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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Ma, Jijun Guo, Yulong Wang, YuNing Shi, Yongkang Beijing Research Institute of Telemetry Beijing100074 China 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 Department of Automation Shanghai200240 China Research Institute of Telemetry Beijing China

ISBN: (纸本)9798331506230

The coarse pointing assembly (CPA), as the outer loop of the laser terminal, its tracking stability is the basis for ensuring laser communication. This paper presents the model of the CPA. Aiming at the disturbance factors in the low-speed operation process of the CPA, an active disturbance rejection control (ADRC) method for the position loop of the CPA is designed based on the generalized proportional integral observer (GPIO) to achieve disturbance compensation control. Finally, simulations are carried out on the system model. The simulation results show that compared with the PID control strategy adopted, the proposed ADRC strategy based on GPIO of the CPA can effectively improve the tracking accuracy. © 2024 IEEE.

关键词： Disturbance rejection

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Real-Time Trajectory Planning for On-road Autonomous Tractor-Trailer Vehicles

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Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 722-730页

作者： SHEN Qiyue WANG Bing WANG Chunxiang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

Tractor-trailer vehicles,which are composed of a car-like tractor towing a passive trailer,have been widely deployed in the transportation industry,and trajectory planning is a critical step in enabling such a system to drive *** to the properties of being highly nonlinear and nonholonomic with complex dynamics,the tractor-trailer system poses great challenges to the development of motion-planning *** this study,an indirect trajectory planning framework for a tractor-trailer vehicle under on-road driving is presented to deal with the problem that the traditional planning framework cannot consider the feasibility and quality simultaneously in real-time trajectory generation of the tractor-trailer *** indirect planning framework can easily handle complicated tractor-trailer dynamics and generate high-quality,obstacle-free trajectory using quintic polynomial spline,speed profile optimization,forward simulation,and properly designed cost *** under different driving scenarios and trajectories with different driving requirements are conducted to validate the performance of the proposed framework.

关键词： trajectory planning tractor-trailer vehicle forward simulation on-road driving

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Integrated Optical Communication and Distributed Sensing systems

Integrated Optical Communication and Distributed Sensing Sys...

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2024 Photonic Networks and Devices, NETWORKS 2024

作者： Lu, Chao Wang, Jingchuang Chen, Shaoyi Yan, Yaxi Li, Tianrui Lu, Liwang Wu, Yichang Huang, Wenjin Lau, Alan Pak Tao Li, Zhaohui Photonic Research Institute Department of Electrical and Electronic Engineering The Hong Kong Polytechnic University Hung Hom Kowloon Hong Kong Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems School of Electronic and Information Technology Sun Yat-Sen University Guangzhou519082 China

Recent work on integrating sensing functions into optical communication systems is described. The developed techniques are expected to enhance the reliability of optical networks and enable a range of applications in ... 详细信息

关键词： Marine applications

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Unified Addressing Algorithm for Tasks in Cloud control systems 41

Unified Addressing Algorithm for Tasks in Cloud Control Syst...

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第41届中国控制会议

作者： Guan Wang Yufeng Zhan Yuanqing Xia Liping Yan Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information Science and Engineering University of ZaoZhuang

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the rapid development of cloud computing and control theory,a new paradigm of networked control systems named cloud control systems has been proposed to satisfy the requirements of large-scale and complex *** is critical to manage large-scale tasks with personalized needs on the large number of heterogeneous ***,current TCP/IPbased addressing approach does not consider the runtime constraints of tasks,resulting highly concurrent service search,and communication between tasks will become the system *** this paper,we propose a task property encoding method which takes multi-dimensional properties into *** on the proposed encoding method,we design a uniform addressing method for tasks in the ***,we experimentally demonstrate the effectiveness of task property encoding,and the unified addressing method for tasks is more effective than other methods in the case of high task concurrency.

关键词： Cloud control systems address encoding cloud-edge-device cooperation

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Port and Radiation Pattern Decoupled Microstrip Antennas Using Shorting Vias

Port and Radiation Pattern Decoupled Microstrip Antennas Usi...

