This article explores the design of a wireless fire alarm system supported by advanced data fusion technology.It includes discussions on the basic design ideas of the wireless fire alarm system,hardware design analysi...This article explores the design of a wireless fire alarm system supported by advanced data fusion technology.It includes discussions on the basic design ideas of the wireless fire alarm system,hardware design analysis,software design analysis,and simulation analysis,all supported by data fusion technology.Hopefully,this analysis can provide some reference for the rational application of data fusion technology to meet the actual design and application requirements of the system.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
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
In order to improve the ability of a bionic quadruped robot to percept the location of obstacles in a complex and dynamic environment, the information fusion between an ultrasonic sensor and a binocular sensor was stu...In order to improve the ability of a bionic quadruped robot to percept the location of obstacles in a complex and dynamic environment, the information fusion between an ultrasonic sensor and a binocular sensor was studied under the condition that the robot moves in the Walk gait on a structured road. Firstly, the distance information of obstacles from these two sensors was separately processed by the Kalman filter algorithm, which largely reduced the noise interference. After that, we obtained two groups of estimated distance values from the robot to the obstacle and a variance of the estimation value. Additionally, a fusion of the estimation values and the variances was achieved based on the STF fusion algorithm. Finally, a simulation was performed to show that the curve of a real value was tracked well by that of the estimation value, which attributes to the effectiveness of the Kalman filter algorithm. In contrast to statistics before fusion, the fusion variance of the estimation value was sharply decreased. The precision of the position information is 4. 6 cm, which meets the application requirements of the robot.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
The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results ...The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experiments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.展开更多
In order to address the issue of sensor configuration redundancy in intelligent driving,this paper constructs a multi-objective optimization model that considers cost,coverage ability,and perception performance.And th...In order to address the issue of sensor configuration redundancy in intelligent driving,this paper constructs a multi-objective optimization model that considers cost,coverage ability,and perception performance.And then,combining a specific set of parameters,the NSGA-II algorithm is used to solve the multi-objective model established in this paper,and a Pareto front containing 24 typical configuration schemes is extracted after considering empirical constraints.Finally,using the decision preference method proposed in this paper that combines subjective and objective factors,decision scores are calculated and ranked for various configuration schemes from both cost and performance preferences.The research results indicate that the multi-objective optimization model established in this paper can screen and optimize various configuration schemes from the optimal principle of the vehicle,and the optimized configuration schemes can be quantitatively ranked to obtain the decision results for the vehicle under different preference tendencies.展开更多
Although laser powder bed fusion(LPBF)technology is considered one of the most promising additive man-ufacturing techniques,the fabricated parts still suffer from porosity defects,which can severely impact their mecha...Although laser powder bed fusion(LPBF)technology is considered one of the most promising additive man-ufacturing techniques,the fabricated parts still suffer from porosity defects,which can severely impact their mechanical performance.Monitoring the printing process using a variety of sensors to collect process signals can realize a comprehensive capture of the processing status;thus,the monitoring accuracy can be improved.However,existing multi-sensing signals are mainly optical and acoustic,and camera-based signals are mostly layer-wise images captured after printing,preventing real-time monitoring.This paper proposes a real-time melt-pool-based in-situ quality monitoring method for LPBF using multiple sensors.High-speed cameras,photodiodes,and microphones were used to collect signals during the experimental process.All three types of signals were transformed from one-dimensional time-domain signals into corresponding two-dimensional grayscale images,which enabled the capture of more localized features.Based on an improved LeNet-5 model and the weighted Dempster-Shafer evidence theory,single-sensor,dual-sensor and triple-sensor fusion monitoring models were in-vestigated with the three types of signals,and their performances were compared.The results showed that the triple-sensor fusion monitoring model achieved the highest recognition accuracy,with accuracy rates of 97.98%,92.63%,and 100%for high-,medium-,and low-quality samples,respectively.Hence,a multi-sensor fusion based melt pool monitoring system can improve the accuracy of quality monitoring in the LPBF process,which has the potential to reduce porosity defects.Finally,the experimental analysis demonstrates that the convolutional neural network proposed in this study has better classification accuracy compared to other machine learning models.展开更多
