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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Alibekov, Ulugbek Banerjee, Avijit Satpute, Sumeet Gajanan Nikolakopoulos, George ERASMUS MUNDUS JOINT MASTER in Intelligent Field Robotic Systems Faculty of Informatics Eötvös Loránd University Budapest Hungary Robotics and AI research group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This article presents an onboard perception-assisted high-fidelity simulation framework for autonomous planetary soft-landing, enabling visual information processing tightly integrated with advanced onboard guidance system in a realistic simulation environments. Utilizing the open source Unity game engine, a physics-based simulation toolbox integrated with the Robotic Operating System (ROS2), we effectively emulate the motion of spacecraft approaching planetary terrain. The simulation environment features a realistic 3D terrain model and a lander spacecraft equipped with onboard camera to effectively capture detailed local terrain images. The simulation engine accurately captures the spacecraft’s 6-degrees of freedom motion, seamlessly integrating space craft orientation with the associated camera feed while incorporating various illumination conditions using a light source representing the Sun. To demonstrate the efficacy of the framework, we implement a recently developed attitude-constrained minimum jerk guidance algorithm to emulate spacecraft motion. Concurrently, the visual feed from the onboard RGB camera is processed through a gradient extraction-based perception system, providing the visual odometer. This system identifies provably safe landing sites, effectively avoiding potential risks of landing on uneven terrain. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Planetary landers

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A deep convolutional neural network for diabetic retinopathy detection via mining local and long-range dependence

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CAAI Transactions on Intelligence Technology 2024年第1期9卷 153-166页

作者： Xiaoling Luo Wei Wang Yong Xu Zhihui Lai Xiaopeng Jin Bob Zhang David Zhang Shenzhen Key Laboratory of Visual Object Detection and Recognition Harbin Institute of TechnologyShenzhenChina Peng Cheng Laboratory ShenzhenChina Shenzhen Institute of Artificial Intelligence and Robotics for Society ShenzhenChina College of Big Data and Internet Shenzhen Technology UniversityShenzhenChina The Department of Computer and Information Science University of MacaoMacaoMacaoChina The Chinese University of Hong Kong(Shenzhen) ShenzhenChina

Diabetic retinopathy(DR),the main cause of irreversible blindness,is one of the most common complications of *** present,deep convolutional neural networks have achieved promising performance in automatic DR detection *** convolution operation of methods is a local cross-correlation operation,whose receptive field de-termines the size of the local neighbourhood for ***,for retinal fundus photographs,there is not only the local information but also long-distance dependence between the lesion features(*** and exudates)scattered throughout the whole *** proposed method incorporates correlations between long-range patches into the deep learning framework to improve DR ***-wise re-lationships are used to enhance the local patch features since lesions of DR usually appear as *** Long-Range unit in the proposed network with a residual structure can be flexibly embedded into other trained *** experimental results demon-strate that the proposed approach can achieve higher accuracy than existing state-of-the-art models on Messidor and EyePACS datasets.

关键词： image classification medical image processing pattern recognition

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Rolling Horizon Co-evolution for Snake AI Competition 13th

Rolling Horizon Co-evolution for Snake AI Competition

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13th IFIP TC 12 International Conference on intelligent Information Processing, IIP 2024

作者： Li, Hui Zhou, Jiayi Zhang, Qingquan Research Institute of Trustworthy Autonomous System Southern University of Science and Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Brain-Inspired Intelligent Computation Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen518055 China

