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control Technology and Applications (CCTA),

作者： Mobolaji O. Orisatoki Mahdi Amouzadi Arash M. Dizqah Smart Vehicle Control Laboratory (SVeCLab) School of Engineering and Informatics University of Sussex Brighton UK School of Computing and Mathematical Sciences University of Greenwich Greenwich London UK

ISBN: (数字)9798350370942

ISBN: (纸本)9798350370959

Informative path planning algorithms are of paramount importance in applications like disaster management to efficiently gather information through a priori unknown environments. This is, however, a complex problem that involves finding a globally optimal path that gathers the maximum amount of information (e.g., the largest map with a minimum travelling distance) while using partial and uncertain local measurements. This paper addresses this problem by proposing a novel heuristic algorithm that continuously estimates the potential mapping gain for different sub-areas across the partially created map, and then uses these estimations to locally navigate the robot. Furthermore, this paper presents a novel algorithm to calculate a benchmark solution, where the map is a priori known to the planar, to evaluate the efficacy of the developed heuristic algorithm over different test scenarios. The findings indicate that the efficiency of the proposed algorithm, measured in terms of the mapped area per unit of travelling distance, ranges from 70% to 80% of the benchmark solution in various test scenarios. In essence, the algorithm demonstrates the capability to generate paths that come close to the globally optimal path provided by the benchmark solution.

关键词： Simultaneous localization and mapping Laser radar Navigation Heuristic algorithms Simulation Measurement uncertainty Estimation

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Data-Driven Intersection Safety Evaluation Methodology and Analysis 23

Data-Driven Intersection Safety Evaluation Methodology and A...

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23rd COTA International Conference of Transportation Professionals: Emerging Data-Driven Sustainable Technological Innovation in Transportation, CICTP 2023

作者： Wu, Pingping Lu, Guangquan Liu, Miaomiao Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang Univ. Beijing China Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang Univ. Beijing China Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies Southeast Univ. Nanjing China

ISBN: (数字)9780784485040

ISBN: (纸本)9780784485040

With the development of information and sensing technologies, a wide variety of intersection traffic data is available. The purpose of this paper is to make full use of video and commercial vehicle trajectory data to deeply explore the intersection safety status. In this paper, based on different sample sizes, different sampling frequencies, and different accuracies of data, the safety analysis of intersections is carried out from micro and macro aspects based on post-encroachment time (PET) and vehicle deceleration behavior, respectively. On the one hand, we use the full-sample and high-precision trajectory data extracted from video to analyze the safety of each region of intersection based on PET. On the other hand, using the trajectory data with low penetration rate and low sampling frequency extracted from the positioning data of the online car-hailing, a distribution fit, and non-parametric test are conducted for the vehicle deceleration behavior, and then the overall safety state of the intersection is evaluated. The results can provide ideas for the identification of intersection risk points and the application of different kinds of data on intersection safety evaluation. © ASCE.

关键词： Commercial vehicles

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Cooperative Secure Communication in UAV Assisted Networks with Dynamic Role Switching

Cooperative Secure Communication in UAV Assisted Networks wi...

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2023 IEEE Globecom Workshops, GC Wkshps 2023

作者： Wang, Qinyu Gao, Ang Hu, Yansu Zhang, Jiankang School of Electronics and Information Northwestern Polytechnical University Xi'an710072 China Yangtze River Delta Research Institute of Northwest Polytechnic University Taicang215400 China School of Electronic and Control Engineering Chang'an University 710064 China Bournemouth University Department of Computing and Informatics United Kingdom

ISBN: (纸本)9798350370218

This paper proposes a novel role switching scheme (RSS) to optimize the secure communication by the cooperation of multiple unmanned aerial vehicles (UAVs). Each UAV is enabled to switch its role during the flight, i.e., could be an aerial relay to serve ground users (GUs) or a friendly jammer to generate artificial noise (AN) to deteriorate the wiretapping of potential eavesdropper users (EUs). It's worthy to be noticed that the joint optimization for UAVs' trajectory and legitimate GUs' transmission power control with RSS is a non-convex mixed integer fractional programming problem. A multi-agent deep reinforcement learning (MADRL) combined successive convex approximate (SCA) algorithm is further designed to maximize the achievable secrecy energy efficiency (ASEE). Numerical results illustrate that compared with the role fixed scheme (RFS) and relaxation based SCA approaches, the proposed DRL-SCA algorithm endows UAVs the capacity to fly close enough to target users (both GUs and EUs) which brings a better achievable secrecy rate (ASR), less energy consumption and higher ASEE. © 2023 IEEE.

关键词： DRL Dynamic Role Switching SCA Secure Communication UAV Assisted Networks

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Research on Fault Diagnosis of Spacecraft control System Based on Graph Neural Network

Research on Fault Diagnosis of Spacecraft Control System Bas...

