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8th Symposium on Novel Photoelectronic Detection technology and Applications

作者： Guo, Xiaoyun Wu, Chengfeng Fang, Xueli Xu, Cheng Li, Hui Beijing Institute of Mechanical and Electrical Engineering Beijing China Beijing Institute of Mechanical and Electrical Engineering Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing China Beijing Institute of Mechanical and Electrical Engineering Key Laboratory of Complex Aviation Simulation System Beijing China

ISBN: (数字)9781510653122

ISBN: (纸本)9781510653115

Cross-domain synergy and intelligence will become important features of future warfare. Cross-domain guidance is one of the typical forms of cross-domain synergy. It can significantly improve the ability to respond quickly to random targets and time-sensitive targets and enhance the anti-jamming ability in the case of confrontation. This article introduces the concept and winning mechanism of cross-domain guidance, analyzes the research progress of cross-domain guidance at home and abroad, combs the key technologies of cross-domain guidance, summarizes the current challenges and problems in cross-domain guidance research, and proposes development suggestions. © 2022 SPIE

关键词： Optical engineering

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Multi-Source Dynamic Time Series Data Processing Method Based on Comprehensive Weighted Fusion 12

Multi-Source Dynamic Time Series Data Processing Method Base...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2022

作者： Geng, Huapin Yuan, Feimeng Suo, Bin Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing China Beijing Electro-mechanical Engineering Institute Beijing China School of Mathematics Southwest Jiaotong University Chengdu China School of Information Engineering Southwest University of Science and Technology Mianyang China

ISBN: (纸本)9781839538360

Aiming at the fusion problem of multi-source heterogeneous dynamic data sources, based on the subjective and objective comprehensive weighting idea, an efficient multi-source dynamic data fusion algorithm is proposed. First, the outlier detection method based on linear regression model is used to preprocess the multi-source dynamic time series data. Then, determine the weight of the dynamic data. The prior weight of the data source is determined by the AHP method, cyclic scoring method, etc., and the posterior weight is determined according to the similarity between the time series data. Based on the Euclidean distance, a similarity measure between different data sources and a similarity measure between different dynamic data samples are constructed respectively. The former is used for the fusion of dynamic data standard deviation expectations, and the latter is used for the fusion of mean expectations. Finally, the comprehensive weight of each dynamic time series of each data source is obtained, and the comprehensive weighted fusion method is used to obtain the expected value and standard deviation of the dynamic response. The analysis of the calculation example shows that the proposed algorithm has higher computational efficiency than the method that treats dynamic data as several discrete static data. © 2022 IEEE.

关键词： Data fusion

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An Approach for Upper Limb Movement Intention Recognition Using EEG and sEMG Fusion based on the MCPSA-CIIM

An Approach for Upper Limb Movement Intention Recognition Us...

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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Weiming Zhang Xiaodong Zhang Cheng Xu Guchuan Zhou Teng Zhang Yu Wang Shaanxi Key Laboratory of Intelligent Robot School of Mechanical Engineering Xi’an Jiaotong University Xi’an Shaanxi China Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing China

The upper limb motion intention recognition method based on electroencephalography (EEG) and surface electromyography (sEMG) fusion has achieved significant results in fields such as prosthetic control. However, most existing fusion methods use manual means to select features, which cannot capture temporal and spatial features at different scales, and ignore the correlation features between the two types of signals. To address these issues, this article proposes a fusion recognition method for upper limb motion intention EEG and sEMG based on Multi-scale Convolution, Polarized Self-Attention, and Cross Intelligence Integration Module. This article extracts multidimensional temporal and spatial features of EEG and sEMG through multi-scale convolution, and introduce polarized self-attention mechanism to filter the extracted multi-scale features. Simultaneously using cross enhancement strategy to extract correlation features between EEG and sEMG. Finally, the features are input into the classification network for recognition. This method was validated on the Jeong database, and the results showed that compared with CNN-LSTM and EEGNet, the recognition accuracy of this method increased by 2.63% and 3.15%, respectively.

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Prescribed-Time Clusters Flocking for Multi-agent systems of UAVs and USVs

Prescribed-Time Clusters Flocking for Multi-Agent Systems of...

