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Simulation and Field Testing of Multiple Vehicles Collision Avoidance Algorithms

IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1045-1063页

作者： Chaoyue Zu Chao Yang Jian Wang Wenbin Gao Dongpu Cao Fei-Yue Wang the College of Computer Science and Technology Jilin UniversityChangchun 130012China Jiangsu XCMG Construction Machinery Research Institute Ltd. Xuzhou 221004China the College of Computer Science and Technology Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of EducationJilin UniversityChangchun 130012 Chongqing Xibu Automobile Proving Ground Management Co.Ltd. Chongqing 404100China the State Grid JIBEI Electric Power Company Limited Management Training Center China the Advanced Vehicle Engineering Center Cranfield UniversityCranfield MK430ALUK the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

A global planning algorithm for intelligent vehicles is designed based on the A* algorithm, which provides intelligent vehicles with a global path towards their destinations. A distributed real-time multiple vehicle collision avoidance(MVCA)algorithm is proposed by extending the reciprocal n-body collision avoidance method. MVCA enables the intelligent vehicles to choose their destinations and control inputs independently,without needing to negotiate with each other or with the coordinator. Compared to the centralized trajectory-planning algorithm, MVCA reduces computation costs and greatly improves the robustness of the system. Because the destination of each intelligent vehicle can be regarded as private, which can be protected by MVCA, at the same time MVCA can provide a real-time trajectory planning for intelligent vehicles. Therefore,MVCA can better improve the safety of intelligent vehicles. The simulation was conducted in MATLAB, including crossroads scene simulation and circular exchange position simulation. The results show that MVCA behaves safely and reliably. The effects of latency and packet loss on MVCA are also statistically investigated through theoretically formulating broadcasting process based on one-dimensional Markov chain. The results uncover that the tolerant delay should not exceed the half of deciding cycle of trajectory planning, and shortening the sending interval could alleviate the negative effects caused by the packet loss to an extent. The cases of short delay(< 100100 ms) and low packet loss(< 5%) can bring little influence to those trajectory planning algorithms that only depend on V2 V to sense the context, but the unpredictable collision may occur if the delay and packet loss are further worsened. The MVCA was also tested by a real intelligent vehicle, the test results prove the operability of MVCA.

关键词： Collision avoidance intelligent vehicles intervehicle communication simulation testing trajectory planning

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Research on Opinion Spam Detection by Time Series Anomaly Detection 5th

Research on Opinion Spam Detection by Time Series Anomaly De...

引用

5th International Conference on Artificial Intelligence and Security, ICAIS 2019

作者： Wang, Ye Zuo, Wanli Wang, Ying College of Computer Science and Technology Jilin University Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering Ministry of Education Jilin University Changchun130012 China

ISBN: (纸本)9783030242732

With the continuous development of e-commerce, buying online product has become a more desirable shopping option for modern people, but the product reviews which people need to consult when they buy goods are easily become the root cause of misleading consumption. Black profit chains of online sales make a lot of spam opinion makers flood the network who guide consumer’s choice by writing deceptive and misleading spam opinions. In order to eliminate the impact of this black interest chain and safeguard the interests of the mass consumers, we propose a new model by using the time series anomaly detection, reducing the time complexity of spam opinion detection found by time series analysis, while improve the performance of spam detection. Based on time series anomaly detection, we analyze the content of reviews and the characteristics of reviewers and take experiments on real dataset that demonstrate advantages and effectiveness of the proposed approach. © 2019, Springer Nature Switzerland AG.

关键词： Anomaly detection

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UAV Swarm-enabled Collaborative Secure Relay Communications with Time-domain Colluding Eavesdropper

arXiv

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arXiv 2023年

作者： Zhang, Chuang Sun, Geng Wu, Qingqing Li, Jiahui Liang, Shuang Niyato, Dusit Leung, Victor C.M. The College of Computer Science and Technology Jilin University Changchun130012 China The Key Laboratory of Symbolic Computation and Knowledge Engineering Ministry of Education Jilin University Changchun130012 China The Department of Electronic Engineering Shanghai Jiao Tong University Shanghai China Pillar of Engineering Systems and Design Singapore University of Technology and Design 487372 Singapore The School of Information Science and Technology Northeast Normal University Changchun130024 China The School of Computer Science and Engineering Nanyang Technological University 639798 Singapore The College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China The Department of Electrical and Computer Engineering University of British Columbia VancouverBCV6T 1Z4 Canada

