检索结果-内蒙古大学图书馆

RF-Fusion: Robust and fine-grained volumetric panoptic mapping system with multi-level data fusion for robots

Information Fusion 2025年 122卷

作者： Zhang, Jialin Yuan, Xianfeng Wang, Chaoqun Song, Yong Nie, Wenfeng Zhou, Fengyu Sheng, Weihua School of Mechanical Electrical & Information Engineering Shandong University Weihai264209 China Shandong Key Laboratory of Intelligent Electronic Packaging Testing and Application Weihai264209 China School of Control Science and Engineering Shandong University Jinan250100 China Institute of Space Sciences Shandong University Weihai264209 China School of Electrical and Computer Engineering Oklahoma State University StillwaterOK74078 United States

For mobile robots to autonomously traverse the scene and perform interactions with the environment, perceiving and understanding the surroundings is essential. Many current incremental panoptic mapping frameworks rely on depth map segmentation algorithm to discover 3D objects. However, depth maps cannot reflect the information of objects with vanishing relative depths, and the depth map acquired by a consumer-grade RGB-D camera degrades with increasing distance, adversely affecting algorithm performance when relying solely on this input. This paper presents a novel incremental panoptic mapping framework that deals with the above problems by fusing multi-source information. We first propose a panoptic mask fusion algorithm to discover 3D objects by fusing information from color images and depth maps, which not only notably reduces the impact of long-distance depth map degradation, but also additionally discovers objects with relatively low depth. To further improve the mapping accuracy, a 3D instance fusion algorithm that incorporates semantic information, geometric information and priori knowledge is designed to achieve map regularization. Extensive experiments demonstrate that compared to the state-of-the-art incremental panoptic mapping framework, our method improves the average panoptic quality of thing classes by 4.1% and 3% on the SceneNN and ScanNet v2 dataset, respectively. Our approach even discovers many objects that are not annotated in the datasets, but are truly present. Furthermore, evaluations were conducted on a robot platform in different real-world scenarios characterized by low-depth objects and significant depth map degradation, demonstrating the reliability of our approach for real robot environment perception. © 2025 Elsevier B.V.

关键词： Data fusion

来源：评论

学校读者我要写书评

暂无评论

Sensing With Random Communication Signals

arXiv

引用

arXiv 2025年

作者： Lu, Shihang Liu, Fan Xiong, Yifeng Du, Zhen Cui, Yuanhao Li, Shuangyang Yuan, Weijie Yang, Jie Jin, Shi National Mobile Communications Research Laboratory Southeast University Nanjing210096 China School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China School of Electronic and Information Engineering Nanjing University of Information Science and Technology Nanjing210044 China Faculty of Electrical Engineering and Computer Science Technical University of Berlin Berlin10587 Germany Southern University of Science and Technology Shenzhen518055 China Frontiers Science Center for Mobile Information Communication and Security and also The Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing211189 China

Communication-centric Integrated Sensing and Communication (ISAC) has been recognized as a promising methodology to implement wireless sensing functionality over existing network architectures, due to its cost-effectiveness and backward compatibility to legacy cellular systems. However, the inherent randomness of the communication signal may incur huge fluctuations in sensing capabilities, leading to unfavorable detection and estimation performance. To address this issue, we elaborate on random ISAC signal processing methods in this article, aiming at improving the sensing performance without unduly deteriorating the communication functionality. Specifically, we commence by discussing the fundamentals of sensing with random communication signals, including the performance metrics and optimal ranging waveforms. Building on these concepts, we then present a general framework for random ISAC signal transmission, followed by an in-depth exploration of time-domain pulse shaping, frequency-domain constellation shaping, and spatial-domain precoding methods. We provide a comprehensive overview of each of these topics, including models, results, and design guidelines. Finally, we conclude this article by identifying several promising research directions for random ISAC signal transmission. © 2025, CC BY-SA.

