Deep learning-based wind turbine blade fault diagnosis has been widely applied due to its advantages in end-to-end feature extraction.However,several challenges remain.First,signal noise collected during blade operati...Deep learning-based wind turbine blade fault diagnosis has been widely applied due to its advantages in end-to-end feature extraction.However,several challenges remain.First,signal noise collected during blade operation masks fault features,severely impairing the fault diagnosis performance of deep learning models.Second,current blade fault diagnosis often relies on single-sensor data,resulting in limited monitoring dimensions and ability to comprehensively capture complex fault states.To address these issues,a multi-sensor fusion-based wind turbine blade fault diagnosis method is proposed.Specifically,a CNN-Transformer Coupled Feature Learning Architecture is constructed to enhance the ability to learn complex features under noisy conditions,while a Weight-Aligned Data Fusion Module is designed to comprehensively and effectively utilize multi-sensor fault information.Experimental results of wind turbine blade fault diagnosis under different noise interferences show that higher accuracy is achieved by the proposed method compared to models with single-source data input,enabling comprehensive and effective fault diagnosis.展开更多
As a cornerstone for applications such as autonomous driving,3D urban perception is a burgeoning field of study.Enhancing the performance and robustness of these perception systems is crucial for ensuring the safety o...As a cornerstone for applications such as autonomous driving,3D urban perception is a burgeoning field of study.Enhancing the performance and robustness of these perception systems is crucial for ensuring the safety of next-generation autonomous vehicles.In this work,we introduce a novel neural scene representation called Street Detection Gaussians(SDGs),which redefines urban 3D perception through an integrated architecture unifying reconstruction and detection.At its core lies the dynamic Gaussian representation,where time-conditioned parameterization enables simultaneous modeling of static environments and dynamic objects through physically constrained Gaussian evolution.The framework’s radar-enhanced perception module learns cross-modal correlations between sparse radardata anddense visual features,resulting ina22%reduction inocclusionerrors compared tovisiononly systems.A breakthrough differentiable rendering pipeline back-propagates semantic detection losses throughout the entire 3D reconstruction process,enabling the optimization of both geometric and semantic fidelity.Evaluated on the Waymo Open Dataset and the KITTI Dataset,the system achieves real-time performance(135 Frames Per Second(FPS)),photorealistic quality(Peak Signal-to-Noise Ratio(PSNR)34.9 dB),and state-of-the-art detection accuracy(78.1%Mean Average Precision(mAP)),demonstrating a 3.8×end-to-end improvement over existing hybrid approaches while enabling seamless integration with autonomous driving stacks.展开更多
Distributed autonomous situational awareness is one of the most important foundation for Unmanned Aerial Vehicle(UAV)swarm to implement various missions.Considering the application environment being usually characteri...Distributed autonomous situational awareness is one of the most important foundation for Unmanned Aerial Vehicle(UAV)swarm to implement various missions.Considering the application environment being usually characterized by strong confrontation,high dynamics,and deep uncertainty,the distributed situational awareness system based on UAV swarm needs to be driven by the mission requirements,while each node in the network can autonomously avoid collisions and perform detection mission through limited resource sharing as well as complementarity of respective advantages.By efficiently solving the problems of self-avoidance,autonomous flocking and splitting,joint estimation and control,etc.,perception data from multi-platform multi-source should be extracted and fused reasonably,to generate refined,tailored target information and provide reliable support for decision-making.展开更多
The deployment of vehicle micro-motors has witnessed an expansion owing to the progression in electrification and intelligent technologies.However,some micro-motors may exhibit design deficiencies,component wear,assem...The deployment of vehicle micro-motors has witnessed an expansion owing to the progression in electrification and intelligent technologies.However,some micro-motors may exhibit design deficiencies,component wear,assembly errors,and other imperfections that may arise during the design or manufacturing phases.Conse-quently,these micro-motors might generate anomalous noises during their operation,consequently exerting a substantial adverse influence on the overall comfort of drivers and passengers.Automobile micro-motors exhibit a diverse array of structural variations,consequently leading to the manifestation of a multitude of distinctive auditory irregularities.To address the identification of diverse forms of abnormal noise,this research presents a novel approach rooted in the utilization of vibro-acoustic fusion-convolutional neural network(VAF-CNN).This method entails the deployment of distinct network branches,each serving to capture disparate features from the multi-sensor data,all the while considering the auditory perception traits inherent in the human auditory sys-tem.The intermediary layer integrates the concept of adaptive weighting of multi-sensor features,thus affording a calibration mechanism for the features hailing from multiple sensors,thereby enabling a further refinement of features within the branch network.For optimal model efficacy,a feature fusion mechanism is implemented in the concluding layer.To substantiate the efficacy of the proposed approach,this paper initially employs an augmented data methodology inspired by modified SpecAugment,applied to the dataset of abnormal noise sam-ples,encompassing scenarios both with and without in-vehicle interior noise.This serves to mitigate the issue of limited sample availability.Subsequent comparative evaluations are executed,contrasting the performance of the model founded upon single-sensor data against other feature fusion models reliant on multi-sensor data.The experimental results substantiate that the suggested methodology yields heightened recognition accuracy and greater resilience against interference.Moreover,it holds notable practical significance in the engineering domain,as it furnishes valuable support for the targeted management of noise emanating from vehicle micro-motors.展开更多
