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arXiv 2024年

作者： Deng, Tianchen Wang, Nailin Wang, Chongdi Yuan, Shenghai Wang, Jingchuan Wang, Danwei Chen, Weidong The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China The School of Electrical and Electronic Engineering Nanyang Technological University Singapore

Dense scene reconstruction for photo-realistic view synthesis has various applications, such as VR/AR, autonomous vehicles. However, most existing methods have difficulties in large-scale scenes due to three core challenges: (a) inaccurate depth input. Accurate depth input is impossible to get in real-world large-scale scenes. (b) inaccurate pose estimation. Existing methods are not robust enough with the growth of cumulative errors in large scenes and long sequence. (c) insufficient scene representation capability. A single global radiance field lacks the capacity to effectively scale to large-scale scenes. To this end, we propose an incremental joint learning framework, which can achieve accurate depth, pose estimation, and large-scale scene reconstruction. A vision transformer-based network is adopted as the backbone to enhance performance in scale information estimation. For pose estimation, a feature-metric bundle adjustment (FBA) method is designed for accurate and robust camera tracking in large-scale scenes. In terms of implicit scene representation, we propose an incremental scene representation method to construct the entire large-scale scene as multiple local radiance fields to enhance the scalability of 3D scene representation. Extended experiments have been conducted to demonstrate the effectiveness and accuracy of our method in depth estimation, pose estimation, and large-scale scene reconstruction. The code will be open-sourced upon paper acceptance. © 2024, CC BY-NC-SA.

关键词： Depth perception

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Incipient Gradual Fault Detection via Transformed Component and Dissimilarity Analysis

Incipient Gradual Fault Detection via Transformed Component ...

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Industrial Cyber-Physical systems (ICPS)

作者： Lingxia Mu Wenzhe Sun Youmin Zhang Nan Feng Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Department of Mechanical Industrial & Aerospace Engineering Concordia University Montreal Canada

This paper proposes a novel method named recursive transformed component dissimilarity analysis (RTCDA) combining dissimilarity analysis algorithm and traditional sliding window technique for detecting incipient gradual faults. Firstly, orthogonal transformed components (TCs) corresponding to a new set of data in the sliding window are obtained using a recursive algorithm based on rank-one modification. Then, to quantitatively estimate the distribution difference of TCs, the dissimilarity index between TCs of the new dataset and that of referenced dataset is calculated. The distribution of TCs changes more dramatically than that of original data after a small quantitative bias in the original data. Compared with original data, TCs are more sensitive to tiny quantitative variation of dataset. Finally, case studies on a numerical example and a practical industrial fed-batch penicillin fermentation process are carried out to evaluate the performance of RTCDA method for incipient gradual fault detection.

关键词： Fault detection Cyber-physical systems Indexes Data mining

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NeSLAM: Neural Implicit Mapping and Self-Supervised Feature Tracking With Depth Completion and Denoising

arXiv

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arXiv 2024年

作者： Deng, Tianchen Wang, Yanbo Xie, Hongle Wang, Hesheng Wang, Jingchuan Wang, Danwei Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

In recent years, there have been significant advancements in 3D reconstruction and dense RGB-D SLAM systems. One notable development is the application of Neural Radiance Fields (NeRF) in these systems, which utilizes implicit neural representation to encode 3D scenes. This extension of NeRF to SLAM has shown promising results. However, the depth images obtained from consumer-grade RGB-D sensors are often sparse and noisy, which poses significant challenges for 3D reconstruction and affects the accuracy of the representation of the scene geometry. Moreover, the original hierarchical feature grid with occupancy value is inaccurate for scene geometry representation. Furthermore, the existing methods select random pixels for camera tracking, which leads to inaccurate localization and is not robust in real-world indoor environments. To this end, we present NeSLAM, an advanced framework that achieves accurate and dense depth estimation, robust camera tracking, and realistic synthesis of novel views. First, a depth completion and denoising network is designed to provide dense geometry prior and guide the neural implicit representation optimization. Second, the occupancy scene representation is replaced with Signed Distance Field (SDF) hierarchical scene representation for high-quality reconstruction and view synthesis. Furthermore, we also propose a NeRF-based self-supervised feature tracking algorithm for robust real-time tracking. Experiments on various indoor datasets demonstrate the effectiveness and accuracy of the system in reconstruction, tracking quality, and novel view synthesis. © 2024, CC BY-NC-SA.

关键词： Geometry

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AN AUTOFOCUS NETWORK FOR MULTI-CHANNEL PHASE ERRORS WITH APPLICATION TO TOMOSAR IMAGING

AN AUTOFOCUS NETWORK FOR MULTI-CHANNEL PHASE ERRORS WITH APP...