This paper proposes a sub-critical nuclear energy system driven by fusion neutron source, FDS, which can be used to transmute long-lived radioactive wastes and to produce fissile nuclear fuel as a way for early applic...This paper proposes a sub-critical nuclear energy system driven by fusion neutron source, FDS, which can be used to transmute long-lived radioactive wastes and to produce fissile nuclear fuel as a way for early application of fusion technology. The necessity and feasibility to develop that system in China are illustrated on the basis of prediction of the demand of energy source in the first half of the 21th century, the status of current fission energy supply and the progress in fusion technology in the world. The characteristics of fusion neutron driver and the potential for transmutation of long-lived nuclear wastes and breeding of fissile nuclear fuel in a blanket are analyzed. A scenario of development steps is proposed.展开更多
The development of network and information technology has brought changes to the production environment of scientific and technological information,leading to the integration of multi-type scien-tific and technologica...The development of network and information technology has brought changes to the production environment of scientific and technological information,leading to the integration of multi-type scien-tific and technological information,which has become one of the primary research focuses in the cur-rent field of scientific and technological information analysis.This article proposes a basic mode to realize the fusion of multi-type scientific and technological information,expounds the corresponding basic construction method,and applies it to the scientific and technological topics identification in the field of artificial intelligence(AI).The research results show that the multi-type scientific and technological information fusion mode proposed in this article has certain feasibility in specific appli-cation scenarios,which lays a foundation for the subsequent research work.展开更多
Cable-driven soft robots exhibit complex deformations,making state estimation challenging.Hence,this paper develops a multi-sensor fusion approach using a gradient descent strategy to estimate the weighting coefficien...Cable-driven soft robots exhibit complex deformations,making state estimation challenging.Hence,this paper develops a multi-sensor fusion approach using a gradient descent strategy to estimate the weighting coefficients.These coefficients combine measurements from proprioceptive sensors,such as resistive flex sensors,to determine the bending angle.Additionally,the fusion strategy adopted provides robust state estimates,overcoming mismatches between the flex sensors and soft robot dimensions.Furthermore,a nonlinear differentiator is introduced to filter the differentiated sensor signals to address noise and irrational values generated by the Analog-to-Digital Converter.A rational polynomial equation is also introduced to compensate for temperature drift exhibited by the resistive flex sensors,which affect the accuracy of state estimation and control.The processed multi-sensor data is then utilized in an improved PD controller for closed-loop control of the soft robot.The controller incorporates the nonlinear differentiator and drift compensation,enhancing tracking performance.Experimental results validate the effectiveness of the integrated approach,demonstrating improved tracking accuracy and robustness compared to traditional PD controllers.展开更多
Objective: To explore the significance of dual-energy CT non-linear fusion technique in improving the quality of CTA image of renal cancer. Methods: The CTA images of 100 patients who had been confirmed by pathology a...Objective: To explore the significance of dual-energy CT non-linear fusion technique in improving the quality of CTA image of renal cancer. Methods: The CTA images of 100 patients who had been confirmed by pathology as renal cancer were collected and were randomly divided into experimental group and control group with 50 cases respectively. The two groups of patients were treated with iodine concentration of 300 mg/ml and 350 mg/ml non-ionic contrast agent, with a dosage of 1.5 ml/kg and an injection rate of 4 ml/s. The contrast agent intelligently tracking method was adopted bolus. The control group used the conventional CTA scanning, with a reference tube voltage/tube current of 100 kv/ref150 mas. The experimental group adopted the double energy scanning, with ball tube A and ball tube B. The reference tube voltage/tube current was 100 kv/ref250 mas and sn150 kv/ref125 mas respectively. The images of the experimental group were non-linear fused to obtain the Mono+ 55 kev single-energy images. The CT value, SNR contrast ratio of the abdominal aorta, renal artery and tumor tissue of the experimental group images and the 100 KV images and the Mono+ 55 kev images of the control group were compared. The objective evaluation and subjective evaluation of the image quality of the three groups of images was performed. Results: The results showed that the 100 kV images of the experimental group were statistically different from those of the control group (P05) in CT value, SNR and CNR (P 0.05). And there was no statistically significant difference between the non-linear fusion single-energy Mono+ 55 kev images and the control group images in CT value, SNR and CNR (P > 0.05). The subjective evaluation of image quality showed that there was no significant difference between Mono+ 55 kev images and control group images, and the quality of Mono+ 55 kev images was higher than that of experimental group 100 kV images. Conclusion: The dual-energy CT non-linear fusion technique can improve the quality of CTA image in patients with renal cancer, and it is possible to obtain high quality CTA images with low iodine concentration contrast agent.展开更多
