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检索条件"机构=Science and Technology on Complex System Control and Intelligent Agent Coorperation Laboratory"

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Estimate depth information from monocular infrared images based on deep learning 7

Estimate depth information from monocular infrared images ba...

引用

7th IEEE International Conference on Progress in Informatics and Computing, PIC 2020

作者： Li, Xu Ding, Meng Wei, Donghui Wu, Xiaozhou Cao, Yunfeng Nanjing University of Aeronautics and Astronautics College of Civil Aviation Nanjing China Beijing Electro-.Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Nanjing University of Aeronautics and Astronautics College of Astronautics Nanjing China

ISBN: (纸本)9781728170862

In the field of automatic driving, vision-based driving assistance system(V-DAS) is a research direction. Aiming at the demand of V-DAS for low visibility environment perception, we propose a depth estimation method based on monocular infrared images. Our method uses an end-to-end self-supervised deep learning framework, and uses the reprojection relationship between monocular video frames to construct the loss function, which makes it easy to collect dataset. In order to mitigate the influence of infrared noise, we adopt the minimum reprojection loss method. To ensure the neural network can learn infrared features better, we use transfer learning from RGB image dataset first. Qualitative experiments on FLIR datasets show that the proposed method can obtain pixel-lev el dense depth from monocular infrared images. Experiments on real roads show that the proposed method can effectively perceive the depth information of the target in the night, and the absolute error is 13.2% within 15m. This can meet the requirements of collision avoidance in most emergency situations during automatic driving. © 2020 IEEE.

关键词： Deep learning

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Channel Estimation Based on Lorentzian Adaptive Algorithm in α-stable Noise Environment

Channel Estimation Based on Lorentzian Adaptive Algorithm in...

引用

IEEE Asia-Pacific Conference on Antennas and Propagation (APCAP)

作者： Aleksey Cherednichenko Xinqi Huang Yanyan Wang Yingsong Li Harbin Engineering University Harbin China Intelligent Agent Cooperation Laboratory Science and Technology on Complex System Control Beijing China

ISBN: (数字)9781728198057

ISBN: (纸本)9781728198064

This paper presented a p-norm constraint Lorentzian adaptive algorithm to estimate the sparse multi-path channel inα-stable noise environment. We derived the proposed algorithm based on the Lagrange multiplier method and we also evaluated the performance of the developed adaptive algorithm via estimating a sparse multi-path channel. The gotten results on the basis of computer simulations proved that the developed Lorentzian adaptive algorithm is superior to the popular method in the comparisons.

关键词： Computer simulation Adaptive algorithms Channel estimation Adaptive arrays

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Motion Parallax Estimation for Ultra Low Altitude Obstacle Avoidance

Motion Parallax Estimation for Ultra Low Altitude Obstacle A...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Changqing Wang Xinkai Liang Shan Zhang Chao Shen Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781728137933

By making full use of the curvature of the earth and ground clutter, the ultra-low altitude flight technique can significantly increase the difficulty of detecting and intercepting unmanned aerial vehicles (UAVs), and improve their penetration probabilities. However, unpredicted static/dynamic obstacles seriously threaten the flight safety of the ultra-low altitude UAVs. Therefore, fine autonomous spatial perception capability is essential for ultra-low altitude UAVs with limited loads and computing resources to avoid obstacles. To solve the difficult problem of spatial perception for ultra-low altitude obstacle avoidance, a motion parallax estimation algorithm is proposed by combing the deep learning and the epipolar geometry in this paper. By utilizing the deep neural network, the end-to-end mapping relationship from sequence images to depth values of pixels is constructed for spatial perception. At the same time, to overcome the interference caused by the image consistency hypothesis, the loss function is constructed based on the 3D geometric information of the scene rather than the re-projection error between images. Finally, the proposed algorithm is evaluated on the KITTI dataset and infrared image dataset to verify its effectiveness and generalization.

