检索结果-内蒙古大学图书馆

Vision-Based Road Segmentation With Active Gaze control for Autonomous Vehicles

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2025年

作者： Xuan, Yuwen Chen, Jicheng Liu, Bin Wan, Xin Wen, Kai Chen, Long Zhang, Hui China Univ Petr Coll Mech & Transportat Engn Beijing 102249 Peoples R China Beihang Univ Sch Transportat Sci & Engn Beijing 102206 Peoples R China Beijing Inst Petrochem Technol Sch Informat Engn Beijing 102617 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

In this article, we aim to enhance the accuracy and usefulness of vision-based road segmentation for autonomous vehicles across various scenarios by actively controlling the gaze of the camera. The camera is mounted on a pan-tilt with two degrees of freedom as azimuth and elevation. The control of the azimuth is a follow-up PID control method mimicking the preview mechanism of human drivers. It is mainly used to improve the usefulness of the road segmentation in turning conditions. The control of the elevation is mainly used to improve the accuracy of the road segmentation in extreme external conditions, at the same time, taking into consideration of the usefulness. The elevation control method is inspired by the saccade-fixation mechanism of human eyes that scans the surrounding environment in the saccade mode and focuses on the object of interesting in the fixation mode. Similarly, the active camera will capture images of the current scene at different candidate elevations and select the optimal elevation. Experimental results demonstrate that the proposed active gaze control method effectively improves the performance of various road segmentation techniques under challenging conditions such as toward-light scenarios, U-turns, and low-speed situations.

关键词： Active vision bird's-eye-view (BEV) features preview point road segmentation

来源：评论

学校读者我要写书评

暂无评论

Can language models be used for real-world urban-delivery route optimization?

引用

The Innovation 2023年第6期4卷 92-100页

作者： Yang Liu Fanyou Wu Zhiyuan Liu Kai Wang Feiyue Wang Xiaobo Qu State Key Laboratory of Itelligent Green Vehicle and Mobility Tsinghua UniversityBeiing 100084China Jiangsu Key Laboratory of Urban ITS Jjiangsu Province Collaborative Innovation Center of Modem Urban Traffic TechnologiesSchool of TransportationSoutheast UniversityNanjing 211189China School of Vehicle and Mobilit Tsinghua UniversityBejjing 100084China Institute of Automation State Key Laboratory for Management and Control of Complex SystemsChinese Academy of SciencesBeiing 100190China

Language models have contributed to breakthroughs in interdisciplinary research,such as protein design and molecular dynamics *** this study,we reveal that beyond language,representations of other entities,such as human behaviors,that are mappable to learmable se quences can be learned by language *** compelling example is the realworld delivery route optimization *** here propose a novel approach based on the language model to optimize delivery routes on the basis of drivers'historical *** a broad range of optimizationbased approaches have been designed to optimize delivery routes,they do not capture the implicit knowledge of complex delivery operating *** model we propose integrates this knowledge in the route optimization process by learning from driving behaviors in experienced drivers.A real-world delivery route that preserves drivers'implicit behavioral patterns is first analogized to a sentence in natural *** unsupervised learning,we then learn the vector representations of words and infer the drivers'delivery chains on the basis of the tailored chain-reaction-based *** also provide insights into the fusion of language models and operations research *** our approach,language models are applied to learn drivers'delivery behaviors and infer new deliveries at the delivery zone level,while the classic traveling salesman problem(TSP)model is embedded into the hybrid framework for intra-zone *** experiments performed on real-world data from Amazon's delivery service demonstrate that the proposed approach outperforms pure optimization,supporting the effectiveness,efficiency,and extensibility of our *** a versatile approach,the proposed framework can easily be extended to various disciplines in which the data follow cert ain grammar *** anticipate that our work will serve as a stepping stone toward the understanding and application of language models in

关键词： driving breakthrough versatile

来源：评论

学校读者我要写书评

暂无评论

Exploring the Interactive Dynamic Influences Between Chinese and US’s Future Markets 10th

Exploring the Interactive Dynamic Influences Between Chinese...

引用

10th China Conference on Command and control, C2 2022

作者： Huang, Haitao Zheng, Xiaolong Zeng, Daniel Dajun The State Key Laboratory of Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9789811960512

In this paper, we focus on investigating the interactive dynamic influences between Chinese and US’s future markets. Based on Chinese and US’s futures daily closing prices, we construct Planar Maximally Filtered Graph of futures’ influences in different periods of time by calculating the Effective Transfer Entropy between different futures and find that influence strength between futures in US’s and Chinese future markets is time-varying. We further confirm that agriculture futures both in Chinese and US’s markets are relatively independent from other futures. And metal futures in LME and COMEX exert influences on Chinese metal, fuel and industrial product futures continuously. In contrast, fuel futures in NYMEX only affect Chinese fuel futures during economic shocks merely. These findings can give us some new insights into the direction, strength and underlying dynamics of influences between Chinese and US’s future market and further guide people make better choices. © 2022, Chinese Institute of Command and control.