In this paper, the problem of cubature Kalman fusion filtering(CKFF) is addressed for multi-sensor systems under amplify-and-forward(AaF) relays. For the purpose of facilitating data transmission, AaF relays are utili...In this paper, the problem of cubature Kalman fusion filtering(CKFF) is addressed for multi-sensor systems under amplify-and-forward(AaF) relays. For the purpose of facilitating data transmission, AaF relays are utilized to regulate signal communication between sensors and filters. Here, the randomly varying channel parameters are represented by a set of stochastic variables whose occurring probabilities are permitted to exhibit bounded uncertainty. Employing the spherical-radial cubature principle, a local filter under AaF relays is initially constructed. This construction ensures and minimizes an upper bound of the filtering error covariance by designing an appropriate filter gain. Subsequently, the local filters are fused through the application of the covariance intersection fusion rule. Furthermore, the uniform boundedness of the filtering error covariance's upper bound is investigated through establishing certain sufficient conditions. The effectiveness of the proposed CKFF scheme is ultimately validated via a simulation experiment concentrating on a three-phase induction machine.展开更多
The construction of high-precision urban rail maps is crucial for the safe and efficient operation of railway transportation systems.However,the repetitive features and sparse textures in urban rail environments pose ...The construction of high-precision urban rail maps is crucial for the safe and efficient operation of railway transportation systems.However,the repetitive features and sparse textures in urban rail environments pose challenges for map construction with high-precision.Motivated by this,this paper proposes a high-precision urban rail map construction algorithm based on multi-sensor fusion.The algorithm integrates laser radar and Inertial Measurement Unit(IMU)data to construct the geometric structure map of the urban rail.It utilizes image point-line features and color information to improve map accuracy by minimizing photometric errors and incorporating color information,thus generating high-precision maps.Experimental results on a real urban rail dataset demonstrate that the proposed algorithm achieves root mean square errors of 0.345 and 1.033m for ground and tunnel scenes,respectively,representing a 19.31%and 56.80%improvement compared to state-ofthe-art methods.展开更多
1 Introduction The Paleogene strata(with a depth of more than 2500m)in the Bohai sea is complex(Xu Changgui,2006),the reservoir buried deeply,the reservoir prediction is difficult(LAI Weicheng,XU Changgui,2012),and more
Quadruped robots with body joints exhibit enhanced mobility,however,in outdoor environments,the energy that the robot can carry is limited,necessitating optimization of energy consumption to accomplish more tasks with...Quadruped robots with body joints exhibit enhanced mobility,however,in outdoor environments,the energy that the robot can carry is limited,necessitating optimization of energy consumption to accomplish more tasks within these constraints.Inspired by quadruped animals,this paper proposes an energy-saving strategy for a body joint quadruped robot based on Central Pattern Generator(CPG)with multi-sensor fusion bio-reflexes.First,an energy consumption model for the robot is established,and energy characteristic tests are conducted under different gait parameters.Based on these energy characteristics,optimal energy-efficient gait parameters are determined for various environmental conditions.Second,biological reflex mechanisms are studied,and a motion control model based on multi-sensor fusion biological reflexes is established using CPG as the foundation.By integrating the reflex model and gait parameters,real-time adaptive adjustments to the robot’s motion gait are achieved on complex terrains,reducing energy loss caused by terrain disturbances.Finally,a prototype of the body joint quadruped robot is built for experimental verification.Simulation and experimental results demonstrate that the proposed algorithm effectively reduces the robot’s Cost of Transport(COT)and significantly improves energy efficiency.The related research results can provide a useful reference for the research on energy efficiency of quadruped robots on complex terrain.展开更多
This study proposes a learner profile framework based on multi-feature fusion,aiming to enhance the precision of personalized learning recommendations by integrating learners’static attributes(e.g.,demographic data a...This study proposes a learner profile framework based on multi-feature fusion,aiming to enhance the precision of personalized learning recommendations by integrating learners’static attributes(e.g.,demographic data and historical academic performance)with dynamic behavioral patterns(e.g.,real-time interactions and evolving interests over time).The research employs Term Frequency-Inverse Document Frequency(TF-IDF)for semantic feature extraction,integrates the Analytic Hierarchy Process(AHP)for feature weighting,and introduces a time decay function inspired by Newton’s law of cooling to dynamically model changes in learners’interests.Empirical results demonstrate that this framework effectively captures the dynamic evolution of learners’behaviors and provides context-aware learning resource recommendations.The study introduces a novel paradigm for learner modeling in educational technology,combining methodological innovation with a scalable technical architecture,thereby laying a foundation for the development of adaptive learning systems.展开更多
