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YGC-SLAM:A visual SLAM based on improved YOLOv5 and geometric constraints for dynamic indoor environments

虚拟现实与智能硬件(中英文) 2025年第01期7卷 62-82页

作者： Juncheng ZHANG Fuyang KE Qinqin TANG Wenming YU Ming ZHANG department of Automation University of Information Science & Technology department of Software University of Information Science & Technology Wuxi Research Institute of Nanjing University of information Engineering department of Rail Transport University of Wuxi

Background As visual simultaneous localization and mapping(SLAM) is primarily based on the assumption of a static scene, the presence of dynamic objects in the frame causes problems such as a deterioration of system robustness and inaccurate position estimation. In this study, we propose a YGC-SLAM for indoor dynamic environments based on the ORB-SLAM2 framework combined with semantic and geometric constraints to improve the positioning accuracy and robustness of the system. Methods First, the recognition accuracy of YOLOv5 was improved by introducing the convolution block attention model and the improved EIOU loss function, whereby the prediction frame converges quickly for better detection. The improved YOLOv5 was then added to the tracking thread for dynamic target detection to eliminate dynamic points. Subsequently, multi-view geometric constraints were used for re-judging to further eliminate dynamic points while enabling more useful feature points to be retained and preventing the semantic approach from over-eliminating feature points, causing a failure of map building. The K-means clustering algorithm was used to accelerate this process and quickly calculate and determine the motion state of each cluster of pixel points. Finally, a strategy for drawing keyframes with de-redundancy was implemented to construct a clear 3D dense static point-cloud map. Results Through testing on TUM dataset and a real environment, the experimental results show that our algorithm reduces the absolute trajectory error by 98.22% and the relative trajectory error by 97.98% compared with the original ORBSLAM2, which is more accurate and has better real-time performance than similar algorithms, such as Dyna SLAM and DS-SLAM. Conclusions The YGC-SLAM proposed in this study can effectively eliminate the adverse effects of dynamic objects, and the system can better complete positioning and map building tasks in complex environments.

关键词： Visual SLAM Dynamic SLAM Target detection Geometric constraints

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Enhanced Acceleration for Generalized Nonconvex Low-Rank Matrix Learning

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Chinese Journal of Electronics 2025年第1期34卷 98-113页

作者： Hengmin Zhang Jian Yang Wenli Du Bob Zhang Zhiyuan Zha Bihan Wen School of Electrical and Electronic Engineering Nanyang Technological University School of Computer Science and Engineering Nanjing University of Science and Technology School of information Science and Engineering East China University of Science and Technology department of Electrical and Computer Engineering University of Macau

Matrix minimization techniques that employ the nuclear norm have gained recognition for their applicability in tasks like image inpainting, clustering, classification, and reconstruction. However, they come with inherent biases and computational burdens, especially when used to relax the rank function, making them less effective and efficient in real-world scenarios. To address these challenges, our research focuses on generalized nonconvex rank regularization problems in robust matrix completion, low-rank representation, and robust matrix regression. We introduce innovative approaches for effective and efficient low-rank matrix learning, grounded in generalized nonconvex rank relaxations inspired by various substitutes for the ?0-norm relaxed functions. These relaxations allow us to more accurately capture low-rank structures. Our optimization strategy employs a nonconvex and multi-variable alternating direction method of multipliers, backed by rigorous theoretical analysis for complexity and *** algorithm iteratively updates blocks of variables, ensuring efficient convergence. Additionally, we incorporate the randomized singular value decomposition technique and/or other acceleration strategies to enhance the computational efficiency of our approach, particularly for large-scale constrained minimization problems. In conclusion, our experimental results across a variety of image vision-related application tasks unequivocally demonstrate the superiority of our proposed methodologies in terms of both efficacy and efficiency when compared to most other related learning methods.

