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

作者： Huixin Zhang Guangming Wang Xinrui Wu Chenfeng Xu Mingyu Ding Masayoshi Tomizuka Wei Zhan 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 Department of Engineering University of Cambridge Cambridge U.K. UC Berkeley Berkeley CA USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper introduces a 3D point cloud sequence learning model based on inconsistent spatio-temporal propagation for LiDAR odometry, termed DSLO. It consists of a pyramid structure with a spatial information reuse strategy, a sequential pose initialization module, a gated hierarchical pose refinement module, and a temporal feature propagation module. First, spatial features are encoded using a point feature pyramid, with features reused in successive pose estimations to reduce computational overhead. Second, a sequential pose initialization method is introduced, leveraging the high-frequency sampling characteristic of LiDAR to initialize the LiDAR pose. Then, a gated hierarchical pose refinement mechanism refines poses from coarse to fine by selectively retaining or discarding motion information from different layers based on gate estimations. Finally, temporal feature propagation is proposed to incorporate the historical motion information from point cloud sequences, and address the spatial inconsistency issue when transmitting motion information embedded in point clouds between frames. Experimental results on the KITTI odometry dataset and Argoverse dataset demonstrate that DSLO outperforms state-of-the-art methods, achieving at least a 15.67% improvement on RTE and a 12.64% improvement on RRE, while also achieving a 34.69% reduction in runtime compared to baseline methods. Our implementation will be available at https://***/IRMVLab/DSLO.

关键词： Point cloud compression Solid modeling Laser radar Accuracy Three-dimensional displays Runtime Logic gates Robot sensing systems Real-time systems Odometry

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Enhancing Scheduling Efficiency of Steel Logistics Parks by Optimized Storage Distribution

Enhancing Scheduling Efficiency of Steel Logistics Parks by ...

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2023 China Automation Congress, CAC 2023

作者： Xu, Zhibin Zheng, Song Wang, Jinlong Xu, Zhezhuang Chen, Boyu Zhang, Qingdong 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 Sansteel Minguang Co. Ltd. Sanming353000 China

ISBN: (纸本)9798350303759

The efficient management of storage has become a critical determinant of operational efficiency due to the growing and diverse demand for steel logistics parks. However, the current storage methods consistently result in significant imbalances in the loading of steel products and operating times across multiple yards. To address this challenge, we propose optimizing the distribution of steel products based on demand levels and retrieval efficiency. Firstly, we present an optimization problem that employs demand-driven storage principles to formulate the scheduling of steel product storage. Then, we introduce a novel algorithm called the Adaptive Preferred Evolutionary Heuristic (APEH) to tackle this problem. The results from our experiments indicate that this model effectively enhances the storage structure, and the proposed algorithm consistently yields optimal solutions within a reasonable timeframe. © 2023 IEEE.

关键词： Optimization

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PCB Defect Detection Method Based on Improved RetinaNet 1

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4th International Conference on Machine Learning for Cyber Security, ML4CS 2022

作者： Xu, Yusheng Cao, Xinrong Hu, Rong Keikhosrokiani, Pantea Li, Zuoyong College of Computer Science and Mathematics Fujian University of Technology Fuzhou350118 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Minjiang University Fuzhou350121 China School of Computer Sciences Universiti Sains Malaysia Penang11800 Malaysia

ISBN: (数字)9783031200991

ISBN: (纸本)9783031200984

In the electronic industry product quality control, PCB defect detection is a crucial part, which has the characteristics of small defect size and high similarity. The existing defect detection methods are still not good enough for detecting small target defects;therefore, the algorithm in this paper proposes an improved algorithm for PCB defect detection based on the RetinaNet model. The ResNet-D residual structure and efficient channel focus module are introduced in the model backbone network to enhance its feature extraction capability and achieve the purpose of improving the detection accuracy. At the same time, the method replaces the original multi-step learning decay strategy with a cosine annealing scheduling learning strategy, which optimizes the training process of the model. Finally, the performance of the method is verified on the publicly available PCB defect dataset from the Open laboratory of Intelligent Robotics, Peking University. The experimental results show that the algorithm improves the mAP value by 3.2% compared with the original algorithm, while the fastest detection speed reaches 36.9 FPS, which can effectively improve the defect detection performance of PCB. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Defects

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Influence of beam stepping control and pointing deviation on image quality of spaceborne sliding spotlight SAR 3

Influence of beam stepping control and pointing deviation on...

