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Dynamic collision avoidance for cooperative fixed-wing UAV swarm based on normalized artificial potential field optimization

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Journal of Central South University 2021年第10期28卷 3159-3172页

作者： LIU Wei-heng ZHENG Xin DENG Zhi-hong State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China China Aerospace Science and Industrial Corporation Beijing 100048China

Cooperative path planning is an important area in fixed-wing UAV ***,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic ***,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local ***,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is ***,several simulations are carried out to illustrate superiority and effectiveness.

关键词： fixed-wing UAV swarm cooperative path planning normalized artificial potential field dynamic obstacle avoidance local optimization

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DA-Ada: learning domain-aware adapter for domain adaptive object detection 24

DA-Ada: learning domain-aware adapter for domain adaptive ob...

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Proceedings of the 38th International Conference on Neural Information Processing systems

作者： Haochen Li Rui Zhang Hantao Yao Xin Zhang Yifan Hao Xinkai Song Xiaqing Li Yongwei Zhao Ling Li Yunji Chen Intelligent Software Research Center Institute of Software CAS Beijing China and University of Chinese Academy of Sciences Beijing China State Key Lab of Processors Institute of Computing Technology CAS Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation CAS Beijing China State Key Lab of Processors Institute of Computing Technology CAS Beijing China and University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798331314385

Domain adaptive object detection (DAOD) aims to generalize detectors trained on an annotated source domain to an unlabelled target domain. As the visual-language models (VLMs) can provide essential general knowledge on unseen images, freezing the visual encoder and inserting a domain-agnostic adapter can learn domaininvariant knowledge for DAOD. However, the domain-agnostic adapter is inevitably biased to the source domain. It discards some beneficial knowledge discriminative on the unlabelled domain, i.e. domain-specific knowledge of the target domain. To solve the issue, we propose a novel Domain-Aware Adapter (DA-Ada) tailored for the DAOD task. The key point is exploiting domain-specific knowledge between the essential general knowledge and domain-invariant knowledge. DA-Ada consists of the Domain-Invariant Adapter (DIA) for learning domain-invariant knowledge and the Domain-Specific Adapter (DSA) for injecting the domain-specific knowledge from the information discarded by the visual encoder. Comprehensive experiments over multiple DAOD tasks show that DA-Ada can efficiently infer a domain-aware visual encoder for boosting domain adaptive object detection. Our code is available at https://***/Therock90421/DA-Ada.

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Pan-omics-based characterization and prediction of highly multidrugadapted strains from an outbreak fungal species complex

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The Innovation 2024年第5期5卷 101-109,100页

作者： Xin Fan Lei Chen Min Chen Na Zhang Hong Chang Mingjie He Zhenghao Shen Lanyue Zhang Hao Ding Yuyan Xie Yemei Huang Weixin Ke Meng Xiao Xuelei Zang Heping Xu Wenxia Fang Shaojie Li Cunwei Cao Yingchun Xu Shiguang Shan Wenjuan Wu Changbin Chen Xinying Xue Linqi Wang Department of Infectious Diseases and Clinical Microbiology Beijing Institute of Respiratory Medicine and Beijing Chao-Yang HospitalCapital Medical UniversityBeijing 100020China Beijing Research Center for Respiratory Infectious Diseases Beijing 100020China State Key Laboratory of Mycology Institute of MicrobiologyChinese Academy of SciencesBeijing 100101China Department of Dermatology Shanghai Key Laboratory of Molecular Medical MycologyChangzheng HospitalShanghai 200003China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Intelligent Information Processing Institute of Computing TechnologyChinese Academy of SciencesBeijing 100190China Department of Respiratory and Critical Care Emergency and Critical Care Medical CenterBeijing Shijitan HospitalCapital Medical UniversityBeijing 100038China Department of Laboratory Medicine State Key Laboratory of Complex Severe and Rare DiseasesPeking Union Medical College HospitalChinese Academy of Medical SciencesBeijing 100730China Beijing Key Laboratory for Mechanisms Research and Precision Diagnosis of Invasive Fungal Diseases Beijing 100730China Department of Clinical Laboratory First Affiliated Hospital of Xiamen UniversityXiamen 361003China Institute of Biological Science and Technology Guangxi Academy of SciencesNanning 530007China Department of Dermatology The First Affiliated Hospital of Guangxi Medical UniversityNanning 530021China Guangxi Key Laboratory of Mycosis Prevention and Treatment Nanning 530021China Department of Laboratory Medicine Shanghai East HospitalTongji University School of MedicineShanghai 200120China The Unit of Pathogenic Fungal Infection&Host Immunity Shanghai Institute of Immunity and InfectionChinese Academy of SciencesShanghai 200031China Nanjing Advanced Academy of Life and Health Nanjing 211135China Department of Respiratory and Critical Care Shandong Second Medical UniversityWeifang 261035China

