检索结果-内蒙古大学图书馆

International Conference on Software Engineering (ICSE)

作者： Yang Sun Christopher M. Poskitt Kun Wang Jun Sun School of Computing and Information Systems Singapore Management University Singapore State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798331505691

ISBN: (纸本)9798331505707

Autonomous Vehicles (AVs) are advancing rapidly, with Level-4 AVs already operating in real-world conditions. Current AVs, however, still lag behind human drivers in adaptability and performance, often exhibiting overly conservative behaviours and occasionally violating traffic laws. Existing solutions, such as runtime enforcement, mitigate this by automatically repairing the AV's planned trajectory at runtime, but such approaches lack transparency and should be a measure of last resort. It would be preferable for AV repairs to generalise beyond specific incidents and to be interpretable for users. In this work, we propose Fixdrive, a framework that analyses driving records from near-misses or law violations to generate AV driving strategy repairs that reduce the chance of such incidents occurring again. These repairs are captured in μDrive, a high-level domain-specific language for specifying driving behaviours in response to event-based triggers. Implemented for the state-of-the-art autonomous driving system Apollo, Fixdrive identifies and visualises critical moments from driving records, then uses a Multimodal Large Language Model (MLLM) with zero-shot learning to generate μDrive programs. We tested Fixdrive on various benchmark scenarios, and found that the generated repairs improved the AV's performance with respect to following traffic laws, avoiding collisions, and successfully reaching destinations. Furthermore, the direct costs of repairing an AV—15 minutes of offline analysis and $0.08 per violation-are reasonable in practice.

关键词： Visualization Runtime Large language models Zero shot learning Maintenance engineering Trajectory Software reliability Driver behavior Autonomous vehicles Vehicles

来源：评论

学校读者我要写书评

暂无评论

Vision-based Autonomous Landing of UAV on Dynamic Apron

Vision-based Autonomous Landing of UAV on Dynamic Apron

引用

2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Yue, Pengyu Xin, Jing Mao, Zhijie Lu, Yongchang Zhang, Youmin Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China Industrial & Aerospace Engineering Concordia University Department of Mechanical MontrealQCH3G 1M8 Canada

ISBN: (纸本)9798350316308

Aiming at the landing problem of Unmanned Aerial Vehicle (UAV) without landmarks and global coordinates, this paper proposes an efficient vision-based UAV autonomous landing solution. Firstly, image information is obtained from the bottom visual sensor of the UAV, and the YOLOV5 object detection method is employed to determine the initial position of the dynamic apron. Subsequently, an improved dynamic apron tracking method based on Spatio-Temporal Transformer is designed. This method updates an initial template through target detection algorithm and utilizes multi-source perceptual data for confidence evaluation and dynamic template updates. It outputs the distribution estimation of the predicted bounding box corner coordinates, and achieves the high reliability continuous positional smoothing estimation and dynamic apron loss re-detection based on UAV vision. Finally, the UAV calculates the horizontal control quantity based on the horizontal relative position between the UAV and the apron obtained. The vertical control quantity is calculated based on the vertical relative position between the UAV and the apron. The vertical relative position is estimated using laser ranging and visual odometry techniques. Based on the results of horizontal tracking control and vertical regulation, velocity commands for the UAV in all three directions are generated, enabling the UAV to achieve autonomous landing on the dynamic apron. This paper achieves precise landing for dynamic apron in real-world environments. The experimental results demonstrate that this method avoids the limitations of labeled data and global information on autonomous landing of UAV. Even under GPS-denied conditions, the UAV can generate control commands based on visual data and achieve autonomous landing for randomly moving apron. © 2023 IEEE.

关键词： Antennas

来源：评论

学校读者我要写书评

暂无评论

DFT Architecture for Click-Based Bundled-Data Asynchronous Circuits

DFT Architecture for Click-Based Bundled-Data Asynchronous C...