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IET International Radar Conference 2023, IRC 2023

作者： Wang, Muhan Gao, Silin Zhang, Zhe Qiu, Xiaolan Key Laboratory of Technology in Geo-spatial Information Processing and Application System Chinese Academy of Sciences Beijing100190 China Key Laboratory of Intelligent Aerospace Big Data Application Technology Suzhou215123 China Suzhou Aerospace Information Research Institute Suzhou215123 China Aerospace Information Research Institute Chinese Academy of Sciences Beijing100094 China School of Electronic Electrical and Communication Engineering University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781839539954

Synthetic aperture radar (SAR) tomography (TomoSAR) has garnered significant attention due to its capability for three-dimensional reconstruction. Compressed sensing (CS) methods are widely employed to address the TomoSAR inversion challenge. Nevertheless, practical applications reveal phase errors among different channels, resulting in defocusing and blurring when relying solely on CS for 3D reconstruction. Current state-of-the-art autofocus techniques suffer from prohibitive computational complexity, limiting their applicability to large-scale 3D imaging. In pursuit of efficient TomoSAR 3-D autofocusing, we proposed ASAMP-Net, an innovative deep unfolding network. Operating within a two-step framework, each layer comprises two stages: phase error estimation and iterative scattering coefficient reconstruction using the sparse adaptive matching pursuit (SAMP) algorithm. Additionally, phase error estimation is obtained through mathematical derivation, while challenges associated with fixed sparsity and limited efficiency in conventional methods are mitigated through deep learning techniques. Simulation experiments and real data validation affirm the effectiveness and superiority of the proposed method. © The Institution of Engineering & Technology 2023.

关键词： Radar imaging

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Disk Failure Prediction Based on SW-Disk Feature Engineering 8

Disk Failure Prediction Based on SW-Disk Feature Engineering

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8th IEEE International Conference on Big Data Security on Cloud, 8th IEEE International Conference on High Performance and Smart Computing, and 8th IEEE International Conference on Intelligent Data and Security, BigDataSecurity/HPSC/IDS 2022

作者： Liang, Chenjun Deng, Li Zhu, Jincan Cao, Zhen Li, Chao College of Computer Science and Technology Wuhan University of Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan China Hubei University Department of Information Development and Management Wuhan China

ISBN: (纸本)9781665480697

With the rapid development of cloud storage, the number of disks has increased dramatically, and the absolute number of failed disks has also continued to increase. Since the impact of these failures on the quality of cloud services cannot be ignored, the demand for disk failure prediction is also increasing. In addition, the accuracy of the disk failure prediction algorithm largely depends on the input data set. Therefore, according to the large difference in the feature morphology in the disk tracking dataset, we analyze the change trend of features in different dimensions, and propose a new method. The SW-Disk feature engineering method for disk failure prediction constructs features from both horizontal and vertical dimensions. Including feature crossover between indicators and indicators to construct higher-order features. In the time dimension, the time series features under the multi-scale sliding window are constructed. We use the random forest prediction model to predict whether the disk will fail in the next 30 days, so as to reserve more time to take measures on the disk to achieve the purpose of improving the reliability of the cloud storage system. We validated our SW-Disk feature engineering method and prediction model on the Backblaze2019 disk dataset, and the experimental results demonstrate the effectiveness and superiority of our proposed method. © 2022 IEEE.

关键词： Decision trees

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Building Energy Allocation Using Distributed Model Predictive control

Building Energy Allocation Using Distributed Model Predictiv...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Hongyi Li Jun Xu Harbin Institute of Technology Shenzhen P. R. China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai P. R. China

In this paper, a distributed energy allocation strategy for energy shortage scenarios is proposed. Users are allowed to set the priority order so that the proposed strategy is able to meet the urgent needs. A building model containing three zones is created in Energyplus and the strategy is deployed in *** introducing Mle+, a joint simulation of MATLAB and Energyplus is implemented. Centralized, decentralized and distributed model predictive control are applied to the energy shortage scenario respectively, and the results show that our approach can satisfy the urgent need for energy supply.

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Padding-Aware Learned Image Compression

Padding-Aware Learned Image Compression

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Haotian Zhang Junqi Liao Yiheng Jiang Li Li Dong Liu CAS Key Laboratory of Technology in Geo-Spatial Information Processing and Application System University of Science and Technology of China Hefei China

For current learned image compression methods, padding input images is necessary to meet the resolution requirements of down-sampling layers. However, the impact of padding has not been studied thoroughly. Most previous studies ignore padded images in the training process. In this paper, we analyze the impact of padding on compression performance. Then, we propose a padding-aware training (PAT) strategy, handling the padding effect during the training. Specifically, our PAT strategy calculates the loss of pre-padding image through a masking operation. Finally, according to our systematic experimental results, we find that images with different resolutions tend to favor different padding modes. Therefore, we further propose to conduct padding mode decision in the encoding process for rate-distortion optimization. Experiments demonstrate that our proposed PAT strategy and padding mode decision effectively compensate for the performance drop caused by padding.