Strains from the Cryptococcus gattii species complex(CGSC)have caused the Pacific Northwest cryptococcosis outbreak,the largest cluster of lifethreatening fungal infections in otherwise healthy human hosts known to *** this study,we utilized a pan-phenome-based method to assess the fitness outcomes of CGSC strains under 31 stress conditions,providing a comprehensive overview of 2,821 phenotype-strain associations within this pathogenic *** clustering analysis revealed a strong correlation between distinct types of stress phenotypes in a subset of CGSC strains,suggesting that shared determinants coordinate their adaptations to various ***,a specific group of strains,including the outbreak isolates,exhibited a remarkable ability to adapt to all three of the most commonly used antifungal drugs for treating cryptococcosis(amphotericin B,5-fluorocytosine,and fluconazole).By integrating pan-genomic and pan-transcriptomic analyses,we identified previously unrecognized genes that play crucial roles in conferring multidrug resistance in an outbreak strain with high multidrug *** these genes,we identified biomarkers that enable the accurate prediction of highly multidrug-adapted CGSC strains,achieving maximum accuracy and area under the curve(AUC)of 0.79 and 0.86,respectively,using machine learning ***,we developed a pan-omic approach to identify cryptococcal multidrug resistance determinants and predict highly multidrug-adapted CGSC strains that may pose significant clinical concern.

关键词： multidrug adapted prediction

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

A SINS Error Correction Approach Based on Dual-Threshold ZV ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Ruijie Xu Shichao Chen Wenqiao Sun Yisheng Lv Jialiang Luo Ying Tang The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems The Center of National Railway Intelligent Transportation System Engineering and Technology Institute of Automation Chinese Academy of Sciences China Academy of Railway Sciences Corporation Limited Beijing China China Academy of Railway Sciences Corporation Limited Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing Beijing China Department of Electrical and Computer Engineering Rowan University Glassboro USA

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation System (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance.

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A Fast Algorithm for Moderating Critical Nodes via Edge Removal

arXiv

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arXiv 2023年

作者： Liu, Changan Zhou, Xiaotian Zehmakan, Ahad N. Zhang, Zhongzhi Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai200433 China Center for Complex Decision Analysis Fudan University Shanghai200433 China The School of Computing The Australian National University Canberra Australia

Critical nodes in networks are extremely vulnerable to malicious attacks to trigger negative cascading events such as the spread of misinformation and diseases. Therefore, effective moderation of critical nodes is very vital for mitigating the potential damages caused by such malicious diffusions. The current moderation methods are computationally expensive. Furthermore, they disregard the fundamental metric of information centrality, which measures the dissemination power of nodes. We investigate the problem of removing k edges from a network to minimize the information centrality of a target node v while preserving the network's connectivity. We prove that this problem is computationally challenging: it is NP-complete and its objective function is not supermodular. However, we propose three approximation greedy algorithms using novel techniques such as random walk-based Schur complement approximation and fast sum estimation. One of our algorithms runs in nearly linear time in the number of edges. To complement our theoretical analysis, we conduct a comprehensive set of experiments on synthetic and real networks with over one million nodes. Across various settings, the experimental results illustrate the effectiveness and efficiency of our proposed algorithms. © 2023, CC BY.