Ensuring that autonomous vehicles maintain high precision and rapid response capabilities in complex and dynamic driving environments is a critical challenge in the field of autonomous driving.This study aims to enhan...Ensuring that autonomous vehicles maintain high precision and rapid response capabilities in complex and dynamic driving environments is a critical challenge in the field of autonomous driving.This study aims to enhance the learning efficiency ofmulti-sensor feature fusion in autonomous driving tasks,thereby improving the safety and responsiveness of the system.To achieve this goal,we propose an innovative multi-sensor feature fusion model that integrates three distinct modalities:visual,radar,and lidar data.The model optimizes the feature fusion process through the introduction of two novel mechanisms:Sparse Channel Pooling(SCP)and Residual Triplet-Attention(RTA).Firstly,the SCP mechanism enables the model to adaptively filter out salient feature channels while eliminating the interference of redundant features.This enhances the model’s emphasis on critical features essential for decisionmaking and strengthens its robustness to environmental variability.Secondly,the RTA mechanism addresses the issue of feature misalignment across different modalities by effectively aligning key cross-modal features.This alignment reduces the computational overhead associated with redundant features and enhances the overall efficiency of the system.Furthermore,this study incorporates a reinforcement learning module designed to optimize strategies within a continuous action space.By integrating thismodulewith the feature fusion learning process,the entire system is capable of learning efficient driving strategies in an end-to-end manner within the CARLA autonomous driving simulator.Experimental results demonstrate that the proposedmodel significantly enhances the perception and decision-making accuracy of the autonomous driving system in complex traffic scenarios while maintaining real-time responsiveness.This work provides a novel perspective and technical pathway for the application of multi-sensor data fusion in autonomous driving.展开更多
Gait,the unique pattern of how a person walks,has emerged as one of the most promising biometric features in modern intelligent sensing.Unlike fingerprints or facial characteristics,gait can be captured unobtrusively ...Gait,the unique pattern of how a person walks,has emerged as one of the most promising biometric features in modern intelligent sensing.Unlike fingerprints or facial characteristics,gait can be captured unobtrusively and at a distance,without requiring the subject’s awareness or cooperation.This makes it highly suitable for long-range surveillance,forensic investigation,and smart environments where contactless recognition is crucial.Traditional gait-recognition systems rely either on silhouettes,which capture the outer appearance of a person,or on skeletons,which describe the internal structure of human motion.Each modality provides only a partial understanding of gait.Silhouettes emphasize shape and contour but are easily distorted by clothing or carried objects;skeletons describe motion dynamics and limb coordination but lose discriminative details about body shape.This article presents the concept of Complementary Semantic Embedding(CSE),a unified framework that merges silhouette and skeleton information into a comprehensive semantic representation of human walking.By modeling the complementary nature of appearance and structure,the approach achieves more robust and accurate gait recognition even under challenging conditions.展开更多
With the increasing importance of multimodal data in emotional expression on social media,mainstream methods for sentiment analysis have shifted from unimodal to multimodal approaches.However,the challenges of extract...With the increasing importance of multimodal data in emotional expression on social media,mainstream methods for sentiment analysis have shifted from unimodal to multimodal approaches.However,the challenges of extracting high-quality emotional features and achieving effective interaction between different modalities remain two major obstacles in multimodal sentiment analysis.To address these challenges,this paper proposes a Text-Gated Interaction Network with Inter-Sample Commonality Perception(TGICP).Specifically,we utilize a Inter-sample Commonality Perception(ICP)module to extract common features from similar samples within the same modality,and use these common features to enhance the original features of each modality,thereby obtaining a richer and more complete multimodal sentiment representation.Subsequently,in the cross-modal interaction stage,we design a Text-Gated Interaction(TGI)module,which is text-driven.By calculating the mutual information difference between the text modality and nonverbal modalities,the TGI module dynamically adjusts the influence of emotional information from the text modality on nonverbal modalities.This helps to reduce modality information asymmetry while enabling full cross-modal interaction.Experimental results show that the proposed model achieves outstanding performance on both the CMU-MOSI and CMU-MOSEI baseline multimodal sentiment analysis datasets,validating its effectiveness in emotion recognition tasks.展开更多
The received signals used for sparse code multiple access(SCMA)detection are usually contaminated with noise during transmission,which exposes an issue of low decoding efficiency.To address this issue,a novel detector...The received signals used for sparse code multiple access(SCMA)detection are usually contaminated with noise during transmission,which exposes an issue of low decoding efficiency.To address this issue,a novel detector based on a residual network(ResNet)perception fusion framework(RSMPA)is proposed for uplink SCMA system in this paper.Specifically,we first formulate a joint design of perception system and traditional communication module.A perception framework based on ResNet is applied to cancel the noise component and enhance the communication system performance.The ResNet model is designed and trained using the clean and noisy SCMA signal,respectively.Based on the denoised output,information iteration process is executed for multi-user detection.Simulation results indicate that the perception model achieves an excellent denoising performance for SCMA system and the proposed scheme outperforms the conventional detection algorithms in terms of SER performance.展开更多
