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42nd Chinese control Conference, CCC 2023

作者： Zhang, Shuaikang Yuan, Mingxing Zhang, Xuebo Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing400065 China

ISBN: (纸本)9789887581543

At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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End-to-end Automatic Targetless Calibration between Low-resolution LiDARs and Cameras based on Cross-modal Attention

End-to-end Automatic Targetless Calibration between Low-reso...

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Chinese control and Decision Conference, CCDC

作者： Tianyang Huang Jun-Guo Lu Ming Wei Qing-Hao Zhang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

LiDARs and cameras, commonly used sensors on autonomous vehicles and robots, require precise calibration for accurate joint environmental perception. Current calibration methods, capable of adjusting both intrinsic and extrinsic parameters, often depend on physical targets or human intervention, making them unsuitable for automatic online calibration. Moreover, these methods are primarily optimized for dense point clouds, as they are often tuned on open datasets featuring high-quality point cloud data. However, low-resolution LiDARs, preferred for their cost-effectiveness, are prevalent in practical applications. To automate the calibration process while maintaining high precision on sparse point clouds, multi-modal image registration techniques are leveraged to develop an end-to-end, cross-attention-based neural network for automatic calibration of low-resolution LiDARs and Cameras. Specifically, given an initial perturbation on point clouds, our network is capable of recovering the true extrinsic parameters without manual intervention. Additionally, specialized input preprocessing and training strategies are incorporated to enhance performance with sparse point clouds. Promising results are achieved on both open datasets and custom sensor acquisitions, highlighting the effectiveness and adaptability of our network to diverse scenarios.

关键词： Point cloud compression Training Image registration Visualization Laser radar Perturbation methods Neural networks

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Optimization of Tiered Pricing Strategy for Smart Grid Considering Clean Energy

Optimization of Tiered Pricing Strategy for Smart Grid Consi...

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Chinese Automation Congress (CAC)

作者： Xiaocheng Wang ZeLong Li Pengjiao Sun Qiaoni Han Tianjin Key Laboratory of Wireless Mobile Communications and Power Transmission Ministry of Education College of Electronic and Communication Engineering Tianjin Normal University Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Tianjin Key Laboratory of Wireless Mobile Communications and Power Transmission College of Electronic and Communication Engineering Tianjin Normal University Key Laboratory of System Control and Information Processing Ministry of Education School of Electrical and Information Engineering Tianjin University Shanghai Jiao Tong University

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

With the rapid development of new energy technology, it has become a trend to combine wind and solar power generation into the smart grid. In this paper, wind power generation and photovoltaic power generation are introduced into the smart grid, and taking into account the consumption capacity of consumers at different levels, a tiered pricing scheme considering the uncertainty of wind and solar energy is proposed. Firstly, we establish probability density functions of power generation for wind power generation and photovoltaic power generation respectively to express the uncertainty of wind energy and solar energy. To meet the energy demand of consumers at all levels, we present the energy demand model of consumers after considering their electricity demand and temperature influence. Then, we formulate the optimal pricing problem for the electricity market under the framework of tiered pricing, so as to make the energy market get satisfactory income while meeting the energy demand of consumers. Finally, we use the particle swarm optimization algorithm to determine the optimal pricing strategy of the energy market. The simulation results show that when meeting the energy demand of consumers in different temperature conditions, the optimal pricing can be found that meets the satisfactory income of the energy market.

关键词： Photovoltaic systems Wind energy generation Energy consumption Uncertainty Wind energy Electricity Pricing Solar energy Wind power generation Smart grids

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Formal control Synthesis via Safe Reinforcement Learning Under Real-Time Specifications

Formal Control Synthesis via Safe Reinforcement Learning Und...

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International Conference on control and Automation (ICCA)

作者： Peng Lv Guangqing Luo Zhou He Xianwei Li Xiang Yin Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China School of Electrical and Control Engineering Shaanxi University of Science and Technology Xi'an China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

In recent years, reinforcement learning techniques have gained widespread application in control synthesis. However, in the context of safety-critical systems, employing trial-and-error based reinforcement learning may be unacceptable due to the potential risks it poses during the learning process. Consequently, the development of safe reinforcement learning techniques has become imperative. This paper addresses the challenge of safe reinforcement learning for controller synthesis, particularly when safety specifications are intricately linked to the real-time behavior of the system. To articulate time-sensitive requirements, we leverage Metric Interval Temporal Logic (MITL). To ensure safety throughout the learning process, we introduce an additional reactive controller called a shield. Specifically, the shield functions to reject any behavior that violates the real-time specifications, thus mitigating potential risks. The efficacy of our proposed approach is demonstrated through simulation results, highlighting its ability to satisfy safety constraints in the dynamic environment of controller synthesis.

