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2024 International Conference on Culture-Oriented Science and technology, CoST 2024

作者： Gao, Luli Ren, Hui Communication University of China School of Information and Communication Engineering Bejing China Key Laboratory of Acoustic Visual Technology and Intelligent Control System Communication University of China Ministry of Culture and Tourism Bejing China Beijing Key Laboratory of Modern Entertainment Technology Communication University of China Bejing China

ISBN: (纸本)9798350380347

Multipath planning aims to find multiple optimal paths simultaneously, and its essence is a multimodal optimization problem. In recent years, swarm intelligence (SI) optimization algorithms have provided effective solutions for multimodal optimization. In this paper, the multimodal optimization slime mold algorithm (MOSMA) based on master-slave structure and local search strategy (LS) is proposed to solve multipath planning problems in small cultural complex. Firstly, a local search strategy is introduced to eliminate the influence of the 'centerbias' operator and improve the quality of solutions. Secondly, the master-salves structure is introduced to preserve the diversity of the population and enable it to simultaneously locate multiple solutions. Finally, the performance of MOSMA is analyzed on several multimodal functions, and an example of path planning in a small cultural complex is given. © 2024 IEEE.

关键词： Optimization algorithms

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A semantic segmentation method for UAV image based on improved BiseNetv2 5

A semantic segmentation method for UAV image based on improv...

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5th International Conference on Artificial Intelligence and Computer Science, AICS 2023

作者： Guo, Fengjuan Han, Sen Zhao, Jiahang Han, Jiale Xin, Jing Shaanxi Key Laboratory of Integrated and Intelligent Navigation The 20th Research Institute of China Electronics Technology Corporation Shaanxi Xi’an710068 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Shaanxi Xi’an710048 China

ISBN: (纸本)9781510668621

Aiming at the problem of low semantic segmentation accuracy of tiny targets in UAV aerial images, a bilateral semantic segmentation network T-BiseNetv2 is proposed. The proposed segmentation network is based on BiseNetv2, and the Transformer structure is introduced into semantic branch, and the detail branch and feature fusion module are reconstructed, which improves the network’s capacity to capture both global context information and local semantic information. Several semantic segmentation experiments are conducted on the standard semantic segmentation dataset UAVID, experimental results show that the proposed semantic segmentation network T-BiseNetv2 has a MIoU of 69.52%, which is about 2.2% higher than the original BiseNetv2 network. Especially, for "Human", the IoU of TBiseNetv2 is about 4.3% higher than that of the popular UNetFormer. © 2023 SPIE.

关键词： Unmanned aerial vehicles (UAV)

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Research on Safety Integrity Level Assessment for Stage Machinery of Temporary Performance Site

Research on Safety Integrity Level Assessment for Stage Mach...

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2023 International Conference on Culture-Oriented Science and technology, CoST 2023

作者： Hu, Yubin Su, Zhibin Wang, Zixiao Wang, Huiqin School of Information and Communication Engineering Communication University of China China Ministry of Culture and Tourism Key Laboratory of Acoustic Visual Technology and Intelligent Control System Beijing China

ISBN: (纸本)9798350357998

The safety assessment of stage performing arts equipment for the temporary site is an urgent task to be solved. In this paper, the lifting equipment is chosen for risk analysis, safety circuit identification and safety integrity level (SIL) calculation. The Hazard and Operability Study(HAZOP) and Layer Of Protection Analysis(LOPA)-based method is studied to get the expected SIL level of the related safety loops. In addition, the fault tree and Markov model methods are used to verify the actual SIL level under the existing loop structure respectively. This study provides the theory and data basis for the development of safety requirements and evaluation standards for the temporary theater of stage machinery, which has certain theoretical significance and application value. © 2023 IEEE.

关键词： Risk analysis

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intelligent Diagnosis of Planetary Gearboxes based on DAE-CNN 14

Intelligent Diagnosis of Planetary Gearboxes based on DAE-CN...

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14th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Hangzhou 2023

作者： Kang, Tianbo Zhang, Mian Xie, Ruitong Chen, Jiwei Xiang, Hongbiao Wang, Yuhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Tianjin300384 China

ISBN: (纸本)9798350301359

Planetary gearboxes (PGs) are the core transmission components of complex rotating machinery. The diverse forms of internal gear faults often complicate diagnosis and maintenance work. To improve the fault diagnosis accuracy of PGs, this paper proposes a method for diagnosing PG faults based on deep autoencoders (DAE) and convolutional neural networks (CNN). The method fully utilizes the deep learning capability of DAE and combines it with the precise recognition ability of CNN for fault features. Through precise learning in the encoding layer, it achieves deep dimensionality reduction of fault features and further learns these features after dimensionality reduction by CNN. Compared to traditional CNN, the method reduces the computation parameters and resource consumption, resulting in higher precision intelligent fault diagnosis. Experimental results demonstrate that DAE-CNN exhibits stronger fault diagnosis ability than traditional networks. © 2023 IEEE.

关键词： component DAE-CNN deep learning fault diagnosis planetary gearboxes

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Research on Risk Analysis for Lighting and Sound Equipment of Temporarily Constructed Stage

Research on Risk Analysis for Lighting and Sound Equipment o...

