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A Generative Net for Haze Removal in UAV’s Visual Fieldwork

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A Generative Net for Haze Removal in UAV’s Visual Fieldwork

第37届中国控制会议

作者： Xiaolong Zhang zhihong peng Xiuxiang Jiang School of Automation Beijing Institute of Technology

Haze removal is a challenging problem for UAV’s visual fieldwork where clear images are always needed. Estimating the medium transmission map of a given hazy image is the key to achieve dehazing. Inspired by the conditional generative adversarial nets, we consider the medium transmission map as a probability distribution based on the hazy image and propose a simple but effective deep network to generate it. After training this network on our own collected data set, we can directly estimate the medium transmission map from a single input image of any size and recover the corresponding haze-free one via atmospheric scattering model. Experiments on pair-wise hazy, haze-free images and real-world scenes show that our method is superior to existing models in performance. And analysis of effect of haze removal on object detection is carried out.

关键词： dehazing medium transmission map atmospheric light generative net

Problem Specific Genetic Differential Evolution Algorithm for Multi-skill Resource-constrained Project Scheduling of Collaborative Multi-Robot Systems for Search and Rescue

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Problem Specific Genetic Differential Evolution Algorithm fo...

第40届中国控制会议

作者： Jingbo Sun zhihong peng Junqi Cai School of Automation Beijing Institute of Technology

Multi-Robot system can be applied to search and rescue（SAR） tasks in complex environment. This paper focuses on resource scheduling and task allocation of cooperative multi-robot system for SAR（RSTA-RSSAR）. RSTA-RSSAR is an extention of MSRCPSP. In RSTA-RSSAR, skills of multi-robot system considered from both depth and breadth. And resouece transfer time between tasks are considered. Meanwhile, Processing time of activities in RSTA-RSSAR changes with skill ability resouces provided. In order to solve the problem effectively, a genetic differential evolution algorithm（PS-GDEA） is *** encoding, decoding and population initialization methods is designed according to the characteristics of RSTA-RSSAR. In this algorithm, a multi-attribute choosing method based on Shannon entropy is proposed. Meanwhile, a genetic algorithm with new selection, crossover and mutation operators is used to generate offspring and a priority based differential evolution strategy is used to evolute *** effectiveness of the algorithm is obtained by experiments on test cases. Compared with the classical genetic algorithm for msrcpsp, the proposed algorithm has better performance.

关键词： Problem specific GDEA RCPSP RSTA-RSSAR Multi-skilled resources Transfer time

Predicting Strategy of Rational Evader in Cooperative Pursuit:A Distributed Bimatrix Zero-sum Game Approach

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Predicting Strategy of Rational Evader in Cooperative Pursui...

第43届中国控制会议

作者： Yixuan Li Jie Hou Xianlin Zeng zhihong peng National Key Laboratory of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology

Cooperative pursuit problems involve multiple pursuers cooperatively capturing an evader with a faster speed in an unbounded two-dimensional domain. To generate autonomous intelligent behaviors, pursuers must consider the responsive actions of the evader. Predicting the strategy of an evader often relies on the assumption that pursuers know full information, which is unrealistic. This paper proposes a strategy prediction method of multiple pursuers cooperating to predict a rational evader's strategy in a distributed game-theoretic framework. In this setup, each pursuer can only communicate with its neighbors and observe the evader's position, making the strategy prediction challenging. To tackle this issue, we model the strategy prediction problem as a bimatrix zero-sum game. Then, we propose a distributed Nash equilibrium seeking algorithm for such a game by combining the consensus averaging, the gradient tracking, and the Frank-Wolfe techniques. Furthermore, we integrate the strategy prediction into an existing cooperative pursuit method. Numerical simulations demonstrate that our method significantly improves the probability of successful capture compared to a state-of-the-art pursuit method.

关键词： cooperative pursuit problem strategy prediction bimatrix zero-sum game distributed Nash equilibrium seeking algorithm

Efficient Multi-Robot Coverage of an Unknown Environment

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Efficient Multi-Robot Coverage of an Unknown Environment

第40届中国控制会议

作者： Zihao Chen zhihong peng Lei Jiao Yuanyuan Gui School of Automation Beijing Institute of Technology China State Key Laboratory of Intelligent Control and Decision of Complex System

This paper discusses the complete area coverage of multi-robots in unknown environments. Finding the optimal solution for the problem of area coverage with multiple robots has been proven to be NP-hard. This paper proposes the Multiagent Node Backtracking Area Coverage（MANBAC） algorithm, which uses improved BCD local area coverage method, and the node backtracking method that is based on the A* algorithm to achieve complete coverage of the entire unknown *** with the area coverage of a single robot, use multi robots can greatly improve the efficiency of area *** with the existing coverage algorithms in known area, this study can be applied to a wider range of area scenarios which are not known.