Smart grid substation operations often take place in hazardous environments and pose significant threats to the safety of power personnel.Relying solely on manual supervision can lead to inadequate oversight.In respon...Smart grid substation operations often take place in hazardous environments and pose significant threats to the safety of power personnel.Relying solely on manual supervision can lead to inadequate oversight.In response to the demand for technology to identify improper operations in substation work scenarios,this paper proposes a substation safety action recognition technology to avoid the misoperation and enhance the safety management.In general,this paper utilizes a dual-branch transformer network to extract spatial and temporal information from the video dataset of operational behaviors in complex substation environments.Firstly,in order to capture the spatial-temporal correlation of people's behaviors in smart grid substation,we devise a sparse attention module and a segmented linear attention module that are embedded into spatial branch transformer and temporal branch transformer respectively.To avoid the redundancy of spatial and temporal information,we fuse the temporal and spatial features using a tensor decomposition fusion module by a decoupled manner.Experimental results indicate that our proposed method accurately detects improper operational behaviors in substation work scenarios,outperforming other existing methods in terms of detection and recognition accuracy.展开更多
This study aimed to propose road crack detection method based on infrared image fusion technology.By analyzing the characteristics of road crack images,this method uses a variety of infrared image fusion methods to pr...This study aimed to propose road crack detection method based on infrared image fusion technology.By analyzing the characteristics of road crack images,this method uses a variety of infrared image fusion methods to process different types of images.The use of this method allows the detection of road cracks,which not only reduces the professional requirements for inspectors,but also improves the accuracy of road crack detection.Based on infrared image processing technology,on the basis of in-depth analysis of infrared image features,a road crack detection method is proposed,which can accurately identify the road crack location,direction,length,and other characteristic information.Experiments showed that this method has a good effect,and can meet the requirement of road crack detection.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
基金Chongqing Engineering University Undergraduate Innovation and Entrepreneurship Training Program Project:Wireless Fire Automatic Alarm System(Project No.:CXCY2024017)Chongqing Municipal Education Commission Science and Technology Research Project:Development and Research of Chongqing Wireless Fire Automatic Alarm System(Project No.:KJQN202401906)。
文摘This article explores the design of a wireless fire alarm system supported by advanced data fusion technology.It includes discussions on the basic design ideas of the wireless fire alarm system,hardware design analysis,software design analysis,and simulation analysis,all supported by data fusion technology.Hopefully,this analysis can provide some reference for the rational application of data fusion technology to meet the actual design and application requirements of the system.
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.
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.
基金Supported by the Ministerial Level Advanced Research Foundation(40401060305)
文摘In order to improve the ability of a bionic quadruped robot to percept the location of obstacles in a complex and dynamic environment, the information fusion between an ultrasonic sensor and a binocular sensor was studied under the condition that the robot moves in the Walk gait on a structured road. Firstly, the distance information of obstacles from these two sensors was separately processed by the Kalman filter algorithm, which largely reduced the noise interference. After that, we obtained two groups of estimated distance values from the robot to the obstacle and a variance of the estimation value. Additionally, a fusion of the estimation values and the variances was achieved based on the STF fusion algorithm. Finally, a simulation was performed to show that the curve of a real value was tracked well by that of the estimation value, which attributes to the effectiveness of the Kalman filter algorithm. In contrast to statistics before fusion, the fusion variance of the estimation value was sharply decreased. The precision of the position information is 4. 6 cm, which meets the application requirements of the robot.
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 Key R&D Program of China(2018AAA0103103).
文摘The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experiments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.