关键词： Signaling

来源：评论

学校读者我要写书评

暂无评论

Theory of phase reduction for systems with higher-order interactions: a route to Kuramoto models on hypergraphs

arXiv

引用

arXiv 2025年

作者： León, Iván Muolo, Riccardo Hata, Shigefumi Nakao, Hiroya Department of Applied Mathematics and Computer Science Universidad de Cantabria Santander39005 Spain Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8552 Japan Graduate School of Science and Engineering Kagoshima University Kagoshima890-0065 Japan Research Center for Autonomous Systems Materialogy Institute of Innovative Research Tokyo Institute of Technology Yokohama226-8501 Japan

Phase reduction is a powerful technique in the study of nonlinear oscillatory systems. Under certain assumptions, it allows us to describe each multidimensional oscillator by a single phase variable, giving rise to simple phase models such as the Kuramoto model. Classically, the method has been applied in the case where the interactions are only pairwise (two-body). However, increasing evidence shows that interactions in real-world systems are not pairwise but higher-order, i.e., many-body. Although synchronization in higher-order systems has received much attention, analytical results are scarce because of the highly nonlinear nature of the framework. In this paper, we fill the gap by presenting a general theory of phase reduction for the case of higher-order interactions. We show that the higher-order topology is preserved in the phase reduced model at the first order and that only odd couplings have an effect on the dynamics when certain symmetries are present. Additionally, we show the power and ductility of the phase reduction approach by applying it to a population of Stuart-Landau oscillators with an all-to-all configuration and with a ring-like hypergraph topology;in both cases, only the analysis of the phase model can provide insights and analytical results. © 2025, CC BY-NC-ND.

关键词： Topology

来源：评论

学校读者我要写书评

暂无评论

Clustering Strategy for Megaconstellation with Synergistic Energy and Size Considerations

引用

IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Zhang, Chengxi Yin, Tianle Wang, Wenshuo Wu, Jin Wang, Jihe Qi, Yuhua He, Wei Jiangnan University Key Laboratory of Advanced Control for Light Industry Processes Ministry of Education Wuxi214122 China Beijing Institute of Technology Mechanical Engineering China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong SAR Hong Kong University of Science and Technology Beijing School of Intelligent Science and Technology Beijing China School of Aeronautics and Astronautics Shenzhen518107 China Sun Yat-sen University No. 135 Xingang West Road Guangzhou China

This paper proposes an energy- and size-aware clustering (ESC) strategy for megaconstellation systems. The methodology constructs a hierarchical architecture with designated cluster heads and member satellites through role differentiation. Cluster heads serve as relay nodes, reducing the communication load on ground infrastructure by interacting with ground stations and other entities. This hierarchical approach enables efficient constellation control through interactions primarily with cluster heads. The ESC strategy begins with a cluster head election process, incorporating orphan handling management to select cluster heads, ensuring full coverage of the entire constellation. Then, a two-stage multi-objective optimization framework is used to deal with division of members to clusters and intra-cluster multi-hop connectivity configurations. This dual-phase approach optimizes energy consumption while maintaining balanced cluster sizes. Simulations on the OneWeb system validate the ESC strategy as a viable solution in that it achieves 55.9% energy consumption reduction compared to traditional discrete gradient optimization methods while maintaining more balanced cluster sizes. © 2025 IEEE.

