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An end-to-end instance segmentation method based on improved ConvNeXt V2

International Journal of Wireless and Mobile Computing 2024年第4期26卷 384-392页

作者： Wang, Wenlu Sun, Ying Xu, Manman Bai, Dongxu Huang, Li Zou, Chunlong Chen, Baojia Tang, Dalai Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan China College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan China College of Mechanical Engineering Hubei University of Automotive Technology Hubei Shiyan China Hubei Key Laboratory of Hydroelectric Machinery Design and Maintenance China Three Gorges University Hubei Yichang China School of Computer Information Management Inner Mongolia University of Finance and Economics Hohhot China

In order to improve the efficiency of indoor mobile robots in locating and segmenting environmental instances, an instance segmentation method based on RTMDet is proposed. Firstly, the more powerful ConvNeXt V2 is used as the backbone network of the model, which improves the performance of the existing RTMDet model. Subsequently, NAS-FPN is used as a converged network to detect the network at any given time. Finally, AdamW is used as the model optimiser, which effectively solves the problem of excessive memory occupation when updating parameters and improves the performance of the model. The proposed method obtains the highest evaluation index in all cases. After training and testing on the Cityscapes data set, the recognition accuracy reaches 65.0%. © 2024 Inderscience Enterprises Ltd.

关键词： Statistical tests

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Adaptive SOM neural network algorithm 3

Adaptive SOM neural network algorithm

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3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing, AIAHPC 2023

作者： Wang, Xin Yan, Taishan School of Information Science and Engineering Hunan Institute of Science and Technology Hunan Yueyang China Hunan Institute of Science and Technology School of Information Science and Engineering China Key Laboratory of Hunan Province on Intelligent Control and Optimization of Complex Industrial Logistics System Hunan Yueyang China

ISBN: (数字)9781510666580

ISBN: (纸本)9781510666573

In order to improve the performance of traditional SOM model, an adaptive SOM neural network algorithm is proposed. By introducing the error square sum solution formula, the clustering error of the model sub-data set is calculated by using the method of cutting the data set, and the change trend of the clustering error is quickly obtained. Then the learning rate of the SOM network is adaptively adjusted according to this, and the convergence speed is accelerated on the basis of ensuring that the network is fully trained, thereby improving the performance of the SOM network. © 2023 SPIE.

关键词： Errors

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State-of-Charge Balancing control for Battery Energy Storage systems of Near-Space Vehicles with An Electric-Thermal-Aging Coupling Model

State-of-Charge Balancing Control for Battery Energy Storage...

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第42届中国控制会议

作者： Zhiqiang Zuo Yunhao Du Yijing Wang Zhicheng Zhang Peng Li Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Key Laboratory of System Control and Information Processing Ministry of Education

State-of-charge(SoC) balancing is crucial for improving the efficiency and lifetime of the battery energy storage system in near-space vehicles. In this paper, the So C balancing control problem is investigated by a coupling battery model with electric-thermal-aging dynamics. Firstly, a system identification experiment is carried out to obtain the internal parameters of the battery. Secondly, a weight optimization index is designed by integrating the balancing speed and battery state-of-health(SoH). Then, a receding horizon control algorithm is proposed to realize multi-unit battery SoC balancing with partial swarm optimization(PSO). Finally, the effectiveness of the proposed strategy is verified by simulation results.

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Event-Triggered Online Learning Distributionally Robust Energy Management of Ammonia-Based Multi-Energy Microgrid 4

Event-Triggered Online Learning Distributionally Robust Ener...

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4th International Conference on Industrial Artificial Intelligence, IAI 2022

作者： Li, Longyan Ning, Chao Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

This paper proposes a novel uncertainty-aware energy management framework for Multi-energy Microgrid (MEMG), which comprehensively comprises electricity, heat, natural gas, hydrogen, and ammonia. In particular, green ammonia is produced from hydrogen, which is derived from electrolysis powered by renewable energy. The proposed framework seamlessly integrates day-ahead optimal scheduling with data-driven model predictive control. To offer a just-in-time resilience to uncertainties of renewable energy and load, we further develop event-triggered online learning distributionally robust model predictive control (ET-OLDRMPC). Specifically, an event trigger mechanism is designed to enable the controller to intelligently switch between certainty-equivalence and distributionally robust schemes as per their respective advantageous regimes, thereby ensuring operation safety while mitigating unnecessary conservatism. For the distributionally robust scheme, we leverage a nonparametric Bayesian model to construct online ambiguity sets of uncertainty distributions, which encode statistical multimodality and local moment information. The effectiveness of the proposed framework is validated in a case study. © 2022 IEEE.

关键词： Ammonia

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Online Identification of Boost Converter Components with Multiple Updating RLS Algorithm

Online Identification of Boost Converter Components with Mul...

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第42届中国控制会议

作者： Tong Zhou Zhicheng Zhang Zhiqiang Zuo Yijing Wang Peng Li Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information EngineeringTianjin University Key Laboratory of System Control and Information Processing Ministry of Education

In this paper,component parameters of the boost converter are identified online using a multiple updating recursive least squares(MURLS) *** component parameters,such as resistance,inductor inductance and capacitor capacitance,are obtained directly through the identification procedure rather than transfer function *** MURLS algorithm is applied to improve the rapidity of system identification compared to the traditional recursive least squares(RLS) algorithm,which is verified by a comparative simulation between MURLS and RLS and the simulation of a load-switching scenario.

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Unequal Error Protection Rateless Codes for Spatial Audio Transmission 24

Unequal Error Protection Rateless Codes for Spatial Audio Tr...