关键词： Combinatorial optimization

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DA-Ada: Learning Domain-Aware Adapter for Domain Adaptive Object Detection

arXiv

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arXiv 2024年

作者： Li, Haochen Zhang, Rui Yao, Hantao Zhang, Xin Hao, Yifan Song, Xinkai Li, Xiaqing Zhao, Yongwei Li, Ling Chen, Yunji Intelligent Software Research Center Institute of Software CAS Beijing China State Key Lab of Processors Institute of Computing Technology CAS Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation CAS Beijing China University of Chinese Academy of Sciences Beijing China

Domain adaptive object detection (DAOD) aims to generalize detectors trained on an annotated source domain to an unlabelled target domain. As the visual-language models (VLMs) can provide essential general knowledge on unseen images, freezing the visual encoder and inserting a domain-agnostic adapter can learn domain-invariant knowledge for DAOD. However, the domain-agnostic adapter is inevitably biased to the source domain. It discards some beneficial knowledge discriminative on the unlabelled domain, ***-specific knowledge of the target domain. To solve the issue, we propose a novel Domain-Aware Adapter (DA-Ada) tailored for the DAOD task. The key point is exploiting domain-specific knowledge between the essential general knowledge and domain-invariant knowledge. DA-Ada consists of the Domain-Invariant Adapter (DIA) for learning domain-invariant knowledge and the Domain-Specific Adapter (DSA) for injecting the domain-specific knowledge from the information discarded by the visual encoder. Comprehensive experiments over multiple DAOD tasks show that DA-Ada can efficiently infer a domain-aware visual encoder for boosting domain adaptive object detection. Our code is available at https://***/Therock90421/DA-Ada © 2024, CC BY-NC-SA.

关键词： Ada (programming language)

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Unraveling adaptive changes in electric vehicle charging behavior toward the postpandemic era by federated meta-learning

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The Innovation 2024年第2期5卷 21-23页

作者： Linlin You Rui Zhu Mei-Po Kwan Min Chen Fan Zhang Bisheng Yang Man Sing Wong Zheng Qin School of Intelligent Systems Engineering Sun Yat-Sen UniversityShenzhen 518107China Institute of High Performance Computing(IHPC) Agency for ScienceTechnology and Research(A*STAR)1 Fusionopolis WaySingapore 138632Republic of Singapore Institute of Space and Earth Information Science Chinese University of Hong KongHong KongChina Key Laboratory of Virtual Geographic Environment(Ministry of Education) Nanjing Normal UniversityNanjing 210023China Institute of Remote Sensing and Geographical Information System School of Earth and Space SciencesPeking UniversityBeijing 100871China State Key Laboratory of Information Engineering in Surveying Mappingand Remote SensingWuhan UniversityWuhan 430079China Department of Land Surveying and Geo-Informatics The Hong Kong Polytechnic UniversityHong KongChina

Dear Editor,Electric vehicle(EV)sales have significantly grown over the years to fulfill growing demands for economic travel and greenhouse gas mitigation.1 However,the surge in the number of EVs has led to charging anxiety as users struggle to find an available charging station before running out of electricity,resulting in longer reserve and waiting times.2 Moreover,severe mobility restrictions caused by infectious diseases,such as coronavirus disease 2019(COVID-19),have greatly affected people’s travel behavior3,4 and hindered their willingness to use EVs,given that charging in public spaces consumes time and increases the risk of contracting the virus.5 This implies that in the postpandemic era,in which individuals coexist with the virus,the interplay between the two important trends,namely vehicle electrification and mobility restrictions,can extensively affect people’s daily commuting by using EVs.