关键词： Multiobjective optimization

来源：评论

学校读者我要写书评

暂无评论

Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap

arXiv

引用

arXiv 2025年

作者： Xu, Jianye Alrifaee, Bassam Betz, Johannes Mokhtarian, Armin Mittal, Archak Cai, Mengchi Mangharam, Rahul Shehata, Omar M. Elias, Catherine M. Zaech, Jan-Nico Scheffe, Patrick Jahncke, Felix Ulhas, Sangeet Sankaramangalam Arfvidsson, Kaj Munhoz Department of Computer Science RWTH Aachen University Germany Department of Aerospace Engineering University of the Bundeswehr Munich Germany Professorship of Autonomous Vehicle Systems Technical University of Munich Germany Department of Civil Engineering Indian Institute of Technology Bombay India School of Vehicle and Mobility Tsinghua University China Department of Electrical and Systems Engineering University of Pennsylvania United States Mechatronics Engineering Department Faculty of Engineering and Materials Science The German University in Cairo Egypt Department of Computer Science Engineering The German University in Cairo Egypt INSAIT Sofia University "St. Kliment Ohridski" Bulgaria School for Engineering of Matter Transport and Energy Arizona State University United States Division of Decision and Control Systems KTH Royal Institute of Technology Sweden

This article proposes a roadmap to address the current challenges in small-scale testbeds for Connected and Automated Vehicles (CAVs) and robot swarms. The roadmap is a joint effort of participants in the workshop "1st Workshop on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms," held on June 2 at the IEEE Intelligent Vehicles Symposium (IV) 2024 in Jeju, South Korea. The roadmap contains three parts: 1) enhancing accessibility and diversity, especially for underrepresented communities, 2) sharing best practices for the development and maintenance of testbeds, and 3) connecting testbeds through an abstraction layer to support collaboration. The workshop features eight invited speakers, four contributed papers [1]–[4], and a presentation of a survey paper on testbeds [5]. The survey paper provides an online comparative table of more than 25 testbeds, available at https://***/testbeds-survey. The workshop’s own website is available at https://***/iv24-workshop. Copyright © 2025, The Authors. All rights reserved.

关键词： Testbeds

来源：评论

学校读者我要写书评

暂无评论

STARS Assisted Semi-Grant-Free NOMA Communications

引用

IEEE Transactions on Wireless Communications 2025年

作者： Xie, Jin Yue, Xinwei Zhao, Jingjing Zou, Yixuan Liu, Yuanwei Liu, Rongke Ding, Zhiguo Key Laboratory of Information and Communication Systems China Beijing Information Science and Technology University Key Laboratory of Modern Measurement and Control Technology Ministry of Education Beijing100101 China Beihang University School of Electronic and Information Engineering Beijing100191 China Queen Mary University of London School of Electronic Engineering and Computer Science LondonE1 4NS United Kingdom The University of Hong Kong Department of Electrical and Electronic Engineering Hong Kong Hong Kong Kyung Hee University Department of Electronic Engineering Gyeonggi-do Yongin-si17104 Korea Republic of Khalifa University Department of Computer and Information Engineering Abu Dhabi United Arab Emirates

This paper investigates the performance of simultaneously transmitting and reflecting surface (STARS) assisted semi-grant-free non-orthogonal multiple access network with randomly distributed users. By deploying STARS, the transmit signals of grant-based user (GBU) and grant-free users (GFUs) can be exquisitely adjusted to reduce interference. We propose a maximum channel scheduling (MCS) protocol that allows a GFU to access GBU’s channel with the assistance of STARS. In particular, the impacts of perfect/imperfect successive interference cancellation (pSIC/ipSIC) on MCS protocol are taken into account. To characterize the performance of STARS aided MCS (STARS-MCS) network, we derive the expressions of outage probability for GBU and GFU with pSIC/ipSIC. By applying convolution theorem and Laplace transform, the asymptotic expressions of outage probability and diversity orders for GBU and GFU are attained. We further design a STARS-based power control (SPC) strategy to eliminate the outage probability error floor and improve the outage performance. Numerical results show that: 1) The performance of STARS-MCS outperforms the existing benchmarks in terms of outage probability and system throughput;2) The SPC strategy can effectively improve the performance of the STARS-MCS network and eliminate the outage probability error floor at high signal-to-noise ratios;and 3) By adjusting reflection and transmission coefficients of STARS, the outage performance of GBU and GFU can be greatly enhanced. © 2025 IEEE. All rights reserved.

