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An online terrain classification framework for legged robots based on acoustic signals

Biomimetic Intelligence & Robotics 2023年第2期3卷 51-53页

作者： Daoling Qin Guoteng Zhang Zhengguo Zhu Xianwu Zeng Jingxuan Cao School of Control Science and Engineering Shandong UniversityJinan 250061China Engineering Research Center of Intelligent Unmanned System Ministry of EducationShandong UniversityJinan 250061China

Terrain classification information is of great significance for legged robots to traverse various ***,this communication presents an online terrain classification framework for legged robots,utilizing the acoustic signals produced during *** Mel-Frequency Cepstral Coefficient(MFCC)feature vectors are extracted from the acoustic data recorded by an on-board *** the Gaussian mixture models(GMMs)are used to classify the MFCC features into different terrain type *** proposed framework was validated on a quadruped ***,our investigations achieved a classification time-resolution of 1 s when the robot trotted over three kinds of terrains,thus recording a comprehensive success rate of 92.7%.

关键词： Legged robots Terrain classification Acoustics GMMs

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Multi-hypothesis Tracking Algorithm for Missile Group Targets

Multi-hypothesis Tracking Algorithm for Missile Group Target...

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2024 IEEE International Conference on Unmanned Systems, ICUS 2024

作者： Yang, Yueqi Yan, Tao Shen, Jiajie Sun, Guoqiang Tian, Zhenpo Ju, Wen School of Automation Science and Engineering Xi'an Jiaotong University Xi'an China Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (纸本)9798350384185

This paper addresses the challenge of group targets tracking in complex environments, aiming to enhance the real-time performance and accuracy of tracking systems by optimizing multi-dimensional assignment strategy for selecting the globally optimal hypothesis. A new tracking algorithm named Ballistic Track-Oriented MHT (BTOMHT) is proposed. This algorithm introduces Lagrangian multipliers to achieve effective dimensionality reduction, thereby significantly decreases the computation complexity of data association in multi-dimensional spaces for group targets. Simulations demonstrate that compared with the Global Nearest Neighbor algorithm, BTOMHT not only sustains high precision but also has a great performance in complex dynamic tracking scenarios. It can enhance the efficiency of both target detection and tracking and concurrently bolster overall system stability in tracking tasks. The efficiency of the proposed algorithm is validated across two assessment indices. The algorithm contributes to the theoretical framework of multi-target tracking and furnishes technical support for applications in military defense. © 2024 IEEE.

关键词： Target tracking

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Fuzzy-Cycle: Visible to Infrared Ship Image Translation Based on CycleGAN 6

Fuzzy-Cycle: Visible to Infrared Ship Image Translation Base...

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6th International Conference on Industrial Artificial Intelligence, IAI 2024

作者： He, Long Yu, Yue Liu, Chang Sun, Yangyang Jiang, Feng Hu, Xiaoning Pan, Chengwei Dong, Xiwang School of Artificial Intelli-gence Beihang University Beijing China Beijing Institute of Control and Electronic Technology Beijing China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University School of Artificial Intelligence Institute of Unmanned System Beijing China

ISBN: (纸本)9798350356618

Detecting targets in infrared ship images is crucial for various applications, such as maritime rescue and ship inspection. Training contemporary mainstream detection and segmentation models, however, requires large-scale, high-quality infrared ship image datasets. In open-world maritime confrontation scenarios, the complex and variable environment, scarcity of target ships, and limited acquisition conditions make it challenging to construct high-quality infrared ship image datasets. To address this issue, this paper proposes an unpaired visible-infrared ship image translation model based on CycleGAN, named Fuzzy-Cycle. The model introduces a fuzzy cycle loss to encourage the model to learn feature mapping rules between different domains while minimizing attention to unnecessary features. Additionally, the method employs U-Net as the generator network to retain shallow image features during upsampling and selects PatchGAN as the discriminator network, embedding Haar wavelet transform to enhance the discriminator's ability to analyze image frequency domain features. Experiments on the VAIS dataset demonstrate that the proposed algorithm outperforms mainstream unpaired image transfer models, showing excellent performance in the task of visible-infrared ship image translation. Furthermore, zero-shot image translation experiments on the HRSC2016 dataset prove the generalizability and reliability of the proposed method. © 2024 IEEE.

