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学者姓名：张利国
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Abstract ：
This paper studies the state estimation problem for a class of coupled linear ODE-hyperbolic PDE systems with unknown in-domain parameters. Based on the swapping transformation and the least squares parameter estimation method, a Luenberger-type adaptive boundary observer is designed to estimate the ODE-PDE states under the unknown parameters. The exponential convergence conditions w.r.t. the observer feedback gains are given by employing the Lyapunov technique. Finally, an application to traffic state estimation of the Aw-Rascle-Zhang (ARZ) model involving the unknown relaxation time and the boundary input speed deviation is provided to validate the theoretical result. (c) 2024 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.
Keyword ：
Adaptive observers Adaptive observers Lyapunov method Lyapunov method Hyperbolic systems Hyperbolic systems Swapping transformation Swapping transformation Coupled ODE-PDE systems Coupled ODE-PDE systems
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| GB/T 7714 | Zhang, Liguo , Wu, Jiahao , Zhan, Jingyuan . Adaptive observer design for coupled ODE-hyperbolic PDE systems with application to traffic flow estimation [J]. | AUTOMATICA , 2024 , 167 . |
| MLA | Zhang, Liguo 等. "Adaptive observer design for coupled ODE-hyperbolic PDE systems with application to traffic flow estimation" . | AUTOMATICA 167 (2024) . |
| APA | Zhang, Liguo , Wu, Jiahao , Zhan, Jingyuan . Adaptive observer design for coupled ODE-hyperbolic PDE systems with application to traffic flow estimation . | AUTOMATICA , 2024 , 167 . |
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Abstract ：
This article studies the problem of adaptive boundary observer design for a class of linear hyperbolic partial differential equations (PDEs) subject to in-domain and boundary parameter uncertainties. Based on the swapping transformation technique, a Luenberger-type boundary observer with the least squares parameter estimation law is designed, which relies only on the measurements at boundaries of the system. By employing the Lyapunov function method, we prove that the exponential convergence of the proposed boundary observer design scheme is guaranteed when the observer gains satisfy a set of matrix inequality conditions. Finally, we illustrate the effectiveness of the adaptive estimation scheme by applying it to the linearized Aw-Rascle-Zhang traffic flow model involving the in-domain relaxation time and boundary flux fluctuation uncertainties.
Keyword ：
Observers Observers Adaptive systems Adaptive systems hyperbolic PDEs hyperbolic PDEs Adaptive boundary observer Adaptive boundary observer Convergence Convergence Aw-Rascle-Zhang (ARZ) traffic flow model Aw-Rascle-Zhang (ARZ) traffic flow model swapping transformation swapping transformation Lyapunov methods Lyapunov methods Linear matrix inequalities Linear matrix inequalities Adaptation models Adaptation models Parameter estimation Parameter estimation
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| GB/T 7714 | Wu, Jiahao , Zhan, Jingyuan , Zhang, Liguo . Adaptive Boundary Observers for Hyperbolic PDEs With Application to Traffic Flow Estimation [J]. | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2024 , 69 (1) : 651-658 . |
| MLA | Wu, Jiahao 等. "Adaptive Boundary Observers for Hyperbolic PDEs With Application to Traffic Flow Estimation" . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL 69 . 1 (2024) : 651-658 . |
| APA | Wu, Jiahao , Zhan, Jingyuan , Zhang, Liguo . Adaptive Boundary Observers for Hyperbolic PDEs With Application to Traffic Flow Estimation . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2024 , 69 (1) , 651-658 . |
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Abstract ：
Recent research has demonstrated that Vision Transformers (ViTs) are capable of comparable or even better performance than convolutional neural network (CNN) baselines. The differences in their structural designs are obvious, but our understanding of the differences in their feature representations remains limited. In this work, we propose several techniques to achieve high-quality visualization of representations in ViTs. Both qualitative and quantitative experiments show that our technical improvements can observably improve ViT visualization quality compared to previous studies. Furthermore, we conduct visualizations to explore the disparities between ViTs and CNNs pre-trained on ImageNet1K, revealing three intriguing properties of ViTs: a) ViT feature propagation retains image detail information with minimal loss, whereas CNNs discard most image details for class discrimination. b) Different from CNNs, object-related features do not show in ViT higher layers, suggesting that class-discriminative features may not be required for ViT classification. c) Our visualization-assisted texture-bias experiment reveals that both ViTs and CNNs exhibit texture bias, of which ViTs seem to be more biased towards local textures.