Unmanned aerial vehicles (UAVs) as aerial relays are practically appealing for assisting Internet of Things (IoT) network. In this work, we aim to utilize the UAV swarm to assist the secure communication between the micro base station (MBS) equipped with the planar array antenna (PAA) and the IoT terminal devices by collaborative beamforming (CB), so as to counteract the effects of collusive eavesdropping attacks in time-domain. Specifically, we formulate a UAV swarm-enabled secure relay multi-objective optimization problem (US2RMOP) for simultaneously maximizing the achievable sum rate of associated IoT terminal devices, minimizing the achievable sum rate of the eavesdropper and minimizing the energy consumption of UAV swarm, by jointly optimizing the excitation current weights of both MBS and UAV swarm, the selection of the UAV receiver, the position of UAVs and user association order of IoT terminal devices. Furthermore, the formulated US2RMOP is proved to be a non-convex, NP-hard and large-scale optimization problem. Therefore, we propose an improved multi-objective grasshopper algorithm (IMOGOA) with some specific designs to address the problem. Simulation results exhibit the effectiveness of the proposed UAV swarm-enabled collaborative secure relay strategy and demonstrate the superiority of IMOGOA. Copyright © 2023, The Authors. All rights reserved.

关键词： Multiobjective optimization

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Recovering Accurate Labeling Information from Partially Valid Data for Effective Multi-Label Learning

arXiv

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arXiv 2020年

作者： Li, Ximing Wang, Yang College of Computer Science and Technology Jilin University China Key Laboratory of Symbolic Computation Knowledge Engineering of Ministry of Education Jilin University China Key Laboratory of Knowledge Engineering with Big Data Ministry of Education Hefei University of Technology China School of Computer Sci & Information Engineering Hefei University of Technology China

Partial Multi-label Learning (PML) aims to induce the multi-label predictor from datasets with noisy supervision, where each training instance is associated with several candidate labels but only partially valid. To address the noisy issue, the existing PML methods basically recover the ground-truth labels by leveraging the ground-truth confidence of the candidate label, i.e., the likelihood of a candidate label being a ground-truth one. However, they neglect the information from non-candidate labels, which potentially contributes to the ground-truth label recovery. In this paper, we propose to recover the ground-truth labels, i.e., estimating the ground-truth confidences, from the label enrichment, composed of the relevance degrees of candidate labels and irrelevance degrees of non-candidate labels. Upon this observation, we further develop a novel two-stage PML method, namely Partial MultiLabel Learning with Label Enrichment-Recovery (PML3ER), where in the first stage, it estimates the label enrichment with unconstrained label propagation, then jointly learns the ground-truth confidence and multi-label predictor given the label enrichment. Experimental results validate that PML3ER outperforms the state-of-the-art PML methods. Copyright © 2020, The Authors. All rights reserved.

关键词： Recovery

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Web-based teamwork: Distributed software development course under Covid-19 15

Web-based teamwork: Distributed software development course ...

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15th International Conference on Computer Science and education, ICCSE 2020

作者： Zhang, Rui Mestre, Pedro Serodio, Carlos Prada, Marilia Gao, Wenjuan Jilin University Key Lab of Symbolic Computation and Knowledge Engineering Chinese Ministry of Education College of Computer Science and Technology Changchun130012 China University of Minho Centro Algoritmi Guimaraes4800-058 Portugal Department of Social and Organizational Psychology Lisboa Portugal Library of Changchun University Changchun130022 China

ISBN: (纸本)9781728172675

In a increasingly globalized world, it is very important to help students to acquire the hard and soft skills needed to cope with the challenges they will face when working in such environments. However, even though students find this subject interesting and volunteer for it, it is hard, even impossible to teach college students such a distributed fashion of teamwork. In this paper, a case study is provided to illustrate the methodology and experiences of a joint course, distributed software development, of multiple universities from Asia, Europe, North and South Americas. The results show that student can get the spirit, effective communication for such web-based teamwork environment and achieve software project development. The recent developments because of the Covid-19 pandemic are the facts that now students have to cooperate remotely with each other not only across continents but also inside their own city or country. It has increased the awareness of the need for this kind of training and effectively improved the interactions between team elements in different countries and improved the students' feeling of belonging to their team. © 2020 IEEE.