Because the hydraulic directional valve usually works in a bad working environment and is disturbed by multi-factor noise,the traditional single sensor monitoring technology is difficult to use for an accurate diagnos...Because the hydraulic directional valve usually works in a bad working environment and is disturbed by multi-factor noise,the traditional single sensor monitoring technology is difficult to use for an accurate diagnosis of it.Therefore,a fault diagnosis method based on multi-sensor information fusion is proposed in this paper to reduce the inaccuracy and uncertainty of traditional single sensor information diagnosis technology and to realize accurate monitoring for the location or diagnosis of early faults in such valves in noisy environments.Firstly,the statistical features of signals collected by the multi-sensor are extracted and the depth features are obtained by a convolutional neural network(CNN)to form a complete and stable multi-dimensional feature set.Secondly,to obtain a weighted multi-dimensional feature set,the multi-dimensional feature sets of similar sensors are combined,and the entropy weight method is used to weight these features to reduce the interference of insensitive features.Finally,the attention mechanism is introduced to improve the dual-channel CNN,which is used to adaptively fuse the weighted multi-dimensional feature sets of heterogeneous sensors,to flexibly select heterogeneous sensor information so as to achieve an accurate diagnosis.Experimental results show that the weighted multi-dimensional feature set obtained by the proposed method has a high fault-representation ability and low information redundancy.It can diagnose simultaneously internal wear faults of the hydraulic directional valve and electromagnetic faults of actuators that are difficult to diagnose by traditional methods.This proposed method can achieve high fault-diagnosis accuracy under severe working conditions.展开更多
As the differences of sensor＇s precision and some random factors are difficult to control,the actual measurement signals are far from the target signals that affect the reliability and precision of rotating machinery...As the differences of sensor＇s precision and some random factors are difficult to control,the actual measurement signals are far from the target signals that affect the reliability and precision of rotating machinery fault diagnosis.The traditional signal processing methods,such as classical inference and weighted averaging algorithm usually lack dynamic adaptability that is easy for trends to cause the faults to be misjudged or left out.To enhance the measuring veracity and precision of vibration signal in rotary machine multi-sensor vibration signal fault diagnosis,a novel data level fusion approach is presented on the basis of correlation function analysis to fast determine the weighted value of multi-sensor vibration signals.The approach doesn＇t require knowing the prior information about sensors,and the weighted value of sensors can be confirmed depending on the correlation measure of real-time data tested in the data level fusion process.It gives greater weighted value to the greater correlation measure of sensor signals,and vice versa.The approach can effectively suppress large errors and even can still fuse data in the case of sensor failures because it takes full advantage of sensor＇s own-information to determine the weighted value.Moreover,it has good performance of anti-jamming due to the correlation measures between noise and effective signals are usually small.Through the simulation of typical signal collected from multi-sensors,the comparative analysis of dynamic adaptability and fault tolerance between the proposed approach and traditional weighted averaging approach is taken.Finally,the rotor dynamics and integrated fault simulator is taken as an example to verify the feasibility and advantages of the proposed approach,it is shown that the multi-sensor data level fusion based on correlation function weighted approach is better than the traditional weighted average approach with respect to fusion precision and dynamic adaptability.Meantime,the approach is adaptable and easy to use,can be applied to other areas of vibration measurement.展开更多
This paper presents a data fusion method in distributed multi-sensor system including GPS and INS sensors’ data processing. First, a residual χ 2 \|test strategy with the corresponding algorithm is designed. Then a ...This paper presents a data fusion method in distributed multi-sensor system including GPS and INS sensors’ data processing. First, a residual χ 2 \|test strategy with the corresponding algorithm is designed. Then a coefficient matrices calculation method of the information sharing principle is derived. Finally, the federated Kalman filter is used to combine these independent, parallel, real\|time data. A pseudolite (PL) simulation example is given.展开更多
The coal-rock interface recognition method based on multi-sensor data fusiontechnique is put forward because of the localization of single type sensor recognition method. Themeasuring theory based on multi-sensor data...The coal-rock interface recognition method based on multi-sensor data fusiontechnique is put forward because of the localization of single type sensor recognition method. Themeasuring theory based on multi-sensor data fusion technique is analyzed, and hereby the testplatform of recognition system is manufactured. The advantage of data fusion with the fuzzy neuralnetwork (FNN) technique has been probed. The two-level FNN is constructed and data fusion is carriedout. The experiments show that in various conditions the method can always acquire a much higherrecognition rate than normal ones.展开更多
Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges...Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges mentioned above with a single model.To tackle this dilemma,this paper proposes spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting(STSIGMA),an efficient end-to-end method to jointly and accurately perceive the AD environment and forecast the trajectories of the surrounding traffic agents within a unified framework.ST-SIGMA adopts a trident encoder-decoder architecture to learn scene semantics and agent interaction information on bird’s-eye view(BEV)maps simultaneously.Specifically,an iterative aggregation network is first employed as the scene semantic encoder(SSE)to learn diverse scene information.To preserve dynamic interactions of traffic agents,ST-SIGMA further exploits a spatio-temporal graph network as the graph interaction encoder.Meanwhile,a simple yet efficient feature fusion method to fuse semantic and interaction features into a unified feature space as the input to a novel hierarchical aggregation decoder for downstream prediction tasks is designed.Extensive experiments on the nuScenes data set have demonstrated that the proposed ST-SIGMA achieves significant improvements compared to the state-of-theart(SOTA)methods in terms of scene perception and trajectory forecasting,respectively.Therefore,the proposed approach outperforms SOTA in terms of model generalisation and robustness and is therefore more feasible for deployment in realworld AD scenarios.展开更多
