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UPB Scientific Bulletin, Series C: Electrical engineering and Computer Science 2025年第1期87卷 121-138页

作者： Zheng, Qingchun Wu, Moudong Zhu, Peihao Yang, Bin Li, Shubo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applications. The system mainly comprises two modules: an image grid filtering module based on grayscale information and a feature selection module integrating depth information. These modules effectively eliminate redundant and useless features, ensuring high-quality features for pose estimation. We tested D-Fusion SLAM on the TUM dataset and compared it with ORB-SLAM2. Experimental results demonstrate that D-Fusion SLAM outperforms ORB-SLAM2, significantly enhancing the system's accuracy and robustness. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Feature Selection

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Drone Signal TDOA Estimation Algorithm Based on an Improved Wavelet Threshold Denoising Technique 27

Drone Signal TDOA Estimation Algorithm Based on an Improved ...

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27th International Conference on Advanced Communications Technology, ICACT 2025

作者： Feng, Zhixuan Gong, Peng Liu, Yuhan He, Piao Tang, Bin Zhang, Guangwei National Key Laboratory of Mechatronic Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9791188428137

In the passive detection and positioning technology of UAV based on the principle of time difference of arrival (TDOA), the existing time-difference estimation method which relies on signal cross-correlation puts forward high requirements for waveform correlation of received signals. Noise interference in the received signal will lead to a large error in time delay estimation, which will seriously affect the positioning accuracy. To solve this problem, an improved wavelet threshold estimation method for UAV signal arrival time difference is proposed in this paper. In order to solve the problem of signal correlation and noise in traditional TDOA estimation method, wavelet denoising technology is used to pre-process the received signal and improve the accuracy of TDOA estimation. In addition, a new soft threshold function is introduced, which is improved on the traditional threshold function, reduces the oscillation of the hard threshold function and the constant error of the soft threshold function, while maintaining the local characteristics of the signal. The effectiveness of the proposed method is verified by simulation and measured data. The results show that the improved wavelet threshold denoising method has better denoising performance and significantly improves the stability and accuracy of TDOA estimation. Copyright 2025 Global IT Research Institute (GIRI). All rights reserved.

关键词： Signal denoising

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Anti-Jamming Weighted Clustering Algorithm for UAV-Mounted Weapon Self-Organizing Network 27

Anti-Jamming Weighted Clustering Algorithm for UAV-Mounted W...

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27th International Conference on Advanced Communications Technology, ICACT 2025

作者： Li, Siqi Gao, Xiang Liu, Yuhan He, Piao Ji, Jianing Gong, Peng National Key Laboratory of Mechatronic Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9791188428137

Compared to traditional self-organizing networks, UAV-mounted weapon self-organizing networks are characterized by high node mobility, vulnerability to interference and attacks, extensive coverage, and large-scale network sizes. These factors complicate network management and the operation of routing protocols. Cluster-based topologies can be employed to optimize network management, reducing the impact of local topology changes on the entire network. To address the issue of cluster instability caused by the high mobility and interference susceptibility of UAV-mounted weapons, a anti-jamming weighted clustering algorithm(AJWCA) is proposed. The algorithm builds on existing weighted clustering approaches by incorporating an interference factor into the cluster head selection process. Additionally, a backup cluster head mechanism is introduced to mitigate cluster oscillations resulting from the failure of cluster head nodes in battlefield and emergency scenarios. The effectiveness of the proposed algorithm was validated through simulations. The results show that the algorithm effectively enables efficient clustering of network nodes and improves cluster head duration under interference conditions. Moreover, the method demonstrates rapid recovery capability in the event of node failures, making it well-suited for deployment in complex operational environments. © 2025 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Jamming

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A Cogging Torque Suppression Algorithm Based on Model Predictive control 27

A Cogging Torque Suppression Algorithm Based on Model Predic...

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27th International Conference on Advanced Communications Technology, ICACT 2025

作者： Gao, Peng Gong, Peng Tang, Bin He, Piao Ji, Jianing Zhang, Guangwei National Key Laboratory of Mechatronic Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9791188428137

Cogging torque is a unique issue in the servo systems of permanent magnet synchronous motor (PMSM) and a key problem that must be addressed in the design and manufacturing of high-performance permanent magnet motors. Due to their inherent structural characteristics, PMSMs inevitably produce cogging torque, which leads to disturbances and noise, particularly detrimental to motor control systems operating at low speeds. Additionally, the presence of cogging torque affects the positioning accuracy of the rotor at any given moment. This paper presents a high-quality control method for suppressing cogging torque. The proposed cogging torque suppression strategy is studied through simulations and compared with traditional cogging torque suppression strategies. The simulation results indicate that the proposed high-precision positioning servo control method is effective in suppressing cogging torque. Copyright 2025 Global IT Research Institute (GIRI). All rights reserved.