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International Conference on Electronic Engineering and Informatics (EEI)

作者： Hanjun Shang Zhenhuan Wang Yingxin Tian Qimin Hou Jiyuan Kuang Yabin Gao School of Astronautics Harbin Institute of Technology Harbin China Elite Engineers School Harbin Institute of Technology Harbin China The National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China School of Software Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

This paper deals with the problem of clusters flocking for a heterogeneous multi-agent system of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vessels (USVs). The dynamics models of the UAVs and USVs are established separately. Due to the different state dimensions and dynamics models of the UAVs and USVs, the two types of agents are formulated with two clusters. Then, the functions of formation errors of the two clusters are constructed. For the two clusters, a new type of prescribed-time formation control laws is designed respectively. Moreover, compared with the conventional formation control that can only ensure that the multi-agent system completes ideal formations without strict time constraints theoretically, the present prescribed-time control laws can enable the multi-agent system to complete ideal formation strictly at a prescribed time independent of initial formation errors. Finally, the effectiveness of the prescribed-time formation control is verified by simulations.

关键词： Simulation control systems Autonomous aerial vehicles Formation control Time factors Vehicle dynamics Informatics Dynamical systems Multi-agent systems

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Seamless Detection: Unifying Salient Object Detection and Camouflaged Object Detection

arXiv

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arXiv 2024年

作者： Liu, Yi Li, Chengxin Dong, Xiaohui Li, Lei Zhang, Dingwen Xu, Shoukun Han, Jungong School of Computer Science and Artificial Intelligence Changzhou University Changzhou213159 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China School of Automation Northwestern Polytechnical University Xi’an710129 China Department of Automation Tsinghua University Beijing100084 China

Achieving joint learning of Salient Object Detection (SOD) and Camouflaged Object Detection (COD) is extremely challenging due to their distinct object characteristics, i.e., saliency and camouflage. The only preliminary research treats them as two contradictory tasks, training models on large-scale labeled data alternately for each task and assessing them independently. However, such task-specific mechanisms fail to meet real-world demands for addressing unknown tasks effectively. To address this issue, in this paper, we pioneer a task-agnostic framework to unify SOD and COD. To this end, inspired by the agreeable nature of binary segmentation for SOD and COD, we propose a Contrastive Distillation Paradigm (CDP) to distil the foreground from the background, facilitating the identification of salient and camouflaged objects amidst their surroundings. To probe into the contribution of our CDP, we design a simple yet effective contextual decoder involving the interval-layer and global context, which achieves an inference speed of 67 fps. Besides the supervised setting, our CDP can be seamlessly integrated into unsupervised settings, eliminating the reliance on extensive human annotations. Experiments on public SOD and COD datasets demonstrate the superiority of our proposed framework in both supervised and unsupervised settings, compared with existing state-of-the-art approaches. Code is available on https://***/liuyi1989/Seamless-Detection. Copyright © 2024, The Authors. All rights reserved.

关键词： Contrastive Learning

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Vehicle detection based on point cloud intensity and distance clustering 5

Vehicle detection based on point cloud intensity and distanc...

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2020 5th International Seminar on Computer technology, Mechanical and Electrical Engineering, ISCME 2020

作者： Wang, Zhao Wang, Xing Fang, Bin Yu, Kun Ma, Jie School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China National Key Laboratory of Multispectral Information Processing Technology Huazhong University of Science and Technology Wuhan430074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

In the intelligent transportation system, vehicle detection is one of the essential technologies in obstacle avoidance and navigation, however the existing vehicle detection methods cannot meet the actual needs. This paper presents a vehicle detection method combines the intensity and distance information of point cloud, which improves the segmentation performance of nearby objects. Specifically, the data of point cloud collected by lidar is preprocessed first. Then the processed point cloud is clustered by combining its coordinate and intensity information. Finally, the clustered suspected targets are fed to the random forest classifier. Our method can efficiently detect and classify targets in large-scale disordered 3D point cloud with high accuracy. In the real-scanned Livox Mid-40 Lidar dataset, our proposed method improves the detection accuracy by 31% compared with the traditional Euclidean clustering. © Published under licence by IOP Publishing Ltd.

关键词： Optical radar

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Event Trigger Mechanism-Based Robust control for Cyber-Physical systems under DoS Attack

Event Trigger Mechanism-Based Robust Control for Cyber-Physi...

