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Enhanced UAV Pursuit-Evasion Using Boids Modelling:A Synergistic Integration of Bird Swarm Intelligence and DRL

Computers, Materials & Continua 2024年第9期80卷 3523-3553页

作者： Weiqiang Jin Xingwu Tian Bohang Shi Biao Zhao Haibin Duan Hao Wu School of Information and Communications Engineering Faculty of Electronic and Information EngineeringXi’an Jiaotong UniversityXi’an710049China China Academy of Electronics and Information Technology China Electronics Technology Group Corporation(CETC)Beijing100041China Department ofAutomatic Control School of Automation Science and Electrical EngineeringBeihangUniversityBeijing100191China

TheUAV pursuit-evasion problem focuses on the efficient tracking and capture of evading targets using unmanned aerial vehicles(UAVs),which is pivotal in public safety applications,particularly in scenarios involving intrusion monitoring and *** address the challenges of data acquisition,real-world deployment,and the limited intelligence of existing algorithms in UAV pursuit-evasion tasks,we propose an innovative swarm intelligencebased UAV pursuit-evasion control framework,namely“Boids Model-based DRL Approach for Pursuit and Escape”(Boids-PE),which synergizes the strengths of swarm intelligence from bio-inspired algorithms and deep reinforcement learning(DRL).The Boids model,which simulates collective behavior through three fundamental rules,separation,alignment,and cohesion,is adopted in our *** integrating Boids model with the Apollonian Circles algorithm,significant improvements are achieved in capturing UAVs against simple evasion *** further enhance decision-making precision,we incorporate a DRL algorithm to facilitate more accurate strategic *** also leverage self-play training to continuously optimize the performance of pursuit *** experimental evaluation,we meticulously designed both one-on-one and multi-to-one pursuit-evasion scenarios,customizing the state space,action space,and reward function models for each *** simulations,supported by the PyBullet physics engine,validate the effectiveness of our proposed *** overall results demonstrate that Boids-PE significantly enhance the efficiency and reliability of UAV pursuit-evasion tasks,providing a practical and robust solution for the real-world application of UAV pursuit-evasion missions.

关键词： UAV pursuit-evasion swarm intelligence algorithm Boids model deep reinforcement learning self-play training

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Adaptive SSO Suppressor Based on SVD-Prony Algorithm in PV Grid-Connected System

Adaptive SSO Suppressor Based on SVD-Prony Algorithm in PV G...

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International Conference of Electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Liang, Liyuan Sun, Dongyang Liu, Jinfeng School of Electrical and Electronic Engineering Harbin University of Science and Technology Heilongjiang Harbin150080 China School of Measurement Control Technology and Communication Engineering Harbin University of Science and Technology Heilongjiang Harbin150080 China

ISBN: (纸本)9789819618514

The risk of sub-synchronous oscillation of PV grid-connected system is increased by the decrease of power grid strength or the disturbance of DC voltage. It is theoretically necessary and engineering urgent to study the mechanism of sub-synchronous oscillation of PV grid-connected system and put forward corresponding suppression strategies. In this paper, a dq synchronous rotating coordinate system control model of PV grid-connected system with subsynchronous oscillation is established, and the influence of subsynchronous oscillation on PV grid-connected system is analyzed according to the model. An adaptive SSO suppressor based on SVD-Prony algorithm is designed to track and suppress sub-synchronous oscillations that vary in each frequency band. This algorithm can extract the effective mode information of the subsynchronous oscillation in PV grid-connected system, and then update it to the central resonant frequency of the suppressor, and generate the output which can compensate the subsynchronous oscillation component in the closed-loop control system. Finally, a simulation experiment platform is set up to verify the effectiveness of the suppression strategy proposed in this paper. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Closed loop control systems

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Multi-Object Detection and Classification in Construction Sites Based on YOLOv5 5

Multi-Object Detection and Classification in Construction Si...

