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Automatic collaborative water surface coverage and cleaning strategy of UAV and USVs

Digital Communications and Networks 2025年第2期11卷 365-376页

作者： Tianping Deng Xiaohui Xu Zeyan Ding Xiao Xiao Ming Zhu Kai Peng School of Electronic Information and Communications Huazhong University of Science and Technology Hubei Key Laboratory of Smart Internet Technology Huazhong University of Science and Technology

As the problem of surface garbage pollution becomes more serious, it is necessary to improve the efficiency of garbage inspection and picking rather than traditional manual methods. Due to lightness, Unmanned Aerial Vehicles(UAVs) can traverse the entire water surface in a short time through their flight field of view. In addition,Unmanned Surface Vessels(USVs) can provide battery replacement and pick up garbage. In this paper, we innovatively establish a system framework for the collaboration between UAV and USVs, and develop an automatic water cleaning strategy. First, on the basis of the partition principle, we propose a collaborative coverage path algorithm based on UAV off-site takeoff and landing to achieve global inspection. Second, we design a task scheduling and assignment algorithm for USVs to balance the garbage loads based on the particle swarm optimization algorithm. Finally, based on the swarm intelligence algorithm, we also design an autonomous obstacle avoidance path planning algorithm for USVs to realize autonomous navigation and collaborative cleaning. The system can simultaneously perform inspection and clearance tasks under certain constraints. The simulation results show that the proposed algorithms have higher generality and flexibility while effectively improving computational efficiency and reducing actual cleaning costs compared with other schemes.

关键词： UAV USVs Collaborative cleaning Path planning Coverage Autonomous obstacle avoidance

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Experimental demonstration of 220-GHz terahertz signals wireless transmission over 4.6 km

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science China(information sciences) 2025年第1期68卷 386-388页

作者： Yi WEI Jianjun YU Mingxu WANG Xiongwei YANG Qiutong ZHANG Jingwen TAN Bing ZHANG Ying WU Yang HAN Peng TIAN Wen ZHOU Kaihui WANG Feng ZHAO State Key Laboratory of ASIC and System Key Laboratory for Information Science of Electromagnetic Waves (MoE)School of Information Science and Technology Fudan University School of Electronic Engineering Xi'an University of Posts and Telecommunications

The advancement of terahertz (THz) communication technology drives the evolution of wireless communication systems,offering novel pathways and technical means for the development of future 6G communication *** wireless communication systems are often constrained by bandwidth limitations of electronic devices in high frequency ***,THz communication technology leverages the characteristics of electromagnetic waves to transcend these limitations,enabling communication athigher frequencies and wider bandwidths.

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Intelligent Reflecting Surface-Assisted Combined TOA and AOA Localization Algorithm

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KSII Transactions on Internet and information Systems 2025年第4期19卷 1357-1373页

作者： Zhang, Yuexia Gang, Yuanshuo Duan, Shiru Wang, Yu Key Laboratory of Modern Measurement and Control Technology Beijing Information Science and Technology University Beijing102206 China Key Laboratory of Information and Communication Systems Beijing Information Science and Technology University Beijing102206 China

Wireless positioning technology plays a crucial role in various applications, including intelligent transportation, industrial automation, and smart cities. However, in non-line-of-sight environments, signal obstruction and multipath effects significantly degrade localization accuracy. To address these challenges, this paper proposes an Intelligent Reflecting Surface-assisted Combined time of arrival (TOA) and angle of arrival (AOA) Localization (IRS-CTAL) algorithm. Specifically, this paper introduces a dynamic partially connected IRS structure, which selectively activates IRS sub-arrays in a time-division manner. This dynamic activation mitigates multipath interference and enhances the controllability of IRS-reflected signals, leading to improved localization performance. In the proposed IRS-CTAL algorithm, the 2D multiple signal classification algorithm is employed to jointly estimate the TOA and AOA of the received signals. Furthermore, to optimize the estimated coordinates and minimize the localization error, this paper incorporates the root mean square propagation algorithm, which efficiently corrects nonlinear distortions caused by IRS reflections. Simulation results demonstrate that the IRS-CTAL algorithm significantly outperforms traditional localization methods, achieving an average localization error reduction of 41% compared to the direct geometric computation method. Copyright © 2025 KSII.

