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2022 IEEE International Conference on Artificial Intelligence and Computer Applications, ICAICA 2022

作者： Shang, Yaobo Zhang, Dongwei Li, Zhe Liang, Xiaolong Ren, Baoxiang Air Force Engineering University Air Traffic Control and Navigation College Xi'an710051 China Shaanxi Key Laboratory of Meta-Synthesis for Electronic and Information System Xi'an710051 China

ISBN: (数字)9781665499910

ISBN: (纸本)9781665499910

Aiming at the problem of anti-impulse interference in aviation swarms communication system, a time-domain anti-impulse interference algorithm combining nonlinear filtering and interleaving coding is proposed. Firstly, the mathematical model of time-domain impulse interference is established by Middleton Class A model, and then the model is analyzed, and the signal processing methods such as limiting method, punching method and other nonlinear filtering methods are integrated, and the simplified method of channel measurement is obtained. Aiming at the problem of continuous errors caused by continuous pulse interference, a method combining channel coding and outer interleaving is proposed. This method turns continuous errors into random errors through interleaving and deinterleaving, and then uses channel decoding to complete information error correction. Through the analysis and numerical simulation of the demodulation performance of this algorithm, it is proved that it can significantly improve the anti-interference performance of aviation swarms communication system, and it is easy to realize and has good application value. © 2022 IEEE.

关键词： Error correction

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Improved Adaptive Variable Impedance control for Contact Force Tracking

Improved Adaptive Variable Impedance Control for Contact For...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Feili Wei Chaochen Gu Kaijie Wu Hao Cheng Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

The utilization of impedance control is capable of achieving excellent force tracking performance. However, the balance between stability and flexibility is seldom considered in current methods. To address this issue, a novel adaptive variable impedance controller for contact force tracking is proposed in this study. Lyapunov theory is applied to develop an adaptive adjustment law of damping parameter in impedance control to enhance the robot’s adaptability to uncertain environment and dynamic desired force. Additionally, a force compensator is designed based on direct adaptive control to expedite the response of force tracking. What sets this proposed method apart is that it does not require an accurate understanding of environmental parameters. Instead, it dynamically modifies the impedance parameters based on the force error to guarantee the stability and coordination of the system. Simulation results indicate that the proposed controller improves the flexibility and robustness of the force tracking capability of the robot system when compared to existing variable impedance control methods and effectively diminishes force overshoot.

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BEARING-BASED TARGET ENTRAPPING control OF MULTIPLE UNCERTAIN AGENTS WITH ARBITRARY MANEUVERS

arXiv

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arXiv 2023年

作者： Su, Haifan Yang, Ziwen Zhu, Shanying Chen, Cailian Yu, Wenbin Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the leaders move with the predesigned trajectories, and the followers are steered by an estimation-based control method, integrating a distance estimator using bearing measurements and a stress matrix-based formation controller. The signum functions are used to compensate for the uncertainties so that the agents’ accelerations can be piecewise continuous and bounded to track the desired dynamics. With proper design of the leaders’ trajectories and a geometric configuration, an affine matrix is determined so that the persistently exciting conditions of the inter-agent relative bearings can be satisfied since the bearing rates are related to different weighted combinations of the affine matrix vectors. The asymptotic convergence of the estimation error and control error is proved using Filipov properties and cascaded system theories. A sufficient condition for inter-agent collision avoidance is also proposed. Finally, simulation results are given to validate the effectiveness of the method in both 2D and 3D cases. Copyright © 2023, The Authors. All rights reserved.

关键词： Acceleration

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Non-contact Detection of Vital Sign Based on ICCEMDAN-SpEn Combined with Wavelet Threshold Denoising

Non-contact Detection of Vital Sign Based on ICCEMDAN-SpEn C...

