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第34届中国控制与决策会议

作者： Yuwen Xia Chaochen Gu Kaijie Wu Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

RGBD images,which refer to the three-channel color images augmented with depth channel,have been greatly exploited to improve the performance of scene semantic *** semantic segmentation task is of great significance to help the development of robot navigation and ***,most existing methods addressing RGBD semantic segmentation lack effective feature fusion *** address the aforementioned problem,we propose a novel network with two novel modules for feature fusion,namely Channel-Attention based Complementary Feature Fusion Module(CAC-FFM) and Cross-Layer Feature Fusion Module(CL-FFM).Specifically,CAC-FFM,which is essentially based on the channel-attention mechanism,effectively utilizes the complementary information of RGB and depth to generate fusion features,and CL-FFM captures patch-wise features from low-level feature maps to assist the training of high-level features so as to further optimize the segmentation *** results on the publicly available NYUDv2 dataset validate the effectiveness and superiority of our proposed method.

关键词： RGBD semantic segmentation NYUDv2

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General Sparse Normalization and Proportionate ASE Algorithms 5

General Sparse Normalization and Proportionate ASE Algorithm...

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5th IEEE International Conference on Electronic information and Communication Technology, ICEICT 2022

作者： Hadi, Abdul Peng, Yan Qadir, Abdul Li, Yingsong Khan, Khushal College of Information and Communication Engineering Harbin Engineering University Harbin China Anhui Province Key Laboratory of Target Recognition and Feature Extraction LuAn230088 China Anhui University Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education China College of Intelligent System and Control Science Engineering Harbin Engineering University China

ISBN: (数字)9781665472111

ISBN: (纸本)9781665472111

Andrew's Sine Estimator (ASE) has recently been used to invent adaptive filtering, which can combat more kind of noises than conventional estimators. Inspired by the LMS and its sparse forms, normalization and proportionate ASE algorithms with Lawson constraints are constructed with the respective given names of Lawson normalization ASE (LNASE) and Lawson proportionate NASE (LPNASE). Simulations are performed to analyze the performance of these algorithms under impulsive noise. © 2022 IEEE.

关键词： Impulse noise

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Active Target Tracking Using Bearing-only Measurements With Gaussian Process Learning

arXiv

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arXiv 2024年

作者： Fu, Yingbo Yang, Ziwen Zhu, Shanying Guo, Yi Chen, Cailian The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

This paper studies the tracking problem of a target with the partially unknown motion model by an active agent with bearing-only measurements using Gaussian process learning. To address this problem, a learning-planning-control framework is proposed. First, to learn and predict the target motion under mild assumptions, a Gaussian-process-based scheme is proposed, and a probabilistic uniform prediction error bound can be rigorously proved. Second, by analyzing the data dependence of the posterior covariance, we obtain an optimal relative trajectory to achieve efficient sampling. Third, to realize efficient learning, a controller to track the planned path is proposed based on the learned target motion, which can provide guaranteed tracking performance. Theoretical analysis is conducted to prove the the given probabilistic error bounds. Numerical examples and comparison with other typical methods verify the feasibility and superior performance of our proposed framework. Copyright © 2024, The Authors. All rights reserved.

关键词： Target tracking

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Energy-Efficiency Resource Allocation for D2D Communications Under-Laying UAV Networks 13th

Energy-Efficiency Resource Allocation for D2D Communications...

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13th International Conference on Computer Engineering and Networks, CENet 2023

作者： Zhao, Pan Chen, Liuyuan Jiang, Zhiliang Han, Ming Yuan, Fucai Li, Aocheng Jia, Xiangyuan Fu, Xinqi Han, Jingqi Han, Jiaqi College of Mechanical and Electrical Engineering Henan University of Technology Zheng Zhou450001 China Henan Aerospace Hydraulic and Pneumatic Technology Co. Ltd. Zhengzhou China Key Laboratory of Grain Information Processing and Control Ministry of Education Henan University of Technology Zhengzhou China Key Laboratory of Henan Province for Grain Photoelectric Detection and Control Henan University of Technology Zhengzhou China School of Applied Science Taiyuan University of Science and Technology Taiyuan China

