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An Integrated Intelligent Autonomous Driving Bulldozer System: Pose Estimation, Object Detection, and Work Planning for Dumping Operations

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Journal of Field Robotics 2025年第0期

作者： Peng, Gang Gao, Qiang Liu, Xingyu Zhou, Yicheng Duan, Hangqi Wu, ZhanGang Hu, Bin Zhu, Xukang Xu, Daosheng School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan China Engineering Research Center of Autonomous Intelligent Unmanned Systems Ministry of Education Wuhan China Shantui Construction Machinery Co. Ltd. Jining China

In recent years, the rapid advancement of automation control and intelligent sensing technologies has positioned autonomous driving as a focal point of interest for both academia and industry. As core equipment in modern construction and industrial production, engineering machinery urgently requires intelligent transformation. To promote the intelligent development of engineering machinery, we have designed an integrated intelligent autonomous driving bulldozer system, which can be extended to various types of engineering machinery. For the specific mine dumping operation environment, we propose a multisensor fusion pose estimation algorithm framework based on the Global Navigation Satellite System, inertial measurement unit, visual cameras, and light detection and ranging (LiDAR) to address issues arising from sensor failures under harsh construction conditions. Furthermore, to ensure safety during task execution, we design a three-dimensional object detection method based on the optimal observation plane from LiDAR data. By integrating pose estimation and environmental perception results, we develop a comprehensive work planning and path-tracking algorithm to maintain task efficiency. Experimental results demonstrate that our intelligent autonomous driving bulldozer system performs excellently under various working conditions. The accuracy of its pose estimation, object detection, and path tracking meets the requirements of actual construction environments, showcasing its significant potential in engineering applications. © 2025 Wiley Periodicals LLC.

关键词： Construction equipment

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Surrogate-Assisted Multiobjective Gene Selection for Cell Classification from Large-Scale Single-Cell RNA Sequencing Data

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IEEE Transactions on Evolutionary Computation 2025年第3期29卷 601-615页

作者： Lin, Jianqing He, Cheng Jiang, Hanjing Huang, Yabing Jin, Yaochu Huazhong University of Science and Technology Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Wuhan430074 China Huazhong University of Science and Technology State Key Laboratory of Advanced Electromagnetic Technology School of Electrical and Electronic Engineering Wuhan430074 China Renmin Hospital Department of Pathology Wuhan University Wuhan430060 China Westlake University Trustworth and General Artificial Intelligence Laboratory School of Engineering Hangzhou310030 China

Accurate cell classification is crucial but expensive for large-scale single-cell RNA sequencing (scRNA-seq) analysis. Gene selection (GS) emerges as a pivotal technique in identifying gene subsets of scRNA-seq for classification accuracy improvement and gene scale reduction. Nevertheless, the rising scale of scRNA-seq data presents challenges to existing GS methods regarding performance and computational time. Thus, we propose a surrogate-assisted evolutionary algorithm for multiobjective GS to address these deficiencies. An innovative two-phase initialization method is proposed to select sparse solutions to provide preliminary insights into gene contributions. Then, a binary competitive swarm optimizer is proposed for effective global search, where a local search method is embedded to eliminate irrelevant genes for efficiency consideration. Additionally, a surrogate model is adopted to forecast classification accuracy efficiently and substitutes part of the computationally expensive classification process. Experiments are conducted on eight large-scale scRNA-seq datasets with more than 20,000 genes. The effectiveness of the proposed GS method for scRNA-seq cell classification compared with eight state-of-the-art methods is validated. Gene expression analysis results of selected genes further validated the significance of the genes selected by the proposed method in the classification of scRNA-seq data. © 1997-2012 IEEE.

