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Overview of Research on Transformation of Multi-AUV Formations

complex system Modeling and Simulation 2021年第1期1卷 1-14页

作者： Bin Xin Junxi Zhang Jie Chen Qing Wang Yun Qu School of Automation and the State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of TechnologyBeijing 100081China

Because of their wide detection range and rich functions,autonomous underwater vehicles(AUVs)are widely used for observing the marine environment,for exploring natural resources,for security and defense purposes,and in many other fields of *** with a single AUV,a multi-AUV formation can better perform various tasks and adapt to complex underwater *** changes in the mission or environment,a change in the UAV formation may also be *** the last decade,much progress has been made in the transformation of multi-AUV *** this paper,we aim to analyze the core concepts of multi-AUV formation transformation;summarize the effects of the AUV model,underwater environment,and communication between AUVs within formations on formation transformation;and elaborate on basic theories and implementation approaches for multi-AUV formation ***,this overview includes a bibliometric analysis of the related literature from multiple ***,some challenging issues and future research directions for multi-AUV formation transformation are highlighted.

关键词： autonomous underwater vehicle multi-AUV formation formation transformation formation control

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Optimization Deployment of Temperature Measurement Points for CZ Silicon Single Crystal Growth Equipment Based on Improved Fuzzy C-Means Clustering

Optimization Deployment of Temperature Measurement Points fo...

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第43届中国控制会议

作者： Weichao Huang Siyuan Cao Ding Lui School of Automation and Information Engineering Xi'an University of Technology Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The inverse heat transfer method is an effective inversion algorithm for solving the heat transfer at non-measurable places of the study object. However, the current inverse heat transfer inversion method has the problems of low accuracy and difficult selection of temperature measurement point locations. To solve this problem, this paper proposes an optimization algorithm for measurement point locations based on improved fuzzy c-means clustering(IFCM). The method first generates the initial clustering center through a specific density function and introduces the Mahalanobis distance to solve the problem that the traditional fuzzy c-means clustering results depend on the initial clustering center and the results are unstable. Then, an optimized deployment algorithm based on IFCM temperature measurement points is proposed and compared with other mean value clustering algorithms. Finally, the optimal temperature measurement position on the crystal surface is selected by the IFCM temperature measurement point optimization deployment algorithm on the CZ(Czochraski)silicon single crystal growth equipment, and the inversion results of the randomly selected temperature measurement point scheme and the optimized temperature measurement point scheme are compared by the real-time inversion algorithm based on the dynamic matrix control multi-boundary heat flux, and the results of the optimized temperature measurement point scheme are obtained to be better than that of the randomly selected temperature measurement point scheme.

关键词： Fuzzy c-means clustering IFCM Temperature measurement point optimization Inverse heat transfer

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Visual Explanation of Object Detectors via Saliency Maps 18

Visual Explanation of Object Detectors via Saliency Maps

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Xiao, Jin Liu, Wenrui Hu, Xiaoguang Jiang, Hao Wang, Weipeng Yahang, Li Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing China Beihang University Beijing China The Third Academy of Casic Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350312201

In recent years, rapid progress of deep learning has resulted in object detection algorithms based on deep neural networks nearly completely replacing traditional methods. This shift has led to significant improvements in both accuracy and speed of object detection. However, deep neural networks that support decision-making inobject detection are complex black boxes with hidden internal logic and operations. This lack of transparency results in deep learning models being unexplainable, which limits their practical deployment. In this paper, we analyze the current state and future trends of interpretable technology in object detection and propose an effective object detection interpretable algorithm. This algorithm aims to explain the underlying logic of AI decision-making and provide support for the high performance and credibility of object detection algorithms based on deep neural networks through quantitative evaluation indicators. © 2023 IEEE.

关键词： Object detection

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Real-time terrain assessment and Bayesian-based path planning for off-road navigation

Real-time terrain assessment and Bayesian-based path plannin...

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Tianwei Niu Shuwei Yu Liang Wang Haoyu Yuan Shoukun Wang Junzheng Wang Localization and Motion Planning School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In the context of unstructured and unknown environment, the autonomous navigation still faces many challenges, such as assessing rough terrain and deciding how to safely navigate complex terrain. In this work, we propose a robust and practical off-road navigation framework that has been successfully deployed on a vibroseis truck for land exploration. First, in degraded wild scenes, a tightly coupled lidar-GNSS-inertial fusion odometry and mapping framework is adopted to construct a local point cloud map around the vehicle in real-time and provide precise localization. Then, based on amplitude-frequency characteristic analysis and point cloud PCA, a multi-layer terrain assessment map containing terrain roughness, obstacles and slope information is obtained. Finally, combining Gaussian distribution based adaptive sampler and Bayesian sequentially updated proposal distribution, a local graph is efficiently built to obtain multiple path solutions under constrained conditions. Both simulations and field experiments show that the proposed navigation framework can decide how to travel on a flat road even in harsh terrain conditions, naturally suppressing frequent attitude angle changes and preventing vehicle accidents.

