检索结果-内蒙古大学图书馆

第三十九届中国控制会议

作者： Lele Xi Zhihong Peng Lei Jiao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper, we present a trajectory generation method for quadrotor while tracking a moving target with relative pattern. Compared to existing methods, safe flying zone, vehicle’s physical limits and smoothness are considered to ensure obstacles avoidance and real tracking flight. To tackle with the cluttered environment, a parallel Particle Swarm Optimization algorithm is applied to calculate the safe feasible waypoints for quadrotor with consideration of target’s predicted state and the realistic tracking pattern, as well as safety. Then, a multiple waypoints constraints motion planning method is applied and embed into a cost function for solving the problem of trajectories generation and robust tracking for quadrotor via convex optimization approach, ensuring the real-time planning, with the geometrical constraint of safe flight corridor for quadrotor. The effectiveness of proposed method is verified by numerical simulation experiments.

关键词： Target tracking Trajectory generation Waypoints constraint Convex optimization

来源：评论

学校读者我要写书评

暂无评论

Closed-form integration of IMU error state covariance for optimization-based Visual-Inertial state Estimator

Closed-form integration of IMU error state covariance for op...

引用

第三十九届中国控制会议

作者： Xingbo Wang Zhihong Peng Lele Xi School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper, we propose a closed-form IMU error state covariance integration method for optimization-based visualinertial state estimator. We derive a closed-form solutions of the IMU error state covariance propagation in pre-integration process, yielding improved accuracy of IMU residual information matrix. Our visual-inertial state estimator is based on a tightly-coupled, sliding-window optimization framework, which jointly estimate the IMU states and landmarks and performing marginalization to limit the computational cost. Finally, the system are validated in park environment dataset, the result shows our proposed method is effective.

关键词： visual-inertial state estimator pre-integration

来源：评论

学校读者我要写书评

暂无评论

Low-Cost Approach for Improving Video Transmission Efficiency in WVSN

引用

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

来源：评论

学校读者我要写书评

暂无评论

Model-free False Data Injection Attack in Networked Control systems: A Feedback Optimization Approach

arXiv

引用

arXiv 2022年

作者： Luo, Xiaoyu Fang, Chongrong He, Jianping Zhao, Chengcheng Paccagnan, Dario Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China State Key Laboratory of Industrial Control Technology Institute of Cyberspace Research Zhejiang University China Department of Computing Imperial College London LondonSW7 2AZ United Kingdom

Security issues have gathered growing interest within the control systems community, as physical components and communication networks are increasingly vulnerable to cyber attacks. In this context, recent literature has studied increasingly sophisticated false data injection attacks, with the aim to design mitigative measures that improve the systems’ security. Notably, data-driven attack strategies – whereby the system dynamics is oblivious to the adversary – have received increasing attention. However, many of the existing works on the topic rely on the implicit assumption of linear system dynamics, significantly limiting their scope. Contrary to that, in this work we design and analyze truly model-free false data injection attack that applies to general linear and nonlinear systems. More specifically, we aim at designing an injected signal that steers the output of the system toward a (maliciously chosen) trajectory. We do so by designing a zeroth-order feedback optimization policy and jointly use probing signals for real-time measurements. We then characterize the quality of the proposed model-free attack through its optimality gap, which is affected by the dimensions of the attack signal, the number of iterations performed, and the convergence rate of the system. Finally, we extend the proposed attack scheme to the systems with internal noise. Extensive simulations show the effectiveness of the proposed attack scheme. Copyright © 2022, The Authors. All rights reserved.

