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2023 IEEE International Conference on Unmanned Systems, ICUS 2023

作者： Yue, Pengyu Xin, Jing Mao, Zhijie Lu, Yongchang Zhang, Youmin Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China Industrial & Aerospace Engineering Concordia University Department of Mechanical MontrealQCH3G 1M8 Canada

ISBN: (纸本)9798350316308

Aiming at the landing problem of Unmanned Aerial Vehicle (UAV) without landmarks and global coordinates, this paper proposes an efficient vision-based UAV autonomous landing solution. Firstly, image information is obtained from the bottom visual sensor of the UAV, and the YOLOV5 object detection method is employed to determine the initial position of the dynamic apron. Subsequently, an improved dynamic apron tracking method based on Spatio-Temporal Transformer is designed. This method updates an initial template through target detection algorithm and utilizes multi-source perceptual data for confidence evaluation and dynamic template updates. It outputs the distribution estimation of the predicted bounding box corner coordinates, and achieves the high reliability continuous positional smoothing estimation and dynamic apron loss re-detection based on UAV vision. Finally, the UAV calculates the horizontal control quantity based on the horizontal relative position between the UAV and the apron obtained. The vertical control quantity is calculated based on the vertical relative position between the UAV and the apron. The vertical relative position is estimated using laser ranging and visual odometry techniques. Based on the results of horizontal tracking control and vertical regulation, velocity commands for the UAV in all three directions are generated, enabling the UAV to achieve autonomous landing on the dynamic apron. This paper achieves precise landing for dynamic apron in real-world environments. The experimental results demonstrate that this method avoids the limitations of labeled data and global information on autonomous landing of UAV. Even under GPS-denied conditions, the UAV can generate control commands based on visual data and achieve autonomous landing for randomly moving apron. © 2023 IEEE.

关键词： Antennas

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Spiking Neural Network for Intra-cortical Brain Signal Decoding

arXiv

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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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Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

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Journal of Shanghai Jiaotong university(Science) 2022年第5期27卷 638-648页

作者： LÜRunyan PENG Na WU Yi CAI Yunze Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Jiao Tong UniversityShanghai200240China Shanghai Aerospace Electronic Technology Institute Shanghai Academy of Spaceflight TechnologyShanghai201109China Alibaba(China)Co. Ltd.Hangzhou311121China

This paper focuses on the spatial registration algorithm under the earth-center earth-fixed(ECEF)coordinate system for multiple mobile *** sensor measurement biases are discussed with the attitude information of the platform into ***,the biased measurement model is ***,the maximum likelihood registration(MLR)algorithm is discussed to simultaneously estimate the measurement biases and the target ***,an improved online MLR(IMLR)algorithm is proposed through a sliding window of adaptive *** results demonstrate that the proposed IMLR algorithm effectively improves the realtime ability of the system and can approach similar estimation accuracy to the conventional MLR algorithm.

关键词： spatial registration 3D sensors improved online maximum likelihood registration(IMLR)

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Spatiality-Aligned Graph Convolution Hashing for Unsupervised Cross-Modal Retrieval

Spatiality-Aligned Graph Convolution Hashing for Unsupervise...

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Signal, Information and Data processing (ICSIDP), IEEE International Conference on

作者： Fang Li Liulian Dai Rushi Lan Rui Yang Xiaonan Luo Center for Applied Mathematics of Guangxi(GUET) Guangxi Key Laboratory of Image and Graphic Intelligent Processing School of Computer Science and Information Security Guilin University of Electronic Technology Guilin China

ISBN: (数字)9798331515669

ISBN: (纸本)9798331515676

Unsupervised cross-modal retrieval leveraging hash learning has attracted a lot of interest from academics, primarily due to its minimal storage requirements, swift retrieval speeds, and label-free nature, making it a prime candidate for real-world applications. Nevertheless, the inherent "heterogeneous differences" and "semantic gap" within cross-modal data features pose significant challenges. Despite various attempts by scholars to address these issues, the existing solutions often fall short in terms of effectiveness. This can be attributed to several reasons: Firstly, image features, in contrast to text features, possess a plethora of attributes, making it challenging to extract features that possess strong expressive capabilities. Secondly, each modality of data exhibits not only inter-node correlations but also intricate relationships between individual nodes and their neighboring nodes. Consequently, a straightforward semantic correlation matrix is inadequate in capturing the intricate structural relationships within the data. Thirdly, the neglect of internal structural associations results in insufficient representation capabilities of binary hash codes in the Hamming space, hampering the learning of effective hash functions. To address these limitations, we introduce a Spatiality-Aligned Graph Convolution Hashing (SAGCH) algorithm. Extensive experiments demonstrate that our SAGCH method excels in both "image-to-text retrieval" and "text-to-image retrieval" tasks.