关键词： Learning systems Image recognition Minimization Computational efficiency Complexity theory Matrix decomposition Optimization Image reconstruction Singular value decomposition Convergence

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Multilevel NAND Flash Memories with Superposition Modulation: A Non-Orthogonal Multi-User communication Perspective

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China communications 2025年第03期 132-147页

作者： Zhou Xuan Ma Zheng Zhou Yi Tang Xiaohu Fan Pingzhi School of information science and technology Southwest Jiaotong University

In this work, we propose a comprehensive theoretical framework for the multilevel NAND(NOT AND logic) flash memory, built upon the modified Student's t distribution where the distortion of the threshold voltage caused by the random telegraph noise, cell-to-cell interference and data retention noise are jointly considered. Based on the superposition modulation, we build a non-orthogonal multiuser communication model where a linear mapping is conducted between the verify voltages and binary antipodal symbols. Aimed at improving the storage efficiency, we propose an unequal amplitude mapping(UAM) solution by optimizing the weighting coefficients of verify voltages to intelligently adjust the width of each state. Moreover, the uniform storage efficiency region and sum storage efficiency of different labelings with various decoding schemes are discussed. Simulation results validate the effectiveness of our proposed UAM solution where an up to20.9% storage efficiency gain can be achieved compared to the current used benchmark scheme. In addition, analytical and simulation results also demonstrate that the successive cancellation decoding outperforms other decoding schemes for all labelings.

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GUEST EDITORIAL Efficient Cooperative Transmission over Satellite Internet for 6G

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China communications 2025年第2期22卷 6-8页

作者： Zhu Lidong Michele Luglio Sun Zhili Zhang Gengxin Yang Mingchuan University of Electronic Science and technology of China University of Rome “Tor Vergata” the Institute for communication Systems (ICS) Nanjing University of Posts and Telecommunications communication Research Center Harbin Institute of technology

Satellite Internet, as a strategic public information infrastructure, can effectively bridge the limitations of traditional terrestrial network coverage, support global coverage and deep space exploration, and greatly... 详细信息

关键词： Special issues and sections Satellite communications Internet Deep-space communications Public infrastructure 5G mobile communication 6G mobile communication information services Global communication Human factors Terrestrial communications communication systems

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Secure Channel Estimation Using Norm Estimation Model for 5G Next Generation Wireless Networks

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Computers, Materials & Continua 2025年第1期82卷 1151-1169页

作者： Khalil Ullah Song Jian Muhammad Naeem Ul Hassan Suliman Khan Mohammad Babar Arshad Ahmad Shafiq Ahmad Faculty of information Engineering and Automation Kunming University of Science and TechnologyKunming650500China department of Computer Science Abbottabad University of Science and TechnologyHavelianAbbottabad22500Pakistan department of Computing and Electronics Engineering Middle East CollegeMuscat124Oman department of CS&IT Pak-Austria Fachhochschule Institute of Applied Sciences and Technology MangHaripur22621Pakistan Industrial Engineering department College of EngineeringKing Saud UniversityRiyadh11421Saudi Arabia

The emergence of next generation networks(NextG),including 5G and beyond,is reshaping the technological landscape of cellular and mobile *** networks are sufficiently scaled to interconnect billions of users and *** in academia and industry are focusing on technological advancements to achieve highspeed transmission,cell planning,and latency reduction to facilitate emerging applications such as virtual reality,the metaverse,smart cities,smart health,and autonomous *** continuously improves its network functionality to support these *** input multiple output(MIMO)technology offers spectral efficiency,dependability,and overall performance in *** article proposes a secure channel estimation technique in MIMO topology using a norm-estimation model to provide comprehensive insights into protecting NextG network components against adversarial *** technique aims to create long-lasting and secure NextG networks using this extended *** viability of MIMO applications and modern AI-driven methodologies to combat cybersecurity threats are explored in this ***,the proposed model demonstrates high performance in terms of reliability and accuracy,with a 20%reduction in the MalOut-RealOut-Diff metric compared to existing state-of-the-art techniques.

