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Aerial target threat assessment based on gated recurrent unit and self-attention mechanism

Journal of systems Engineering and Electronics 2024年第2期35卷 361-373页

作者： CHEN Chen QUAN Wei SHAO Zhuang School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China

Aerial threat assessment is a crucial link in modern air combat, whose result counts a great deal for commanders to make decisions. With the consideration that the existing threat assessment methods have difficulties in dealing with high dimensional time series target data, a threat assessment method based on self-attention mechanism and gated recurrent unit(SAGRU) is proposed. Firstly, a threat feature system including air combat situations and capability features is established. Moreover, a data augmentation process based on fractional Fourier transform(FRFT) is applied to extract more valuable information from time series situation features. Furthermore, aiming to capture key characteristics of battlefield evolution, a bidirectional GRU and SA mechanisms are designed for enhanced ***, after the concatenation of the processed air combat situation and capability features, the target threat level will be predicted by fully connected neural layers and the softmax classifier. Finally, in order to validate this model, an air combat dataset generated by a combat simulation system is introduced for model training and testing. The comparison experiments show the proposed model has structural rationality and can perform threat assessment faster and more accurately than the other existing models based on deep learning.

关键词： target threat assessment gated recurrent unit(GRU) self-attention(SA) fractional Fourier transform(FRFT)

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Observer-based event-triggered formation tracking control for second-order multi-agent systems in constrained region

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Science China(Information Sciences) 2025年第2期68卷 151-169页

作者： Fenglan SUN Zhonghua XU Wei ZHU ■ KURTHS Key Lab of Intelligent Analysis and Decision on Complex Systems School of ScienceChongqing University of Posts and Telecommunications Key Lab of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of AutomationChongqing University of Posts and Telecommunications Department of Complexity Science Potsdam Institute for Climate Impact Research Institute of Physics Humboldt University of Berlin

In this paper, an event-triggered time-varying formation tracking control for a class of second-order nonlinear multiagent systems(MAS) operating within a constrained region is investigated. To mitigate the negative effects of external unknown disturbance, a novel disturbance observer with performance guarantees is proposed, enabling precise disturbance *** the artificial potential field(APF) method, a repulsive potential function is introduced to prevent inter-agent collisions as well as collisions with environmental obstacles. To reduce continuous communication and frequent system updates, a sliding mode technique is incorporated into the formation tracking controller, utilizing an event-triggered mechanism. The controller is also applicable to the formation control of MAS in switching-constrained regions. The achievement of the specified timevarying geometric formation is rigorously demonstrated through the Lyapunov framework. Numerical simulations are presented to validate the effectiveness of the theoretical results.

关键词： formation tracking control region constraints repulsive potential function event-triggered mechanism

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Photoelectric intelligent Detection Platform Based on Multifunctional Edge Computing Equipment 43

Photoelectric Intelligent Detection Platform Based on Multif...

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43rd Chinese control Conference, CCC 2024

作者： Xu, Qianjing Chen, Wenjie Xue, Zhijun State Key Lab of Intelligent Control and Decision of Complex Systems Beijing10081 China Beijing Institute of Technology School of Automation Beijing100081 China

ISBN: (纸本)9789887581581

In order to study to design a photoelectric intelligent platform based on multifunctional edge computing equipment by using photoelectric detection equipment TC505C, RK-Series Development Kits computing platform and Nvidia Jetson Series. The photoelectric intelligent platform can be used to run multiple target detection algorithms after design and implementation. Completed as follows. First of all, after the first stage of the photoelectric intelligent platform is completed, the host computer can establish communication with the photoelectric detection equipment, carry out automatic or manual servo control on the photoelectric detection equipment, switch its visible and infrared field of view and view it in real time through the monitor, and realize simple tracking function through the image processing box. Secondly, after the second stage of the photoelectric intelligent platform is built, under the premise of ensuring the normal availab.lity of servo function, a variety of target detection algorithms can be debugged on multifunctional edge computing equipment. Overall, this paper uses the modular design concept to design, debug and implement the system in stages. Pay attention to the synchronous debugging of hardware and software functions of each module to ensure the stability of each module. Finally completed the design goals of each stage. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Program debugging