ISBN: (纸本)9789819992386

Device-to-Device (D2D) communications under-laying Unmanned aerial vehicle (UAV) with its mobility extend the coverage and improve system capacity and flexible networking capabilities. However, the energy-efficiency are major challenge in UAV-assisted D2D networks. In this paper, the joint power and channel optimization problem has been investigated to maximize the system energy efficiency. Using the properties of objective function, the original optimization problem is transformed into two sub-problems. In the first step, the optimal power allocation problem is solved by using the Nash balance point of non-cooperative Game theory. In the second step, the channel allocation problem is constructed into a Bipartite graph, and then the Hungarian algorithm is used to find the best matching. The numerical simulation results show that the proposed scheme not only improves the energy efficiency of the system but also enhances the spectral efficiency. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： Energy efficiency

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Safety-Aware Scheduling of Real-Time control systems with Burst Computing Tasks

SSRN

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SSRN 2024年

作者： Cheng, Ting Liang, Yonghui Xu, Qimin Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai200240 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

In industrial sites, multiple real-time control systems often share computing resources. However, burst computing tasks may lead to the dropping of control computing subtasks, resulting in potential hazards. To address this issue, we propose a safety-aware task scheduling scheme. When burst computing tasks are triggered, this scheduling scheme adaptively releases resources from low-criticality control computing subtasks, ensuring the timely completion of burst computing tasks and keeping the control system state deviation within a safe threshold. To achieve the scheduling scheme, we propose an efficient algorithm called ADP-Opt. It decouples the complex original problem into multiple subproblems, which greatly reduces the search space and improves the solution efficiency. In the suboptimization problem, safety is maintained by limiting the upper bound of the system state's deviation to below the threshold. By introducing a penalty term in the cost function related to computing resources, we aim to balance the impact of control computing subtasks on control performance and the consumption of computing resources. Consequently, the overall cost of the control system can be minimized while releasing enough resources for burst computing tasks. Simulation results show that the scheduling decisions made by ADP-Opt can approach the optimal decision by approximately 99% efficiently. © 2024, The Authors. All rights reserved.

关键词： Cost functions

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High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain

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Chinese Journal of Aeronautics 2021年第5期34卷 652-665页

作者： Kang XU Shoukun WANG Junzheng WANG Xiuwen WANG Zhihua CHEN Jinge SI School of Automation Beijing Institute of Technology.Beijing 100081China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China Key Laboratory Ministry of Industry and Information Technology Beijing Institute of TechnologyBeijing 100081China

There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is ***,the hybrid control framework,which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion,is also *** on this framework,robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator(GG).Additionally,by using Whole-Body control(WBC)of framework,robot has the capability of flexibly accommodating the uneven terrain by Attitude control(AC)kinematically adjusting the length of legs like an active suspension system,and by Force/torque Balance control(FBC)equally distributing the Ground Reaction Force(GRF)to maintain a stable *** simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog ***,to smoothly demonstrate the performance of robot transporting heavy loads,the experiment of carrying 3-person load of about 240 kg is deployed.

关键词： Attitude control Gait generation High-adaption locomotion Obstacle avoidance Planetary exploration robot

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Anti-occlusion Object Tracking Algorithm using Response Template Fusion and Combined Features

Anti-occlusion Object Tracking Algorithm using Response Temp...

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第35届中国控制与决策会议

作者： Jing Wang Yuan Wei Yisong Liu Weichao Huang Ming Hu Faculty of Printing Packaging Engineerring And Digital Media Technology Xi'an University of Technology Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

The kernel correlation filtering algorithm cannot judge the occlusion by itself when the object is occluded byforeign objects,and the tracking performance is greatly *** at this problem,this paper proposes an anti-occlusion object tracking algorithm that fuses response templates and combined *** peak sidelobe ratio(PSR) is used to determine whether the object is *** the object is partially occluded,a combined feature representation object model is introduced to enhance robustness,and a multi-response template with anti-occlusion performance is constructed to improve the performance of the object when it is occluded by foreign *** problem of reducing the available information,thereby improving algorithm *** in the OTB-100 data set can prove that the success rate and accuracy of the algorithm have competitive results compared with the comparison algorithms.

