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International Conference on computer Research and Development (ICCRD)

作者： Hui Zhou Xiaofeng Wang YuJia Xie Yongxiang Cao Yu Tang Yongchun Huo Huan Wen Xiongbo Zhao Chaoran Li Beijing Aerospace Automatic Control Institute National key Laboratory of Science and Technology on Aerospace Intelligent Control Beijing China Computer Science and Engineering Beihang University Beijing China National Superior College for Engineers Beihang University Beijing China

ISBN: (数字)9798331531881

ISBN: (纸本)9798331531898

The structure of the rocket-borne model is inherently complex, with processed images exhibiting high resolution and generating substantial amounts of data and calculations. Achieving robust real-time computing on an embedded platform poses significant challenges due to strictly limited resources, power consumption constraints, and size limitations. Our review of rocket-borne applications reveals considerable variability in the design resources of different devices, indicating a need for expanded design approaches. Upon evaluating existing methods, we identified two primary drawbacks. First, certain operators within the high-resolution target detection model are difficult to parallelize, resulting in significant inference delays that hinder the ability to meet task requirements. Although existing methods have been extended, there remains significant potential for performance enhancement in core scheduling for poor acceleration. This paper proposes an optimized architecture for the target detection algorithm accelerator designed for high-resolution images, along with a novel highly parallel data pre-processing and post-processing module implemented on FPGA to address these issues. Compared to the ARM implementation, this architecture demonstrates an improved performance of 24.64x. Furthermore, to ensure flexible application across various rocket launch scenarios, we introduce an optimization structure for convolution, pooling, and fusion operators and a multi-core expansion optimization method. This approach yields a 1.29x improvement in computing unit utilization compared to state-of-the-art multi-core scaling efforts. Finally, we assessed the accelerator architecture across multiple FPGA platforms, achieving a peak processing element utilization rate of 99.71% for a single core and layer. The overall computing efficiency, excluding the first layer, exceeded 90%. The peak computing power for the four cores reached 1638.4 GOPS, and the end-to-end computation time for

关键词： YOLO Rockets Power demand Convolution Multicore processing Reviews Scalability Accelerator architectures Real-time systems Field programmable gate arrays

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RGB-Based Category-Level Object Pose Estimation via Depth Recovery and Adaptive Refinement

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IEEE Robotics and Automation Letters 2025年第6期10卷 5377-5384页

作者： Yang, Hui Sun, Wei Liu, Jian Zheng, Jin Zeng, Zhiwen Mian, Ajmal Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering Changsha410082 China Hunan University State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Changsha410082 China Central South University School of Architecture and Art Changsha410082 China University of Western Australia Department of Computer Science and Software Engineering CrawleyWA6009 Australia

Category-level pose estimation methods have received widespread attention as they can be generalized to intra-class unseen objects. Although RGB-D-based category-level methods have made significant progress, reliance on depth image limits practical application. RGB-based methods offer a more practical and cost-effective solution. However, current RGB-based methods struggle with object geometry perception, leading to inaccurate pose estimation. We propose depth recovery and adaptive refinement for category-level object pose estimation from a single RGB image. We leverage DINOv2 to reconstruct the coarse scene-level depth from the input RGB image and propose an adaptive refinement network based on an encoder-decoder architecture to dynamically improve the predicted coarse depth and reduce its gap from the ground truth. We introduce a 2D–3D consistency loss to ensure correspondence between the point cloud obtained from depth projection and the objects in the 2D image. This consistency supervision enables the model to maintain alignment between the depth image and the point cloud. Finally, we extract features from the refined point cloud and feed them into two confidence-aware rotation regression branches and a translation and size prediction residual branch for end-to-end training. Decoupling the rotation matrix provides a more direct representation, which facilitates parameter optimization and gradient propagation. Extensive experiments on the REAL275 and CAMERA25 datasets demonstrate the superior performance of our method. Real-world estimation and robotic grasping experiments demonstrate our model robustness to occlusion, clutter environments, and low-textured objects. Our code and robotic grasping video are available at DA-Pose. © 2016 IEEE.

关键词： Depth perception

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Stress Matrix-Based Formation control of Multi-Agent Systems with Discrete-Time Communication 12

Stress Matrix-Based Formation Control of Multi-Agent Systems...