文摘In order to address the issue of sensor configuration redundancy in intelligent driving,this paper constructs a multi-objective optimization model that considers cost,coverage ability,and perception performance.And then,combining a specific set of parameters,the NSGA-II algorithm is used to solve the multi-objective model established in this paper,and a Pareto front containing 24 typical configuration schemes is extracted after considering empirical constraints.Finally,using the decision preference method proposed in this paper that combines subjective and objective factors,decision scores are calculated and ranked for various configuration schemes from both cost and performance preferences.The research results indicate that the multi-objective optimization model established in this paper can screen and optimize various configuration schemes from the optimal principle of the vehicle,and the optimized configuration schemes can be quantitatively ranked to obtain the decision results for the vehicle under different preference tendencies.
基金supported by Key Research and Development Pro-gram of Jiangsu Province(Grant Nos.BE2022069-1 and BE2022069-2)Natural Science Research Project of Jiangsu Higher Education Institu-tions(Grant Nos.22KJB460030 and 22KJB460004)+2 种基金Suzhou Science and Technology Development Plan(Grant No.SYC2022020)startup fund-ing at the Nanjing Normal University(Grant No.184080H202B318)2022 Nanjing Carbon Peak and Neutrality Technology Innovation Special Fund(Grant No.202211017).
文摘Although laser powder bed fusion(LPBF)technology is considered one of the most promising additive man-ufacturing techniques,the fabricated parts still suffer from porosity defects,which can severely impact their mechanical performance.Monitoring the printing process using a variety of sensors to collect process signals can realize a comprehensive capture of the processing status;thus,the monitoring accuracy can be improved.However,existing multi-sensing signals are mainly optical and acoustic,and camera-based signals are mostly layer-wise images captured after printing,preventing real-time monitoring.This paper proposes a real-time melt-pool-based in-situ quality monitoring method for LPBF using multiple sensors.High-speed cameras,photodiodes,and microphones were used to collect signals during the experimental process.All three types of signals were transformed from one-dimensional time-domain signals into corresponding two-dimensional grayscale images,which enabled the capture of more localized features.Based on an improved LeNet-5 model and the weighted Dempster-Shafer evidence theory,single-sensor,dual-sensor and triple-sensor fusion monitoring models were in-vestigated with the three types of signals,and their performances were compared.The results showed that the triple-sensor fusion monitoring model achieved the highest recognition accuracy,with accuracy rates of 97.98%,92.63%,and 100%for high-,medium-,and low-quality samples,respectively.Hence,a multi-sensor fusion based melt pool monitoring system can improve the accuracy of quality monitoring in the LPBF process,which has the potential to reduce porosity defects.Finally,the experimental analysis demonstrates that the convolutional neural network proposed in this study has better classification accuracy compared to other machine learning models.
文摘This paper proposes a sub-critical nuclear energy system driven by fusion neutron source, FDS, which can be used to transmute long-lived radioactive wastes and to produce fissile nuclear fuel as a way for early application of fusion technology. The necessity and feasibility to develop that system in China are illustrated on the basis of prediction of the demand of energy source in the first half of the 21th century, the status of current fission energy supply and the progress in fusion technology in the world. The characteristics of fusion neutron driver and the potential for transmutation of long-lived nuclear wastes and breeding of fissile nuclear fuel in a blanket are analyzed. A scenario of development steps is proposed.
基金Supported by the National Natural Science Foundation of China(No.72074201).
文摘The development of network and information technology has brought changes to the production environment of scientific and technological information,leading to the integration of multi-type scien-tific and technological information,which has become one of the primary research focuses in the cur-rent field of scientific and technological information analysis.This article proposes a basic mode to realize the fusion of multi-type scientific and technological information,expounds the corresponding basic construction method,and applies it to the scientific and technological topics identification in the field of artificial intelligence(AI).The research results show that the multi-type scientific and technological information fusion mode proposed in this article has certain feasibility in specific appli-cation scenarios,which lays a foundation for the subsequent research work.
基金financial support from the National Natural Science Foundation of China(62103039,62073030)the Joint Fund of Ministry of Education for Equipment Pre-Research(8091B03032303).
文摘Cable-driven soft robots exhibit complex deformations,making state estimation challenging.Hence,this paper develops a multi-sensor fusion approach using a gradient descent strategy to estimate the weighting coefficients.These coefficients combine measurements from proprioceptive sensors,such as resistive flex sensors,to determine the bending angle.Additionally,the fusion strategy adopted provides robust state estimates,overcoming mismatches between the flex sensors and soft robot dimensions.Furthermore,a nonlinear differentiator is introduced to filter the differentiated sensor signals to address noise and irrational values generated by the Analog-to-Digital Converter.A rational polynomial equation is also introduced to compensate for temperature drift exhibited by the resistive flex sensors,which affect the accuracy of state estimation and control.The processed multi-sensor data is then utilized in an improved PD controller for closed-loop control of the soft robot.The controller incorporates the nonlinear differentiator and drift compensation,enhancing tracking performance.Experimental results validate the effectiveness of the integrated approach,demonstrating improved tracking accuracy and robustness compared to traditional PD controllers.