To Meet the requirements of multi-sensor data fusion in diagnosis for complex equipment systems,a novel, fuzzy similarity-based data fusion algorithm is given. Based on fuzzy set theory, it calculates the fuzzy simila...To Meet the requirements of multi-sensor data fusion in diagnosis for complex equipment systems,a novel, fuzzy similarity-based data fusion algorithm is given. Based on fuzzy set theory, it calculates the fuzzy similarity among a certain sensor's measurement values and the multiple sensor's objective prediction values to determine the importance weigh of each sensor,and realizes the multi-sensor diagnosis parameter data fusion.According to the principle, its application software is also designed. The applied example proves that the algorithm can give priority to the high-stability and high -reliability sensors and it is laconic ,feasible and efficient to real-time circumstance measure and data processing in engine diagnosis.展开更多
This paper presents a data fusion algorithm for dynamic system with multi-sensor and uncertain system models. The algorithm is mainly based on Kalman filter and interacting multiple model(IMM). It processes crosscorre...This paper presents a data fusion algorithm for dynamic system with multi-sensor and uncertain system models. The algorithm is mainly based on Kalman filter and interacting multiple model(IMM). It processes crosscorrelated sensor noises by using augmented fusion before model interacting. And eigenvalue decomposition is utilized to reduce calculation complexity and implement parallel computing. In simulation part, the feasibility of the algorithm was tested and verified, and the relationship between sensor number and the estimation precision was studied. Results show that simply increasing the number of sensor cannot always improve the performance of the estimation. Type and number of sensors should be optimized in practical applications.展开更多
Global Navigation Satellite System(GNSS)can provide all-weather,all-time,high-precision positioning,navigation and timing services,which plays an important role in national security,national economy,public life and ot...Global Navigation Satellite System(GNSS)can provide all-weather,all-time,high-precision positioning,navigation and timing services,which plays an important role in national security,national economy,public life and other aspects.However,in environments with limited satellite signals such as urban canyons,tunnels,and indoor spaces,it is difficult to provide accurate and reliable positioning services only by satellite navigation.Multi-source sensor integrated navigation can effectively overcome the limitations of single-sensor navigation through the fusion of different types of sensor data such as Inertial Measurement Unit(IMU),vision sensor,and LiDAR,and provide more accurate,stable and robust navigation information in complex environments.We summarizes the research status of multi-source sensor integrated navigation technology,and focuses on the representative innovations and applications of integrated navigation and positioning technology by major domestic scientific research institutions in China during 2019—2023.展开更多
Due to the rapid development of precision manufacturing technology,much research has been conducted in the field of multisensor measurement and data fusion technology with a goal of enhancing monitoring capabilities i...Due to the rapid development of precision manufacturing technology,much research has been conducted in the field of multisensor measurement and data fusion technology with a goal of enhancing monitoring capabilities in terms of measurement accuracy and information richness,thereby improving the efficiency and precision of manufacturing.In a multisensor system,each sensor independently measures certain parameters.Then,the system uses a relevant signalprocessing algorithm to combine all of the independent measurements into a comprehensive set of measurement results.The purpose of this paper is to describe multisensor measurement and data fusion technology and its applications in precision monitoring systems.The architecture of multisensor measurement systems is reviewed,and some implementations in manufacturing systems are presented.In addition to the multisensor measurement system,related data fusion methods and algorithms are summarized.Further perspectives on multisensor monitoring and data fusion technology are included at the end of this paper.展开更多
Intelligence and perception are two operative technologies in 6G scenarios.The intelligent wireless network and information perception require a deep fusion of artificial intelligence(AI)and wireless communications in...Intelligence and perception are two operative technologies in 6G scenarios.The intelligent wireless network and information perception require a deep fusion of artificial intelligence(AI)and wireless communications in 6G systems.Therefore,fusion is becoming a typical feature and key challenge of 6G wireless communication systems.In this paper,we focus on the critical issues and propose three application scenarios in 6G wireless systems.Specifically,we first discuss the fusion of AI and 6G networks for the enhancement of 5G-advanced technology and future wireless communication systems.Then,we introduce the wireless AI technology architecture with 6G multidimensional information perception,which includes the physical layer technology of multi-dimensional feature information perception,full spectrum fusion technology,and intelligent wireless resource management.The discussion of key technologies for intelligent 6G wireless network networks is expected to provide a guideline for future research.展开更多
With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation sa...With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.展开更多
Environmental perception is a key technology for autonomous driving.Owing to the limitations of a single sensor,multiple sensors are often used in practical applications.However,multi-sensor fusion faces some problems...Environmental perception is a key technology for autonomous driving.Owing to the limitations of a single sensor,multiple sensors are often used in practical applications.However,multi-sensor fusion faces some problems,such as the choice of sensors and fusion methods.To solve these issues,we proposed a machine learning-based fusion sensing system that uses a camera and radar,and that can be used in intelligent vehicles.First,the object detection algorithm is used to detect the image obtained by the camera;in sequence,the radar data is preprocessed,coordinate transformation is performed,and a multi-layer perceptron model for correlating the camera detection results with the radar data is proposed.The proposed fusion sensing system was verified by comparative experiments in a real-world environment.The experimental results show that the system can effectively integrate camera and radar data results,and obtain accurate and comprehensive object information in front of intelligent vehicles.展开更多
基金supported by the China Three Gorges Corporation(No.NBZZ202300860)the National Natural Science Foundation of China(No.52275104)the Science and Technology Innovation Program of Hunan Province(No.2023RC3097).
