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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2025年第1期87卷 121-138页

作者： Zheng, Qingchun Wu, Moudong Zhu, Peihao Yang, Bin Li, Shubo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applications. The system mainly comprises two modules: an image grid filtering module based on grayscale information and a feature selection module integrating depth information. These modules effectively eliminate redundant and useless features, ensuring high-quality features for pose estimation. We tested D-Fusion SLAM on the TUM dataset and compared it with ORB-SLAM2. Experimental results demonstrate that D-Fusion SLAM outperforms ORB-SLAM2, significantly enhancing the system's accuracy and robustness. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Feature Selection

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Robust keyword Spotting Based on Long-Term Feature Fusion and Band-Weighted Normalization 7

Robust Keyword Spotting Based on Long-Term Feature Fusion an...

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7th International Conference on Computer Information Science and Application Technology, CISAT 2024

作者： Qiu, Zepeng Zhao, Lasheng Wang, Ling Zhang, Tingting Dalian University Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education Dalian China

ISBN: (纸本)9798350375107

Currently, convolution-based models for keyword spotting focus predominantly on research conducted in clean speech environments. However, their recognition accuracy is lower in low signal-to-noise ratio conditions. To enhance model robustness, we propose the long-term feature fusion module. By extracting and fusing long-term features in both the time and frequency domains, the model's perception of long-term features is strengthened, improving its recognition performance in noisy environments. At the same time, we propose a band-weighted normalization method, allowing the model to adjust the importance of different frequency bands during the normalization process, further enhancing the robustness of the model. Experimental results indicate that, on the Google Speech Command V2 dataset, the proposed model achieves higher recognition accuracy under various signal-to-noise ratios compared to the comparative models, with a lower parameter count. Moreover, the proposed model exhibits superior generalization to signal-to-noise ratios not covered during the training phase. © 2024 IEEE.

关键词： Long Term Evolution (LTE)

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Cross-Stage Mutual Distillation for Replay Attack Detection 9

Cross-Stage Mutual Distillation for Replay Attack Detection

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9th International Conference on intelligent Computing and Signal Processing, ICSP 2024

作者： Cheng, Yinqing Zhao, Lasheng Wang, Ling Wang, Han Dalian University Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education Dalian China

ISBN: (纸本)9798350376548

Automated speaker verification systems face a higher risk of replay attacks in practice. However, the existing studies face the problem of limited detection capabilities and insufficient use of shallow fine-grained information. To address these issues, we propose the cross-stage mutual distillation(CS-MD) framework, which involves two models learning from a deep network output of each other in different stages of training. This mutual learning approach enhances the ability of shallow networks to capture fine-grained speech information. Additionally, we use an attentional feature fusion module to integrate shallow information more effectively. The multi-scale attention mechanisms in this module can combine local and global speech features while preserving detailed information. Experimental results on the ASVspoof 2019 physical access dataset demonstrate that our proposed method outperforms state-of-the-art methods in terms of EER and min t-DCF metrics, validating the effectiveness of our CS-MD framework. © 2024 IEEE.

关键词： Speech enhancement

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Path Tracking Controller design of Automated Parking Systems via NMPC with an Instructible Solution

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 353-367页

作者： Liang Chen Zhaobo Qin Manjiang Hu Yougang Bian Xiaoyan Peng State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China Wuxi Intelligent Control Research Institute of Hunan University Wuxi 214115China

Parking difficulties have become a social issue that people have to *** parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking *** paper proposes a Lyapunov-based nonlinear model predictive controller embedding an instructable solution which is generated by the modified rear-wheel feedback method(RF-LNMPC)in order to improve the overall path tracking accuracy in parking ***,A discrete-time RF-LNMPC considering the position and attitude of the parking vehicle is proposed to increase the success rate of automated parking ***,the RF-LNMPC problem with a multi-objective cost function is solved by the Interior-Point Optimization,of which the iterative initial values are described as the instructable solutions calculated by combining modified rear-wheel feedback to improve the performance of local optimal ***,the details on the computation of the terminal constraint and terminal cost for the linear time-varying case is *** closed-loop stability is verified via Lyapunov techniques by considering the terminal constraint and terminal cost ***,the proposed RF-LNMPC is implemented on a selfdriving Lincoln MKZ platform and the experiment results have shown improved performance in parallel and vertical parking *** Monte Carlo analysis also demonstrates good stability and repeatability of the proposed method which can be applied in practical use in the near future.