关键词： Gene expression

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A Research Mode Based Evolutionary Algorithm for Many-Objective Optimization

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Chinese Journal of Electronics 2019年第4期28卷 764-772页

作者： CHEN Guoyu LI Junhua Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Nanchang Hangkong University

The development of algorithms to solve Many-objective optimization problems(MaOPs) has attracted significant research interest in recent *** various types of Pareto front(PF) is a daunting challenge for evolutionary algorithm. A Research mode based evolutionary algorithm(RMEA) is proposed for many-objective optimization. The archive in the RMEA is used to store non-dominated solutions that can reflect the shape of the PF to guide the reference vector *** concerning the population is collected, once the number of non-dominated solutions reaches its limit after many generations without exceeding a given threshold, RMEA introduces a research mode that generates more reference vectors to search through the solutions. The proposed algorithm showed competitive performance with four state-of-the-art evolutionary algorithms in a large number of experiments.

关键词： Many-objective optimization Reference vector Research mode Evolutionary algorithm

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Prescribed Performance Control of Two-Time-Scale Systems and Its Application

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International Journal of Robust and Nonlinear Control 2025年

作者： Zeng, Ze-Hong Wang, Yan-Wu Liu, Xiao-Kang Yang, Wu School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Ministry of Education Wuhan China School of Electrical Engineering Guangxi University Nanning China

This article explores the prescribed performance control design for linear two-time-scale systems (TTSSs). Due to ill-conditioning and high dimensionality, existing prescribed performance control methods for single-time-scale systems are unsuitable for TTSSs. Moreover, current TTSS methodologies focus on steady-state performance, often neglecting transient dynamics. To address these challenges, we first apply the Chang transformation to decouple the fast and slow states. Next, we use a state transformation to convert the state equation into block form to eliminate the requirement of a full row-rank input matrix. Finally, the backstepping method is utilized to design the prescribed performance control. The effectiveness and advantages of the proposed control strategy are demonstrated through two examples: a numerical simulation and a hardware-in-the-loop experiment involving an electronic circuit system. © 2025 John Wiley & Sons Ltd.

关键词： backstepping control prescribed performance control two-time-scale system underactuated system

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Air Pollution Monitoring By Integrating Local and Global Information in Self-Adaptive Multiscale Transform Domain

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IEEE Transactions on Multimedia 2025年

作者： Gu, Ke Liu, Yuchen Liu, Hongyan Liu, Bo Qiao, Junfei Lin, Weisi Zhang, Wenjun Beijing University of Technology School of Information Science and Technology Engineering Research Center of Intelligent Perception and Autonomous Control of Ministry of Education Beijing Laboratory of Smart Environmental Protection Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing Artificial Intelligence Institute Beijing100124 China Massey University School of Mathematical and Computational Sciences New Zealand Nanyang Technological University College of Computing and Data Science Singapore Shanghai Jiao Tong University Institute of Image Communication and Information Processing Shanghai China

As the deadliest form of pollution, air pollution had a prolonged severe damage to the human health and life safety of nearly 99% of the world's population. Facing to the problem that billions of tons of pollutants discharged into the air per year by industrial activities, this paper proposed a novel image-based air pollution monitor (IAPM) by incorporating local and global information in the self-adaptive multiscale transform domain, so as to achieve the timely and effective leakage detection of typical air pollutants from a single image. To be specific, this paper first developed a screen-shaped module according to two significant findings in visual neuroscience, which include the high sensitivity of human eyes to horizontal and vertical stimuli and the center-surround inhibition, by designing and fusing the square module, horizontal strip module and vertical strip module parallelly for simulating the behaviour of human eyes to extract local features. Second, the learnable weights and proportional mapping were applied to incorporate the screen-shaped module and lightweight vision transformer as backbone, towards more richly exploiting and fusing local and global information just as the way a brain perceives external stimuli. Third, a new self-adaptive multiscale transform domain method was devised based on two motivations from the visual characteristics of multiscale perception and the brain characteristics of self-adaptive domain transform to modify the backbone by using the operations of pooling and pointwise convolution. Extensive experiments implemented on the datasets of carbon particulate matters and ethylene leakage confirmed the superior monitoring performance of the proposed IAPM model beyond the state-of-the-art (SOTA) peers by an accuracy gain of about 4%. Furthermore, the proposed IAPM model only required 0.089 GFLOPs and 0.15 million model parameters, remarkably outperforming SOTA competitors in computational efficiency and storage resources. © 1999-2