关键词： Students

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Joint Task Offloading and Resource Allocation in Aerial-Terrestrial UAV Networks with Edge and Fog Computing for Post-Disaster Rescue

arXiv

引用

arXiv 2023年

作者： Sun, Geng He, Long Sun, Zemin Wu, Qingqing Liang, Shuang Li, Jiahui Niyato, Dusit Leung, Victor C.M. The College of Computer Science and Technology Jilin University Changchun130012 China The Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China The Department of Electronic Engineering Shanghai Jiao Tong University Shanghai China The School of Information Science and Technology Northeast Normal University Changchun130024 China Pillar of Engineering Systems and Design Singapore University of Technology and Design 487372 Singapore The School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore The College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China The Department of Electrical and Computer Engineering University of British Columbia VancouverBCV6T 1Z4 Canada

Unmanned aerial vehicles (UAVs) play an increasingly important role in assisting fast-response post-disaster rescue due to their fast deployment, flexible mobility, and low cost. However, UAVs face the challenges of limited battery capacity and computing resources, which could shorten the expected flight endurance of UAVs and increase the rescue response delay during performing mission-critical tasks. To address this challenge, we first present a three-layer post-disaster rescue computing architecture by leveraging the aerial-terrestrial edge capabilities of mobile edge computing (MEC) and vehicle fog computing (VFC), which consists of a vehicle fog layer, a UAV client layer, and a UAV edge layer. Moreover, we formulate a joint task offloading and resource allocation optimization problem (JTRAOP) with the aim of maximizing the time-average system utility. Since the formulated JTRAOP is proved to be NP-hard, we propose an MEC-VFC-aided task offloading and resource allocation (MVTORA) approach, which consists of a game theoretic algorithm for task offloading decision, a convex optimization-based algorithm for MEC resource allocation, and an evolutionary computation-based hybrid algorithm for VFC resource allocation. Simulation results validate that the proposed approach can achieve superior system performance compared to the other benchmark schemes, especially under heavy system workloads. Copyright © 2023, The Authors. All rights reserved.

关键词： Fog computing

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A registration method for augmented reality system based on visual SLAM

A registration method for augmented reality system based on ...

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2019 International Conference on Electronic engineering and Informatics, EEI 2019

作者： Zhang, Zuoming Shu, Man Wang, Zixuan Wang, Hanwen Wang, Xin College of Software Engineering Jilin University Changchun China College of Computer Science and Technology Jilin University Key Laboratory of Symbolic Computation and Knowledge Engineer of Ministry of Education Changchun China

ISBN: (纸本)9781728140766

In augmented reality, smart devices need to sense their own position in real physical space and complex scene structure to achieve good virtual reality interaction and three-dimensional registration. This paper proposes a technical framework of visual SLAM, which uses VO and BA methods based on feature points to obtain pose, and applies it to the augmented reality system to realize pose estimation, registration, tracking, collision and other effects of intelligent equipment independent of artificial or natural landmarks. © 2019 IEEE.

关键词： Augmented reality

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Distantly Supervised Relation Extraction via Recursive Hierarchy-Interactive Attention and Entity-Order Perception

arXiv

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arXiv 2021年

作者： Han, Ridong Peng, Tao Han, Jiayu Cui, Hai Liu, Lu College of Computer Science and Technology Jilin University Jilin Changchun130012 China College of Software Jilin University Jilin Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Jilin Changchun130012 China Department of Linguistics University of Washington SeattleWA98195 United States

Wrong-labeling problem and long-tail relations severely affect the performance of distantly supervised relation extraction task. Many studies mitigate the effect of wrong-labeling through selective attention mechanism and handle long-tail relations by introducing relation hierarchies to share knowledge. However, almost all existing studies ignore the fact that, in a sentence, the appearance order of two entities contributes to the understanding of its semantics. Furthermore, they only utilize each relation level of relation hierarchies separately, but do not exploit the heuristic effect between relation levels, i.e., higher-level relations can give useful information to the lower ones. Based on the above, in this paper, we design a novel Recursive Hierarchy-Interactive Attention network (RHIA) to further handle long-tail relations, which models the heuristic effect between relation levels. From the top down, it passes relation-related information layer by layer, which is the most significant difference from existing models, and generates relation-augmented sentence representations for each relation level in a recursive structure. Besides, we introduce a newfangled training objective, called Entity-Order Perception (EOP), to make the sentence encoder retain more entity appearance information. Substantial experiments on the popular New York Times (NYT) dataset are conducted. Compared to prior baselines, our RHIA-EOP achieves state-of-the-art performance in terms of precision-recall (P-R) curves, AUC, Top-N precision and other evaluation metrics. Insightful analysis also demonstrates the necessity and effectiveness of each component of RHIA-EOP. © 2021, CC BY.

