net for enhanced liver segmentation

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Engineering Applications of Artificial Intelligence 2025年 157卷

作者： Hui Wang Desheng Liu Zhilei Zhao Yue Wu Anil Baris Cekderi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 People's Republic of China College of Information Science & Electronic Technology Jiamusi University Jiamusi 154007 People's Republic of China

Developing efficient and accurate automated liver segmentation methods is of far-reaching significance for the prevention, diagnosis, treatment, and prognostic assessment of liver diseases. Artificial intelligence (AI) technology has shown immense potential in various computer vision tasks and has been increasingly adopted in medical image segmentation in recent years. However, conventional neural networks often exhibit limitations in capturing global context capture, constraining their performance in medical image segmentation. To address this challenge, we propose a Feature Refinement Attention U-Net (FRAttU-Net). The architecture is designed with two key components: a High and Low Frequency Feature Fusion and Enhancement Module (HLF 3 EM) between the encoder and decoder to integrate the multilevel features and enhance the high-level feature representation using edge cues, and an Otsu Density Refinement Module in the output layer to strengthen density information representation and improve the prediction accuracy. Extensive experiments demonstrate that FRAttU-Net achieves state-of-the-art accuracy, outperforming existing methods on multiple datasets. This performance advancement holds considerable potential in improving clinical decision-making in liver disease diagnosis and treatment planning. The code is available at: https://***/HUI623/ FRAttU-Net.

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Transient Performance Evaluation of Flexible Production Lines With Two Bernoulli Machines and Dedicated Buffers*

Transient Performance Evaluation of Flexible Production Line...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Jingchuan Chen Zhiyang Jia Longzhu Huang Yaping Dai School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

In the contemporary manufacturing environment, flexible production is growing in popularity due to its quick adaptation and response to the market changes and customized requirements. Multi-type products under small-batch-based operations are commonly seen in flexible production. Therefore, dedicated buffers are sometimes used to separate different types of parts that are being processed on one production system. Besides, the steady-state analysis may be ineffective because of the small-batch-based operation, as a result, transient analysis becomes indispensable in investigating the transient behavior of flexible production lines. In this work, we investigate the performance evaluation issue in flexible production systems with multi-type products, two machines obeying the Bernoulli reliability model, and dedicated buffers in real-time. Based on Markovian analysis, a set of auxiliary production lines are presented to decouple the dynamics of the original system. Then, the transient performance measures of interest are approximately evaluated from the auxiliary production lines to avoid the issue of system state explosion. The state explosion is common when applying the Markovian approach. Finally, the proposed analytical algorithm is validated to be with high precision through numerical experiments in contrast with the Monte Carlo simulation.

关键词： Transient analysis Production systems Reliability Performance evaluation Numerical models Manufacturing

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Research on Foot Trajectory Tracking of Parallel Wheel-legged Robot based on Dynamic Model Predictive control

Research Square

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Research Square 2020年

作者： Liu, Daohe Wang, Shoukun Chen, Zhihua Wang, Junzheng Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Sefvo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing100081 China

In this paper, the foot trajectory tracking control for parallel structure of the six wheel-legged robot is investigated. The accuracy of trajectory tracking and dynamic response with heavy load are the main challenges of parallel mechanism. To guarantee the tracking performance and improve dynamic response frequency to posture input, a method based on dynamic model predictive control is proposed under the establishment of dynamic model of single leg. Newton-Eulerian equation is derived and converted into a discrete state space expression for velocity loop control, appropriate parameters including prediction time domain, control time domain and proportional gain are determined by co-simulation. Desired sinusoidal trajectories with different frequencies are tracked with satisfactory performance in terms of accuracy and response frequency. Finally, comparative experimental results using BIT-NAZA robot derived from the proposed control strategy indicate that the delay error and amplitude error are better than PI controller under the same conditions. This research can provide theoretical and engineering guidance for accurate planning of intelligent robot, and facilitate the control performance of wheel-legged robot in practical system. © 2020, CC BY.

关键词： Dynamic models

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S4TP: Social-Suitable and Safety-Sensitive Trajectory Planning for Autonomous Vehicles

arXiv

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arXiv 2024年

作者： Wang, Xiao Tang, Ke Dai, Xingyuan Xu, Jintao Du, Quancheng Ai, Rui Wang, Yuxiao Gu, Weihao Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei230031 China Haomo Technology Co. Ltd. Beijing100192 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266114 China The School of Computer and Communication Engineering University of Science and Technology Beijing Beijing100083 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China

In public roads, autonomous vehicles (AVs) face the challenge of frequent interactions with human-driven vehicles (HDVs), which render uncertain driving behavior due to varying social characteristics among humans. To effectively assess the risks prevailing in the vicinity of AVs in social interactive traffic scenarios and achieve safe autonomous driving, this article proposes a social-suitable and safety-sensitive trajectory planning (S4TP) framework. Specifically, S4TP integrates the Social-Aware Trajectory Prediction (SATP) and Social-Aware Driving Risk Field (SADRF) modules. SATP utilizes Transformers to effectively encode the driving scene and incorporates an AV’s planned trajectory during the prediction decoding process. SADRF assesses the expected surrounding risk degrees during AVs-HDVs interactions, each with different social characteristics, visualized as two-dimensional heat maps centered on the AV. SADRF models the driving intentions of the surrounding HDVs and predicts trajectories based on the representation of vehicular interactions. S4TP employs an optimization-based approach for motion planning, utilizing the predicted HDVs’ trajectories as input. With the integration of SADRF, S4TP executes real-time online optimization of the planned trajectory of AV within low-risk regions, thus improving the safety and the interpretability of the planned trajectory. We have conducted comprehensive tests of the proposed method using the SMARTS simulator. Experimental results in complex social scenarios, such as unprotected left-turn intersections, merging, cruising, and overtaking, validate the superiority of our proposed S4TP in terms of safety and rationality. S4TP achieves a pass rate of 100% across all scenarios, surpassing the current state-of-the-art methods Fanta of 98.25% and Predictive-decision of 94.75%. Copyright © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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