Keyword ：
optimization visualization optimization visualization feature representation feature representation convolutional neural network convolutional neural network Vision Transformer Vision Transformer
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| GB/T 7714 | Shi, Rui , Li, Tianxing , Zhang, Liguo et al. Visualization Comparison of Vision Transformers and Convolutional Neural Networks [J]. | IEEE TRANSACTIONS ON MULTIMEDIA , 2024 , 26 : 2327-2339 . |
| MLA | Shi, Rui et al. "Visualization Comparison of Vision Transformers and Convolutional Neural Networks" . | IEEE TRANSACTIONS ON MULTIMEDIA 26 (2024) : 2327-2339 . |
| APA | Shi, Rui , Li, Tianxing , Zhang, Liguo , Yamaguchi, Yasushi . Visualization Comparison of Vision Transformers and Convolutional Neural Networks . | IEEE TRANSACTIONS ON MULTIMEDIA , 2024 , 26 , 2327-2339 . |
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Abstract ：
本发明公开了一种用于车载视频序列的公路隧道洞内显著线段自动跟踪方法。本发明所特别关注的两条显著线段就是隧道顶部黑暗区域与白色侧壁之间的左右分割边界。通过自动跟踪两条显著线段，并将这两条显著线段的交点作为消隐点，可以减少车载视频中消隐点连续估计的抖动干扰，有效提高LED灯具缺失智能检测的性能，从而大大提高了已有工作的可用性。实验结果表明，采用本发明的技术方案，对公路隧道洞内显著线段的跟踪效果较好，满足了减少连续车载视频中消隐点估计干扰和提高道路隧道中几何信息恢复性能的实际需要。这为隧道照明系统高效验收以及日常养护提供了新的技术手段。
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| GB/T 7714 | 辛乐 , 刘旭东 , 张利国 . 一种基于车载视频序列的公路隧道洞内显著线段自动跟踪方法 : CN202310645883.0[P]. | 2023-06-02 . |
| MLA | 辛乐 et al. "一种基于车载视频序列的公路隧道洞内显著线段自动跟踪方法" : CN202310645883.0. | 2023-06-02 . |
| APA | 辛乐 , 刘旭东 , 张利国 . 一种基于车载视频序列的公路隧道洞内显著线段自动跟踪方法 : CN202310645883.0. | 2023-06-02 . |
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Abstract ：
本文提供了一种基于覆盖区域划分和能耗均衡的传感器网络分簇路由方法，所述方法包括：获取针对传感器节点的网络结构；根据预先设定的汇聚节点，对所述网络结构进行区域划分，得到至少两种节点区域；根据划分得到的节点区域，计算获得每个节点区域中的节点的距离因子和剩余能量因子；根据每个节点的距离因子和剩余能量因子，以及每个节点所在的节点区域，计算获得每个节点的簇头选择阈值；根据预设选择规则和每个节点的簇头选择阈值，确定当前周期内的簇头，其余节点为普通节点，并根据簇头对普通节点进行分簇；针对分簇后的节点执行融合任务，直到下一个周期，方法将网络结构分层处理，能够有效管理传感器节点、降低网络能耗、优化网络资源。
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| GB/T 7714 | 邓恒 , 周佳慧 , 赵峙尧 et al. 基于覆盖区域划分和能耗均衡的传感器网络分簇路由方法 : CN202310558359.X[P]. | 2023-05-17 . |
| MLA | 邓恒 et al. "基于覆盖区域划分和能耗均衡的传感器网络分簇路由方法" : CN202310558359.X. | 2023-05-17 . |
| APA | 邓恒 , 周佳慧 , 赵峙尧 , 张利国 . 基于覆盖区域划分和能耗均衡的传感器网络分簇路由方法 : CN202310558359.X. | 2023-05-17 . |
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Abstract ：
本发明公开了一种基于视觉传感器网络的多运动体三维跟踪与控制平台，包括多摄像机系统、地面控制系统、机载红外反光小球和目标无人机四个主要模块。多摄像机系统包括多个带有红外滤光片的摄像机、用于增强光强度的红外补光源和用于同步多个摄像机图像数据的同步触发器以及一个导航端电脑来运行核心视觉算法。多摄像机相互作用组成一个视觉传感器网络。地面控制系统从多摄像机系统接收导航数据，然后通过无线局域网将控制命令上传到目标无人机。数据传输是利用机器人操作系统ROS的话题订阅和发布机制，对导航数据进行处理、结合参考轨迹和控制器计算出给无人机的控制指令，最后将该指令通过无线局域网发布。
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| GB/T 7714 | 邓恒 , 詹璟原 , 张利国 . 一种基于视觉传感器网络的多运动体三维跟踪与控制平台 : CN202310276977.5[P]. | 2023-03-21 . |
| MLA | 邓恒 et al. "一种基于视觉传感器网络的多运动体三维跟踪与控制平台" : CN202310276977.5. | 2023-03-21 . |
| APA | 邓恒 , 詹璟原 , 张利国 . 一种基于视觉传感器网络的多运动体三维跟踪与控制平台 : CN202310276977.5. | 2023-03-21 . |
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Abstract ：