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Deep reinforcement learning for optimal denial-of-service attacks scheduling

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Science China(Information Sciences) 2022年第6期65卷 98-106页

作者： Fangyuan HOU Jian SUN Qiuling YANG Zhonghua PANG State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology

We consider an optimal denial-of-service(DoS) attack scheduling problem of N independent linear time-invariant processes, where sensors have limited computational capability. Sensors transmit measurements to the remote estimator via a communication channel that is exposed to DoS attackers. However,due to limited energy, an attacker can only attack a subset of sensors at each time step. To maximally degrade the estimation performance, a DoS attacker needs to determine which sensors to attack at each time step. In this context, a deep reinforcement learning(DRL) algorithm, which combines Q-learning with a deep neural network, is introduced to solve the Markov decision process(MDP). The DoS attack scheduling optimization problem is formulated as an MDP that is solved by the DRL algorithm. A numerical example is provided to illustrate the efficiency of the optimal DoS attack scheduling scheme using the DRL algorithm.

关键词： optimal denial-of-service attack scheduling optimization limited energy deep reinforcement learning

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Spatio-temporal decision-making and trajectory planning framework with flexible constraints in closed-loop dynamic traffic

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IET intelligent Transport systems 2023年第4期17卷 704-715页

作者： Zhang, Ting Fu, Mengyin Liu, Tong Song, Wenjie State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

Driving in interactive dynamic traffic is a huge challenge for autonomous vehicles, especially for motion planning. The autonomous vehicle not only needs to predict the future states of the social vehicles to avoid a collision but also realizes the comfort and continuous plan. To deal with the problem, a spatio-temporal decision-making and motion planning framework with flexible constraints based on previous work is proposed. Improvements can be highlighted in three aspects. First, a neural network for trajectory prediction is trained and it is integrated into the framework, which can learn the social vehicles' reactions in the negotiation better and give more accurate predictions. Second, instead of setting the fixed local targets, the flexible-constraint mechanism is introduced to increase the success rate of continuous planning, specifically, the local planning target is determined conditioned on the situation with an elastic factor. Third, two popular simulators with randomly disposed traffic participants are exploited, where vehicles are mutually influenced, more similar to real-world traffic. The closed-loop tests with zero crashes and the comparative experiments with traditional models demonstrate the superior performance and practical significance of the proposed framework. © 2022 The Authors. IET intelligent Transport systems published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

关键词： Autonomous vehicles

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Distilling Siamese Trackers with Attention Mask 41

Distilling Siamese Trackers with Attention Mask

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第41届中国控制会议

作者： Han Sun Yongqiang Bai Wenbo Zhang State Key Lab of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In recent years,the introduction of Siamese network has brought new vitality to the object tracking ***,high-performance Siamese trackers cannot run at a real-time speed on mobile devices due to their complex and huge *** distillation is a common and effective model compression method,but it is difficult to be applied to the challenging task like object *** find out the fundamental cause is that the imbalance between the foreground and background in the object tracking task,which aggravates the problem of insufficient feature extraction ability of small ***,we propose the attention mask distillation(AMD) to help the student tracker focus on the foreground area faster and more *** attention mask can be easily obtained from the feature maps and brings fine-granularity to the traditional binary *** experimental results on OTB100 and VOT2018 show that our method enables the student tracker perform as well as the teacher *** the same time,it's able to run on the CPU at a hyper-real-time of 66 fps and achieves nearly 9 times model compression *** low computational and storage costs make it possible to deploy high-performance trackers on resource-constrained platforms.

关键词： Object Tracking Siamese Network Knowledge Distillation Attention Mask

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Photoelectric intelligent Detection Platform Based on Multifunctional Edge Computing Equipment

Photoelectric Intelligent Detection Platform Based on Multif...