文摘Objective: To explore the significance of dual-energy CT non-linear fusion technique in improving the quality of CTA image of renal cancer. Methods: The CTA images of 100 patients who had been confirmed by pathology as renal cancer were collected and were randomly divided into experimental group and control group with 50 cases respectively. The two groups of patients were treated with iodine concentration of 300 mg/ml and 350 mg/ml non-ionic contrast agent, with a dosage of 1.5 ml/kg and an injection rate of 4 ml/s. The contrast agent intelligently tracking method was adopted bolus. The control group used the conventional CTA scanning, with a reference tube voltage/tube current of 100 kv/ref150 mas. The experimental group adopted the double energy scanning, with ball tube A and ball tube B. The reference tube voltage/tube current was 100 kv/ref250 mas and sn150 kv/ref125 mas respectively. The images of the experimental group were non-linear fused to obtain the Mono+ 55 kev single-energy images. The CT value, SNR contrast ratio of the abdominal aorta, renal artery and tumor tissue of the experimental group images and the 100 KV images and the Mono+ 55 kev images of the control group were compared. The objective evaluation and subjective evaluation of the image quality of the three groups of images was performed. Results: The results showed that the 100 kV images of the experimental group were statistically different from those of the control group (P05) in CT value, SNR and CNR (P 0.05). And there was no statistically significant difference between the non-linear fusion single-energy Mono+ 55 kev images and the control group images in CT value, SNR and CNR (P > 0.05). The subjective evaluation of image quality showed that there was no significant difference between Mono+ 55 kev images and control group images, and the quality of Mono+ 55 kev images was higher than that of experimental group 100 kV images. Conclusion: The dual-energy CT non-linear fusion technique can improve the quality of CTA image in patients with renal cancer, and it is possible to obtain high quality CTA images with low iodine concentration contrast agent.
基金supported in part by the National Natural Science Foundation of China(12171124,61933007)the Natural Science Foundation of Heilongjiang Province of China(ZD2022F003)+2 种基金the National High-End Foreign Experts Recruitment Plan of China(G2023012004L)the Royal Society of UKthe Alexander von Humboldt Foundation of Germany
文摘In this paper, the problem of cubature Kalman fusion filtering(CKFF) is addressed for multi-sensor systems under amplify-and-forward(AaF) relays. For the purpose of facilitating data transmission, AaF relays are utilized to regulate signal communication between sensors and filters. Here, the randomly varying channel parameters are represented by a set of stochastic variables whose occurring probabilities are permitted to exhibit bounded uncertainty. Employing the spherical-radial cubature principle, a local filter under AaF relays is initially constructed. This construction ensures and minimizes an upper bound of the filtering error covariance by designing an appropriate filter gain. Subsequently, the local filters are fused through the application of the covariance intersection fusion rule. Furthermore, the uniform boundedness of the filtering error covariance's upper bound is investigated through establishing certain sufficient conditions. The effectiveness of the proposed CKFF scheme is ultimately validated via a simulation experiment concentrating on a three-phase induction machine.
基金supported by the Beijing Natural Science Foundation(No.L221003).
文摘The construction of high-precision urban rail maps is crucial for the safe and efficient operation of railway transportation systems.However,the repetitive features and sparse textures in urban rail environments pose challenges for map construction with high-precision.Motivated by this,this paper proposes a high-precision urban rail map construction algorithm based on multi-sensor fusion.The algorithm integrates laser radar and Inertial Measurement Unit(IMU)data to construct the geometric structure map of the urban rail.It utilizes image point-line features and color information to improve map accuracy by minimizing photometric errors and incorporating color information,thus generating high-precision maps.Experimental results on a real urban rail dataset demonstrate that the proposed algorithm achieves root mean square errors of 0.345 and 1.033m for ground and tunnel scenes,respectively,representing a 19.31%and 56.80%improvement compared to state-ofthe-art methods.