ISBN: (纸本)9783031578076

The Snake game, a classic in the gaming world, gains new dimensions with the Snake AI competition, where two players controlled by AI algorithms can now compete simultaneously in the same game session. This competition holds significance in advancing our understanding of artificial intelligence (AI) algorithms. In the 2020 and 2021 Snake AI competitions, popular algorithms, using graph-based search or heuristic strategies, demonstrate competitive performance, such as the A* algorithm, Monte Carlo Tree Search (MCTS). Contrary to these heuristic approaches, the Rolling Horizon Co-evolution Algorithm (RHCA), characterised by its core principles of rolling horizon evaluation and co-evolution, maintains two populations, one for each player, to co-evolve with each other without reliance on heuristics. RHCA has been verified its effectiveness in a two-player spaceship game. In this paper, we extend the RHCA application to the two-player Snake AI game, comparing it with other state-of-the-art methods. Additionally, we introduce various obstacles to create different complex scenarios, ensuring a comprehensive analysis. Experimental results reveal RHCA’s superior and stable performance, especially in resource-constrained and complex scenarios. Furthermore, an analysis of RHCA’s behaviours across maps with diverse obstacle scenarios highlights its ability to make intelligent decisions in competing with state-of-the-art methods. © IFIP International Federation for Information Processing 2024.

关键词： Trees (mathematics)

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LLM4CP:Adapting Large Language Models for Channel Prediction

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Journal of Communications and Information Networks 2024年第2期9卷 113-125页

作者： Boxun Liu Xuanyu Liu Shijian Gao Xiang Cheng Liuqing Yang State Key Laboratory of Advanced Optical Communication Systems and Networks School of ElectronicsPeking UniversityBeijing 100871China Internet of Things Thrust The Hong Kong University of Science and Technology(Guangzhou)Guangzhou 511400China Internet of Things Thrust and Intelligent Transportation Thrust The Hong Kong University of Science and Technology(Guangzhou)Guangzhou 511400China Department of Electronic and Computer Engineering and Department of Civil and Environmental Engineering The Hong Kong University of Science and TechnologyHong KongChina

Channel prediction is an effective approach for reducing the feedback or estimation overhead in massive multi-input multi-output (m-MIMO) systems. However, existing channel prediction methods lack precision due to model mismatch errors or network generalization issues. Large language models (LLMs) have demonstrated powerful modeling and generalization abilities, and have been successfully applied to cross-modal tasks, including the time series analysis. Leveraging the expressive power of LLMs, we propose a pre-trained LLM-empowered channel prediction(LLM4CP)method to predict the future downlink channel state information (CSI) sequence based on the historical uplink CSI sequence. We fine-tune the network while freezing most of the parameters of the pre-trained LLM for better cross-modality knowledge transfer. To bridge the gap between the channel data and the feature space of the LLM,preprocessor, embedding, and output modules are specifically tailored by taking into account unique channel characteristics. Simulations validate that the proposed method achieves state-of-the-art (SOTA) prediction performance on full-sample, few-shot, and generalization tests with low training and inference costs.

关键词： channel prediction massive multi-input multi-output(m-MIMO) large language models(LLMs) fine-tuning time-series

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Application of Deep Learning Method to Estimate Bottomhole Pressure Dynamics of Oil Wells 32

Application of Deep Learning Method to Estimate Bottomhole P...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Cheng, Haibo Li, Shichao Zeng, Peng Vyatkin, Valeriy State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Luleå University of Technology Electrical and Space Engineering Department of Computer Science Luleå Sweden Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9798350399714

Surrogate models, which have become an effective and popular method to close loop reservoir management problems, use a data-driven approach to predict dynamic injection and production wells parameters and optimize waterflooding development. In this study, a deep learning-based surrogate model method is proposed to estimate bottomhole pressure (BHP) of production wells in waterflooding reservoirs. Bidirectional long short-term memory (BiLSTM) network, as an efficient deep learning approach, is applied to BHP estimation using fluctuation data. Extended Fourier amplitude sensitivity test (EFAST) method is employed to analyse the influence of different input factors on BHP dynamics, and a reduced dataset is rebuilt to predict BHP parameter based on BiLSTM-EFAST algorithm. The estimation results are tested on a dataset from Volve oilfield in North Sea, and compared with other deep learning methods. The test results indicate that the proposed method can achieve higher prediction accuracy. A reduced dataset-based approach provides a new attempt to reduce model complexity and improve calculation speed for big data-driven surrogate model in oil and gas industry. © 2023 IEEE.