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2024 12th International Conference on Systems and control, ICSC 2024

作者： Onuoha, Okechi Ubochi, Brendan Chijioke Kurawa, Suleiman Tang, Zezhi Wu, Changshun Dong, Yi University of Hertfordshire United Kingdom Federal University of Technology The Department of Electrical and Electronic Engineering Akure Nigeria University of Manchester The Department of Electrical Engineering United Kingdom University of Sheffield The Department of Automatic Control and Systems Engineering United Kingdom University Grenoble Alpes Grenoble38000 France The School of Electronics & Computer Science University of Southampton United Kingdom

ISBN: (纸本)9798331531812

This study addresses the affine formation maneuver control of cooperative multi-agent systems (MAS) having periodic inter-agent communication for both static and dynamic leader cases. Here, we focus on the leader-follower MASs. The primary aim of the control system is to steer the entire collection of agents to produce required patterns (geometric) along with any required maneuver through the direct control of only few a selected agents referred to as leaders. Most of the existing works are constrained to either the individual agents communicate with each other in continuous-time or the sample-data scenario where the leaders are stationary or have constant acceleration or velocities. Here, we consider the scenarios where the velocities of the leaders can be time-varying or constant. Here, different cases are addressed and some control laws are proposed. Conditions are established to help guarantee the overall stability of the systems. A simulation study is employed for the illustration of our proposed laws. © 2024 IEEE.

关键词： Continuous time systems

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Attitude optimization of unmanned helicopters based on spike neural membrane computing 3

Attitude optimization of unmanned helicopters based on spike...

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3rd International Conference on Electronics, Electrical and Information engineering, ICEEIE 2023

作者： Xu, Jiachang Yu, Dongliang Hong, Ding Guo, Jia Jiang, Lin Zhou, TaoJing School of Computer Science and Engineering Anhui University of Science and Technology Anhui Province Huainan City232001 China State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines Anhui University of Science and Technology Anhui Province Huainan City232001 China National Engineering Laboratory for Applied Technology of Forestry & Ecology in South China

ISBN: (纸本)9781510671423

The effectiveness of inspection tasks performed by unmanned helicopters during underground inspections is directly influenced by the performance of attitude control. Therefore, it is crucial to optimize the attitude control of unmanned helicopters. Spike neural membrane computing offers Turing computing versatility and high efficiency in various time collaborations. This paper presents a study on attitude optimization control of unmanned helicopters in underground coal mines using spike neural network computing. The approach involves constructing an extended spike neural membrane system based on the attitude dynamics model of an unmanned helicopter, with the aim of further optimizing the system and algorithm. The experimental results demonstrate that the optimized spike neural membrane system is capable of effectively achieving attitude control of the unmanned helicopter under normal conditions. Furthermore, it can successfully maintain the attitude angle within the desired range, even in the presence of wind interference. Additionally, a comparison with traditional sliding mode control and the Designed Optimization Model (OSNMS) reveals that the OSNMS proposed in this paper significantly enhances the attitude control performance of unmanned helicopters. © 2023 SPIE.

关键词： Unmanned aerial vehicles (UAV)

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PCB Defect Detection Method Based on Improved RetinaNet 1

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4th International Conference on Machine Learning for Cyber Security, ML4CS 2022

作者： Xu, Yusheng Cao, Xinrong Hu, Rong Keikhosrokiani, Pantea Li, Zuoyong College of Computer Science and Mathematics Fujian University of Technology Fuzhou350118 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Minjiang University Fuzhou350121 China School of Computer Sciences Universiti Sains Malaysia Penang11800 Malaysia

ISBN: (数字)9783031200991

ISBN: (纸本)9783031200984

In the electronic industry product quality control, PCB defect detection is a crucial part, which has the characteristics of small defect size and high similarity. The existing defect detection methods are still not good enough for detecting small target defects;therefore, the algorithm in this paper proposes an improved algorithm for PCB defect detection based on the RetinaNet model. The ResNet-D residual structure and efficient channel focus module are introduced in the model backbone network to enhance its feature extraction capability and achieve the purpose of improving the detection accuracy. At the same time, the method replaces the original multi-step learning decay strategy with a cosine annealing scheduling learning strategy, which optimizes the training process of the model. Finally, the performance of the method is verified on the publicly available PCB defect dataset from the Open laboratory of Intelligent Robotics, Peking University. The experimental results show that the algorithm improves the mAP value by 3.2% compared with the original algorithm, while the fastest detection speed reaches 36.9 FPS, which can effectively improve the defect detection performance of PCB. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Defects

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Experimental study on the deformation and failure mechanism of overburden rock during coal mining using a comprehensive intelligent sensing method

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Journal of Rock Mechanics and Geotechnical engineering 2022年第5期14卷 1626-1641页

作者： Gang Cheng Wentao Xu Bin Shi Jinghong Wu Binyang Sun Honghu Zhu School of Computer Science North China Institute of Science and TechnologyBeijing101601China School of Earth Sciences and Engineering Nanjing UniversityNanjing210023China State Key Laboratory of Geohazard Prevention and Geoenvironment Protection Chengdu University of TechnologyChengdu610059China School of Civil Engineering Suzhou University of Science and TechnologySuzhou215009China State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines Anhui University of Science and TechnologyHuainan232001China

