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Milestones in Autonomous Driving and Intelligent Vehicles Part I: Control, Computing system Design, Communication, HD Map, Testing, and Human Behaviors

arXiv

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arXiv 2023年

作者： Chen, Long Li, Yuchen Huang, Chao Xing, Yang Tian, Daxin Li, Li Hu, Zhongxu Teng, Siyu Lv, Chen Wang, Jinjun Cao, Dongpu Zheng, Nanning Wang, Fei-Yue The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Waytous Ltd. China BNU-HKBU United International College Zhuhai519087 China Hong Kong Baptist University Kowloon999077 Hong Kong The Department of Industrial and System Engineering Hong Kong Polytechnical University Hong Kong The School of Aerospace Transport and Manufacturing Cranfield University United Kingdom The School of Transportation Science and Engineering Beihang University China The Department of Automation Tsinghua University China The Department of Mechanical and Aerospace Engineering Nanyang Technological University Singapore The College of Artificial Intelligence Xi'an Jiaotong University China The School of Mechanical Engineering Tsinghua University China

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks and lack systematic summaries and research directions in the future. Our work is divided into 3 independent articles and the first part is a Survey of Surveys (SoS) for total technologies of AD and IVs that involves the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. This is the second part (Part I for this technical survey) to review the development of control, computing system design, communication, High Definition map (HD map), testing, and human behaviors in IVs. In addition, the third part (Part II for this technical survey) is to review the perception and planning sections. The objective of this paper is to involve all the sections of AD, summarize the latest technical milestones, and guide abecedarians to quickly understand the development of AD and IVs. Combining the SoS and Part II, we anticipate that this work will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

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A Learning Convolutional Neural Network Approach for Network Robustness Prediction

arXiv

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arXiv 2022年

作者： Lou, Yang Wu, Ruizi Li, Junli Wang, Lin Li, Xiang Chen, Guanrong The Department of Computing and Decision Sciences Lingnan University Hong Kong The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The College of Computer Science Sichuan Normal University Chengdu610066 China The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai201210 China The Department of Control Science and Engineering Tongji University Shanghai200240 China The Department of Electrical Engineering City University of Hong Kong Hong Kong

Network robustness is critical for various societal and industrial networks again malicious attacks. In particular, connectivity robustness and controllability robustness reflect how well a networked system can maintain its connectedness and controllability against destructive attacks, which can be quantified by a sequence of values that record the remaining connectivity and controllability of the network after a sequence of node- or edge-removal attacks. Traditionally, robustness is determined by attack simulations, which are computationally very time-consuming or even practically infeasible. In this paper, an improved method for network robustness prediction is developed based on learning feature representation using convolutional neural network (LFR-CNN). In this scheme, higher-dimensional network data are compressed to lower-dimensional representations, and then passed to a CNN to perform robustness prediction. Extensive experimental studies on both synthetic and real-world networks, both directed and undirected, demonstrate that 1) the proposed LFR-CNN performs better than other two state-of-the-art prediction methods, with significantly lower prediction errors;2) LFR-CNN is insensitive to the variation of the network size, which significantly extends its applicability;3) although LFR-CNN needs more time to perform feature learning, it can achieve accurate prediction faster than attack simulations;4) LFR-CNN not only can accurately predict network robustness, but also provides a good indicator for connectivity robustness, better than the classical spectral measures. © 2022, CC BY.

关键词： complex networks

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Hybrid Films: Kirigami-Inspired Deformable 3D Structures Conformable to Curved Biological Surface (Adv. Sci. 12/2018)

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Advanced Science 2018年第12期5卷 1870073-1870073页

作者： Chao Yang Heng Zhang Youdi Liu Zhongliang Yu Xiaoding Wei Youfan Hu Key Laboratory for the Physics and Chemistry of Nanodevices and Department of Electronics Peking University Beijing 100871 P. R. China State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering Science College of Engineering Peking University Beijing 100871 China Beijing Innovation Center for Engineering Science and Advanced Technology Peking University Beijing 100871 China

