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Global Context Network for Steel Surface Defect Detection 钢材表面缺陷检测的全局上下文网络
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274836
Zekun Yang, Wei Zhu, Feng Ma, Jiang Zhao, Hao Jiang
{"title":"Global Context Network for Steel Surface Defect Detection","authors":"Zekun Yang, Wei Zhu, Feng Ma, Jiang Zhao, Hao Jiang","doi":"10.1109/ICUS50048.2020.9274836","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274836","url":null,"abstract":"Surface defect detection has been spotlighted in the product quality control. There are lots of methods focused on the handcrafted optical features and have worked well under specified conditions. However, effectively detecting defects in products is nontrivial. Among the challenge is the complexity of surface defect, such as micro defect with noise, at vastly different scales. In order tackle these problems, we propose a feature fusion network using global context block for surface defect detection. A pipeline is presented that evaluates defect images with 300×300 resolution. In the framework, the global context block is relined, which fuses information effectively between different feature maps. Experimental results on steel defect datasets prove that our approach yields scores of map > 0.6 for all surface defects and provides a remarkably fast test speed, at ~ 20 frames per second.","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":"132191057","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}
引用次数: 0
A multimodal-signals-based gesture recognition method for human machine interaction 基于多模态信号的人机交互手势识别方法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274853
Xiaochuan Zhao, Jie Huang, Junzhe Zheng, Yanlin Ma, Hongyi Tang
{"title":"A multimodal-signals-based gesture recognition method for human machine interaction","authors":"Xiaochuan Zhao, Jie Huang, Junzhe Zheng, Yanlin Ma, Hongyi Tang","doi":"10.1109/ICUS50048.2020.9274853","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274853","url":null,"abstract":"As the capacity for machines to extend human capabilities continues to grow, the communication channels used also need to expand. Allowing machines to translate gestural command into robot movements can make the communication between humans and machines more similar to interpersonal communication. Yet for operating requirements, instantaneity and precision of the interaction must reach the application level in realistic scenarios, and the accuracy of results cannot be guaranteed by thejudgement of a single motion sensor. Therefore, exploring a gesture detection technology that integrates multisensor information is very necessary. The presented work takes a step towards real-time gesture detection by fusing multiple physiological signals with wearable motion sensors. An algorithm is presented for processing and extracting motion signal acquired via inertial measurement unit (IMU) and electromyography (EMG) with a high error-tolerant way of wearing, and it is applied to the gesture recognition model established in reasonable threshold and logical judgment. This enables real-time gesture detection of 24 various assembled movements such as rotating palms while bending arms, clenching fist when unwinding upper limb. The result of involving intentional behavior by analyzing electroencephalogram (EEG) is also added to the gesture recognition process for eliminating unconscious actions. Together, these pipelines offer efficient gesture vocabulary suitable for remotely controlling robots. Experiments evaluate classifier performance and interface efficacy. The system successfully detected 95.6% of 360 commands, and the average processing time was 25.4ms among all the 15 trials of the experiment.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"52 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132694565","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}
引用次数: 1
A novel algorithm to keep the formation for multiple vehicles based on NSGA and DCNN 一种基于NSGA和DCNN的多车编队保持算法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9275022
Zepeng Huai, Hongbo Wang, Min Gong
{"title":"A novel algorithm to keep the formation for multiple vehicles based on NSGA and DCNN","authors":"Zepeng Huai, Hongbo Wang, Min Gong","doi":"10.1109/ICUS50048.2020.9275022","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9275022","url":null,"abstract":"To address the problem of keeping the formation for multiple vehicles, this paper proposes a novel algorithm based on non-dominated sorting genetic algorithm II (NSGA- II) and deep convolutional neural network(DCNN). Firstly, the problem of keeping the formation for multiple vehicles is translated into three objective functions. Secondly, NSGA- II is used to optimize and a strategy is designed to choose the guidance command from Pareto solution set. Thirdly, in order to improve the calculation speed, a 19-layer deep learning model is built based on DCNN, residual network and batch normalization layer, then a correction part is designed to avoid the phenomenon that the accumulation of generalization error will brings obvious error on keeping the formation. Finally, three sets of simulation demonstrate the effectiveness of this algorithm.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"25 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132705854","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}
引用次数: 0