关键词： Point cloud compression Location awareness Adaptation models Navigation Roads Gaussian distribution Real-time systems Bayes methods Proposals Principal component analysis

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Research on Synthetic Data Generation and Multi-modal Target Detection

Research on Synthetic Data Generation and Multi-modal Target...

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Chinese control and decision Conference, CCDC

作者： Jiexi Liu Chenyu Wang Lei Xu Beijing Institute of Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision Beijing China

ISBN: (纸本)9781665478977

Target Detection is one of the most important tasks in Computer Vision, which has broad application prospects in many scenes. For the past few years, great progress has been made in this field with the rapid development of deep learning technology. However, it’s still a big challenge at complex scenarios such as dim environment for traditional single-modal visible images. To address this problem, researchers introduce thermal images as additional modal in consideration of that thermal cameras are less susceptible to interference and explore how to fuse the two modalities information effectively. Nevertheless, the lack of large labeled and high-quality visible-thermal datasets hampers the usage of convolutional neural networks for detection. Therefore, we propose to use image-to-image translation model combined with a differentiable data augmentation method to generate fake thermal images from labeled visible images and use multi-modal target detection model to prove the validity of the method. Our experiment results show that our method can provide us a large labeled dataset of synthetic visible-thermal image pairs with better generalization and the introduction of thermal modality can obtain a better performance than single modality.

关键词： Deep learning Computer vision Fuses Object detection Interference Detectors Data models

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Experimental research on GM-APD LIDAR point cloud classification algorithm based on deep learning

Experimental research on GM-APD LIDAR point cloud classifica...

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2022 Applied Optics and Photonics China: Advanced Laser Technology and Applications, AOPC 2022

作者： Jiang, Yanze Sun, Jianfeng Ding, Yuanxue Jiang, Peng Zhang, Hailong Li, Sining Zhou, Shuaijun National Key Laboratory of Science and Technology on Tunable Laser Institute of OptoElectronic Harbin Institute of Technology Heilongjiang Harbin150001 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9781510662223

Geiger mode Avalanche Photo Diode (Gm-APD) array lidar is a lidar that can perform single-photon detection. It offers a wide range of applications due to its low power consumption, small size, and extended detecting distance. There haven't been many research on this detector's target classification because of its late development and small detector array. The classification technique based on the Gm-APD array lidar point cloud is the focus of this paper's research: Firstly, the Gm-APD array lidar is utilized to perform imaging tests on four targets from various angles in order to create a target classification *** that, several data preprocessing methods were chosen and implemented based on the characteristics of the obtained data, such as filling in missing values, performing range image and intensity image interpolation, using the principle of keyhole imaging to convert the range image to point cloud data, realizing the information fusion of distance image and intensity image, and using multiple point cloud data enhancement methods. Finally, the point cloud classification networks PointNet and PointNet++ are trained on point cloud data with varying levels of preprocessing, the results are compared and analyzed, and the impact of different preprocessing methods on the classification accuracy of the two networks is determined. Inferences were made and experiments were carried out to verify the inferences. The data set preprocessing method with the highest classification accuracy of the two networks is discovered, laying the groundwork for future Gm-APD lidar target classification and detection research. © 2023 SPIE.

关键词： Optical radar

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Design of a High Speed 360-degree Panoramic Video Acquisition system Based on FPGA and USB 3.0

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IEEE Sensors Journal 2023年 1-1页

作者： Lyu, Congyi Peng, Jianqing Zhou, Weiguo Yang, Shanshan Liu, Yunhui Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology Beijing China

This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) features. First, the system transfers the images captured by five CMOS sensors to the designed FPGA board through the FMC adapter plate. Then, the system employs the FPGA-based parallel computing to extract the SIFT features and detect the best matching region and points for image registration. Finally, in order to obtain the panoramic image with smooth changes at the junctions, images of the adjacent images are fused. Using the designed FPGA platform makes it possible to extract the SIFT and stitch the images in real-time, which is not realized in most panoramic imaging systems. The panoramic system, developed using the Xilinx Zynq®-7000 all programmable SOC, can capture video of 5*640*480 images at the speed of 60 fps. To enable high-speed image transfer from the imaging system to the host computer, the USB3.0 interface with the transmission speed of 359MB/s has been developed. The real-time efficiency of the parallel system will be demonstrated by the simulations and experiments. IEEE

