Artificial Intelligence and Robotics Commons^™

Edge Surveillance Task Offloading And Resource Allocation Algorithm Based On Drl, Chao Li, Jiabao Li, Caichang Ding, Zhiwei Ye, Fangwei Zuo

Journal of System Simulation

Abstract: For the resource limitation of intensive surveillance tasks in edge computing, a surveillance task offloading and resource allocation algorithm based on DRL is proposed. With the optimization objectives of surveillance task delay and recognition accuracy, the joint decision objective optimization solution of task offloading, wireless channel allocation, and image compression rate was modeled as a Markov decision process. To address the problem of slow and unstable algorithm convergence due to the high volatility of training samples caused by the dynamic nature of wireless channels and the randomness of surveillance tasks, an attention mechanism is used to jointly encode channel …

Modeling And Simulation Of Pipeline Cable Inspection Robot Based On Omnidirectional Wheel, Chao Yuan, Yao Zhang, Yadong Zhao, Dawei Xu, Jing Yuan, Yongjie Zhai

Journal of System Simulation

Abstract: Aiming at the problem that the inner space of underground pipeline cable is narrow and closed, which cannot be inspected by humans, and the existing pipeline robot cannot adapt to the special environment of pipeline cable, a miniaturized, compact pipeline cable inspection robot is designed. This robot is capable of operating within the underground pipeline where cables have already been laid to inspect the inner wall of the pipeline and the working condition of the cables. According to the requirements of the working conditions, the whole three-dimensional model of the robot has been established. The mapping relationship between the …

A New Model Predictive Current Controller Forac-Dc Matrix Converter In Unbalanced Grids, Wenlang Deng, Minghai Wu, Haipeng Xie, Yingjie Hu

Journal of System Simulation

Abstract: To reduce the fluctuation of active power on the grid side of AC-DC matrix converters under unbalanced input conditions and to address the issue of variable switching frequency in discrete model predictive control, this paper proposes a novel model predictive control method. This method selects effective vectors based on the phase angle of the grid current, thus avoiding the computational burden of evaluating the value function in traditional model predictive control. Additionally, a second-order extended complex Kalman filter is introduced, which achieves the computation accuracy of the secondorder term of the Taylor series expansion and enables the application of …

Visual Robot Obstacle Avoidance Planning And Simulation Using Mapped Point Clouds, Hanlin Huo, Xiangjun Zou, Yan Chen, Xinzhao Zhou, Mingyou Chen, Chengen Li, Yaoqiang Pan, Yunchao Tang

Journal of System Simulation

Abstract: In response to the large and complex data volume and high redundancy of visual point cloud obstacle recognition in complex unstructured orchard environments, which severely impacts the real-time performance and efficiency of harvesting operations, a point cloud compression algorithm is proposed based on point cloud segmentation to enhance the efficiency of point cloud obstacle recognition and environmental adaptability. An Informed RRT* based approach is used combined with an inverse projection algorithm, mapping-based informed RRT*(M-Informed RRT*) to solve the harvesting path problem. By constructing a highly real-time and robust integrated robot system for sampling, perception, and obstacle avoidance, efficient obstacle …

An Improved Path Planning Algorithm For Mobile Robots, Haijie Sun, Hongjun San, Le Xiao, Dexin Yao, Jiupeng Chen, Xiaoyuan Yang

Journal of System Simulation

Abstract: To solve the problems of invalid sampling and non-optimal paths of the RRT, the quasi-stream avoidance algorithm is proposed. The RRT algorithm is introduced to specify the sampling interval to limit the sampling points and enhance the goal-oriented nature of sampling. The quasi-stream avoidance algorithm incorporating the A* algorithm (QSA*) is used to quickly bypass the obstacle when it is encountered. A path optimization algorithm is used to smooth the searched path. The simulation results show that compared with the RRT algorithm, the computation time of the RRT-QSA* algorithm is reduced by 96.83%~99.88%, the number of search nodes is …

Research On System-Of-Systems Confrontation Simulation Method Based On Operation Loops, Shan Zhong, Yesheng Zhu, Menglu Zhou

Journal of System Simulation

Abstract: In the field of modeling and analyzing capabilities for operation system-of-systems (SoS), traditional structured capability assessment models lack the analysis of the interaction between both rivals and armies in different roles. The system model based on operation loop theory can be combined with the relationship between sensor, decision-making, influence, and target nodes for system capability calculation, but the existing model is usually only suitable for static analysis and cannot be used for dynamic simulation of SoS confrontation. In order to solve the problems above, a SoS confrontation simulation method based on operation loops is proposed. It abstracts both rivals’ …