关键词： Permanent magnets

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Research on Radar Target Tracking Algorithms for Complex Traffic Scenarios 27

Research on Radar Target Tracking Algorithms for Complex Tra...

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27th International Conference on Advanced Communications Technology, ICACT 2025

作者： Liu, Yu Li, Ping Cui, Lele Ding, Zhiwen Peng, Xiuming Gao, Xiang National Key Laboratory of Mechatronic Engineering and Control School of Mechanical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9791188428137

To address the security risks in vehicular network communication that current technologies cannot resolve, this paper proposes a multi-key data aggregation algorithm for the Internet of Vehicles (IoV). By adopting multi-key fully homomorphic encryption over rings, the algorithm ensures that data remains encrypted during transmission and aggregation, with encryption operations conducted over rings, thereby enhancing computational efficiency and decryption accuracy. This approach protects vehicle data in the IoV from unauthorized access by institutions or attackers and ensures the security and accuracy of the aggregation process. Throughout the data processing flow, multi-layer encryption and homomorphic operations further enhance data confidentiality and processing efficiency, providing effective technical support for IoV information security. This algorithm is suitable for IoV applications with high demands for data privacy and security. © 2025 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Data aggregation

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Research and Design of AIS Reception Signal Processing System Based on GNU Radio 27

Research and Design of AIS Reception Signal Processing Syste...

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27th International Conference on Advanced Communications Technology, ICACT 2025

作者： Zhou, Zijiao Gong, Peng Tang, Bin He, Piao Peng, Xiuming Zhang, Guangwei National Key Laboratory of Mechatronic Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9791188428137

The Automatic Identification System (AIS), as a standard communication and navigation device for ships, plays a significant role in ensuring the safety and efficiency of maritime traffic. The accuracy of the AIS receiver’s signal processing directly affects the bit error rate (BER) and packet error rate (PER) of the AIS system, drawing considerable attention to AIS signal reception and processing technologies. Current research on AIS reception signals mainly focuses on custom implementations using hardware platforms like FPGAs;however, the high cost of hardware implementation has become a limiting factor in the development of AIS signal processing technologies. Therefore, this paper designs an AIS reception signal processing system based on GNU Radio, developing demodulation algorithm and NRZI decoding modules, and testing them with typical demodulation algorithms. Experimental results demonstrate the feasibility and effectiveness of the designed reception signal processing system. Copyright 2025 Global IT Research Institute (GIRI). All rights reserved.

关键词： Decoding

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controllability of heterogeneous networked sampled-data systems

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Science China(Information Sciences) 2025年第3期68卷 302-318页

作者： Zixuan YANG Lin WANG Xiaofan WANG Guanrong CHEN Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China School of Mechatronic Engineering and Automation Shanghai University School of Electrical and Electronic Engineering Shanghai Institute of Technology Department of Electrical Engineering City University of Hong Kong

This study investigates the controllability of a general heterogeneous networked sampled-data system(HNSS) consisting of nonidentical node systems, where the inner coupling between any pair of nodes can be described by a unique *** signals on control and transmission channels are sampled and held by zero-order holders, and the control sampling period of each node can be different. Necessary and sufficient controllability conditions are developed for the general HNSS, using the Smith normal form and matrix equations, respectively. The HNSS in specific topology or dynamic settings is discussed subsequently with easier-to-verify conditions derived. These heterogeneous factors have been determined to independently or jointly affect the controllability of networked sampled-data systems. Notably, heterogeneous sampling periods have the potential to enhance the overall controllability, but not for systems with some special dynamics. When the node dynamics are heterogeneous,the overall system can be controllable even if it is topologically uncontrollable. In addition, in several typical heterogeneous sampled-data multi-agent systems, pathological sampling of single-node systems will necessarily cause overall uncontrollability.

关键词： network controllability sampled-data system heterogeneous system inner coupling multi-agent system

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Effect of Free-End Torsion on the Corrosion and Mechanical Properties for Mg-3Zn-0.2Ca Alloy

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Acta Metallurgica Sinica(English Letters) 2025年第1期38卷 59-70页

作者： Li-Lan Gao Jiang Ma Yan-Song Tan Xiao-Hao Sun Qi-Jun Gao De-Bao Liu Chun-Qiu Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China School of Materials Science and Engineering Tianjin University of TechnologyTianjin300384China

