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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Huang, Yinghao Zhang, Kaihua Wang, Jing Cai, Yunze Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Shanghai Academy of Spaceflight Technology Shanghai201100 China

ISBN: (纸本)9789811581540

Aiming at track association before and after multi-target track interruption, a track associating method on the basis of transitive closure fuzzy clustering is proposed. Firstly, the method converts the traditional track fuzzy similarity matrix into a fuzzy equivalent matrix by squaring method, and split sub-blocks of the equivalent matrix. Then the method calculates final track correlation matrix based on correlating threshold function related to track interruption duration, and obtains correct track association by the correlation matrix. The simulation proves that, the proposed method improves association accuracy comparing with other association algorithms based on fuzzy theory, and presents a more significant advantage in the case that targets maneuver and tracks cross. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fuzzy clustering

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Semantic Segmentation of 3D Liver Image Based on Multi-Path Features Attention Mechanism

Semantic Segmentation of 3D Liver Image Based on Multi-Path ...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Jiang, Zhihui Zhang, Xiaolong Deng, He Ren, Hongwei Wuhan University of Science and Technology Hubei Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan China Wuhan University of Science and Technology Medical Imaging Research Center Tianyou Hospital Affiliated Wuhan China

ISBN: (纸本)9798350337020

It is challenging to precisely segment the liver from surrounding organs in medical images because of the poor contrast between them. A method of semantic segmentation of 3D liver images based on multi-path features attention mechanism is proposed to address this issue. It integrates three-dimensional spatial information and feature information from several paths in the model to automatically segment the liver area. The model in this paper uses the LiTS dataset for training, testing, and ablation experiments, and compares the results with previous models. The experimental results demonstrate that the model in this paper has reached 0.965 in the DICE similarity coefficient, and has also improved in evaluation indicators such as volume overlap error (VOE) and root mean square symmetric surface distance (RMSD). It also has better segmentation performance when tested on the CHAOS dataset. Cross-validation was carried out on the clinical MRI dataset of a hospital, and the DICE similarity coefficient reached 0.971. The results show that the model has good performance on the multi-modal datasets of CT and MRI. © 2023 IEEE.

关键词： 3D medical image attention mechanism deep learning liver image semantic segmentation

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Higher order implicit CNDG-PML algorithm for left-handed materials

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Journal of systems Engineering and Electronics 2021年第1期32卷 31-37页

作者： CHEN Yanfang WANG Liwei School of Electrical and Information Engineering Tianjin UniversityTianjin 300072China Tianjin Key Laboratory of Intelligent Information Processing in Remote Sensing Tianjin Zhongwei Aerospace Data System Technology Co.Ltd.Tianjin 300450China

By incorporating the higher order concept,the piecewise linear recursive convolution(PLRC)method and CrankNicolson Douglas-Gunn(CNDG)algorithm,the unconditionally stable complex frequency shifted nearly perfectly matched layer(CFS-NPML)is proposed to terminate the left-handed material(LHM)*** proposed scheme takes advantages of CFSNPML formulation,the higher order concept PLRC method and the unconditionally stable CNDG algorithm in terms of absorbing performance,computational efficiency,calculation accuracy and convenient implementation.A numerical example is carried out to demonstrate the effectiveness and efficiency of the proposed *** results indicate that the proposed scheme can not only have considerable absorbing performance but also maintain the unconditional stability of the algorithm with the enlargement of time steps.

关键词： complex frequency shifted nearly perfectly matched layer(CFS-NPML) Crank-Nicolson Douglas-Gunn(CNDG) left-handed material(LHM) piecewise linear recursive convolution(PLRC)

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SoftNeRF: A Self-Modeling Soft Robot Plugin for Various Tasks

SoftNeRF: A Self-Modeling Soft Robot Plugin for Various Task...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Jiwei Shan Yirui Li Qiyu Feng Ditao Li Lijun Han Hesheng Wang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Building a self-model for robots, enabling them to simulate their physical selves and predict future states without direct interaction with the physical world, is crucial for robot motion planning and control. Existing self-modeling methods primarily focus on rigid robots and typically require significant time, effort, and resources to gather training data. In this study, we introduce SoftNeRF, a self-supervised visual self-model designed for soft robots. We use a hybrid neural shape representation based on the Signed Distance Function (SDF) to capture both the geometry and complex nonlinear motion of soft robots. By leveraging differentiable rendering, our method learns a self-model from readily available RGB images, similar to how humans understand their physical state through reflection. To improve training efficiency and model accuracy, we propose an error-guided adaptive sampling strategy. SoftNeRF can serve as a plug-in for various downstream tasks, even when trained with data unrelated to those tasks. We demonstrate SoftNeRF’s ability to support shape prediction and motion planning for robots in both simulated and real-world environments. Furthermore, SoftNeRF excels in detecting and recovering from damage, thereby enhancing machine resilience. Code is available at: https://***/irmvlab/soft-nerf.

