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Industrial Cyber-Physical Systems (ICPS)

作者： Jiahe Cai Sheng Du Chengda Lu Bo Xiao Min Wu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China Guangzhou Marine Geological Survey Guangzhou China

With the development of unmanned surface vessel in the world today, obstacle avoidance using environmental information is the basis to ensure its high maneuvering performance and safety. However, directly using standard algorithms will lead to missing and wrong identification severely for characteristics of marine obstacles. This paper adds a multi-scale feature extraction layer of dilation convolution and group convolution to Faster Region based Convolutional Neural Network (Faster-RCNN), the baseline model, and changes the classification algorithm to improve its robustness and accuracy. Soft-Non Maximum Suppression (Soft-NMS) is used to enhance the prediction effects further. After improvements, the mean average precision value increases by 3.35%, and the final loss value decreases by 0.20. Given the phenomenon of missing and misidentification in the prediction by the baseline model, the results of our new model show outstanding performance.

关键词： Convolution Predictive models Feature extraction Prediction algorithms Robustness Classification algorithms Safety

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Pseudo-LiDAR for Visual Odometry

arXiv

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arXiv 2022年

作者： Deng, Huiying Wang, Guangming Feng, Zhiheng Jiang, Chaokang Wu, Xinrui Miao, Yanzi Wang, Hesheng Advanced Robotics Research Center AI Research Institute School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

As one of the important tasks in the field of robotics and machine vision, LiDAR/visual odometry provides tremendous help for various applications such as navigation, location, etc. In the existing methods, LiDAR odometry shows superior performance, but visual odometry is still widely used for its price advantage. Conventionally, the task of visual odometry mainly rely on the input of continuous images. However, it is very complicated for the odometry network to learn the epipolar geometry information provided by the images. In this paper, the concept of pseudo-LiDAR is introduced into the odometry to solve this problem. The pseudo-LiDAR point cloud back-projects the depth map generated by the image into the 3D point cloud, which changes the way of image representation. Compared with the stereo images, the pseudo-LiDAR point cloud generated by the stereo matching network can get the explicit 3D coordinates. Since the 6 Degrees of Freedom (DoF) pose transformation occurs in 3D space, the 3D structure information provided by the pseudo-LiDAR point cloud is more direct than the image. Compared with sparse LiDAR, the pseudo-LiDAR has a denser point cloud. In order to make full use of the rich point cloud information provided by the pseudo-LiDAR, a projection-aware dense odometry pipeline is adopted. Most previous LiDAR-based algorithms sampled 8192 points from the point cloud as input to the odometry network. The projection-aware dense odometry pipeline takes all the pseudo-LiDAR point clouds generated from the images except for the error points as the input to the network. While making full use of the 3D geometric information in the images, the semantic information in the images is also used in the odometry task. The fusion of 2D-3D is achieved in an image-only based odometry. Experiments on the KITTI dataset prove the effectiveness of our method. To the best of our knowledge, this is the first visual odometry method using pseudo-LiDAR. Copyright © 2022, The Authors. A

关键词： Pipelines

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Numerical Simulation of Failure Properties of Interbedded Hydrate-Bearing Sediment and its Implications on Field Exploitation

SSRN

引用

SSRN 2022年

作者： Chen, Mingtao Li, Yanlong Zhang, Penghui Yu, Guigang Zhang, Zhun Zhang, Yajuan Jiang, Haiyang Gong, Bin Wu, Nengyou College of Oceanography Hohai University Nanjing210098 China Laboratory for Marine Mineral Resources Qingdao National Laboratory for Marine Science and Technology Qingdao266237 China Key Laboratory of Gas Hydrate Ministry of Natural Resources / Qingdao Institute of Marine Geology Qingdao266237 China Faculty of Engineering China University of Geosciences Wuhan430074 China State Key Laboratory of Mining Disaster Prevention and Control Co-founded by Shandong Province the Ministry of Science and Technology Shandong University of Science and Technology Qingdao266590 China

