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An attack-resilient distributed extended Kalman consensus filtering algorithm with applications to multi-UAV tracking problems

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Frontiers of Information technology & Electronic Engineering 2024年第8期25卷 1110-1122页

作者： Yuru HU Wangyan LI Lifeng WU Zhensheng YU college of science University of Shanghai for Science and TechnologyShanghai 200093China

This study investigates how the events of deception attacks are distributed during the fusion of multi-sensor nonlinear ***,a deception attack with limited energy(DALE)is introduced under the framework of distributed extended Kalman consensus filtering(DEKCF).Next,a hypothesis testing-based mechanism to detect the abnormal data generated by DALE,in the presence of the error term caused by the linearization of the nonlinear system,is *** the DALE is detected,a new rectification strategy can be triggered to recalibrate the abnormal data,restoring it to its normal ***,an attack-resilient DEKCF(AR-DEKCF)algorithm is proposed,and its fusion estimation errors are demonstrated to satisfy the mean square exponential boundedness performance,under appropriate ***,the effectiveness of the AR-DEKCF algorithm is confirmed through simulations involving multi-unmanned aerial vehicle(multi-UAV)tracking problems.

关键词： Extended Kalman consensus filtering Hypothesis testing Rectification strategy Multi-UAV tracking

Multiscale observation in wide-spatial radar surveillance based on coherent FDA design

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science China(Information sciences) 2024年第2期67卷 232-252页

作者： Lei YU Feng HE Yi SU college of Electronics science National University of Defense Technology

Wide-spatial radar surveillance missions are challenging tasks, requiring an increased power budget and agility in transmission aimed at extracting information from multiple targets in different environments. These requirements necessitate high transmitting degrees of freedom(DOF) to achieve the objective of multiscale observation for specific tasks in specialized regions of interest. Herein, we exploit the multiscale observation ability in wide-spatial radar surveillance based on frequency diverse array(FDA)radar. The proposed method facilitates spatial anisotropic control of multiple radar resources, including the transmitting waveforms, beampattern, and bandwidth. By utilizing a coherent FDA radar, we offer principles for the selection of baseband waveforms, in addition to the quantitative design of the beampattern gain and optimal bandwidth from the perspective of detection. The feasibility of the proposed method is validated through numerical experiments, thus indicating the potential in wide-spatial radar surveillance. Moreover,this work can be regarded as a preliminary attempt to gauge the efficacy of the computational array, a novel academic concept.

关键词： multi-scale observation wide-spatial surveillance frequency diverse array (FDA) beampattern synthesis frequency diversity gain computational array

A Video Captioning Method by Semantic Topic-Guided Generation

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Computers, Materials & Continua 2024年第1期78卷 1071-1093页

作者： Ou Ye Xinli Wei Zhenhua Yu Yan Fu Ying Yang college of Computer science and technology Xi’an University of Science and TechnologyXi’an710054China

In the video captioning methods based on an encoder-decoder,limited visual features are extracted by an encoder,and a natural sentence of the video content is generated using a ***,this kind ofmethod is dependent on a single video input source and few visual labels,and there is a problem with semantic alignment between video contents and generated natural sentences,which are not suitable for accurately comprehending and describing the video *** address this issue,this paper proposes a video captioning method by semantic topic-guided ***,a 3D convolutional neural network is utilized to extract the spatiotemporal features of videos during the ***,the semantic topics of video data are extracted using the visual labels retrieved from similar video *** the decoding,a decoder is constructed by combining a novel Enhance-TopK sampling algorithm with a Generative Pre-trained Transformer-2 deep neural network,which decreases the influence of“deviation”in the semantic mapping process between videos and texts by jointly decoding a baseline and semantic topics of video *** this process,the designed Enhance-TopK sampling algorithm can alleviate a long-tail problem by dynamically adjusting the probability distribution of the predicted ***,the experiments are conducted on two publicly used Microsoft Research Video Description andMicrosoft Research-Video to Text *** experimental results demonstrate that the proposed method outperforms several state-of-art ***,the performance indicators Bilingual Evaluation Understudy,Metric for Evaluation of Translation with Explicit Ordering,Recall Oriented Understudy for Gisting Evaluation-longest common subsequence,and Consensus-based Image Description Evaluation of the proposed method are improved by 1.2%,0.1%,0.3%,and 2.4% on the Microsoft Research Video Description dataset,and 0.1%,1.0%,0.1%,and 2.8% on the Microsoft Research-Video to Text dataset

关键词： Video captioning encoder-decoder semantic topic jointly decoding Enhance-TopK sampling