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Weight-based Channel-model Matrix Framework provides a reasonable solution for EEG-based cross-dataset emotion recognition

arXiv

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arXiv 2022年

作者： Chen, Huayu He, Huanhuan Zhu, Jing Sun, Shuting Li, Jianxiu Shao, Xuexiao Li, Junxiang Li, Xiaowei Hu, Bin Gansu Provincial Key Laboratory of Wearable Computing School of Information Science and Engineering Lanzhou University Lanzhou China Brain Health Engineering Laboratory School of Medical Technology Beijing Institute of Technology Beijing China School of Information Science and Engineering Inner Mongolia University Inner Mongolia China Shandong Academy of Intelligent Computing Technology Jinan China Chinese Academy of Sciences Center for Excellence in Brain Science and Intelligence Technology Shanghai Institutes for Biological Sciences Chinese Academy of Sciences Shanghai China Joint Research Center for Cognitive Neurosensor Technology of Lanzhou University Institute of Semiconductors Chinese Academy of Sciences Lanzhou China Open Source Software and Real-Time System Lanzhou University Ministry of Education Lanzhou China

Cross-dataset emotion recognition as an extremely challenging task in the field of EEG-based affective computing is influenced by many factors, which makes the universal models yield unsatisfactory results. Facing the situation that lacks EEG information decoding research, we first analyzed the impact of different EEG information(individual, session, emotion and trial) for emotion recognition by sample space visualization, sample aggregation phenomena quantification, and energy pattern analysis on five public datasets. Based on these phenomena and patterns, we provided the processing methods and interpretable work of various EEG differences. Through the analysis of emotional feature distribution patterns, the Individual Emotional Feature Distribution Difference(IEFDD) was found, which was also considered as the main factor of the stability for emotion recognition. After analyzing the limitations of traditional modeling approach suffering from IEFDD, the Weight-based Channel-model Matrix Framework(WCMF) was proposed. To reasonably characterize emotional feature distribution patterns, four weight extraction methods were designed, and the optimal was the correction T-test(CT) weight extraction method. Finally, the performance of WCMF was validated on cross-dataset tasks in two kinds of experiments that simulated different practical scenarios, and the results showed that WCMF had more stable and better emotion recognition ability. Copyright © 2022, The Authors. All rights reserved.

关键词： Emotion Recognition

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Robust visual tracking via combinative deep learning

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Journal of Physics: Conference Series 2018年第1期1074卷

作者： Jia Wen JiWei Zhao PengFei Liu Hongjun Wang The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Yanshan University Qinhuangdao P.R.China Information Science and Engineering College Yanshan University Qinhuangdao P.R.China State Key Laboratory of Software Engineering of Hebei Province Yanshan University Qinhuangdao P.R.China

Object tracking is a hot topic in computer vision. In recent years, a large number of trackers has been proposed, in which the deep learning tracker has achieved excellent performance. The real-time capability of the deep learning tracker is not good enough due to the high-complexity of the network structures. This paper proposed an innovative tracking method to solve this problem. There are three important differences between this tracker and the other deep learning trackers. Firstly, the overcomplete basis in the deep learning tracker results in heavy computational cost. In order to reduce the complexity of the network, fewer units are used in the first hidden layer to replace the overcomplete basis. Secondly, a training method combining two observation models is used in the tracking process. The denoising automatic encoder is used in the first layer and the backpropagation is used in the other layers. This can avoid the diffusion of gradients which is caused by BP and adapt to the change of the targets easier. Thirdly, this tracker using adaptive particle filter to track targets. The number of particles is dynamic changes in tracking process. In this paper, we use different kinds of unlabelled datum to train network and initialize observation model. The observation model uses the samples collected in the tracking to adjust dynamically so as to adapt to the target appearance and complex environment. Compared with the existing methods, the results of experiments in different video sequences show that this tracker has a higher speed and the similar accuracy compared.