marine natural gas hydrate is widely accepted as a promising substitute energy resource, whereas geotechnical responses of hydrate-bearing sediments (HBS) are crucial for the safe development of natural gas hydrate. The hydrate spatial distribution in sediments is multitype and present different coalescence degrees, its distribution pattern significantly influences the failure behavior of HBS, but the mechanics behind this influence is unclear. Numerical simulations are of great importance in revealing such mechanics. In this paper, a series of numerical simulations, using a modified Mohr–Coulomb (MC) model, were performed to analyze the deformation mechanisms of HBS when the hydrate was laminarly distributed in its host sediment. Considering the vertical heterogeneity of the hydrate distribution, the vertical-laminar hydrate distribution samples were simplified as interbedded samples. The interbedded HBS specimens consisted of three layers: the middle layer with relatively lower hydrate saturation;and the upper and lower layers with relatively high hydrate saturation. Interbedded samples with different hydrate saturations, depressurization ratios, and thickness ratios were designed to analyze their mechanical behaviors. The results indicated that in both the hydrate saturation and thickness ratio of the interbedded samples, the plastic yield area first occurred in the lower hydrate saturation layer;the failure mechanism was mainly determined by the strength of the lower hydrate saturation layer. In addition, the shear failure behavior of the HBS was controlled by the hydrate saturation difference between the middle and upper layers. With a smaller hydrate saturation difference between the middle and upper layers, the samples were more likely to experience shear failure. In the thickness ratio samples, the HBS changed from brittle to ductile failure with an increase in the thickness of the lower hydrate saturation layer. Under different depressurization amplitudes,

关键词： Sediments

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FFPA-Net: Efficient Feature Fusion with Projection Awareness for 3D Object Detection

arXiv

引用

arXiv 2022年

作者： Jiang, Chaokang Wang, Guangming Wu, Jinxing Miao, Yanzi Wang, Hesheng Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China The Department of Engineering Mechanics Shanghai Jiao Tong University Shanghai200240 China

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D object detection. In this paper, first, unstructured 3D point clouds are filled in the 2D plane and 3D point cloud features are extracted faster using projection-aware convolution layers. Further, the corresponding indexes between different sensor signals are established in advance in the data preprocessing, which enables faster cross-modal feature fusion. To address LiDAR points and image pixels misalignment problems, two new plug- and-play fusion modules, LiCamFuse and BiLiCamFuse, are proposed. In LiCamFuse, soft query weights with perceiving the Euclidean distance of bimodal features are proposed. In BiLiCamFuse, the fusion module with dual attention is proposed to deeply correlate the geometric and textural features of the scene. The quantitative results on the KITTI dataset demonstrate that the proposed method achieves better feature-level fusion. In addition, the proposed network shows a shorter running time compared to existing methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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Gray object recognition and angle measurement method based on Mean shift to Overhead Crane Systems

Gray object recognition and angle measurement method based o...

引用

第三十九届中国控制会议

作者： Jinling Huang Weimin Xu Weiwei Zhao Hesong Yuan Yibin Hu Key Laboratory of Marine Technology and Control Engineering Ministry of Communications Shanghai Maritime University

In order to solve the problem that the moving object blurred image decrease the detection accuracy in the process of detecting the payload swing angle of overhead crane based on vision, and the tracking failure caused by the drastic change of gray targets, a robust real-time detection method of payload swing angle of overhead crane is proposed. This method uses a spherical marker attached to the payload, which is insensitive to rotation and tilt when it is detected. Firstly, it uses the mean shift algorithm to track the moving objects in the image plane continuously, and then integrates the method of minimum area circle to detect the spherical marker image in the region of interest accurately and quickly. Finally, combined with the geometric method, the real-time swing angle is calculated. In addition, the angle table method is used to increase the speed of calculating the swing angle. The experimental results show that the method is effective for detecting the payload target swing angle of different trolley motion speed.

关键词： overhead crane swing angle measurement minimum area circle method image processing blurred image

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Occurrence and health risks of semi-volatile organic compounds in face masks

引用

Science Bulletin 2021年第16期66卷 1601-1603页

作者： Huaijun Xie Jing Du Wenjing Han Jiahao Tang Xiangyu Li Jingwen Chen Key Laboratory of Industrial Ecology and Environmental Engineering(Ministry of Education) Dalian Key Laboratory on Chemicals Risk Control and Pollution Prevention TechnologySchool of Environmental Science and TechnologyDalian University of TechnologyDalian 116024China Dalian Key Laboratory of Conservation Biology for Endangered Marine Mammals Liaoning Ocean and Fisheries Science Research InstituteDalian 116023China

Face masks contribute greatly to the protection of human health in the epidemic of corona virus disease 2019(COVID-19).However,the extensive use of masks has brought new challenges to the environment and human health,... 详细信息

关键词：半挥发性有机物风险评价 epidemic

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Unsupervised Hyperspectral and Multispectral Images Fusion Based on the Cycle Consistency

arXiv

引用

arXiv 2023年

作者： Shi, Shuaikai Zhang, Lijun Altmann, Yoann Chen, Jie The Center of Intelligent Acoustics and Immersive Communications School of Marine Science and Technology Northwestern Polytechinical University Xi’an710072 China The Key Laboratory of Ocean Acoustics and Sensing Ministry of Industry and Information Technology Xi’an710072 China The School of Engineering and Physical Sciences Heriot Watt University EdinburghEH14 4AS United Kingdom

