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Safe vehicle motion design with learning for moving in environment with uncertainties ⁎

IFAC-PapersOnLine 2024年第4期58卷 228-233页

作者： Dénes Tompos Balázs Németh Tamás Hegedűs Vu Van Tan Péter Gáspár Institute for Computer Science and Control (SZTAKI) Hungarian Research Network (HUN-REN) Kende u. 13-17. 1111 Budapest Hungary Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Stoczek u. 2. 1111 Budapest Hungary Department of Automotive Mechanical Engineering Faculty of Mechanical Engineering University of Transport and Communications 3 Cau Giay Street 100000 Hanoi Vietnam

In this paper a motion profile design for unmanned aerial vehicles is proposed which method is able to guarantee safe collision-free motion. The motivations of the work are provided by the uncertainties of covered areas by the vehicles, and also the need of high performance fast vehicle motion. The uncertain information on the environment for detecting Conflict areas is processed through clustering and Mahalanobis-distance-based filtering methods. The resulted Conflict areas are involved in the motion design method, which is facilitated through reinforcement learning. This paper shows the application of the method on a drone that moves together with a mobile robot in the same environment. The safe and high performance motion of the drone is illustrated through simulation example.

关键词： Unmanned aerial vehicles safe motion clustering point clouds

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A Cross-modal Fusion Method for Multispectral Small Ship Detection

A Cross-modal Fusion Method for Multispectral Small Ship Det...

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International Conference on Information Fusion

作者： Yang Liu Yu Liu Xueqian Wang Linping Zhang Zhizhuo Jiang Yaowen Li Chenggang Yan Ying Fu Tao Zhang Tsinghua Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Electronic Engineering Tsinghua University Beijing China Tsinghua Shenzhen International Graduate School Tsinghua University and Research Institute of Tsinghua University in Shenzhen Shenzhen China Institute of Information and Control Hangzhou Dianzi University Hangzhou China School of Computer Science and Technology Beijing Institute of Technology Beijing China Lishui Institute Hangzhou Dianzi University Hangzhou China

ISBN: (数字)9781737749769

ISBN: (纸本)9798350371420

The fusion module of RGB and infrared (IR) remote sensing images is the key of multispectral ship detection. Existing works have shown that the cross-attention-based feature fusion can achieve good performance by extracting the complementary information of RGB and IR modalities. However, the existing commonly used cross-attention mechanisms introduce lots of redundancy parameters and mainly focus on global feature interaction of multispectral images, ignoring local detail information that is also important for small ship detection. In this paper, we propose a novel multispectral ship detection approach named LoGFusion. In LoGFusion, we design the cross stage partial module with partial convolution (CSPMPC) to reduce feature redundancy and utilize the local cross-modal fusion module (LoCFM) and global cross-modal fusion module (GCFM) to capture both local and global cross-modal features. Furthermore, we introduce a Multispectral Small Ship Dataset (MSSD) containing over 5k ship targets for small target detection. Experiments on MSSD validate the effectiveness of our method in terms of small ship detection in multispectral images.

关键词： Convolution Redundancy Object detection Feature extraction Data mining Marine vehicles Remote sensing

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Leakage Localization in Water Distribution Networks: A Model-Based Approach

arXiv

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arXiv 2022年

作者： Lindström, Ludvig Gracy, Sebin Magnússon, Sindri Sandberg, Henrik The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology and Digital Futures Stockholm Sweden The Department of Computer and Systems Sciences Stockholm University Sweden

The paper studies the problem of leakage localization in water distribution networks. For the case of a single pipe that suffers from a single leak, by taking recourse to pressure and flow measurements, and assuming those are noiseless, we provide a closed-form expression for leak localization, leak exponent and leak constant. For the aforementioned setting, but with noisy pressure and flow measurements, an expression for estimating the location of the leak is provided. Finally, assuming the existence of a single leak, for a network comprising of more than one pipe and assuming that the network has a tree structure, we provide a systematic procedure for determining the leak location, the leak exponent, and the leak constant. © 2022, CC BY.

