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An Integrated intelligent Autonomous Driving Bulldozer System: Pose Estimation, Object Detection, and Work Planning for Dumping Operations

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Journal of Field Robotics 2025年

作者： Peng, Gang Gao, Qiang Liu, Xingyu Zhou, Yicheng Duan, Hangqi Wu, ZhanGang Hu, Bin Zhu, Xukang Xu, Daosheng School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan China Engineering Research Center of Autonomous Intelligent Unmanned Systems Ministry of Education Wuhan China Shantui Construction Machinery Co. Ltd. Jining China

In recent years, the rapid advancement of automation control and intelligent sensing technologies has positioned autonomous driving as a focal point of interest for both academia and industry. As core equipment in modern construction and industrial production, engineering machinery urgently requires intelligent transformation. To promote the intelligent development of engineering machinery, we have designed an integrated intelligent autonomous driving bulldozer system, which can be extended to various types of engineering machinery. For the specific mine dumping operation environment, we propose a multisensor fusion pose estimation algorithm framework based on the Global Navigation Satellite System, inertial measurement unit, visual cameras, and light detection and ranging (LiDAR) to address issues arising from sensor failures under harsh construction conditions. Furthermore, to ensure safety during task execution, we design a three-dimensional object detection method based on the optimal observation plane from LiDAR data. By integrating pose estimation and environmental perception results, we develop a comprehensive work planning and path-tracking algorithm to maintain task efficiency. Experimental results demonstrate that our intelligent autonomous driving bulldozer system performs excellently under various working conditions. The accuracy of its pose estimation, object detection, and path tracking meets the requirements of actual construction environments, showcasing its significant potential in engineering applications. © 2025 Wiley Periodicals LLC.

关键词： Construction equipment

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Federated Multitask Learning for HyperFace

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2022年第5期3卷 788-797页

作者： Zhang, Chen Bai, Hang Zhang, Yonggang Niu, Xinyi Yu, Bin Gao, Yuan Xie, Yu Xidian University School of Computer Science and Technology Xi'an710071 China Shaanxi Province Science and Technology Resources Coordination Center Xi'an710071 China Xidian University Key Laboratory of Intelligent Perception and Image Understanding Ministry of Education Xi'an710071 China Shanxi University Key Laboratory of Computational Intelligence and Chinese Information Processing Ministry of Education Taiyuan030006 China

Multitask learning (MTL) is a promising field in machine learning owing to its capability to improve the generalization performance of all tasks by sharing knowledge among the related tasks. MTL has attracted a large amount of attention in the multitask-related community. In recent years, with the rapid development of distributed machine learning, MTL in a distributed environment becomes a hot research topic. Although MTL can reap great fruit in a distributed environment, the sensitive information, such as photos and voice recordings of the owner, in distributed data may be leaked during training. Consequently, in the distributed settings, one prominent challenge of MTL is to prevent the disclosure of sensitive private data. In this article, we propose a novel approach, federated multitask learning (FMTL), which applies federated learning to MTL in a distributed environment in order to protect the MTL model from being leaked and to better optimize the utility of the MTL model. In FMTL, all the participants independently train their local models on their own dataset in parallel and only transmit their model updates to the central server for aggregation at every epoch. As a result, their learning accuracy is enhanced beyond what is achieved only on their own training data. In this manner, it can achieve the best tradeoff between the utility and privacy: participants not only preserve the privacy of their own data, but also benefit from the models of other participants. The experimental results on annotated facial landmarks in the wild (AFLW) and annotated faces in the wild (AFW) benchmark datasets verify the effectiveness of our framework. © 2020 IEEE.

关键词： Linearization

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Prediction of piRNA-mRNA interactions based on an interactive inference network

Prediction of piRNA-mRNA interactions based on an interactiv...

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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Liu, Yajun Li, Ru Li, Aimin Fei, Rong Guo, Xie Wu, Fang-Xiang Xi'an University of Technology Shaanxi Key Laboratory for Network Computing and Security Technology Xi'an China Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China University of Saskatchewan Division of Biomedical Engineering Department of Computer Science Department of Mechanical Engineering Saskatoon Canada

ISBN: (纸本)9798350337488

As the largest class of small non-coding RNAs, piRNAs primarily present in the reproductive cells of mammals, which influence post-transcriptional processes of mRNAs in multiple ways. Effective methods for predicting piRNA and mRNA target relationships can help identify piRNA functions, investigate the possibility of piRNAs as biomarkers and therapeutic targets. In this study, we propose a computational approach for classifying the relationships of piRNA-mRNA pairs based on an interactive inference network (IIN). First, we gather piRNA-mRNA target data, collect sequence data by position alignment, and construct a benchmark dataset. Furthermore, a reliable negative set is constructed by positive-unlabeled learning. Finally, we view a piRNA and a mRNA sequence as a premise and hypothesis sentence, respectively, and IIN model is used to predict the relationship between them. The experiments demonstrate that our method effectively characterizes piRNA-mRNA interaction and could be beneficial for researchers to investigate piRNA functions. © 2023 IEEE.