Hyperspectral images (HSI) with abundant spectral information reflected materials property usually perform low spatial resolution due to the hardware limits. Meanwhile, multispectral images (MSI), e.g., RGB images, have a high spatial resolution but deficient spectral signatures. Hyperspectral and multispectral image fusion can be cost-effective and efficient for acquiring both high spatial resolution and high spectral resolution images. Many of the conventional HSI and MSI fusion algorithms rely on known spatial degradation parameters, i.e., point spread function, spectral degradation parameters, spectral response function, or both of them. Another class of deep learning-based models relies on the ground truth of high spatial resolution HSI and needs large amounts of paired training images when working in a supervised manner. Both of these models are limited in practical fusion scenarios. In this paper, we propose an unsupervised HSI and MSI fusion model based on the cycle consistency, called CycFusion. The CycFusion learns the domain transformation between low spatial resolution HSI (LrHSI) and high spatial resolution MSI (HrMSI), and the desired high spatial resolution HSI (HrHSI) are considered to be intermediate feature maps in the transformation networks. The CycFusion can be trained with the objective functions of marginal matching in single transform and cycle consistency in double transforms. Moreover, the estimated PSF and SRF are embedded in the model as the pre-training weights, which further enhances the practicality of our proposed model. Experiments conducted on several datasets show that our proposed model outperforms all compared unsupervised fusion methods. The codes of this paper will be available at this address: https://***/shuaikaishi/CycFusion for reproducibility. Copyright © 2023, The Authors. All rights reserved.

关键词： Cost effectiveness

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Zoning search using a hyper-heuristic algorithm

引用

Science China(Information Sciences) 2019年第9期62卷 193-195页

作者： Qinqin FAN Ning LI Yilian ZHANG Xuefeng YAN Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai Jiao Tong University Logistics Research Center Shanghai Maritime University Key Laboratory of Marine Technology and Control Engineering Ministry of CommunicationsShanghai Maritime University Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education East China University of Science and Technology

Dear editor,With the development of high-performance computing techniques, run time of meta-heuristic algorithms can be reduced effectively. However, improved computation power has not been indirectly converted into search capability in most of previous studies [1]. Moreover, the solution precision of an optimization problem is directly determined

关键词： pro CEC Zoning search using a hyper-heuristic algorithm

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Improved spectral model building for using ATR-FTIR spectroscopy to measure solution concentration during cooling crystallization

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IFAC-PapersOnLine 2022年第7期55卷 833-838页

作者： Jingxiang Liu Tao Liu Yan Cui Xiaojing Pei School of Marine Electrical Engineering Dalian Maritime University Dalian 116026 P. R. China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian 116024 P. R. China Institute of Advanced Control Technology Dalian University of Technology Dalian 116024 P. R. China

To ensure in-situ measurement accuracy on the solution concentration during cooling crystallization process, an improved spectral model building method is proposed in this paper for application of the attenuated total reflection Fourier transform infrared (ATR-FTIR) spectroscopy. The traditional partial least-squares (PLS) model is modified into a functional regression form for expressing the relationship between the input variables of in-situ measured spectra and the output of solution concentration, so as to address the issue of insufficient samples for model calibration with respect to the high-dimension of spectral variables for measurement. The widely used DB4 wavelet functions are taken as basis functions to approximate the smooth functions in the proposed functional regression model, by virtue of their multi-scale and orthogonal properties to procure good accuracy. Accordingly, a parameter estimation algorithm named wavelet partial-least-squares is proposed for the spectral model calibration. The application to measure the solution concentration of L-glutamic acid (LGA) cooling crystallization process well demonstrates the effectiveness and merit of the proposed method.

关键词： wavelet functional partial least-squares in-situ measurement by ATR-FTIR spectroscopy cooling crystallization process spectral calibration model

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Enhanced mid-latitude warming due to poleward shift of sea salt aerosols in a warmer future

引用

Science Bulletin 2025年

作者： Yang, Yang Yu, Yang Wang, Yujue Wang, Hailong Russell, Lynn M. Wang, Pinya Liao, Hong State Key Laboratory of Climate System Prediction and Risk Management/Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control/Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology/Joint International Research Laboratory of Climate and Environment Change Nanjing University of Information Science and Technology Nanjing210044 China School of Environmental Science and Engineering Nanjing University of Information Science and Technology Nanjing210044 China Frontiers Science Center for Deep Ocean Multispheres and Earth System Key Laboratory of Marine Environment and Ecology Ministry of Education of China Ocean University of China Qingdao266100 China Atmospheric Climate and Earth Sciences Division Pacific Northwest National Laboratory RichlandWA99352 United States Scripps Institution of Oceanography University of California San DiegoCA92093 United States

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