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第42届中国控制会议

作者： Tong Wang Yaping Dai Shuai Shao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In sequential recommender systems,the main problems are the long-tailed distribution of data and noise interference.A Contrastive Framework for Sequential Recommendation(CFSeRec) is proposed to solve these two problems *** shuffling and adversarial attack data augmentation methods are used in the framework to improve the quality and quantity of training data,so that the long-tailed problem is *** the application of projection head method,the sequence representation becomes more general and robust,rather than just adapted to the task of contrastive ***,the impact of noise on sequence recommender systems is effectively *** on four public datasets show that CFSeRec achieves state-of-the-art performance in the metrics of hit ratio and normalized discounted cumulative gain,when comparing to the seven previous frameworks.

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Comprehensive Gear Shift Schedule Design for 2-AMT Electric Vehicles Based on Sparrow Search Algorithm

Comprehensive Gear Shift Schedule Design for 2-AMT Electric ...

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第42届中国控制会议

作者： Tianyi Wang Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

With the aim of 2-AMT electric vehicles,a comprehensive shift schedule that considers both power and economy is ***,the objective function of the comprehensive shift schedule is constructed,which is the weighted sum of vehicle acceleration time and vehicle power consumption per unit ***,Sparrow Search Algorithm is used to solve the objective function and obtain the comprehensive shift ***,AVL Cruise simulation software is used to simulate vehicle dynamics and economy under an *** results show that the comprehensive shift schedule is similar to the optimal power shift schedule in terms of dynamic performance,and the economy is optimized by 3%.The feasibility of the comprehensive shift schedule is verified.

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Task Assignment Scheme Designed for Online Urban Sensing Based on Sparse Mobile Crowdsensing

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IEEE Internet of Things Journal 2025年第11期12卷 17791-17806页

作者： Zeng, Hongjian Xiong, Yonghua She, Jinhua Yu, Anjun China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Tokyo University of Technology School of Engineering Hachioji Tokyo192-0982 Japan Jiangxi Ganyue Expressway Company Ltd. Operation Management Department Jiangxi Nanchang330000 China

Sparse mobile crowdsensing (SMCS) achieves urban-scale environmental sensing by assigning tasks to workers in specific subareas and inferring global data from the collected information. However, the effectiveness of SMCS is often limited because many studies overlook workers’ mobility and data collection time during subarea selection, as well as the time constraints of the sensing cycle in task assignment. This may affect the task completion timeliness and data quality. To address these issues, we develop a subarea evaluation method based on deep reinforcement learning, considering both the temporal effectiveness of sensing tasks and the importance of subarea selection for data inference. Using the subarea evaluation values derived from this method, we establish an online urban sensing task assignment model which is subject to constraints of sensing cycle time and cost budget. This model aims to find the task assignment result that minimizes data inference error by maximizing the comprehensive utility value. Considering the characteristics of the task assignment model, we propose an evolutionary algorithm named OTA-EA, which is based on an improved genetic algorithm. Its enhanced evolutionary operators can avoid generating infeasible solutions while maintaining robust search and optimization performance. Lastly, we conduct experimental evaluations of these methods on the real-world datasets. The results demonstrate that our subarea evaluation method can significantly reduce the data inference error, and our evolutionary task assignment algorithm can achieve better task assignment results than the baseline algorithms. © 2014 IEEE.

关键词： Genetic algorithms

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Targetless Extrinsic Calibration of Camera and Low-resolution 3D LiDAR

TechRxiv

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TechRxiv 2023年

作者： Ou, Ni Cai, Hanyu Yang, Jiawen Wang, Junzheng The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

Autonomous driving heavily relies on LiDAR and camera sensors, which can significantly improve the performance of perception and navigation tasks when fused together. The success of this cross-modality fusion hinges on accurate extrinsic calibration. In recent years, targetless LiDAR-camera calibration methods have gained increasing attention thanks to their independence from external targets. Nevertheless, developing a targetless method for low-resolution LiDARs remains challenging due to the difficulty in extracting reliable features from point clouds with limited LiDAR beams. In this paper, we propose a robust targetless method to solve this struggling problem. It can automatically estimate accurate LiDAR and camera poses and solve the extrinsic matrix through hand-eye calibration. Moreover, we also carefully analyze pose estimation issues existing in the low-resolution LiDAR and present our solution. Real-world experiments are carried out on a UGV-mounted multi-sensor platform containing a CCD camera and a VLP-16 LiDAR. For evaluation, we use a state-of-the-art target-based calibration approach to generate the ground-truth extrinsic parameters. Experimental results demonstrate that our method achieves low calibration error in both translation (3 cm) and rotation (0.59 ◦) [Figure presented]. © 2023, CC BY.

