检索结果-内蒙古大学图书馆

CSIR: Cascaded Sliding CVAEs With Iterative Socially-Aware Rethinking for Trajectory Prediction

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION systems 2023年第12期24卷 14957-14969页

作者： Zhou, Hao Yang, Xu Ren, Dongchun Huang, Hai Fan, Mingyu Harbin Engn Univ Natl Key Lab Sci & Technol Underwater Vehicle Harbin 150001 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Meituan Res Ctr Autonomous Vehicles Beijing 100102 Peoples R China Donghua Univ Inst Artificial Intelligence Shanghai 200051 Peoples R China

Pedestrian trajectory prediction is a hot research topic in many applications, such as video surveillance and autonomous driving. Although many efforts have been done on this topic, there are still many challenges, including accumulated prediction errors, insufficient training data usage, and future-past incompatibility. To overcome these challenges, we propose a novel trajectory prediction method, called CSIR, which consists of a cascaded sliding conditional variational autoencoder (CS-CVAE) module and an iterative future-past social compatible rethinking (I-SCR) module. The CS-CVAE module reduces the accumulated prediction errors by using cascaded prediction models for the early future time steps. In this way, the training losses of the early time steps are separately considered and minimized from the later losses. For the following time steps in CS-CVAE, a sliding prediction model with a longer observation time span is used and additional data from the future time span can be collected for training. On the other hand, the I-SCR module generates offsets to improve the predictions iteratively by checking the interaction compatibility between the predicted trajectories and the past trajectories, which resembles with the human rethinking mechanism in motion planning. Experiments results on two widely explored pedestrian trajectory prediction datasets, Stanford Drone Dataset (SDD) and ETH/UCY, show that the proposed method surpasses previous state-of-the-art methods by notable margins.

关键词： Cascaded prediction sliding sequence prediction iterative social-aware rethinking trajectory prediction

来源：评论

学校读者我要写书评

暂无评论

Advanced Scenario Generation for Calibration and Verification of Autonomous Vehicles

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

引用

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2023年第5期8卷 3211-3216页

作者： Li, Xuan Teng, Siyu Liu, Bingzi Dai, Xingyuan Na, Xiaoxiang Wang, Fei-Yue Peng Cheng Lab Shenzhen 518000 Peoples R China Hong Kong Baptist Univ Hong Kong 999077 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Cambridge Dept Engn Cambridge CB2 1PZ England

As driving scenarios and autonomous vehicles (AVs) become increasingly intricating, there is an increasing need for innovative frameworks that can enhance and test AV capabilities across diverse scenarios. At present, the design and validation for AVs predominantly rely on simulation software or real-road testing methodologies. However, these approaches possess inherent limitations, leading to inaccuracy, reduced efficiency, and potential hazards during the development process. This letter reports our first DHW (decentralized and hybrid workshop) on Scenarios Engineering (SE), that aims to calibrate and validate AV modules through advanced scenarios. Specifically, the DHW discusses combining SE with existing simulation software and real-road testing strategies, enabling developers to maximize the advantages of each approach while ensuring the safety and efficacy in the development of autonomous vehicles. Our findings demonstrate the benefits of enhancing realism of simulation scenarios in the aspects of both content and appearance. Furthermore, the use of scenarios engineering is explored in order to enhance the diversity and safety of real-road testing by means of integrating virtual and physical components.

关键词： Testing Safety Autonomous vehicles Roads ISO Standards Calibration Standards Scenarios engineering autonomous vehicles parallel intelligence simulation scenarios real-road testing

来源：评论

学校读者我要写书评

暂无评论

Valuing equity-linked guaranteed minimum death benefits with European-style Asian payoffs under a regime switching jump-diffusion model

引用

COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION 2024年 128卷

作者： Wang, Yayun Liu, Shengda Chongqing Univ Posts & Telecommun Key Lab Intelligent Anal & Decis Complex Syst Chongqing 400065 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

This paper presents a novel and efficient approach to pricing equity-linked guaranteed minimum death benefits (GMDB) with European-style geometric Asian and arithmetic Asian payoffs. Our method assumes that the underlying asset process follows a regime-switching Levy model, which captures the key features of market dynamics in the continuous transition of the economy. To derive the approximate value of GMDB products, we employ the complex Fourier series (CFS) expansion method. Our error analysis demonstrates that this approach exhibits an exponential convergence rate. In our numerical experiments, we compare the CFS approach to other Fourier transform methods and Monte Carlo simulation. The results show that our method outperforms the other approaches in terms of both efficiency and accuracy. This paper contributes to the literature on pricing equity-linked GMDB products by proposing a novel and efficient approach based on regime-switching Levy models and complex Fourier series expansion. The implications of our results may have significant practical implications for the insurance industry and financial markets.