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6th International Conference on Intelligent computing and Signal Processing (ICSP)

作者： Zhicheng Ning Xiaoxiang Liu Xinyuan Li Jun Liu Science and Technology on Space Intelligent Control Laboratory Beijing Insitute of Control Engineering Beijing China Intelligent Perception and Computing Research Center Beijing University of Posts and Telecommunications Beijing China

The fault diagnosis technology of spacecraft control systems is a crucial component of spacecraft health management. Traditional fault diagnosis technologies, such as model-based diagnosis and signal processing, are relatively mature but are limited in their ability to fully utilize information in big data environments. Neural network-based fault diagnosis methods often overlook the sequential nature of spacecraft data as time series data. Given that the state of a spacecraft at any given time is closely related to preceding data, it is possible to conduct fault diagnosis by extracting relevant features from fault sample data. In this paper, we propose a graph neural network-based fault diagnosis method for spacecraft control systems. To address the issue of limited fault samples, we construct a spacecraft control system model and generate various types of gyro and flywheel fault data through fault injection. Utilizing the Graphstar model—a powerful graph neural network with strong information mining capabilities—we transform one-dimensional fault data into graph data with spatial structure and extract relevant characteristics through deep learning to diagnose faults. Simulation results demonstrate that our method can effectively diagnose faults with high accuracy.

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Path Planning with Potential Field-Based Obstacle Avoidance in a 3D Environment by an Unmanned Aerial Vehicle

arXiv

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arXiv 2023年

作者： Batinovic, Ana Goricanec, Jurica Markovic, Lovro Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles equipped with 3D sensors, such as LiDARs. It performs obstacle avoidance in real time and on an on-board computer. We present a novel algorithm based on the conventional Artificial Potential Field (APF) that corrects the planned trajectory to avoid obstacles. To this end, our modified algorithm uses a rotation-based component to avoid local minima. The smooth trajectory following, achieved with the MPC tracker, allows us to quickly change and re-plan the UAV trajectory. Comparative experiments in simulation have shown that our approach solves local minima problems in trajectory planning and generates more efficient paths to avoid potential collisions with static obstacles compared to the original APF method. © 2023, CC BY-SA.

关键词： Motion planning

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Novel Optimized Feature Selection Using Metaheuristics Applied to Physical Benchmark Datasets

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Computers, Materials & Continua 2023年第2期74卷 4027-4041页

作者： Doaa Sami Khafaga El-Sayed M.El-kenawy Fadwa Alrowais Sunil Kumar Abdelhameed Ibrahim Abdelaziz A.Abdelhamid Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt School of Computer Science University of Petroleum and Energy StudiesDehradun248001India Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Department of Computer Science Faculty of Computer and Information SciencesAin Shams UniversityCairo11566Egypt Department of Computer Science College of Computing and Information TechnologyShaqra University11961Saudi Arabia

In data mining and machine learning,feature selection is a critical part of the process of selecting the optimal subset of features based on the target *** are 2n potential feature subsets for every n features in a dataset,making it difficult to pick the best set of features using standard ***,in this research,a new metaheuristics-based feature selection technique based on an adaptive squirrel search optimization algorithm(ASSOA)has been *** using metaheuristics to pick features,it is common for the selection of features to vary across runs,which can lead to *** of this,we used the adaptive squirrel search to balance exploration and exploitation duties more evenly in the optimization *** the selection of the best subset of features,we recommend using the binary ASSOA search strategy we developed *** to the suggested approach,the number of features picked is reduced while maximizing classification accuracy.A ten-feature dataset from the University of California,Irvine(UCI)repository was used to test the proposed method’s performance *** other state-of-the-art approaches,including binary grey wolf optimization(bGWO),binary hybrid grey wolf and particle swarm optimization(bGWO-PSO),bPSO,binary stochastic fractal search(bSFS),binary whale optimization algorithm(bWOA),binary modified grey wolf optimization(bMGWO),binary multiverse optimization(bMVO),binary bowerbird optimization(bSBO),binary hybrid GWO and genetic algorithm 4028 CMC,2023,vol.74,no.2(bGWO-GA),binary firefly algorithm(bFA),and *** results confirm the superiority and effectiveness of the proposed algorithm for solving the problem of feature selection.

关键词： Metaheuristics adaptive squirrel search algorithm optimization methods binary optimizer

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Design and Validation of a Wireless Drone Docking Station

arXiv

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arXiv 2023年

作者： Stuhne, Dario Vasiljević, Goran Bogdan, Stjepan Kovačić, Zdenko LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia

Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power autonomy is the use of docking stations to support both landing and recharging of the drone. To this end, we introduce a novel wireless drone docking station with three commercial wireless charging modules. We have developed two independent units, both in mechanical and electrical aspects: the energy transmitting unit and the energy receiving unit. We have also studied the efficiency of wireless power transfer and demonstrated the advantages of connecting three receiver modules connected in series and parallel. We have achieved maximum output power of 96.5 W with a power transfer efficiency of 56.6% for the series connection of coils. Finally, we implemented the system in practice on a drone and tested both energy transfer and landing. Copyright © 2023, The Authors. All rights reserved.

关键词： Drones

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SCC-YOLO: An Improved Object Detector for Assisting in Brain Tumor Diagnosis 25

SCC-YOLO: An Improved Object Detector for Assisting in Brain...