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Nonlinear control of Crane systems Based on Intelligence Computing of Disturbance Observer Under Mismatched Disturbance 22

Nonlinear Control of Crane Systems Based on Intelligence Com...

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22nd IEEE International Symposium on Parallel and Distributed processing with Applications, ISPA 2024

作者： Wang, Tianlei Wang, Yiyan Xu, Meng Tian, Jiajie Zhang, Jingling Hong, Zhiyong Wuyi University School of Electronic and Information Engineering Jiangmen China Jiangmen Key Laboratory of Kejie Semiconductor Bonding Technology and Control System Jiangmen China Wuyi University School of Mechanical and Automation Engineering Jiangmen China Guangdong Kejie Technology Co. Ltd Jiangmen529020 China

ISBN: (纸本)9798331509712

A control method based on disturbance observer is proposed to address the positioning drift issue of the gantry crane under unmatched disturbances, aiming at precise positioning of the trolley and effective payload swing angle attenuation in a variable-length two-dimensional lifting system. The control scheme comprises a combination of a proportional-derivative controller and a disturbance observer. Firstly, the design of the coupling function in this paper is based on the observation of the natural characteristics of the dynamical model. It cleverly designs the coupling function, which not only helps to effectively reduce the swing angle but also prevents the problem of positioning drift under non-matching disturbances, subsequently, design a controller by integrating intelligent computing with control theory. Secondly, the designed disturbance observer observes and compensates for the system output to achieve disturbance suppression. Thirdly, a thorough stability analysis has been conducted to demonstrate that the proposed controller satisfies the desired conditions. Finally, simulation results illustrate that the pro-posed method success-fully addresses the limitations of existing methods and exhibits superior performance and robustness. © 2024 IEEE.

关键词： Gantry cranes

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Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse Optimal control 13

Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse O...

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13th Asian control Conference, ASCC 2022

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

ISBN: (纸本)9788993215236

In this paper, a traditional one v.s. one pursuit and evasion scenario is considered. The evader aims to reach her target and avoid being captured by the pursuer, while the pursuer, without the knowledge of the evader's cost function, intends to capture the evader before she successfully escapes. We formulate this problem as a Model Predictive control Decoupled Pursuit and Evasion Game (MPC-DPEG) model with incomplete information. We apply Inverse Optimal control (IOC) technique to estimate the evader's cost function and give a Nash pursuit strategy for MPC-DPEG as the optimal strategy for the pursuer. Numerical examples reveal the improvement of pursuit performance of the Nash pursuit strategy based on the estimated cost function over naive pursuit strategies. © 2022 ACA.

关键词： Simulation Optimal control Games Predictive models Cost function Numerical models Predictive control

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Orientation-based Feature Aggregation for Multi-Target Multi-Camera Tracking

Orientation-based Feature Aggregation for Multi-Target Multi...

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Industrial Cyber-Physical systems (ICPS)

作者： Yansong Gao Jingzheng Tu Cailian Chen Qimin Xu Shanying Zhu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai China

Multi-target multi-camera tracking (MTMCT) is a crucial component in traffic flow analysis for smart transportation systems. MTMCT generates vehicle trajectories from the surveillance videos across the cameras at different intersections. Variable vehicle orientations during the driving process degrade the MTMCT precision. Besides, time-varying traffic flow between cameras could lead to trajectory mismatching under constant travel time constraint algorithms. In this paper, an orientation-based MTMCT method considering time-varying traffic flow is proposed. First, stacked re-identification backbones (SRB) are employed to merge the features extracted by different backbones for generating a discriminative appearance feature. Second, to re-duce the information loss, orientation-based feature aggregation (OFA) is proposed to represent a trajectory consisting of vehicles with different orientations comprehensively. Third, considering the time-varying traffic flow, dynamic spatio-temporal strategy (DSS) is designed to segment the whole videos into time windows and construct fine-grained travel time probability functions to narrow the gap between the model and realistic situation. Experiments validate the effectiveness of the proposed MTMCT method. Our method outperforms other works on the IDP metric.

关键词： Measurement Surveillance Cyber-physical systems Feature extraction Cameras Trajectory Smart transportation

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