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第36届中国控制会议

作者： Fuchun Liu Shengjie Cao Yifeng Chen Xuan Su College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control（ASNC）Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781538629185

The navigation output accuracy of SINS/GPS integrated navigation system will decline when GPS is not *** Velocity Update（ZUPT） technology is used for the error correction in this *** a relevant algorithm,the zero velocity detection algorithm is applied in the carrier *** method has achieved an integrated navigation system filtering algorithm based on *** simulation and experiment results show that the algorithm effectively improves the accuracy of navigation by limiting the velocity value of GPS in zero-velocity condition.

关键词： Integrated Navigation Zero Velocity Update Kalman Filter

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A Monocular Biological Simultaneous Localization and Mapping Method Based on a Bionic Vision Model

A Monocular Biological Simultaneous Localization and Mapping...

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2023 International Conference on Frontiers of Robotics and Software Engineering, FRSE 2023

作者： Guo, Sitong Zhang, Yu Zhejiang University Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou China

ISBN: (纸本)9798350301113

Animals can navigate robustly through large unknown environments, utilizing inaccurate sensor and egomotion cues. Inspired by the mechanism of the human visual system, this paper presents a biological simultaneous localization and mapping (SLAM) system based on a monocular vision sensor to perform navigation tasks in complex environments. Specifically, our contributions are two folds: an improved monocular visual odometry with a scale recovery algorithm to calibrate the estimated robot pose, and a bionic vision model based on image enhancement algorithm and feature extraction approach to detect closed-loop. Experiments on public datasets demonstrate that our proposed method performs competitively in illumination-varying scenarios indoors and outdoors, which achieve a trade-off to maintain performances in terms of accuracy, execution time, and robustness. © 2023 IEEE.

关键词： Vision

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Correction: A scale-adaptive estimation for mixed geographically and temporally weighted regression models

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Journal of Geographical systems 2025年第2期27卷 337-337页

作者： Hong, Zhimin Wang, Zhiwen Wang, Huhu Wang, Ruoxuan Department of Mathematics School of Science Inner Mongolia University of Technology Hohhot China Statistics Inner Mongolia Key Laboratory of Statistical Analysis Theory for Life Data and Neural Network Modeling Hohhot China Institute for Infectious Disease and Endemic Disease Control Inner Mongolia Autonomous Region Center for Disease Control and Prevention Hohhot China

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Multi-Object Selective Assembly Based on Hybrid Particle Swarm Algorithm 37

Multi-Object Selective Assembly Based on Hybrid Particle Swa...

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37th Chinese control Conference, CCC 2018

作者： Weidong, Liu Haiming, Liu Jinhui, Guo South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China

ISBN: (纸本)9789881563941

Considering the batch assembly with multiple function requirements (FR), the multi-object selective assembly (SA) technology based on the hybrid particle swarm algorithm is introduced in this paper. Firstly, the SA model is discussed, and a multi-object optimization problem is illustrated based on the assembly chains;additionally, the hybrid particle swarm algorithm is used to solve the multi-object selective assembly problem. The matching matrix of batch parts is designed as the particle. The local non-inferior particles and the global non-inferior particles of each iteration population are calculated. The particle population is update by crossover and mutation operations. After all the iterations, the final global non-inferior particles are selected as the matching strategy of batch parts. Based on the optimized matching strategy, the assembly success rate is calculated, and each assembly accuracy and its precision is guaranteed. The process of multi-object SA based on hybrid particle swarm algorithm is introduced, and an example of batch cabin sections are illustrated to obtain the optimized matching strategy of batch parts. Contrasted to the sequential strategy and the random strategy, it can find that the multi-object SA method based on hybrid particle swarm algorithm has advantage in guaranteeing the assembly success rate, and comprehensively decreasing each assembly accuracy. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Iterative methods

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Few Shot Object Detection Based on Graph Attention network 4

Few Shot Object Detection Based on Graph Attention Network

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4th IEEE International Conference on Pattern Recognition and Machine Learning, PRML 2023

作者： Ding, Rou Zhang, Yu Zhejiang University of Control Science and Engineering State Key Laboratory of Industrial Control Technology Zhejiang China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Zhejiang China

ISBN: (纸本)9798350324303

Few shot object detection is a challenging task in computer vision, as it involves detecting objects from a small number of examples. This makes it difficult for traditional object detection methods to generalize well to new classes or scenes. In this paper, we propose a siamese neural network model that utilizes the power of Faster RCNN for few shot object detection. The network takes in support and query datasets and extracts both support and query features. To supplement category information between various support features, we use Pearson similarity to enhance the features and extract support prototypes. We propose a graph attention network that can perform association matching between support prototype and proposals. Through this network, we facilitate information exchange between support features and query features, which helps to supplement the information of query images. We divide the training process into two stages. In the first stage, we use a large amount of basic category data to train the basic detection ability. In the second stage, we further train our model on few shot novel class and base class mixed datasets to improve its generalization performance. Experimental results on the public Pascal VOC dataset demonstrate that our proposed method achieves state-of-The-Art few shot object detection performance. © 2023 IEEE.