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Proceedings of the 2025 International Conference on Health Big Data

作者： Runci Bai Guibao Xu Yanze Shi Institute of Cloud Computing and Big Data China Academy of Information and Communications Technology Beijing China School of Information and Control Engineering China University of Mining and Technology Xuzhou Jiangsu China

ISBN: (纸本)9798400713446

Brain tumours may cause neurologic impairment, cognitive and mental disorders, elevated intracranial pressure and convulsions, which may be associated with a serious health hazard. The You Only Look Once (YOLO) system has been demonstrated to be highly accurate when it comes to detecting objects in medical imaging. A new SCC-YOLO structure is proposed, which combines SCConv with YOLOv9. The SCConv module improves the performance of the convolutional neural network, which improves the performance of the system. In this paper, we investigate the impact of YOLOv9 on the Br35H dataset (Brain_Tumor_Dataset) Results indicate that SCC-YOLO improved mAP50 by 0.3% on the Br35H dataset and by 0.5% on our custom dataset compared to YOLOv9. SCC-YOLO achieves state-of-the-art performance in brain tumor detection.

关键词： Brain Tumor

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Data secure transmission intelligent prediction algorithm for mobile industrial IoT networks

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Digital Communications and Networks 2023年第2期9卷 400-410页

作者： Lingwei Xu Hao Yin Hong Jia Wenzhong Lin Xinpeng Zhou Yong Fu Xu Yu Department of Information Science and Technology Qingdao University of Science and TechnologyQingdao266061China Fujian Key Laboratory of Sensing and Computing for Smart Cities Xiamen UniversityXiamen361005China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control(Minjiang University) Fuzhou350121China Faculty of Information Science and Engineering Ocean University of ChinaQingdao266100China Shandong Provincial Key Laboratory of Computer Networks Shandong Computer Science Center(National Supercomputer Center in Jinan)JinanChina

Mobile Industrial Internet of Things(IIoT)applications have achieved the explosive growth in recent *** mobile IIoT has flourished and become the backbone of the industry,laying a solid foundation for the interconnection of all *** variety of application scenarios has brought serious challenges to mobile IIoT networks,which face complex and changeable communication *** data secure transmission is critical for mobile IIoT *** paper investigates the data secure transmission performance prediction of mobile IIoT *** cut down computational complexity,we propose a data secure transmission scheme employing Transmit Antenna Selection(TAS).The novel secrecy performance expressions are first ***,to realize real-time secrecy analysis,we design an improved Convolutional Neural Network(CNN)model,and propose an intelligent data secure transmission performance prediction *** mobile signals,the important features may be removed by the pooling *** will lead to negative effects on the secrecy performance prediction.A novel nine-layer improved CNN model is *** of the input and output layers,it removes the pooling layer and contains six convolution ***,Back-Propagation(BP)and LeNet methods are employed to compare with the proposed *** simulation analysis,good prediction accuracy is achieved by the CNN *** prediction accuracy obtains a 59%increase.

关键词： Mobile IIoT networks Data secure transmission Performance analysis Intelligent prediction Improved CNN

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A Modified P&O-MPPT Technique Using Fuzzy Logic controller for PV Systems

A Modified P&O-MPPT Technique Using Fuzzy Logic Controller f...

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2023 IEEE IAS Global Conference on Emerging Technologies, GlobConET 2023

作者： Jabbar, Rafah Ibraheem Mohammed, Karam Khairullah Mekhilef, Saad Mubin, Marizan Seyedmahmoudian, Mehdi Stojcevski, Alex Horan, Ben Becherif, Mohamed Universiti Malaya Department of Electrical Engineering Kuala Lumpur Malaysia Universiti Teknologi Malaysia Control Mechatronics Engineering Department Johor Bahru Malaysia Swinburne University of Technology School of Science Computing and Engineering Technologies HawthornVIC3122 Australia Deakin University School of Engineering GeelongVIC3216 Australia Univ. Bourgogne Franche-Comté UTBM CNRS Rue Ernest Thierry Mieg FEMTO-ST Institute Belfort90000 France

ISBN: (纸本)9798350331790

The perturb and observe (P&O) algorithm is the most popular of the numerous maximum power point tracking (MPPT) algorithms due to its simplicity and ease of implementation. However, the method has limitations regarding convergence speed, steady-state oscillation, and drift problem under sudden irradiance variations. This paper presents an improved P&O-MPPT algorithm to enhance the tracking convergence speed using adaptive duty cycle perturbation step fuzzy logic (FL-D) size. Moreover, a new strategy is added to the algorithm to stop the steady-state oscillation once MPP is tracked. The proposed algorithm was verified using MATLAB/Simulink under constant and varied irradiance levels. The results showed that the proposed algorithm with an adaptive FL-D size could efficiently track an accurate MPP with zero-state oscillation at different irradiance levels. Moreover, the algorithm achieves fast tracking under a rapid change in irradiance. The proposed algorithm was compared with the traditional P&O algorithm and the modified P&O algorithms that have recently been published. The comparison results validated the effectiveness of the proposed algorithm. © 2023 IEEE.

关键词： Fuzzy logic

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