关键词： Automated parking Path tracking controller Nonlinear model predictive control Monte Carlo analysis

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Trajectory tracking control of autonomous heavy-duty mining dump trucks with uncertain dynamic characteristics

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Science China(Information Sciences) 2023年第10期66卷 246-262页

作者： Liang CHEN Zhaobo QIN Manjiang HU Hongbo GAO Yougang BIAN Biao XU Xiaoyan PENG State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Wuxi Intelligent Control Research Institute of Hunan University Department of Automation University of Science and Technology of China

The proportion of mines using autonomous mining trucks is still very low at present. To promote the development of intelligent mining, it is urgent to proceed with the drive-by-wire modification to common mining trucks and design a motion control algorithm considering uncertain dynamic *** paper proposes a trajectory tracking control method for autonomous heavy-duty mining dump trucks(AHMDTs) with uncertain dynamic characteristics. In this method, a driving/braking force compensation algorithm based on an inverse dynamic model is designed to guarantee accurate longitudinal control with less control gain tuning. Using road curvatures, a modified rear-wheel position feedback control method is proposed to deal with reverse-path tracking, which can simultaneously reduce the lateral error and yaw angle error. A modified Stanley controller considering the collaborative preview based on speed and curvature is constructed to achieve accurate path tracking in the forward gear. Moreover, the proposed method focuses on the practice of trajectory tracking control in an open-pit mine condition with the adverse effects caused by uncertain vehicle dynamics, huge variable load, and large actuator lag. Real vehicle tests show that the proposed methodology can control AHMDTs with a low tracking error.

关键词： vehicle control trajectory tracking control driving/braking force compensation rear-wheel position feedback

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A Color Image Encryption Algorithm Based on Complementary Map and Iterative Convolutional Code 24

A Color Image Encryption Algorithm Based on Complementary Ma...

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8th International Conference on Machine Learning and Soft Computing, ICMLSC 2024

作者： Xie, Yanlu Zhou, Shihua Lv, Hui Wang, Bin Che, Chao Zhang, Qiang Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education School of Software Engineering Dalian University Dalian China

ISBN: (纸本)9798400716546

Encryption is a valid means to safeguard the safety of images, and for color images, encryption should be performed considering the intrinsic correlation between R, G, and B components. In this paper, we propose an image encryption algorithm based on a complementary map and an iterative convolutional code. Firstly, the plain image is input into the convolutional encoders for iteration to generate the correctional secret key. Secondly, we design a new complementary map. From the test data, the new chaotic map has passed the NIST testing, exhibits a good chaotic characteristic, and has a wider range of chaotic parameters. Thirdly, global scrambling is performed on the color image to disrupt the distribution between R, G, and B. Then, a row-layer and a column-layer are randomly selected to form a set of elements to be encrypted. Finally, performing global diffusion on the image further increases the safety of our scheme. Experimental results show that our algorithm has a preferable encryption effect and elevated safety. © 2024 ACM.

关键词： Convolutional codes

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Safe Efficient Policy Optimization Algorithm for Unsignalized Intersection Navigation

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 2011-2026页

作者： Xiaolong Chen Biao Xu Manjiang Hu Yougang Bian Yang Li Xin Xu State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body the College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body the College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082 Wuxi Intelligent Control Research Institute(WICRI)of Hunan University Wuxi 214115China College of Intelligence Science and Technology Institute of Unmanned SystemsNational University of Defense TechnologyChangsha 410073China

Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and *** paper proposes a reinforcement learning(RL)method for autonomous vehicles to navigate unsignalized intersections safely and *** method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning.A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them.A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at *** algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization *** proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning *** intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic *** algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections.