关键词： Wavelet transforms

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Evolution hydrothermal aging resistance mechanism study of zirconium and manganese doped CeO_(2)catalysts in soot catalytic combustion based on low Miller indices crystal surface effect

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Journal of Rare Earths 2024年第7期42卷 1272-1281,I0003页

作者： Zonglin Li Pan Wang Hong Ni Chengcheng Ao Lidong Zhang Hefeng Zhang Kai Li School of Automotive and Traffic Engineering Jiangsu UniversityZhenjiang212013China State Environmental Protection Key Laboratory of Vehicle Emission Control and Simulation Chinese Research Academy of Environmental ScienceBeijing100012China National Synchrotron Radiation Laboratory University of Science and Technology of ChinaHefei230026China

The thermogravimetric analysis(TGA)experiments were carried out to reveal the mechanism of Zr and Mn doping on catalytic activity of CeO_(2)catalyst both fresh and after hydrothermal aging,and the lattice morphology and valence changes were characterized by means of Brunauer-Emmett-Teller(BET)method,X-ray diffraction(XRD),X-ray photoelectron spectroscopy(XPS),and H_(2)-temperature programmed reduction(H_(2)-TPR).Density functional theory(DFT)and molecular thermodynamics calculations were applied to investigate the change in catalytic activity,crystal surface energy and crystal morphology caused by hydrothermal *** maximum reaction rate temperature of fresh Mn/CeO_(2)(389℃)is similar to that of CeO_(2)(371℃)and lower than that of Zr/CeO_(2)(447℃),but the catalytic performance of CeO_(2)decreases more severely after hydrothermal *** catalyst crystals show different degrees of crystal surface migration after hydrothermal aging,which leads to the reduction of Ce^(3+)/Ce^(4+) ratio and the active sites *** calculations indicate that the doping of Zr and Mn reduces the surface energy of the low Miller indices surface and increases the oxygen vacancy formation energy,leading to better thermal stability and lower catalytic *** Zr and Mn doping also changes the adsorption energy and Gibbs free energy of H_(2)O,which dominates the migration of(111)to(110)and(100)in the vapor *** crystal surface migration mechanism of CeO_(2)catalysts doped with Zr and Mn induced by H_(2)O molecules at high temperature obtained in this study can provide a valuable addition to the regeneration of CeO_(2)catalysts in the after-treatment systems of diesel engines.

关键词： Soot CeO_(2)-based catalyst CDPF Rare earth metal oxides DFT calculations

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A Novel Approach for Image Encryption with Chaos-RNA

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Computers, Materials & Continua 2023年第10期77卷 139-160页

作者： Yan Hong Shihui Fang Jingming Su Wanqiu Xu Yuhao Wei Juan Wu Zhen Yang State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mine Anhui University of Science and TechnologyHuainan232001China School of Electrical and Information Engineering Anhui University of Science and TechnologyHuainan232001China School of Information Science and Engineering Henan University of TechnologyZhengzhou450001China