关键词： Entropy

来源：评论

学校读者我要写书评

暂无评论

Gradient Projection Differential Neural Solution for Quadratic Optimization with Quadratic Constraints: An ACP Perspective

Gradient Projection Differential Neural Solution for Quadrat...

引用

2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Liufu, Ying Liu, Mei Jin, Long Wang, Feiyue School of Information Science and Engineering Lanzhou University Lanzhou China College of Computer Qinghai Normal University Xining China Institute of Automation The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350337020

In recent years, quadratic optimizations have become increasingly popular in engineering. However, conventional methods that investigate this problem from the perspective of a canonical form with linear constraints are not effective in dealing with the significant challenges posed by quadratic constraints in practice. This paper proposes a solution framework for the quadratic optimization with quadratic constraints (QOQC) based on innovative artificial societies, computational experiments, and parallel execution (ACP) framework. Then, a gradient projection differential neural solution (GPDNS) is proposed to address this. To illustrate the effectiveness of the GPDNS model in solving the QOQC system, numerical simulations are provided. Overall, this paper presents the potential of innovative approaches like the ACP framework to enhance our capabilities in addressing challenging optimization systems. © 2023 IEEE.

关键词： ACP constraints differential neural solution numerical simulation Quadratic optimization with quadratic

来源：评论

学校读者我要写书评

暂无评论

ACP-Based Energy-Efficient Schemes for Sustainable Intelligent Transportation systems

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

引用

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2023年第5期8卷 3224-3227页

作者： Chen, Jicheng Zhang, Yongkang Teng, Siyu Chen, Yuanyuan Zhang, Hui Wang, Fei-Yue Beihang Univ Sch Transportat Sci & Engn Beijing 100091 Peoples R China Hong Kong Baptist Univ Kowloon Hong Kong 999077 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence S Beijing 100190 Peoples R China

Reducing vehicle exhaust pollution and energy consumption is of great significance for improving the sustainability of social development. Currently, most energy-efficient and regenerative energy recovery methods are from a vehicle control perspective, ignoring the impact on the overall traffic environment. An important reason is that the transportation system's large scale, complexity and social nature restrict its energy-efficient development. Hence, this letter proposes energy-efficient and regenerative energy recovery schemes for sustainable intelligent transportation system using the Artificial societies, Computational experiments, Parallel execution (ACP) framework. The framework includes three parts: energy-efficient oriented intelligent road infrastructure design, transportation traffic flow and vehicle velocity profile planning co-design, and cloud-based vehicle engine parameter calibration. This letter is the second part of Distributed/Decentralized Hybrid Workshop on Sustainability for Transportation and Logistics (DHW-STL) and aims to enhance the sustainability of transportation system from the energy-efficient perspective.

关键词： Transportation Roads Energy efficiency Engines Intelligent vehicles Vibrations Planning Sustainability intelligent vehicles parallel transportation system energy efficiency transportation regenerative energy carbon neutrality green transportation

来源：评论

学校读者我要写书评

暂无评论

Development of a High-Speed Swimming Robot With the Capability of Fish-Like Leaping

引用

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2022年第5期27卷 3579-3589页

作者： Chen, Di Wu, Zhengxing Meng, Yan Tan, Min Yu, Junzhi Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Peking Univ Beijing Innovat Ctr Engn Sci & Adv Technol Dept Adv Mfg & Robot Coll EngnState Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China

Achieving fast and agile swimming still remains extremely challenging for a self-propelled robotic fish due to the constraint of actuator's propulsion capability. In this article, we report an untethered bioinspired robotic fish, which combines a high-frequency oscillation and a compliant passive mechanism to realize fast swimming, high pitch maneuvers, and even the leaping motion. For pursuing the explosive propulsion of the robotic fish, we propose an actuation system with a powerful output and a compact structure. A dynamic model is established and indicates that the compliant joint is able to modulate the power transmitted to a caudal fin to affect its velocity in the return stroke for generating more peak thrust. The design is validated with extensive experimental results. Namely, the robotic fish can surprisingly reach up to a speed of 3.8 body lengths per second (BL/s). Compared to the case with a rigid joint, dramatic improvements, involving a speed of 1.2 BL/s and a swimming distance of 141.2 m (70.6%), have been obtained, which reveal that besides the high-frequency oscillation, the compliant passive mechanism is also of great significance to perform high-speed swimming. Additionally, the robotic fish demonstrates its high pitch maneuvers by performing an agile front flip motion with a radius of 0.4 BL and an average angular velocity of 439 degrees/s. Most importantly, with a simple control strategy, our robotic fish can remarkably leap out of water completely. Results from this study provide significant insights into the innovative designs of next-generation robotic fishes, which require high speed and maneuverability.

