2020 3rd International Conference on Unmanned Systems (ICUS)最新文献

{"title":"A Fault Diagnosis Framework for Autonomous Vehicles Based on Hybrid Data Analysis Methods Combined with Fuzzy PID Control","authors":"Yukun Fang, Chaoyi Cheng, Zhen Dong, Haieen Min, Xiangmo Zhao","doi":"10.1109/ICUS50048.2020.9274856","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274856","url":null,"abstract":"This paper presents a fault diagnosis framework for autonomous vehicles on the basis of several hybrid data analysis approaches and fuzzy Proportional Integral Derivative (PID) control method. The framework consists of sensor monitor cluster, novel anomaly detector and actuator fault testing cluster. The Discrete Wavelet Transform (DWT) are used for denoising and feature extracting when constructing the sensor monitor. The extreme learning machine based autoencoder (ELM_AE) are applied for novel anomaly detection. Further, system approximation using neural networks and actuator fault testing via fuzzy PID control are presented. Contributions are as follow: 1) An algorithm using DWT with slide window is proposed for fatal sensor fault detection, which considers the sequential arrival characteristic of the sensor data; 2) Combining the neural network and fuzzy PID control for actuator fault testing, which solves the problem of fault location from the perspective of control. Experiments on the real autonomous vehicle platform ‘Xinda’ and related simulations validate the effectiveness of the proposed approaches in this fault diagnosis framework.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115406923","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"LPI-Based Searching Task Allocation for Multi-UAVs System","authors":"Weiwei Zhang, C. Shi, Jianjiang Zhou","doi":"10.1109/icus50048.2020.9274976","DOIUrl":"https://doi.org/10.1109/icus50048.2020.9274976","url":null,"abstract":"In this article, a low probability of intercept-based task allocation (LPI-TA) strategy is proposed for multi-UAVs system. The proposed strategy aims to minimize UAVs’ radar signal intercepted probability and maximize UAVs’ radar detection probability at the same time. In order to solve the underlying multi-objective optimization problem, a technique, which exploits standard particle swarm optimization algorithm (SPSO), is adopted. Finally, simulation results demonstrate that presented strategy can provide superiority over random tasks allocation (R-TA) scheme in terms of the achievable LPI performance, with almost no loss on detection ability.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115486843","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Self-Attention Underwater Image Enhancement by Data Augmentation","authors":"Yu Gao, H. Luo, Wei Zhu, Feng Ma, Jiang Zhao, Kailin Qin","doi":"10.1109/ICUS50048.2020.9274885","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274885","url":null,"abstract":"Underwater optical image play a significant role in the exploration ocean. However there are diverse causes of distorted underwater optical scenes, such as light refraction, absorption, scattering and so on. Images enhancement is indispensable in low-level and high-level underwater vision task. Therefore, a novel method based on Generative Adversarial Networks is presented in this paper, which is able to recover lost information for underwater distorted images. No matter from color, detail or texture, the underwater images reconstructed by our approach been greatly improved. In addition, a novel solution is provided for lacking paired dataset which is needed for network train. At last, many qualitative and quantitative experiments are carried out, which can demonstrate that our approach proposed in this paper is robust and effective.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115709861","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"[Copyright notice]","authors":"","doi":"10.1109/icus50048.2020.9274935","DOIUrl":"https://doi.org/10.1109/icus50048.2020.9274935","url":null,"abstract":"","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"178 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123058392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Analysis of Time Coordinated Guidance Control for Leader-Follower Smart Ammunition Formation","authors":"Jian Shen, Xiaoguang Wang, Qiang Liu, Jianjun Yu, Guoguang Chen, Xiaoli Tian","doi":"10.1109/icus50048.2020.9275004","DOIUrl":"https://doi.org/10.1109/icus50048.2020.9275004","url":null,"abstract":"This paper is about the problem of leader-follower smart ammunition formation (SAF) control. Trajectory time coordination acts an important role on target attack for SAF. With the adoption of a time-coordinate-guidance (TCG) method, the cooperative control model of SAF was built. By comparing with proportional navigation guidance (PNG), simulation results illustrated that a TCG method guided the SAF to attack a fixed target in same time. It proves the possibility of using TCG method for SAF control in real battle environment.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116703791","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimal Trajectory Generation for Discretized Terminal Conditions based on Reference Lines","authors":"Yu Huachao, L. Jingyi, Zhao Xijun","doi":"10.1109/ICUS50048.2020.9274971","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274971","url":null,"abstract":"In the paper, optimal trajectory generation method is proposed, which produces trajectories approaching the target location with smooth accelerations and continuous curvatures, fulfilling the vehicle kinematic restrictions. Firstly, a fixed number of alternative trajectories are generated in the Frenet-Serret Frame via initial and terminal states of motion based on a global path which is acquired by global path planning in a topological map. These meet the requirement of comfortability and feasibility for autonomous driving. And then the best trajectory is chosen from alternatives as optimal trajectory with a small cost in association with non-holonomic vehicle constraints and obstacle avoidance. The proposed method satisfies distance-keeping, velocity-keeping, collision-avoiding, etc. The performance of the approach is verified by practical experiments at last.