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42nd Chinese control Conference, CCC 2023

作者： Tang, Yifeng Huang, Zhihui Tang, Chuancong Luo, Chuanshang Xu, Yifan Liu, Bin Zhang, Hai-Tao School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control Wuhan430074 China The State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9789887581543

This paper proposes a fog weather data augmentation method for the unmanned surface vessels (USVs) via improved Generative Adversarial Network(GAN) model. First, a generator scheme for GAN is proposed with the guided generation of the atmospheric scattering model in this paper. A Laplacian Pyramid Based Depth Residuals model is added to the generator which reduces the difficulty of generating fog images caused by the degradation of water surface image and improves the quality of generated images. Finally, fog images are generated from sunny weather images collected with HUST-12C by LPBDR-GAN model and experiments show that generated images are very close to real fog images. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Generative adversarial networks

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Path Planning Method of Unmanned Surface Vessel Based on Strategy Integration 23rd

Path Planning Method of Unmanned Surface Vessel Based on Str...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Yang, Caipei Zhao, Yingqi Liu, Jie Zhou, Kaibo MOE Key Laboratory of Image Information Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China School of Civil and Hydraulic Engineering Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9789811993978

In the task of path planning, the unmanned surface vessels (USV) are required to reach the destination while avoiding obstacle. However, it is difficult for USV to prioritize the two sub-target tasks of destination arrival and obstacle avoidance in a complex dynamic environment using traditional path planning methods. Based on the above considerations, a path planning method for USVs based on strategy integration is proposed. Firstly, the path planning scenario containing dynamic obstacles and two sub-target scenarios are set up. In order to strengthen its ability to reach the destination and avoid dynamic obstacles, the dynamic obstacles and the destination are removed separately in the two sub-target scenarios. Furthermore, the model for strategy selection is trained on action decisions in sub-target scenarios through double deep Q-Network with prioritized experience replay. Finally, a framework for strategy integration is designed to optimize strategy selection for USV. The simulation results show that the proposed method achieves a good overall performance and a higher path planning success rate than the traditional path planning method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Deep Learning-based Serialized Model and Feature Extraction Algorithm for Solid Oxide Fuel Cell State Prediction 43

Deep Learning-based Serialized Model and Feature Extraction ...

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43rd Chinese control Conference, CCC 2024

作者： Wu, Jiajian Zhu, Kanglin Wu, Han Xiang, Guohui Li, Xi Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control of Education Ministry Hubei Wuhan China Shenzhen Huazhong University of Science and Technology Research Institute Guangdong Shenzhen China

ISBN: (纸本)9789887581581

Deep learning-based methods have shown their wide application prospects in the field of solid oxide fuel cell(SOFC) prediction. However, the irrationality of the prediction object and the lack of prediction accuracy have hindered the progress of the prediction methods for SOFC systems. Therefore, two algorithms are proposed in this study, a feature selection algorithm based on maximum information coefficient and Bayesian information criterion for identifying key variables that are sensitive to changes in the SOFC system, and a prediction model based on a genetic algorithm optimized for sequence to sequence architecture. The M/BIC algorithm reduces the number of features by 62.5% (from 40 to 15), which contributes to the acceleration of the algorithm training and the subsequent sensor layout optimization. The prediction model incorporates a two-dimensional convolutional neural network and a multi-head attention mechanism to capture more information in the input sequence, an encoder-decoder architecture and a Gated recurrent unit to better predict performance trends. Tests with real experimental data show significant changes in feature dimensionality reduction and prediction accuracy. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Dimensionality reduction

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Multi-Human Pose Estimation by Deep Learning-Based Sequential Approach for Human keypoint Position and Human Body Detection

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Journal of Shanghai Jiaotong University (Science) 2023年 1-11页

作者： Tahir, Rizwan Cai, Yunze Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China