关键词： Networked control systems

来源：评论

学校读者我要写书评

暂无评论

Event-triggered Observability: A Set-membership Perspective

arXiv

引用

arXiv 2022年

作者： Zheng, Kaikai Shi, Dawei Chen, Tongwen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada

This work attempts to discuss the observability of linear time-invariant systems with event-triggered measurements. A new notion of observability, namely, ǫ-observability is defined with parameter ǫ, which relates to the worst-case performance of inferring the initial state based on not only the received measurement but also the implicit information in the event-triggering conditions at no-event instants. A criterion is developed to test the proposed ǫ-observability of discrete-time linear systems, based on which an iterative event-triggered set-membership observer is designed to evaluate a set containing all possible values of the state. The proposed set-membership observer is designed as the outer approximation of the ellipsoids predicted based on previous state estimates and the ellipsoids inferred by fusing the received measurement and communication conditions, which is optimal in the sense of trace at each step and is proved to be asymptotically bounded. The efficiency of the proposed event-triggered set-membership state observer is verified by numerical experiments. © 2022, CC BY.

关键词： state estimation

来源：评论

学校读者我要写书评

暂无评论

Privacy-Preserving Brain-Computer Interfaces: A systematic Review

arXiv

引用

arXiv 2024年

作者： Xia, Kun Duch, Wlodzislaw Sun, Yu Xu, Kedi Fang, Weili Luo, Hanbin Zhang, Yi Sang, Dong Xu, Xiaodong Wang, Fei-Yue Wu, Dongrui The Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Zhejiang Lab Hangzhou311121 China The Department of Informatics School of Physics Astronomy and Informatics Neurocognitive Laboratory Center for Modern Interdisciplinary Technologies Nicolaus Copernicus University Torun Poland The Ministry of Education Key Laboratory for Biomedical Engineering Zhejiang University Hangzhou China The Zhejiang University School of Medicine National Clinical Research Center for Child Health Hangzhou China Department of Biomedical Engineering Zhejiang University Hangzhou China The School of Civil and Hydraulic Engineering Huazhong University of Science and Technology Wuhan430074 China The College of Public Administration Huazhong University of Science and Technology Wuhan430074 China The NetsUnion Clearing Corporation Beijing100045 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100049 China

A brain-computer interface (BCI) establishes a direct communication pathway between the human brain and a computer. It has been widely used in medical diagnosis, rehabilitation, education, entertainment, etc. Most research so far focuses on making BCIs more accurate and reliable, but much less attention has been paid to their privacy. Developing a commercial BCI system usually requires close collaborations among multiple organizations, e.g., hospitals, universities, and/or companies. Input data in BCIs, e.g., electroencephalogram (EEG), contain rich privacy information, and the developed machine learning model is usually proprietary. Data and model transmission among different parties may incur significant privacy threats, and hence privacy protection in BCIs must be considered. Unfortunately, there does not exist any contemporary and comprehensive review on privacy-preserving BCIs. This paper fills this gap, by describing potential privacy threats and protection strategies in BCIs. It also points out several challenges and future research directions in developing privacy-preserving BCIs. © 2024, CC BY.

关键词： Differential privacy

来源：评论

学校读者我要写书评

暂无评论

An MPC-based cooperative control approach for separated power electric multiple units

An MPC-based cooperative control approach for separated powe...

引用

International Conference on intelligent Transportation

作者： Zixuan Zhang Yuan Cao Shuai Su Junlin Zhang Wei Wang School of Electric and Information Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Rail Traffic Control and Safety and the Frontiers Science Center for Smart High-speed Railway System Beijing Jiaotong University Beijing China Traffic Control Technology Co. Ltd Beijing China Department of Automation Traffic Control Technology Co. Ltd Tsinghua University Beijing China

The integrated control of separated power electric multiple units (EMUs) and cars is a significant research field, the cars cooperative control problem of the separated power EMUs is investigated in this paper. Firstly, assuming that the separated power EMUs are composed of different numbers of powered cars and trailer cars connected by elastic couplers, and considering the electric traction/braking force, air braking force, and nonlinear basic resistance, a multi-particle model is established. Then a novel cost function is designed considering speed and position tracking errors, in-train force, traction energy consumption, and regenerative energy. Based on the model predictive control (MPC) methodology, a cooperative control approach is proposed to optimize the operation performance of separated power EMUs. The proposed control approach can improve EMUs tracking accuracy, and reduce internal force and net energy consumption during EMUs operation. Finally, the proposed approach is verified by numerical simulations.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Research and practice of lightweight digital twin speeding up the implementation of flexible manufacturing systems 1

Research and practice of lightweight digital twin speeding u...