关键词： Long short-term memory

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Representing Multiview Time-Series Graph Structures for Multivariate Long-Term Time-Series Forecasting

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第6期5卷 2651-2662页

作者： Wang, Zehao Fan, Jin Wu, Huifeng Sun, Danfeng Wu, Jia Hangzhou Dianzi University Department of Computer Science and Technology Hangzhou310018 China Zhejiang Provincial Key Laboratory of Industrial Internet in Discrete Industries Hangzhou310018 China Zhejiang Normal University Laboratory of Intelligent Education Technology and Application of Zhejiang Province Hangzhou310018 China Macquarie University School of Computing SydneyNSW2113 Australia

Multivariate long-term time-series forecasting tasks are very challenging tasks in many real-world application areas. Recently, researchers focus on designing robust and effective methods, and have made considerable progress. However, there are several issues with existing models that need to be overcome. First, the lack of a relationship structure between multivariate variables needs to be addressed. Second, most models only have a weak ability to capture local dynamic changes across the entire long-term time-series. Third, current models suffer from high computational complexity and unsatisfactory accuracy. To figure out the abovementioned issues, we propose an effective and efficient method called multiview time-series graph structure representation (MTGSR). MTGSR uses GCNs to construct topological relationships in the multivariate time-series from three different perspectives: time, dimension, and crossing segments. Variation trends in different dimensions are extracted through a difference operation to construct topological maps that reflect the correlations between different dimensions. To capture the dynamically changing characteristics of fluctuation correlations between adjacent local sequences, MTGSR constructs a cross graph by calculating correlation coefficients between adjacent local sequences. Extensive experiments show that MTGSR reduces errors by 17.41% over the state of the art. In addition, memory use is decreased by 66.52% and the running time is reduced by 78.09%. © 2020 IEEE.

关键词： Forecasting

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Magnetically Driven Capsule Robot for Multi-Targeted Biopsy and Drug Delivery in Stomach

Magnetically Driven Capsule Robot for Multi-Targeted Biopsy ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xu, Zhihui Wei, Tanyong Li, Zongze Huang, Ding Liu, Shoubin Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China Southern University of Science and Technology Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen China

ISBN: (纸本)9798350325706

Capsule robots have emerged as a promising solution for non-invasive and painless screening of gastrointestinal diseases, offering significant advantages in patient comfort and reduced risk of cross-infection. Despite these advantages, existing capsule robots fall short in their ability to conduct targeted biopsies and deliver drugs to specific gastric lesions. To address this limitation, this paper presents the design and development of a magnetically driven capsule robot that leverages visual feedback to achieve accurate targeting for biopsy and drug administration in gastric lesions. Internal magnets, responsive to an external gradient magnetic field, enable the controlled propulsion of the capsule robot. A kinetic model of the capsule robot is analyzed, allowing it to recognize lesion contours through the endoscopic camera. This recognition determines the rotation angle or small adjustments required for the capsule robot's attitude and positioning. Experimental results in a simplified in vitro stomach model showcase the capability of the capsule robot to achieve targeted biopsy and drug delivery. These results highlight the potential feasibility of the proposed capsule robot in enhancing diagnostic accuracy and treatment efficacy with broader applications within the realm of gastric healthcare. © 2023 IEEE.

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Cryptocurrency Transaction Network Embedding From Static and Dynamic Perspectives: An Overview

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1105-1121页

作者： Yue Zhou Xin Luo MengChu Zhou the School of Computer Science and Technology Chongqing University of Posts and TelecommunicationsChongqing 400065 the Chongqing Key Laboratory of Big Data and Intelligent Computing Chongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714 the Chongqing School University of Chinese Academy of SciencesChongqing 400714China the College of Computer and Information Science Southwest UniversityChongqing 400715China the School of Information and Electronic Engineering Zhejiang Gongshang UniversityHangzhou 310018China the Helen and John C.Hartmann Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewark NJ 07102 USA