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Chinese Automation Congress (CAC)

作者： Peng Tian Huiling Xu Jiajia Zhao Lewei Dong School of Mathematics and Statistics Nanjing University of Science and Technology Nanjing P-R-China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing P.R.China

In this paper, the event trigger mechanism-based robust control problem is investigated for cyber-physical systems under denial of service attacks and disturbances. The effects of DoS attacks are regarded as a type of data packet loss. An event trigger mechanism is introduced into the control scheme design to effectively compensate the packet loss data. The robust attenuation technology is composited into control scheme to reduce the impact of disterbances. Then, by modeling the cyber-physical systems under denial of service(DoS) attack as a class of bounded sequential switching system, and constructing the corresponding Lyapunov function, the stability of the system is verified and analyzed. Finally, simulation experiments are given to verify the correctness of the above theoretical results.

关键词： Robust control Automation Switching systems Packet loss Switches Cyber-physical systems control systems

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Research on Depth Estimation Method of Single Aerial Image

Research on Depth Estimation Method of Single Aerial Image

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IEEE Information technology, Networking, Electronic and Automation control Conference

作者： Wang Gao Lin Pu Lei Li Fei Deng Lingzhi Bie Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Institute of Mechanical and Electrical Engineering Beijing China School of Geodesy and Geomatics Wuhan University Wuhan China Wuhan Tianjihang Information Technology Co. Ltd Wuhan China

Aiming at the problem that the current depth estimation of single image mostly uses the ground public data set, and there is less research on aerial images, this paper uses the collected visible and infrared aerial image data sets to study the depth estimation. We used FCRN and LapDRN to extract the depth estimation results of visible aerial image and infrared aerial image under global and single object respectively, and compared the results extracted from the two types of networks by qualitative and quantitative methods. The results show that the depth estimation accuracy of visible aerial image is higher than that of infrared image, but the increase rate of infrared image accuracy index is higher than the increase rate of image depth range. The image depth estimation results extracted by LapDRN method are superior to FCRN in accuracy, structure consistency and edge clarity, which indicates that LapDRN is more effective in the estimation of aerial image depth information.

关键词： Automation Image edge detection Estimation Data mining Indexes

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A Multi-Robot Task Allocation Method Based on Graph Attention Network and Unsupervised Learning

A Multi-Robot Task Allocation Method Based on Graph Attentio...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Zirui Wu Zhen Li Dong Zhu Qiuhan Liao Weiran Yao School of Astronautics Harbin Institute of Technology Harbin China Beijing Electro-Mechanical Engineering Institute Beijing China Chengdu CHG Robots & Intelligent Equipment Institute Co. Ltd Chengdu China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China

ISBN: (数字)9798350384185

ISBN: (纸本)9798350384192

The task allocation for multiple robots is a critical component in the coordination of unmanned clusters. The existing heuristic algorithms are hard to achieve satisfactory results in large-scale problems, and reinforcement learning-based methods face challenges in ensuring the rationality of reward design. This paper introduces a model based on multi-head attention and graph neural networks to address the schedule-dependent multi-robot task allocation problem, trained using unsupervised learning techniques. This model can be trained with varying numbers of robots and tasks without necessitating changes to its structure or parameters. In the experiment of this paper, the model is trained under two different conditions, and the performance is evaluated across six different problem scales. Comparing the proposed model against greedy algorithms and genetic algorithms, the results demonstrate that the proposed model has sianiflcant advantages in overall performance.

关键词： Greedy algorithms Robot kinematics Heuristic algorithms Computational modeling Reinforcement learning Graph neural networks Resource management Unsupervised learning Faces Genetic algorithms

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A Novel Relocating Recognition Algorithm in Overlapping Region for Multi-UAVs Cluster

A Novel Relocating Recognition Algorithm in Overlapping Regi...

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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Li, Chen Qi, Xuelei Zhao, Juntao Liao, Xuanhong Lin, Zitian Ma, Hongjun Liang, Xinkai College of Information Science and Engineering Northeastern University Shenyang China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong High School Attached to Northeast Normal University International Curriculum Center Changchun China School of Automation Science and Engineering South China University of Technology Guangzhou China Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

How improve the mapping efficiency and location accuracy of the multi-UAV cluster based on the distributed SLAM technology is a significant problem in overlapping regions. Therefore, this paper mainly proposes a novel relocation recognition algorithm for the multi-UAV cluster. First, the autonomous localization algorithm based on visual-inertial fusion is proposed. Then, the algorithm for vocabulary updating and relocating is designed. Finally, practical testing is implemented to verify and improve the efficiency of exploration ability and the accuracy of the autonomous navigation and positioning in the complex overlapping regions. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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