关键词： Water distribution systems

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Growing Trees and Amoebas' Replications

arXiv

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arXiv 2024年

作者： Gurvich, Vladimir Krnc, Matjaž Vyalyi, Mikhail National Research University Higher School of Economics Russia FAMNIT IAM University of Primorska Slovenia National Research University Higher School of Economics Moscow Institute of Physics and Technology Federal Research Center "Computer Science and Control" of the Russian Academy of Science Russia

An amoeba is a tree with a number assigned to each vertex. We describe a natural process of growing trees from a given amoeba and discuss conditions for such a process to be *** Codes 05C75, 05C05 © 2024, CC BY.

关键词： Protozoa

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Nonmonotonic propositional logic

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Frontiers of computer Science 2021年第3期15卷 215-216页

作者： Wei LI Yuefei SUI Yuhui WANG State Key Laboratory of Software Development Environment Beihang UniversityBeijing 100191China Key Laboratory of Intelligent Information Processing Institute of Computing TechnologyChinese Academy of SciencesBeijing 100190China School of Computer and Control Engineering University of Chinese Academy of SciencesBeijing 100049China Information Technology Center China Reinsurance(Group)CorporationBeijing 100033China

Propositional logic[1]is basic,based on which other logics are *** deduction system for propositional logic is *** logics are a class of logics which deduction systems are *** ones are default logic[2,3],R-calculus[4]... 详细信息

关键词： default propositional Nonmonotonic

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The Secondary Circuit Insulation online Monitoring System based on Distributed Current Sampling

The Secondary Circuit Insulation online Monitoring System ba...

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New Energy and Power Engineering (ICNEPE), International Conference on

作者： Hengchu Shi Xiaofan Chen Yinyin Li Hao You Shoudong Xu Yong Liang China Southern Power Grid Yunnan Electric Power Dispatching and Control Center Kunming China System Analysis Department Scientific Research Institute of Yunnan Power Grid Kunming China School of Computer Science and Technology Beijing Jiaotong University Beijing China

ISBN: (数字)9798331516086

ISBN: (纸本)9798331516093

The secondary system is very important for the reliable power supply and safe production of the power system. It includes secondary equipment and secondary circuits. The connection status of the secondary circuits will directly affect the correct operation of protection and automation devices. To solve these devices misoperation and refuse to operate problems caused by the multipoint grounding of PT and CT secondary circuits in substations, this paper proposes an online monitoring system for the insulation status of secondary circuits based on distributed zero sequence current sampling method. This system could greatly reduce the workload of maintenance on the secondary circuits, improves operation efficiency, and ensures the reliable operation of the secondary circuit in substations.

关键词： Insulation Substations Grounding Circuits Power system reliability Maintenance Circuit faults Integrated circuit reliability Protection Monitoring

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Artificial intelligence in cancer target identification and drug discovery

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Signal Transduction and Targeted Therapy 2022年第6期7卷 1951-1974页

作者： Yujie You Xin Lai Yi Pan Huiru Zheng Julio Vera Suran Liu Senyi Deng Le Zhang College of Computer Science Sichuan UniversityChengdu 610065China Laboratory of Systems Tumor Immunology Friedrich-Alexander-Universität Erlangen-Nürnberg(FAU)and Universitätsklinikum ErlangenErlangen 91052Germany Faculty of Computer Science and Control Engineering Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesRoom D5131068 Xueyuan AvenueShenzhen University TownShenzhen 518055China School of Computing Ulster UniversityBelfast BT151EDUK Institute of Thoracic Oncology Department of Thoracic SurgeryWest China HospitalSichuan UniversityChengdu 610065China Key Laboratory of Systems Biology Hangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesChinese Academy of SciencesHangzhou 310024China Key Laboratory of Systems Health Science of Zhejiang Province Hangzhou Institute for Advanced StudyUniversity of Chinese Academy of SciencesHangzhou 310024China

Artificial intelligence is an advanced method to identify novel anticancer targets and discover novel drugs from biology networks because the networks can effectively preserve and quantify the interaction between components of cell systems underlying human diseases such as ***,we review and discuss how to employ artificial intelligence approaches to identify novel anticancer targets and discover ***,we describe the scope of artificial intelligence biology analysis for novel anticancer target ***,we review and discuss the basic principles and theory of commonly used network-based and machine learning-based artificial intelligence ***,we showcase the applications of artificial intelligence approaches in cancer target identification and drug *** together,the artificial intelligence models have provided us with a quantitative framework to study the relationship between network characteristics and cancer,thereby leading to the identification of potential anticancer targets and the discovery of novel drug candidates.

