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UDI-3DVT: A Novel Network for 3-D Reconstruction via Uncertainty-Driven Sampling and Incremental Visual-Tactile Fusion

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IEEE Sensors Journal 2025年第6期25卷 10358-10369页

作者： Zhang, Chenyang Zhang, Shaohua Li, Yao Chen, Wenbai Gao, Guowei Wu, Peiliang Yanshan University Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province School of Information Science and Engineering Qinhuangdao066004 China Beijing Information Science and Technology University School of Automation Beijing100192 China

The fusion of visual and tactile senses allows robots to reconstruct and understand objects, aiding in downstream tasks such as object recognition and object grasping. However, most existing visual-tactile reconstruction methods typically overlook the role of visual point cloud processing in reconstruction, sampling points using generative-based methods rather than uncertainty-driven approaches. In addition, these methods only concatenate visual and tactile features, failing to fully leverage the complementary advantages of these two modalities, resulting in unsatisfactory reconstruction results. To address this issue, leveraging the open-source GelSight tactile sensor, this article proposes a novel method called UDI-3DVT, which reconstructs 3-D shapes by combining visual point clouds and multiple tactile images. Specifically, we explore the uncertainty of point clouds, performing additional sampling on high-uncertainty edge points, and propose an attention-based point cloud sampling method. Then, the framework leverages the efficiency of convolutional neural network (CNN) in image processing and the transformer's superiority in context modeling by using CNN for tactile features and transformer for visual features. A feature fusion module based on 1 × 1 convolution is designed to aggregate features from two branches. By gradually adding tactile features, we achieve incremental visual-tactile integration. Furthermore, since the contact-based perception of tactile sensors may cause slight deformations in objects, UDI-3DVT supports the reconstruction of both rigid and deformable objects. Extensive experiments demonstrate that our proposed framework outperforms current state-of-the-art (SOTA) methods, especially the Chamfer distance (CD) metric increased by 14.8%. © 2001-2012 IEEE.

关键词： Image reconstruction

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The Combined Waves Theory 7th

The Combined Waves Theory

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7th China Aeronautical science and technology Conference, CASTC 2024

作者： He, Pengcheng Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing Shuige33 Nanjing China

ISBN: (纸本)9789819797707

The Fourier series method is a basic theory for function transformation, while there are Gibbs effects for such types treatments with finite number of terms. Many mathematicians have contributed the intelligence for this field, such as Hardy [1] and Chen [2], and so on. In this paper, The combined waves theory was proposed, in which the Fourier series have been discussed by Taylor series whose first order function terms shows Gibbs effect naturally, the Gibbs effect may the principle of the word underlying logic, Some basic phenomena had discussed and explained. © Chinese Society of Aeronautics and Astronautics 2025.

关键词： Taylor series

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Unsupervised Outlier Detection with Reinforced Noise Discriminator

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ACM Transactions on Intelligent systems and technology 2025年第2期16卷 1-26页

作者： Zhang, Zhongping Liu, Daoheng Zhu, Jinwei Wu, Youxi Hebei Key Laboratory of Computer Virtual Technology and System Integration School of Information Science and Engineering Yanshan University Qinhuangdao China School of Information Science and Engineering Yanshan University Qinhuangdao China School of Artificial Intelligence Hebei University of Technology Tianjin China

Outlier detection is one of the hot topics in the field of machine learning and data mining. At present, there are many kinds of outlier detection algorithms. The accuracies of traditional outlier detection algorithms are often affected by unique parameters, and an increase in the amount of data and the dimensions of the data can seriously affect their efficiency and effectiveness. Methods based on generative adversarial networks (GANs) can solve the above problems, but they are unacceptable since the model often collapses during the training period. In this article, to solve the problems of curse of dimensionality and model collapse, we propose a novel reinforced noise discriminator (RND) method for unsupervised outlier detection in tabular data. We consider outlier detection as a binary classification problem. Thus, we apply a learnable reinforced discriminator and generate a large number of potential outliers with a uniform distribution and potential outliers that are close to the original data that are used as a negative sample to train the discriminator, which learns the distribution of the original data to detect outliers. We empirically compare the proposed approach with ten state-of-the-art outlier detection methods on both synthetic and real-world tabular datasets. The experimental results show that RND outperforms its competitors in the majority of cases. The codes used to perform the experiments described in this article are available at https://***/urlhearts/r-n-d. © 2025 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Generative adversarial networks