Research on Performance Evaluation Method of UAV Multi-Source Data Fusion Based on Credibility 基于可信度的无人机多源数据融合性能评估方法研究
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274819
Huapin Geng, Jiahui Tong
{"title":"Research on Performance Evaluation Method of UAV Multi-Source Data Fusion Based on Credibility","authors":"Huapin Geng, Jiahui Tong","doi":"10.1109/ICUS50048.2020.9274819","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274819","url":null,"abstract":"Based on the analysis of aircraft multi-source test data and the characteristics of common data fusion methods, this paper puts forward a multi-source data fusion performance evaluation process model based on credibility, and studies the key points of test data pre-processing and compatibility test Methods, credibility analysis methods and multi-source test data fusion methods based on credibility, focusing on the credibility analysis method of multi-source data based on evidence distance and the credibility analysis method based on consistency analysis, from the perspective of reliability, objectively measure the weight of multi-source data in fusion, and carry out typical Validation to test the effectiveness of the multi-source test data fusion performance evaluation method based on credibility.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"95 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":"132681604","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}
引用次数: 0
Autonomous Vehicle Following System In Off-road Environment 越野环境下的自动车辆跟随系统
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274984
Shuaicong Yang, M. Fu, Yi Yang, Di Tang, Wenjie Song, Man Zhang
{"title":"Autonomous Vehicle Following System In Off-road Environment","authors":"Shuaicong Yang, M. Fu, Yi Yang, Di Tang, Wenjie Song, Man Zhang","doi":"10.1109/ICUS50048.2020.9274984","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274984","url":null,"abstract":"To solve the problem of vehicle formation transportation in off-road environment, we design an autonomous vehicle following control system based on detection, realizing vehicle following on muddy bumpy and crooked roads with a maximum speed of 35 km/h. First, the detection algorithm of multi-sensor fusion is applied to detecting and tracking the guiding vehicle. Then an anti-interference feedback controller is designed for speed tracking and an emergency braking algorithm is designed to improve the safety of emergency. A lateral controller according to kinematic model is designed for lateral tracking. Furthermore, the robustness and adaptability of the proposed method are validated by joint simulations of Carsim and MATLAB/Simulink. Finally, the system is deployed on an electric unmanned vehicle to realize vehicle autonomous following with a maximum speed of 35 km/h on a 3.6 km stretch of road with bump, muddy and continuous curves. The results demonstrate the accuracy of detection and the stability of the tracking.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"250 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":"116717353","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}
引用次数: 0
Cooperative search planning in wide area via multi-UAV formations based on distance probability 基于距离概率的多无人机编队广域协同搜索规划
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9275017
Wei-heng Liu, Xin Zheng, Yang Luo
{"title":"Cooperative search planning in wide area via multi-UAV formations based on distance probability","authors":"Wei-heng Liu, Xin Zheng, Yang Luo","doi":"10.1109/ICUS50048.2020.9275017","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9275017","url":null,"abstract":"Cooperative search technology based on Multi-UAV is an important research content of the future development for the Navy. This paper focuses on the research of cooperative search planning method in wide area, and analyzes the uncertain factors of the targets and environment during missions. Considering the distance between the probability of the target found and the area center determined, search planning model is proposed based on distance probability function to develop the corresponding search and warning models for the static and dynamic area types combining the technology of multi-UAV formation.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"294 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":"128682857","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}
引用次数: 1
Influence of aircraft’s maneuver flight performance parameters on within visual range air combat effectiveness 飞机机动飞行性能参数对视距内空战效能的影响
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9275015
Zhang Zhen-ning, Wei Jia-ning, Tu Zhen-biao, Li Feifei
{"title":"Influence of aircraft’s maneuver flight performance parameters on within visual range air combat effectiveness","authors":"Zhang Zhen-ning, Wei Jia-ning, Tu Zhen-biao, Li Feifei","doi":"10.1109/ICUS50048.2020.9275015","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9275015","url":null,"abstract":"The fighter’s war ability is closely related to its maneuver ability. The maneuver measurement index of the new generation fighter changed greatly compared to the traditional rules. This essay firstly introduced the modern fighter’s maneuver performance quantized index. According to the built simulation system, take two typical third generation fighter models as the confront sides, built fuzzy control intelligent decision model based on the genetic algorithm, simulated the one-to-one air combat confront process. Under such circumstances, adjusted the maneuver flight performance parameters reasonable and got the confront simulation results, then analyzed and evaluated the influence of the parameterad justed within visual range air combat effectiveness, which provided reference significance to air combat flight’s original design and maneuver flight performance parameter optimization.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"16 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":"133747431","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}