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116899450","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Improved DDPG Reinforcement Learning Control of Underwater Gliders for Energy Optimization","authors":"Anyan Jing, Zuocheng Tang, Jian Gao, G. Pan","doi":"10.1109/ICUS50048.2020.9274883","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274883","url":null,"abstract":"As a novel underw ater vehicle, underw ater gliders are widely used in marine environment exploration. Underwater gliders are designed for long-term and longdistance operation, adaptivity and energy optimization is a critical requirement for controller design. In this paper, the reinforcement learning control is studied for underwater gliders, and the problem of slow learning convergence and unstable learning process of the DDPG reinforcement learning algorithm. The proposed solution is based on the priority experience replay method, which effectively increase the convergence speed and stability of the algorithm is addressed. The gliding control parameters are optimized to reduce the energy consumption is proposed, by using the improved DDPG algorithm and the energy consumption model. In the simulation experiments with an underwater glider, a set of glide parameters is obtained at a given gliding depth.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117064300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Target Detection Algorithm of Optimized Convolutional Neural Network under Computer Vision","authors":"Liqun Cao, Shi-Zhao Lin","doi":"10.1109/icus50048.2020.9274895","DOIUrl":"https://doi.org/10.1109/icus50048.2020.9274895","url":null,"abstract":"The objectives are to recognize and detect image information such as face contours, to promote the development of convolutional neural network (CNN) algorithms in the field of detection technology, and to expand the application of neural network technology in computer vision, thereby achieving the effective fusion of deep learning and computer vision technology. Based on the problem of low accuracy and meticulousness in traditional contour detection, first, by improving the traditional cross-entropy cost function and Dice coefficient, an adaptive fusion cost function is established. An improved deep reinforcement face contour detection algorithm with mixed training of multi-scale model and adaptive fusion function IDRC-FA-MS is proposed. Second, the AlexNet network is modified by fine-tuning the classifier, and the fully connected layer of CNN is changed to a full convolution layer. A multi-scale face detection algorithm is proposed to analyze the performance indicators related to face detection. Finally, an end-to-end multi-scale face detection algorithm DL-CNN is proposed by connecting the convolution kernel and the convolution layer generated by the feature map to extract the overall features including the detailed features. The results show that after training in the BSDS500 dataset, comparing the IDRC-FA-MS face contour detection algorithm with other algorithms, it is found that the algorithm shows the optimal performance and the highest accuracy reaches 0.99. The average accuracy of the multi-scale face detection algorithm training based on network fine-tuning is 43.4%, the corresponding area of the receiver operating characteristic (ROC) curve is 0.92, and the classification accuracy rate is 99.11%. Also, the detection time is short, and the performance is significantly better than the situation when there is no scale change. Compared with other algorithms, the average accuracy of DL-DNN face detection algorithm is the highest. The corresponding value of continuous score is 0.72 and the corresponding value of discrete score is 0.95. The performance is better than most face detection algorithms.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116527018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design of the cosine function adaptive handover control law based on the relative distance","authors":"Jian Zhang, Yongxiang Zhao, Qingqing Zhang","doi":"10.1109/ICUS50048.2020.9275024","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9275024","url":null,"abstract":"Aiming at the problem of ballistic handover between the midcourse guidance and the terminal guidance of the over the horizon ship-to-air aerocraft, the conditions for successful trajectory handover are given, the design method of the trajectory handover control law between the midcourse guidance and the terminal guidance is put forward, based on the study of the smooth transition of the midcourse and terminal trajectory. Furthermore, an adaptive handover control law in the form of cosine function with the relative distance between aerocraft and target as variable is designed, which is conducive to the smooth transition of the second order guidance instructions. The simulation results verify the effectiveness and robustness of the designed adaptive handover control law.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128777859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Power performance prediction of large displacement UUV with solid oxy-hydrogen energy propulsion","authors":"Fangfang Zhang, Wenzhe Li, X. Dong, Jiaping Song, Yu Wang","doi":"10.1109/ICUS50048.2020.9274994","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274994","url":null,"abstract":"To study power performance of large displacement UUV with solid oxy-hydrogen energy propulsion, a design solution of solid oxy-hydrogen power system is finished. Firstly, by using GA algorithm, structural optimization study for stream turbine is finished with maximizing inner efficiency in design condition, which matches the propulsion power requirements of the large displacement UUV. Secondly, the method of underwater rapid and controllable hydrogen and oxygen generation is designed, and whose mass flow is obtained according to the principle of minimum Gibbs free energy and Hess law. At last, calculations of cruising ability for large displacement UUV with solid oxyhydrogen energy propulsion is finished. Results show that solid oxy-hydrogen energy has doubly increased cruising ability and long-distance distribution ability for large displacement UUV. The scheme in this paper provides a new solution for the remote propulsion of large displacement UUV.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123618061","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}