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GooDFlight: Goal-Oriented Diffusion Model for Flight Trajectory Prediction

IEEE Transactions on Aerospace and Electronic systems 2025年第3期61卷 7447-7465页

作者： Yang, Songru Liu, Liqin Chen, Bowen Cheng, Shaoyuan Shi, Zhenwei Zou, Zhengxia Beihang University School of Astronautics State Key Laboratory of Virtual Reality Technology and Systems Department of Aerospace Intelligent Science and Technology Beijing100191 China Shanghai Artificial Intelligence Laboratory Shanghai200232 China Beijing Institute of Space Mechanics and Electricity Beijing100076 China

Flight trajectory prediction is an essential task in the air traffic control field. Previous approaches to this problem usually follow a single-stage or short-term intention-guided prediction paradigm, which suffers from problems such as insufficient trajectory prediction diversity, limited accuracy, and interpretability. Different from existing paradigms, in this article, we present GooDFlight—A goal-oriented diffusion model for flight trajectory prediction. GooDFlight is a long-term intention-guided, diversity-emphasizing framework that decouples the flight trajectory prediction process into two stages: goal estimation and trajectory prediction. In the first stage, we propose a one-then-all goal estimation method to sufficiently cover the macro-uncertainty in flight patterns and then tailor the interaction-aware joint goal distribution, which extends the flight intention from a single, deterministic ground truth to the empirical intention distribution from the similar experience. In the second stage, we employ a transformer-based diffusion model to generate stochastic flight trajectories conditioned on the intention estimations, modeling the micro-uncertainty in flight operations under each pattern estimated in stage one. In terms of evaluation metrics, existing metrics have difficulties in accurately reflecting the model's ability to handle the natural uncertainty of trajectories. We further propose a simple yet effective global-local endpoints variance (GLeV) metric for evaluating the diversity of predicted trajectories under social acceptance. Our proposed method is validated in-depth on TrajAir, a large-scale dataset collected from the real-world air traffic control environment at the Pittsburgh-Butler Regional Airport, a nontowered general aviation airport. The experimental results demonstrate that the proposed method significantly outperforms other methods in terms of both accuracy and diversity with superior interpretability. © 1965-2011 IEEE.

关键词： Stochastic systems

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A Study of the 1+2 Partitioning Scheme of Fibrous Unitcell under Reduced-Order Homogenization Method with Analytical Influence Functions

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Computer Modeling in Engineering & Sciences 2025年第3期142卷 2893-2924页

作者： Shanqiao Huang Zifeng Yuan HEDPS Center for Applied Physics and Technology(CAPT)Department of Mechanics and Engineering ScienceCollege of EngineeringPeking UniversityBeijing100871China State Key Laboratory for Turbulence and Complex Systems Peking UniversityBeijing100871China

The multiscale computational method with asymptotic analysis and reduced-order homogenization(ROH)gives a practical numerical solution for engineering problems,especially composite *** the ROH framework,a partition-based unitcell structure at the mesoscale is utilized to give a mechanical state at the macro-scale quadrature point with pre-evaluated influence *** the past,the“1-phase,1-partition”rule was usually adopted in numerical analysis,where one constituent phase at the mesoscale formed one *** numerical cost then is significantly reduced by introducing an assumption that the mechanical responses are the same all the time at the same constituent,while it also introduces numerical *** study proposes a new partitioning method for fibrous unitcells under a reduced-order homogenization *** this method,the fiber phase remains 1 partition,but the matrix phase is divided into 2 partitions,which refers to the“12”partitioning *** elastic influence+functions are derived by introducing the elastic strain energy equivalence(Hill-Mandel condition).This research also obtains the analytical eigenstrain influence functions by alleviating the so-called“inclusion-locking”*** addition,a numerical approach to minimize the error of strain energy density is introduced to determine the partitioning of the matrix *** numerical examples are presented to compare the differences among direct numerical simulation(DNS),“11”,and“12”partitioning *** numerical simulations show improved++numerical accuracy by the“12”partitioning scheme.

关键词： Multiscale reduced-order homogenization influence tensors unitcell fibrous composite mate

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Further results on consensus for coupled swarm systems 18

Further results on consensus for coupled swarm systems

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Wang, Shaojie Xiao, Jin Hu, Xiaoguang Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing China

ISBN: (纸本)9798350312201

The motion of the swarm system can be composed of the absolute motion of the swarm as a whole and the relative motion between nodes. Especially for nonlinear swarm systems, their absolute motion remains unknown. This paper considers a synchronization model for continuous-time swarm systems, which can be viewed as a generalized version of the consensus model for multi-agent systems, where node dynamics can be linear or nonlinear, and the coupling function of the state between nodes can also be linear or nonlinear. This paper is dedicated to answer what the specific form of the synchronization function (i.e., the absolute motion of the synchronized swarm system) is, and how to determine the contribution rate of the nodes in the network to the synchronization function. We leverage the state decomposition method to determine the synchronization function. Specifically, the paper illustrates the relationship between the synchronization function and the solution of the isolated node. © 2023 IEEE.

