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42nd Chinese control Conference, CCC 2023

作者： Shan, Xiyuan Cai, Tao School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

This paper is concerned with the controller design and the theoretical analysis for time-delay systems, a two degree of freedom (feedforward and feedback) control method is proposed, which combines advantages of the Smith predictor and the active disturbance rejection control (ADRC). The feedforward part of controller is used to track the set point, the feedback part of controller (ADRC) is used to suppress interferences and the Smith predictor is used to correct time delay. The proposed control design is easy to tune parameters and has been proved to effectively control systems with large time delay. The bounded input bounded output (BIBO) stability of closed-loop system is verified. Finally, numerical simulations show the effectiveness and practicality of the proposed design. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Time delay

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Detection and Positioning of Workpiece Grinding Area in Dark Scenes with Large Exposure 1

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Guo, Zhentao Zhao, Guiyu Bian, Jinyue Ma, Hongbin School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Workpiece grinding is a crucial process in the smart manufacturing chain. In order to meet the requirements of industrial precision and relieve heavy work, researchers have developed a vision-based grinding robot. However, the problem of workpiece grinding area detection and positioning is difficult to be solved in dark scenes with large exposure. This paper proposes a method that fuses technologies such as processing of the image, coordinate and point cloud, which can accurately detect and locate the workpiece grinding area. Firstly, A method based on YOLOv7 and improved image preprocessing is used to detect labels of the grinding area. Secondly, A model for the prediction of the coordinates based on multiple linear regression was used to predict the coordinates of missing labels for the same grinding area. Finally, Data processing of the point cloud and transformation of the system of coordinates are used to achieve the acquisition of the coordinates of positioning vertices in the grinding area and conversion from the camera coordinate system to the world coordinate system. We used several sets of data for evaluation in our experiments, and the experimental results show that our proposed method can effectively detect the workpiece grinding area. At the same time, our method can also predict the coordinates of missing labels, which provides a more stable and reliable guarantee for industrial production. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Multiple linear regression

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CFSeRec: A Contrastive Framework for Sequential Recommendation 42

CFSeRec: A Contrastive Framework for Sequential Recommendati...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Tong Dai, Yaping Shao, Shuai School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

In sequential recommender systems, the main problems are the long-tailed distribution of data and noise interference. A Contrastive Framework for Sequential Recommendation (CFSeRec) is proposed to solve these two problems respectively. Token shuffling and adversarial attack data augmentation methods are used in the framework to improve the quality and quantity of training data, so that the long-tailed problem is mitigated. Through the application of projection head method, the sequence representation becomes more general and robust, rather than just adapted to the task of contrastive learning. Therefore, the impact of noise on sequence recommender systems is effectively alleviated. Experiments on four public datasets show that CFSeRec achieves state-of-the-art performance in the metrics of hit ratio and normalized discounted cumulative gain, when comparing to the seven previous frameworks. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Recommender systems

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Towards Pose Estimation for Large UAV in Close Range 37

Towards Pose Estimation for Large UAV in Close Range

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Ou, Ni Wang, Junzheng Liu, Shangfei Li, Jiehao State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665465366

This paper deals with the problem of 4D pose estimation for large unmanned aerial vehicles (UAVs) in close range. A sensor system consisting of one single point laser range-finder and two cameras is designed and a novel pose estimation method based on vision fusion and point cloud registration is proposed. Our approach works on one-shot mode and only requires 10 samples with real poses for template construction. Through V-rep simulation environment, we generate two 200-sample datasets of different difficulty for evaluation. Error quantiles, 5cm5deg and 10cml0deg are three evaluation metrics used in our ablation experiments. It is illustrated that our method outperforms in robustness and precision due to proposed dimension extension modification and fusion of vision sensors. © 2022 IEEE.

关键词： Antennas

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Distilling Siamese Trackers with Attention Mask 41

Distilling Siamese Trackers with Attention Mask

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第41届中国控制会议

作者： Han Sun Yongqiang Bai Wenbo Zhang State Key Lab of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In recent years,the introduction of Siamese network has brought new vitality to the object tracking ***,high-performance Siamese trackers cannot run at a real-time speed on mobile devices due to their complex and huge *** distillation is a common and effective model compression method,but it is difficult to be applied to the challenging task like object *** find out the fundamental cause is that the imbalance between the foreground and background in the object tracking task,which aggravates the problem of insufficient feature extraction ability of small ***,we propose the attention mask distillation(AMD) to help the student tracker focus on the foreground area faster and more *** attention mask can be easily obtained from the feature maps and brings fine-granularity to the traditional binary *** experimental results on OTB100 and VOT2018 show that our method enables the student tracker perform as well as the teacher *** the same time,it's able to run on the CPU at a hyper-real-time of 66 fps and achieves nearly 9 times model compression *** low computational and storage costs make it possible to deploy high-performance trackers on resource-constrained platforms.

关键词： Object Tracking Siamese Network Knowledge Distillation Attention Mask

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Photoelectric intelligent Detection Platform Based on Multifunctional Edge Computing Equipment

Photoelectric Intelligent Detection Platform Based on Multif...

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第43届中国控制会议

作者： Qianjing Xu Wenjie Chen Zhijun Xue State Key Lab of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In order to study to design a photoelectric intelligent platform based on multifunctional edge computing equipment by using photoelectric detection equipment TC505C, RK-Series Development Kits computing platform and Nvidia Jetson *** photoelectric intelligent platform can be used to run multiple target detection algorithms after design and *** as *** of all, after the first stage of the photoelectric intelligent platform is completed, the host computer can establish communication with the photoelectric detection equipment, carry out automatic or manual servo control on the photoelectric detection equipment, switch its visible and infrared field of view and view it in real time through the monitor, and realize simple tracking function through the image processing ***, after the second stage of the photoelectric intelligent platform is built, under the premise of ensuring the normal availability of servo function, a variety of target detection algorithms can be debugged on multifunctional edge computing ***, this paper uses the modular design concept to design, debug and implement the system in stages. Pay attention to the synchronous debugging of hardware and software functions of each module to ensure the stability of each module. Finally completed the design goals of each stage.