This paper studies the problem of the adaptive boundary observer design for the Aw-Rascle-Zhang (ARZ) traffic flow model, which is subject to both relaxation time uncertainty in the domain and boundary input disturbance. The boundary input disturbance comes from merging vehicles' velocities at the downstream on-ramp, and we scale the disturbance by a low-pass filter based on the ordinary differential equation (ODE). Then, the ARZ model with the domain uncertainty and boundary input disturbance can be linearized to a coupled ODEPDE system. Based on the swapping transformation, an adaptive boundary observer with least-squares type parameter estimation is designed to estimate the traffic states, the domain uncertainty, and the boundary input disturbance, simultaneously. The exponential convergence conditions w.r.t. observer feedback gains are given by employing the Lyapunov technique. Finally, the simulation results are presented to illustrate the effectiveness of the designed adaptive boundary observer.
Keyword ：
Coupled ODE-hyperbolic PDE Coupled ODE-hyperbolic PDE Lyapunov technique Lyapunov technique ARZ traffic flow model ARZ traffic flow model Uncertain parameter Uncertain parameter Adaptive observer Adaptive observer
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| GB/T 7714 | Wu, Jiahao , Zhan, Jingyuan , Zhang, Liguo . Adaptive boundary observer for ARZ traffic flow model with domain and boundary uncertainties [J]. | IFAC PAPERSONLINE , 2023 , 56 (2) : 8964-8969 . |
| MLA | Wu, Jiahao et al. "Adaptive boundary observer for ARZ traffic flow model with domain and boundary uncertainties" . | IFAC PAPERSONLINE 56 . 2 (2023) : 8964-8969 . |
| APA | Wu, Jiahao , Zhan, Jingyuan , Zhang, Liguo . Adaptive boundary observer for ARZ traffic flow model with domain and boundary uncertainties . | IFAC PAPERSONLINE , 2023 , 56 (2) , 8964-8969 . |
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Abstract ：
This technical note investigates the asynchronous platoon control problem for connected vehicles with intermittent and delayed information transmission under dynamically changing communication topologies. An asynchronous consensus-based protocol is proposed for each vehicle based on the state information of its neighbors at discrete times with communication delays, in which the asynchrony means that each agent updates its dynamics at discrete time instants determined by its own clock. The update intervals and the communication delays are allowed to be arbitrary bounded. We employ nonnegative matrix theory and graph theory to prove that the vehicle platoon asymptotically reaches a desired intervehicle spacing and a common velocity, if the effective communication topology jointly contains a directed spanning tree. Furthermore, we show that the string stability of the platoon control system is attained under the predecessor-following topology. Finally, we present numerical examples to validate the theoretical results.