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International Conference on Microwave and Millimeter Wave Technology Proceedings

作者： Wan Li Binkun Liu Chunhua Zhu Key Laboratory of Grain Information Processing and Control Henan University of Technology Ministry of Education Henan Key Laboratory of Grain Photoelectric Detection and Control Henan University of Technology Henan Engineering Laboratory of Grain Condition Intelligent Detection and Application Henan University of Technology Zhengzhou China

ISBN: (数字)9798350389968

ISBN: (纸本)9798350389975

The detection of vital signs, especially respiratory rate and heartbeat rate, is of great significance for clinical diagnosis, daily health assessment and disaster rescue. In recent years, millimeter wave based non-contact vital sign detection has become a research hotspot. Aiming to overcome the noise influence of the target signal on the detection accuracy, one improved ICEEMDAN based on sample entropy (ICCEMDAN-SpEn) combined with wavelet threshold denoising is proposed. Firstly, the adaptive noise extraction ability of ICEEMDAN is analyzed to isolate all intrinsic mode function (IMF) components of the noisy target signals, and the sample entropy is introduced as the threshold to select the main IMFs; then wavelet threshold denoising is proposed to relieve the noise adaptively, which can better deal with the nonlinear and non-stationary signal; finally, IMFs after wavelet threshold denoising are reconstructed to attain target signals. The experimental results show that the proposed method can effectively relieve the noise contained in the vital sign signals and estimate the respiratory rate and heartbeat rate of human body accurately.

关键词： Heart beat Noise reduction Noise Millimeter wave technology Millimeter wave measurements Wavelet analysis Entropy

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Gifts from Gallery: Advancing Image Retrieval via Unsupervised Asymmetric Feature Fusion

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IEEE Transactions on Multimedia 2025年

作者： Zhou, Wengang Wu, Hui Wang, Min Li, Houqiang University of Science and Technology of China CAS Key Laboratory of Technology in Geospatial Information Processing and Application System Department of Electronic Engineering and Information Science Hefei230027 China Hefei Comprehensive National Science Center Institute of Artificial Intelligence Hefei230030 China

Asymmetric retrieval systems, characterized by the deployment of models with varying capacities on platforms with differing computational and storage resources, pose a challenge in balancing retrieval efficiency and accuracy. The recent introduction of the Asymmetric Feature Fusion (AFF) paradigm has shown promise by enhancing existing asymmetric retrieval systems through feature fusion on the gallery side. However, its reliance on extensive human-annotated data hinders practical applicability. To this end, we introduce an innovative unsupervised training method tailored for AFF. Leveraging multiple gallery models as feature extractors, our approach exploits similarities among images encoded by these models as pseudolabels. For each gallery model, we calculate its adaptive weight through an in-depth exploration of contextual relationships among ranking list images in its embedding spaces. Subsequently, these weights are utilized to effectively fuse the image similarities encoded by different gallery models into a more robust one. The fused image similarities provide powerful pseudo-supervision for training AFF. Our unsupervised training approach enhances the generality and utility of AFF in real-world scenarios, particularly when labeled data is limited or expensive to obtain. Exhaustive experiments on various landmark retrieval datasets demonstrate the superiority of our method. © 1999-2012 IEEE.

关键词： Multimedia systems

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Integrated Guidance and control Design Subject to Actuator Saturation Based on Fully Actuated system Approach

Integrated Guidance and Control Design Subject to Actuator S...

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

作者： Lin Yang Yuanlong Li Department of Automation Shanghai Jiao Tong University Shanghai P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

Based on fully actuated system approach, this paper proposes a design scheme for integrated guidance and control systems subject to actuator saturation. By elimination elevation-order way, the integrated guidance and control model in the pitch channel is transformed into a high-order fully actuated system with uncertain disturbances and actuator saturation. Firstly, a disturbance observer is constructed to estimate the disturbances generated by model nonlinearities, unknown target maneuvers, variations of aerodynamic parameters, etc. Then, an observer-based fully actuated controller is designed to stabilize the integrated guidance and control system and perform disturbance attenuation. Since the missile’s deflection angle for pitch control is constrained by actuator saturation, an anti-windup compensator is introduced into the designed fully actuated controller to reduce the negative impact of saturation. Moreover, the stability conditions of the closed-loop system are established by the Lyapunov stability theory and the invariant set principle. Finally, a numerical simulation is provided to verify the effectiveness of the proposed design scheme.