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24th IEEE International Conference on Communication Technology, ICCT 2024

作者： Yin, Junpeng Fu, Yusun Huang, Haobo Tang, Jinhui Shanghai Jiao Tong University Ningbo Artificial Intelligence Institute Ningbo China Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai China Ministry of Education of China School of Electronic Information and Electrical Engineering The Key Laboratory of System Control and Information Processing Shanghai China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798350363760

Spatial audio is an important component of the metaverse. With the rapid increase of the spatial resolution and the number of objects, the data volume of the spatial side information has grown larger. However, the low bit rate transmission of spatial side information in the object-based audio coding methods leads to the low-quality reconstruction of spatial side information with limited bandwidth. To address this issue, this paper constructs a cascade design of spatial audio coding and unequal error protection (UEP) rateless codes. Furthermore, the further protection of specific spatial side information is proposed for different scenarios, which effectively addresses the limitation of traditional spatial audio coding in side information protection. For the situation where the code length K of different importance levels is different, we propose an adaptive degree distribution (ADD), adding K to the selection probability as an influencing factor, which has better performance than other degree distribution for short code length. ADD is used to replace the multiple degree distribution strategy of the traditional unequal error protection scheme, and the block error rate (BER) is reduced nearly 10 times compared with the traditional scheme. © 2024 IEEE.

关键词： Audio signal processing

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Research and Application of Composite Stochastic Resonance In Enhancement Detection

SSRN

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SSRN 2023年

作者： Gao, Rui Jiao, Shangbin Xue, Qiongjie Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi’an710048 China School of Electronic and Electrical Engineering Baoji University of Arts and Sciences Baoji721016 China

Aiming at the problem that the intermediate potential part of the traditional tristable method cannot be adjusted independently, a new composite stochastic resonance (NCSR) model is proposed by combining the Woods Saxon (WS) model and the improved piecewise bistable model. All the parameters in the new model have no coupling characteristics. Moreover, the model retains the characteristics of the independent parameters of WS model and the improved piecewise model has no output saturation. Understable noise environment, the new model is used to detect periodic signal and aperiodic signal, the detection results indicate that the new model has better noise utilization and better detection effect. Finally, through image denoising experiments, the output signal-to-noise ratio (SNR) and correlation number of NCSR method is higher than that of other commonly used linear denoising methods and classical SR methods under the same conditions, the effectiveness of the new model is verified. © 2023, The Authors. All rights reserved.

关键词： Image denoising

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Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

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Journal of Shanghai Jiaotong university(Science) 2022年第5期27卷 638-648页

作者： LÜRunyan PENG Na WU Yi CAI Yunze Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Jiao Tong UniversityShanghai200240China Shanghai Aerospace Electronic Technology Institute Shanghai Academy of Spaceflight TechnologyShanghai201109China Alibaba(China)Co. Ltd.Hangzhou311121China

This paper focuses on the spatial registration algorithm under the earth-center earth-fixed(ECEF)coordinate system for multiple mobile *** sensor measurement biases are discussed with the attitude information of the platform into ***,the biased measurement model is ***,the maximum likelihood registration(MLR)algorithm is discussed to simultaneously estimate the measurement biases and the target ***,an improved online MLR(IMLR)algorithm is proposed through a sliding window of adaptive *** results demonstrate that the proposed IMLR algorithm effectively improves the realtime ability of the system and can approach similar estimation accuracy to the conventional MLR algorithm.

关键词： spatial registration 3D sensors improved online maximum likelihood registration(IMLR)

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Molecular dynamics study of the effects of deposition parameters on Si0.5Ge0.5 film growth on Ge(100) substrate

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Computational Materials Science 2025年 256卷

作者： Xie, Jianan Lin, Tao Wang, Cailin College of Automation and Information Engineering Xi'an University of Technology Xi'an710048 China Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an710048 China

With the widespread application of SiGe films in the semiconductor field, precisely controlling the growth process to obtain high-quality films has become an important research direction. This study focuses on the growth of Si0.5Ge0.5 films on Ge (100) substrates and investigates the effects of different deposition parameters (such as deposition interval, incident energy, incident angle, and substrate off-angle) on film quality. Through molecular dynamics simulations, the effects of these deposition parameters on the crystal structure, dislocation density, and surface roughness of the films are systematically analyzed. The results show that shorter deposition intervals lead to faster atomic deposition, increasing the proportion of disordered atoms;longer deposition intervals effectively reduce the proportion of disordered atoms, but excessively long intervals may increase surface roughness and form island-like structures. Additionally, appropriate incident energy, incident angle, and substrate off-angle can significantly optimize the film quality, with the surface roughness being minimized when the incident energy is 1 eV. © 2025 Elsevier B.V.

关键词： Crystal atomic structure

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High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain

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Chinese Journal of Aeronautics 2021年第5期34卷 652-665页

作者： Kang XU Shoukun WANG Junzheng WANG Xiuwen WANG Zhihua CHEN Jinge SI School of Automation Beijing Institute of Technology.Beijing 100081China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China Key Laboratory Ministry of Industry and Information Technology Beijing Institute of TechnologyBeijing 100081China

There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is ***,the hybrid control framework,which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion,is also *** on this framework,robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator(GG).Additionally,by using Whole-Body control(WBC)of framework,robot has the capability of flexibly accommodating the uneven terrain by Attitude control(AC)kinematically adjusting the length of legs like an active suspension system,and by Force/torque Balance control(FBC)equally distributing the Ground Reaction Force(GRF)to maintain a stable *** simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog ***,to smoothly demonstrate the performance of robot transporting heavy loads,the experiment of carrying 3-person load of about 240 kg is deployed.

关键词： Attitude control Gait generation High-adaption locomotion Obstacle avoidance Planetary exploration robot

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