Keyword ：
switching topology switching topology Asynchronous consensus Asynchronous consensus vehicle platoon. vehicle platoon. communication delay communication delay string stability string stability
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| GB/T 7714 | Zhan, Jingyuan , Zhang, Liguo , Chen, Yangzhou . Asynchronous Platoon Control for Connected Vehicles With Intermittent and Delayed Information Transmission [J]. | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2023 , 68 (11) : 6875-6882 . |
| MLA | Zhan, Jingyuan et al. "Asynchronous Platoon Control for Connected Vehicles With Intermittent and Delayed Information Transmission" . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL 68 . 11 (2023) : 6875-6882 . |
| APA | Zhan, Jingyuan , Zhang, Liguo , Chen, Yangzhou . Asynchronous Platoon Control for Connected Vehicles With Intermittent and Delayed Information Transmission . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2023 , 68 (11) , 6875-6882 . |
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Abstract ：
This paper designs an observer-based output feedback controller for traffic flow with stop-and-go waves and disturbances in order to dissipate traffic congestion. The macroscopic traffic flow dynamics in the congestion regime is described by the linearized Aw-Rascle-Zhang (ARZ) traffic flow model over a time-varying moving spatial domain, and according to the Rankine-Hugoniot condition and the characteristic velocities of the ARZ model, a novel propagation model of the stop-and-go waves is proposed. To stabilize the traffic state and the stop-and-go waves, and to suppress traffic disturbances, an observer-based output feedback controller is designed by using the PDE backstepping method. The controller utilizes the estimated state of an observer, which is constructed based on boundary measurements only. The exponential stability of the closed-loop system in the H-1 norm is proved by the Lyapunov analysis. Finally, the effectiveness of the controller for stabilizing the traffic state with stop-and-go waves and disturbances is verified by numerical simulations.
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| GB/T 7714 | Luan, Haoran , Zhan, Jingyuan , Li, Xiaoli et al. Observer-based Output Feedback Stabilization for Stop-and-Go Waves of Vehicle Traffic Flow [J]. | 2023 62ND IEEE CONFERENCE ON DECISION AND CONTROL, CDC , 2023 : 1100-1105 . |
| MLA | Luan, Haoran et al. "Observer-based Output Feedback Stabilization for Stop-and-Go Waves of Vehicle Traffic Flow" . | 2023 62ND IEEE CONFERENCE ON DECISION AND CONTROL, CDC (2023) : 1100-1105 . |
| APA | Luan, Haoran , Zhan, Jingyuan , Li, Xiaoli , Zhang, Liguo . Observer-based Output Feedback Stabilization for Stop-and-Go Waves of Vehicle Traffic Flow . | 2023 62ND IEEE CONFERENCE ON DECISION AND CONTROL, CDC , 2023 , 1100-1105 . |
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Abstract ：
The distributed algorithm based on consensus is commonly used to track a moving target in wireless sensor networks. In this paper, we try to apply it to cooperative localization by analogizing robots as nodes in a multi-sensor network to build a multi-robot system, robots exchange information between neighbours only, and achieve more precise localization through information fusion. And we detail two distributed algorithms based on consensus. In order to address the problem of low precision caused by the time-varying statistical characteristics of the noise of each subsystem, we proposes an improved distributed state estimation based on consensus-estimation, which use the covariance intersection method to process multi-source data. Finally, we build a simulation platform and a practicality experiment platform, and design experiment schemes to compare the advantages and disadvantages of these algorithms.
Keyword ：
consensus-estimation consensus-estimation CI fusion CI fusion Distributed Kalman filter Distributed Kalman filter Cooperative localization Cooperative localization
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| GB/T 7714 | Yao, Xiansheng , Xin, Le , Deng, Heng et al. Comparative Analysis of Multi-robot Cooperative Localization Technology [J]. | 2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC , 2023 : 2939-2944 . |
| MLA | Yao, Xiansheng et al. "Comparative Analysis of Multi-robot Cooperative Localization Technology" . | 2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC (2023) : 2939-2944 . |
| APA | Yao, Xiansheng , Xin, Le , Deng, Heng , Zhang, Liguo . Comparative Analysis of Multi-robot Cooperative Localization Technology . | 2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC , 2023 , 2939-2944 . |
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