文摘Deep learning-based wind turbine blade fault diagnosis has been widely applied due to its advantages in end-to-end feature extraction.However,several challenges remain.First,signal noise collected during blade operation masks fault features,severely impairing the fault diagnosis performance of deep learning models.Second,current blade fault diagnosis often relies on single-sensor data,resulting in limited monitoring dimensions and ability to comprehensively capture complex fault states.To address these issues,a multi-sensor fusion-based wind turbine blade fault diagnosis method is proposed.Specifically,a CNN-Transformer Coupled Feature Learning Architecture is constructed to enhance the ability to learn complex features under noisy conditions,while a Weight-Aligned Data Fusion Module is designed to comprehensively and effectively utilize multi-sensor fault information.Experimental results of wind turbine blade fault diagnosis under different noise interferences show that higher accuracy is achieved by the proposed method compared to models with single-source data input,enabling comprehensive and effective fault diagnosis.
文摘As a cornerstone for applications such as autonomous driving,3D urban perception is a burgeoning field of study.Enhancing the performance and robustness of these perception systems is crucial for ensuring the safety of next-generation autonomous vehicles.In this work,we introduce a novel neural scene representation called Street Detection Gaussians(SDGs),which redefines urban 3D perception through an integrated architecture unifying reconstruction and detection.At its core lies the dynamic Gaussian representation,where time-conditioned parameterization enables simultaneous modeling of static environments and dynamic objects through physically constrained Gaussian evolution.The framework’s radar-enhanced perception module learns cross-modal correlations between sparse radardata anddense visual features,resulting ina22%reduction inocclusionerrors compared tovisiononly systems.A breakthrough differentiable rendering pipeline back-propagates semantic detection losses throughout the entire 3D reconstruction process,enabling the optimization of both geometric and semantic fidelity.Evaluated on the Waymo Open Dataset and the KITTI Dataset,the system achieves real-time performance(135 Frames Per Second(FPS)),photorealistic quality(Peak Signal-to-Noise Ratio(PSNR)34.9 dB),and state-of-the-art detection accuracy(78.1%Mean Average Precision(mAP)),demonstrating a 3.8×end-to-end improvement over existing hybrid approaches while enabling seamless integration with autonomous driving stacks.
文摘Distributed autonomous situational awareness is one of the most important foundation for Unmanned Aerial Vehicle(UAV)swarm to implement various missions.Considering the application environment being usually characterized by strong confrontation,high dynamics,and deep uncertainty,the distributed situational awareness system based on UAV swarm needs to be driven by the mission requirements,while each node in the network can autonomously avoid collisions and perform detection mission through limited resource sharing as well as complementarity of respective advantages.By efficiently solving the problems of self-avoidance,autonomous flocking and splitting,joint estimation and control,etc.,perception data from multi-platform multi-source should be extracted and fused reasonably,to generate refined,tailored target information and provide reliable support for decision-making.
基金The author received the funding from Sichuan Natural Science Foundation(2022NSFSC1892).
文摘The deployment of vehicle micro-motors has witnessed an expansion owing to the progression in electrification and intelligent technologies.However,some micro-motors may exhibit design deficiencies,component wear,assembly errors,and other imperfections that may arise during the design or manufacturing phases.Conse-quently,these micro-motors might generate anomalous noises during their operation,consequently exerting a substantial adverse influence on the overall comfort of drivers and passengers.Automobile micro-motors exhibit a diverse array of structural variations,consequently leading to the manifestation of a multitude of distinctive auditory irregularities.To address the identification of diverse forms of abnormal noise,this research presents a novel approach rooted in the utilization of vibro-acoustic fusion-convolutional neural network(VAF-CNN).This method entails the deployment of distinct network branches,each serving to capture disparate features from the multi-sensor data,all the while considering the auditory perception traits inherent in the human auditory sys-tem.The intermediary layer integrates the concept of adaptive weighting of multi-sensor features,thus affording a calibration mechanism for the features hailing from multiple sensors,thereby enabling a further refinement of features within the branch network.For optimal model efficacy,a feature fusion mechanism is implemented in the concluding layer.To substantiate the efficacy of the proposed approach,this paper initially employs an augmented data methodology inspired by modified SpecAugment,applied to the dataset of abnormal noise sam-ples,encompassing scenarios both with and without in-vehicle interior noise.This serves to mitigate the issue of limited sample availability.Subsequent comparative evaluations are executed,contrasting the performance of the model founded upon single-sensor data against other feature fusion models reliant on multi-sensor data.The experimental results substantiate that the suggested methodology yields heightened recognition accuracy and greater resilience against interference.Moreover,it holds notable practical significance in the engineering domain,as it furnishes valuable support for the targeted management of noise emanating from vehicle micro-motors.
