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基于实例分割与光流的动态环境SLAM

兵工学报 2024年第1期45卷 156-165页

作者：岳胜哲王正杰北京理工大学机电学院北京100081

针对传统语义实时定位与建图(Semantic real-time Localization and Mappling,SLAM)算法在动态环境下剔除特征点过多、造成定位精度降低的问题,提出一种基于实例分割与光流的视觉语义SLAM算法。算法使用Mask R-CNN网络对图像中的潜在动... 详细信息

针对传统语义实时定位与建图(Semantic real-time Localization and Mappling,SLAM)算法在动态环境下剔除特征点过多、造成定位精度降低的问题,提出一种基于实例分割与光流的视觉语义SLAM算法。算法使用Mask R-CNN网络对图像中的潜在动态物体进行实例级别的分割,同时在光流线程中对动态物体进行识别并剔除,随后使用剩余的静态光流点与静态特征点联合优化定位,实现语义信息与光流信息的充分融合利用。使用公开数据集测试和地面无人平台实验对所提方法进行验证。实验结果表明,在TUM数据集下,新方法的定位均值误差相比ORB-SLAM2平均提高75%,相比Dyna-SLAM平均提高8.5%。

关键词：动态环境光流法实例分割语义SLAM

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《儒行》为子张学派所作新论

中国哲学史 2024年第1期 22-27页

作者：王政杰清华大学哲学系

《儒行》有孔子所作、战国汉代妄作以及孔门后学所作三种说法,其中孔门后学说又可分为游夏儒、漆雕儒、子张儒以及诸儒混合四种。上博简《从政》篇与子张学派有相关性,涵盖的话题及数条语句与《儒行》十分接近,此点从前未有人注意。传... 详细信息

《儒行》有孔子所作、战国汉代妄作以及孔门后学所作三种说法,其中孔门后学说又可分为游夏儒、漆雕儒、子张儒以及诸儒混合四种。上博简《从政》篇与子张学派有相关性,涵盖的话题及数条语句与《儒行》十分接近,此点从前未有人注意。传世文献中,《儒行》与子张学派、刚毅特质的儒者以及隐退特质的儒者都有关联。综合文献与思想的两个层面,《儒行》既非孔子所作,亦非汉儒妄作,极有可能是子张学派的作品,体现了战国时期孔门后学思想交融的历史现实。

关键词：儒行上博简从政子张学派

A Survey of Gesture Recognition Using Frequency Modulated Continuous Wave Radar

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Journal of Computer and Communications 2024年第6期12卷 115-134页

作者： Xinran Qiu Junhao Liu Lulu Song Haofei Teng Jiaqi Zhang zhengjie wang College of Electronic and Information Engineering Shandong University of Science and Technology Qingdao China

With technology advances and human requirements increasing, human-computer interaction plays an important role in our daily lives. Among these interactions, gesture-based recognition offers a natural and intuitive user experience that does not require physical contact and is becoming increasingly prevalent across various fields. Gesture recognition systems based on Frequency Modulated Continuous Wave (FMCW) millimeter-wave radar are receiving widespread attention due to their ability to operate without wearable sensors, their robustness to environmental factors, and the excellent penetrative ability of radar signals. This paper first reviews the current main gesture recognition applications. Subsequently, we introduce the system of gesture recognition based on FMCW radar and provide a general framework for gesture recognition, including gesture data acquisition, data preprocessing, and classification methods. We then discuss typical applications of gesture recognition systems and summarize the performance of these systems in terms of experimental environment, signal acquisition, signal processing, and classification methods. Specifically, we focus our study on four typical gesture recognition systems, including air-writing recognition, gesture command recognition, sign language recognition, and text input recognition. Finally, this paper addresses the challenges and unresolved problems in FMCW radar-based gesture recognition and provides insights into potential future research directions.