In today’s information society,image encryption technology is crucial to protecting Internet ***,traditional image encryption algorithms have problems such as insufficient chaotic characteristics,insufficient randomness of keys,and insecure Ribonucleic Acid(RNA)*** address these issues,a chaos-RNA encryption scheme that combines chaotic maps and RNA encoding was proposed in this *** initial values and parameters of the chaotic system are first generated using the Secure Hash Algorithm 384(SHA-384)function and the plaintext ***,the Lühyperchaotic system sequence was introduced to change the image’s pixel values to realize block scrambling,and further disturbance is achieved through spiral index sequence to enhance encryption ***,to obtain the final encrypted image,the diffusion is accomplished through different RNA encoding rules and operation rules corresponding to the chaotic sequence generated by an improved one-dimensional chaotic map(1DCM).Here innovatively propose four new RNA operation rules,increasing the difficulty of *** results demonstrate that the normalized pixel change rate(NPCR)and the unified average changed intensity(UACI)values of the tested encrypted images were 99.61%and 33.46%,*** average ciphertext entropy value in the Red Green Blue(RGB)channels were 7.9986,7.991,and ***,this algorithm exhibits a low correlation coefficient and enhanced *** encryption method effectively improves the security and reliability of image encryption compared to other similar techniques.

关键词： Chaos-RNA SHA-384 Lühyperchaotic system block scrambling RNA diffusion

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State of health estimation of lithium-ion batteries based on TiDE

State of health estimation of lithium-ion batteries based on...

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2024 China Automation Congress, CAC 2024

作者： Li, Hui Cui, Fangshu Shi, Yuanhao Wang, Bohui School of Electrical and Control Engineering North University of China Taiyuan China School of Computer Science and Technology North University of China Taiyuan China School of Cyber Science and Engineering Xi'an Jiaotong University Xi'an China

ISBN: (纸本)9798350368604

Given the widespread use of lithium-ion batteries, accurately forecasting their State of Health (SOH) is crucial for ensuring the secure and reliable operation of equipment. The local capacity regeneration during battery degradation can undermine prediction accuracy. This research introduces an MDT-FOA+TiDE approach for predicting SOH in lithium-ion batteries using multidimensional time series data. Initially, capacity and various feature data from the degradation process were collected and health indicators were derived. Features with high correlation to capacity were integrated into multidimensional time series. Subsequently, the Time-series Dense Encoder (TiDE) model was employed for training and prediction, while the Fox Optimization Algorithm (FOA) was used for model optimization. Experimental results using the NASA dataset demonstrate that the proposed approach outperforms SVR and LSTM models that utilize univariate data and MDT-TiDE model without FOA optimization. © 2024 IEEE.

关键词： lithium-ion batteries local capacity regeneration multidimensional time series state of health

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Fault diagnosis of aircraft engines based on multi-sensor fusion sparse denoising autoencoder

Fault diagnosis of aircraft engines based on multi-sensor fu...

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第43届中国控制会议

作者： ShiJie He Zhi-Ming Wang Kun-Zhi Liu Xi-Ming Sun School of Control Science and Control Engineering Dalian University of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

As the heart of an aircraft,it is crucial to accurately grasp the operational status of ***,it is difficult to fully reflect the accurate fault status through a single sensor signal,and the diagnostic effect of using input signals in complex environments is not ***,this article proposes an aeroengine fault diagnosis method based on multisensor fusion and sparse denoising autoencoder,which comprehensively considers multi-sensor decision-making and reduces the difficulty of extracting high-dimensional data features,reducing the interference caused by *** have shown that this method can effectively identify the fault status of aircraft engines,and compared to existing methods,this method can provide more accurate diagnostic results.

关键词： fault diagnosis aeroengine multi-sensor information fusion sparse denoising autoencoder

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Transit search optimized least squares support vector machine for the state of health estimation of lithium-ion batteries

Transit search optimized least squares support vector machin...