关键词： Area coverage Unknow environment Multirobot

显微偏振干涉成像光谱仪中景深对系统分辨力的影响

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光学学报 2006年第2期26卷 239-243页

作者：彭志红张淳民西安交通大学理学院西安710049

提出了一种基于萨伐尔(Savart)偏光镜双折射晶体进行光谱分光的显微偏振干涉成像光谱仪的创新性原理和方案;从几何光学的角度推导了显微偏振干涉成像光谱仪景深的理论计算公式;给出了景深与光谱分辨力的变化关系,证明了景深的存在使系... 详细信息

提出了一种基于萨伐尔(Savart)偏光镜双折射晶体进行光谱分光的显微偏振干涉成像光谱仪的创新性原理和方案;从几何光学的角度推导了显微偏振干涉成像光谱仪景深的理论计算公式;给出了景深与光谱分辨力的变化关系,证明了景深的存在使系统光谱分辨力不再唯一确定,而是在一定范围内连续变化;通过计算机模拟分析了景深对系统分辨力的影响。该研究对实现快速实时测量,减少景深对光谱分辨力的影响以及新型偏振干涉成像光谱仪的研究、研制和工程化提供了重要的理论依据和实践指导。

关键词：偏振干涉显微成像光谱仪景深分辨力

维普期刊数据库

Expression Vector Construction and Genetic Transformation of <i>Rosa rugosa β</i>-l,3-Glucanase Gene (<i>RrGlu</i>)

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American Journal of Plant Sciences 2017年第3期8卷 495-501页

作者： Shutang Xing Juanjuan Sun zhihong peng Yanan Fu Lanyong Zhao Zongda Xu Xiaoyan Yu Forestry College of Shandong Agricultural University Tai’an China College of Horticulture Science and Engineering Shandong Agricultural University Tai’an China Tai’an Landscape Administration Bureau Tai’an China

In order to lay a foundation for researching the function of Rosa rugose (R. rugosa) RrGlu gene, the RrGlu gene was amplified from the styles of R. rugosa “Tanghong”, a gene expression vector named PBI121-RrGlu was constructed and the vector was introduced into tobacco with the agrobacterium-mediated method. PCR results showed that the RrGlu gene was integrated into the tobacco genome.

关键词： Rosa rugose β-l 3-Glucanase Gene Expression Vector Construction Genetic Transformation

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基于主体功能区划的上海市国土空间结构研究

地域研究与开发 2014年第5期33卷 11-15页

作者：彭志宏上海财经大学公共经济与管理学院上海410004

构建由资源环境承载力子系统、现有开发密度子系统、发展潜力子系统3个子系统组成的上海市主体功能区指标体系。运用2012年数据计算各指标体系的综合得分,并制作Moran散点图。同时,依据资源环境承载力、现有开发密度与发展潜力这3个因... 详细信息

构建由资源环境承载力子系统、现有开发密度子系统、发展潜力子系统3个子系统组成的上海市主体功能区指标体系。运用2012年数据计算各指标体系的综合得分,并制作Moran散点图。同时,依据资源环境承载力、现有开发密度与发展潜力这3个因素的综合评分以及Moran散点图的象限把上海市各区县划分成六大功能亚类:核心功能提升亚区、核心功能优化亚区、战略发展亚区、都市发展亚区、城市拓展亚区与生态涵养亚区。最后,剖析这六大功能亚区与国家层面上的优化开发区、重点开发区与限制开发区之间的内在联系。

关键词：主体功能区承载力潜力 Moran 二元邻接矩阵上海市

维普期刊数据库

介入技术在消化系统疾病诊治中的应用与需注意的问题

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第三军医大学学报 2012年第12期34卷 1131-1134页

作者：房殿春彭志红第三军医大学西南医院全军消化病研究所重庆400038

介入技术是指不开刀暴露病灶的情况下,在血管、皮肤上作直径几毫米的微小通道,或经人体原有的管道,在影像设备的引导下对病灶局部进行诊疗的创伤最小的技术方法,是介于外科、内科诊治技术之间的新兴方法,包括内镜和血管内介入。近30年来... 详细信息

介入技术是指不开刀暴露病灶的情况下,在血管、皮肤上作直径几毫米的微小通道,或经人体原有的管道,在影像设备的引导下对病灶局部进行诊疗的创伤最小的技术方法,是介于外科、内科诊治技术之间的新兴方法,包括内镜和血管内介入。近30年来,由于消化内镜及放射介入技术的不断发展,使得消化系统疾病的非手术治疗成为可能。

关键词：介入技术消化系统疾病诊断治疗

维普期刊数据库

An adaptive hybrid optimizer based on particle swarm and differential evolution for global optimization

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Science China(Information Sciences) 2010年第5期53卷 980-989页

作者： XIN Bin 1,2 ? , CHEN Jie 1,2* , peng zhihong 1,2 & PAN Feng 1,2 1 School of Automation, Beijing Institute of Technology, Beijing 100081, China 2 Key Laboratory of Complex System Intelligent Control and Decision, Ministry of Education, Beijing 100081, China 1. School of Automation Beijing Institute of Technology Beijing 100081 China2. Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

This paper presents extensive experiments on a hybrid optimization algorithm (DEPSO) we recently developed by combining the advantages of two powerful population-based metaheuristics—differential evolution (DE) and particle swarm optimization (PSO). The hybrid optimizer achieves on-the-fly adaptation of evolution methods for individuals in a statistical learning way. Two primary parameters for the novel algorithm including its learning period and population size are empirically analyzed. The dynamics of the hybrid optimizer is revealed by tracking and analyzing the relative success ratio of PSO versus DE in the optimization of several typical problems. The comparison between the proposed DEPSO and its competitors involved in our previous research is enriched by using multiple rotated functions. Benchmark tests involving scalability test validate that the DEPSO is competent for the global optimization of numerical functions due to its high optimization quality and wide applicability.

关键词： global optimization statistical learning differential evolution particle swarm optimization hybridization adaptation rotated function