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SPP-CNN: An Efficient Framework for Network Robustness Prediction

arXiv

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arXiv 2023年

作者： Wu, Chengpei Lou, Yang Wang, Lin Li, Junli Li, Xiang Chen, Guanrong The College of Computer Science Sichuan Normal University Chengdu610066 China The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China The Department of Computer Science National Yang Ming Chiao Tung University Hsinchu300 Taiwan The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai201210 China The Department of Control Science and Engineering Tongji University Shanghai200240 China The Department of Electrical Engineering City University of Hong Kong Hong Kong

This paper addresses the robustness of a network to sustain its connectivity and controllability against malicious attacks. This kind of network robustness is typically measured by the time-consuming attack simulation, which returns a sequence of values that record the remaining connectivity and controllability after a sequence of node- or edge-removal attacks. For improvement, this paper develops an efficient framework for network robustness prediction, the spatial pyramid pooling convolutional neural network (SPP-CNN). The new framework installs a spatial pyramid pooling layer between the convolutional and fully-connected layers, overcoming the common mismatch issue in the CNN-based prediction approaches and extending its generalizability. Extensive experiments are carried out by comparing SPP-CNN with three state-of-the-art robustness predictors, namely a CNN-based and two graph neural networks-based frameworks. Synthetic and real-world networks, both directed and undirected, are investigated. Experimental results demonstrate that the proposed SPP-CNN achieves better prediction performances and better generalizability to unknown datasets, with significantly lower time-consumption, than its counterparts. © 2023, CC BY.

关键词： complex networks

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Method for constructing multi-dimensional feature map of malicious code

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Journal of Physics: Conference Series 2021年第4期1748卷

作者： Haocong Ma Ji Zhang Junhua Zhou Xiang Zhai Junjie Xue Hang Ji State Key Laboratory of Intelligent Manufacturing System Technology Beijing Institute of Electronic System Engineering Beijing 100854 China Beijing Complex Product Advanced Manufacturing Engineering Research Center Beijing simulation Center Beijing 100854 China Science and Technology on Space System Simulation Laboratory Beijing Simulation Center Beijing 100854 China School of Computer Science and Technology Beijing Institute of Technology Beijing 100081 China

Malicious code is characterized by a large number of types, rapid increase in number, continuous update of transmission routes, and continuous enhancement of back analysis and back detection methods. Therefore, how to effectively detect and analyze malicious code has been a problem of great concern. This paper studies the features of binary file and disassembly file of malicious code, introduces the concept of information gain, and proposes a method to construct the multi-dimensional characteristic graph of malicious code. Finally, the convolutional neural network is used to classify the multi-dimensional feature graph of malicious code, which provides a new idea for the feature extraction of malicious code.

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A New Atmospheric Dataset for GIIRS Sampled from ERA5 Using Shannon Entropy Method

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IOP Conference Series: Earth and Environmental Science 2021年第1期668卷

作者： Qi Zhang Yi Yu Weimin Zhang College of Meteorology and Oceanography National University of Defense Technology Changsha 410073 China College of Computer Science National University of Defense Technology Changsha 410073 China Key Laboratory of Software Engineering for Complex Systems Changsha 410073 China

Geostationary Interferometric Infrared Sounder (GIIRS) on board the new Chinese geostationary meteorological satellite Fengyun-4A is aimed to obtain three-dimensional atmospheric information regularly at the regional scale. Since the existing atmospheric datasets are global covered and they are not representative of the GIIRS detection area, a diverse and local representative atmospheric dataset is required for GIIRS in training transmittance parameterization scheme of fast radiative transfer model and retrieving atmospheric profiles. The new atmospheric dataset for GIIRS application in this paper is sampled from the European Centre for Medium-Range Weather Forecasts (ECMWF) fifth-generation reanalysis (ERA5) 2019 dataset using Shannon entropy sampling method. The new dataset demonstrates the feature of uniform distribution within multiple atmospheric variables' (i.e. atmospheric temperature, specific humidity, 2 meter temperature) variation ranges and GIIRS's spatial coverage. To address the issue derived from the climate difference and the varied vertical pressure structure of regions with great differences in topographic height, the study area is divided into six categories regarding of topographic height categories where atmospheric dataset are sampled separately. Seasonal variation is also taken into account in the process of sampling. Compared with the initial randomly sampled dataset, the atmospheric and 2 meter temperature in the new dataset demonstrate a higher level of uniformity within their variation ranges. The statistical results indicate that the differences between samples in the new dataset are enlarged, meanwhile, the new dataset well retains the statistical characteristics of the original ERA5 dataset. The new dataset has a potential in the study of the utility of GIIRS data in the numerical weather forecast.