引用

1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Zhang, Xiaodong Hu, Bin Xiong, Gang Liu, Xinjie Dong, Xisong Li, Dongjia School of Information Engineering Yantai Institute of Technology Yantai China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijing China Yantai University Department of Mechanical and Electrical Engineering Yantai China School of Artificial Intelligence Yantai Institute of Technology Yantai China

ISBN: (纸本)9781665433372

Parallel manufacturing in Industry 5.0 requires digital twin to digitize physical systems, building virtual models to open up channels connecting physical systems, information systems, and social systems, and transforming the physical models of the existing production environment to achieve two-way feedback of virtual and real is the current research direction. This paper proposes the modeling idea of lightweight digital twin, extracts core dimensions and performs digital virtual simulation, so as to quickly realize the complete process of two-way feedback, and realize a set of chess flexible parallel manufacturing production lines as a practice for the design of complete lightweight digital twin. © 2021 IEEE.

关键词： Industrial research

来源：评论

学校读者我要写书评

暂无评论

A method for recognition of dynamic hand gestures based on wrist tendon sounds 22

A method for recognition of dynamic hand gestures based on w...

引用

22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： He, Bailin Wang, Can Wang, Hao Li, Mengyao Duan, Shengcai Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Samsung Electronics Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781728162676

Hand gesture recognition are widely applied in game industry and rehabilitation engineering. Some recognition methods based on physiological data are attracting attention. In this paper, a novel method for dynamic hand gesture recognition based on sounds of wrist tendon is proposed. Bone conduction sensors which automatically filter the ambient noise is utilized to collect the wrist tendon sounds of three types of dynamic hand gestures. Continuous Wavelet Transform(CWT) is utilized extract the features of sounds and Support Vector Machine(SVM) is utilized to train the classifier model. Five healthy subjects participated the experiment and the average test accuracy of three classes achieves 92.33%. The proposed method provides an effective perspective for hand gesture recognition. © 2021 IEEE.

关键词： Support vector machines

来源：评论

学校读者我要写书评

暂无评论

Density-aware and Depth-aware Visual Representation for Zero-Shot Object Counting

Density-aware and Depth-aware Visual Representation for Zero...

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Fang Nan Feng Tian Ni Zhang Nian Liu Haonan Miao Guang Dai Mengmeng Wang Faculty of Electronic and Information Engineering Xi’an Jiaotong University Xi’an China Ministry of Education Key Laboratory of Intelligent Networks and Network Security Xi’an Jiaotong University Xi’an China School of Automation Northwestern Polytechnical University Xi’an China Computer Vision Department Mohamed bin Zayed University of Artificial Intelligence Abu Dhabi UAE SGIT AI Lab State Grid Corporation of China Zhejiang University of Technology Hang Zhou China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Previous methods often utilize CLIP semantic classifiers with class names for zero-shot object counting. However, they ignore crucial density and depth knowledge for counting tasks. Thus, we propose a density-aware and depth-aware prompt counting model, which captures density information via learning density-aware prompts based on density-aware contrastive loss and incorporates depth guidance with predefined depth-aware prompts. To facilitate the training process, we design two strategies for standard counting loss and the contrastive loss, where the former prioritizes larger and sparser objects initially, gradually focusing on smaller and denser objects, and the latter adopts coarse-to-fine density learning. Besides, we construct a dataset named LVIS-372 with more real-world scenarios and balanced instance distribution compared to existing ones. Finally, the experimental results demonstrate the effectiveness of our proposed method.

关键词： Training Visualization Semantics Focusing Signal processing Acoustics Power capacitors Speech processing Standards

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：