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TechRxiv 2023年

作者： Ou, Ni Cai, Hanyu Yang, Jiawen Wang, Junzheng The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

Autonomous driving heavily relies on LiDAR and camera sensors, which can significantly improve the performance of perception and navigation tasks when fused together. The success of this cross-modality fusion hinges on accurate extrinsic calibration. In recent years, targetless LiDAR-camera calibration methods have gained increasing attention thanks to their independence from external targets. Nevertheless, developing a targetless method for low-resolution LiDARs remains challenging due to the difficulty in extracting reliable features from point clouds with limited LiDAR beams. In this paper, we propose a robust targetless method to solve this struggling problem. It can automatically estimate accurate LiDAR and camera poses and solve the extrinsic matrix through hand-eye calibration. Moreover, we also carefully analyze pose estimation issues existing in the low-resolution LiDAR and present our solution. Real-world experiments are carried out on a UGV-mounted multi-sensor platform containing a CCD camera and a VLP-16 LiDAR. For evaluation, we use a state-of-the-art target-based calibration approach to generate the ground-truth extrinsic parameters. Experimental results demonstrate that our method achieves low calibration error in both translation (3 cm) and rotation (0.59 ◦) [Figure presented]. © 2023, CC BY.

关键词： CCD cameras

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An Improved Part-based Compressive Tracking Method

An Improved Part-based Compressive Tracking Method

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第35届中国控制会议

作者： Qiwen Hou Wenjie Chen HuiLin Gao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

In this paper,we propose an improved part-based tracking method based on compressive *** traditional compressive tracking can hardly deal with occlusion and scale variation,which is not robust enough in these *** our part-based method,the occluded image patches which are selected by K-means are not able to participate in determining the location of the target in order to increase tracking *** solve the problem of scale variation,an algorithm is proposed to estimate the size of target with the information of the whole *** addition,we also use the positions of every part to help us to get a precise size of the *** the combination of two methods,the scale of the target is *** compared with five state-of-the-arts have been done to prove the effectiveness and robustness of our method.

关键词： compressive sensing part-based tracking occlusion handling scale estimation

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DBFCM: a Density-Based Fuzzy C-Means with Self-Regulated Fuzzy Clustering Parameters

DBFCM: a Density-Based Fuzzy C-Means with Self-Regulated Fuz...

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第三十九届中国控制会议

作者： Jiayi Sun Yaping Dai Kaixin Zhao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

As an interdisciplinary of fuzzy theory and clustering, Fuzzy C-Means（FCM） is widely applied for identifying categories with unlabeled data. However, its application to data which is hard to visualize rises the difficulty for users to determine the input parameters, especially for the number of clusters. In this paper, a kind of fuzzy clustering algorithm with self-regulated parameters named Density-Based Fuzzy C-Means（DBFCM） is proposed by integrating the idea of Density-Based Spatial Clustering of Application with Noise（DBSCAN） into FCM. Its advantage is using the inherit density characteristic of input data to self-determine the parameters of fuzzy clustering. The experimental results demonstrate that the proposed DBFCM can not only self-determine the proper parameters, but also accelerate the convergence process compared to the original FCM.

关键词： Machine Learning Fuzzy Clustering Fuzzy C-Means Parameter Self-Regulation

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Electric dual variable pump controlled hydraulic motor

Electric dual variable pump controlled hydraulic motor

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第42届中国控制会议

作者： Jianmin Yang Junzheng Wang Shanshuai Niu State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast ***,due to the inherent nonlinearity of multiplication,it brings certain difficulties to the *** electric double-variable pump[1] is a dual-input single-output system,and it is a nonlinear system[2].It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the *** this paper,an intelligent control rule is proposed for the nonlinear problem of double input and single *** backstepping design[3],the nonlinear system is transformed into multiple linear *** the original system is turned into two independent subsystems with single input and single output,which are controlled *** co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the *** results show that the response speed of the system has been greatly improved.

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Gait Planning and Motion control Based on Vrep Simulation for Quadruped Robot 5

Gait Planning and Motion Control Based on Vrep Simulation fo...

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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Zhou, Linqi Chen, Zhihua Liu, Jun Liu, Zhi Chen, Yumeng Zhang, Liting Nanchang Hangkong University Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Moe Key Lab of Nondestructive Testing Technology Nanchang330063 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing100081 China

ISBN: (纸本)9798350307320

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot's foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper. © 2023 IEEE.

关键词： Robot programming

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On Convergence of Extended state Observers for Discrete-Time Nonlinear systems

On Convergence of Extended State Observers for Discrete-Time...