文摘Ensuring that autonomous vehicles maintain high precision and rapid response capabilities in complex and dynamic driving environments is a critical challenge in the field of autonomous driving.This study aims to enhance the learning efficiency ofmulti-sensor feature fusion in autonomous driving tasks,thereby improving the safety and responsiveness of the system.To achieve this goal,we propose an innovative multi-sensor feature fusion model that integrates three distinct modalities:visual,radar,and lidar data.The model optimizes the feature fusion process through the introduction of two novel mechanisms:Sparse Channel Pooling(SCP)and Residual Triplet-Attention(RTA).Firstly,the SCP mechanism enables the model to adaptively filter out salient feature channels while eliminating the interference of redundant features.This enhances the model’s emphasis on critical features essential for decisionmaking and strengthens its robustness to environmental variability.Secondly,the RTA mechanism addresses the issue of feature misalignment across different modalities by effectively aligning key cross-modal features.This alignment reduces the computational overhead associated with redundant features and enhances the overall efficiency of the system.Furthermore,this study incorporates a reinforcement learning module designed to optimize strategies within a continuous action space.By integrating thismodulewith the feature fusion learning process,the entire system is capable of learning efficient driving strategies in an end-to-end manner within the CARLA autonomous driving simulator.Experimental results demonstrate that the proposedmodel significantly enhances the perception and decision-making accuracy of the autonomous driving system in complex traffic scenarios while maintaining real-time responsiveness.This work provides a novel perspective and technical pathway for the application of multi-sensor data fusion in autonomous driving.
文摘Gait,the unique pattern of how a person walks,has emerged as one of the most promising biometric features in modern intelligent sensing.Unlike fingerprints or facial characteristics,gait can be captured unobtrusively and at a distance,without requiring the subject’s awareness or cooperation.This makes it highly suitable for long-range surveillance,forensic investigation,and smart environments where contactless recognition is crucial.Traditional gait-recognition systems rely either on silhouettes,which capture the outer appearance of a person,or on skeletons,which describe the internal structure of human motion.Each modality provides only a partial understanding of gait.Silhouettes emphasize shape and contour but are easily distorted by clothing or carried objects;skeletons describe motion dynamics and limb coordination but lose discriminative details about body shape.This article presents the concept of Complementary Semantic Embedding(CSE),a unified framework that merges silhouette and skeleton information into a comprehensive semantic representation of human walking.By modeling the complementary nature of appearance and structure,the approach achieves more robust and accurate gait recognition even under challenging conditions.
基金supported by the Natural Science Foundation of Henan under Grant 242300421220the Henan Provincial Science and Technology Research Project under Grants 252102211047 and 252102211062+3 种基金the Jiangsu Provincial Scheme Double Initiative Plan JSS-CBS20230474the XJTLU RDF-21-02-008the Science and Technology Innovation Project of Zhengzhou University of Light Industry under Grant 23XNKJTD0205the Higher Education Teaching Reform Research and Practice Project of Henan Province under Grant 2024SJGLX0126.
文摘With the increasing importance of multimodal data in emotional expression on social media,mainstream methods for sentiment analysis have shifted from unimodal to multimodal approaches.However,the challenges of extracting high-quality emotional features and achieving effective interaction between different modalities remain two major obstacles in multimodal sentiment analysis.To address these challenges,this paper proposes a Text-Gated Interaction Network with Inter-Sample Commonality Perception(TGICP).Specifically,we utilize a Inter-sample Commonality Perception(ICP)module to extract common features from similar samples within the same modality,and use these common features to enhance the original features of each modality,thereby obtaining a richer and more complete multimodal sentiment representation.Subsequently,in the cross-modal interaction stage,we design a Text-Gated Interaction(TGI)module,which is text-driven.By calculating the mutual information difference between the text modality and nonverbal modalities,the TGI module dynamically adjusts the influence of emotional information from the text modality on nonverbal modalities.This helps to reduce modality information asymmetry while enabling full cross-modal interaction.Experimental results show that the proposed model achieves outstanding performance on both the CMU-MOSI and CMU-MOSEI baseline multimodal sentiment analysis datasets,validating its effectiveness in emotion recognition tasks.
基金This work was supported by China Postdoctoral Science Foundation(2021M702987)the Fundamental Research Funds for the Central Universities(CUC210B032).
文摘The received signals used for sparse code multiple access(SCMA)detection are usually contaminated with noise during transmission,which exposes an issue of low decoding efficiency.To address this issue,a novel detector based on a residual network(ResNet)perception fusion framework(RSMPA)is proposed for uplink SCMA system in this paper.Specifically,we first formulate a joint design of perception system and traditional communication module.A perception framework based on ResNet is applied to cancel the noise component and enhance the communication system performance.The ResNet model is designed and trained using the clean and noisy SCMA signal,respectively.Based on the denoised output,information iteration process is executed for multi-user detection.Simulation results indicate that the perception model achieves an excellent denoising performance for SCMA system and the proposed scheme outperforms the conventional detection algorithms in terms of SER performance.