关键词： interactive inference network noncoding RNA piRNA-mRNA interactions positive-unlabeled learning

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Efficient Reinforcement Learning for 3D LiDAR Navigation of Mobile Robot 41

Efficient Reinforcement Learning for 3D LiDAR Navigation of ...

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第41届中国控制会议

作者： Yu Zhai Zhe Liu Yanzi Miao Hesheng Wang China University of Mining and Technology MoE Key Lab of Artificial Intelligence Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Developing an efficient automatic navigation system for mobile robots is challenging in the strange scenarios where robots can only observe the environment of the surrounding limited *** other distributed automatic navigation systems exist,they often require extracting semantic information to calculate navigation action,which requires extra modules to provide perceptual information and is not *** propose an end-to-end automatic navigation system based on the reinforcement learning *** particular,the raw 3 D LiDAR data is used to directly map an efficient navigation *** design a novel dense reward function to handle the reward sparsity issue and provide a graphical representation method to enable the efficient feature learning from the raw 3 D LiDAR data in our navigation *** addition,an imitation learning based policy initialization is introduced before the subsequent reinforcement learning,which increases the learning efficiency and,in the meantime,still encouraging the robot to explore all the potential states to achieve advanced performance than the imitated *** navigation model is trained in the Webots environment and the experimental results show that our model has efficient and flexible navigation performance in complex *** importantly,trained model can be easily extended to unfamiliar environments.

关键词： End-to-end Navigation Mobile robot Reinforcement Learning 3D LiDAR

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Digital-Twin-Based Clock Synchronization in Industrial IoT Systems 13

Digital-Twin-Based Clock Synchronization in Industrial IoT S...

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13th IEEE International Conference on CYBER Technology in Automation, control, and intelligent Systems, CYBER 2023

作者： Cheng, Ting Liu, Shuai Xu, Qimin Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China School of Control Science and Engineering Shandong University Jinan250061 China

ISBN: (纸本)9798350315196

Close and efficient cooperation between devices in the Industrial Internet of Things (IIoT) requires precise clock synchronization as a prerequisite. The uncertainty of IIoT networks and the complexity of industrial environments have led to less precise clock synchronization achieved by traditional algorithms and higher network resource consumption. This paper proposes a digital-twin-based clock synchronization scheme for IIoT systems. By building the digital model for each local clock to predict their clock skew, the information interaction required to achieve synchronization is reduced. In order to model the clock accurately, this paper proposes to use the extended state Kalman filter to handle uncertain dynamics and unknown measurement bias to improve the estimation accuracy of clock skew further. The simulation results show that the proposed algorithm can achieve high- precision clock synchronization while reducing the consumption of network resources. © 2023 IEEE.

关键词： Internet of things

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Toward Understanding How the Saturation Effect Impacts the Spread of Computer Viruses 6

Toward Understanding How the Saturation Effect Impacts the S...

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6th International Conference on Electronic Engineering and Informatics, EEI 2024

作者： Zhang, Xianxiu Feng, Yuming Yang, Yi Zhang, Baojie School of Computer Science and Engineering Chongqing Three Gorges University Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Wanzhou404100 China School of Three Gorges Artificial Intelligence Chongqing Three Gorges University Chongqing Wanzhou404100 China

ISBN: (纸本)9798350353594

It is well known that people who know the presence of network viruses will defend against them, and the more computer viruses are detected and the more measures are taken. However, most previous computer virus propagation models have completely ignored the saturation effect. This paper investigates how the saturation effect impacts the transmission of electronic virus. For this purpose, a new transmission model of network virus is proposed, in which the virus is not very prevalent. Under certain conditions, there is a global asymptotical stable equilibrium point with no virus in this model. Finally, we give several numerical examples to exhibit that sufficient saturation effect is greatly conducive to containing network viruses. © 2024 IEEE.

关键词： Coronavirus

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Deterministic-like data-driven discovery of stochastic differential equations via the Feynman–Kac formalism

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The European Physical Journal Special Topics 2024年第3期234卷 721-741页

作者： Ma, Chaoxiang Huang, Cheng Cheng, Cheng Li, Xiuting The College of Informatics Huazhong Agriculture University and the China–Poland Belt and Road Joint Laboratory on Measurement and Control Technology Huazhong University of Science and Technology Wuhan People’s Republic of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Ministry of Education Key Lab of Intelligent Control and Image Processing Wuhan China