Balanced Fracturing and Cold-welding of Magnesium during Ball Milling Assisted by Carbon Coating:Experimental and Molecular Dynamic Simulation

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Journal of Wuhan University of technology(Materials science) 2024年第4期39卷 895-903页

作者：韩宗盈 DONG Hui DING Guoyang ZHANG Jiale SONG Xiufang college of Energy Storage technology Shandong University of Science and TechnologyQingdao 266590China college of Chemical and Biological Engineering Shandong University of Science and TechnologyQingdao 266590China

The lignite-derived carbon from self-protection pyrolysis was employed to balance the fracturing and cold-welding of magnesium during ball *** size analysis indicates that the introduction of lignite-derived carbon can effectively reduce the particle size of Mg while the introduction of graphite does no ***,the effect of lignite-derived carbon on crystallite size reduction of Mg is also better than graphite.A moderate cold-welding phenomenon was observed after ball-milling Mg with the lignite-derived carbon,suggesting less Mg is wasted on the milling vials and *** dynamic simulations reveal that the balanced fracturing and cold-welding of magnesium during ball milling is mainly attributed to the special structure of the lignite-derived carbon:graphitized short-range ordered stacking function as dry lubricant and irregular shape/sharp edge function as milling *** preliminary findings in current study are expected to offer implications for designing efficient Mg-based hydrogen storage materials.

关键词： magnesium lignite-derived carbon cold-welding ball milling molecular dynamic

Bio-inspired Design and Inverse Kinematics Solution of an Omnidirectional Humanoid Robotic Arm with Geometric and Load Capacity Constraints

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Journal of Bionic Engineering 2024年第2期21卷 778-802页

作者： Zhichao Zhu Zirong Luo Yiming Zhu Tao Jiang Minghai Xia Shanjun Chen Boyu Jin college of Intelligence science and technology National University of Defense TechnologyChangshaChina

Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar *** four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,*** the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity *** method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm ***,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution *** simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,*** experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity *** proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.

关键词： Humanoid robotic arm Bio-inspired design Inverse kinematics solution Load capacity constraint Geometric constraint

A Weakly-Supervised Crowd Density Estimation Method Based on Two-Stage Linear Feature Calibration

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 965-981页

作者： Yong-Chao Li Rui-Sheng Jia Ying-Xiang Hu Hong-Mei Sun the college of Computer science and Engineering Shandong University of Science and TechnologyQingdao 266590 the Faculty of Information science and Engineering Ocean University of ChinaQingdao 266000China the college of Computer science and Engineering Shandong University of Science and TechnologyQingdao 266590China the college of Computer science and Engineering Nanjing University of Science and TechnologyNanjing 210000China

In a crowd density estimation dataset,the annotation of crowd locations is an extremely laborious task,and they are not taken into the evaluation *** this paper,we aim to reduce the annotation cost of crowd datasets,and propose a crowd density estimation method based on weakly-supervised learning,in the absence of crowd position supervision information,which directly reduces the number of crowds by using the number of pedestrians in the image as the supervised *** this purpose,we design a new training method,which exploits the correlation between global and local image features by incremental learning to train the ***,we design a parent-child network(PC-Net)focusing on the global and local image respectively,and propose a linear feature calibration structure to train the PC-Net simultaneously,and the child network learns feature transfer factors and feature bias weights,and uses the transfer factors and bias weights to linearly feature calibrate the features extracted from the Parent network,to improve the convergence of the network by using local features hidden in the crowd *** addition,we use the pyramid vision transformer as the backbone of the PC-Net to extract crowd features at different levels,and design a global-local feature loss function(L2).We combine it with a crowd counting loss(LC)to enhance the sensitivity of the network to crowd features during the training process,which effectively improves the accuracy of crowd density *** experimental results show that the PC-Net significantly reduces the gap between fullysupervised and weakly-supervised crowd density estimation,and outperforms the comparison methods on five datasets of Shanghai Tech Part A,ShanghaiTech Part B,UCF_CC_50,UCF_QNRF and JHU-CROWD++.