引用

2022 IEEE International Conference on Integrated Circuits, Technologies and Applications, ICTA 2022

作者： Zhu, Ruimin Xu, Zeyang Huang, Yuhao Xiao, Shanlin Yu, Zhiyi School of Microelectronics Science and Technology Sun Yat-sen University China School of Electronics and Information Technology Sun Yat-sen University China Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems China

ISBN: (数字)9781665492690

ISBN: (纸本)9781665492690

Event-driven asynchronous circuits are gaining attention because of their low power consumption and robustness. Among asynchronous circuits, the Bundled data (BD) circuit used by Loihi has attracted attention because it can obtain a similar area as a synchronous circuit. Click circuit is a mainstream BD circuit, but due to the lack of DFT (Design For Test) architecture, the Click-based asynchronous circuit cannot be widely used. This paper proposes a DFT architecture suitable for BD circuits, which can be accomplished using traditional EDA tools rather than developing new ones. This paper verifies the proposed DFT architecture on a five-stage pipeline processor based on the RISC-V instruction set. The result is 99.62% coverage for stuck-at faults, 1.8398% area overhead, and 6.2259% power overhead. © 2022 IEEE.

关键词： Timing circuits

来源：评论

学校读者我要写书评

暂无评论

Growing Well-connected Networks for Entropy Rate Maximization

引用

IEEE Transactions on Automatic control 2025年

作者： Wang, Weizhen Duan, Xiaoming He, Jianping Shanghai Jiao Tong University State Key Laboratory of Submarine Geoscience Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China

We study the problem of enhancing the maximum entropy rate of Markov chains by strategically adding edges from a candidate set to a given network. We first formulate an optimization problem to identify the optimal edges for addition, which is inherently hard since the edge selection is combinatorial. We then treat the edge addition as a perturbation to the network and derive a perturbation bound on the relative change of a low dimensional vector that is directly related to the maximum entropy rate when a small number of edges are being added. This analysis based on perturbation theory allows us to establish a linear approximation to the change of the maximum entropy rate, which further leads to efficient heuristic algorithms. Building on the efficient solution methods for vector equations in the existing literature, our algorithms only require additional simple vector operations and comparisons to obtain a near-optimal solution for the growing networks problem. Although we derive the heuristics from the perturbation theory, we further show that it can also be interpreted as moving along a direction that leads to the most improvement in the objective function. Extensive simulations validate the effectiveness of our algorithms. © 1963-2012 IEEE.

关键词： entropy rate Markov chain perturbation theory robotic surveillance

来源：评论

学校读者我要写书评

暂无评论

Human–Robot Coordination control for Sit-to-Stand Assistance in Hemiparetic Patients With Supernumerary Robotic Leg

引用

IEEE Transactions on Automation Science and Engineering 2025年 22卷 16591-16602页

作者： Jie Zuo Jun Huo Xiling Xiao Yanzhao Zhang Jian Huang Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China School of Information Engineering Wuhan University of Technology Wuhan China Department of Rehabilitation Union Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan China

In light of global aging and prevalent stroke-related hemiplegia, this study addresses challenges in robot-assisted Sit-to-Stand (STS) movements, a daily activity prone to falls. Supernumerary Robotic Legs (SRL) serve as independent support, enhancing stability and limb movement range. Existing coordination control methods lack personalization for STS assistance, requiring solutions for human intent transmission and rapidly optimize coordination control challenges in the non-coupled human-robot system. The proposed human-SRL coordination control algorithm, grounded in personalized SRL-human coupling models, incorporates surface electromyography (sEMG) signals to design an intent-driven variable stiffness impedance control. The inclusion of incremental learning enables rapid optimization of impedance parameters, facilitating real-time adjustments in SRL assistance for adaptive coupling with users. Practical experiments involving both healthy participants and hemiparetic patients validate the algorithm’s effectiveness during STS. The results validate substantial reductions in STS time (39.54%) and muscle activity (28.01%), highlighting the efficacy of the proposed algorithm-controlled SRL support for hemiparetic individuals. Note to Practitioners—To prevent misalignment between the SRL and natural limb movements, which can impose additional strain on the body, this study combines the principles of joint bio-mimicry to develop a personalized human-robot coupling model, and also propose an sEMG-based adaptive impedance control algorithm. Our research fills a gap in the nuanced analysis of robot-assisted support effects on both the affected and unaffected sides of hemiparetic patients, while also possessing the potential for transfer or extension to other types of rehabilitation robotic platforms. Although the SRL shows promising results, it is important to note the limitations of a small sample size and the need for further exploration of the needs of diverse patient po