关键词： Hash functions Correlation Codes Convolution Graph convolutional networks Semantics Text to image Feature extraction Data processing Cross modal retrieval

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Attention-Based Residual Dense Shrinkage Network for ECG Denoising

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Computer Modeling in Engineering & Sciences 2024年第3期138卷 2809-2824页

作者： Dengyong Zhang Minzhi Yuan Feng Li Lebing Zhang Yanqiang Sun Yiming Ling Hunan Provincial Key Laboratory of Intelligent Processing of Big Data on Transportation Changsha University of Science and TechnologyChangsha410114China School of Computer and Communication Engineering Changsha University of Science and TechnologyChangsha410114China School of Computer and Artificial Intelligence Huaihua UniversityHuaihua418000China School of Computer National University of Defense TechnologyChangsha410073China New Energy Centralized Control Center CHN Energy Hunan Power New Energy Co.Ltd.Changsha410000China

Electrocardiogram(ECG)signal is one of the noninvasive physiological measurement techniques commonly usedin cardiac ***,in real scenarios,the ECGsignal is susceptible to various noise erosion,which affectsthe subsequent pathological ***,the effective removal of the noise from ECG signals has becomea top priority in cardiac diagnostic *** at the problem of incomplete signal shape retention andlow signal-to-noise ratio(SNR)after denoising,a novel ECG denoising network,named attention-based residualdense shrinkage network(ARDSN),is proposed in this ***,the shallow ECG characteristics are extractedby a shallow feature extraction network(SFEN).Then,the residual dense shrinkage attention block(RDSAB)isused for adaptive noise ***,feature fusion representation(FFR)is performed on the hierarchicalfeatures extracted by a series of RDSABs to reconstruct the de-noised ECG *** on the MIT-BIHarrhythmia database and MIT-BIH noise stress test database indicate that the proposed scheme can effectively resistthe interference of different sources of noise on the ECG signal.

关键词： Electrocardiogram signal denoising signal-to-noise ratio attention-based residual dense shrinkage network MIT-BIH

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Contour Extraction via Contextual Modulation

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Chinese Journal of Electronics 2023年第2期18卷 329-331页

作者： Wentao Huang Licheng Jiao Yuelei Xu Ye Sun Jianhua Jia Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education Institute of Intelligent Information Processing Xidian University Xi'an China Department of Avionics Engineering Engineering College of Air Force Engineering University Xi'an China

Contour extraction is an important task in image processing and computer vision. The contextual modulation is a universal phenomenon in the primary visual cortex (V1). A biologically motivated computational model is presented for contour extraction in this paper. Two mechanisms of contextual modulation, surround suppression and collinear facilitation, are integrated in this model. We obtain good results via this model to extract contours from images with noise and texture backgrounds. This work provides a biologically motivated approach with great potential for computer vision.

关键词： Visualization Computer vision Computational modeling Biological system modeling image processing Modulation Organizations

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Citywide package deliveries via crowdshipping:minimizing the efforts from crowdsourcers

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Frontiers of Computer Science 2022年第5期16卷 57-69页

作者： Sijing CHENG Chao CHEN Shenle PAN Hongyu HUANG Wei ZHANG Yuming FENG College of Computer Science Chongqing UniversityChongqing 400044China Centre de Gestion Scientifigue-I3-UMR CNRS 9217 Mines ParisTechPSL Research UniversityParis 75272France Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Three Gorges UniversityChongqing 404100China

Most current crowdsourced logistics aim to minimize systems cost and maximize delivery capacity,but the efforts of crowdsourcers such as drivers are almost *** the delivery process,drivers usually need to take long-distance detours in hitchhiking rides based package *** this paper,we propose an approach that integrates offline trajectory data mining and online route-and-schedule optimization in the hitchhiking ride scenario to find optimal delivery routes for packages and ***,we propose a two-phase framework for the delivery route planning and *** the first phase,the historical trajectory data are mined offline to build the package transport *** the second phase,we model the delivery route planning and package-taxi matching as an integer linear programming problem and solve it with the Gurobi *** that,taxis are scheduled to deliver packages with optimal delivery paths via a newly designed scheduling *** evaluate our approach with the realworld datasets;the results show that our proposed approach can complete citywide package deliveries with a high success rate and low extra efforts of taxi drivers.