关键词： Real time systems

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A Hierarchical Graph Search Method for Path Planning of Unmanned Ground Vehicle for Freight Transportation

A Hierarchical Graph Search Method for Path Planning of Unma...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Hu, Jianing Li, Zhen Guo, Sen Yao, Weiran School of Astronautics Harbin Institute of Technology Harbin China Beijing Electro-Mechanical Engineering Institute Beijing China CRRC Nanjing Puzhen Co. Ltd. Nanjing China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China

ISBN: (纸本)9798350384185

For the problem of collision volume change when forklift unmanned vehicles work in complex storage environments, a multi-level graph search path planning method is proposed. The first level is the path planning of the Unmanned Ground Vehicle (UGV) body, which uses the grid map and the A* algorithm to plan the path of the UGV transferring in the scene;the second level is the joint path planning of the UGV and the object being carried, to avoid overcomplicating this issue, the unmanned vehicle will be limited to pushing the cargo only forwards. The third level is the path planning when the unmanned vehicle carries multiple objects, which decomposes the whole scene into multiple sub-scenes, plans the paths of the unmanned vehicle in the sub-scenes separately, and searches for the optimal combination of sub-scenes. Higher level searches will invoke lower level algorithms and provide a virtual scene and target as input. The experimental results show that this multilevel path planning method is optimal and complete in solving the forklift unmanned vehicle for handling a single object, and can give a feasible solution for handling multiple objects. © 2024 IEEE.

关键词： Ground vehicles

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Time-attenuating Twin Delayed DDPG Reinforcement Learning for Trajectory Tracking control of Quadrotors

arXiv

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arXiv 2023年

作者： Deng, Boyuan Sun, Jian Li, Zhuo Wang, Gang School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China

Continuous trajectory tracking control of quadrotors is complicated when considering noise from the environment. Due to the difficulty in modeling the environmental dynamics, tracking methodologies based on conventional control theory, such as model predictive control, have limitations on tracking accuracy and response time. We propose a Time-attenuating Twin Delayed DDPG, a model-free algorithm that is robust to noise, to better handle the trajectory tracking task. A deep reinforcement learning framework is constructed, where a time decay strategy is designed to avoid trapping into local optima. The experimental results show that the tracking error is significantly small, and the operation time is one-tenth of that of a traditional algorithm. The OpenAI Mujoco tool is used to verify the proposed algorithm, and the simulation results show that, the proposed method can significantly improve the training efficiency and effectively improve the accuracy and convergence stability. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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A bi-level optimization approach for joint rack sequencing and storage assignment in robotic mobile fulfillment systems

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Science China(Information Sciences) 2023年第11期66卷 127-149页

作者： Xiang SHI Fang DENG Sai LU Yunfeng FAN Lin MA Jie CHEN Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Zhejiang Cainiao Supply Chain Management Co. Ltd. Shanghai Research Institute for Intelligent Autonomous Systems

This paper studies a novel rack scheduling problem with multiple types of multiple storage locations(RS-MTMS), which can decide the retrieval sequence of racks and assign each rack a storage location after visiting a picking station. A major challenge in RS-MTMS is that the storage assignment problem and the retrieval sequence decision are closely coupled. If the RS-MTMS is solved directly, the storage assignment scheme and the retrieval sequence of racks are generally generated separately, thus resulting in poor performance. To overcome this difficulty, we propose a bi-level optimization approach for jointly optimizing the storage assignment and retrieval sequence(Bi JSR). In Bi JSR, the storage assignment problem is solved by variable neighborhood search(VNS) in the upper-level optimization. Effective candidate modes are incorporated into VNS to improve solution quality and computational efficiency. The sequencing optimization is obtained in the lower-level according to the given storage location set. A transformation strategy with sufficient problem-specific knowledge is developed to identify the lower-level optimization as the traveling salesman problem and its variants. Then these identified problems are solved using the loop-based *** results show that the proposed Bi JSR is more effective and efficient than the representative algorithms in solving the RS-MTMS problem.

关键词： rack scheduling sequence decision storage assignment bi-level optimization robotic mobile fulfillment system

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