Multimodal Mixing Convolutional Neural Network And Transformer For Alzheimer’S Disease Recognition, Junde Chen, Yun Wang, Adnan Zeb, M. D. Suzauddola, Yuxin Wen

Engineering Faculty Articles and Research

Early recognition of Alzheimer’s disease (AD) and its precursor state, mild cognitive impairment (MCI), is pivotal in interrupting the progression of the disease and providing suitable treatment. Recent development in deep learning techniques has drawn great research attention for improving the efficacy of AD recognition. However, numerous current methods solely utilize data from a single auxiliary domain, limiting their ability to harness valuable intrinsic insights from multiple domains. To cope with the challenge, this paper is devoted to establishing an innovative multimodal medical data fusion model, termed as MMDF, to perform Alzheimer’s disease recognition. Multimodal data including clinical records and …

Self-Replication Via Tile Self-Assembly, Andrew Alseth, Daniel Hader, Matthew J. Patitz

Computer Science and Computer Engineering Faculty Publications and Presentations

In this paper we present a model containing modifications to the Signal-passing Tile Assembly Model (STAM), a tile-based self-assembly model whose tiles are capable of activating and deactivating glues based on the binding of other glues. These modifications consist of an extension to 3D, the ability of tiles to form “flexible” bonds that allow bound tiles to rotate relative to each other, and allowing tiles of multiple shapes within the same system. We call this new model the STAM*, and we present a series of constructions within it that are capable of self-replicating behavior. Namely, the input seed assemblies to …

Machine Visual Perception For Autonomous Docking Maneuvers, Derek B. Worth

Theses and Dissertations

This dissertation presents a novel approach to autonomous docking using machine learning for visual perception, particularly during probe and drogue aerial refueling. Autonomous vehicles have become pervasive in both civilian and defense sectors, and their ability to interact with their surroundings and each other autonomously is critical for future operations. Traditional methods relying on signals or inertial sensors face significant limitations such as interference, jamming, and drift. This research focuses on developing a computer vision-based solution to overcome these limitations. A novel pipeline, termed relative vectoring, is introduced, which utilizes dual object detection and machine learning to estimate relative positions …

Federated Learning Systems For Mobile Sensing Data, Xiaopeng Jiang

Dissertations

Federated Learning (FL) has emerged as a new distributed Deep Learning (DL) paradigm that enables privacy-aware training and inference on mobile devices with help from the cloud. This dissertation presents a comprehensive exploration of FL with mobile sensing data, covering systems, applications, and optimizations.

First, a mobile-cloud FL system, FLSys, is designed to balance model performance with resource consumption, tolerate communication failures, and achieve scalability. In FLSys, different DL models with different FL aggregation methods can be trained and accessed concurrently by different apps. In addition, FLSys provides advanced privacy-preserving mechanisms and a common API for third-party app developers to …

Heterogeneous Multi-Robot Person-Following In Constrained Environments, Ori A. Miller

Electronic Theses and Dissertations

Maintaining visibility of a person requires effective systems. Security cameras or ground robots might be ideal, but they often fail in uncontrolled or unknown environments. A single ground robot struggles to navigate and track an agent at the same time. This work addresses the challenge by developing a multi-robot system with a slow ground robot and an agile aerial robot. Three methods are evaluated: FORWARD-PF, RL-Person Following (RL), and a baseline closed-loop method. FORWARD-PF proved the most reliable, completing all nine paths and reaching targets nearly twice as fast as RL. Despite completing seven paths, RL faltered on complex tasks. …

Robotic Odor Source Localization Using Vision And Olfaction Sensing, Sunzid Hassan

Master's Theses

Robotic Odor Source Localization (ROSL) technology allows autonomous agents like robots to find an odor source in unknown environments. A successful odor source location depends crucially on an effective navigation algorithm that directs the robot towards the odor source. This thesis is a combination of three projects. First, we detail development of a versatile multi-modal robotic platform for ROSL real-world ROSL experimentation and discussed real-world validation of a traditional olfactionbased ROSL algorithm. Secondly, we introduced vision in ROSL by proposing a fusion navigation algorithm that integrates deep-learning enabled vision and olfaction-based navigation. This hybrid approach tackles challenges such as turbulent …