关键词： Regime-switching Levy model complex Fourier series method European-style Asian option payoffs GMDB

来源：评论

学校读者我要写书评

暂无评论

Magnetic-optical dual-modality imaging monitoring chemotherapy efficacy of pancreatic ductal adenocarcinoma with a low-dose fibronectin-targeting Gd-based contrast agent

引用

EUROPEAN JOURNAL OF NUCLEAR MEDICINE AND MOLECULAR IMAGING 2024年第7期51卷 1841-1855页

作者： Zhang, Wenjia Liang, Xiaolong Zhang, Xinyu Tong, Wei Shi, Guangyuan Guo, Haozhuo Jin, Zhengyu Tian, Jie Du, Yang Xue, Huadan Chinese Acad Med Sci & Peking Union Med Coll Peking Union Med Coll Hosp Dept Radiol State Key Lab Complex Severe & Rare Dis 1 Shuaifuyuan Beijing 100730 Peoples R China Peking Univ Peoples Hosp Dept Radiol Beijing 100032 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing Key Lab Mol Imaging CAS Key Lab Mol ImagingInst Automat 95 Zhongguancun East Rd Beijing 100190 Peoples R China Peking Univ Third Hosp Dept Ultrasound Beijing 100191 Peoples R China Beihang Univ Beijing Adv Innovat Ctr Big Data Based Precis Med Sch Med Beijing 100191 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

Purpose Pancreatic ductal adenocarcinoma (PDAC) is a lethal hypovascular tumor surrounded by dense fibrosis. Albumin-bound paclitaxel and gemcitabine (AG) chemotherapy is the mainstay of PDAC treatment through depleting peritumoral fibrosis and killing tumor cells;however, it remains challenging due to the lack of a noninvasive imaging method evaluating fibrotic changes during AG chemotherapy. In this study, we developed a dual-modality imaging platform that enables noninvasive, dynamic, and quantitative assessment of chemotherapy-induced fibrotic changes through near-infrared fluorescence molecular imaging (FMI) and magnetic resonance imaging (MRI) using an extradomain B fibronectin (EDB-FN)-targeted imaging probe (ZD2-Gd-DOTA-Cy7). Methods The ZD2-Gd-DOTA-Cy7 probe was constructed by conjugating a peptide (Cys-TVRTSAD) to Gd-DOTA and the near-infrared dye Cy7. PDAC murine xenograft models were intravenously injected with ZD2-Gd-DOTA-Cy7 at a Gd concentration of 0.05 mmol/kg or free Cy7 and Gd-DOTA as control. The normalized tumor background ratio (TBR) on FMI and the T1 reduction ratio on MRI were quantitatively analyzed. For models receiving AG chemotherapy or saline, MRI/FMI was performed before and after treatment. Histological analyses were performed for validation. Results The ZD2-Gd-DOTA-Cy7 concentration showed a linear correlation with the fluorescence intensity and T1 relaxation time in vitro. The optimal imaging time was 30 min after injection of the ZD2-Gd-DOTA-Cy7 (0.05 mmol/kg), only half of the clinic dosage of gadolinium. Additionally, ZD2-Gd-DOTA-Cy7 generated a 1.44-fold and 1.90-fold robust contrast enhancement compared with Cy7 (P < 0.05) and Gd-DOTA (P < 0.05), respectively. For AG chemotherapy monitoring, the T1 reduction ratio and normalized TBR in the fibrotic tumor areas were significantly increased by 1.99-fold (P < 0.05) and 1.78-fold (P < 0.05), respectively, in the control group compared with those in the AG group. Conclusion MRI/FMI wi

关键词： Molecular imaging Magnetic resonance imaging Fluorescence molecular imaging Pancreatic cancer Fibronectin

来源：评论

学校读者我要写书评

暂无评论

An Optimal control Based Trajectory Planning Method for Cooperative Merging Maneuvers 3

An Optimal Control Based Trajectory Planning Method for Coop...