关键词： Robots Robot kinematics Limbs Impedance Legged locomotion Adaptation models Couplings Muscles Biological system modeling Automation

来源：评论

学校读者我要写书评

暂无评论

Research on Optimization of Two-Stage Scheduling for Aluminum Extrusion Machine Manufacturing Line

Research on Optimization of Two-Stage Scheduling for Aluminu...

引用

Chinese Automation Congress (CAC)

作者： Aoran Zhou Lipeng Qiu Yali Wu Department of Information and Control Engineering Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China State Key Laboratory of Metal Extrusion and Forging Equipment Technology China National Heavy Machinery Research Institute Co Ltd Xi'an China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

In view of the problems of high energy consumption, long inventory time and low production efficiency in the production process of traditional aluminum extrusion machine, this paper establishes an efficient two-stage parallel scheduling optimization model based on the integration of flexible job shop scheduling and assembly sequence planning (IFJSS-ASP). On this basis, an evolutionary algorithm combining strong dominance relationship and simple grouping method (SDREA-SGM) is proposed. The algorithm utilizes a two-stage hybrid chromosome encoding and decoding method to establish a rational mapping from the decision space to the solution space. Furthermore, in order to prevent the model from easily falling into local optima, an adaptive intra-class and inter-class pairing selection strategy has been adopted by the algorithm. This enhances global search and improves local search flexibility. Finally, the feasibility and effectiveness of the algorithm are verified by solving problems of different scales.

关键词： Energy consumption Job shop scheduling Optimization models Aluminum Production Evolutionary computation Encoding Planning Decoding Optimization

来源：评论

学校读者我要写书评

暂无评论

Improved S2ANet based on attention mechanism for small target detection in remote sensing images

Improved S2ANet based on attention mechanism for small targe...

引用

2021 CIE International Conference on Radar, Radar 2021

作者： Lu, Dongdong Tie, Wenjie Lei, Songlin Qiu, Xiaolan Suzhou Aerospace Information Research Institute Laboratory of Spatial Information Intelligent Processing System Suzhou China Chinese Academy of Sciences Key Laboratory of Technology in Geo-spatial Information Processing and Application Systems Beijing China

ISBN: (纸本)9781665498142

Deep learning has achieved remarkable results in the field of target detection and recognition. For small targets in images, image pyramid can be used to fuse multi-scale features to improve detection performance. However, when test on remote sensing images, it is found that some important small goals will still be missed. Aiming at the problems of small target detection in remote sensing images, this paper proposes two S2ANet improved network variants based on the attention mechanism for synthetic aperture radar(SAR) payload and optical payload: for SAR images, CBAM(Convolutional Block Attention Module) attention is added to the backbone network to increase the attention of the feature extraction network for small targets in the channel and space dimensions;For optical images, firstly increase the CBAM channel attention and spatial attention in the backbone, secondly, the SE(Squeeze And Excitation) channel attention is added to the input features before the channel dimension fusion of the pyramid structure, then the attention-enhanced targets are fully integrated through up-sampling and horizontal splicing operations to improve the missed alarm rate and recall rate of small remote sensing targets. Finally, a comparative verification was carried out on the constructed airborne KU-band SAR data set and the optical remote sensing aircraft data set composed of some DOTA1.5 and FAIR1M data sets. The experimental results proved that the designed two variant networks can be used for small remote sensing. There have been certain improvements in the missed alarm rate, accuracy rate, and recall rate of the target. © 2021 IEEE.