关键词： travel behavior charging

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Real-Time Estimation for the Swimming Direction of Robotic Fish Based on IMU Sensors*

Real-Time Estimation for the Swimming Direction of Robotic F...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Shikun Li Yufan Zhai Chen Wang Guangming Xie State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China National Engineering Research Center for Software Engineering Peking University Beijing China Institute of Ocean Research Peking University Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

An increasing number of underwater robots inspired by Carangidae are developed, which is characterized by high efficiency and flexibility. However, estimating the swimming direction of these robotic fish is challenging due to the constant swinging of the head during movement, which complicates precise control. In this study, we installed two low-cost inertial measurement unit (IMU) sensors separately on the head and tail parts of a double-joint robotic fish and presented a method for accurately and timely estimating the swimming direction. Firstly, we effectively compensated for the yaw angle drift of the IMU sensors through a fused Kalman Filter. Furthermore, we propose the Anti-Shake Estimation (ASE) algorithm to calculate the real-time swimming direction using filtered yaw angles at a high updating rate of 100Hz. Finally, we applied the method to swimming direction feedback control for evaluation and comparison. The results show that our ASE method performs better than other existing methods in straight-line swimming experiments. The experiment of S-curve swimming also demonstrates the effectiveness of our method in complex missions.

关键词： Measurement units Estimation Tail Sensor phenomena and characterization Sensor fusion Robot sensing systems Fish

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Design of Recursive Filtering Scheme via An Improved Weighted Try-Once Discard Protocol

Design of Recursive Filtering Scheme via An Improved Weighte...

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International Conference on Industrial Artificial Intelligence (IAI)

作者： Kaiwen Zheng Jun Hu Junhua Du Hui Yu Department of Applied Mathematics Harbin University of Science and Technology Harbin China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China

ISBN: (数字)9798350356618

ISBN: (纸本)9798350356625

This paper investigates the recursive filtering (RF) problem for stochastic multi-rate (MR) systems, where the information transmission is regulated by an improved weighted try-once-discard protocol (IWTODP). In order to reduce communication overhead and mitigate network congestion, the IWTODP is firstly proposed and designed to schedule the order of data transmission from the sensors. The main objective of this paper is to design a new RF scheme to minimize the upper bound (UB) on the filtering error (FE) covariance in each iteration step in the presence of IWTODP and MR sampling. In particular, an iterative way is given to provide the expression form of the gain of RF. Finally, the effectiveness of the proposed RF method is illustrated through simulation example.

关键词： Radio frequency Schedules Protocols Upper bound Filtering Filtering algorithms Iron Sensor systems Data communication State estimation

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BECNN: Bias Field Estimation CNN Trained with a Dual Route Implicit Supervised Learning Strategy

BECNN: Bias Field Estimation CNN Trained with a Dual Route I...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Shuaizheng Chen Chaolu Feng Wei Li Jinzhu Yang Dazhe Zhao School of Computer Science And Engineering Northeastern University Shenyang China Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Northeastern University Shenyang China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Bias fields adversely affect various automatic analysis technologies. Therefore, bias field correction is essential. However, deep learning based methods encounter challenges in obtaining ground truth. Although existing methods attempt to address this problem by using training-free techniques or constructing datasets with approximations of the ground truth, the lack of task-oriented guidance, training instability, and inappropriate use of approximations still impact performance. Additionally, different approaches for bias field correction, i.e., estimating bias fields versus directly restoring clean images, exhibit different performances. However, there is no consensus on the best way, resulting in limited performance in some cases. To address these problems, we propose a bias field generation method to construct the dataset and provide task-oriented information. We then propose the concept of Equivalent of Residual Mapping (ERM) to analyze the advantages of estimating bias fields. According to ERM, we propose the Bias field Estimation Convolutional Neural Network (BECNN). Finally, we propose the Dual Route Implicit Supervised Learning (DRISL) strategy to balance the guidance derived from approximations of the ground truth with over-dependence on them. The proposed method is compared qualitatively and quantitatively with the correlated methods. Experiment results demonstrate that the proposed method performs effectively both on bias field estimation and correction.

关键词： Training Measurement Deep learning Image resolution Computational modeling Supervised learning Estimation Image restoration Computational efficiency Convolutional neural networks

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