关键词： Training Visualization Adaptation models Accuracy Shape Training data Soft robotics Rendering (computer graphics) Sampling methods Planning

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Short-term load forecasting for buildings based on dynamic weighted edRVFL model

Short-term load forecasting for buildings based on dynamic w...

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2024 China Automation Congress, CAC 2024

作者： Xie, Junwei Yuan, Meng Xu, Zhezhuang Liu, Chi Xia, Yuxiong College of Electrical Engineering and Automation Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China Fujian Huading Intelligent Manufacturing Technology Co. Ltd. Fuzhou350000 China

ISBN: (纸本)9798350368604

Short-term load forecasting of buildings plays a key role in demand management, however, when dealing with massive data, the prevalent practice of training and testing the system as a whole overlooks pattern variations inside data and potentially limits predictive performance. To address this issue, this paper proposes an ensemble deep random vector functional link (edRVFL) model that combines adaptive ensemble clustering and dynamic weighting strategy for load forecasting of an industrial building. Firstly, the adaptive ensemble clustering that combines ordering points to identify the clustering structure and K nearest neighbor is employed to determine the electricity load usage patterns. Subsequently, the improved particle swarm optimization algorithm is applied to adjust the weights of load curves in different typical day scenarios. Finally, a dynamic weighting strategy is designed to dynamically assign model weights to two clusters, where one matches the type of predicted load pattern for the day being forecasted and another for the cluster of the previous day. The experiment in a real building verifies the effectiveness of the proposed algorithm, which has higher prediction accuracy than other comparison algorithms including one-week interval and different ensemble clustering. © 2024 IEEE.

关键词： Particle swarm optimization (PSO)

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Robust optimization-based fusion of GNSS and Visual-Inertial-Wheel Odometry

Robust optimization-based fusion of GNSS and Visual-Inertial...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Hou, Jake Jie Wu, Xinrui Shan, Jiwei Li, Dun Wang, Hesheng Shanghai Jiao Tong University Department of Automation China Shanghai Karlang Industrial Nantong Intelligent Technology Co. Ltd China Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

SLAM is significant to autonomous mobile robots. In order to realize drift-free state estimation and provide accurate localization results for the subsequent navigation, we develop an optimization-based framework consisting of a high-frequency Inertial-Wheel Odometry(IWO), Visual-Inertial-Wheel Odometry(VIWO) and a global fusion module. To fuse the local state with the position provided by GNSS, we perform ternary edge in factor graph optimization to estimate the transformation between the local frame and ENU coordinate. Thanks to the tightly-coupled VIWO, the localization property of the odometry presents more robustness, and improve the accuracy of global fusion. A noise repropagation strategy is introduced to ensure the consistency of the IMU and wheel odometer. We evaluate the proposed system on public datasets and test it in real-world scenario. The experimental results show that our system achieves accurate pose estimation in outdoor environments. © 2022 IEEE.

关键词： Frequency estimation

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DEEP UNFOLDING NETWORK FOR SPARSE SAR IMAGING BASED ON COMPOUND REGULARIZATION

DEEP UNFOLDING NETWORK FOR SPARSE SAR IMAGING BASED ON COMPO...

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IET International Radar Conference 2023, IRC 2023

作者： Zhou, Guoru Xu, Zhongqiu Fan, Yizhe Zhang, Zhe Zhang, Bingchen Wu, Yirong Aerospace Information Research Institute Chinese Academy of Sciences Beijing China Key Laboratory of Technology in Geo-spatial Information Processing and Application System 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

How to get an accurate image of multi-class targets scene is the key to synthetic aperture radar (SAR) imaging research. In sparse SAR imaging, compound regularization constrains multi-class target features by setting multiple regularizations prior to the model. However, the solution method based on a traditional iterative algorithm needs to set parameters manually and has a large number of iterations. In this paper, a novel SAR imaging method for the l1 norm and the total variation (TV) compound regularization based on a deep unfolding network (DUN) is proposed. The l1 norm and TV compound regularization can promote the sparsity and despeckle at the same time. Besides, the deep unfolded network can learn iteration parameters in a data-driven manner to speed up convergence. Finally, real SAR data experiments can verify the effectiveness of the proposed method. © The Institution of Engineering & Technology 2023.