关键词： Computational geometry

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Temporal-spectral correlation dynamics of Raman random fiber laser

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science China(information sciences) 2025年第4期68卷 166-176页

作者： Longqun NI Yifei QI Xingyu BAO Jing ZHANG Pan WANG Han WU Zinan WANG Key Laboratory of Optical Fiber Sensing and Communications University of Electronic Science and Technology of China College of Electronics and Information Engineering Sichuan University

Raman random fiber laser(RRFL) possesses rich physical properties of spectral, temporal, and spatial domains due to its unique feedback mechanism and complex nonlinear effects. Characterizing and controlling the microscopic evolution dynamics of RRFL are crucial to driving breakthrough advances in fields such as inertial confinement fusion and fundamental physics. In this work, a novel experimental and theoretical analysis of the evolution of the temporal spectral correlations of the RRFL in the transition and steady states is conducted. In the transitional state, the microscopic dynamics of the RRFL excitation process is revealed comprehensively: the temporal-correlation growth curve contrasts with that of resonant-cavity lasers, and the formation and degradation of spectral correlation are observed. In the steady state, the overall spectrum is characterized by partial correlation, and the correlation characteristics of RRFL mainly originate from the spectral random spikes, which offers a novel dimension for the precise control of RRFL correlation. This work provides new insights into underlying physical properties of continuous broadband lasers, offering key guidance for laser design, control, and applications.

关键词： random fiber laser microscopic characteristics temporal-spectral correlation random spikes nonlinear optics

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Robust Orientation Method Based on an Atmospheric Polarization Model for Hazy Weather

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IEEE Internet of Things Journal 2025年第9期12卷 12397-12409页

作者： Yang, Jiangtao Tian, Zhichao Wen, Hao Wang, Zirui Taiyuan University of Science and Technology School of Electronic Information Engineering Shanxi Key Laboratory of Advanced Control and Equipment Intelligence Shanxi Taiyuan030024 China

Accurate and reliable navigation data are key components in the Internet of Things (IoT). High-precision and stable autonomous orientation has attracted considerable attention regarding environments in which the global navigation satellite system signal is unreliable. Bionic polarized light orientation is a method based on the mechanism of insect navigation, and the orientation signal comes from nature, which has broad application prospects. However, there is significant dust or nitrogen oxide particle scattering and sunlight absorption in haze, reducing the polarization degree and abnormal polarization azimuth. This makes heading angle measurements with existing polarized light navigation and positioning methods inaccurate under hazy conditions. A polarization image denoising method based on deep learning can effectively eliminate the influence of haze on heading angles. Noisy polarization images can be decomposed into high- and low-frequency components containing different types of noise. Thus, this study proposes a polarization image denoising method that combines high- and low-frequency image decomposition with a multiscale two-level fusion strategy. This method decomposes the polarization image with noise into a set of low-frequency structural components and a set of high-frequency detailed components by utilizing multiscale Gaussian filters. On this basis, a multiscale two-level fusion strategy based on a complementary feature weighted fusion mechanism is also designed. In the high- and low-frequency merge and reconstruction module, after adding and fusing the high- and low-frequency enhanced features output by LF-UNet and HF-UNet, a residual convolution (Res-Conv) layer and an output convolution layer are used for residual prediction and then fused with the input image to acquire a high-quality polarization image. The proposed method is experimentally verified outdoors using a polarized light/inertial integrated heading measurement system and a vehicle. The e

关键词： Image denoising

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Enhanced Tube-Based Event-Triggered Stochastic Model Predictive control With Additive Uncertainties

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 596-605页

作者： Chenxi Gu Xinli Wang Kang Li Xiaohong Yin Shaoyuan Li Lei Wang the School of Control Science and Engineering Shandong University IEEE the School of Electronic and Electrical Engineering University of Leeds the Qingdao University of Science and Technology the Department of Automation Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China

This paper proposes an event-triggered stochastic model predictive control for discrete-time linear time-invariant(LTI) systems under additive stochastic disturbances. It first constructs a probabilistic invariant set and a probabilistic reachable set based on the priori knowledge of system *** with enhanced robust tubes, the chance constraints are then formulated into a deterministic form. To alleviate the online computational burden, a novel event-triggered stochastic model predictive control is developed, where the triggering condition is designed based on the past and future optimal trajectory tracking errors in order to achieve a good trade-off between system resource utilization and control performance. Two triggering parameters σ and γ are used to adjust the frequency of solving the optimization problem. The probabilistic feasibility and stability of the system under the event-triggered mechanism are also examined. Finally, numerical studies on the control of a heating, ventilation, and air conditioning(HVAC) system confirm the efficacy of the proposed control.