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MODMA dataset: a Multi-modal Open Dataset for Mental-disorder Analysis

arXiv

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arXiv 2020年

作者： Cai, Hanshu Gao, Yiwen Sun, Shuting Li, Na Tian, Fuze Xiao, Han Li, Jianxiu Yang, Zhengwu Li, Xiaowei Zhao, Qinglin Liu, Zhenyu Yao, Zhijun Yang, Minqiang Peng, Hong Zhu, Jing Zhang, Xiaowei Gao, Guoping Zheng, Fang Li, Rui Guo, Zhihua Ma, Rong Yang, Jing Zhang, Lan Hu, Xiping Li, Yumin Hu, Bin Gansu Provincial Key Laboratory of Wearable Computing School of Information Science and Engineering Lanzhou University China CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai Institutes for Biological Sciences Chinese Academy of Sciences China Joint Research Center for Cognitive Neurosensor Technology of Lanzhou University Institute of Semiconductors Chinese Academy of Sciences China Open Source Software and Real-Time System Lanzhou University Ministry of Education China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Lanzhou University Second Hospital China

According to the World Health Organization, the number of mental disorder patients, especially depression patients, has grown rapidly and become a leading contributor to the global burden of disease. However, the present common practice of depression diagnosis is based on interviews and clinical scales carried out by doctors, which is not only labor-consuming but also time-consuming. One important reason is due to the lack of physiological indicators for mental disorders. With the rising of tools such as data mining and artificial intelligence, using physiological data to explore new possible physiological indicators of mental disorder and creating new applications for mental disorder diagnosis has become a new research hot topic. However, good quality physiological data for mental disorder patients are hard to acquire. We present a multi-modal open dataset for mental-disorder analysis. The dataset includes EEG and audio data from clinically depressed patients and matching normal controls. All our patients were carefully diagnosed and selected by professional psychiatrists in hospitals. The EEG dataset includes not only data collected using traditional 128-electrodes mounted elastic cap, but also a novel wearable 3-electrode EEG collector for pervasive applications. The 128-electrodes EEG signals of 53 subjects were recorded as both in resting state and under stimulation;the 3-electrode EEG signals of 55 subjects were recorded in resting state;the audio data of 52 subjects were recorded during interviewing, reading, and picture description. We encourage other researchers in the field to use it for testing their methods of mental-disorder analysis. Copyright © 2020, The Authors. All rights reserved.

关键词： Diagnosis

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Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys

arXiv

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arXiv 2023年

作者： Chen, Long Li, Yuchen Huang, Chao Li, Bai Xing, Yang Tian, Daxin Li, Li Hu, Zhongxu Na, Xiaoxiang Li, Zixuan Teng, Siyu Lv, Chen Wang, Jinjun Cao, Dongpu Zheng, Nanning Wang, Fei-Yue The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Waytous Ltd United Kingdom BNU-HKBU United International College Zhuhai519087 China Hong Kong Baptist University Kowloon999077 Hong Kong The Department of Industrial and System Engineering Hong Kong Polytechnical University Hong Kong The College of Mechanical and Vehicle Engineering Hunan University China The School of Aerospace Transport and Manufacturing Cranfield University United Kingdom The School of Transportation Science and Engineering Beihang University China The Department of Automation Tsinghua University China The Department of Mechanical and Aerospace Engineering Nanyang Technological University Singapore The Centre for Sustainable Road Freight University of Cambridge United Kingdom The School of Mechanical Engineering Tsinghua University China The College of Artificial Intelligence Xi’an Jiaotong University China

关键词： Autonomous vehicles

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