关键词： Radar imaging

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Research on low energy task allocation and scheduling algorithm based on imprecise heterogeneous multi-core technology

Research on low energy task allocation and scheduling algori...

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2022 IEEE International Conference on systems, Man, and Cybernetics, SMC 2022

作者： Gu, Haonan Wu, Jing Hu, Wei Ma, Tianao Wuhan University of Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System College of Computer Science and Technology Wuhan China

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

In heterogeneous embedded systems, we try to find a new non real-time scheduling algorithm, which can not only meet the reliability requirements, but also achieve low energy consumption. 'Resource reservation time deterministic cyclic scheduling (RRTDCS)' algorithm is a kind of scheduling for offline cache pre-allocation. This scheduling algorithm combines time reservation and priority strategy. The algorithm can dynamically adjust according to different task sets. It can also adjust its own scheduling process to adapt to different scheduling environments. The periodic cyclic strategy enables low power consumption in task allocation. In the experimental part, we compared the algorithm proposed in this paper with the current mainstream real-time scheduling scheme. Experimental results show that RRTDCS algorithm has better performance. © 2022 IEEE.

关键词： Scheduling

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Communication and Computation Resource Allocation for Digital Twin in IIoT systems

Communication and Computation Resource Allocation for Digita...

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2021 China Automation Congress, CAC 2021

作者： Ren, Cheng Chen, Cailian Li, Peizhe Guan, Xinping Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

ISBN: (纸本)9781665426473

In order to construct the digital twin (DT) of the manufacturing process in industrial IoT (IIoT) systems, multiple sensors and IIoT equipments (IIEs) are deployed for process monitoring (PM) and other tasks. Heterogeneous data generated from different tasks are transmitted through the shared wireless network to edge computing devices (ECDs) for further decisions. However, either communication or computation resources are limited in industrial environment, which should be allocated efficiently. In this paper, in order to improve the overall efficiency for DT construction, we adjust transmission power, allocate bandwidth and determine computing resource allocation for various tasks, which are jointly optimized by formulating a mixed integer nonlinear programming (MINLP) problem. We decompose the original problem into two subproblems and propose a value-of-information (Vol) based algorithm for PM tasks. Then, we characterize the relationship between state estimation convergence for PM and the maximum allowed offloading aomunt for other computation tasks at each time slot. Based on that relationship, we determine the transmission power and the computing resource allocation policy for IIEs. Finally, simulation results prove that our method can improve the overall efficiency while guaranteeing state estimation convergence requirements for PM systems and stability of computation task queues for other tasks. © 2021 IEEE

关键词： Resource allocation

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DDS-SLAM: Dense Semantic Neural SLAM for Deformable Endoscopic Scenes

DDS-SLAM: Dense Semantic Neural SLAM for Deformable Endoscop...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Jiwei Shan Yirui Li Lujia Yang Qiyu Feng Lijun Han Hesheng Wang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Estimating camera motion and continuously reconstructing dense scenes in deformable environments presents a complex and open challenge. Many existing approaches tend to rely on assumptions about the scene’s topology or the nature of deformable motion. However, these assumptions do not hold true in medical endoscopy applications. To address these challenges, we introduce DDS-SLAM, a novel dense deformable semantic neural SLAM that achieves accurate camera tracking, continuous dense scene reconstruction, and high-quality image rendering in deformable scenes. First, we propose a novel hybrid neural scene representation method capable of capturing both natural and artificial deformations. Additionally, by leveraging the 2D semantic information of the scene, we introduce a semantic loss function based on semantic distance fields. This approach guides network optimization at a higher level, thereby enhancing system performance. Furthermore, we validate our method through a series of experiments conducted on several representative medical datasets, demonstrating its superiority over other state-of-the-art approaches. The code is available at: https://***/IRMVLab/DDS-SLAM.

关键词： Simultaneous localization and mapping Tracking system performance Semantics Cameras Rendering (computer graphics) Topology Image reconstruction Optimization Biomedical imaging

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