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5th International Conference on Video, Signal and Image Processing, VSIP 2023

作者： Liang, Xintao Jiang, Tianqi Fu, Qiang Wang, Qingyan School Of Measurement And Control Technology And Telecommunications Engineering Harbin University Of Science And Technology Harbin150080 China

ISBN: (纸本)9798400709272

A thorough analysis of the framework structure of the YOLO algorithm is conducted, and based on the YOLOv5 algorithm, rapid detection and classification of extracted features are implemented. Addressing the issue of multi-object detection and classification in engineering sites, this study utilizes the YOLOv5 algorithm for object detection in engineering scenarios, constructs the ResNet50 network, and achieves training and recognition of categories for engineering vehicles, whether washed or unwashed. Additionally, the YOLOv5 algorithm is employed to detect whether construction personnel are wearing safety helmets and reflective clothing, enabling fast and accurate entity detection and classification at construction sites. © 2023 Owner/Author.

关键词： Object detection

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Sub-Synchronous Oscillation Suppression Strategy Research for Grid-Forming Direct-Drive Permanent Magnet Synchronous Generator Based on Adaptive Notch Filter

Sub-Synchronous Oscillation Suppression Strategy Research fo...

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International Conference of Electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Sun, Dongyang Jiao, Yingzi Liu, Jinfeng School of Electrical and Electronic Engineering Harbin University of Science and Technology Heilongjiang Harbin150080 China School of Measurement Control Technology and Communication Engineering Harbin University of Science and Technology Heilongjiang Harbin150080 China

ISBN: (纸本)9789819620791

When sub-synchronous oscillations (SSO) occur in power grid, they can affect control performance of grid-side converter (GSC) for direct-drive permanent magnet synchronous generators (D-PMSG), thereby impacting overall stability of system. To address this issue, this paper proposes a suppression strategy for SSO based on adaptive notch filter (ANF). Firstly, the mechanism by which grid SSO affects GSC control of D-PMSG based on virtual synchronous generator (VSG) is analyzed, and disturbance propagation path of SSO component is delineated. Secondly, to overcome problem that fixed-parameter notch filters are unsuitable for time varying characteristics of SSO frequencies, an improved fast Fourier transform-based algorithm for identifying SSO parameters is proposed. Based on identification results, a strategy for updating center frequency of ANF is designed. Optimal intervention point of ANF in control system is determined. Finally, by constructing a simulation model, the effectiveness of proposed control strategy for suppressing SSO is verified. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Adaptive filters

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SSO Suppression Strategy for Adaptive PV Power Generation System Based on Quasi-Resonant control

SSO Suppression Strategy for Adaptive PV Power Generation Sy...

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International Conference of Electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Sun, Dongyang Han, Chuang Liu, Jinfeng School of Electrical and Electronic Engineering Harbin University of Science and Technology Heilongjiang Harbin150080 China School of Measurement Control Technology and Communication Engineering Harbin University of Science and Technology Heilongjiang Harbin150080 China

ISBN: (纸本)9789819618514

Moving cloud shadows in the region where a large-scale PV power plant is located will cause the DC voltage output of some PV arrays to be perturbed, and the inter-harmonic component will be output to the grid, which will lead to sub-synchronous oscillations of PV power generation systems that are normally operated at the same grid. In this paper, firstly, the output characteristics of PV arrays under moving cloud shadows are investigated, and the generation mechanism of inter-harmonics in PV power generation system is analyzed through the small-signal perturbation model, which elucidates the reasons for the occurrence of sub-synchronous oscillations in PV power generation system triggered by the inter-harmonics;secondly, the influence of the change of the sub-synchronous oscillation frequency on the resonance suppression strategy is explored, and a sub-synchronous oscillation suppression strategy based on the proportional resonance control is designed for suppression of Finally, the effectiveness of the proposed suppression strategy is verified by simulation. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Harmonic analysis

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Research on Integrated Inertia control Strategy of Hydrogen Production System with Wind Power Permeability

Research on Integrated Inertia Control Strategy of Hydrogen ...