关键词： Millimeter-Wave Radar Gesture Recognition Human-Computer Interaction Feature Extraction

Gesture Recognition Based on Time-of-Flight Sensor and Residual Neural Network

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Journal of Computer and Communications 2024年第6期12卷 103-114页

作者： Yuqian Ma Zitong Fang Wen Jiang Chang Su Yuankun Zhang Junyu Wu zhengjie wang College of Electronic and Information Engineering Shandong University of Science and Technology Qingdao China

With the advancement of technology and the increase in user demands, gesture recognition played a pivotal role in the field of human-computer interaction. Among various sensing devices, Time-of-Flight (ToF) sensors were widely applied due to their low cost. This paper explored the implementation of a human hand posture recognition system using ToF sensors and residual neural networks. Firstly, this paper reviewed the typical applications of human hand recognition. Secondly, this paper designed a hand gesture recognition system using a ToF sensor VL53L5. Subsequently, data preprocessing was conducted, followed by training the constructed residual neural network. Then, the recognition results were analyzed, indicating that gesture recognition based on the residual neural network achieved an accuracy of 98.5% in a 5-class classification scenario. Finally, the paper discussed existing issues and future research directions.

关键词： Hand Posture Recognition Human-Computer Interaction Deep Learning Gesture Datasets Real-Time Processing

Transcription Factor KUA1 Positively Regulates Tomato Resistance Against Phytophthora infestans by Fine-tuning Reactive Oxygen Species Accumulation

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Transcription Factor KUA1 Positively Regulates Tomato Resist...

基于深度确定性梯度学习的集群多目标分配方法

中国植物病理学会2024年学术年会

作者： wang Zhicheng LV Ruili HONG Yuhui SU Chenglin wang zhengjie LIU Jie MENG Jun LUAN Yushi School of Bioengineering Dalian University of Technology Key Laboratory of Biotechnology and Bioresources Utilization Ministry of EducationInstitute of Plant ResourcesDalian Minzu University School of Computer Science and Technology Dalian University of Technology

Tomato is an essential horticultural and commercial crop,with effortlessly infecting by Phytophthora infestans during its whole growth period,which seriously restrict the quality and *** of transcription factors(TFs) have been reported to be involved in disease resistance,however,the key TFs in tomato resistant *** urgently need identified,the function and mechanism of the TFs remains ***,we identified six TFs related to tomato response ***,especially overexpression of SIKUA1 could significantly improve the tomato resistant to ***,moreover,ROS accumulation was significantly increased in over-expression individuals of SIKUA1 compared with wild type in normal condition due to higher relative expression level of ***,we found that SIKUA1 could not bind to the promoter of SIRBOHD,further results showed that SIKUA1 inhibited the expression of SIPrxl by binding to its promoter region,thereby reducing POD enzyme activity and causing ROS ***,we identified that SIKUA1 also binds to the promoter region of plant immune-related genes S1 MAPK7 and SIRLP4,activating their expression and enhancing tomato disease ***,these results unraveled that KUA1-mediated tomato against *** through regulating ROS accumulation and related immune gene expression,provided insights into tomato breeding for disease resistance.

关键词： tomato Phytophthora infestans transcription factor reactive oxygen species disease resistance

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北京理工大学学报 2024年第10期44卷 1051-1057页

作者：李乔易王正杰张小宁程杞元北京理工大学机电学院北京100081 深圳北理莫斯科大学广东深圳518172

针对多弹协同作战进行目标分配时,存在敌方平台和反舰导弹数量不确定性和类型多样化,导致目标分配算法难以建模的问题,为提升高动态协同攻击条件下的攻击效能,建立动态战场环境模型和多目标分配的单回合马尔可夫决策模型,提出一种改进... 详细信息

针对多弹协同作战进行目标分配时,存在敌方平台和反舰导弹数量不确定性和类型多样化,导致目标分配算法难以建模的问题,为提升高动态协同攻击条件下的攻击效能,建立动态战场环境模型和多目标分配的单回合马尔可夫决策模型,提出一种改进深度确定性策略梯度的分配算法.通过与模拟器的交互自动求解最佳分配策略,利用mask方法对动作空间进行掩码操作,实现算法对平台数量和类型的适应能力.实验结果表明,在各种不同舰船的防御配置和红蓝双方数量配置下,算法求解得到的攻击策略相对于随机策略的性能提升约为87.5%,模型推理时间约为0.04ms.研究结果将加速基于深度确定性梯度学习的方法在高动态环境下智能决策中的应用,对集群自主决策方法的研究具有推动作用.