Recent multimedia and computer vision research has focused on analyzing human behavior and activity using images. Skeleton estimation, known as pose estimation, has received a significant attention. For human pose estimation, deep learning approaches primarily emphasize on the keypoint features. Conversely, in the case of occluded or incomplete poses, the keypoint feature is insufficiently substantial, especially when there are multiple humans in a single frame. Other features, such as the body border and visibility conditions, can contribute to pose estimation in addition to the keypoint feature. Our model framework integrates multiple features, namely the human body mask features, which can serve as a constraint to keypoint location estimation, the body keypoint features, and the keypoint visibility via mask region-based convolutional neural network (Mask-RCNN). A sequential multi-feature learning setup is formed to share multi-features across the structure, whereas, in the Mask-RCNN, the only feature that could be shared through the system is the region of interest feature. By two-way up-scaling with the shared weight process to produce the mask, we have addressed the problems of improper segmentation, small intrusion, and object loss when Mask-RCNN is used, for instance, segmentation. Accuracy is indicated by the percentage of correct keypoint, and our model can identify 86.1% of the correct keypoints. © 2023, Shanghai Jiao Tong University.

关键词： Convolutional neural networks

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Microgrid energy management strategy considering microgrid economy and rSOC stability: A model-based study 43

Microgrid energy management strategy considering microgrid e...

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43rd Chinese control Conference, CCC 2024

作者： Huang, Haizhou Xia, Zhiping Shan, Xinkai Wang, Jie Li, Xi Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control of Education Ministry Wuhan430074 China Shenzhen Huazhong University of Science and Technology Research Institute Shenzhen518055 China

ISBN: (纸本)9789887581581

Microgrids possess the ability to use renewable energy efficiently and play an increasingly significant role in environmental protection and sustainable development. Meanwhile, reversible solid oxide fuel cell (rSOC) is currently a new type of energy conversion and storage. Combining with microgrid systems is a great way to benefit from its high capacity, high efficiency, and cleanliness. However, rSOC's complex system of coupled heat, electricity, and gas presents a significant challenge in finding energy management strategies for microgrid applications containing rSOC. In this study, for a microgrid system combining rSOC, battery energy storage system (BESS), solar photovoltaic (PV), and wind turbine generator (WTG), we propose a model-based energy management strategy that simultaneously takes into account the economy of the microgrid system and the stability of the rSOC system. First of all, the microgrid is modeled with great detail, including the wind turbine, solar panels, battery storage system, and rSOC. In addition, the microgrid energy management problem is framed as a mathematical programming problem, with the attention focusing on the costs of BESS aging and operational energy loss of rSOC. In particular, this study also proposes a penalty strategy to reduce the power fluctuation amplitude of the rSOC system and reduce the mode switching frequency of the rSOC system. Using the solver, solving for each device's target power in a microgrid. The actual power operating curve is output by tracking the target power under slope constraints using the Simulink model. We then conduct a case study using data from Wuhan, China. Our research shows that compared with the control strategy based on rule control, the control strategy proposed in this study can reduce the power variation amplitude of the rSOC system by 79%, reduce the mode switching frequency by 85%, reduce the system operating cost by 4.5% and increase the energy self-sufficiency rate by 9%. © 2024 Techn

关键词： Wind turbines

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A Ship Power Sharing Strategy Based on Shapley Value Method and Cartel Mechanism

A Ship Power Sharing Strategy Based on Shapley Value Method ...

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2024 International Annual Conference on Complex Systems and intelligent Science, CSIS-IAC 2024

作者： Zhang, Zhengxu Yang, Jie Ma, Kai Guo, Shiliang Li, Hui School of Electrical Engineering Yanshan University Qinhuangdao China Yanshan University Key Laboratory of Power Electronics for Energy Conservation and Drive Control of Hebei Province Qinhuangdao China Yanshan University Key Laboratory of Industrial Computer Control Engineering of Hebei Province Qinhuangdao China Yanshan University Key Laboratory of Intelligent Control and Neural Information Processing of the Ministry of Education Qinhuangdao China