Understanding the spatiotemporal evolution of overburden deformation during coal mining is still a challenge in engineering practice due to the limitation of monitoring techniques. Taking the Yangliu Coal Mine as an example, a similarity model test was designed and conducted to investigate the deformation and failure mechanism of overlying rocks in this study. Distributed fiber optic sensing(DFOS), highdensity electrical resistivity tomography(HD-ERT) and close-range photogrammetry(CRP) technologies were used in the test for comprehensive analyses. The combined use of the three methods facilitates the investigation of the spatiotemporal evolution characteristics of overburden deformation, showing that the mining-induced deformation of overburden strata was a dynamic evolution process. This process was accompanied by the formation, propagation, closure and redevelopment of separation ***, the key rock stratum with high strength and high-quality lithology played a crucial role in the whole process of overburden deformation. There were generally three failure modes of overburden rock layers, including bending and tension, overall shearing, and shearing and sliding. Shear failure often leads to overburden falling off in blocks, which poses a serious threat to mining safety. Therefore, realtime and accurate monitoring of overburden deformation is of great significance for the safe mining of underground coal seams.

关键词： Similarity model Distributed fiber optic sensing(DFOS) Overburden deformation Failure mechanism Coal seam mining

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On extended state Kalman filter-based identification algorithm for aerodynamic parameters

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control Theory and technology 2024年第2期22卷 235-243页

作者： Wenyan Bai Ruizhe Jia Peng Yu Wenchao Xue Beijing Aerospace Automatic Control Institute Beijing100854China School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China Key Laboratory of Knowledge Automation for Industrial Processes Ministry of EducationBeijing100083China Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing100190China

In this paper, the problem of time-varying aerodynamic parameters identification under measurement noises is studied. By analyzing the key aerodynamic parameters that affect the aircraft control system, a system model with extended states for identifying equivalent aerodynamic parameters is established, and error parameters are extended to the system state, avoiding the difficulty caused by the unknown dynamic in the system. Furthermore, an identification algorithm based on extended state Kalman filter is designed, and it is proved that the algorithm has quasi-consistency, thus, the estimation error can be evaluated in real time. Finally, the simulation results under typical flight scenarios show that the designed algorithm can accurately identify aerodynamic parameters, and has desired convergence speed and convergence precision.

关键词： Aerodynamic parameters Parameter identification Extended state Kalman filter

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Efficient Photothermal Catalytic Oxidation Enabled by Three-Dimensional Nanochannel Substrates

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Environmental science and technology 2024年第11期58卷 5153-5161页

作者： Li, Yifei Zhang, Qianpeng Chong, Yanan Huang, Wei-Hsiang Chen, Chi-Liang Jin, Xiaojing Chen, Guangxu Fan, Zhiyong Qiu, Yongcai Ye, Daiqi School of Environment and Energy State Key Laboratory of Luminescent Materials and Devices Guangdong Provincial Key Laboratory of Atmospheric Environment and Pollution Control South China University of Technology Guangdong Guangzhou510000 China State Key Laboratory of Photovoltaic Science and Technology Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception Institute of Optoelectronics Fudan University Shanghai200433 China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Clear Water Bay Kowloon999077 Hong Kong State Key Laboratory of Advanced Displays and Optoelectronics Technologies The Hong Kong University of Science and Technology Clear Water Bay Kowloon999077 Hong Kong National Synchrotron Radiation Research Center 101 Hsin-Ann Road Hsinchu Science Park Hsinchu30076 Taiwan Taipei10607 Taiwan College of Light Chemical Industry and Materials Engineering Shunde Polytechnic Foshan528333 China

Photothermal catalysis exhibits promising prospects to overcome the shortcomings of high-energy consumption of traditional thermal catalysis and the low efficiency of photocatalysis. However, there is still a challenge to develop catalysts with outstanding light absorption capability and photothermal conversion efficiency for the degradation of atmospheric pollutants. Herein, we introduced the Co3O4 layer and Pt nanoclusters into the three-dimensional (3D) porous membrane through the atomic layer deposition (ALD) technique, leading to a Pt/Co3O4/AAO monolithic catalyst. The 3D ordered nanochannel structure can significantly enhance the solar absorption capacity through the light-trapping effect. Therefore, the embedded Pt/Co3O4 catalyst can be rapidly heated and the O2 adsorbed on the Pt clusters can be activated to generate sufficient O2- species, exhibiting outstanding activity for the diverse VOCs (toluene, acetone, and formaldehyde) degradation. Optical characterization and simulation calculation confirmed that Pt/Co3O4/AAO exhibited state-of-the-art light absorption and a notable localized surface plasmon resonance (LSPR) effect. In situ diffuse reflectance infrared Fourier transform spectrometry (in situ DRIFTS) studies demonstrated that light irradiation can accelerate the conversion of intermediates during toluene and acetone oxidation, thereby inhibiting byproduct accumulation. Our finding extends the application of AAO’s optical properties in photothermal catalytic degradation of air pollutants. © 2024 American Chemical Society.