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Toward High-Accuracy and Low-Latency Group Vehicle Trajectory Prediction With Linear UNet-Enhanced Fully Connected Spatial–Temporal Graph Neural Network

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IEEE Internet of Things Journal 2025年第9期12卷 11797-11811页

作者： Zhang, Zirui Huang, Xumin Yu, Rong Wu, Maoqiang Kang, Jiawen Xie, Shengli Guangdong University of Technology School of Automation Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education Guangdong Provincial Key Laboratory of Intelligent Systems and Optimization Integration Guangzhou510006 China South China Normal University School of Electronic Science and Engineering Foshan528225 China Guangdong University of Technology School of Automation 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China

Group vehicle trajectory prediction (GVTP) is important for analyzing the traffic states and optimizing the traffic management. However, existing studies have performance bottlenecks in the prediction accuracy and inference latency. To tackle the problems, we propose a linear UNet-enhanced fully connected spatial–temporal GNN (LUFC-STGNN) for GVTP. First, a spatial graph is constructed by integrating prior-based and data-driven methods to capture both explicit and implicit spatial interactions between the vehicles. After that, a comprehensive temporal graph is created to capture the varying strengths of temporal interactions between all vehicles throughout historical timestamps. Furthermore, a fully connected spatial–temporal graph combining the spatial and temporal graphs is introduced to extract the effective spatial–temporal interaction features of the vehicles through the graph convolution operation. Finally, a linear UNet-based temporal dependency encoder (LU-TDE) is designed to further enhance the model’s ability of capturing the potential temporal patterns in the vehicle interactions. The encoder with linear complexity explores the multiscale temporal dependencies from the spatial–temporal interaction features but also reducing the inference latency. Experiments results based on real-world datasets show that compared to state-of-the-art models, our model reduces the average root mean square error over the 5-s prediction horizon by 31% and 10% on the NGSIM and HighD datasets, while reducing the inference latency by at least 1.26 times. © 2014 IEEE.

关键词： Prediction models

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Functional simulation of the cabin pressure control system based on stateflow 3

Functional simulation of the cabin pressure control system b...

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2024 3rd International Conference on Aerospace and Control Engineering, ICoACE 2024

作者： Wang, Yehao Meng, Fanxin Yang, Yonghui Wang, Shun Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Jiangsu Nanjing211106 China AVIC Nanjing Engineering Institute of Aircraft Systems Jiangsu Nanjing211106 China

The cabin pressure control system(CPCS) is an important part of the aircraft environmental control system. In the actual flight process, it needs to achieve different functions according to the working scene. In this paper, the architecture and working principle of the CPCS system are summarized, and the functions of the system are analyzed;the control logic of each function is designed and simulated by the Stateflow platform. The results show that the control logic and its transition constraints designed in this paper can meet the functional requirements of the system, and the dynamic response is rapid, which can be used for the cabin pressure control system of civil aircraft system function design and verification to provide a reference. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Aircraft control

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Non-Line-of-Sight Multipath Classification Method for BDS Using Convolutional Sparse Autoencoder with LSTM

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Tsinghua science and technology 2025年第1期30卷 68-86页

作者： Yahang Qin Zhenni Li Shengli Xie Bo Li Ming Liu Victor Kuzin School of Automation Guangdong University of Technologyand also with Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete ManufacturingGuangzhou 510006China School of Automation Guangdong University of TechnologyGuangdong Key Laboratory of IoT Information TechnologyGuangzhou 510006China 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Key Laboratory of Intelligent Information Processing and System Integration of IoTMinistry of EducationGuangzhou 510006China Department of Electronic and Computer Engineering Hong Kong University of Science and TechnologHong Kong 999077China Academician of Russian Engineering Academy Moscow Moscow 125009Russia