关键词： drugs cancer drug

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Empirical Evaluation of Theta*-RRT and GRIPS Algorithms

Empirical Evaluation of Theta*-RRT and GRIPS Algorithms

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Siberian Conference on control and Communications (SIBCON)

作者： Zain A. Ali Brian Angulo Vladislav Golovin Konstantin Yakovlev Moscow Institute of Physics and Technology Federal Research Center “Computer Science and Control” RAS Moscow Institute of Physics and Technology

Motion planning is a fundamental task for wheeled mobile robots. This task becomes challenging when the kinematic constraints of the robot (differential-drive, car-like, etc.) are to be taken into account. In this work we analyze and empirically compare two promising approaches to construct kinematically-feasible trajectories for differential drive robots - Theta*-RRT and GRIPS. Both of these approaches utilize geometric path planning but differ in the way how it is done. Theta*-RRT relies on sampling-based planning biased towards the geometric path. GRIPS modifies the path and tries to connect its elements with the steering function that respects kinematic constraints. We evaluate both approaches in simulation and on the real robot highlighting their pros and cons. Our evaluation shows that there is no universal winner and we provide suggestions on when to use specific method.

关键词： Laser radar Kinematics Robot sensing systems Trajectory Planning Mobile robots Task analysis

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Recurrent Sliding Mode-Based State Observer Design for a Subset of Nonlinear Systems

Recurrent Sliding Mode-Based State Observer Design for a Sub...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Gael P. Atheupe Bhagyashri T. Gurjar Bruno Monsuez Renault Group and IP Paris Guyancourt FRANCE Department of Aerospace Engineering Intelligent Systems & Control Lab Indian Institute of Technology Bombay Mumbai India Computer science & systems engineering Lab (U2IS) of ENSTA Paris Institute Poly-technique de Paris (IP Paris) Palaiseau FRANCE

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This paper introduces a novel Sliding Mode-Based Observer tailored for a specific subset of nonlinear systems of order $\boldsymbol n$ featuring Lipschitz nonlinearities. The study establishes stability conditions that ensure convergence of the estimation error (s) in finite time until order $\boldsymbol n$ , thus, providing an accurate state (s) estimation without the necessity for disturbance matching conditions. Furthermore, the study presents an extension of the scope of application of the proposed method to tackle a unique scenario characterized by a time-varying and non-invertible function of the output dynamics of the system model. The effectiveness of the proposed observer is showcased through simulation examples.

关键词： Estimation error Automation Accuracy Observers Stability analysis Nonlinear dynamical systems Time-varying systems Robots Convergence

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Hybrid Clustering Solutions Fusion based on Gated Three-way Decision

Hybrid Clustering Solutions Fusion based on Gated Three-way ...

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International Joint Conference on Neural Networks (IJCNN)

作者： Kaixiang Yang Yifan Shi Zhiwen Yu Zhijie Zhong Jichao Bi Mengzhi Wang School of Computer Science&Engineering South China University of Technology Guangzhou China College of Engineering Huaqiao University Quanzhou China Zhejiang Institute of Industry and Information Technology Hangzhou China College of Control Science and Engineering Zhejiang University Hangzhou China

Consensus clustering methods provide better performance by fusing multiple clustering solutions in terms of accuracy, robustness and stability. However, most current methods suffer from different challenges: i) the high-dimensional problem; ii) limitations of single clustering method; iii) the optimal number of clusters selecting for a certain validity measure; iv) redundant clustering candidate attributes. To overcome the above limitations, we propose a hybrid clustering solutions fusion method based on gated three-way decision (HCFG) for data analysis. By integrating multiple clustering solutions and executing information fusion, HCFG enjoys four properties: (1) multiple random subspace generation strategy is utilized to generate diverse low-dimensional subspaces effectively; (2) a fusion framework that considers characteristics of both the soft clustering and hard clustering methods is designed, in which potential boundary of feature attribute sets is explored; (3) the optimal number of clusters is set by utilizing multiple clustering validity indices; (4) clustering solutions is considered as attributes and a gated three-way decision method is proposed to adaptively conduct attribute reductions. Extensive comparative experiments on 24 real-world data sets demonstrates the effectiveness and superiority of HCFG. Moreover, nonparametric tests are conducted to compare HCFG with multiple consensus clustering methods.

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