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3rd China International SAR Symposium, CISS 2022

作者： Zeng, Tian Li, Zheng Yang, Wei Men, Zhirong Beihang University School of Electronic and Information Engineering Beijing China Aerospace Information Research Institute Chinese Academy of Sciences Beijing China Key Laboratory of Technology in Geospatial Information Processing and Application System Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350398717

ISBN: (纸本)9798350398717

Sliding spotlight mode is widely used in spaceborne SAR to achieve high resolution. However, due to the difficulty for antenna beam to scan continuously, it usually works by step scanning, which leads to paired-echo in SAR images. Meanwhile, the pointing of the antenna often deviates from the preset value when scanning, resulting in an increase in the amplitude of the paired echo. This paper works on the effect of beam stepping control and pointing deviation on image quality of Ka band spaceborne sliding spotlight SAR. Firstly, the azimuth echo signal in sliding spotlight mode under the beam stepping control and pointing deviation is modeled. Then, the influence of beam stepping control and pointing deviation is analyzed by using the paired-echo theory, and the quantitative relationship between beam granularity and pointing deviation and paired-echo is presented. Finally, the validity of the theoretical analysis is verified by computer simulation. The method in this paper provides a reliable basis for the design of parameters in spaceborne sliding spotlight SAR system. © 2022 IEEE.

关键词： Synthetic aperture radar

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Optimal Linear Attack in Cyber-Physical systems with Periodic Detection

Optimal Linear Attack in Cyber-Physical Systems with Periodi...

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IEEE Conference on Decision and control

作者： Jia Qi Chongrong Fang Jianping He Dept. of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

Security issues are of significant importance for cyber-physical systems (CPS), where the attack design is a major concern. Most related studies on attack design implicitly consider that the control period and detection period are the same. However, the two periods could be different in practical systems with remote detection such as supervisory control and data acquisition (SCADA) systems, which could lead to new vulnerabilities for attackers. In this paper, we consider the design of innovation-based linear attack strategies for CPS when the control period and detection period are inconsistent. Specifically, we propose an attack framework that consists of attack strategies for detection and non-detection instants under the period discrepancy. On this basis, we design the optimal stealthy innovation-based linear attack strategies for state estimation and LQG control to maximize the estimation error or control cost, respectively. Simulations are given to demonstrate the effectiveness of the proposed attack strategies.

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Toward Understanding How the Saturation Effect Impacts the Spread of Computer Viruses 6

Toward Understanding How the Saturation Effect Impacts the S...

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6th International Conference on Electronic Engineering and Informatics, EEI 2024

作者： Zhang, Xianxiu Feng, Yuming Yang, Yi Zhang, Baojie School of Computer Science and Engineering Chongqing Three Gorges University Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Wanzhou404100 China School of Three Gorges Artificial Intelligence Chongqing Three Gorges University Chongqing Wanzhou404100 China

ISBN: (纸本)9798350353594

It is well known that people who know the presence of network viruses will defend against them, and the more computer viruses are detected and the more measures are taken. However, most previous computer virus propagation models have completely ignored the saturation effect. This paper investigates how the saturation effect impacts the transmission of electronic virus. For this purpose, a new transmission model of network virus is proposed, in which the virus is not very prevalent. Under certain conditions, there is a global asymptotical stable equilibrium point with no virus in this model. Finally, we give several numerical examples to exhibit that sufficient saturation effect is greatly conducive to containing network viruses. © 2024 IEEE.

关键词： Coronavirus

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LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map

arXiv

引用

arXiv 2024年

作者： Wu, Xinrui Xu, Jianbo Hu, Puyuan Wang, Guangming Wang, Hesheng 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 Shanghai200240 China Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom

— Localization using a monocular camera in the pre-built LiDAR point cloud map has drawn increasing attention in the field of autonomous driving and mobile robotics. However, there are still many challenges (e.g. difficulties of map storage, poor localization robustness in large scenes) in accurately and efficiently implementing cross-modal localization. To solve these problems, a novel pipeline termed LHMap-loc is proposed, which achieves accurate and efficient monocular localization in LiDAR maps. Firstly, feature encoding is carried out on the original LiDAR point cloud map by generating offline heat point clouds, by which the size of the original LiDAR map is compressed. Then, an end-to-end online pose regression network is designed based on optical flow estimation and spatial attention to achieve real-time monocular visual localization in a pre-built map. In addition, a series of experiments have been conducted to prove the effectiveness of the proposed method. Our code is available at: https://***/IRMVLab/LHMaploc. Copyright © 2024, The Authors. All rights reserved.