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International Conference of Electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Sun, Dongyang Zhou, Yanbing Liu, Jinfeng School of Electrical and Electronic Engineering Harbin University of Science and Technology Heilongjiang Harbin150080 China School of Measurement Control Technology and Communication Engineering Harbin University of Science and Technology Heilongjiang Harbin150080 China

ISBN: (纸本)9789819620791

High proportion of new energy and high proportion of power electronic equipment in the power system, the problem of frequency safety is becoming increasingly prominent. It is the key of high permeability grid connection of wind power to realize virtual inertia support by rational use of energy reserve of wind storage hydrogen production system. In this paper, based on the improved system frequency response model considering wind power permeability, the dynamic response equation of system frequency is derived to analyze the influence of wind power permeability on the system frequency stability. Secondly, according to the definition of inertia time constant of synchronous unit, the virtual inertia time constant of electric hydrogen production and supercapacitor is established, the required inertia of the system is evaluated with the system frequency change rate as the safety constraint condition, and the inertia distribution strategy of the air storage hydrogen production system is proposed. Finally, a simulation model of hydrogen production system from wind storage is built to verify that the frequency stability of the system can be significantly improved under the proposed control strategy. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Frequency stability

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FCOS-LSC:A Novel Model for Green Fruit Detection in a Complex Orchard Environment

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Plant Phenomics 2023年第3期5卷 546-563页

作者： Ruina Zhao Yujie Guan Yuqi Lu Ze Ji Xiang Yin Weikuan Jia School of Information Science and Engineering Shandong Normal UniversityJinan 250358China School of Engineering Cardiff UniversityCardiff CF243AAUK School of Agricultural Engineering and Food Science Shandong University of TechnologyZibo 255000China Key Laboratory of Facility Agriculture Measurement and Control Technology and Equipment of Machinery Industry Zhenjiang 212013China

To better address the difficulties in designing green fruit recognition techniques in machine vision systems,a new fruit detection model is *** model is an optimization of the FCOS(full convolution one-stage object detection)algorithm,incorporating LSC(level scales,spaces,channels)attention blocks in the network structure,and named *** method achieves efficient recognition and localization of green fruit images affected by overlapping occlusions,lighting conditions,and capture ***,the improved feature extraction network ResNet50 with added deformable convolution is used to fully extract green fruit feature *** feature pyramid network(FPN)is employed to fully fuse low-level detail information and high-level semantic information in a cross-connected and top-down connected ***,the attention mechanisms are added to each of the 3 dimensions of scale,space(including the height and width of the feature map),and channel of the generated multiscale feature map to improve the feature perception capability of the ***,the classification and regression subnetworks of the model are applied to predict the fruit category and bounding *** the classification branch,a new positive and negative sample selection strategy is applied to better distinguish supervised signals by designing weights in the loss function to achieve more accurate fruit *** proposed FCOS-LSC model has 38.65M parameters,38.72G floating point operations,and mean average precision of 63.0%and 75.2%for detecting green apples and green persimmons,*** summary,FCOS-LSC outperforms the state-of-the-art models in terms of precision and complexity to meet the accurate and efficient requirements of green fruit recognition using intelligent agricultural ***,FCOS-LSC can be used to improve the robustness and generalization of the green fruit detection models.

关键词： connected designing weights

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Optimization of BLE Broadcast Mode in Offline Finding Network

arXiv

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arXiv 2025年

作者： Zhang, Li Feng, Cheng Xia, Tian School of Computer and Control Engineering Northeast Forestry University China School of Measurement-control Technology and Communications Engineering Harbin University of Science and Technology China

In the Offline Finding Network(OFN), offline Bluetooth tags broadcast to the surrounding area, the finder devices receiving the broadcast signal and upload location information to the IoT(Internet of Things) cloud servers, thereby achieving offline finding of lost items. This process is essentially a Bluetooth low energy (BLE) neighbor discovery process(NDP). In the process, the variety of Bluetooth scan modes caused by the scan interval and scan window settings affects the discovery latency of finder devices finding the tag broadcast packets. To optimize the experience of searching for lost devices, we propose the CPBIS-mechanism, a certain proportion broadcast-intervals screening mechanism that calculates the most suitable two broadcast intervals and their proportion for offline tags. This reduces discovery latency in the BLE NDP, improves the discovery success rate, further enhances the user experience. To our knowledge, we are the first to propose a comprehensive solution for configuring the broadcast interval parameters of advertisers in BLE NDP, particularly for configurations involving two or more broadcast intervals. We evaluated the results obtained by CPBIS on the nRF52832 chip. The data shows that the CPBIS-mechanism achieves relatively low discovery latencies for multiple scan modes. © 2025, CC BY.