关键词： Information leakage

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A Parallel Read-Write Circuit With Fast Amplitude-Adaptive Matching Scheme to Memristor Crossbar Array

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IEEE Transactions on Circuits and Systems I: Regular Papers 2025年

作者： Jiang, Ningye Jiang, Mingxuan Huang, Haoen Yang, Le Huang, Yi Zeng, Zhigang Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan430074 China Wuhan Institute of Technology School of Electrical and Information Engineering Wuhan430205 China University of Massachusetts Amherst Department of Electrical and Computer Engineering AmherstMA01003 United States

Memristor crossbar array (MCA) is a computing-in-memory (CIM) module for computational acceleration. However, conventional read-write (R-W) circuits for MCA rely heavily on external components and have shortcoming in long writing times. To address these issues, we propose a parallel R-W circuit with a fast amplitude-adaptive matching (AAM) scheme. The fast AAM scheme is designed to accelerate time of writing memristors in MCA by adaptively adjusting the writing voltage to match an optimal amplitude. The architecture of parallel R-W circuit are outlined with the implementation of R-W processes. The design principles of parallel R-W unit, fast AAM unit, and associated control logic are described for analyzing their functions within the circuit. By integrating the parallel R-W circuit with MCA, a computing block is leveraged in a neural network for classification tasks. The experimental results demonstrate that the neural network with multiple computing blocks maintains high accuracy across various datasets (over 80%). Furthermore, the proposed AAM scheme achieves an average 54% reduction in writing time compared to that one without AAM scheme. Compared to the pulse-width scheme, the parallel R-W circuit exhibits an average 3.05× speedup in adjusting a 5×5 MCA, and the speedup efficiency is higher as the increases of MCA size. © 2025 IEEE.

关键词： Memristors

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A Bayesian Super Resolution Algorithm Based on Synthetic Gradient Distribution

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Journal of Donghua University(English Edition) 2011年第3期28卷 305-311页

作者：陈文方向忠 Shanghai Key Laboratory of Digital Media Processing and Transmissions Institute of Image Communication and Information Processing Shanghai Jiaotong University

A novel Bayesian super resolution (SR) algorithm based on the distribution of synthetic gradient is proposed. The synthetic gradient combines prior information in horizontal, vertical, and diagonal directions. Its distribution is modeled as a Lorentzian function and regarded as a new image model which can sufficiently regularize the ill-posed algorithm and preserve the edges in the reconstructed images. The graduated nonconvexity (GNC) optimization is employed to guarantee the convergence of the proposed Lorentzian SR (LSR) algorithm to the global minimum. The performance of LSR is compared with conventional algorithms, and experimental results demonstrate that the proposed algorithm obtains both subjective and objective gains.

关键词： synthetic gradients Lorentzian distribution threshold edge preservation

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A Novel Multi-Stream Fusion Network for Underwater image Enhancement

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China communications 2024年第2期21卷 166-182页

作者： Guijin Tang Lian Duan Haitao Zhao Feng Liu Jiangsu Key Laboratory of Image Processing and Image Communication Nanjing University of Posts and TelecommunicationsNanjing 210003China Jiangsu Key Laboratory of Wireless Communications Nanjing University of Posts and TelecommunicationsNanjing 210003China

Due to the selective absorption of light and the existence of a large number of floating media in sea water, underwater images often suffer from color casts and detail blurs. It is therefore necessary to perform color correction and detail restoration. However,the existing enhancement algorithms cannot achieve the desired results. In order to solve the above problems, this paper proposes a multi-stream feature fusion network. First, an underwater image is preprocessed to obtain potential information from the illumination stream, color stream and structure stream by histogram equalization with contrast limitation, gamma correction and white balance, respectively. Next, these three streams and the original raw stream are sent to the residual blocks to extract the features. The features will be subsequently fused. It can enhance feature representation in underwater images. In the meantime, a composite loss function including three terms is used to ensure the quality of the enhanced image from the three aspects of color balance, structure preservation and image smoothness. Therefore, the enhanced image is more in line with human visual ***, the effectiveness of the proposed method is verified by comparison experiments with many stateof-the-art underwater image enhancement algorithms. Experimental results show that the proposed method provides superior results over them in terms of MSE,PSNR, SSIM, UIQM and UCIQE, and the enhanced images are more similar to their ground truth images.