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2023 International Conference on Culture-Oriented Science and technology, CoST 2023

作者： Zhang, Xueying Su, Zhibin Wang, Huiqin Jiang, Yujian School of Information and Communication Engineering Communication University of China China Ministry of Culture and Tourism Key Laboratory of Acoustic Visual Technology and Intelligent Control System Beijing China

ISBN: (纸本)9798350357998

With the increasing demand for stage performance activities, the quality and safety of performance equipment, especially for the temporarily constructed stage, have become important topics that cannot be ignored. In order to enhance the safety of performance equipment and improve the service quality, this article mainly conducts risk analysis and safety assessment on the lighting and sound equipment for stage of temporary perform site without protective measures, and uses Analytic Hierarchy Process (AHP) with Fuzzy Comprehensive Evaluation (FCE) to conduct risk analysis and evaluation. The calculated risk level of stage lighting and sound equipment is given, and relevant safety measures are proposed to reduce the potential risks. © 2023 IEEE.

关键词： Analytic hierarchy process

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A credibility allocation approach of complex simulation systems 35

A credibility allocation approach of complex simulation syst...

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35th European Modeling and Simulation Symposium, EMSS 2023

作者： Zhang, Huan Li, Wei Geng, HuaPin Ma, Ping Yang, Ming Control and Simulation Center Harbin Institute of Technology Harbin150080 China National Key Laboratory of Modeling and Simulation for Complex Systems Harbin150080 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9788885741881

Complex simulation systems usually need to satisfy the credibility requirements and the credibility of complex simulation systems is inextricably linked to the credibility of simulation sub-systems. Hence, in order to guarantee the credibility of complex simulation systems meets requirements, it is necessary to allocate the credibility of simulation sub-systems. Complex simulation systems are composed of several correlative simulation sub-systems and their credibility has correlation relationships, which makes it difficult to obtain the credibility of simulation sub-systems quickly. The existing works mostly ignore the relationships between the sub-systems and are difficult to generate the credibility allocation results of simulation sub-systems. In this paper, we model the credibility allocation problem as a probabilistic inference problem based on the pairwise Markov random field (PMRF). In addition, we apply several inference algorithms to perform the inference exactly and approximately in the credibility PMRF. Finally, experiments are conduted on the air defense combat complex simulation system, and the experiment results demonstrate that the proposed method can obtain the credibility allocation results quickly and accurately. © 2023 The Authors.

关键词： Inference engines

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Six-Degree-of-Freedom intelligent control of Hypersonic Flight Vehicle

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： An, Hao Wang, Yiming Zhong, Xinyu Ye, Yongfeng Harbin Institute of Technology Space Control and Inertial Technology Research Center National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin China

The six-degree-of-freedom control of hypersonic flight vehicle (HFV) faces great challenges due to complex aerodynamics, inherent couplings and multiple constraints. This paper investigates the six-degree-of-freedom guidance and attitude control problem for unpowered gliding HFV. The guidance loop is based on the predictor-corrector method with three improvements of intelligent prediction acceleration, path constraints accommodation and no-fly zones circumvention. To quickly respond to guidance commands, three attitude channels (i.e., roll, pitch and yaw) are completely decoupled by nonlinear dynamic inverse, based on which a high-performance low-complexity attitude controller is proposed. This benefits from the appropriate integration of barrier function and sliding mode control, while design conditions of three alternative performances (i.e., asymptotic, exponential and preset-time convergences) are discussed. Servo dynamics and physical constraints of aerodynamic control surfaces are also well handled. © 2025 IEEE.

关键词： Hypersonic vehicles

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Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Driving

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年第5期9卷 1-19页

作者： Li, Yueyuan Yuan, Wei Zhang, Songan Yan, Weihao Shen, Qiyuan Wang, Chunxiang Yang, Ming Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Innovation Center of Intelligent Connected Vehicle Global Institute of Future Technology Shanghai Jiao Tong University Shanghai China Global Institute of Future Technology Shanghai Jiao Tong University Shanghai China

Simulators play a crucial role in autonomous driving, offering significant time, cost, and labor savings. Over the past few years, the number of simulators for autonomous driving has grown substantially. However, there is a growing concern about the validity of algorithms developed and evaluated in simulators, indicating a need for a thorough analysis of the development status of the simulators. To address existing gaps in research, this paper undertakes a comprehensive review of the history of simulators, proposes a utility-based taxonomy, and investigates the critical issues within open-source simulators. Analysis of the past thirty years' development trajectory reveals a trend characterized by an increase in open-source simulators and an expansion of their functionality scope. The categorization of simulators based on feature functionalities delineates five primary classes: traffic flow, sensory data, driving policy, vehicle dynamics, and comprehensive simulators. Furthermore, the paper identifies critical unresolved issues in open-source simulators, including concerns regarding the fidelity of sensory data, representation of traffic scenarios, and accuracy in vehicle dynamics simulation, all of which have the potential to undermine experimental confidence. Additionally, challenges in data format inconsistency, labor-intensive map construction processes, sluggish step updating, and insufficient support for Hardware-In-the-Loop testing are discussed as hindrances to experimental efficiency. In light of these findings, the survey furnishes task-oriented recommendations to aid in the selection of simulators, taking into account factors such as accessibility, maintenance status, and quality, while highlighting the inherent limitations of existing open-source simulators in validating algorithms and facilitating real-world experimentation. IEEE

关键词： Autonomous vehicles

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Model and Simulation of Multipath Error in DLL for GPS Receiver

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Chinese Journal of Electronics 2025年第3期23卷 508-515页

作者： Lan Cheng Jie Chen Gang Xie Taiyuan University of Technology Taiyuan China Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Although different multipath error models of Delay lock loop (DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product (DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression, is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Analytical models Tracking loops Codes Error analysis Simulation Receivers US Department of Transportation Mathematical models MATLAB Global Positioning system

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