关键词：多弹协同动态环境目标分配深度确定性策略梯度马尔可夫决策模型

Extended dynamic system modulation for real-time obstacle avoidance

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Chinese Journal of Aeronautics 2022年第12期35卷 212-225页

作者： Zhide ZHANG zhengjie wang Jin YU School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China

In this paper,a novel real-time obstacle avoidance method based on Dynamic System(DS),is *** proposed method ensures the impenetrability of multiple convex obstacles by online modulating the original velocity field of the *** can be applied to perform obstacle avoidance in the state space of the DS with both autonomous and non-autonomous DS-based *** realizing the obstacle avoidance,the equilibrium points of the original DS can be *** modulation matrix form is extended based on the earlier dynamic system modulation methods of the *** asymmetric modulation provided by this method allows the modulated DS to satisfy the dynamic constraints of a class of *** addition,the proposed method has the inherent ability of multiple-obstacle avoidance and the direction selectivity of avoidance ***,to solve the simultaneous guidance and obstacle avoidance problem,a guidance law for Unmanned Aerial Vehicles(UAVs)based on the proposed method,is ***,a numerical simulation is performed to analyze the performance of the proposed method and the obstacle avoidance guidance law.

关键词： Collision avoidance Dynamic system Guidance Modulation Unmanned Aerial Vehicles(UAVs)

Vision-based bio-inspired guidance law for small aerial vehicle

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Chinese Journal of Aeronautics 2015年第1期28卷 260-267页

作者： wang zhengjie Huang Weilin Yan Yonghong School of Mechatronical Engineering Beijing Institute of Technology Key Lab of Speech Acoustics and Content Understanding Institute of Acoustics Chinese Academy of Sciences

During predation, a flying insect can form a stealth flight path. This behavior is called motion camouflage. Based on the study results of this behavior, the perception and neurology of flying insects, a novel bio-inspired guidance law is proposed for the terminal guidance for small aerial vehicle with charge-coupled device imaging seekers. The kinematics relationship between a small aerial vehicle and target is analyzed, and a two-dimensional guidance law model is established by using artificial neural networks. To compare with the proportional guidance law, the numerical simulations are carried out in the vertical plane and in the horizontal plane respectively. The simulation results show that the ballistic of the small aerial vehicle is straighter and the normal acceleration is smaller by using the bio-inspired guidance law than by using the proportional guidance law. That is to say, the bio-inspired guidance law just uses the information of the target from the imaging seeker,but the performance of it can be better than that of the proportional guidance law.

关键词： guidance aerial inspired kinematics flying proportional retina acceleration capture trajectory

Flight dynamics modeling of a small ducted fan aerial vehicle based on parameter identifcation

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Chinese Journal of Aeronautics 2013年第6期26卷 1439-1448页

作者： wang zhengjie Liu Zhijun Fan Ningjun Guo Meifang School of Mechatronical Engineering Beijing Institute of Technology North Institute for Science & Technical Information

This paper presents a simple and useful modeling method to acquire a dynamics model of an aerial vehicle containing unknown parameters using mechanism modeling,and then to design different identifcation experiments to identify the parameters based on the sources and features of its unknown *** on the mathematical model of the aerial vehicle acquired by modeling and identifcation,a design for the structural parameters of the attitude control system is carried out,and the results of the attitude control flaps are verifed by simulation experiments and flight tests of the aerial *** of the mathematical simulation and flight tests show that the mathematical model acquired using parameter identifcation is comparatively accurate and of clear mechanics,and can be used as the reference and basis for the structural design.

关键词： Aerodynamics Experimental aerodynamics Flight vehicle design Multidisciplinary design optimization Structural design