引用

3rd International Symposium on Intelligent Robotics and systems, ISoIRS 2023

作者： Wang, Qi Ge, Hao Duan, Xuting Zhou, Jianshan School of Transportation Science and Engineering Beihang University State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control State Key Laboratory of Air Traffic Management System and Technology Beijing China Nanjing Research Institute of Electronic Engineering State Key Laboratory of Air Traffic Management System and Technology Nanjing China School of Transportation Science and Engineering Beihang University State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China

ISBN: (纸本)9798350339963

Due to the prediction errors and diverse driving styles of surrounding vehicles, traffic congestion and even accidents can occur in the traffic bottleneck area where vehicles merge into the main road. To ensure that connected and automated vehicles (CAVs) can quickly and efficiently merge into the main road, this paper proposes a cooperative trajectory planning method based on optimal control for vehicle cut-in scenarios. A optimal control model is constructed, and a quintic polynomial is used to generate the initial solution of the optimal control problem to accelerate the solution process and improve the success rate. Finally, The obtained merging trajectory is then synchronized with the movement of vehicles on the main road to optimize their actions and ensure a safe merging process. Joint simulation with Robot Operating System (ROS) and RVIZ is utilized, and the results show that the proposed algorithm can quickly obtain cooperative results, the locally successful merging trajectory meets the requirements of smoothness and safety, and if the solution does not allow merging, the merging vehicle is instructed to terminate the execution. © 2023 IEEE.

关键词： Trajectories

来源：评论

学校读者我要写书评

暂无评论

Mechanical Design and Dynamic Compliance control of Lightweight Manipulator

引用

International Journal of Automation and computing 2021年第6期18卷 926-934页

作者： Shao-Lin Zhang Yue-Guang Ge Hai-Tao Wang Shuo Wang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China

In the existing modular joint design and control methods of collaborative robots, the inertia of the manipulator link is large,the dynamic trajectory planning ability is weak, the collision stop safety strategy is dependent, and the adaptability and safety to the changing environment are limited. This paper develops a six-degree-of-freedom lightweight collaborative manipulator with real-time dynamic trajectory planning and active compliance control. Firstly, a novel motor installation, joint transmission, and link design method is put forward to reduce the inertia of the links and improve intrinsic safety. At the same time, to enhance the dynamic operation capability and quick response of the manipulator, a smooth planning of position and orientation under initial/end pose and velocity constraints is proposed. The adaptability to the environment is improved by the active compliance control. Finally, experiments are carried out to verify the effectiveness of the proposed design, planning, and control methods.

关键词： Lightweight manipulator mechanical design dynamic trajectory planning compliance control robot control

来源：评论

学校读者我要写书评

暂无评论

Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles

引用

Science China(Technological Sciences) 2021年第10期64卷 2272-2280页

作者： XIA XiuZe CHENG Long School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Pneumatic artificial muscles(PAMs)usually exhibit strong hysteresis nonlinearity and time-varying features that bring PAMs modeling and control *** characterize the hysteresis relation between PAMs’displacement and fluid pressure,a long short term memory(LSTM)neural network model and an adaptive Takagi-Sugeno(T-S)fuzzy model are *** show that both models perform well under the load free conditions,and the adaptive T-S Fuzzy model can furtherly adapt to the change of load with the online adaptation *** the concise expression and satisfactory performance of the adaptive T-S Fuzzy model,a model predictive controller is designed and *** show that the model predictive controller has a good performance on tracking the given references.