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Fault Diagnosis of Discrete-Event systems under Non-Deterministic Observations with Output Fairness

arXiv

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arXiv 2022年

作者： Dong, Weijie Gao, Shang Yin, Xiang Li, Shaoyuan Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China

In this paper, we revisit the fault diagnosis problem of discrete-event systems (DES) under non-deterministic observations. Non-deterministic observation is a general observation model that includes the case of intermittent loss of observations. In this setting, upon the occurrence of an event, the sensor reading may be non-deterministic such that a set of output symbols are all possible. Existing works on fault diagnosis under non-deterministic observations require to consider all possible observation realizations. However, this approach includes the case where some possible outputs are permanently disabled. In this work, we introduce the concept of output fairness by requiring that, for any output symbols, if it has infinite chances to be generated, then it will indeed be generated infinite number of times. We use an assume-guarantee type of linear temporal logic formulas to formally describe this assumption. A new notion called output-fair diagnosability (OF-diagnosability) is proposed. An effective approach is provided for the verification of OF-diagnosability. We show that the proposed notion of OF-diagnosability is weaker than the standard definition of diagnosability under non-deterministic observations, and it better captures the physical scenario of observation non-determinism or intermittent loss of observations. Copyright © 2022, The Authors. All rights reserved.

关键词： Failure analysis

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Cooperative formation tracking for heterogeneous multi-UAVs with faulty sensors of leader measurement

Cooperative formation tracking for heterogeneous multi-UAVs ...

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第43届中国控制会议

作者： Yan Lv Xiao Gong Ruohan Yang Jiayue Fang Shuo Miao Zhichao Feng Yue Yu Key laboratory of information system and technology Beijing institute of control and electronic technology School of Electronics and Information Northwestern Polytechnical University The Rocket Force University of Engineering

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper focuses on cooperative formation tracking problem of heterogeneous leader-following multi-UAVs with faulty sensors where the faulty sensors of the followers can only measure the partial output of the ***,the kinematic models of heterogeneous multi-UAVs based on the individual speed response time constants are ***,by utilizing the output regulation method,a formation controller based on a distributed observer is proposed based on partial outputs obtained by the faulty sensors of the *** should be noted that the proposed controller can achieve formation tracking of UAVs with faulty sensors to the leader ***,a simulation example is performed to check out the validation of the proposed methods.

关键词： Heterogenous UAVs cooperative formation control sensor faults output regulation

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Infinite-Horizon Optimal Wireless control Over Shared State-Dependent Fading Channels for IIoT systems

arXiv

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arXiv 2024年

作者： Wang, Shuling Li, Peizhe Zhu, Shanying Chen, Cailian Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai200240 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

Heterogeneous systems consisting of a multiloop wireless control system (WCS) and a mobile agent system (MAS) are ubiquitous in Industrial Internet of Things systems. Within these systems, the positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise its performance, requiring joint coordination between the WCS and MAS. Such coordination introduces different time steps and hybrid state spaces consisting of logical components and continuous components. This paper focuses on the infinite-horizon optimal control of MAS to ensure the performance of WCS while minimizing an average cost for the heterogeneous system subject to safety constraints. A state-dependent fading channel is modeled to capture interference among transmission links, as well as the effects of mobile agents’ movements on successful wireless transmission. In order to address the heterogeneous system dynamics, the optimal control problem is formulated as the optimal constrained set stabilization of the MAS by establishing a necessary and sufficient condition for the Lyapunov-like performance of WCS with the expected decay rates. Using the semi-tensor product of matrices, a constrained optimal state transition graph is constructed to encode the constrained system dynamics as well as objective function, which further reduces the problem into a minimum-mean cycle problem for the graph. By studying the properties of the graph, the feasibility is proven, and an effective algorithm is proposed for the construction of optimal input sequences. An illustrative example is provided to demonstrate effectiveness of the proposed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Tensors

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