ISBN: (纸本)9798331504755

With the development of the maritime industry, the number and capacity of existing port cold-ironing (CI) equipment can no longer meet the power demand of ships during berthing, resulting in significant carbon emissions from ships within the port area. Therefore, a ship power sharing strategy based on Shapley value method and Cartel mechanism is proposed. Firstly, the rolling optimization model of ship power scheduling is established to adjust the ship power scheduling strategy according to the real-time information. Secondly, the cooperative game model of ship power sharing is established, and the cost sharing among cooperative ships is realized by Shapley value method. Finally, in order to reduce the situation that ships increase their own profits by deviating from cooperation and affect the overall profits, this paper introduces Cartel mechanism to punish the behavior of deviating from cooperation. The simulation results show that the power sharing strategy proposed in this paper can reduce the total ship cost and carbon emission by 5.28% and 3.78%, respectively. The introduction of Cartel mechanism can increase the cost of non-cooperative behavior, thus ensuring that all ships take cooperative behavior. The power sharing strategy based on Shapley method and Cartel mechanism proposed in this paper is helpful to the construction of green ports. © 2024 IEEE.

关键词： Profitability

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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Enhanced YOLOv7-Based Construction Site Environmental Detection Method 4

Enhanced YOLOv7-Based Construction Site Environmental Detect...

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4th International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2023

作者： Liang, Siheng Huang, Wenming Xiao, Yannan Guilin University of Electronic Technology School of Computer and Information Security Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin China Guilin University of Electronic Technology School of Computer and Information Security Guilin China

ISBN: (纸本)9798350343618

This paper proposes an enhanced approach utilizing the YOLOv7 model for automated construction site environment detection and management. The method leverages high-resolution surveillance cameras and computer vision techniques to achieve this goal. The proposed method starts with data collection of the construction site environment. Then produce accurate bounding boxes. These bounding boxes serve as input to an improved YOLOv7 network model, enabling feature extraction and generating high-scoring feature maps with associated weights. Utilizing these weights, image segmentation is performed to obtain the desired detection heads. Experimental results demonstrate the effectiveness of the method in identifying and annotating various environmental features within the construction site, leading to significant improvements in detection accuracy. Compared to similar techniques, this method offers faster detection speed, higher accuracy, and reduced error rates. The proposed construction site environment detection method provides an efficient and automated solution for on-site management in the construction industry, with practical applications and value. © 2023 IEEE.

关键词： Construction industry

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A Low-complexity Decision Variables Classification Brainstorm Optimization Algorithm

A Low-complexity Decision Variables Classification Brainstor...

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2024 International Conference on Applied Mathematics, Modelling and Statistics Application, AMMSA 2024

作者： Li, Qiyue Qiu, Lipeng Zhou, Aoran Wu, Yali Wang, Ziren Department of Information and Control Engineering Xi'An University of Technolog Xi'an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China State Key Laboratory of Metal Extrusion and Forging Equipment Technology China National Heavy Machinery Research Institute Co. Ltd. Xi'an710016 China

In the complex optimization scenarios of real life, we often need to not only weigh the conflicts between multi-objectives but also face the challenges brought by large-scale decision variables. When the scale of decision variables increases sharply, the search space will expand exponentially, which makes it difficult for the algorithm to traverse the whole search space under limited resources, so that the number of local optimal solutions increases sharply. The so-called 'dimension disaster' appears. To effectively deal with this problem, this paper proposes a large-scale multi-objective brainstorm optimization algorithm (LMaOBSO) based on low complexity decision variable classification method and improved penalty boundary intersection strategy. The algorithm uses a low-complexity tree sorting variable classification method to divide the decision variables into converges and diversity variables quickly. At the same time, the convergent variables are optimized by the improved penalty boundary crossover strategy to solve the problems existing in large-scale optimization problems. © Published under licence by IOP Publishing Ltd.

关键词： Disasters

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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