关键词： CCD cameras

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Quantitative analysis of the impact of various urban socioeconomic indicators on search-engine-based estimation of COVID-19 prevalence

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Infectious Disease Modelling 2022年第2期7卷 117-126页

作者： Ligui Wang Mengxuan Lin Jiaojiao Wang Hui Chen Mingjuan Yang Shaofu Qiu Tao Zheng Zhenjun Li Hongbin Song Department of Infectious Disease Prevention and Control Center for Disease Control and Prevention of Chinese People's Liberation ArmyBeijingChina Academy of Military Medical Sciences Academy of Military Science of Chinese PLABeijingChina The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina State Key Laboratory for Infectious Disease Prevention and Control National Institute for Communicable Disease Control and PreventionChinese Center for Disease Control and PreventionBeijingChina

Numerous studies have proposed search engine-based estimation of COVID-19 prevalence during the COVID-19 pandemic;however,their estimation models do not consider the impact of various urban socioeconomic indicators(USIs).This study quantitatively analysed the impact of various USIs on search engine-based estimation of COVID-19 prevalence using 15 USIs(including total population,gross regional product(GRP),and population density)from 369 cities in *** results suggested that 13 USIs affected either the correlation(SC-corr)or time lag(SC-lag)between search engine query volume and new COVID-19 cases(p<0.05).Total population and GRP impacted SC-corr considerably,with their correlation coefficients r for SC-corr being 0.65 and 0.59,*** population,GRP per capita,and proportion of the population with a high school diploma or higher had simultaneous positive impacts on SC-corr and SC-lag(p<0.05);these three indicators explained 37e50%of the total variation in SC-corr and *** for different urban agglomerations revealed that the goodness of fit,R2,for search engine-based estimation was more than 0.6 only when total urban population,GRP per capita,and proportion of the population with a high school diploma or higher exceeded 11.08 million,120,700,and 38.13%,respectively.A greater urban size indicated higher accuracy of search engine-based estimation of COVID-19 ***,the accuracy and time lag for search engine-based estimation of infectious disease prevalence can be improved only when the total urban population,GRP per capita,and proportion of the population with a high school diploma or higher are greater than the aforementioned thresholds.

关键词： Urban socioeconomic indicators Search engine-based estimation Effectiveness evaluation

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Two Degree of Freedom Active Disturbance Rejection control Strategy for Time Delay systems

Two Degree of Freedom Active Disturbance Rejection Control S...

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第42届中国控制会议

作者： Xiyuan Shan Tao Cai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

This paper is concerned with the controller design and the theoretical analysis for time-delay systems,a two degree of freedom(feedforward and feedback) control method is proposed,which combines advantages of the Smith predictor and the active disturbance rejection control(ADRC).The feedforward part of controller is used to track the set point,the feedback part of controller(ADRC) is used to suppress interferences and the Smith predictor is used to correct time *** proposed control design is easy to tune parameters and has been proved to effectively control systems with large time *** bounded input bounded output(BIBO) stability of closed-loop system is ***,numerical simulations show the effectiveness and practicality of the proposed design.

关键词： Time-delay Active Disturbance Rejection control(ADRC) Smith Predictor(SP)

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General Simultaneous Localization and Mapping Scheme for mmWave Communication systems

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IEEE Internet of Things Journal 2024年第12期11卷 22521-22536页

作者： Du, Tao Yang, Jie Wen, Chao-Kai Xia, Shuqiang Jin, Shi Southeast University National Mobile Communications Research Laboratory Nanjing210096 China Southeast University Key Laboratory Of Measurement And Control Of Complex Systems Of Engineering Ministry Of Education The Frontiers Science Center For Mobile Information Communication And Security Nanjing210096 China Institute Of Communications Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan Zte Corporation The State Key Laboratory Of Mobile Network And Mobile Multimedia Technology Shenzhen518055 China Southeast University National Mobile Communications Research Laboratory The Frontiers Science Center For Mobile Information Communication And Security Nanjing210096 China