关键词： Crowd density estimation linear feature calibration vision transformer weakly-supervision learning

IQABC-Based Hybrid Deployment Algorithm for Mobile Robotic Agents Providing Network Coverage

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Tsinghua science and technology 2024年第2期29卷 589-604页

作者： Shuang Xu Xiaojie Liu Dengao Li Jumin Zhao college of Computer science and technology(college of Data science) Taiyuan University of TechnologyTaiyuan 030024China Pengcheng Laboratory Shenzhen 518055China college of Information and Computer Taiyuan University of TechnologyTaiyuan 030024China

Working as aerial base stations,mobile robotic agents can be formed as a wireless robotic network to provide network services for on-ground mobile devices in a target ***,a challenging issue is how to deploy these mobile robotic agents to provide network services with good quality for more users,while considering the mobility of on-ground *** this paper,to solve this issue,we decouple the coverage problem into the vertical dimension and the horizontal dimension without any loss of optimization and introduce the network coverage model with maximum coverage ***,we propose a hybrid deployment algorithm based on the improved quick artificial bee *** algorithm is composed of a centralized deployment algorithm and a distributed *** proposed deployment algorithm deploy a given number of mobile robotic agents to provide network services for the on-ground devices that are independent and identically *** results have demonstrated that the proposed algorithm deploys agents appropriately to cover more ground area and provide better coverage uniformity.

关键词： wireless robotic networks network coverage deployment algorithm improved quick artificial bee colony

Scenarios analysis and performance assessment of blockchain integrated in 6G scenarios

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science China(Information sciences) 2024年第7期67卷 5-26页

作者： Bo LI Guanjie CHENG Honghao GAO Xueqiang YAN Shuiguang DENG college of Computer science and technology Zhejiang University college of Computer science and technology Shanghai University 2012 Lab Huawei Technologies Co. Ltd.

Emerging applications such as smart city infrastructures and virtual reality landscapes are setting rigorous benchmarks for 6G mobile networks, requiring elevated levels of confidentiality, integrity, nonrepudiation, authentication, and stringent access controls. Blockchain technology is heralded as a transformative enabler for meeting 6G standards, owing to its intrinsic attributes. However, a gap exists in the holistic investigation of blockchain's applicability in 6G realms, particularly addressing the “whether”, “when”, and“how” of its deployment. Present research trails in developing robust methodologies to gauge blockchain's efficacy within 6G use cases. Addressing this, our study introduces a novel confluence of blockchain with 6G networks, where data resides in distributed Hash tables(DHTs) while their hashes are secured in distributed ledger technology(DLT), harnessing blockchain's core strengths-immutability, traceability, and fortified security. We delineate seven specific 6G use cases poised for enhancement through blockchain integration,and scrutinize the rationale, nature, and timing of this convergence. Furthermore, we devise a comprehensive methodology for assessing blockchain's performance metrics and scalability in 6G environments. Our extensive experimental analyses evaluate the synergistic performance of this integration, revealing that the Quorum blockchain satisfactorily supports 80% of 6G scenarios. The findings suggest that, with appropriate configurations, consortium blockchains are well-equipped to fulfill the demanding performance and scalability requisites of 6G networks.

关键词： blockchain distributed ledger technology (DLT) 6G performance assessment 6G scenarios analysis transaction arrival rate

Effect of kerosene injection states on mixing and combustion characteristics in a cavity-based supersonic combustor

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Chinese Journal of Aeronautics 2024年第4期37卷 308-320页

作者： Xu LIU Peibo LI Fei LI Hongbo WANG Mingbo SUN Chao WANG Yixin YANG Dapeng XIONG Yanan WANG science and technology on Scramjet Laboratory College of Aerospace Science and EngineeringNational University of Defense TechnologyChangsha 410073China

It has been found that the static pressure distribution along the axial direction of liquid kerosene is lower than that of the gaseous kerosene under the same flow condition and overall equivalent ratio from previous *** further investigate this phenomenon,a compressible two-phase parallel simulation method is utilized to analyze the mixing and combustion characteristics of gaseous and liquid kerosene jets in a cavity-based supersonic *** numerical results are consistent with the experiments and demonstrate that gaseous injection leads to a cavity shear layer that dives deeper into the cavity,forming two recirculation zones in the front and rear of the *** contrast,the cavity shear layer is closer to the mainstream during liquid injection,and only a large recirculation zone is formed in the rear of the *** a result of the cavity shear layer and the recirculating flow,the fuel vapor of gaseous injection accumulates in the front of the cavity,while for the liquid injection,the fuel vapor disperses in the cavity,cavity shear layer,and the region above,and the rear of the cavity has a higher fuel vapor concentration than the *** unique fuel distribution causes the combustion area to be concentrated in the cavity during the gaseous injection but dispersed inside and downstream of the cavity during the liquid *** a result,forming a thermal throat under the same conditions is more challenging during liquid injection,and the generated static pressure distribution is lower than that during the gaseous injection.

关键词： Gaseous injection Liquid injection Mixing process Combustion Supersonic flow