关键词： Radar remote sensing Radar detection Object detection Radar imaging Optical imaging Feature extraction Adaptive optics

来源：评论

学校读者我要写书评

暂无评论

Multifunctional metasurface based on vanadium dioxide in the terahertz frequency

引用

Applied Optics 2025年第17期64卷 4692-4700页

作者： Zou Long Zhengji Xu School of Microelectronics Science and Technology Sun Yat-Sen University Zhuhai 519000 China Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Sun Yat-Sen University Zhuhai 519000 China

As metasurface technology has been developing rapidly over the past decades, multi-multiplexing and tunability are evolving into hot spots in its development. Here, a metasurface fit for vortex beam generation, beam focusing, linear-to-circular polarization conversion, and absorption is proposed in this study, contingent upon the phase change properties of vanadium dioxide. When the temperature is 25°C, the vortex beam and focusing generated when the circularly polarized wave is incident on the metasurface, the calculated outcomes demonstrate that the cross-polarization reflective coefficient is close to the co-polarization coefficient at the frequency range of 0.5–0.9 THz and 1.2–1.5 THz, implementing the linear-to-circular polarization conversion. When heated up to 68°C, it functions as an absorber at 1.55 THz when the y-polarized wave is incident vertically on the metasurface. The designed metasurface is likely to be used in the fields of terahertz communication and imaging systems.

关键词： Bandpass filters Circular polarization Imaging systems Polarization Surface plasmon polaritons Terahertz imaging

来源：评论

学校读者我要写书评

暂无评论

FoldExplorer: Fast and Accurate Protein Structure Search with Sequence-Enhanced Graph Embedding

arXiv

引用

arXiv 2023年

作者： Liu, Yuan Shen, Hong-Bin Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

The advent of highly accurate protein structure prediction methods has fueled an exponential expansion of the protein structure database. Consequently, there is a rising demand for rapid and precise structural homolog search. Traditional alignment-based methods are dedicated to precise comparisons between pairs, exhibiting high accuracy. However, their sluggish processing speed is no longer adequate for managing the current massive volume of data. In response to this challenge, we propose a novel deep-learning approach FoldExplorer. It harnesses the powerful capabilities of graph attention neural networks and protein large language models for protein structures and sequences data processing to generate embeddings for protein structures. The structural embeddings can be used for fast and accurate protein search. And the embeddings also provide insights into the protein space. FoldExplorer demonstrates a substantial performance improvement of 5% to 8% over the current state-of-the-art algorithm on the benchmark datasets. Meanwhile, FoldExplorer does not compromise on search speed and excels particularly in searching on a large-scale dataset. Copyright © 2023, The Authors. All rights reserved.

关键词： Embeddings

来源：评论

学校读者我要写书评

暂无评论

Knowledge-Aided Covariance Matrix Estimation Algorithm Based on Geometric Mean in STAP for Airborne Radar

Knowledge-Aided Covariance Matrix Estimation Algorithm Based...

引用

IET International Radar Conference 2023, IRC 2023

作者： Jing, Yang Du, Xiaolin Cui, Guolong Zheng, Jibin Li, Jianbo School of Computer and Control Engineering Yantai University Yantai China School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu China National Key Laboratory of Radar Signal Processing Xidian University Xi'an China School of Communication and Information Engineering Chongqing University of Posts and Telecommunications Chongqing China

ISBN: (纸本)9781839539954

The problem of knowledge-aided (KA) covariance matrix estimation in airborne radar space-time adaptive processing (STAP) is studied in this paper. In the traditional KA covariance matrix estimation methods, the insufficient number of available samples and inaccurate prior knowledge can cause serious deterioration of STAP performance. To tackle this problem, a new KA covariance matrix estimation algorithm based on geometric mean is proposed. Specifically, by utilizing the persymmetric structure information as well as the geometric mean in the space of positive definite matrices, a geometric mean estimator is constructed, which is then linearly combined with the prior covariance matrix to obtain a new type of CCM estimators. Simulation results illustrate that the proposed algorithm has good STAP performance with small samples and inaccurate prior knowledge. © The Institution of Engineering & Technology 2023.

关键词： Covariance matrix

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：