Multipath signal recognition is crucial to the ability to provide high-precision absolute-position services by the BeiDou Navigation Satellite system(BDS).However,most existing approaches to this issue involve supervised machine learning(ML)methods,and it is difficult to move to unsupervised multipath signal recognition because of the limitations in signal *** by an autoencoder with powerful unsupervised feature extraction,we propose a new deep learning(DL)model for BDS signal recognition that places a long short-term memory(LSTM)module in series with a convolutional sparse autoencoder to create a new autoencoder ***,we propose to capture the temporal correlations in long-duration BeiDou satellite time-series signals by using the LSTM module to mine the temporal change patterns in the time ***,we develop a convolutional sparse autoencoder method that learns a compressed representation of the input data,which then enables downscaled and unsupervised feature extraction from long-duration BeiDou satellite series ***,we add an l_(1/2) regularizer to the objective function of our DL model to remove redundant neurons from the neural network while ensuring recognition *** tested our proposed approach on a real urban canyon dataset,and the results demonstrated that our algorithm could achieve better classification performance than two ML-based methods(e.g.,11%better than a support vector machine)and two existing DL-based methods(e.g.,7.26%better than convolutional neural networks).

关键词： convolutional sparse autoencoder BeiDou Navigation Satellite system(BDS) long short-term memory(LSTM) multipath classification

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S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks

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IEEE Transactions on Circuits and systems for Video technology 2025年

作者： Wang, Zhong Zhang, Lin Wang, Hesheng Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Tongji University School of Computer Science and Technology National Pilot Software Engineering School with Chinese Characteristics Shanghai201804 China

Traditional LiDAR SLAM approaches prioritize localization over mapping, yet high-precision dense maps are essential for numerous applications involving intelligent agents. Recent advancements have introduced methods leveraging neural fields to enhance mapping capabilities;however, these approaches still face several limitations. Firstly, concerning scene representation, they typically employ neural fields with high-dimensional features and multi-layer perceptron decoders utilizing non-continuous activation functions. This results in low learning efficiency and challenges in capturing high-frequency signals. Secondly, in terms of scene organization, these methods often treat the entire scene as a singular neural field, leading to inefficiencies, inflexibility, and difficulties in rectifying accumulated errors when mapping large-scale environments over extended periods. To tackle the first issue, we propose a lightweight continuous SDF regression approach by encoding the scene in single-valued embeddings and decoding SDF values from a Kolmogorov-Arnold Network. By minimizing discrepancies in measuring range, sampling distance, and decoded SDF values, we facilitate iterative frame-to-model tracking and bundle adjustment neural mapping. To mitigate the second challenge, we propose structuring the whole scene into multiple neural SDF submaps. By establishing node-node, node-submap, and loop closure constraints into a global pose graph, the system can create dense neural maps with global consistency across large-scale scenes. Experimental evaluations in both real-world and simulated settings indicate that our system achieves superior mapping completeness and accuracy, enhanced learning efficiency, reduced memory consumption, and greater flexibility compared to its counterparts. © 2025 IEEE.

关键词： Mapping

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Multitarget gas alarm system for high-performance and anti-interference chemical warfare agents simulants detection

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science China(Technological sciences) 2025年第3期68卷 349-358页

作者： Yubin YUAN Qiang WU Menglong JIAO Haiyang WU Weihua LIU Xuming WANG Xiangrui BU Gong LI Chuanyu HAN Long HU Xin LI Xiaoli WANG Shool of Microelectronics School of Electronics and Information EngineeringXi’an Jiaotong UniversityXi’an710049China The Key Lab of Micro-nano Electronics and System Integration of Xi’an City Xi’an710049China Hangzhou Institute for Advanced Study University of Chinese Academy of SciencesHangzhou310024China School of Automation and Information Engineering Xi’an University of TechnologyXi’an710048China Key Laboratory for Physical Electronics and Devices of the Ministry of Education Xi’an Jiaotong UniversityXi’an710049China School of Science Xi’an Jiaotong UniversityXi’an710049China

Chemical warfare agents(CWAs)can cause significant harm to health and even death in a very short time even when inhaled in small amounts(~100 mg min/m^(3)).Detection equipment based on conventional techniques,including gas chromatography-mass spectrometry,Raman spectroscopy,fluorescence spectroscopy,and ion mobility spectrometry,have the disadvantages of high cost,long detection time,and high power ***,portable,and convenient equipment for target CWAs detection under interference is a *** this study,we propose an alarm system comprising a multitype micro sensor array and a field-programmable gate array-based readout circuit for CWAs simulants *** common volatile organic compound,temperature,and water vapor interference,the proposed multitype sensor-based detection system realizes an alarm function in less than 20 s with thresholds of 1 ppm dimethyl methylphosphonate(DMMP),4.6 ppm 2,2'-dichlorodiethyl ether(DCE),and 20 ppm SO_(2).Furthermore,the proposed detection system was evaluated outside the laboratory and passed the wilderness test,demonstrating its reliability in the *** believe that the proposed alarm system will contribute to the development of intelligent,portable,low-cost,and anti-interference CWAs detection technology.