Ai-Driven Innovation And Development In Manufacturing: An Overview Of Trends, Issues, And Suggestions, Rongping Mu, Jingjing Guo, Yuchen Li, Qiang Li, Chun Jiang, Ze Feng, Guowei Dong

Bulletin of Chinese Academy of Sciences (Chinese Version)

Artificial intelligence technology has become a key force in driving innovation and development in global manufacturing industries, and its application in production automation, intelligent management, and other areas has become an important trend for innovation and development of manufacturing in all countries. This study comprehensively analyzes the innovation and development trend driven by artificial intelligence in global manufacturing, outlines the policies and measures of major countries in promoting the innovation and development of the manufacturing industries driven by artificial intelligence. It also points out the current situation and problems of the manufacturing’s innovation and development driven by artificial intelligence in …

Parallax-Tolerant Image Stitching With Geometric Structure Protection For Unmanned Ship Visual Perception, Zhilin Yang, Yong Yin, Rukai Zhang, Qianfeng Jing, Sen Jiang, Wenfeng Zhu

Journal of System Simulation

Abstract: In order to address the artifacts caused by misalignment in maritime image stitch with low texture and large parallax, a geometric structure parallax-tolerant image stitch algorithm based on point-line feature registration and optimal seam fusion is proposed. Line segment features are introduced into the traditional homography transformation based on point features, and potential coplanar local line segments are merged into global line segments to provide accurate alignment conditions for seam line fusion. In the image fusion stage, the energy function of seam cutting method is designed by using the color difference and gradient difference of tanh measure and introducing …

An Improved Cat Swarm Optimization For Heterogeneous Multiple Mobile Robots, Liang Kang, Yi Du, Lihua Yin

Journal of System Simulation

Abstract: At present, it is difficult to achieve the real homogeneity of the members of the multiple mobile robots. The existing swarm intelligence algorithm is also difficult to accommodate the heterogeneity of the team. Focusing on the heterogeneous cooperation of multiple mobile robots, the concept of mother and child robots is proposed. In order to realize the application of swarm intelligence algorithm in heterogeneous multiple mobile robots, the basic cat swarm algorithm is improved. The subdomain and neighborhood of cat swarm are defined, and eight improvements of cat swarm algorithm are proposed, including priority of search direction, extended trajectory tracking …

Research On Path Optimization Algorithm In Dynamic Routing Environment, Xin Xie, Xiaobing Hu, Hang Zhou

Journal of System Simulation

Abstract: In a real dynamic routing environment, static path optimization (SPO) and traditional dynamic path optimization (DPO) tend to encounter issues such as detours, reversals and high computational complexity due to frequent real-time optimization calculation. To address these problems, a novel restart co-evolutionary path optimization (RCEPO) method based on the ripple-spreading algorithm (RSA) is proposed. This method integrates the path optimization process with the dynamic changes of the routing network environment to enhance the effectiveness of path optimization. Moreover, the path reoptimization calculation is performed only when the dynamic changes in the routing environment exceed the predicted range, thereby reducing …

Parametric Identification Of Ship Maneuvering Motion Response Model Based On Square Root Cubature Kalman Filtering, Qinghao Li, Junsheng Ren, Yan Hua

Journal of System Simulation

Abstract: The system identification algorithm, based on the square root cubature Kalman filter (SRCKF) is proposed to address issues such as low accuracy, poor robustness, and weak generalization ability encountered by the extended Kalman filter (EKF) algorithm in parameters identification of ship maneuvering motion models. This algorithm, within the framework of CKF, replaces the original covariance matrix with its root mean square and utilizes triangular decomposition for prediction and update to enhance identification stability. The EKF is used as a comparison algorithm to identify the parameters of the second-order nonlinear response model of a ship with rudder angles that comply …

A Method Based On Deep Learning For Assisting Sins/Dvl Integrated Navigation, Xinghong Kuang, Aowei Huang

Journal of System Simulation

Abstract: The navigation and positioning accuracy of an Autonomous Underwater Vehicle (AUV) affects the efficiency of the AUV to a certain extent, and since GNSS cannot be used underwater, the integrated navigation system of Strapdown Inertial Navigation System/ Doppler Velocity Log (SINS/DVL) has been widely favored. However, DVL will fail in some cases, and if DVL is isolated directly, the system will become a pure inertial navigation system, which seriously affects the accuracy of navigation and positioning. In order to cope with the situation that DVL is missing in some beams, a DLinear-Informer assisted integrated navigation algorithm is proposed. Through …