引用次数: 0
An Integrated Control Approach for Air-breathing Hypersonic Vehicle 吸气式高超声速飞行器的综合控制方法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9275025
Jiaxin Li, Kai Liu, Yongsheng Wang, Wentian Nie
{"title":"An Integrated Control Approach for Air-breathing Hypersonic Vehicle","authors":"Jiaxin Li, Kai Liu, Yongsheng Wang, Wentian Nie","doi":"10.1109/ICUS50048.2020.9275025","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9275025","url":null,"abstract":"In this paper, an integrated control problem is investigated for the Air-breathing hypersonic vehicle (AHSV). The coupling dynamic model of AHSV is first provided by the Quasi One-dimensional flow theory, and the mechanical properties is analyzed. Furthermore, the integrated guidance and control laws are presented based on the proposed model and analysis result. Finally, the comparison simulation results show that the proposed integrated control approach has the better control performance against the decoupled control approach.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"24 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":"132960577","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}
引用次数: 0
Multi-objective Design optimization of Main Body of an Unpowered Underwater Vehicle Based on Surrogate Models 基于代理模型的无动力水下航行器主体多目标设计优化
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274910
Gao Wei, Gu Haitao, Sun Yuan, Feng Mengmeng, Meng Lingshuai, Wang Ziqing
{"title":"Multi-objective Design optimization of Main Body of an Unpowered Underwater Vehicle Based on Surrogate Models","authors":"Gao Wei, Gu Haitao, Sun Yuan, Feng Mengmeng, Meng Lingshuai, Wang Ziqing","doi":"10.1109/ICUS50048.2020.9274910","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274910","url":null,"abstract":"To improve the hydrodynamic performance and payloads assembly space of unmanned underwater vehicles, considering an unpowered underwater vehicle's main body as the research object, the minimum drag coefficient and maximal volume utilization rate as the objective functions was analyzed in this paper. An automatic computation and analysis process based on surrogate models was built in Isight. Two main body shape design schemes was compared in geometry and hydrodynamic performance. Taking the functional requirements of unpowered underwater vehicle into account, the rectangular streamline body is adopted. Samples were selected using the Optimal Latin Hypercube method and fitted by different approximation models, the model that meeting optimization need was obtained. The NSGA-II algorithm was adopted to solve multi-objective optimization and the Pareto solution set are given. Finally, an optimized design plan was selected after weighing, compared with the initial design, although the volume and volume utilization rate is reduced by 1.21%, 7.38%, respectively, but the hydrodynamic performance has been greatly improved, the pressure drag coefficient, friction drag coefficient and total drag coefficient is reduced by 65.5%, 3.22%, 23.05%, respectively. The optimization result is obvious, which provides a basis for the main body design of the unpowered underwater vehicle.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"20 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":"122280839","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}
引用次数: 0
A Multi-Task Algorithm for Autonomous Underwater Vehicles 3D path planning 自主水下航行器三维路径规划的多任务算法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274809
Hao Hu, Yongjian Zhou, Tonghao Wang, Xingguang Peng
{"title":"A Multi-Task Algorithm for Autonomous Underwater Vehicles 3D path planning","authors":"Hao Hu, Yongjian Zhou, Tonghao Wang, Xingguang Peng","doi":"10.1109/ICUS50048.2020.9274809","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274809","url":null,"abstract":"When considering multiple Autonomous Underwater Vehicles (AUV) path planning simultaneously, problems can be seen as multi-task optimization (MTO) problems. The Multifactorial evolutionary algorithm (MFEA) has many obvious advantages in handling multi-task optimization, but it is rarely used in three-dimensional (3D) path planning. Therefore, using the individual gradient based on MFEA (MFEA-IG), this paper solves the global path planning problem of AUV in the 3D environment. We construct a 3D space model, effectively reducing the computational complexity from 3D to two-dimensional (2D). Besides, we also consider the impact of ocean currents on path planning. In this paper, both MFEA-IG and MFEA are used for path planning, and time cost is selected as their optimization target. Experimental results show that the two algorithms can be effectively used for AUV 3D path planning, and MFEA-IG has a better result than MFEA.","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":"124714191","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}
引用次数: 2
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