关键词： Bioinspired robotic fish compliant joint dynamic modeling high-frequency propulsion high swimming performance

来源：评论

学校读者我要写书评

暂无评论

When Blockchain Meets Auction: A Comprehensive Survey

引用

IEEE TRANSACTIONS ON COMPUTATIONAL SOCIAL systems 2024年第3期11卷 4242-4254页

作者： Liu, Xuan Liu, Lu Yuan, Yong Long, Yong-Hong Li, San-Xi Wang, Fei-Yue Renmin Univ China Sch Math Beijing 100872 Peoples R China Renmin Univ China Sch Econ Beijing 100872 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Macau Univ Sci & Technol Inst Syst Engn Taipa 999078 Macau Peoples R China

Recent years have witnessed remarkable developments and increasingly deepened integrations between blockchain as a decentralized computing architecture and auction as an efficient resource allocation approach. Typically, blockchain can help provide a secured and trusted distributed environment for various auction scenarios, while auction is particularly suitable for designing resource allocation and pricing mechanisms in blockchain systems. As such, integrative research on blockchain and auction developed rapidly and attracted widespread attention in various fields ranging from academia to financial, industrial, and social services. However, a comprehensive survey on this interdisciplinary topic is still nonexistent, which motivates our work. In this article, we aim to fill this important research gap by reviewing the related literature. We first conducted a brief overview of blockchain technology and auction theory, and then systematically discussed the research progress on the existing blockchain research based on auction theory as well as auction research enabled by blockchain. Toward the end, we presented several open research issues and directions, aiming to provide useful guidance and reference for future research efforts.

关键词： Allocation auction blockchain decentralized pricing

来源：评论

学校读者我要写书评

暂无评论

Development and control of a Bioinspired Robotic Remora for Hitchhiking

引用

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2022年第5期27卷 2852-2862页

作者： Zhang, Pengfei Wu, Zhengxing Meng, Yan Dong, Huijie Tan, Min Yu, Junzhi Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Peking Univ Beijing Innovat Ctr Engn Sci & Adv Technol Dept Adv Mfg & Robot Coll EngnState Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China

Remora, a bony fish, is well known for the remarkable hitchhiking behavior, by which it can transport itself over large distances without too much effort. In this article, a novel robotic remora with a stable adhesion system and its motion control methods are proposed for transferring the hitchhiking behavior to the engineered system. In terms of the mechatronic design, a robotic prototype with the uncoupled planar and vertical motion mechanisms is created to realize the precise and agile movement. Furthermore, a reliable adhesion system possessing low preload demand, considerable adhesive force (similar to 250 N), and reversible adhesion ability is developed, and then, the design principle of the adhesive disc is investigated. In the aspect of motion control, a mode-switch-based planar pose (position and orientation) control method and an antidisturbance depth control method are designed. The combination of these two controllers endows the robotic remora with the ability to precisely arrive at any position in a 3-D space, which paves the way for the hitchhiking task. Extensive experimental results are presented to support the performance benefits of the proposed robotic remora and control methods. Finally, the hitchhiking behavior is implemented successfully by robotic remora. To the best of our knowledge, this is the first engineered implementation of hitchhiking for a fin-actuated underwater robot. The results obtained will promote the design and control of the future underwater adhesion robot and offer valuable insights into the long-endurance robotic fish and mother-son multirobot system.

关键词： Bioinspired adhesion depth control pose control remora robotic fish

来源：评论

学校读者我要写书评

暂无评论

Distributed Event-Triggered Formation control for a Multi-robotic Fish System

Distributed Event-Triggered Formation Control for a Multi-ro...

引用

International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

iCyberGuard: A FlipIt Game for Enhanced Cybersecurity in IIoT

引用

IEEE TRANSACTIONS ON COMPUTATIONAL SOCIAL systems 2024年第6期11卷 8005-8014页

作者： Chen, Xiaoguang Cao, Wenyuan Chen, Lili Han, Jinpeng Yang, Manzhi Wang, Zhen Wang, Fei-Yue Macau Univ Sci & Technol Macau Inst Syst Engn Macau 999078 Peoples R China Hangzhou Dianzi Univ Sch Cyberspace Hangzhou 310018 Peoples R China Xi An Jiao Tong Univ Sch Software Engn Xian 710049 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Social manufacturing has significantly advanced the industrial Internet of Things (IIoT), integrating information technology and operation technology to enhance production efficiency and quality, and to foster new business models. This integration, however, introduces novel risks, including advanced persistent threats, which demand robust security measures to safeguard IIoT systems. This article proposes an iCyberGuard game model, tailored for IIoT environments, designed to imitate the cyber and physical attacks for information and operation technologies. Then, we used a reinforcement learning algorithm to compute the optimal strategy. We conducted comprehensive simulation experiments, which demonstrate that our model the strategic interactions between attackers and defenders. Participants are enabled to learn adaptively, discerning optimal strategies based on the intelligence of their adversaries. Finally, we explain the practical significance of the best strategy of defenders or attackers, and how users can rely on these best strategies to strengthen the security performance of the network.

关键词： Industrial Internet of Things Games Security Game theory Costs Reinforcement learning Manufacturing Advanced persistent threat (APT) industrial Internet of Things (IIoT) reinforcement learning social manufacturing

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：