关键词： Semantics

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AMPCliff: Quantitative definition and benchmarking of activity cliffs in antimicrobial peptides

引用

Journal of Advanced Research 2025年

作者： Li, Kewei Wu, Yuqian Li, Yinheng Guo, Yutong Kong, Yanwen Wang, Yan Liang, Yiyang Fan, Yusi Huang, Lan Zhang, Ruochi Zhou, Fengfeng College of Computer Science and Technology Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Jilin Changchun 130012 China School of Software Jilin University Jilin Changchun 130012 China School of Life Sciences Jilin University Jilin Changchun 130012 China Department of Computer Science Columbia University 116th and Broadway New York City 10027 NY United States School of Artificial Intelligence Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Jilin Changchun 130012 China School of Biology and Engineering Guizhou Medical University Guizhou Guiyang 550025 China School of Computer Engineering Changchun University of Engineering Jilin Changchun 130103 China Changchun Wenli High School Jilin Changchun 130062 China

Introduction: Activity cliff (AC) is a phenomenon that a pair of similar molecules differ by a small structural alternation but exhibit a large difference in their biochemical activities. This phenomenon affects various tasks ranging from virtual screening to lead optimization in drug development. The AC of small molecules has been extensively investigated but limited knowledge is accumulated about the AC phenomenon in pharmaceutical peptides with canonical amino acids. Objectives: This study introduces a quantitative definition and benchmarking framework AMPCliff for the AC phenomenon in antimicrobial peptides (AMPs) composed by canonical amino acids. Methods: This study establishes a benchmark dataset of paired AMPs in Staphylococcus aureus from the publicly available AMP dataset GRAMPA, and conducts a rigorous procedure to evaluate various AMP AC prediction models, including nine machine learning, four deep learning algorithms, four masked language models, and four generative language models. Results: A comprehensive analysis of the existing AMP dataset reveals a significant prevalence of AC within AMPs. AMPCliff quantifies the activities of AMPs by the metric minimum inhibitory concentration (MIC), and defines 0.9 as the minimum threshold for the normalized BLOSUM62 similarity score between a pair of aligned peptides with at least two-fold MIC changes. Our analysis reveals that these models are capable of detecting AMP AC events and the pre-trained protein language model ESM2 demonstrates superior performance across the evaluations. The predictive performance of AMP activity cliffs remains to be further improved, considering that ESM2 with 33 layers only achieves the Spearman correlation coefficient 0.4669 for the regression task of the −log(MIC) values on the benchmark dataset. Conclusion: Our findings highlight limitations in current deep learning-based representation models. To more accurately capture the properties of antimicrobial peptides (AMPs), it is ess

关键词： Activity cliff (AC) AMPCliff Antimicrobial peptide (AMP) Benchmark Minimum inhibitory concentration (MIC)

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Joint Optimization QoS and Security of Wireless Communication Networks 2019

Joint Optimization QoS and Security of Wireless Communicatio...

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Proceedings of the 2019 7th International Conference on Information Technology: IoT and Smart City

作者： Xiaochun Su Yanheng Liu Jian Wan College of Computer Science and Technology Jilin University Changchun China Key Laboratory of Symbolic Computation Jilin University Changchun China Knowledge Engineering of Ministry of Education Jilin University Changchun China

ISBN: (纸本)9781450376631

Currently, security and quality of service (QoS) are critical for any network. The main purpose of security mechanisms is to provide identity authentication, protect information, and ensure that the received information is not tampered with; the aim of QoS is to provide better network communication services. Security and QoS are not independent of each other. The security mechanism affects QoS and vice versa. Both QoS and security pose resource management problems and are conflicting when resources are limited. QoS requires security mechanisms to ensure proper allocation and service cost, and an inappropriate security mechanism will reduce the performance of the communication quality. Currently, numerous real-time, big data, and diverse applications and services have emerged. Moreover, the number of potential threats is expected to increase dramatically. Therefore, combining QoS and security is important. However, as they are difficult to model owing to their internal conflict, QoS and security are normally separated or optimized at a particular point using game theory. From the perspective of resource allocation, this study uses optimization method and considers security and QoS resource optimization by dividing resources into two categories: space (bandwidth) and time (delay). In order to harmonize the QoS and security, in this paper, the two conflicting terms "communication" and "security" are considered as two individual aspect. Furthermore, we construct a model wherein the joint utility is maximized by controlling the packet length. We formulate the utility functions of these two aspects with respect to the effective throughput. The results show that the presented optimization method enables a mobile node to adaptively select specific packet length based on the optimum curve. With the obtained packet length values, the joint utility reach to the maximum so that satisfactory communication quality can be realized without compromising the security, thereby improvi

关键词： QoS security Joint optimization resource allocation wireless communication network

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