关键词： Optical radar

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An Efficient Phase Noise Elimination Method to Facilitate Cost-effective 100/200G Coherent PON

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Journal of Lightwave Technology 2025年

作者： Chen, Yifan Wang, Chen Yu, Jianjun Long, Jianyu Sang, Bohan Li, Fan Sun Yat-Sen University School of Electronics and Information Technology Guangdong Provincial Key Laboratory of Opto-Electronic Information Processing Chips and Systems Guangzhou510275 China Fudan University State Key Laboratory of ASIC and System Shanghai200433 China

In the field of passive optical networks (PONs), coherent sinking has emerged as a significant topic, particularly in the context of cost and complexity improvements. We experimentally demonstrate a cost-effective 100-/200-Gbits/s/λ coherent PON system employing dual-polarization quadrature phase shift keying (DP-QPSK) and 16-ary quadrature amplitude modulation (DP-16QAM). To achieve cost reductions in coherent PON implementations, we employ low-cost distributed feedback lasers (DFBs) as the sole active light sources, replacing the much more expensive external cavity lasers (ECLs) at both the optical line terminal (OLT) and the optical network units (ONUs). To effectively address the performance penalty associated with phase noise (PN) of DFBs characterized by MHz-class linewidths, a straightforward carrier phase recovery (CPR) is proposed via embedding a one-tap carrier phase estimator (CPE) with gradient-descent algorithm into a 4×4 multiple-input multiple-output (MIMO) equalizer following the least-mean square algorithm (LMS). This approach simplifies the structure and enables more precise cancellation of PN. We conduct a transmission performance comparison at 32 Gbaud between our proposed scheme and the blind phase searching algorithm (BPS) for single-carrier (SC) signals, as well as between our method and the frequency-domain pilot-tone carrier phase recovery (FPT-CPR) for two-sub-band digital subcarrier multiplexing (DScM) signals. Experimental results demonstrate the corresponding power budgets of 38.1, 30.8, 36.5, and 29.1 dB for SC-QPSK/16QAM and DScM-QPSK/16QAM at the 20% soft-decision forward error correction (SD-FEC) threshold of 2×10-2. Furthermore, complexity analysis of these phase noise estimation (PNE) methods reveals the superiority of our proposed scheme in balancing performance and computational complexity. © 1983-2012 IEEE.

关键词： Passive optical networks

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Adaptive SOM neural network algorithm 3

Adaptive SOM neural network algorithm

引用

3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing, AIAHPC 2023

作者： Wang, Xin Yan, Taishan School of Information Science and Engineering Hunan Institute of Science and Technology Hunan Yueyang China Hunan Institute of Science and Technology School of Information Science and Engineering China Key Laboratory of Hunan Province on Intelligent Control and Optimization of Complex Industrial Logistics System Hunan Yueyang China

ISBN: (数字)9781510666580

ISBN: (纸本)9781510666573

In order to improve the performance of traditional SOM model, an adaptive SOM neural network algorithm is proposed. By introducing the error square sum solution formula, the clustering error of the model sub-data set is calculated by using the method of cutting the data set, and the change trend of the clustering error is quickly obtained. Then the learning rate of the SOM network is adaptively adjusted according to this, and the convergence speed is accelerated on the basis of ensuring that the network is fully trained, thereby improving the performance of the SOM network. © 2023 SPIE.

关键词： Errors

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Model-Based Reinforcement Learning for Robotic Arm control with Limited Environment Interaction 13

Model-Based Reinforcement Learning for Robotic Arm Control w...

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13th IEEE International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2023

作者： Chen, Yi Sun, Xiao Zheng, Song Huang, Weibing Zeng, Sheng Chen, Dan Xu, Zhezhuang College of Electrical Engineering and Automation Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou University Education Department of Fujian Province Fuzhou350000 China Evomotion Co. Ltd. Shenzhen Guangdong518000 China

ISBN: (纸本)9798350315196

Reinforcement Learning (RL) has been applied to robotic arm control, which enables the agent to learn an effective policy to solve complex tasks. However, it requires constant interaction with the environment leading to low sample efficiency. In this paper, we propose a robotic arm control approach based on planning via lookahead search, which is a model-based RL algorithm to improve the sample efficiency. The approach builds an environment model in order to obtain the dynamics of the environment. Thus the model can be used to plan future actions by a tree-based search. The experiments show that our approach can solve the task of robotic arm control with less environmental samples. © 2023 IEEE.

关键词： Robotic arms

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