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2023 Cross Strait Radio Science and Wireless Technology Conference, CSRSWTC 2023

作者： Liu, Guang Yao Yang, Nan Leung, Kwok Wa City University of Hong Kong State Key Laboratory of Terahertz and Millimeter Waves Department of Electrical Engineering Kowloon Hong Kong CityU Shenzhen Research Institute Information and Communication Technology Centre Shenzhen518057 China Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Guangzhou510006 China

ISBN: (纸本)9798350358971

In this paper, a microstrip antenna array using shorting vias is presented with port and radiation pattern decoupling. Shorting vias on the passive patch introduce an opposite current component, canceling the original coupling currents and obtaining the decoupling of antenna elements. To verify the decoupling method, a sample is designed at 3.6 GHz. The measured port isolation of the decoupled antenna array is more than 25.7 dB. It should be highlighted that the radiation patterns of decoupled antenna elements are all along the broadside direction, defined as the radiation pattern decoupling effect. © 2023 IEEE.

关键词： Antenna decoupling microstrip antenna (MA) mutual coupling radiation pattern decoupling

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Deep convolutional autoencoder thermography for artwork defect detection

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Quantitative InfraRed Thermography Journal 2024年第6期21卷 367-383页

作者： Liu, Yi Wang, Fumin Liu, Kaixin Mostacci, Miranda Yao, Yuan Sfarra, Stefano Institute of Process Equipment and Control Engineering Zhejiang University of Technology Hangzhou China Shanxi Key Laboratory of Signal Capturing & Processing North University of China Taiyuan China Professional Restorer Celano Italy Department of Chemical Engineering National Tsing Hua University Hsinchu Taiwan Department of Industrial and Information Engineering and Economics University of L’Aquila L’Aquila Italy

Infrared thermography is a cost-effective non-destructive evaluation technique that plays a critical role in extracting information about defects in cultural heritage such as works of art. However, in-depth studies on the internal structure of contemporary artworks using infrared thermography remain lacking, and therefore, a deep convolutional autoencoder thermography (DCAT) data analysis method is proposed for defect detection of contemporary artworks. In the proposed method, original data are enhanced by convolution to reduce the noise and inhomogeneous background in the original thermal images;subsequently, a deep autoencoder is used to extract nonlinear features from the enhanced thermographic data, and the results of the hidden layer are visualised. These visualised images highlight information regarding the internal structure and defects of the artwork. The case study on a handmade replica of Picasso’s ‘La Bouteille de Suze’, reproduced exactly as the original, has shown that DCAT significantly improved the accuracy of defect detection when compared with that of commonly used methods. © 2023 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Nondestructive examination

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Beyond Boundaries: Learning a Universal Entity Taxonomy across Datasets and Languages for Open Named Entity Recognition 31

Beyond Boundaries: Learning a Universal Entity Taxonomy acro...

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31st International Conference on Computational Linguistics, COLING 2025

作者： Yang, Yuming Zhao, Wantong Huang, Caishuang Ye, Junjie Wang, Xiao Zheng, Huiyuan Nan, Yang Wang, Yuran Xu, Xueying Huang, Kaixin Zhang, Yunke Gui, Tao Zhang, Qi Huang, Xuanjing School of Computer Science Fudan University China Honor Device Co. Ltd. Institute of Modern Languages and Linguistics Fudan University China Pengcheng Laboratory China Research Institute of Intelligent Complex Systems Fudan University China Shanghai Key Laboratory of Intelligent Information Processing China

ISBN: (纸本)9798891761964

Open Named Entity Recognition (NER), which involves identifying arbitrary types of entities from arbitrary domains, remains challenging for Large Language Models (LLMs). Recent studies suggest that fine-tuning LLMs on extensive NER data can boost their performance. However, training directly on existing datasets neglects their inconsistent entity definitions and redundant data, limiting LLMs to dataset-specific learning and hindering out-of-domain adaptation. To address this, we present B2NERD, a compact dataset designed to guide LLMs' generalization in Open NER under a universal entity taxonomy. B2NERD is refined from 54 existing English and Chinese datasets using a two-step process. First, we detect inconsistent entity definitions across datasets and clarify them by distinguishable label names to construct a universal taxonomy of 400+ entity types. Second, we address redundancy using a data pruning strategy that selects fewer samples with greater category and semantic diversity. Comprehensive evaluation shows that B2NERD significantly enhances LLMs' Open NER capabilities. Our B2NER models, trained on B2NERD, outperform GPT-4 by 6.8-12.0 F1 points and surpass previous methods in 3 out-of-domain benchmarks across 15 datasets and 6 languages. The data, models, and code are publicly available at https://***/UmeanNever/B2NER. © 2025 Association for Computational Linguistics.