关键词： Multifunctional Edge Computing Equipment Photoelectric intelligent Platform Object Detection

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A Regional Necessity Based Multi-agent Target Search Strategy for Post-earthquake Rescue 41

A Regional Necessity Based Multi-agent Target Search Strateg...

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第41届中国控制会议

作者： Xi Luo School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The damage caused by the earthquake is *** the purpose of post-earthquake rescue is to reduce *** it is necessary to improve the efficiency of rescue as much as *** paper focuses on multi-agent cooperative target search in the post-earthquake rescue and how to exploit the prior information of post-disaster building to improve the searching efficiency.A regional necessity based searching strategy is proposed which utilizes pre-disaster building information and adapts to dynamic ***,the target probability map is estimated according to the distribution information of pre-disaster ***,the regional necessity map is constructed by integrating the target probability map and the perception of the environment during the search ***,the search strategy is proposed based on the regional necessity map and the particle swarm optimization *** the gradient direction of regional necessity and local optimal velocity,the agent dynamically selects the search *** comparing with other search strategies in simulation experiments,the proposed strategy could shorten the searching time and improve the searching efficiency in the small and medium-scale task ***,the search strategy can adapt to the post-earthquake dynamic environment,which is confirmed by dynamic experiments.

关键词： multi-agent cooperative target search post-earthquake rescue regional necessity particle swarm optimization

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Relative Localization for UAV-UGV Based on Correlation of Bearing and Distance 20

Relative Localization for UAV-UGV Based on Correlation of Be...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Guo, Jia Hu, Kang Liu, Jinting State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

To ensure reliable localization for Unmanned Aerial Vehicles(UAVs) in the presence of uncertain speed of the Unmanned Ground Vehicle (UGV), this study examines the relative localization problem of UAV-UGV using distance and bearing measurements. A Correlation of Bearing and Distance-based Relative Localization (CBDRL) algorithm is proposed in this paper under this scenario. The estimation of altitude, distance, and angle are simplified into a representation of the relative positioning between the UAV and UGV. The relative height difference is measured using the barometer in the algorithm. To determine the relative distance, Time of Arrival (TOA) ranging and Ultra Wide Band (UWB) communication are utilized. The relative direction measurement is then determined using the correlations of bearing and distance. We integrate these observations with height, direction, and distance data in an Extended Kalman Filter(EKF) to provide accurate and reliable relative position estimates that allow the UAV to track the target. The simulation results indicate that the CBDRL method developed in this study is superior to previous relative localization algorithms that rely on multi-sensor fusion, and can significantly enhance the accuracy of UAV positioning provided that range and angle measurements are precise enough. © 2023 IEEE.

关键词： Antennas

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Dynamic Scheduling for Airport Special Vehicles Based on a Multi-strategy Hybrid Algorithm 41

Dynamic Scheduling for Airport Special Vehicles Based on a M...

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第41届中国控制会议

作者： Wei Quan Chen Chen Zhuang Shao Kai Meng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

When arriving at the airport,flight needs to be served by special *** at the dynamic time window scheduling problem of airport refueling vehicles,this paper establishes a vehicle routing problem model with time window to minimize the operating ***,a multi-strategy genetic algorithm is designed to gain the solve time window scheduling problem,which employs the crossover based on particle swarm optimization to accelerate the early search capability,and the local search method based on simulated annealing to increase the local optimization *** aiming at dynamically adjusting vehicle routes on the basis of static scheduling,a local replanning strategy based on a dynamic time window is introduced,which uses the original route matching and rescheduling *** results show that the multi-strategy hybrid algorithm can effectively reduce the number of routes and vehicles the airport *** different scales' dynamic changes of time windows,the algorithm could enable vehicles to still meet time constraints and effectively minimize the change of routes.

关键词： vehicle scheduling multi-strategy genetic algorithm dynamic scheduling local replanning strategy

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An Adaptive Padding Correlation Filter With Group Feature Fusion for Robust Visual Tracking

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1845-1860页

作者： Zihang Feng Liping Yan Yuanqing Xia Bo Xiao Key Laboratory of Intelligent Control and Decision of Complex Systems the School of AutomationBeijing Institute of TechnologyBeijing 100081China IEEE the School of Artificial Intelligence Beijing University of Posts and TelecommunicationsBeijing 100876China

In recent visual tracking research,correlation filter(CF)based trackers become popular because of their high speed and considerable *** methods mainly work on the extension of features and the solution of the boundary effect to learn a better correlation ***,the related studies are *** exploring the potential of trackers in these two aspects,a novel adaptive padding correlation filter(APCF)with feature group fusion is proposed for robust visual tracking in this paper based on the popular context-aware tracking *** the tracker,three feature groups are fused by use of the weighted sum of the normalized response maps,to alleviate the risk of drift caused by the extreme change of single ***,to improve the adaptive ability of padding for the filter training of different object shapes,the best padding is selected from the preset pool according to tracking precision over the whole video,where tracking precision is predicted according to the prediction model trained by use of the sequence features of the first several *** sequence features include three traditional features and eight newly constructed *** experiments demonstrate that the proposed tracker is superior to most state-of-the-art correlation filter based trackers and has a stable improvement compared to the basic trackers.

关键词： Adaptive padding context information correlation filter(CF) feature group fusion robust visual tracking

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