关键词： Motion parallax Deep learning Epipolar geometry component Motion Parallax Space Perception flight safety Unmanned Aerial Vehicle Obstacle avoidance Collision avoidance

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Design of Reusable Effectiveness Evaluation Model Framework

Design of Reusable Effectiveness Evaluation Model Framework

引用

Chinese control and Decision Conference, CCDC

作者： Shuang Zhang Wei Li Shenglin Lin Ming Yang Jiahui Tong Control and Simulation Center Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

In order to make the effectiveness evaluation models of the weapon equipment system universal and flexible, and adapt to different evaluation objects, a framework of effectiveness evaluation model is designed. Next a series of modular and reusable effectiveness evaluation models are proposed under the framework. Each type of evaluation model is built based on IDEF0, and the corresponding input and output of each model are designed. To further improve reusability, several models are mathematically described and model interface is designed based on XML.

关键词： Indexes Data models Data mining Analytical models Mathematical model Optimization Adaptation models

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Failure mode and effects analysis based on intuitionistic fuzzy sets and evidential correlation coefficient

Failure mode and effects analysis based on intuitionistic fu...

引用

IEEE International Conference on Unmanned systems (ICUS)

作者： Hang Zhang Chan Huang Mingsheng Lu Xiaofei Dong Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory School of Software Northwestern Polytechnical University Xi’an Beijing China School of Electronics and Information Northwestern Polytechnical University Xi’an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137933

As an effective implement, failure mode and effects analysis (FMEA) is widely applied in the security of system for practical application. Nowadays, many methods determine the order of fault mode by a crisp risk priority number (RPN). However, these methods exist several shortcomings, for instance, the correlation of the assessments given by team members are not fully considered. In this article, a new method for risk assessment and sequence for failure modes in FMEA is proposed on account of the D-S evidence theory and the evidential correlation coefficient. By using the proposed approach, the weights of team members for each failure mode and risk factor is obtained. Then the weighted assessments are used to perform the aggregation process by Intuitionistic fuzzy weighted averaging (IFWA) operator. A classic application regarding risk assessment is used to verify the effectiveness of the proposed method.

关键词： Correlation Fuzzy sets Risk management Uncertainty Aggregates Linguistics control systems

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Aircraft Autonomous Positioning Based on a Coarse to Fine Multi-modal Image Registration Scheme

Aircraft Autonomous Positioning Based on a Coarse to Fine Mu...

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2021 IEEE International Conference on Power Electronics, Computer Applications, ICPECA 2021

作者： Sun, Fangde Fu, Wenxing Lu, Xiaohui Dong, Jing Han, Songlai Central South University School of Aeronautics and Astronautics Changsha China Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratory Beijing China People's Liberation Army 91039th Unit Beijing China National University of Defense Technology Aerospace Science and Engineering Changsha China

ISBN: (纸本)9781728190037

In this paper, an autonomous positioning method based on coarse-to-fine multi-modal image matching is proposed for UAV navigation in GPS denied environment. Coarse image matching refers to roughly determining the approximate position of the real-time image in the reference image. Fine image matching refers to iterative matching around the position obtained by coarse image matching to achieve more accurate matching results. Besides, RANSAC is adopted to eliminate the outliers of image matching. After getting the result of image matching, we use PNP to estimate the position of the aircraft. The proposed position method has the advantages of high accuracy and reliability. The experimental results show that the average error of the position of the proposed method is 59%. © 2021 IEEE.

关键词： Image matching

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Design and simulation of a two-stage linear inverted pendulum control system based on fuzzy LQR control

Design and simulation of a two-stage linear inverted pendulu...

引用

International Symposium on Autonomous systems (ISAS)

作者： Siting Peng Jun Ren Lei Li Yichao Ma Zhichao Song Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory The Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

This paper introduces in detail the origin of the development of automatic control methods, applications and current research hotspots. It also introduces some control methods commonly used in industrial and agricultural production, and expounds the current application hotspots and new advanced control methods that are developing rapidly. The background, current situation and classification of the inverted pendulum platform are introduced in detail. In the first chapter, the LQR method in modern control theory is introduced in detail. The influence of parameters is analyzed through simulink space modeling and simulation control experiment. At the same time, the real-time experiment is also done in combination with the hardware platform. In the second chapter, the fuzzy control theory in intelligent control is introduced in detail. By combining fuzzy control with LQR method, suitable LQR parameters are calculated by pole assignment. After proper adjustment, reasonable fuzzy rules are adopted and adaptive fuzzy control principle is applied to adjust the control situation in real time. Using simulink space modeling, a good simulation control effect is obtained. Finally, the summary is made.