关键词： Object detection

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Channel Model Optimization with Reflection Residual Component for Indoor MIMO-VLC System

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Journal of Optical Communications 2017年第1期39卷 71-75页

作者： Chen, Yong Li, Tengfei Liu, Huanlin Li, Yichao Key Laboratory of Industrial Internet of Things and Network Control Minister of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Optoelectronic Technology Systems Chongqing University of Posts and Telecommunications Chongqing400065 China

A fast channel modeling method is studied to solve the problem of reflection channel gain for multiple input multiple output-visible light communications (MIMO-VLC) in the paper. For reducing the computational complexity when associating with the reflection times, no more than 3 reflections are taken into consideration in VLC. We think that higher order reflection link consists of corresponding many times line of sight link and firstly present reflection residual component to characterize higher reflection (more than 2 reflections). We perform computer simulation results for point-to-point channel impulse response, receiving optical power and receiving signal to noise ratio. Based on theoretical analysis and simulation results, the proposed method can effectively reduce the computational complexity of higher order reflection in channel modeling. © 2018 Walter de Gruyter GmbH, Berlin/Boston 2018.

关键词： Visible light communication

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On a novel tracking differentiator design based on iterative learning in a moving window

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control Theory and Technology 2023年第1期21卷 46-55页

作者： Xiangyang Li Rafal Madonski Zhiqiang Gao Senping Tian Key Laboratory of Autonomous Systems and Network Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510641China Energy and Electricity Research Center Jinan UniversityZhuhai 519070China Department of Electrical and Computer Science Cleveland State UniversityClevelandOH 44115USA

Differential signals are key in control engineering as they anticipate future behavior of process variables and therefore are critical in formulating control laws such as proportional-integral-derivative(PID).The practical challenge,however,is to extract such signals from noisy measurements and this difficulty is addressed first by *** in the form of linear and nonlinear tracking differentiator(TD).While improvements were made,TD did not completely resolve the conflict between the noise sensitivity and the accuracy and timeliness of the *** two approaches proposed in this paper start with the basic linear TD,but apply iterative learning mechanism to the historical data in a moving window(MW),to form two new iterative learning tracking differentiators(IL-TD):one is a parallel IL-TD using an iterative ladder network structure which is implementable in analog circuits;the other a serial IL-TD which is implementable digitally on any computer *** algorithms are validated in simulations which show that the proposed two IL-TDs have better tracking differentiation and de-noise performance compared to the existing linear TD.

关键词： Tracking differentiator(TD) Iterative learning Iterative learning tracking differentiator(IL-TD) Active disturbance rejection control(ADRC)-Two-dimensional system(2-D system)

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H∞Performance Realization and Switching controller Design 34

H∞Performance Realization and Switching Controller Design

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34th Chinese control Conference, CCC 2015

作者： Wei, Xie Kone, Penantcha College of Automation Science and Technology South China University of Technology Guangzhou China Key Laboratory of Autonomous Systems and Network Control South China University of Technology Ministry of Education Guangzhou China

ISBN: (纸本)9789881563897

This paper deals with switching controller design that includes several linear time-invariant (LTI) controllers-all of them capable of stabilizing a specific LTI plant-in such a way that the H∞control performance of the closed-loop system is guaranteed for any switching sequence. It is shown that it is possible to find realizations for these controller transfer matrices so that the closed-loop system remains H∞control performance under arbitrary switching. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： H∞ performance realization Random switching Realization theory Switching control

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Multivalent assembly of nucleolin-targeted F3 peptide potentiates TRAIL's tumor penetration and antitumor effects

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Journal of controlled Release 2025年 383卷 113835页