关键词： Catalysis

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Identification of coexistence of biological and non-biological aerosol particles with DAPI (4′,6-diamidino-2-phenylindole) stain

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Particuology 2023年第1期72卷 49-57页

作者： Ting Liu Jiaquan Zhang Junji Cao Han Zheng Changlin Zhan Hongxia Liu Lili Zhang Kai Xiao Shan Liu Dong Xiang Daizhou Zhang School of Environmental Science and Engineering Hubei Polytechnic UniversityHubei Key Laboratory of Mine Environmental Pollution Control and RemediationHuangshi 435003China Institute of Atmospheric Physics Chinese Academy of SciencesBeijing 100029China School of Computer Science and Artificial Intelligence Wuhan University of TechnologyWuhan 430063China Faculty of Environmental and Symbiotic Sciences Prefectural University of KumamotoKumamoto 862-8502Japan

The fluorescent dye 4′,6-diamidino-2-phenylindole (DAPI) has been widely used to stain microorganisms in various environment media. We applied DAPI fluorescence enumeration to airborne microorganisms and found that non-biological particles, including organic compounds, minerals, and soot, were also visible upon exposure to UV excitation under fluorescence microscope. Using laboratory-prepared biological particles as the control, we investigated the feasibility of identifying both biological and non-biological particles in the same sample with DAPI staining. We prepared biological (bacterial, fungi, and plant detritus) and non-biological (biochar, soot, mineral, metal, fly ash, salt) particles in the laboratory and enumerated the particles and their mixture with DAPI. We found that mineral particles were transparent, and biochar, soot, metals and fly ash particles were black under a filter set at excitation 350/50 nm and emission 460/50 nm bandpass (DAPI-BP), while biological particles were blue, as expected. Particles of the water-soluble salts NaCl and (NH_(4))_(2)SO_(4) were yellow under a filter set at excitation 340–380 nm and emission 425 nm long pass (DAPI-LP). Case studies with samples of dustfall, atmospheric aerosols and surface soils could allow for the quantification of the relative number of different types of particles and particles with organic matter or salt coating as well. Fluorescence enumeration with DAPI stain is thus able to identify the co-existence of biological and non-biological particles in the air, at least to the extent of those examined in this study.

关键词： 4',6-diamidino-2-phenylindole(DAPI) Biological particles Nonbiological particles Atmospheric aerosols

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Analysis and Experiment of Homopolar Inductor Alternator With an Active Compensated Winding in Capacitor Charging Power Supply System

Analysis and Experiment of Homopolar Inductor Alternator Wit...

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作者： Guo, Songlin Yu, Kexun Yi, Zhengkang Lai, Houchuan Xie, Xianfei The State Key Laboratory of Advanced Electromagnetic Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan430074 China The Beijing Aerospace Automatic Control Institute Beijing100854 China The Southwest Institute of Technical Physics Chengdu610041 China

Homopolar inductor alternator (HIA) typically plays a key role in the capacitor charging power supply (CCPS) system. However, HIA cannot meet the growing demand for higher power density due to its unipolar magnetic field. In order to obtain a compact HIA-CCPS with higher power density, a novel HIA named ACWHIA based on the active compensation theory is proposed in this article, by adding an active compensated winding (ACW) in the traditional HIA. The main function of ACW connected in series in the DC charging circuit, is to increase the machine's transient voltage for improving the system's power density. It is absolutely different from most of the existing pulsed alternators with compensated windings, whose theory is to reduce the transient inductance to increase the power density. In this article, the influence of the transient voltage on the charging performance is first analyzed. Second, the scheme and operating principle of ACWHIA are proposed. Third, the electromagnetic characteristics of the machine and the model of ACWHIA-CCPS are analyzed in detail by theoretical analysis. Then, a simplified model of the ACWHIA-CCPS system is proposed, and this model simplifies the analysis and shows the operating principle of the active compensation winding. Finally, a platform of ACWHIA is developed and the experiments are carried out. The results indicate that the novel machine can be an attractive choice to improve the power density of HIA-CCPS. © 2023 IEEE.

关键词： Winding

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