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2024 China Automation Congress, CAC 2024

作者： Wang, Kangjie Cui, Fangshu Shi, Yuanhao Wang, Bohui School of Electrical and Control Engineering North University of China Taiyuan China School of Computer Science and Technology North University of China Taiyuan China School of Cyber Science and Engineering Xi’an Jiaotong University Xi’an China

ISBN: (纸本)9798350368604

The State of Health (SOH) of lithium-ion batteries is a critical parameter that mirrors the performance of their health monitoring systems. To achieve accurate prediction of SOH, we propose a novel prediction model. The model combines the advantages of variational mode decomposition (VMD) and transit search optimization- least squares support vector machine (TSOA-LSSVM). The constant-current charging time (CCCT), constant-current discharging time (CCDT), and Constant voltage charging time(CVCT) with Internal resistance(IR) are extracted as health indicators (HIs), and the correlations between HIs and SOH are evaluated by using Spearman correlation coefficient (spearman) respectively. With the VMD method, the most correlated HI is decomposed into multiple intrinsic modal functions (IMFs), and each IMF is fitted by the LSSVM. TSOA is used to obtain the most appropriate hyperparameters. The efficacy of the newly developed VMD-TSOA-LSSVM model is assessed by utilizing battery aging data sourced from the Center for Advanced Life Cycle engineering (CALCE). Its performance is then compared to that of the solo LSSVM, the VMD-LSSVM, and the VMD-TSOA-SVM methods. The laboratory outcomes demonstrate that the VMD-TSOA-LSSVM model outperforms other models in prediction and has better robustness and generalization ability. © 2024 IEEE.

关键词： Variational mode decomposition

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A blockchain-based transaction system for private data sharing and trading

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control Theory and Technology 2022年第3期20卷 291-302页

作者： Wei Cui Yu Pan Zhendong Ai School of Automation Science and Engineering South China University of TechnologyGuangzhou510640GuangdongChina College of Control Science and Engineering Zhejiang UniversityHangzhou310058ZhejiangChina

To address the private data management problems and realize privacy-preserving data sharing,a blockchain-based transaction system named Ecare featuring information transparency,fairness and scalability is *** proposed system formulates multiple private data access control strategies,and realizes data trading and sharing through on-chain transactions,which makes transaction records transparent and *** our system,the private data are encrypted,and the role-based account model ensures that access to the data requires owner’s ***,a new consensus protocol named Proof of Transactions(PoT)proposed by ourselves has been used to improve consensus *** value of Ecare is not only that it aggregates telemedicine,data transactions,and other features,but also that it translates these actions into transaction events stored in the blockchain,making them transparent and immutable to all *** proposed system can be extended to more general big data privacy protection and data transaction scenarios.

关键词： Private data sharing Blockchain Data access control Proof of Transactions

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Memory enhancement of the new tryptamine-like components in the walnut kernel

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Food Bioscience 2023年第2期52卷 396-403页

作者： Yida Xu Yongli Ye Xiulan Sun State Key Laboratory of Food Science and Technology School of Food Science and TechnologyNational Engineering Research Center for Functional FoodSynergetic Innovation Center of Food Safety and Quality ControlJiangnan

Walnut kernel has been applied in daily diets for thousands of years with its memory enhancement *** further observing the effect of memory enhancement,the walnut kernel was extracted and separated into active parts,with the evaluation in mice.30%ethanol elution from AB-8 macroporous resin showed a decreased escape latency time and increased cumulative time and crossing frequency through the Morris *** also increased the latency time and decreased jumps in the step-down *** results indicated the memory enhancement effect of the *** further separation and purification,four compounds were acquired with tryptamine-like structures first found in the walnut kernel,and compounds III and IV were new *** III showed decreased escape latency time,increased cumulative time,increased crossing frequency through the Morris test,and increased latency time,decreased jumps in the step-down *** III also alleviated acetylcholinesterase activity and promoted acetylcholine transferase *** silico docking and molecular dynamic studies displayed the most polar interactions of compound III on 5-hydroxytryptamine receptor 4(5-HTR4)with the most polar interactions and the lowest binding energies,and anti-degeneration effect to monoamine oxidase A(MAO-A)with the high binding energy and sizeable steric *** results illustrated the memory enhancement of compound III in the walnut kernel,indicating more potential activities of tryptamine-like components and more applications for walnut kernel in clinical use or daily diets.

关键词： Walnut kernel Mice Evaluation Tryptamine

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