作者： Tao, Ze Li, Yingying Huang, Yunchuan Hu, Liqiang Wang, Shisheng Wan, Lin She, Tianshan Shi, Qiuxiao Lu, Sifen Wang, Xinyue Zhong, Yi Su, Tao Wang, Xinyuan Long, Dan Li, Yan Zhang, Jie Wang, Lijun Long, Tingting Zhu, Hong Lu, Xiaofeng Yang, Hao Division of Liver surgery and NHC Key Lab of Transplant Engineering and Immunology Institutes for Systems Genetics Frontiers Science Center for Disease-Related Molecular Network West China Hospital Sichuan University Chengdu610041 China Sichuan Provincial Engineering Laboratory of Pathology in Clinical Application West China Hospital Sichuan University Chengdu610041 China Department of Laboratory Medicine the West China Second University Hospital Sichuan University Chengdu610041 China West China-California Research Center for Predictive Intervention Medicine Chengdu610041 China Regenerative Medical Research Center West China Hospital Sichuan University Chengdu610041 China Proteomics-Metabolomics Platform Core facilities West China Hospital Sichuan University Chengdu610041 China Precision Medicine Key Laboratory of Sichuan Province and Precision Medicine Center West China Hospital Sichuan University Chengdu610041 China Lung Cancer Center West China Hospital Sichuan University Chengdu610041 China SCMPA Key Laboratory for Quality Research and Control of Chemical Medicine Chengdu Institute for Drug Control Chengdu610041 China Department of Ophthalmology The Third People's Hospital of Chengdu The Affiliated Hospital of Southwest Jiaotong University Chengdu610031 China Department of Laboratory Medicine West China Hospital Sichuan University Chengdu610041 China Division of Abdominal Tumor Multimodality Treatment Cancer Center West China Hospital Sichuan University Chengdu610041 China

Tumor-targeting drug delivery holds great promise for cancer treatment but faces significant challenges in penetrating solid tumors to achieve optimal therapeutic efficacy. By harnessing the natural tissue-penetration effect conferred by the CendR motif, we identified that the nucleolin (NCL)-targeted peptide F3 possesses tumor-penetrating capabilities. Co-administration of F3 with doxorubicin and the apoptosis-inducing protein TRAIL enhanced effective tumor penetration and improved antitumor activity. Taking advantage of TRAIL's natural self-trimerization, we developed a novel fusion protein, F3-TRAIL. This design enabled the trivalent assembly of F3 when fused with TRAIL, significantly enhancing its binding to NCL-positive tumor endothelial and parenchymal cells, resulting in deeper tumor penetration and superior antitumor effects compared to TRAIL alone. Mechanistic studies revealed that the multivalent F3-enhanced engagement with tumor cells potentiated TRAIL to trigger death receptor-dependent apoptosis signaling, even in TRAIL-resistant tumor cells. Building on this success, we constructed F3-HexaTR using the SpyCatcher/SpyTag superglue ligation system to generate a hexameric TRAIL, further amplifying cytotoxicity and antitumor efficacy. Combined analysis of data from TCGA and GTEx revealed significantly elevated NCL expression across 18 solid tumor types, underscoring the clinical potential of F3-directed targeted therapy. These findings highlight that F3-mediated NCL targeting is an effective strategy to overcome tumor penetration barriers, particularly for protein drug delivery. This multivalent assembly approach represents an innovative avenue for enhancing the therapeutic efficacy of various agents in the treatment of solid tumors. © 2025 Elsevier B.V.

关键词： Targeted drug delivery

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ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic Object Removal for Static Point Cloud Mapping

ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic ...

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2024 IEEE International Conference on Robotics and Automation, ICRA 2024

作者： Zhang, Jiabao Zhang, Yu Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou China

ISBN: (纸本)9798350384574

Mapping plays a crucial role in location and navigation within automatic systems. However, the presence of dynamic objects in 3D point cloud maps generated from scan sensors can introduce map distortion and long traces, thereby posing challenges for accurate mapping and navigation. To address this issue, we propose ERASOR++, an enhanced approach based on the Egocentric Ratio of Pseudo Occupancy for effective dynamic object removal. To begin, we introduce the Height Coding Descriptor, which combines height difference and height layer information to encode the point cloud. Subsequently, we propose the Height Stack Test, Ground Layer Test, and Surrounding Point Test methods to precisely and efficiently identify the dynamic bins within point cloud bins, thus overcoming the limitations of prior approaches. Through extensive evaluation on open-source datasets, our approach demonstrates superior performance in terms of precision and efficiency compared to existing methods. Furthermore, the techniques described in our work hold promise for addressing various challenging tasks or aspects through subsequent migration. © 2024 IEEE.

关键词： Mapping

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