关键词： Autonomous driving decision-making reinforcement learning(RL) unsignalized intersection

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Acoustic Word Embedding Model with Transformer Encoder and Multivariate Joint Loss 11

Acoustic Word Embedding Model with Transformer Encoder and M...

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11th International Conference on intelligent Computing and Wireless Optical Communications, ICWOC 2023

作者： Gao, Yunyun Zhang, Qiang Zhao, Lasheng Dalian University Ministry of Education Key Laboratory of Advanced Design and Intelligent Computing Dalian China

ISBN: (纸本)9798350321791

As a representation of speech information, acoustic word embedding can enable query-by-example keyword search with low-resource speech data. An acoustic word embedding model with Transformer encoder and multivariate joint loss is presented in this article. First of all, on the basis of BLSTM, the model can extract richer information by adding a Transformer encoder, which improves representation ability of the embedding vector. Then, the contrast loss is improved according to the multiple negative samples, and combined with the hinge loss with distance characteristics, the model generates a more compact vector representation and improves the identification of features. Finally, considering the unbalanced characteristics of samples, the anti-focal loss is introduced to form a multivariate joint loss together with the above two losses, so as to make the model performance better. The model has achieved certain results in word recognition tasks and has certain competitiveness compared with other acoustic word models. © 2023 IEEE.

关键词： Embeddings

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A study of boundary conditions for pedestrian thorax impact test

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International Journal of Vehicle Systems Modelling and Testing 2024年第2期18卷 120-133页

作者： Long, Yongcheng Liu, Yu Xiao, Yu Ruan, Zhisheng Xiao, Zhi Zhang, Guanjun Huang, Jing State Key Laboratory of Intelligent Vehicle Safety Technology Chongqing401122 China China Automotive Engineering Research Institute Co. Ltd. Chongqing401122 China Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan University Changsha410082 China

Thorax injury is one of the main injuries during pedestrian impacts, and it is important to determine the boundary conditions for pedestrian thorax impactor tests. A series of virtual cases were built up to simulate the vehicle-pedestrian impact accidents. Then, the kinematic process was analysed during the vehicle-pedestrian impacts, and thorax impact parameters were extracted. Finally, the statistical characteristics of these impact parameters were obtained for thorax impactor tests. The results show that vehicle type affects the pedestrian impact kinematics and thorax impact parameters significantly. The range of thorax wrap-around distance is 928~1915 mm and 1018~1762 mm during sedan-pedestrian impact and SUV-pedestrian impact respectively. The average thorax impact speeds are about 5.8 m/s and 4.8 m/s in sedan-pedestrian impact and in SUV-pedestrian impact respectively. The average thorax impact velocity angles are 26.8° and 19.5° respectively. These results can provide the effective reference data for pedestrian thorax impactor tests. Copyright © 2024 Inderscience Enterprises Ltd.

关键词： Kinematics

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A copula-based reliability model for phased mission systems with dependent components (vol 39, pg 1533, 2023)

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QUALITY AND RELIABILITY ENGINEERING INTERNATIONAL 2023年第7期39卷 3179-3179页

作者： Li, X. Zhan, K. Xiong, X. Vu, T. Q. Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan China School of Media Design College of Technology and Design University of Economics Ho Chi Minh City Vietnam

Recently, researches on the reliability analysis of phased mission systems (PMSs) are very popular. And most of the existing research on PMSs assumed that all the components are statistically independent on each other, which is not meet the engineering reality. The system structure changes from phase to phase in the PMSs, so the dependency among components may also change in different phases. Meanwhile, the well-known phase dependency is also existing in the system reliability modeling. To model the varying dependency among components and phase dependency at the same time, a copula-based method is proposed for the reliability analysis of PMS with correlated components. Firstly, the system reliability of multi-state PMS with dependent components is evaluated by different copula functions. Then, multiple indicators are used to select the optimal copula functions for different phases. And an engineering case is illustrated to show the proposed copula-based method.

关键词： copula dependent components modular method phased mission system

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