Magnesium alloys with excellent degradability and biocompatibility are promising materials for biomedical implants,saving patients the burden of second ***,their mechanical properties and corrosion resistance are significantly below the requirements for implant *** study aims to improve the mechanical and corrosion resistance properties of Mg-3Zn-0.2Ca alloy by pre-torsion treatment,and find out the optimal shear *** rod-shaped Mg-3Zn-0.2Ca alloy specimens were pre-torsion treated at different torsion *** effect of free-end torsion on Mg-3Zn-0.2Ca alloy was characterized through microstructure analysis,mechanical testing,and corrosion ***-torsion treatment can refine grain and induce twins and dislocations in Mg-3Zn-0.2Ca *** surface hardness increases with the increase in torsion *** yield strength and ultimate strength initially increase and then decrease with increasing torsion angle,while ductility decreases with increasing torsion *** with a shear strain of 30%exhibit the highest tensile strength,reaching 284.78±10.62 MPa,with an elongation of 19.37±1.66%.Furthermore,they show a significant improvement in fatigue lives both before and after *** the stress amplitude is 120 MPa,the fatigue lives for specimens without pre-torsion treatment are 54,275 cycles and 4324 cycles before and after pre-corrosion,while they increased significantly to 92,015 cycles and 5050 cycles with the 30%shear strain,***,the 30%shear strain specimens show a significant reduction in corrosion *** conclusion,pre-torsion treatment can effectively modify the microstructure of Mg-3Zn-0.2Ca alloy,enhancing both mechanical properties and corrosion *** optimal shear strain for this improvement is 30%.This study provides a practical method to enhance the mechanical properties and corrosion resistance of Mg-3Zn-0.2Ca alloy,making it more suitable for biomedical implan

关键词： Magnesium alloy Pre-torsion Microstructure Mechanical property Corrosion resistance

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Observer-Based Multi-Agent Reinforcement Learning for Pursuit-Evasion Game With Multiple Unknown Uncertainties

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IEEE Transactions on Automation Science and engineering 2025年 22卷 14332-14345页

作者： Liu, Yangyang Liu, Chun Meng, Yizhen Jiang, Bin Wang, Xiaofan Shanghai University School of Mechatronic Engineering and Automation Shanghai200444 China Shanghai University School of Mechatronic Engineering and Automation Institute of Artificial Intelligence Shanghai200444 China Shanghai Aerospace Control Technology Institute National Key Laboratory of Space Target Awareness Shanghai China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai201109 China Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing210016 China Shanghai Institute of Technology Shanghai201418 China

This paper aims to investigate the challenging problem of a multi-agent game with multiple pursuers and a single evader in an environment with multiple unknown uncertainties. A coupled approach combining decentralized observers and reinforcement learning (RL) controllers is proposed to deal with this scenario. Firstly, decentralized observers driven by auxiliary control laws are introduced to estimate the states of uncertain systems, with their best responses obtained through the adaptive dynamic programming (ADP) method. The estimated states, which reflect the actual states of the pursuers’ systems, are concurrently transmitted to the RL controllers. Subsequently, the controllers are trained with observer-based heterogeneous-agent proximal policy optimization (OHAPPO) algorithm, in which a novel global multi-function cost is designed. The algorithm utilizes the advantage decomposition for policy updates in the way of credit assignment, resulting in more stable and efficient updates compared to traditional value decomposition. Moreover, to further enhance the performance of both observers and controllers, a sequential game is established between them, where observers’ policies are influenced by controllers’ optimal control and vice versa. Finally, the simulation results verify the effectiveness of the designed OHAPPO algorithm in the pursuit-evasion game. © 2004-2012 IEEE.

关键词： Reinforcement learning

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Communication Countermeasure Strategy Decision-Making Based on Incomplete Information Game 27

Communication Countermeasure Strategy Decision-Making Based ...

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27th International Conference on Advanced Communications Technology, ICACT 2025

作者： Liu, Jinyue Gao, Xiang Yang, Haowei Zhang, Jihao Liu, Yuhan Gong, Peng National Key Laboratory of Mechatronic Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology Beijing China Institute of Computer Application Technology Norinco Group Beijing China

ISBN: (纸本)9791188428137

In modern battlefields, the stability of wireless communications is crucial for intelligence transmission, command coordination, and maintaining strategic advantage. However, with the rapid advancement of communication technologies, the electromagnetic environment has become increasingly complex, making intelligent decision-making in communication countermeasures a prominent research focus. However, most existing studies adopt deep learning and reinforcement learning methods, which require extensive data samples and computational resources. To address these limitations, this paper proposes a game-theoretic model for intelligent radio communication countermeasures under incomplete information. It quantitatively evaluates common attack and defense tactcis used in communication countermeasures and explores the mixed-strategy equilibrium of the game when both the attackers and defenders consist of multiple types. Furthermore, simulation-based comparative analyses are conducted to assess the factors influencing the utility of both the attacker and defender. The findings offer theoretical insights and decision-making support for the deployment of communication countermeasure strategies in practical military operations, contributing to significant strategic value. © 2025 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Deep reinforcement learning

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