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PLS-CCA Heterogeneous Features Fusion-based Low-resolution Human Detection Method for Outdoor Video Surveillance

International Journal of Automation and computing 2017年第2期14卷 136-146页

作者： Hong-Kai Chen Xiao-Guang Zhao Shi-Ying Sun Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

In this paper, we focus on low-resolution human detection and propose a partial least squares-canonical correlation analysis （PLS-CCA） for outdoor video surveillance. The analysis relies on heterogeneous features fusion-based human detection method. The proposed method can not only explore the relation between two individual heterogeneous features as much as possible, but also can robustly describe the visual appearance of humans with complementary information. Compared with some other methods, the experimental results show that the proposed method is effective and has a high accuracy, precision, recall rate and area under curve （AUC） value at the same time, and offers a discriminative and stable recognition performance.

关键词： Low-resolution human detection partial least squares canonical correlation analysis heterogeneous features outdoorvideo surveillance.

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An Adaptive RBF Neural Network control Method for a Class of Nonlinear systems

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IEEE/CAA Journal of Automatica Sinica 2018年第2期5卷 457-462页

作者： Hongjun Yang Jinkun Liu State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Automation Science and Electrical Engineering Beihang University Beijing 100083 China

This paper focuses on designing an adaptive radial basis function neural network(RBFNN) control method for a class of nonlinear systems with unknown parameters and bounded disturbances. The problems raised by the unknown functions and external disturbances in the nonlinear system are overcome by RBFNN, combined with the single parameter direct adaptive control method. The novel adaptive control method is designed to reduce the amount of computations *** uniform ultimate boundedness of the closed-loop system is guaranteed by the proposed controller. A coupled motor drives(CMD) system, which satisfies the structure of nonlinear system,is taken for simulation to confirm the effectiveness of the *** show that the developed adaptive controller has favorable performance on tracking desired signal and verify the stability of the closed-loop system.

关键词： Index TermsbAdaptive control neural network (NN) nonlin-ear system radial basis function.

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A survey on fabrication,control,and hydrodynamic function of biomimetic robotic fish

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Science China(Technological Sciences) 2017年第9期60卷 1365-1380页

作者： YU JunZhi WEN Li REN ZiYu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Mechanical Engineering and Automation Beihang University

Understanding and replicating the locomotion principles offish are fundamental in the development of artificial fishlike robotic systems,termed robotic *** paper has two objectives:(1) to review biological clues on biomechanics and hydrodynamic flow control offish swimming and(2) to summarize design and control methods for efficient and stable swimming in robotic *** review of state-of-the-art research and future-oriented new directions indicates that fish-inspired biology and engineering interact in mutually beneficial *** strong interaction offers an important insight into the design and control of novel fish-inspired robots that addresses the challenge of environmental uncertainty and competing objectives;in addition,it also facilitates refinement of biological knowledge and robotic strategies for effective and efficient swimming.

关键词： fish swimming robots robotic fish hydrodynamics motion control

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Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection

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IEEE/CAA Journal of Automatica Sinica 2021年第6期8卷 1210-1220页

作者： Guojun Wang Jian Wu Rui He Bin Tian State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the Qingdao Academy of Intelligent Industries ShandongChina

Road boundary detection is essential for autonomous vehicle localization and decision-making,especially under GPS signal loss and lane *** road boundary detection in structural environments,obstacle occlusions and large road curvature are two significant ***,an effective and fast solution for these problems has remained *** solve these problems,a speed and accuracy tradeoff method for LiDAR-based road boundary detection in structured environments is *** proposed method consists of three main stages:1)a multi-feature based method is applied to extract feature points;2)a road-segmentation-line-based method is proposed for classifying left and right feature points;3)an iterative Gaussian Process Regression(GPR)is employed for filtering out false points and extracting boundary *** demonstrate the effectiveness of the proposed method,KITTI datasets is used for comprehensive experiments,and the performance of our approach is tested under different road *** experiments show the roadsegmentation-line-based method can classify left,and right feature points on structured curved roads,and the proposed iterative Gaussian Process Regression can extract road boundary points on varied road shapes and traffic ***,the proposed road boundary detection method can achieve real-time performance with an average of 70.5 ms per frame.

关键词： 3D-LiDAR autonomous vehicle object detection point cloud road boundary

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Development and control of Underwater Gliding Robots:A Review

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1543-1560页

作者： Jian Wang Zhengxing Wu Huijie Dong Min Tan Junzhi Yu the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China

As one of the most effective vehicles for ocean development and exploration,underwater gliding robots(UGRs)have the unique characteristics of low energy consumption and strong ***,by borrowing the motion principles of current underwater robots,a variety of novel UGRs have emerged with improving their maneuverability,concealment,and environmental friendliness,which significantly broadens the ocean *** this paper,we provide a comprehensive review of underwater gliding robots,including prototype design and their key *** the perspective of motion characteristics,we categorize the underwater gliding robots in terms of traditional underwater gliders(UGs),hybrid-driven UGs,bio-inspired UGs,thermal UGs,and ***,their buoyancy driven system,dynamic and energy model,and motion control are concluded with detailed ***,we have discussed the current critical issues and future *** review offers valuable insight into the development of next-generation underwater robots well-suited for various oceanic applications,and aims to gain more attention of researchers and engineers to this growing field.