基金supported by the National Natural Science Foundation of China(Nos.51805376 and U1709208)the Zhejiang Provincial Natural Science Foundation of China(Nos.LY20E050028 and LD21E050001)。
文摘Because the hydraulic directional valve usually works in a bad working environment and is disturbed by multi-factor noise,the traditional single sensor monitoring technology is difficult to use for an accurate diagnosis of it.Therefore,a fault diagnosis method based on multi-sensor information fusion is proposed in this paper to reduce the inaccuracy and uncertainty of traditional single sensor information diagnosis technology and to realize accurate monitoring for the location or diagnosis of early faults in such valves in noisy environments.Firstly,the statistical features of signals collected by the multi-sensor are extracted and the depth features are obtained by a convolutional neural network(CNN)to form a complete and stable multi-dimensional feature set.Secondly,to obtain a weighted multi-dimensional feature set,the multi-dimensional feature sets of similar sensors are combined,and the entropy weight method is used to weight these features to reduce the interference of insensitive features.Finally,the attention mechanism is introduced to improve the dual-channel CNN,which is used to adaptively fuse the weighted multi-dimensional feature sets of heterogeneous sensors,to flexibly select heterogeneous sensor information so as to achieve an accurate diagnosis.Experimental results show that the weighted multi-dimensional feature set obtained by the proposed method has a high fault-representation ability and low information redundancy.It can diagnose simultaneously internal wear faults of the hydraulic directional valve and electromagnetic faults of actuators that are difficult to diagnose by traditional methods.This proposed method can achieve high fault-diagnosis accuracy under severe working conditions.
基金supported by National Hi-tech Research and Development Program of China (863 Program, Grant No. 2007AA04Z433)Hunan Provincial Natural Science Foundation of China (Grant No. 09JJ8005)Scientific Research Foundation of Graduate School of Beijing University of Chemical and Technology,China (Grant No. 10Me002)
文摘As the differences of sensor＇s precision and some random factors are difficult to control,the actual measurement signals are far from the target signals that affect the reliability and precision of rotating machinery fault diagnosis.The traditional signal processing methods,such as classical inference and weighted averaging algorithm usually lack dynamic adaptability that is easy for trends to cause the faults to be misjudged or left out.To enhance the measuring veracity and precision of vibration signal in rotary machine multi-sensor vibration signal fault diagnosis,a novel data level fusion approach is presented on the basis of correlation function analysis to fast determine the weighted value of multi-sensor vibration signals.The approach doesn＇t require knowing the prior information about sensors,and the weighted value of sensors can be confirmed depending on the correlation measure of real-time data tested in the data level fusion process.It gives greater weighted value to the greater correlation measure of sensor signals,and vice versa.The approach can effectively suppress large errors and even can still fuse data in the case of sensor failures because it takes full advantage of sensor＇s own-information to determine the weighted value.Moreover,it has good performance of anti-jamming due to the correlation measures between noise and effective signals are usually small.Through the simulation of typical signal collected from multi-sensors,the comparative analysis of dynamic adaptability and fault tolerance between the proposed approach and traditional weighted averaging approach is taken.Finally,the rotor dynamics and integrated fault simulator is taken as an example to verify the feasibility and advantages of the proposed approach,it is shown that the multi-sensor data level fusion based on correlation function weighted approach is better than the traditional weighted average approach with respect to fusion precision and dynamic adaptability.Meantime,the approach is adaptable and easy to use,can be applied to other areas of vibration measurement.
文摘This paper presents a data fusion method in distributed multi-sensor system including GPS and INS sensors’ data processing. First, a residual χ 2 \|test strategy with the corresponding algorithm is designed. Then a coefficient matrices calculation method of the information sharing principle is derived. Finally, the federated Kalman filter is used to combine these independent, parallel, real\|time data. A pseudolite (PL) simulation example is given.
基金This project is supported by Provincial Youth Science Foundation of Shanxi China (No.20011020)National Natural Science Foundation of China (No.59975064).
文摘The coal-rock interface recognition method based on multi-sensor data fusiontechnique is put forward because of the localization of single type sensor recognition method. Themeasuring theory based on multi-sensor data fusion technique is analyzed, and hereby the testplatform of recognition system is manufactured. The advantage of data fusion with the fuzzy neuralnetwork (FNN) technique has been probed. The two-level FNN is constructed and data fusion is carriedout. The experiments show that in various conditions the method can always acquire a much higherrecognition rate than normal ones.
基金Basic and Advanced Research Projects of CSTC,Grant/Award Number:cstc2019jcyj-zdxmX0008Science and Technology Research Program of Chongqing Municipal Education Commission,Grant/Award Numbers:KJQN202100634,KJZDK201900605National Natural Science Foundation of China,Grant/Award Number:62006065。
文摘Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges mentioned above with a single model.To tackle this dilemma,this paper proposes spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting(STSIGMA),an efficient end-to-end method to jointly and accurately perceive the AD environment and forecast the trajectories of the surrounding traffic agents within a unified framework.ST-SIGMA adopts a trident encoder-decoder architecture to learn scene semantics and agent interaction information on bird’s-eye view(BEV)maps simultaneously.Specifically,an iterative aggregation network is first employed as the scene semantic encoder(SSE)to learn diverse scene information.To preserve dynamic interactions of traffic agents,ST-SIGMA further exploits a spatio-temporal graph network as the graph interaction encoder.Meanwhile,a simple yet efficient feature fusion method to fuse semantic and interaction features into a unified feature space as the input to a novel hierarchical aggregation decoder for downstream prediction tasks is designed.Extensive experiments on the nuScenes data set have demonstrated that the proposed ST-SIGMA achieves significant improvements compared to the state-of-theart(SOTA)methods in terms of scene perception and trajectory forecasting,respectively.Therefore,the proposed approach outperforms SOTA in terms of model generalisation and robustness and is therefore more feasible for deployment in realworld AD scenarios.