关键词： crowdshipping hitchhiking rides dynamic delivery optimization package delivery taxi scheduling

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Laser tracking leader-follower automatic cooperative navigation system for UAVs

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International Journal of Agricultural and Biological Engineering 2022年第2期15卷 165-176页

作者： Rui Ming Zhiyan Zhou Zichen Lyu Xiwen Luo Le Zi Cancan Song Yu Zang Wei Liu Rui Jiang College of Engineering South China Agricultural University/Guangdong Laboratory for Lingnan Modern AgricultureGuangzhou 510642China College of Computer and Control Engineering Minjiang University/Fujian Provincial Key Laboratory of Information Processing and Intelligent ControlFuzhou 350108China Guangdong Provincial Key Laboratory for Agricultural Artificial Intelligence(GDKL-AAI) Guangzhou 510642China Guangdong Engineering Research Center for Agricultural Aviation Application(ERCAAA) Guangzhou 510642China Key Laboratory of Key Technology on Agricultural Machine and Equipment South China Agricultural UniversityMinistry of Education of P.R.ChinaGuangzhou 510642China

Currently,small payload and short endurance are the main problems of a single UAV in agricultural applications,especially in large-scale *** is one of the important methods to solve the above problems of UAVs by improving operation efficiency through multi-UAV cooperative *** study proposed a laser tracking leader-follower automatic cooperative navigation system for *** leader in the cluster fires a laser beam to irradiate the follower,and the follower performs a visual tracking flight according to the light spot at the relative position of the laser tracking *** on the existing kernel correlation filter(KCF)tracking algorithm,an improved KCF real-time spot tracking method was *** with the traditional KCF tracking algorithm,the recognition and tracking rate of the optimized algorithm was increased from 70%to 95%in indoor environment,and was increased from 20%to 90%in outdoor *** navigation control method was studied from two aspects:the distance coordinate transformation model based on micro-gyroscope and navigation control *** error of spot position was reduced from the maximum(3.12,−3.66)cm to(0.14,0.12)cm by correcting the deviation distance of the spot at different angles through a coordinate correction *** image coordinate conversion model was established for a complementary metal-oxide-semiconductor(CMOS)camera and laser receiving device at different mounting *** laser receiving device was divided into four regions,S0-S3,and the speed of the four regions is calculated using an uncontrollable discrete Kalman *** outdoor flight experiments of two UAVs were carried out outdoors using this *** experiment results show that the average flight error of the two UAVs on the X-axis is 5.2 cm,and the coefficient of variation is *** average flight error on the Z-axis is 7.3 cm,and the coefficient of variation is *** study demonstrated the possibility

关键词： two-UAVs cooperative visual navigation laser tracking

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HDMacBERT-FGM-CRF Model-Based Chinese Event Element Extraction 14th

HDMacBERT-FGM-CRF Model-Based Chinese Event Element Extracti...

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14th International Conference on Genetic and Evolutionary Computing, ICGEC 2021

作者： Chen, Peng Qiang, Baohua Wang, Yufeng Wang, Chen Chen, Ruidong Li, Baolian Peng, Bo Zhou, Xiangyu Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin University of Electronic Technology Guangxi Guilin541004 China The 54th Research Institute of China Electronics Technology Group Corporation Shijiazhuang050002 China

ISBN: (纸本)9789811684296

Because of the inaccuracy of event element extraction caused by long text, the errors of pre-training and fine-tuning stages, and the single sample of semantic features in the current Chinese event element extraction model, Hierarchical Decomposition MacBERT and Fast Gradient Method-based Chinese event element extraction algorithm by jointing Conditional Random Field (HDMacBERT-FGM-CRF) is proposed. This model extends absolute location encoding based on hierarchical decomposition so that the HDMacBERT model can directly process more than 512 Token texts. The HDMacBERT model based on the Mask strategy of similar words is used to mitigate errors. The FGM-based approach implements adversarial networks and increases the diversity of semantic feature samples. The P, R and F 1 of the HDMacBERT-FGM-CRF model proposed in this paper are 2.52%, 4.03% and 3.26% higher than those of the classical Chinese event element extraction model BERT-CRF on the DuEE dataset. The experimental results show that the proposed model can learn more comprehensive deep-level semantic information of text and improve Chinese event element extraction. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Extraction

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Optimal Power and Gas Flow of Energy Internet with Non-Isothermal Process and Energy Storage

Optimal Power and Gas Flow of Energy Internet with Non-Isoth...

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第43届中国控制会议

作者： Chen Liu Shiyuan He Xinyi Wang Xiao-Kang Liu School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of lmage Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The electrical-gas coupled power flow problem is one of the most basic problems under Energy Internet. In order to achieve a more complete analysis of the electric-gas coupled power flow, this paper establishes a novel integrated energy system model that considers electricity and natural gas. This model integrates the power system AC power flow model and the non-isothermal process of natural gas pipeline transmission, achieving a more accurate description of the power grid and gas network power flow. At the same time, the beneficial effects of energy storage units on the network of each part of the system are analyzed. Through simulation design, the benefits of energy storage access on system cost and security are analyzed and quantified.

关键词： Electrical-gas coupled power flow Energy Internet AC power flow non-isothermal process energy storage

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