关键词： Synchronization

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Utilizing spatio-temporal feature fusion in videos for detecting the fluidity of coal water slurry

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International Journal of Mining Science and technology 2024年第11期34卷 1587-1597页

作者： Meijie Sun Ziqi Lv Zhiqiang Xu Haimei Lv Yanan Tu Weidong Wang School of Chemical&Environmental Engineering China University of Mining&Technology(Beijing)Beijing 100083China Inner Mongolia Research Institute China University of Mining&Technology(Beijing)Ordos 017001China State Key Laboratory of Media Convergence Production Technology and Systems Beijing 100803China

The fluidity of coal-water slurry(CWS)is crucial for various industrial applications such as long-distance transportation,gasification,and ***,there is currently a lack of rapid and accurate detection methods for assessing CWS *** paper proposed a method for analyzing the fluidity using videos of CWS dripping *** integrating the temporal and spatial features of each frame in the video,a multi-cascade classifier for CWS fluidity is *** classifier distinguishes between four levels(A,B,C,and D)based on the quality of *** preliminary classification of A and D is achieved through feature engineering and the XGBoost ***,convolutional neural networks(CNN)and long short-term memory(LSTM)are utilized to further differentiate between the B and C categories which are prone to ***,through detailed comparative experiments,the paper demonstrates the step-by-step design process of the proposed method and the superiority of the final *** proposed method achieves an accuracy rate of over 90%in determining the fluidity of CWS,serving as a technical reference for future industrial applications.

关键词： Coal water slurry Spatio-temporal feature CNN-LSTM Video classification Machine vision

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Droplet-based Microfluidic Platform for High-throughput Formation of Multicellular Spheroids

Droplet-based Microfluidic Platform for High-throughput Form...

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2023 Annual IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2023

作者： Zhan, Zhen Xie, Hanhan Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China

ISBN: (纸本)9798350344486

Cell culture in vitro is essential for drug screening, disease modeling, and stem cell-related research. Previous studies have indicated that two-dimensional (2D) cellular environments can significantly differ from physiological cells in vivo, leading to a high failure rate when translating therapeutics developed in 2D cell models to clinical applications. Therefore, there is a strong focus on developing three-dimensional (3D) cell culture techniques that more closely mimic in vivo cell microenvironments. These techniques hold great promise for enhancing precision in drug discovery and tissue regeneration. In this study, we introduce a novel microfluidic technique that utilizes droplets to fabricate hydrogel microspheres, each exhibiting a unique internal morphology suitable for 3D cell culture applications. Specifically, we employed this method to cultivate human umbilical vein endothelial cells (HUVECs) within the interior canals of the hydrogel microspheres, forming monolayers on the surfaces of the spiral canals. This setup effectively mimicked the configurations of native blood vessels. Furthermore, we successfully demonstrated the fabrication of heterogeneous spheroids with spiral blood vessel lumens, which can be utilized to construct spiral vascularized bone tissue. © 2023 IEEE.

关键词： Microfluidics

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Dynamic Simulation of Planetary Rovers with Terrain Property Mapping * Research supported by National Natural Science Foundation of China (Grant No. 61370033), National Basic Research Program of China (Grant No. 2013CB035502), Foundation for Innovative Research Groups of the Natural Science Foundation of China (Grant No. 51521003), Foundation of Chinese state key laboratory of robotics and systems (Grant No. SKLRS201501B, SKLRS20164B), Harbin Applied technology Project of Research and Development (2015RQQXJ081), and the “111 Project” (Grant No. B07018).

Dynamic Simulation of Planetary Rovers with Terrain Property...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Huaiguang Yang Liang Ding Haibo Gao Lan Huang Junlong Guo Chao Chen Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

Simulation of planetary rovers moving on complex terrains is critical for Mars exploration. Equivalent stiffness is proposed and used to characterize the pressure-sinkage property of terrain, while friction angle to characterize the shearing property. Terramechanics model for calculating forces between rigid wheel and soil is proved to be the same with that contact model for calculating forces between rigid wheel and rock. A Digital Elevation Map with Physical Properties is developed and applied to simulate terrain physical properties along with its geometry information. The established methods are validated using simulation and experimental tests with a three-wheel-rover.