关键词： Event-triggered mechanism heating, ventilation, and air conditioning (HVAC) control probabilistic reachable set stochastic model predictive control

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A Defective Ground Structure Design for Reducing Coupling between Microstrip Antenna Arrays

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Progress in Electromagnetics Research C 2025年 151卷 123-130页

作者： Xu, Junhao Wang, Yafei Wang, Xiaozhe Li, Zhensong Key Laboratory of Information and Communication Systems Ministry of Information Industry Beijing Information Science and Technology University Beijing100101 China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China

In order to reduce the coupling between dense antenna arrays in multiple input multiple output (MIMO) systems, this paper proposes a method to reduce the coupling between microstrip antenna arrays by utilizing a defected ground structure (DGS), which consists of "W"-shaped slits etched in the ground plane. Simulation results show that the structure can achieve −46.6 dB isolation between antenna arrays. To verify the effectiveness of the structure, the microstrip antenna arrays loaded with this DGS are fabricated and measured, and the measured results are consistent with the simulated ones, which verifies the effectiveness of the structure. © 2025, Electromagnetics Academy. All rights reserved.

关键词： Antenna arrays

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Fixed-point quantum continuous search algorithm with optimal query complexity

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science China(Physics,Mechanics & Astronomy) 2025年第6期Mechanics & Astronomy) .卷 84-95页

作者： Shan Jin Yuhan Huang Shaojun Wu Guanyu Zhou Chang-Ling Zou Luyan Sun Xiaoting Wang Institute of Fundamental and Frontier Sciences University of Electronic Science and Technology of China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Key Laboratory of Quantum Information CAS University of Science and Technology of China Hefei National Laboratory Center for Quantum Information Institute for Interdisciplinary Information Sciences Tsinghua University

Continuous search problems(CSPs), which involve finding solutions within a continuous domain, frequently arise in fields such as optimization, physics, and engineering. Unlike discrete search problems, CSPs require navigating an uncountably infinite space, presenting unique computational challenges. In this work, we propose a fixed-point quantum search algorithm that leverages continuous variables to address these challenges, achieving a quadratic speedup. Inspired by the discrete search results, we manage to establish a lower bound on the query complexity of arbitrary quantum search for CSPs, demonstrating the optimality of our approach. In addition, we demonstrate how to design the internal structure of the quantum search oracle for specific problems. Furthermore, we develop a general framework to apply this algorithm to a range of problem types, including optimization and eigenvalue problems involving continuous variables.

关键词： quantum search quantum algorithm quantum computation optimization spectral problems

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IPFA-Net: Important Points Feature Aggregating Net for Point Cloud Classification and Segmentation

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Chinese Journal of electronics 2025年第1期34卷 322-337页

作者： Jingya Wang Yu Zhang Bin Zhang Jinxiang Xia Weidong Wang School of Information and Software Engineering University of Electronic Science and Technology of China National Key Laboratory of Automotive Chassis Integration and Bionics Jilin University

This paper focuses on the problems of point cloud deep neural networks in classification and segmentation tasks, including losing important information during down-sampling, ignoring relationships among points when extracting features, and network performance being susceptible to the sparsity of point cloud. To begin with, this paper proposes a farthest point sampling-important points sampling method for down-sampling, which can preserve important information of point clouds and maintain the geometry of input data. Then, the local feature relation aggregating method is proposed for feature extraction, improving the network's ability to learn contextual information and extract rich local region features. Based on these methods, the important points feature aggregating net(IPFA-Net) is designed for point cloud classification and segmentation tasks. Furthermore, this paper proposes the multi-scale multi-density feature connecting method to reduce the negative impact of point cloud data sparsity on network performance. Finally, the effectiveness of IPFA-Net is demonstrated through experiments on ModelNet40, ShapeNet part, and ScanNet v2 datasets. IPFA-Net is robust to reducing the number of point clouds, with only a 3.3% decrease in accuracy under a 16-fold reduction of point number. In the part segmentation experiments, our method achieves the best segmentation performance for five objects.

关键词： Point cloud compression Representation learning Geometry Fuses Semantics Artificial neural networks Feature extraction Sampling methods Robustness Data mining

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Open-source dataset for traffic light and countdown display detection in urban environment

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science China(information sciences) 2025年第5期68卷 407-408页

作者： Shuchun WAN Haitao DING Jianwei ZHANG Yunfeng HU Hong CHEN State Key Laboratory of Automotive Simulation and Control Jilin University Department of Control Science and Engineering Jilin University College of Electronic and Information Engineering Tongji University

Here we introduce an open-source dataset for traffic light and countdown display detection,which includes three subsets:a subset of traffic light data,a subset of traffic light and countdown display data,and a subset ...

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