Cryptocurrency, as a typical application scene of blockchain, has attracted broad interests from both industrial and academic communities. With its rapid development, the cryptocurrency transaction network embedding(CTNE) has become a hot topic. It embeds transaction nodes into low-dimensional feature space while effectively maintaining a network structure,thereby discovering desired patterns demonstrating involved users' normal and abnormal behaviors. Based on a wide investigation into the state-of-the-art CTNE, this survey has made the following efforts: 1) categorizing recent progress of CTNE methods, 2) summarizing the publicly available cryptocurrency transaction network datasets, 3) evaluating several widely-adopted methods to show their performance in several typical evaluation protocols, and 4) discussing the future trends of CTNE. By doing so, it strives to provide a systematic and comprehensive overview of existing CTNE methods from static to dynamic perspectives,thereby promoting further research into this emerging and important field.

关键词： Big data analysis cryptocurrency transaction network embedding(CTNE) dynamic network network embedding network representation static network

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Design of Capsule Robot for Magnetic Gastric Biopsy and Drug Administration 20

Design of Capsule Robot for Magnetic Gastric Biopsy and Drug...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Xu, Zhihui Li, Zongze Liu, Shoubin Hu, Chengzhi Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Harbin Institute of Technology School of Mechanical and Electrical Engineering Shenzhen China

ISBN: (纸本)9798350320831

Capsule robots have emerged as a promising tool for the early diagnosis of gastrointestinal diseases. Unlike conventional gastroscopy, they offer the potential for minimally invasive or even non-invasive treatment, and can alleviate discomfort and pain in patients. However, current capsule robots have some limitations. For instance, they lack stomach tissue biopsy and drug administration functions, and the capsule robot used for biopsy does not consider the tolerance of gastrointestinal tissue. Similarly, the capsule robot used for drug administration does not account for the outlet speed of drug administration. This paper proposes a new biopsy method using a magnetically manipulated capsule robot and analyzes the principles governing the robot's manipulation during the biopsy and drug administration processes. Furthermore, an ANSYS gastric model was established and used to simulate and experimentally analyze damage to the gastric tissue model from different types of biopsy needles and their moving speeds. The appropriate type of biopsy needle and moving speed were determined to prevent damage to the gastric tissue. The study also used FLUENT to determine the appropriate thrust at the entrance of the drug cavity and the impact of the drug density on the drug outlet velocity to ensure complete adherence of the drug to the lesion. © 2023 IEEE.

关键词： Biopsy

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A Study on Semi-Supervised Semantic Segmentation of Ship Flame Images 29

A Study on Semi-Supervised Semantic Segmentation of Ship Fla...

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29th IEEE International Conference on Parallel and Distributed Systems, ICPADS 2023

作者： Wan, Junwei Chen, Yaojie Zheng, Xuecong Wuhan University of Science and Technology Department of Computer Science and Technology Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan China

ISBN: (纸本)9798350330717

In addressing the challenges of limited semantic labeling data and imprecise segmentation regions prevalent in the semantic segmentation of ship flame images, this study introduces a semi-supervised semantic segmentation method tailored for ship flame images. This approach is grounded in the principles of pairwise similarity with strong-weak perturbations. Adopting a pseudo-label self-learning strategy, the method employs weak-strong perturbation pairwise similarity, ensuring the propagation of high-confidence predictions during label generation, and thereby enhancing performance. Additionally, to tackle the inherent difficulties presented by smoke enveloping and obscuring flame regions in ship images, we have conceived a Vertical Continuity Feature Enhancement module. This module empowers the model to discern more explicit inter-class boundaries. Empirical evaluations on our proprietary dataset substantiate the superiority of our method, registering an improvement of 4.12 percentage points in mIoU over other semi-supervised approaches. Such results attest to the efficacy of the proposed pairwise similarity approach and the Vertical Continuity Feature Enhancement module in flame semantic segmentation. © 2023 IEEE.

关键词： Feature enhancemen Pairwise similarity Semantic segmentation Semi-Supervised learning

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