关键词： Measurement Heuristic algorithms Simulation Process control Reinforcement learning Real-time systems Safety

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Indefinite metacavities coupled to a mirror:bound states in the continuum with anomalous resonance scaling

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Photonics Research 2024年第3期12卷 598-607页

作者： QIANG ZHANG PEIXIANG LI ZHIYUAN GU SHAODING LIU ZEJUN DUAN College of Electronic Information and Optical Engineering Taiyuan University of TechnologyTaiyuan 030024China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China

Indefinite metacavities(IMCs)made of hyperbolic metamaterials show great advantages in terms of extremely small mode volume due to large wave vectors endowed by the unique hyperbolic ***,quality(Q)factors of IMCs are limited by Ohmic loss of metals and radiative loss of leaked *** the fact that Ohmic loss of metals is inevitable in IMCs,the radiative loss can be further suppressed by leakage *** we propose a mirror coupled IMC structure which is able to operate at Fabry–Pérot bound states in the continuum(BICs)while the hyperbolic nature of IMCs is *** the BIC point,the radiative loss of magnetic dipolar cavity modes in IMCs is completely absent,resulting in a considerably increased Q factor(>90).Deviating from the BIC point,perfect absorption bands(>0.99)along with a strong near-field intensity enhancement(>1.8×10^(4))appear when the condition of critical coupling is almost *** proposed BICs are robust to the geometry and material composition of IMCs and anomalous scaling law of resonance is verified during the tuning of optical *** also demonstrate that the Purcell effect of the structure can be significantly improved under BIC and quasi-BIC regimes due to the further enhanced Q factor to mode volume *** results provide a new train of thought to design ultra-small optical nanocavities that may find many applications benefitting from strong light–matter interactions.

关键词： hyperbolic mirror definite

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Selection of Optimal Focusing Evaluation Function Based on Sparse Microscopic Images

Selection of Optimal Focusing Evaluation Function Based on S...

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2022 International Conference on Electrical, Electronics and information Engineering, EEIE 2022

作者： Lv, Meini Gan, Hui Liu, Xin Chen, Jia Yang, Qiuhui Wuzhou University Wuzhou China Guangxi Colleges and Universities Key Laboratory of Image Processing and Intelligent Information System Wuzhou University Wuzhou China

The auto focusing process is affected by the amount of image content, resulting in the focus curve not meeting the characteristics of the ideal focus curve. In this paper, aiming at the problem that the traditional autofocus cannot find the focal plane successfully in the case of microscopic sparse content, the qualitative analysis and quantitative analysis of 12 traditional focus evaluation functions are carried out. The experimental results show that the F Tenengrad function is suitable for the optimal focus evaluation function of sparse microscopic images. © Published under licence by IOP Publishing Ltd.

关键词： Focusing

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Neural-LAFC: A Neural Learning Adaptive Flight controller for Tailless Flapping-Wing Robots Under Uncertain Wind Disturbance Conditions

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Guo, Qingcheng Zhang, Yichen Mou, Jiawang Liu, Wu Wu, Xiaosheng Lu, Jun-Guo Shanghai Jiao Tong University Department of Automation China Key Laboratory of System Control and Information Processing Ministry of Education of China China National Key Laboratory of Advanced Micro and Nano Manufacture Technology Shanghai200240 China Shanghai Jiao Tong University National Key Laboratory of Advanced Micro and Nano Manufacture Technology China Shanghai Jiao Tong University Department of Micro/Nano Electronics School of Electronic Information and Electrical Engineering Shanghai200240 China Designing Institute of Hubei Space Technology Academy Wuhan China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China

Enabling bio-inspired flapping-wing robots (FWRs) to maintain stable flight in windy environments, similar to real flying creatures, is of significant importance. In this work, a neural learning-based adaptive flight controller (Neural-LAFC) is proposed for the attitude and position control of a tailless FWR under uncertain wind conditions. The key approach involves employing a deep neural network (DNN) that incorporates not only attitude information but also instantaneous flapping angles of the wings to learn the aerodynamic torques that cannot be accurately modeled. The training data are obtained from flight experiments conducted with the FWR in a wind tunnel environment. Subsequently, a composite adaptive law is presented to update a set of linear coefficients. These linear coefficients are utilized to blend the pre-trained basis functions to represent the aerodynamic torques. The tracking errors are shown to exponentially converge to a bounded region, as guaranteed by a Lyapunov function. Based on the learning-based attitude controller, we also develop an adaptive controller for position control. Notably, apart from the training phase, the FWR operates without prior knowledge of wind speed. Experimental results demonstrate that the Neural-LAFC successfully achieves the desired attitude stabilization, target point tracking, and path tracking of the FWR in windy conditions. The proposed control scheme also outperforms baseline controllers in wind disturbance suppression, reducing the root mean square position errors by more than 40% when the FWR is subjected to a horizontal wind within the speed of 180 {cm s{-1}}. © 1965-2011 IEEE.