关键词： Fuzzy control Analytical models Adaptation models Quantization (signal) Production Aerospace electronics Real-time systems

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Observability Enhancement of the Target Tracking Model Based on Infrared Semi-strapdown Seeker

Observability Enhancement of the Target Tracking Model Based...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Peng Siting Zhao Qian Ma Yichao Xu Cheng Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory The Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781728137933

As an important device for target interception, The seeker is used to search, recognize and track the target autonomously. Infrared semi-strapdown seekers are widely used in applications due to their low cost and small size. However, one non-negligible disadvantage of semi-strapdown infrared seekers is that the observability of target tracking model is poor, especially for the interception of high-speed maneuvering weapons. In this paper, the target tracking model ( i.e., the filtering estimation model) based on the infrared simi-strapdown seeker is established. The observability of the target tracking model is analyzed and the evaluation method of the observability is studied. Simulation results show that the observability of the filtering estimation model can be improved by increasing the relative motion between missile and target which results in faster changes of the line-of-sight (LOS) angle. According to the results on the observability analysis, the desired trajectory is obtained through the design of proper guidance law. Nonlinear filtering algorithm is also introduced for the trajectory design. Simulation experiments are conducted for the integrated filtering and guidance, and simulation results illustrate the effectiveness of the proposed observability enhancement method.

关键词： Observability Missiles Filtering Estimation Mathematical model Target tracking Navigation

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A Multi-branch Parallel Simulation Method based on Symbiotic Potential

A Multi-branch Parallel Simulation Method based on Symbiotic...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Lu Zhao Tu Zhen-biao Wei Jia-ning Zhu Yu-tong Liu Tong-lin Liu Qing-hua Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Insititute Beijing China

A multi-branch parallel simulation method and an architecture of application system are proposed in this paper based on symbiotic potential, and method of construction and calibration of parallel battlefield based on real data, as well as generation of simulation branch based on situation interpretation etc. are proposed. Fast building and adjustment of situation of real time simulation are realized based on simulation to meet the requirements of consistency and parallel operation between virtual simulation and real systems. Multibranch operation management, multi-branch highperformance operation support and other methods are proposed to support the dynamic generation of massive parallel simulation copies based on real-time intelligence and ultra-realtime and large-sample operation to meet the requirements of advanced evaluation of real-time situation. At the same time, a set of simulation application verification frameworks for typical task situation is presented to support the construction of multibranch simulation operation environment, and provide technical verification means for real-time situation prediction and evaluation.

关键词： Data models Analytical models Predictive models Real-time systems Computational modeling Symbiosis Integrated circuit modeling

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Evaluation method of UAV cluster simulation models with different granularity based on sensitivity analysis

Evaluation method of UAV cluster simulation models with diff...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Qing Zhang Jing Li Chao Shen Science and Technology on omplex-System Control and Intelligent-Agent Cooperation Laboratory Beijing China

Simulation test evaluation of the unmanned aerial vehicle (UAV) cluster operational effectiveness requires the support of simulation models with different granularity levels such as precise, medium, and coarse levels. In order to ensure the confidence of the evaluation, difficulties in evaluating the effectiveness of different granularity simulation models of the UAV cluster need to be solved. Aiming at the problem that the existing evaluation methods are not fully applicable due to the constraints of a large number of actual flight data, this paper proposes the evaluation method of different granularity simulation models, completes the rationality analysis of the granularity partitioning of UAV cluster at three levels: precise, medium and coarse, and the rationality analysis of the support relationship between different granularity models. Based on the special input method, capability meta-models of the UAV cluster with different granularity are evaluated. The evaluation method of different granularity simulation models of the UAV cluster based on sensitivity analysis is proposed. The sensitivity factor extraction and simulation analysis of precise granularity in the motion layer, medium granularity in the perception layer, and coarse granularity in the decision layer are completed. The validity evaluation of the different granularity simulation models has laid a solid foundation for the simulation test evaluation of the UAV cluster operational effectiveness.

关键词： Analytical models Sensitivity analysis

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