关键词： Laplace transforms

来源：评论

学校读者我要写书评

暂无评论

Quantized Distributed Nonconvex Optimization Algorithms with Linear Convergence under the Polyak–Lojasiewicz Condition

引用

IEEE Transactions on Automatic control 2025年

作者： Xu, Lei Yi, Xinlei Sun, Jiayue Shi, Yang Johansson, Karl H. Yang, Tao Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China University of Victoria Department of Mechanical Engineering VictoriaBCV8W 2Y2 Canada Tongji University Shanghai Institute of Intelligent Science and Technology Shanghai201804 China KTH Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm100 44 Sweden

This paper considers distributed optimization for minimizing the average of local nonconvex cost functions, by using local information exchange over undirected communication networks. To reduce the required communication capacity, we introduce an encoder–decoder scheme. By integrating it with distributed gradient tracking and proportional integral algorithms, respectively, we then propose two quantized distributed nonconvex optimization algorithms. Assuming the global cost function satisfies the Polyak–Lojasiewicz condition, which does not require the global cost function to be convex and the global minimizer is not necessarily unique, we show that our proposed algorithms linearly converge to a global optimal point. Moreover, we show that a low data rate is sufficient to guarantee linear convergence when the algorithm parameters are properly chosen. The theoretical results are illustrated by numerical examples. © 1963-2012 IEEE.

关键词： Cost functions

来源：评论

学校读者我要写书评

暂无评论

Rescheduling costs and adaptive asymmetric errors guided closed-loop prediction of power loads in mine integrated energy systems

Energy and AI

引用

Energy and AI 2025年 21卷

作者： Miao, Qi Sun, Xiaoyan Ma, Chen Zhang, Yong Gong, Dunwei School of Information and Control Engineering China University of Mining and Technology No. 1 Daxue Road Jiangsu Xuzhou221116 China School of Artificial Intelligence and Computer Science Jiangnan University No. 1800 Lihu Avenue Jiangsu Wuxi214122 China Department of Computer Science City University of Hong Kong Tat Chee Avenue 518057 Hong Kong School of Information Science and Technology Qingdao University of Science and technology NO. 99 Songling Road Shandong Qingdao266061 China

The development of an integrated energy system for mining that efficiently recycles multiple resources is a crucial strategy for achieving dual carbon reduction targets in the mining sector. Precise load forecasting is fundamental to ensuring the safe and efficient scheduling of this system. However, existing studies often overlook the coupling between load forecasting and scheduling results, treating them independently, which frequently leads to high rescheduling costs due to forecasting errors. To address this issue, we propose a closed-loop load forecasting algorithm that incorporates rescheduling costs and asymmetric errors. We first proposed a data generation and model construction strategy by using real load, predicted load, and rescheduling costs to capture the relationship between load forecasting and rescheduling costs. Considering the different impacts of under-forecasting and over-forecasting on scheduling results, the rescheduling cost model is further integrated with asymmetric prediction errors to define the loss function of the Bi-LSTM based forecasting model. Additionally, an optimization strategy for self-tuning asymmetric prediction error fusion coefficients is designed to ensure the accuracy of load forecasting. The proposed algorithm is applied to the power load forecasting of an integrated energy system in a coal mine in Shanxi. The results demonstrate the effectiveness of the algorithm in reducing system rescheduling costs while ensuring forecasting accuracy, highlighting its potential application in power load forecasting for mine integrated energy systems. © 2025

关键词： Electric load forecasting

来源：评论

学校读者我要写书评

暂无评论

A prediction approach based on long short-term memory networks for dynamic multiobjective optimization

引用

Expert Systems with Applications 2025年 283卷

作者： Xu, Biao Rang, Gejie Xie, Ruijie Li, Wenji Gong, Dunwei Fan, Zhun Yang, Shengxiang He, Jie College of Engineering Shantou University Shantou515063 China Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou University Wuzhou543002 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China College of Automation and Electronic Engineering Qingdao University of Science and Technology Qingdao266100 China Shenzhen institute for Advanced Study University of Electronic Science and Technology of China Shenzhen518110 China School of Computer Science and Informatics De Montfort University LeicesterLE1 9BH United Kingdom