关键词： Wind tunnels

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A Communication-Efficient Distributed Optimization Algorithm with Linear Convergence over Directed Graphs

A Communication-Efficient Distributed Optimization Algorithm...

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Asian control Conference

作者： Yuzhu Duan Ziwen Yang Shanying Zhu Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Ministry of Education of China Shanghai P. R. China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

The Industrial Internet of Things (IIoT) is increasingly emerging as a novel paradigm for information exchange within industrial production environments. To facilitate the efficient operation of IIoT, there is an urgent requirement for communication-efficient methods to transmit extensive production data. This paper proposes a communication-efficient distributed optimization algorithm tailored for the strongly convex and smooth convex optimization problems over a directed graph. To encompass a broader class of compressors, the assumption of compressor is relaxed to contain both relative and absolute errors. To mitigate compression errors, we adopt differential compression technique and dynamic scaling factor in the algorithm. In particular, under this compression assumption, a non-uniform quantizer is introduced to enable finite-bit transmission over communication channels and an upper bound of the required bits with this quantizer is provided. Moreover, we prove the linear convergence of the proposed algorithm with compression, and numerical examples are provided to verify the performance of the proposed algorithm.

关键词： Upper bound Heuristic algorithms Directed graphs Production Compressors Convex functions Optimization

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The Application of the Alternate Descent Conditional Gradient Method in Tomographic SAR Off-grid Imaging

The Application of the Alternate Descent Conditional Gradien...

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IET International Radar Conference 2023, IRC 2023

作者： Shao, Mingxiao Su, Cikang Zhang, Zhe Zhang, Bingchen The Key Laboratory of Technology in Geo-spatial Information Processing and Application System Chinese Academy of Sciences Beijing China Suzhou Key Laboratory of Microwave Imaging Processing and Application Technology Suzhou Aerospace Information Research Institute Jiangsu Suzhou China Aerospace Information Research Institute Chinese Academy of Sciences Chinese Academy of Sciences Beijing China School of Electronic Electrical and Communication Engineering University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781839539954

Compressed sensing (CS) technology has been applied to topographic synthetic aperture radar (TomoSAR) imaging due to the sparsity of elevation signals. The traditional CS algorithms discretize the elevation into many grids and assume that the scatterers are located on grids, therefore, the accuracy of the traditional CS algorithms is limited by the off-grid effect. Although there are currently methods to address the off-grid effect, such as atomic norm minimization (ANM), its application is limited by the baseline distribution form of TomoSAR, which only applies to uniformly observed scenarios. Alternating Descent Conditional Gradient (ADCG) has been applied in many fields as a gridless imaging algorithm. In this paper, we apply ADCG to TomoSAR imaging for the first time, achieving the reconstruction of non-uniform baseline observation scenes. The effectiveness of ADCG in TomoSAR imaging was verified by comparing it with iterative soft thresholding (IST) and orthogonal matching pursuit (OMP) through simulation experiments. © The Institution of Engineering & Technology 2023.

关键词： Compressed sensing

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Image Quality Assessment Method Based on Cross-Modal 20th

Image Quality Assessment Method Based on Cross-Modal

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20th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2023

作者： Long, Teng Chen, Li Wang, Yubo School of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan430065 China

ISBN: (纸本)9789819970247

Deep learning methods have achieved remarkable results in the direction of image quality assessment tasks. However, most of the related studies focus only on image unimodal, ignoring the potential advantages that come with the development of cross-modal techniques. Cross-modal models have implied a wealth of information, which provides new research directions and possibilities in the field of image quality assessment. In this paper, the feasibility of cross-modal models in image quality assessment is first explored for the image quality binary classification task. Subsequently, the optimization prompting method is combined with the tuning of the image encoder in the cross-modal model so that the cross-modal model can be used for image quality assessment scoring. To verify the feasibility of the cross-modal model on the image quality assessment task, an empirical analysis was conducted on the binary image quality dataset PQD, and it was found that the F1 score improved by 18% over the baseline model. Further, we propose an adaptive cross-modal image quality assessment method AC-IQA. On the image quality scoring dataset, compared with the previous optimal methods, AC-IQA improves the PLCC and SROCC metrics on the TID2013 dataset by 5.5% and 9.5%, respectively, and on the KADID dataset by 6.2% and 5.2%. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： Image quality

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