文摘To Meet the requirements of multi-sensor data fusion in diagnosis for complex equipment systems,a novel, fuzzy similarity-based data fusion algorithm is given. Based on fuzzy set theory, it calculates the fuzzy similarity among a certain sensor's measurement values and the multiple sensor's objective prediction values to determine the importance weigh of each sensor,and realizes the multi-sensor diagnosis parameter data fusion.According to the principle, its application software is also designed. The applied example proves that the algorithm can give priority to the high-stability and high -reliability sensors and it is laconic ,feasible and efficient to real-time circumstance measure and data processing in engine diagnosis.
基金the National Natural Science Foundation of China(No.61374160)the Shanghai Aerospace Science and Technology Innovation Fund(No.SAST201237)
文摘This paper presents a data fusion algorithm for dynamic system with multi-sensor and uncertain system models. The algorithm is mainly based on Kalman filter and interacting multiple model(IMM). It processes crosscorrelated sensor noises by using augmented fusion before model interacting. And eigenvalue decomposition is utilized to reduce calculation complexity and implement parallel computing. In simulation part, the feasibility of the algorithm was tested and verified, and the relationship between sensor number and the estimation precision was studied. Results show that simply increasing the number of sensor cannot always improve the performance of the estimation. Type and number of sensors should be optimized in practical applications.
基金National Key R&D Program of China(No.2021YFB2501102)。
文摘Global Navigation Satellite System(GNSS)can provide all-weather,all-time,high-precision positioning,navigation and timing services,which plays an important role in national security,national economy,public life and other aspects.However,in environments with limited satellite signals such as urban canyons,tunnels,and indoor spaces,it is difficult to provide accurate and reliable positioning services only by satellite navigation.Multi-source sensor integrated navigation can effectively overcome the limitations of single-sensor navigation through the fusion of different types of sensor data such as Inertial Measurement Unit(IMU),vision sensor,and LiDAR,and provide more accurate,stable and robust navigation information in complex environments.We summarizes the research status of multi-source sensor integrated navigation technology,and focuses on the representative innovations and applications of integrated navigation and positioning technology by major domestic scientific research institutions in China during 2019—2023.
基金the financial support from Shanghai Science and Technology Committee Innovation Grand(Grant Nos.19ZR1404600,17JC1400601)National Key R&D Program of China(Project Nos.2017YFA0701200,2016YFF0102003)Science Challenging Program of CAEP(Grant No.JCKY2016212 A506-0106).
文摘Due to the rapid development of precision manufacturing technology,much research has been conducted in the field of multisensor measurement and data fusion technology with a goal of enhancing monitoring capabilities in terms of measurement accuracy and information richness,thereby improving the efficiency and precision of manufacturing.In a multisensor system,each sensor independently measures certain parameters.Then,the system uses a relevant signalprocessing algorithm to combine all of the independent measurements into a comprehensive set of measurement results.The purpose of this paper is to describe multisensor measurement and data fusion technology and its applications in precision monitoring systems.The architecture of multisensor measurement systems is reviewed,and some implementations in manufacturing systems are presented.In addition to the multisensor measurement system,related data fusion methods and algorithms are summarized.Further perspectives on multisensor monitoring and data fusion technology are included at the end of this paper.
文摘Intelligence and perception are two operative technologies in 6G scenarios.The intelligent wireless network and information perception require a deep fusion of artificial intelligence(AI)and wireless communications in 6G systems.Therefore,fusion is becoming a typical feature and key challenge of 6G wireless communication systems.In this paper,we focus on the critical issues and propose three application scenarios in 6G wireless systems.Specifically,we first discuss the fusion of AI and 6G networks for the enhancement of 5G-advanced technology and future wireless communication systems.Then,we introduce the wireless AI technology architecture with 6G multidimensional information perception,which includes the physical layer technology of multi-dimensional feature information perception,full spectrum fusion technology,and intelligent wireless resource management.The discussion of key technologies for intelligent 6G wireless network networks is expected to provide a guideline for future research.
基金supported in part by the Guangxi Power Grid Company’s 2023 Science and Technol-ogy Innovation Project(No.GXKJXM20230169)。
文摘With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.
基金the National Natural Science Foundation of China(No.U1764264/61873165)the Shanghai Automotive Industry Science and Technology Development Foundation(No.1733/1807)。
文摘Environmental perception is a key technology for autonomous driving.Owing to the limitations of a single sensor,multiple sensors are often used in practical applications.However,multi-sensor fusion faces some problems,such as the choice of sensors and fusion methods.To solve these issues,we proposed a machine learning-based fusion sensing system that uses a camera and radar,and that can be used in intelligent vehicles.First,the object detection algorithm is used to detect the image obtained by the camera;in sequence,the radar data is preprocessed,coordinate transformation is performed,and a multi-layer perceptron model for correlating the camera detection results with the radar data is proposed.The proposed fusion sensing system was verified by comparative experiments in a real-world environment.The experimental results show that the system can effectively integrate camera and radar data results,and obtain accurate and comprehensive object information in front of intelligent vehicles.