Utilizing high-resolution antenna arrays and wide bandwidth of the millimeter-wave (mmWave) spectrum in 5G new radio (NR) mmWave communication systems holds the potential for high-throughput data transmission while enabling user localization and environmental mapping. However, the majority of existing simultaneous localization and mapping (SLAM) algorithms rely on methods akin to the extended Kalman filter for generating initial map features. These methods prove ineffective when the measurement dimension is insufficient. Furthermore, there is a notable absence of research exploring mmWave prototype systems to evaluate and compare the performance and viability of various SLAM algorithms. To address these challenges, we propose an innovative probability hypothesis density (PHD) generation scheme for birth events and have developed a prototype system. Our approach, referred to as PHD-SLAM, exhibits remarkable effectiveness even in scenarios where the measurement dimension falls short of map features. This means it can function seamlessly with only delay or angle information available. Additionally, we have designed a 28GHz mmWave beam scanning prototype system that leverages the 5G NR frame for accomplishing SLAM algorithms. Following this, we conducted extensive simulations and experimental evaluations to gauge the performance of several leading-edge SLAM algorithms under diverse mmWave circumstances, encompassing PHD-based and belief propagation (BP) SLAM algorithms. Our analysis reveals that both PHD and BP SLAM can achieve agent localization precision within a decimeter and mapping precision within a meter, capitalizing on the angle parameters of mmWave signals. While BP SLAM showcases reduced computational demand, its estimation precision is marginally inferior to that of PHD-SLAM. © 2014 IEEE.

关键词： Belief propagation

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Finite-time Robust Fault-tolerant Trajectory Tracking control for QUAVs with Actuator Fault 7

Finite-time Robust Fault-tolerant Trajectory Tracking Contro...

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7th International Conference on Robotics, control and Automation Engineering, RCAE 2024

作者： Xia, Rongsheng Bu, Chunlei Jiang, Han Chery Automobile Stock Limited Company Wuhu241006 China Anhui University of Technology School of Electrical and Information Engineering Ma'Anshan243032 China Anhui University of Technology Key Laboratory of Multidisciplinary Management and Control of Complex Systems of Anhui Higher Education Institutes Ma'Anshan243002 China

ISBN: (纸本)9798350355642

This paper proposed a finite-time robust fault-tolerant trajectory tracking control strategy for quadrotor unmanned aerial vehicles (QUAVs) suffering from actuator saturation, unknown external disturbance and actuator fault. Firstly, robust compensation terms are used to handle unknown external disturbance in position subsystem. On this basis, parameter adaptive method is introduced to remove the adverse effects of actuator saturation in attitude subsystem. Then, a fault detection mechanism is designed to estimate the actuator fault in real time. Subsequently, a finite-time robust fault-tolerant tracking strategy based on backstepping framework are proposed and and the finite-time convergence of all error signals are ensurend. Finally, a numerical simulation result is displayed to validate the effectiveness of the proposed trajectory tracking control scheme for the QUAVs dynamic system. © 2024 IEEE.

关键词： Backstepping

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Electric dual variable pump controlled hydraulic motor

Electric dual variable pump controlled hydraulic motor

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第42届中国控制会议

作者： Jianmin Yang Junzheng Wang Shanshuai Niu State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast ***,due to the inherent nonlinearity of multiplication,it brings certain difficulties to the *** electric double-variable pump[1] is a dual-input single-output system,and it is a nonlinear system[2].It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the *** this paper,an intelligent control rule is proposed for the nonlinear problem of double input and single *** backstepping design[3],the nonlinear system is transformed into multiple linear *** the original system is turned into two independent subsystems with single input and single output,which are controlled *** co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the *** results show that the response speed of the system has been greatly improved.

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A novel robotic visual perception framework for underwater operation

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Frontiers of Information Technology & Electronic Engineering 2022年第11期23卷 1602-1619页

作者： Yue LU Xingyu CHEN Zhengxing WU Junzhi YU Li WEN State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Ytech Kuaishou TechnologyBeijing 100085China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Underwater robotic operation usually requires visual perception(e.g.,object detection and tracking),but underwater scenes have poor visual quality and represent a special domain which can affect the accuracy of visual *** addition,detection continuity and stability are important for robotic perception,but the commonly used static accuracy based evaluation(i.e.,average precision)is insufficient to reflect detector performance across *** response to these two problems,we present a design for a novel robotic visual perception ***,we generally investigate the relationship between a quality-diverse data domain and visual restoration in detection *** a result,although domain quality has an ignorable effect on within-domain detection accuracy,visual restoration is beneficial to detection in real sea scenarios by reducing the domain ***,non-reference assessments are proposed for detection continuity and stability based on object ***,online tracklet refinement is developed to improve the temporal performance of ***,combined with visual restoration,an accurate and stable underwater robotic visual perception framework is ***-overlap suppression is proposed to extend video object detection(VID)methods to a single-object tracking task,leading to the flexibility to switch between detection and *** experiments were conducted on the ImageNet VID dataset and real-world robotic tasks to verify the correctness of our analysis and the superiority of our proposed *** codes are available at https://***/yrqs/VisPerception.

关键词： Underwater operation Robotic perception Visual restoration Video object detection

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