关键词： image enhancement multi-stream fusion underwater image

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Spiking Neural Network for Intra-cortical Brain Signal Decoding

arXiv

引用

arXiv 2025年

作者： Yang, Song Fu, Haotian Zhang, Herui Zhang, Peng Li, Wei Wu, Dongrui Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Hubei Key Laboratory of Brain-inspired Intelligent Systems Huazhong University of Science and Technology Wuhan430074 China Department of Biomedical Engineering College of Life Science and Technology Huazhong University of Science and Technology Wuhan430074 China

Decoding brain signals accurately and efficiently is crucial for intra-cortical brain-computer interfaces. Traditional decoding approaches based on neural activity vector features suffer from low accuracy, whereas deep learning based approaches have high computational cost. To improve both the decoding accuracy and efficiency, this paper proposes a spiking neural network (SNN) for effective and energy-efficient intra-cortical brain signal decoding. We also propose a feature fusion approach, which integrates the manually extracted neural activity vector features with those extracted by a deep neural network, to further improve the decoding accuracy. Experiments in decoding motor-related intra-cortical brain signals of two rhesus macaques demonstrated that our SNN model achieved higher accuracy than traditional artificial neural networks;more importantly, it was tens or hundreds of times more efficient. The SNN model is very suitable for high precision and low power applications like intracortical brain-computer interfaces. © 2025, CC BY.

关键词： Deep neural networks

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Dynamics of Masked image Modeling in Hyperspectral image Classification

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IEEE Transactions on Geoscience and Remote Sensing 2025年 63卷

作者： Ma, Chen Li, Huayi Jiang, Junjun Aybar, Cesar Yao, Jiaqi Camps-Valls, Gustau Harbin Institute of Technology Research Center of Satellite Technology State Key Laboratory of Micro-Spacecraft Rapid Design and Intelligent Cluster School of Astronautics Harbin150001 China Harbin Institute of Technology School of Computer Science and Technology Harbin150001 China University of València Image Signal Processing Laboratory València46980 Spain Tianjin Normal University Tianjin300387 China

Masked image modeling (MIM), a common self-supervised learning (SSL) technique, has been extensively studied for remote sensing (RS) image processing. Nevertheless, its effectiveness for hyperspectral imagery (HSI) remains underexplored due to the distinct data structures and high dimensionality. This article aims to provide a detailed understanding of MIM from different perspectives of representation learning and statistical analysis for HSI classification tasks. Our study reveals that the MIM paradigm injects inductive bias in the attention mechanism of the transformer model, which is advantageous for capturing the local discrepancies between the spectra. We also show that MIM can increase the diversity of the attention heads in every layer, which is beneficial for the model in extracting more discriminative features from different spectral bands. The similarity of representations from various layers further proves this. Furthermore, our investigation highlights how MIM introduces a dynamic perspective to spectral representations, enabling the model to learn more robust and discriminative features. The final numerical experiments indicate that a moderate mask ratio can enhance the performance of downstream tasks. This suggests that designing a more targeted masking strategy might be necessary to achieve higher and more stable gains in downstream task performance. Without bells and whistles, the vanilla MIM improves the overall classification accuracy by an average of 2.69% over its supervised learning (SL) counterpart. We hope that our findings can advance the understanding of MIM in HSI and inspire the design of a more stable SSL paradigm for HSI processing. © 1980-2012 IEEE.

关键词： Self-supervised learning

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