关键词： alarm system CWAs simulants surface acoustic wave sensor mixed gas anti-interference

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Low Chirp Dual-Racetrack Modulator for PAM-4 Modulation With Low Driving Voltage

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Journal of Lightwave technology 2025年第10期43卷 4840-4847页

作者： Yu, Fuhao Zeng, Zhaobang Tang, Kaifei Yang, Shichong Ji, Xiang Xin, Yu Gu, Tingyi Jiang, Wei Nanjing University Key Laboratory of Intelligent Optical Sensing and Manipulation Engineering Research Center for Precision Photonics Integration & System Applications Ministry of Education The National Laboratory of Solid-State Microstructures The College of Engineering and Applied Sciences Institute of Optical Communication Engineering Nanjing210023 China Nanjing University of Information Science & Technology School of Physics and Optoelectronic Engineering Nanjing210044 China University of Delaware Department of Electrical and Computer Engineering NewarkDE19716 United States

Micro-ring modulators with a small footprint and energy consumption have been explored for densely integrated high throughput optical interconnects. However, their strong dispersive response results in frequency chirp and pulse broadening, which limits their signal transmission distance. Here we explore the low chirp operation of a dual-racetrack modulator symmetrically coupled to a bus waveguide. With opposite index changes in the two resonators, the coherent couplings of two resonators' optical fields with the bus waveguide and their interference can cancel out the output phase variation due to a single resonator. This allows the push-pull operation to achieve a lower chirp compared to the single-drive operation. The advantage of lower chirp operation is experimentally verified through open eye diagram with 100 Gbps PAM-4 transmitted over 2 km single-mode fiber (SMF), with a peak-to-peak driving voltage of 1.6 V. © 1983-2012 IEEE.

关键词： Single mode fibers

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The SGC-Informer-Based Deep Learning Framework: Managing the Efficiency-Accuracy Trade-off in Vehicle Trajectory Prediction

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IEEE Transactions on Vehicular technology 2025年

作者： He, Rui Meng, Zhiwei Zhang, Sumin Cui, Shaohua Chang, Yupeng Jin, Xiaosong Bai, Ri Xu, Tao Jilin University National Key Laboratory of Automotive Chassis Integration and Bionics Changchun130022 China Ministry of Education Key Laboratory of Intelligent Transportation Technology and System Beijing100191 China Beihang University School of Transportation Science and Engineering Beijing100191 China

Accurate and efficient trajectory prediction of surrounding vehicles is critical for ensuring the safety of autonomous driving systems, as it provides vital input for subsequent decision-making and planning modules. Relying solely on historical trajectory information is insufficient to accurately predict, especially in complex traffic scenarios with interwoven roads such as ramps, intersections, and roundabouts. Therefore, predicting future trajectories requires consideration not only of the historical trajectories of vehicles but also of the interaction among various entities of the environmental context. However, existing prediction methods suffer from expensive rendering costs and entity information loss, unnecessary complexity and redundant computation, and all-to-all interaction modeling and high computational costs, facing the challenge of the trade-off of efficiency and accuracy. To this end, we propose the SGC-Informer-based deep learning framework for fast and accurate trajectory prediction, called FESIG. Specifically, a comprehensive explicit entity vectorized representation is constructed based on Feature Engineering for the agent's trajectories and High-Definition (HD) map information, avoiding expensive rendering costs and entity information loss. Then, to mitigate excess complexity, we introduce the Simple Graph Convolution (SGC) network to effectively extract the local feature of each entity, which can remove the nonlinear transformation of the information propagation. Additionally, the Informer mechanism is employed to automatically sort and select the entities in the scenario, and then capture the complex interactions between the target vehicle and these entities that significantly impact it, thereby reducing computation costs. Experiments performed on the Argoverse forecasting dataset illustrate that the FESIG achieves the trade-off between accuracy and efficiency in the vehicle trajectory prediction task compared with the existing methods. © 1967-

关键词： Cost engineering

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