关键词： Bluetooth

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Deformation Mechanism in Central China Revealed by Regional Earthquake Tomography

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Seismological Research Letters 2025年第3期96卷 1561-1572页

作者： Hua, Yujin Zhang, Shuangxi Liu, Yu Liu, Li Wu, Tengfei Wei, Yu Li, Bin Department of Earth Sciences and Engineering Taiyuan University of Technology Taiyuan China Department of Geophysics School of Geodesy and Geomatics Wuhan University Wuhan China School of Geophysics and Measurement-Control Technology East China University of Technology Nanchang China College of Civil Engineering Taiyuan University of Technology Taiyuan China School of Civil Engineering and Architecture Hubei Polytechnic University Huangshi China China Huadian Corporation Ltd. Beijing China

The central China region (CCN) has experienced significant deformation and complex structural arrangements. We conducted research on the deformation pattern of the CCN through the 3D velocity structure of the crust and uppermost mantle obtained via body-wave tomography. This velocity structure strongly correlates with the region’s topographic features. The relationship between velocity distributions and topography indicates that compression in the east–west direction, which can lead to crustal and mantle shortening, may play a crucial role in shaping topography. The various structures between the Qinling mountain range in the west and the Tongbai–Dabie mountain range in the east highlight distinct geological processes occurring along the Qinling–Dabie orogenic belt. In addition, we propose that reservoir water has infiltrated the crystalline basement rock layer up to 15–20 km beneath the Three Gorges Reservoir. Furthermore, the Three Gorges Dam serves as a solid foundation to prevent reservoir water from seeping downstream underground. © Seismological Society of America.

关键词： Crystalline rocks

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ViTGaze: gaze following with interaction features in vision transformers

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Visual Intelligence 2024年第1期2卷 1-15页

作者： Song, Yuehao Wang, Xinggang Yao, Jingfeng Liu, Wenyu Zhang, Jinglin Xu, Xiangmin School of Electronic Information and Communications Huazhong University of Science and Technology Wuhan China School of Control Science and Engineering Shandong University Jinan China School of Future Technology South China University of Technology Guangzhou China

Gaze following aims to interpret human-scene interactions by predicting the person’s focal point of gaze. Prevailing approaches often adopt a two-stage framework, whereby multi-modality information is extracted in the initial stage for gaze target prediction. Consequently, the efficacy of these methods highly depends on the precision of the previous modality extraction. Others use a single-modality approach with complex decoders, increasing network computational load. Inspired by the remarkable success of pre-trained plain vision transformers (ViTs), we introduce a novel single-modality gaze following framework called ViTGaze. In contrast to previous methods, it creates a novel gaze following framework based mainly on powerful encoders (relative decoder parameters less than 1%). Our principal insight is that the inter-token interactions within self-attention can be transferred to interactions between humans and scenes. Leveraging this presumption, we formulate a framework consisting of a 4D interaction encoder and a 2D spatial guidance module to extract human-scene interaction information from self-attention maps. Furthermore, our investigation reveals that ViT with self-supervised pre-training has an enhanced ability to extract correlation information. Many experiments have been conducted to demonstrate the performance of the proposed method. Our method achieves state-of-the-art performance among all single-modality methods (3.4% improvement in the area under curve score, 5.1% improvement in the average precision) and very comparable performance against multi-modality methods with 59% fewer parameters. © The Author(s) 2024.

关键词： Gaze following Interaction feature Self-attention map Visual transformer (ViT)

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