关键词： Actuators Missiles control design Estimation Numerical simulation Disturbance observers Stability analysis

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K-BMPC: Derivative-based Koopman Bilinear Model Predictive control for Tractor-Trailer Trajectory Tracking with Unknown Parameters

arXiv

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arXiv 2023年

作者： Wang, Zehao Zhang, Han Wang, Jingchuan Department of Automation Institute of Medical Robotics 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 Shanghai200240 China

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the original control-affine system. Further, we analyze the propagation and bounds of state prediction errors caused by the truncation in derivative order. The identified finite dimensional Koopman bilinear model would serve as predictive model in the next step. Koopman Bilinear Model Predictive control (K-BMPC) is proposed to solve the trajectory tracking problem. We linearize the bilinear model around the estimation of the lifted state and control input. Then the bilinear Model Predictive control problem is approximated by a quadratic programming problem. Further, the estimation is updated at each iteration until the convergence is reached. Moreover, we implement our algorithm on a tractor-trailer system, taking into account the longitudinal and side slip effects. The open-loop simulation shows the proposed Koopman bilinear model captures the dynamics with unknown parameters and has good prediction performance. Closed-loop tracking results show the proposed K-BMPC exhibits elevated tracking precision with the commendable computational efficiency. The experimental results demonstrate the feasibility of K-BMPC. © 2023, CC BY-NC-SA.

关键词： Model predictive control

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Underwater Transducer Simulation Software Based on Finite Element Method

Underwater Transducer Simulation Software Based on Finite El...

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OCEANS

作者： Junwei Wang Zhong Luo Duo Teng Guolei Zhu School of Marine Science and Technology National Key Laboratory for Underwater Information Processing and Control Northwestern Polytechnical University Xi'an China

To remove the limitation of the special technical threshold in simulating or designing the transducer, an underwater transducer simulation software (UTS) is developed. UTS utilizes the interactive operation and the parametric design to achieve the automatic solution of the transducer. The finite element technology is the essences of UTS. In this study, the ANSYS processes are encapsulated by the ANSYS Parametric Design Language (APDL) macro and the JAVA language to achieve the electroacoustic simulations of a Tonpilz transducer. The results indicate that UTS is qualified in the transducer simulations.

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Citywide package deliveries via crowdshipping:minimizing the efforts from crowdsourcers

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Frontiers of Computer Science 2022年第5期16卷 57-69页

作者： Sijing CHENG Chao CHEN Shenle PAN Hongyu HUANG Wei ZHANG Yuming FENG College of Computer Science Chongqing UniversityChongqing 400044China Centre de Gestion Scientifigue-I3-UMR CNRS 9217 Mines ParisTechPSL Research UniversityParis 75272France Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Three Gorges UniversityChongqing 404100China

Most current crowdsourced logistics aim to minimize systems cost and maximize delivery capacity,but the efforts of crowdsourcers such as drivers are almost *** the delivery process,drivers usually need to take long-distance detours in hitchhiking rides based package *** this paper,we propose an approach that integrates offline trajectory data mining and online route-and-schedule optimization in the hitchhiking ride scenario to find optimal delivery routes for packages and ***,we propose a two-phase framework for the delivery route planning and *** the first phase,the historical trajectory data are mined offline to build the package transport *** the second phase,we model the delivery route planning and package-taxi matching as an integer linear programming problem and solve it with the Gurobi *** that,taxis are scheduled to deliver packages with optimal delivery paths via a newly designed scheduling *** evaluate our approach with the realworld datasets;the results show that our proposed approach can complete citywide package deliveries with a high success rate and low extra efforts of taxi drivers.

关键词： crowdshipping hitchhiking rides dynamic delivery optimization package delivery taxi scheduling

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A Pricing Rule for Third-Party Platoon Coordination Service Provider

arXiv

引用

arXiv 2022年

作者： Bai, Ting Johansson, Alexander Li, Shaoyuan Mårtensson, Jonas The Key Laboratory of System Control and Information Processing Ministry of Education The Department or Automation Shanghai Jiao Tong University Shanghai200240 China

We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services. This paper studies one class of pricing rules, where the third-party service provider keeps part of the platooning profit each time a platoon is formed. Furthermore, we propose a platoon coordination solution based on distributed model predictive control in which the pricing rule is integrated. To evaluate the effect of the pricing on the platooning system, we perform a simulation over the Swedish road network. The simulation shows that the platooning rate and profit highly depend on the pricing. This suggests that pricing needs to be set carefully to obtain a satisfactory platooning system in the future. Copyright © 2022, The Authors. All rights reserved.

关键词： Profitability

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