Dynamic Data Driven Simulation: An Overview, Xu Xie, Xiaogang Qiu, Yizheng Bao, Kai Xu

Journal of System Simulation

Abstract: Dynamic data driven simulation is a simulation paradigm which integrates simulation and data together. This paradigm continuously feeds real-time data into the simulation, enabling the simulation be dynamically adjusted by the data, which thus improves the simulation-based estimation and prediction capability. Due to this integration, the dynamic data driven simulation can estimate system states and predict future state evolution more accurately. This paper reviews the origins and basic concept of dynamic data driven simulation, and introduces several simulation paradigms originated from the idea of "integrating models with data", and identifies the linkages and differences among them. The particle filterbased …

Study On Robust Chance Constrained Optimization Of Multi-Energy Supply System Based On Wind And Solar Power Combined Output Simulation, Zhe Bao, Wei Li, Xiaofang Zhang, Zongyuan An, Ye Xu

Journal of System Simulation

Abstract: In order to effectively avoid potential imbalance between supply and demand caused by the uncertainty of wind and solar power outputs, and promote the sustained development of the multi-energy supply system, a robust chance-constrained optimization model is developed for identifying optimal operation strategies under complexities and uncertainties through incorporating Copula theory, chance-constrained programming, and robust programming within a general framework. The results show that this model can not only accurately characterize the distribution probability of combined outputs of wind and solar power and formulate the operational strategies under low default risk conditions, but also reduce the proportion of highrisk …

Research On Digital Twins Technology In Cyberspace Security, Qiankun Ren, Xinli Xiong, Jingju Liu, Qian Yao

Journal of System Simulation

Abstract: Combined with digital twins and cyber-space modeling and simulation, the network digital twins (NDT) technology with in-deep research can enable the development of diverse techniques of cyber security. The basic concept and research history of NDT are summarized, and a taxonomy is proposed to survey applications of NDT. A cyber security-oriented network digital twin model (CyS-NDT) is concluded through the literature. The relationship between the internal security problem of NDT and the method of enabling network security technology is discussed to prospect further challenges and opportunities.

Hybrid Evolutionary Multi-Objective Optimization Algorithm For Vehicle Routing Problem With Simultaneous Delivery And Pickup, Wenqiang Zhang, Xiaomeng Wang, Xiaoxiao Zhang, Guohui Zhang

Journal of System Simulation

Abstract: In order to provide reasonable and effective decision support for logistics enterprises in vehicle distribution route planning, a hybrid evolutionary multi-objective optimization algorithm combining a multi-region mixed-sampling strategy for global search and a local search based on individual route sequence differences is proposed for the problem. A reasonable mathematical model is constructed and the global search strategy is used to make the population individuals to converge quickly to the Pareto front from multiple directions, and the local search strategy is employed to guide the poorly performing individuals in the population to evolve towards the direction of better performing individuals, …

Estimation Of The Berthing Parameter Of Unmanned Surface Vessels Based On 3d Lidar, Haichao Wang, Yong Yin, Qianfeng Jing, Lin Cong

Journal of System Simulation

Abstract: Accurate estimation of berthing parameters is a prerequisite for unmanned surface vessel autonomous berthing. A method for berthing parameter estimation is proposed based on shipborne 3D LiDAR. The method consists of two main modules: ship pose estimation and berthing state estimation. In the berthing position estimation module, raw point cloud data undergoes preprocessing algorithms aims at downsampling and removing outliers. Point cloud registration algorithms are employed to determine the vessel's position during the berthing process. The berthing state estimation module extracts berth boundary information by using the MSAC algorithm, and on the basis of this information, calculates the berthing …

Research On Virtual Simulation Testing Technology For Intelligent Navigation Collision Avoidance Decision-Making And Planning, Jialun Liu, Fan Yang, Lingli Xie, Shijie Li, Tengfei Wang

Journal of System Simulation

Abstract: This paper studies virtual simulation testing technology for intelligent navigation collision avoidance decision-making and planning. The application requirements of intelligent navigation in cargo ships are introduced, and the current research status of collision avoidance decision-making strategies, path planning algorithms and decision-making planning testing technology are analyzed. For the intelligent navigation collision avoidance decision-making and planning capabilities of cargo ships, an intelligent navigation collision avoidance decision-making and planning algorithm is proposed based on the encounter situation division in the collision avoidance rules, combined with the quaternary ship field and Bezier curve interpolation theory. A simulation testing method for decision-making planning …