关键词： Soil Mathematical model Wheels Stress Computational modeling Shearing Force

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The Multi-domain Modeling and Optimization of Aircraft Electrical System Based on Modelica 18

The Multi-domain Modeling and Optimization of Aircraft Elect...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Xiao, Jin Li, Yue Hu, Xiaoguang Reality Technology and Systems Beihang University State Key Laboratory of Virtual Beijing China

ISBN: (纸本)9798350312201

Aircraft electrical system includes key equipment such as battery, step-down circuit, filter, motor and so on. It is a comprehensive system integrating machinery, electronics, control, thermodynamics and other fields. However, many current modeling and simulation methods are aimed at specific problems in a single domain or subsystem, and it is difficult to consider the coupling relationship between different domains. To solve the above problems, this paper uses the multi-domain physical system modeling language Modelica to establish the aircraft electrical system model library on the simulation platform Mworks, and simulates the electrical characteristics of each model, some parameters are optimized. The results show that the multi-domain modeling of aircraft electrical system based on Modelica language can realize the simulation results close to the actual, and the optimization of related parameters can effectively improve the system performance and improve the design efficiency. © 2023 IEEE.

关键词： Simulation platform

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MSPE: Multi-Scale Patch Embedding Prompts Vision Transformers to Any Resolution 38

MSPE: Multi-Scale Patch Embedding Prompts Vision Transformer...

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38th Conference on Neural Information Processing systems, NeurIPS 2024

作者： Liu, Wenzhuo Zhu, Fei Ma, Shijie Liu, Cheng-Lin School of Artificial Intelligence UCAS China State Key Laboratory of Multimodal Artificial Intelligence Systems CASIA China Centre for Artificial Intelligence and Robotics HKISI-CAS China

Although Vision Transformers (ViTs) have recently advanced computer vision tasks significantly, an important real-world problem was overlooked: adapting to variable input resolutions. Typically, images are resized to a fixed resolution, such as 224x224, for efficiency during training and inference. However, uniform input size conflicts with real-world scenarios where images naturally vary in resolution. Modifying the preset resolution of a model may severely degrade the performance. In this work, we propose to enhance the model adaptability to resolution variation by optimizing the patch embedding. The proposed method, called Multi-Scale Patch Embedding (MSPE), substitutes the standard patch embedding with multiple variable-sized patch kernels and selects the best parameters for different resolutions, eliminating the need to resize the original image. Our method does not require high-cost training or modifications to other parts, making it easy to apply to most ViT models. Experiments in image classification, segmentation, and detection tasks demonstrate the effectiveness of MSPE, yielding superior performance on low-resolution inputs and performing comparably on high-resolution inputs with existing methods. Code is available at https://***/SmallPigPeppa/MSPE. © 2024 Neural information processing systems foundation. All rights reserved.

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A Collision Avoidance Path Planning Method for 7-DOF Space Manipulator

A Collision Avoidance Path Planning Method for 7-DOF Space M...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Han, Xu Yang, Guocai Jin, Minghe Wang, Qi Harbin Institute of Technology State Key Laboratory of Robotics and System Heilong Jiang Harbin China Military Representative Office of the Equipment Department of the Aerospace Systems Department Changchun China

ISBN: (纸本)9798350325706

This paper proposes a collision avoidance path planning approach for redundant robotic arms based on the RRT algorithm. The study focuses on a 7-DOF robotic arm with an SSRMS configuration. The method involves improved RRT-based path planning in configuration space (C-space) and collision detection in Cartesian space. The results of collision detection are employed to guide the path planning process. Emulating the SSRMS configuration robotic arm, a kinematic model is established. By enhancing the RRT algorithm with the following points: probabilistic sampling towards the target configuration, guided exploration near existing tree nodes, parent node reassignment for new nodes, and the adoption of a bidirectional searching tree, the randomness of sampling is reduced and the planning process is accelerated. By continuously mapping points on the surface of the arm to both the base coordinate system and the self-collision coordinate system, collision detection and self-collision detection are performed in the Cartesian space using a combination of surface equations and projection methods. Finally, a series of simulation experiments were conducted to analyze the impact of various parameters, different obstacles and different methods on the planning process. This validation confirmed the feasibility and effectiveness of the approach. © 2023 IEEE.

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Research on Electrical System Modeling of Aerostat Based on Harmony-SE 18

Research on Electrical System Modeling of Aerostat Based on ...

引用

18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Pan, Xiang Xiao, Jin Hu, Xiaoguang Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing China

ISBN: (纸本)9798350312201

In order to solve the problems of low efficiency of traditional model-based methods in the design and modeling of the electrical system of aerostat. Aiming at the design and modeling problems of aerostat electrical system, which is a typical multidisciplinary complex system, this paper firstly proposes a design method based on functional flow, state flow and information flow on the basis of the Harmony-SE method. The information flow is regarded as the element connecting between states and functions, and the requirements, structure and behavior model of the electrical system of aerostat is constructed. Then we put forward the method of building a structural model around the information flow and mapping the structural model to the integration of FMU model. We realized the physical modeling and model integration of part of the electrical system of aerostat, and finally completed the design and modeling of four parts of the electrical system of aerostat from requirements, functions, logic and physics. This method can improve the efficiency of multidisciplinary complex system design and modeling by optimizing the context use case repeated analysis and function design redundancy when the traditional model-based method is applied to multidisciplinary complex system design. © 2023 IEEE.

关键词： Efficiency

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