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第三十四届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The extended state observer, a crucial part of the active disturbance rejection control, was first proposed in 1995 by Jingqing Han. The discrete-time form of the extended state observer has been extensively used in many practical applications in engineering such as quad-rotor robot control and non-circular machining control;the convergence property of the discrete-time n-dimensional extended state observer, however, remains unexplored and is investigated in this work. The main idea is to construct the error equations of the discrete-time extended state observer for an n-dimensional single-input-single-output nonlinear system with uncertainty, and to prove the convergence of the extended state observer through induction.

关键词： Extended state observer,Discrete time system,Active disturbance rejection control

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Local Smooth Path Planning for Turning Around in Narrow Environment

Local Smooth Path Planning for Turning Around in Narrow Envi...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Xiaohui Tian Mengyin Fu Yi Yang Meiling Wang Dongyu Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781728136677

In this paper, we introduce a local smooth path planning algorithm for turning around in narrow environment. The algorithm uses a combination of the minimum turning radius arc and the Bezier curve to generate a near optimal smoothing turn-around path in narrow roads or cluttered environments. The algorithm will generate a smooth trajectory that conforms to the kinematic constraints of unmanned ground vehicle (UGV), by adjusting the heading to the target angle through several minimum-radius turns, and smoothly connecting to the global reference path via Bezier curve. We analyze the surrounding congestion and narrowness to choose appropriate turn-around area by integrating obstacle distribution and road edges before path planning. The algorithm was tested at IN 2 BOT UGV in our campus and 2018 Cross Dangers & obstacles. The experimental results indicated that the algorithm works efficiently with our previous work and shows good performance in accuracy and computational time.

关键词： Turning Roads Trajectory Planning Kinematics Land vehicles

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Parallel-Data-Based Social Evolution Modeling

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Tsinghua Science and Technology 2021年第6期26卷 878-885页

作者： Weishan Zhang Zhaoxiang Hou Xiao Wang Zhidong Xu Xin Liu Fei-Yue Wang China University of Petroleum Qingdao 266580China Qingdao Academy of Intelligent Industry Qingdao 266111China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100049China Institute of National Security National Defense UniversityBeijing 100081China

Abnormal or drastic changes in the natural environment may lead to unexpected events,such as tsunamis and earthquakes,which are becoming a major threat to national ***,no effective assessment approach can deduce a situation and determine the optimal response strategy when a natural disaster *** this study,we propose a social evolution modeling approach and construct a deduction model for self-playing,self-learning,and self-upgrading on the basis of the idea of parallel data and reinforcement *** proposed approach can evaluate the impact of an event,deduce the situation,and provide optimal strategies for *** the breakage of a submarine cable caused by earthquake as an example,we find that the proposed modeling approach can obtain a higher reward compared with other existing methods.

关键词： paral el data reinforcement learning decision-making

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Disturbance prediction based active disturbance rejection control approach

Disturbance prediction based active disturbance rejection co...

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第35届中国控制会议

作者： Chongling Li Tao Cai Zeyu Han School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Disturbance widely exists in control *** disturbance rejection control(ADRC) has been proved to be an efficient way to deal with disturbance and achieves great success in *** most important part of ADRC is extended state observer(ESO),which estimates the states of system and total *** regards internal disturbance and external disturbance as a total disturbance,estimates it and eliminates it in the *** faster ESO estimates total disturbance,the more quickly controller eliminates *** paper focuses on the discrete linear extended state observer(DLESO),and presents discrete predictive linear extended state observer(DPLESO).Stability and performances are *** result shows that DPLESO has better performances for disturbance rejection than DLESO.

关键词： disturbance discrete ADRC LESO predictive linear extended state observer

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GAT-Net:A Network using Grid Attention and Transformer for Dynamic Facial Expression Recognition

GAT-Net:A Network using Grid Attention and Transformer for D...

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第34届中国控制与决策会议

作者： Wenxin Dai Yaping Dai Kaoru Hirota Shuai Shao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Dynamic facial expression recognition(DFER) in the wild has received widespread attention *** are complex factors such as face occlusion and pose variation in the *** expression recognition has a subtle competition between capturing local features of a human face and obtaining a global feature *** paper proposes an end-to-end DFER network GAT-Net based on the grid attention module and Transformer,which improves the robustness and accuracy of DFER in the ***,GAT-Net is divided into two components:spatial feature extraction and temporal feature *** grid attention module of the spatial feature extraction component guides the network to pay attention to the local salient features of the face,which reduces the interference of field occlusion and non-frontal *** Transformer in the temporal feature processing component guides the network to learn the temporal relationship of high-level semantic features and the global representation of facial expression *** two components balance the subtle competition between local features and global feature representations of facial *** ablation experiment has proved the effectiveness of the grid attention module and *** demonstrate that our GAT-Net outperforms state-of-the-art methods on DFEW and AFEW benchmarks with accuracies of 67.53%,and 50.14% respectively.

关键词： Facial Expression Recognition Deep Learning Attention Mechanism Transformer

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