Digital Twin Method Of Stress Field Of Deep Submersible Spherical Shell Based On Simulation Database, Yu Cao, Jie Li, Fang Wang, Zhixiang Liu, Xueliang Wang

Journal of System Simulation

Abstract: This paper presents a method for predicting the stress field of deep diving spherical shells based on simulation databases and digital twin technology. By establishing simulation databases of stress field distribution of pressure-resistant spherical shells under different scales and loads, virtual sensing monitoring of stress states in other parts of the vessel is realized through finite sensor layout of pressureresistant shells on the submersible. Based on the DT(digital twin) technology, a three-level virtual structure layer is constructed. The Level-1 DT layer realizes the spatial mapping and cloud image display from the finite element simulation model to the digital model. …

Section Point Cloud Denoising Method Based On Enhanced Dbscan And Distance Consensus Evaluation, Chengpeng Ge, Dong Zhao, Rui Wang, Qinghua Ma

Journal of System Simulation

Abstract: A denoising method based on the improved DBSCAN(density-based spatial clustering of applications with noise) algorithm is proposed to address the problem of removing noise points in point cloud data. The statistical filtering method is applied to pre-screen isolated outliers and remove largescale noise from the point cloud. The DBSCAN algorithm is optimized to reduce computational time complexity and achieve adaptive parameter adjustment, thereby dividing the point cloud into normal clusters, suspected clusters and abnormal clusters, and immediately removing abnormal clusters. Distance consensus assessment is applied, and suspect clusters are further evaluated. By calculating the distance between the suspected point …

High-Resolution Image Reconstruction Of Ect Region Of Interest Based On Finite Element Simulation, Lifeng Zhang, Da Chen

Journal of System Simulation

Abstract: High-resolution image reconstruction of interest region is one of the research hotspots of electrical capacitance tomography (ECT) technology. The ECT model with uniform electrode distribution only has a high sensitivity coefficient at the boundary position of the reconstructed field and is not suitable for imaging regions of interest. In order to improve the sensitivity distribution in the region of interest and improve image resolution, a high-resolution image reconstruction method of ECT region of interest based on finite element simulation is proposed, and the electrode distribution is optimized according to the conformal transformation theory. Simulation experiments are conducted, and the …

Uav Dynamic Path Planning Algorithm Combined With Dynamic Window Approach, Bin Liu, Ying Lan, Wentao Huang, Qinqin Fan

Journal of System Simulation

Abstract: To solve the problem of the poor search for optimal performance and obstacle avoidance ability of path planning algorithms in complex dynamic environments, a UAV dynamic path planning algorithm combined with dynamic window approach (UAV-DPPA-DWA) is proposed. In the UAVDPPA- DWA algorithm, a novel elliptic tangent graph algorithm based on the evaluation of offset degree and obstacle distance is proposed to obtain the optimal guidance path for the UAV in static environments. If the UAV detects moving obstacles, a localized obstacle avoidance trajectory will be generated using the dynamic window method with adaptive parameters. Otherwise, the UAV will continue …

Fusion Of Improved A* And Dynamic Window Approach For Mobile Robot Path Planning, Rongshen Lai, Lei Dou, Zhiyong Wu, Shuai Sun

Journal of System Simulation

Abstract: The traditional A* algorithm is computationally simple and has short planning paths, but it still suffers from redundancy of inflection points, low search efficiency and zigzagging planning paths. Aiming at the above problems, a fusion algorithm combining the improved A* algorithm and the improved dynamic window approach is proposed for the path planning of mobile robots. For the problem of redundant inflection points, the key nodes are extracted to effectively remove the useless inflection points; for the problem of low search efficiency, a dynamic weighting factor is introduced into the heuristic function of the evaluation function, which changes the …

A Highly Robust Target Tracking Algorithm Merging Cnn And Transformer, Peijin Liu, Xuefeng Fu, Haofeng Sun, Lin He, Shujie Liu

Journal of System Simulation

Abstract: To address the performance degradation of target tracking algorithms caused by target object deformation, scale variation, fast motion, and occlusion, a highly robust target tracking algorithm that Merging a CNN and Transformer is proposed based on siamese network architecture. In the feature extraction stage, standard convolutions are employed to extract shallow local feature information, while a convolution-like Transformer module is designed in the deep network to model global information. The pixel values in the Transformer are computed using a sliding window significantly reducing computational complexity. In the feature aggregation stage, a multi-head cross-attention module is utilized to construct a …