关键词： pneumatic artificial muscles adaptive T-S fuzzy model LSTM neural network model model predictive control

来源：评论

学校读者我要写书评

暂无评论

C2FDA: Coarse-to-Fine Domain Adaptation for Traffic Object Detection

引用

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION systems 2022年第8期23卷 12633-12647页

作者： Zhang, Hui Luo, Guiyang Li, Jinglin Wang, Fei-Yue Beijing Jiaotong Univ Sch Comp & Informat Technol Beijing 100044 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Beijing Univ Posts & Telecommun State Key Lab Networking & Switching Technol Beijing 100876 Peoples R China

Object detection in traffic scenes has attracted considerable attention from both academia and industry recently. Modern detectors achieve excellent performance under a simple constrained environment while performing poorly under the actual complex and open traffic environment. Therefore, the capability of adapting to new and unseen domains is a key factor for the large-scale application and proliferation of detectors in autonomous driving. To this end, this paper proposes a novel category-induced coarse-to-fine domain adaptation approach (C2FDA) for cross-domain object detection, which consists of three pivotal components: (1) Attention-induced coarse-grained alignment module (ACGA), which strengthens the distribution alignment across disparate domains within the foreground features in category-agnostic way by the minimax optimization between the domain classifier and the backbone feature extractor;(2) Attention-induced feature selection module, which assists the model to emphasize the crucial foreground features and enables the ACGA to focus on the relevant and discriminative foreground features, without being affected by the distribution of inconsequential background features;(3) Category-induced fine-grained alignment module (CFGA), which reduces the domain shift in category-aware way by minimizing the distance of centroids with the same category from different domains and maximizing that of centroids with disparate categories. We evaluate the performance of our approach in various source/target domain pairs and comprehensive results demonstrate that C2FDA significantly outperforms the state-of-the-art on multiple domain adaptation scenarios, i.e., the synthetic-to-real adaptation, the weather adaptation, and the cross camera adaptation.

关键词： Object detection domain adaptation synthetic data intelligent visual perception

来源：评论

学校读者我要写书评

暂无评论

Distributed nonsynchronous event-triggered state estimation of genetic regulatory networks with hidden Markovian jumping parameters

引用

MATHEMATICAL BIOSCIENCES AND ENGINEERING 2022年第12期19卷 13878-13910页

作者： Ma, Chao Lu, Yanfeng Univ Sci & Technol Beijing Sch Mech Engn Beijing 100083 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence Beijing 100190 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

In this paper, the distributed state estimation problem of genetic regulatory networks (GRNs) with hidden Markovian jumping parameters (HMJPs) is explored. Furthermore, in order to improve the communication efficiency among state estimation sensors, the event-triggered strategy is employed in the distributed framework for sensor networks. Particularly, by considering the fact that the true modes are always unaccessible, a novel nonsynchronous state estimation (NSE) strategy is utilized based on observed hidden mode information. By means of Lyapunov-Krasovski method, sufficient stochastic state estimation analysis and synthesis results are established, such that the concentrations of mRNA and protein in GRNs can be both well estimated by convex optimization. Finally, an illustrative example with relevant simulations results is provided to validate the applicability and effectiveness of the developed state estimation approach.

关键词： distributed event-triggered state estimation nonsynchronous state estimation genetic regulatory networks hidden Markovian jumping parameters

来源：评论

学校读者我要写书评

暂无评论

Exploring Image Generation for UAV Change Detection

引用

IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1061-1072页

作者： Xuan Li Haibin Duan Yonglin Tian Fei-Yue Wang Peng Cheng Laboratory Shenzhen 518000China IEEE State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083 Department of Automation University of Science and Technology of ChinaHefei 230027 State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense TechnologyChangsha 410073China

Change detection(CD)is becoming indispensable for unmanned aerial vehicles(UAVs),especially in the domain of water landing,rescue and ***,even the most advanced models require large amounts of data for model training and ***,sufficient labeled images with different imaging conditions are *** by computer graphics,we present a cloning method to simulate inland-water scene and collect an auto-labeled simulated *** simulated dataset consists of six challenges to test the effects of dynamic background,weather,and noise on change detection ***,we propose an image translation framework that translates simulated images to synthetic *** framework uses shared parameters(encoder and generator)and 22×22 receptive fields(discriminator)to generate realistic synthetic images as model training *** experimental results indicate that:1)different imaging challenges affect the performance of change detection models;2)compared with simulated images,synthetic images can effectively improve the accuracy of supervised models.

关键词： Change detection computer graphics image translation simulated images synthetic images unmanned aerial vehicles(UAVs)

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：