基金funded by Major Projects of National Science and Technology “Large Oil and Gas Fields and CBM development”(Grant No. 2016ZX05 027)
文摘1 Introduction The Paleogene strata(with a depth of more than 2500m)in the Bohai sea is complex(Xu Changgui,2006),the reservoir buried deeply,the reservoir prediction is difficult(LAI Weicheng,XU Changgui,2012),and more
基金supported by the National Natural Science Foundation of China(Grant no.52075488)the Natural Science Foundation of Zhejiang Province(LY20E050023).
文摘Quadruped robots with body joints exhibit enhanced mobility,however,in outdoor environments,the energy that the robot can carry is limited,necessitating optimization of energy consumption to accomplish more tasks within these constraints.Inspired by quadruped animals,this paper proposes an energy-saving strategy for a body joint quadruped robot based on Central Pattern Generator(CPG)with multi-sensor fusion bio-reflexes.First,an energy consumption model for the robot is established,and energy characteristic tests are conducted under different gait parameters.Based on these energy characteristics,optimal energy-efficient gait parameters are determined for various environmental conditions.Second,biological reflex mechanisms are studied,and a motion control model based on multi-sensor fusion biological reflexes is established using CPG as the foundation.By integrating the reflex model and gait parameters,real-time adaptive adjustments to the robot’s motion gait are achieved on complex terrains,reducing energy loss caused by terrain disturbances.Finally,a prototype of the body joint quadruped robot is built for experimental verification.Simulation and experimental results demonstrate that the proposed algorithm effectively reduces the robot’s Cost of Transport(COT)and significantly improves energy efficiency.The related research results can provide a useful reference for the research on energy efficiency of quadruped robots on complex terrain.
基金This work is supported by the Ministry of Education of Humanities and Social Science projects in China(No.20YJCZH124)Guangdong Province Education and Teaching Reform Project No.640:Research on the Teaching Practice and Application of Online Peer Assessment Methods in the Context of Artificial Intelligence.
文摘This study proposes a learner profile framework based on multi-feature fusion,aiming to enhance the precision of personalized learning recommendations by integrating learners’static attributes(e.g.,demographic data and historical academic performance)with dynamic behavioral patterns(e.g.,real-time interactions and evolving interests over time).The research employs Term Frequency-Inverse Document Frequency(TF-IDF)for semantic feature extraction,integrates the Analytic Hierarchy Process(AHP)for feature weighting,and introduces a time decay function inspired by Newton’s law of cooling to dynamically model changes in learners’interests.Empirical results demonstrate that this framework effectively captures the dynamic evolution of learners’behaviors and provides context-aware learning resource recommendations.The study introduces a novel paradigm for learner modeling in educational technology,combining methodological innovation with a scalable technical architecture,thereby laying a foundation for the development of adaptive learning systems.
文摘Smart grid substation operations often take place in hazardous environments and pose significant threats to the safety of power personnel.Relying solely on manual supervision can lead to inadequate oversight.In response to the demand for technology to identify improper operations in substation work scenarios,this paper proposes a substation safety action recognition technology to avoid the misoperation and enhance the safety management.In general,this paper utilizes a dual-branch transformer network to extract spatial and temporal information from the video dataset of operational behaviors in complex substation environments.Firstly,in order to capture the spatial-temporal correlation of people's behaviors in smart grid substation,we devise a sparse attention module and a segmented linear attention module that are embedded into spatial branch transformer and temporal branch transformer respectively.To avoid the redundancy of spatial and temporal information,we fuse the temporal and spatial features using a tensor decomposition fusion module by a decoupled manner.Experimental results indicate that our proposed method accurately detects improper operational behaviors in substation work scenarios,outperforming other existing methods in terms of detection and recognition accuracy.
文摘This study aimed to propose road crack detection method based on infrared image fusion technology.By analyzing the characteristics of road crack images,this method uses a variety of infrared image fusion methods to process different types of images.The use of this method allows the detection of road cracks,which not only reduces the professional requirements for inspectors,but also improves the accuracy of road crack detection.Based on infrared image processing technology,on the basis of in-depth analysis of infrared image features,a road crack detection method is proposed,which can accurately identify the road crack location,direction,length,and other characteristic information.Experiments showed that this method has a good effect,and can meet the requirement of road crack detection.
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.