关键词： Buoyancy driven motion control oceanic applications system development underwater gliding robots

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Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints

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Science China(Technological Sciences) 2018年第10期61卷 1528-1536页

作者： YANG HongJun LIU JinKun HE Wei State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences School of Automation Science and Electrical Engineering Beihang University School of Automation and Electrical Engineering University of Science and Technology Beijing

The issue of output constraints is studied for a flexible-link manipulator in the presence of unknown spatially distributed disturbances. The manipulator can be taken as an Euler-Bernoulli beam and its dynamic is expressed by partial differential equations. On account of the uncertainty of disturbances, we present a disturbance observer to estimate infinite dimensional disturbances on the beam. The observer is proven exponentially stable. Considering the problem of output constraints in the practical engineering, we propose a novel distributed vibration controller based on the disturbance observer to fulfill the position regulation of the joint angle and suppress elastic deflections on the flexible link, while confining the regulating errors of output in a suitable scope that we can assign. The closed-loop system is demonstrated exponentially stable based on an integral-barrier Lyapunov function. Simulations validate the effectiveness of the design scheme.

关键词： flexible manipulator distributed vibration control disturbance observer partial differential equation output constraint distributed parameter system

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Evasion strategies of a three-player lifeline game

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Science China(Information Sciences) 2018年第11期61卷 144-154页

作者： Fan ZHANG Wenzhong ZHA School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Information Science Academy China Electronics Technology Group Corporation

This study examines a multi-player pursuit-evasion game, more specifically, a three-player lifeline game in a planar environment, where a single evader is tasked with reaching a lifeline prior to capture. A decomposition method based on an explicit policy is proposed to address the game qualitatively from two main aspects:(1) the evader’s position distribution to guarantee winning the game(i.e., the escape zone),which is based on the premise of knowing the pursuers’ positions initially, and(2) evasion strategies in the escape zone. First, this study decomposes the three-player lifeline game into two two-player sub-games and obtains an analytic expression of the escape zone by constructing a barrier, which is an integration of the solutions of two sub-games. This study then explicitly partitions the escape zone into several regions and derives an evasion strategy for each region. In particular, this study provides a resultant force method for the evader to balance the active goal of reaching the lifeline and the passive goal of avoiding capture. Finally,some examples from a lifeline game involving more than one pursuer are used to verify the effectiveness and scalability of the evasion strategies.

关键词： lifeline game three-player pursuit-evasion game barrier evasion strategy game of kind

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The Detection of Typical Targets under the Background of Land War 29

The Detection of Typical Targets under the Background of Lan...

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第29届中国控制与决策会议

作者： Xiaowen Wu Wenjie Chen Yingying Qin State Key Laboratory of Intelligent Control and Decision Complex System Beijing Institute of Technology

ISBN: (纸本)9781509046584

This paper investigates whether advanced neural network techniques can be applied to the detection and identification of typical targets in the context of land warfare. We collected 13 typical targets and built a detection data set. Based on the Faster R-CNN framework, we improve the detection accuracy by two ways. First, we design a neural network model with strong local modeling capabilities. Second, we combine middle layers and the last layer of feature maps as the detection features to enhance the detection ability and improve the detection accuracy.

关键词： Deep Learning Convolutional Neural Network Local Modeling Capability Object Detection

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Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators

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Journal of Central South University 2016年第11期23卷 2917-2925页

作者：李元春丁贵彬赵博 Department of Control Science and Engineering Changchun University of Technology Department of Control Science and Engineering Jilin University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.

关键词： constrained reconfigurable manipulators position/force control model decomposition decentralized control neural network

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Evaluation of indocyanine green inhalation to detect air leak sites during video-assisted thoracoscopic surgery: a prospective study

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BMC surgery 2025年第1期25卷 206页

作者： Zhenfan Wang Xue Tian Zihan Wei Hao Xu Kunshan He Chongwei Chi Songjing Zhao Ruiheng Jiang Fan Yang Yun Li Jian Zhou Department of Thoracic Surgery Peking University People's Hospital Beijing 100044 China. Department of Anaesthesia Peking University People's Hospital Beijing China. China-Japan Friendship Hospital Beijing China. CAS Key Laboratory of Molecular Imaging Beijing Key Laboratory of Molecular Imaging The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China. Peking University Health Science Center Beijing China. Department of Thoracic Surgery Beijing Aerospace General Hospital Beijing China. Department of Thoracic Surgery Peking University People's Hospital Beijing 100044 China. surgeonli@***. Department of Thoracic Surgery Peking University People's Hospital Beijing 100044 China. zhoujian@***.

BACKGROUND:This study aimed to investigate the feasibility and clinical benefits of indocyanine green (ICG) inhalation for detecting air leak sites during video-assisted thoracoscopic surgery (VATS). METHODS:Between February 2023 and May 2023, a total of 288 patients underwent VATS were enrolled in this study. Among the population, 72 patients received ICG inhalation test following the traditional submersion sealing test. And 216 patients only underwent the submersion sealing test were matched using 1:3 propensity score matching analysis. The results of ICG inhalation test and the clinical outcomes were compared. RESULTS:In the ICG group, 48 air leak sites were detected in 25 patients (25/72, 34.7%). The conventional submersion sealing test identified 30 air leak sites, while the ICG inhalation test detected 47 sites. Among these detected air leak sites, 34 sites were repaired by suturing or stapling. The postoperative air leak rate in the ICG group (20.8%) was significantly lower than the control group (37.0%, P = 0.011). ICG inhalation test was a favorable factor for reducing postoperative air leaks (OR: 0.40; 95%CI: 0.20-0.78; P = 0.008). CONCLUSIONS:The ICG inhalation test facilitates the identification of air leak sites that may have been overlooked in the conventional submersion sealing test. This technique is useful to reduce postoperative air leaks for patients undergoing VATS. TRIAL REGISTRATION:Chinese Clinical Trial Registry: ChiCTR2300067603 on January 13rd 2023.

关键词： Air leaks Indocyanine green Inhalation Video-assisted thoracoscopic surgery

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