Dynamic multiobjective optimization problems (DMOPs) present significant challenges to conventional evolutionary optimization methods because of the continuous changes in their Pareto-optimal sets (PSs) and fronts (PFs). Prediction-driven approaches have demonstrated potential in rapidly adapting to these changes. However, many existing methods depend on linear models to forecast the evolving PSs, which may be restrictive. To counteract this limitation, this research presents a novel dynamic multiobjective evolutionary optimization algorithm that incorporates predictions from long short-term memory (LSTM) networks. Initially, in our methodology, the PS for each problem is segmented into multiple clusters, and the centroid of each cluster is identified. These cluster centroids, representing the PSs across various environmental conditions, are then transformed into a series of time series data. The LSTM network models are subsequently trained on this time series data as input samples. Utilizing these refined models, the centroids of the evolving PSs are predicted with improved precision. Moreover, to enhance the performance of the algorithm, an innovative population-generation strategy is also introduced that guarantees a well-converged and diverse starting population. Our proposed algorithm undergoes rigorous testing using benchmark functions, and the outcomes validate its proficiency in tackling DMOPs, showing superior performance compared to existing state-of-the-art algorithms. © 2025 Elsevier Ltd

关键词： Multiobjective optimization

来源：评论

学校读者我要写书评

暂无评论

TSGN: Transaction Subgraph Networks Assisting Phishing Detection in Ethereum

引用

IEEE Transactions on Dependable and Secure Computing 2025年

作者： Wang, Jinhuan Chen, Pengtao Xu, Xinyao Wu, Jiajing Shen, Meng Xuan, Qi Yang, Xiaoniu Zhejiang University of Technology Institute of Cyberspace Security College of Information Engineering Hangzhou310023 China ZJUT Binjiang Institute of Artificial Intelligence Hangzhou310056 China Fudan University Adaptive Networks and Control Lab Department of Electronic Engineering School of Information Science and Technology Shanghai200433 China Sun Yat-sen University School of Computer Science and Engineering Guangzhou510006 China Beijing Institute of Technology School of Cyberspace Science and Technology Beijing100081 China Shenzhen518066 China National Key Laboratory of Electromagnetic Space Security Jiaxing314033 China

Due to the decentralized and public nature of the blockchain ecosystem, malicious activities on the Ethereum platform impose immeasurable losses on users. At the same time, the transparency of cryptocurrency transactions provides a unique opportunity to analyze illegal activities, such as phishing scams, from a network perspective. Most existing phishing scam detection methods focus primarily on analyzing account interaction networks, which limits their ability to uncover transaction behavior patterns embedded within transaction interactions. To address this, we construct the Transaction SubGraph Network (TSGN) by using transaction subgraphs as basic elements and further propose a novel framework for Ethereum phishing account detection. Specifically, we rebuild the graph structures via three well-designed mapping mechanisms, yielding TSGN and its two variants, i.e., Directed-TSGN and Temporal-TSGN, to obtain direction-aware and time-aware transfer flow features. By further incorporating the mapping strategy into transaction multidigraphs, we develop the Multiple-TSGN, which could preserve more transaction flow features while concurrently reducing the time consumption of modeling large-scale networks. TSGN models based on transaction subgraph interactions can capture complex higher-order dependencies, which lay beyond the reach of models that exclusively capture pairwise account interactions. As a general framework, our model can incorporate various feature extraction methods to improve the performance of phishing detection. Extensive experimental results on Ethereum datasets show that our method achieves superior performance in phishing detection, yielding 3.27%∼6.71% relative improvement over previous state-of-the-art. © 2004-2012 IEEE.

关键词： Phishing

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：