关键词： Next generation networks massive mimo communication network artificial intelligence 5G adversarial attacks channel estimation information security

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Multi-Scale Time Series Segmentation Network Based on Eddy Current Testing for Detecting Surface Metal Defects

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 528-538页

作者： Xiaorui Li Xiaojuan Ban Haoran Qiao Zhaolin Yuan Hong-Ning Dai Chao Yao Yu Guo Mohammad S.Obaidat George Q.Huang the School of Intelligence Science and technology University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering the Key Laboratory of Intelligent Bionic Unmanned Systems and the Institute of Materials Intelligent Technology Liaoning Academy of Materials IEEE the department of Computer Science Hong Kong Baptist University the School of Computer and communication Engineering Key Laboratory of Advanced Materials and Devices for Post-Moore Chips Ministry of Education University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing the School of Computer and communication Engineering University of Science and Technology Beijing the King Abdullah Ⅱ School of information technology The University of Jordan the department of Computational Intelligence the School of Computing SRM University the School of Engineering The Amity University The Hong Kong Polytechnic University

In high-risk industrial environments like nuclear power plants, precise defect identification and localization are essential for maintaining production stability and safety. However, the complexity of such a harsh environment leads to significant variations in the shape and size of the defects. To address this challenge, we propose the multivariate time series segmentation network(MSSN), which adopts a multiscale convolutional network with multi-stage and depth-separable convolutions for efficient feature extraction through variable-length templates. To tackle the classification difficulty caused by structural signal variance, MSSN employs logarithmic normalization to adjust instance distributions. Furthermore, it integrates classification with smoothing loss functions to accurately identify defect segments amid similar structural and defect signal subsequences. Our algorithm evaluated on both the Mackey-Glass dataset and industrial dataset achieves over 95% localization and demonstrates the capture capability on the synthetic dataset. In a nuclear plant's heat transfer tube dataset, it captures 90% of defect instances with75% middle localization F1 score.

关键词： Eddy current testing nondestructive testing semantic segmentation time series analysis

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Low-complexity channel estimation for wideband mmWave massive MIMO systems with uniform planar arrays

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The Journal of China Universities of Posts and Telecommunications 2025年

作者： Wang Haotian Liu Lizhou Qiu Ling Zhang Lei School of Electronic and information Engineering， University of Science and technology of China

Millimeter-wave (mmWave) and massive multiple-input multiple-output (MIMO) are broadly recognized as key enabling technologies for the fifth generation communication systems. In this paper， a low-complexity angle-delay parameters estimation (ADPE) method was put forward for wideband mmWave systems with uniformly planar arrays (UPA). In particular， ADPE method effectively decouples the angle-delay parameters and converts the angle-delay estimation problem into three independent subproblems. Accordingly， the ability to devise an off-grid method based on discrete Fourier transform (DFT) with a closed-form solution for angle-delay estimation and potential path number acquisition can be realized. In actuality， only a limited number of potential paths are close to the true paths influenced by noise. Consequently， the removal of noise paths to acquire the corresponding true path gains through a sparsity adaptive path gains estimation (APGE) method is postulated. Finally， the simulation results substantiate the effectiveness of ADPE and APGE methods.

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Side-channel free quantum digital signature with source monitoring

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Chinese Physics B 2025年第1期34卷 53-58页

作者： Luo-Jia Ma Ming-Shuo Sun Chun-Hui Zhang Hua-Jian Ding Xing-Yu Zhou Jian Li Qin Wang Institute of Quantum information and technology Nanjing University of Posts and TelecommunicationsNanjing 210003China Broadband Wireless communication and Sensor Network technology Key Laboratory of Ministry of EducationNanjing University of Posts and TelecommunicationsNanjing 210003China

Quantum digital signature(QDS)can guarantee the information-theoretical security of a signature with the fundamental laws of quantum ***,most current QDS protocols do not take source security into account,leading to an overestimation of the signature *** this paper,we propose to utilize Hong–Ou–Mandel interference to characterize the upper bound of the source imperfections,and further to quantify information leakage from potential ***,we combine decoy-state methods and finite-size analysis in analyzing the signature *** results demonstrate the performance and feasibility of our *** current work can improve the practical security of QDS systems,thereby promoting their further networked applications.