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第43届中国控制会议

作者： Qianjing Xu Wenjie Chen Zhijun Xue State Key Lab of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In order to study to design a photoelectric intelligent platform based on multifunctional edge computing equipment by using photoelectric detection equipment TC505C, RK-Series Development Kits computing platform and Nvidia Jetson *** photoelectric intelligent platform can be used to run multiple target detection algorithms after design and *** as *** of all, after the first stage of the photoelectric intelligent platform is completed, the host computer can establish communication with the photoelectric detection equipment, carry out automatic or manual servo control on the photoelectric detection equipment, switch its visible and infrared field of view and view it in real time through the monitor, and realize simple tracking function through the image processing ***, after the second stage of the photoelectric intelligent platform is built, under the premise of ensuring the normal availab.lity of servo function, a variety of target detection algorithms can be debugged on multifunctional edge computing ***, this paper uses the modular design concept to design, debug and implement the system in stages. Pay attention to the synchronous debugging of hardware and software functions of each module to ensure the stability of each module. Finally completed the design goals of each stage.

关键词： Multifunctional Edge Computing Equipment Photoelectric intelligent Platform Object Detection

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Understanding the Influence of Random Impulse Noise on Visual SLAM 41

Understanding the Influence of Random Impulse Noise on Visua...

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第41届中国控制会议

作者： Nan Zhang Zhihong Peng Wei Quan School of Automation Beijing Institute of Technology Key Lab of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The localization accuracy of visual SLAM depends on the image ***,in postdisaster rescue missions,the images obtained by the camera often contain considerable noise,which affects the pose estimation based on visual *** this paper,we study the influence of random impulse noise in images on the localization accuracy of visual SLAM,and reduce these influences by denoising and removing ***,the camera image is preprocessed by the traditional image noise reduction *** at the problem of a large number of mismatches in optical flow tracking due to the influence of residual noise,the improved random sample consensus method is adopted to remove *** judge the correct matching probability of optical flow tracking results by normalized cross-correlation matching before random *** use guided sampling to select matching points to estimate the camera motion model,to increase the robustness of the SLAM ***,our method is verified in the open-source solution *** show that after random impulse noise is added to the KITTI dataset,the pose estimation accuracy of the improved SLAM is higher than the pose estimation accuracy after noise reduction only,and it is also higher than the pose estimation results of the original images in multiple sequences of the KITTI dataset.

关键词： Visual SLAM Denoise NCC

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Comprehensive Gear Shift Schedule Design for 2-AMT Electric Vehicles Based on Sparrow Search Algorithm 42

Comprehensive Gear Shift Schedule Design for 2-AMT Electric ...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Tianyi Ma, Liling Wang, Junzheng School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789887581543

With the aim of 2-AMT electric vehicles, a comprehensive shift schedule that considers both power and economy is proposed. First, the objective function of the comprehensive shift schedule is constructed, which is the weighted sum of vehicle acceleration time and vehicle power consumption per unit distance. Second, Sparrow Search Algorithm is used to solve the objective function and obtain the comprehensive shift schedule. Finally, AVL Cruise simulation software is used to simulate vehicle dynamics and economy under an NEDC. The results show that the comprehensive shift schedule is similar to the optimal power shift schedule in terms of dynamic performance, and the economy is optimized by 3%. The feasibility of the comprehensive shift schedule is verified. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Electric vehicles

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Electric Dual Variable Pump controlled Hydraulic Motor 42

Electric Dual Variable Pump Controlled Hydraulic Motor

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42nd Chinese control Conference, CCC 2023

作者： Yang, Jianmin Wang, Junzheng Niu, Shanshuai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast response. However, due to the inherent nonlinearity of multiplication, it brings certain difficulties to the control. The electric double-variable pump[1] is a dual-input single-output system, and it is a nonlinear system[2]. It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the system. In this paper, an intelligent control rule is proposed for the nonlinear problem of double input and single output. Through backstepping design[3], the nonlinear system is transformed into multiple linear subsystems. Then the original system is turned into two independent subsystems with single input and single output, which are controlled separately. The co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the system. The results show that the response speed of the system has been greatly improved. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Backstepping

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