This paper develops a data-driven deterministic identification architecture for discovering stochastic differential equations (SDEs) directly from data. The architecture first generates deterministic data for stochastic processes using the Feynman–Kac formula, and gives a parabolic partial differential equation (PDE) associated with the SDE. Then, a sparse regression model is proposed to discover drift and diffusion terms in SDEs using PDE data-driven techniques, where a large candidate library of potential terms only for the drift and diffusion coefficients in SDEs need be constructed. To simultaneously infer the drift and diffusion terms, we proposed a sequential thresholded reweighted least-squares algorithm to solve the constructed sparse regression model. The main advantage of the proposed method is that on the one hand, theoretical and numerical identification results of PDEs can be used for SDEs, on the score, our SDE identification problem is translated into the parameter estimation problem of PDEs, on the other hand, the proposed algorithm is easily executed and can enhance the sparsity and accuracy. Through several classical SDEs and ordinary differential equations, the effectiveness of the proposed data-driven method is demonstrated, and several comparison experiments with state-of-the-art approaches is provided to illustrate the superiority of the developed algorithm.

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image Dehazing Network Based on Multi-scale Feature Extraction 4th

Image Dehazing Network Based on Multi-scale Feature Extracti...

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4th International Conference on Smart Vehicular Technology, Transportation, Communication and Applications, VTCA 2021

作者： Feng, Ting Zhang, Fuquan Yu, Zhaochai Li, Zuoyong Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Minjiang University Fuzhou350121 China College of Mathematics and Computer Science Fuzhou University Fuzhou350108 China

ISBN: (纸本)9789811640384

To remove image haze and make haze image scene clear, we proposed an image dehazing network based on multi-scale feature extraction (MSFNet) in this paper. The MSFNet first directly performs feature extraction on hazy images with three different resolutions to obtain fine feature maps and concatenates them with the rough feature maps extracted in the downsampling process for fusing and obtaining richer image information. Then, the fused feature maps are put into a network module composed of ResNeXt building blocks for network learning. Next, the feature maps extracted by upsampling are sequentially concatenated with the feature maps learned by the ResNeXt module for obtaining the residual image. Finally, the learned residual image is added to the input hazy image to obtain the image dehazing result. The experimental results on the SOTS dataset show that the MSFNet improves effectiveness of image dehazing. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Feature extraction

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A Lightweight Chinese Summarization Generation Method Based on Knowledge Distillation 4

A Lightweight Chinese Summarization Generation Method Based ...

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4th International Conference on Information Science, Parallel and Distributed Systems, ISPDS 2023

作者： Liu, Shiyue Xiao, Yannan Wang, Xueyong Huang, Wenming Deng, Zhenrong School of Computer and Information Security Guilin University of Electronic Technology Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin China School of Computer and Information Security Guilin University of Electronic Technology Guilin China Guilin Xintong Technology Co. Guilin China

ISBN: (纸本)9798350337181

In recent years, large-scale pretrained natural language processing models such as BERT, GPT3 have achieved good results in processing tasks. However, in daily applications, these large-scale language models usually exist large model size or long running time, and the model portability and application are not very convenient. To settle this problem, we come up with a lightweight summarization generation method based on knowledge distillation (LW-BERT-KD, abbreviated as LBK model) to prove that complex neural network knowledge (taking BERT model as an example) can be extracted to lightweight language processing models (taking BiLSTM model as an example), thus achieving the purpose of complex knowledge extraction and model compression. In this paper, the BERT model is regarded as the teacher model, and the BiLSTM is regarded as the student model. The knowledge distillation technology is the transfer of knowledge from teacher models to student models, so that the generated model is effective, lightweight, and easy to port. On the Chinese abstract generation dataset, the training effect of this model is significantly better than the basic Transformer baseline. The experimental results show that if the training parameters are increased by 100 times, the model achieves comparable results with complex preprocessing language models. © 2023 IEEE.

关键词： Distillation

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CMAC-Based Sliding-Mode control for Large-Scale Fuzzy Descriptor Systems

CMAC-Based Sliding-Mode Control for Large-Scale Fuzzy Descri...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Zhong, Zhixiong Shao, Zhenghua Huan, Zhijie Wang, Xingyi Minjiang University Key Laboratory of Information Processing and Intelligent Control Fuzhou350121 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150080 China School of Electrical Engineering and Automation Xiamen University of Technology Xiamen361024 China

ISBN: (纸本)9781665481090

This paper addresses the problem of sliding-mode control for large-scale fuzzy descriptor systems subject to unknown uncertainties. First, a CMAC neural network is used to approximate the unknown uncertainties, and the CMAC-based sliding-mode controller is proposed. Then, a compensation technique is employed to eliminate the influence on the approximation error stemmed from CMAC model. We use the gradient-descent method to online tune the parameters of CMAC and the Lyapunov function is introduced to ensure the stability of the closed-loop control system and the CMAC's convergence. Finally, the effectiveness and correctness of the obtained theories are verified by the tracking control of multi-autonomous underwater vehicles (AUVs). © 2022 IEEE.

关键词： Autonomous underwater vehicles

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