关键词： Hong-Ou-Mandel interference side-channel free quantum digital signature

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K-Corruption Intermittent Attacks for Violating the Codiagnosability

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 159-172页

作者： Ruotian Liu Yihui Hu Agostino Marcello Mangini Maria Pia Fanti IEEE the department of Electrical and information Engineering Polytechnic University of Bari the School of Automation Xi'an University of Posts and Telecommunications

In this work, we address the codiagnosability analysis problem of a networked discrete event system under malicious attacks. The considered system is modeled by a labeled Petri net and is monitored by a series of sites, in which each site possesses its own set of sensors, without requiring communication among sites or to any coordinators. A net is said to be codiagnosable with respect to a fault if at least one site could deduce the occurrence of this fault within finite steps. In this context, we focus on a type of malicious attack that is called stealthy intermittent replacement attack. The stealthiness demands that the corrupted observations should be consistent with the system's normal behavior, while the intermittent replacement setting entails that the replaced transition labels must be recovered within a bounded of consecutive corrupted observations(called as K-corruption intermittent attack). Particularly, there exists a coordination between attackers that are separately effected on different sites, which holds the same corrupted observation for each common transition under attacks. From an attacker viewpoint, this work aims to design Kcorruption intermittent attacks for violating the codiagnosability of systems. For this purpose, we propose an attack automaton to analyze K-corruption intermittent attack for each site, and build a new structure called complete attack graph that is used to analyze all the potential attacked paths. Finally, an algorithm is inferred to obtain the K-corruption intermittent attacks, and examples are given to show the proposed attack strategy.

关键词： Codiagnosability decentralized structure discrete event system intermittent attack Petri net

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A Comprehensive Survey on Federated Learning Applications in Computational Mental Healthcare

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Computer Modeling in Engineering & Sciences 2025年第1期142卷 49-90页

作者： Vajratiya Vajrobol Geetika Jain Saxena Amit Pundir Sanjeev Singh Akshat Gaurav Savi Bansal Razaz Waheeb Attar Mosiur Rahman Brij B.Gupta Institute of Informatics and communication University of DelhiDelhi110021India Maharaja Agrasen College University of DelhiDelhi110096India Computer Engineering Ronin InstituteMontclairNJ 07043USA department of Research and Innovation Insights2TechinfoJaipur302001India University Centre for Research and Development(UCRD) Chandigarh UniversityChandigarh140413India Management department College of Business AdministrationPrincess Nourah bint Abdulrahman UniversityRiyadh11671Saudi Arabia CCRI&department of Computer Science and information Engineering Asia UniversityTaichung413Taiwan Symbiosis Centre for information technology(SCIT) Symbiosis International UniversityPune411057India Center for Interdisciplinary Research University of Petroleum and Energy Studies(UPES)Dehradun248007India

Mental health is a significant issue worldwide,and the utilization of technology to assist mental health has seen a growing *** aims to alleviate the workload on healthcare professionals and aid *** applications have been developed to support the challenges in intelligent healthcare ***,because mental health data is sensitive,privacy concerns have *** learning has gotten some *** research reviews the studies on federated learning and mental health related to solving the issue of intelligent healthcare *** explores various dimensions of federated learning in mental health,such as datasets(their types and sources),applications categorized based on mental health symptoms,federated mental health frameworks,federated machine learning,federated deep learning,and the benefits of federated learning in mental health *** research conducts surveys to evaluate the current state of mental health applications,mainly focusing on the role of Federated Learning(FL)and related privacy and data security *** survey provides valuable insights into how these applications are emerging and evolving,specifically emphasizing FL’s impact.

关键词： Depression emotional recognition intelligent healthcare systems mental health federated learning stress detection sleep behaviour

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