关键词： Taxonomies

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IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using Wheel-Encoder and Inertial-RGB-Depth Measurements 30

IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using ...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Liu, Yuanhao Liang, Wei Wang, Chu Zhang, Xin Gao, Huanbing Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China School of Information and Electrical Engineering Shandong Jianzhu University Jinan China Shandong Key Laboratory of Intelligent Buildings Technology Jinan China

ISBN: (纸本)9798350391916

Safe & smart move (SSM) aims to help industrial vehicular robot (IVR), such as warehousing robots, running safely and smartly by detecting the obstacles in front and maintaining a safe distance & attitude. However, the traditional SSM methods suffer the drawbacks of limited ranges, inaccurate regression of safety distance & orientation between the robot and the forward unexpected obstacles, and the inappropriate IVR control strategies. To solve these issues, this paper designs an innovative real-time safety-aware framework using the complementary Wheel-Encoder and Inertial-RGB-Depth measurements to ensure the IVR running safely, reasonably and reliably. To estimate the robot running states, we take advantages of the complementary wheel encoder, monocular RGB images and inertial measurements to obtain the robot positions, orientations, angular and linear velocities in a tightly-coupled manner. To improve the safety relative distance & attitude estimation accuracy, we exploit the RGB and depth measurements in a task-oriented fashion. The forward obstacles with the specific contours are detected using the Mask-RCNN model, followed by the Gaussian Mixture Model to obtain the forward obstacle depth. Eventually, an IVR control strategy is designed to maintain the robot safety distance and orientation, and to keep the minimum damage to the robot mechanical system. The presented method has been evaluated on the developed industrial vehicular robot safety perception platform. The experimental results prove the competitiveness against the state-of-the-art methods. © 2024 IEEE.

关键词： Industrial robots

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Fog Images Generation About Unmanned Surface Vessels with Improved Generative Adversarial Network 42

Fog Images Generation About Unmanned Surface Vessels with Im...

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42nd Chinese control Conference, CCC 2023

作者： Tang, Yifeng Huang, Zhihui Tang, Chuancong Luo, Chuanshang Xu, Yifan Liu, Bin Zhang, Hai-Tao School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control Wuhan430074 China The State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9789887581543

This paper proposes a fog weather data augmentation method for the unmanned surface vessels (USVs) via improved Generative Adversarial Network(GAN) model. First, a generator scheme for GAN is proposed with the guided generation of the atmospheric scattering model in this paper. A Laplacian Pyramid Based Depth Residuals model is added to the generator which reduces the difficulty of generating fog images caused by the degradation of water surface image and improves the quality of generated images. Finally, fog images are generated from sunny weather images collected with HUST-12C by LPBDR-GAN model and experiments show that generated images are very close to real fog images. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Generative adversarial networks

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Toward Cable-Driven Continuum Robots: Micro-Motion Augmentation Using Eccentrically Arranged Fibres with Eccentric Lumens

Toward Cable-Driven Continuum Robots: Micro-Motion Augmentat...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Lin, Zecai Zhou, Cheng Zou, Yun Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Micro-motion augmentation of macro-motion continuum robot can largely enhance its micro-operation capability during surgery. However, most existing micro-motion continuum robots have non-compact mechanical structure or non-smooth micro tip motion, which leads to complicated control in micro lumens. This paper proposes a micro-motion augmentation method by rotating eccentrically arranged fibres with eccentric lumens for cable-driven continuum robots. Two thermal drawn polymer fibres with an eccentric lumen on each are inserted into its eccentric lumens of the continuum robot. The micro-motion mechanism relies on small changes in the neutral axis of the continuum robot due to the rotation of the eccentrically arranged fibres. A kinematic model considering variable neural axis is built to describe the micro motion, and a simulation is conducted to investigate the deformation characteristics. The resolution and micro motion with respect to different structural parameters are also analysed. Detailed experiments are performed to validate the effectiveness of the proposed method, and results indicate that the repeatability of micro-motion is 10.1 μm (4.0 %). © 2024 IEEE.

关键词： Robotic surgery

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