自主智能系统(英文)最新文献

We present in this paper a novel framework and distributed control laws for the formation of multiple unmanned rotorcraft systems, be it single-rotor helicopters or multi-copters, with physical constraints and with inter-agent collision avoidance, in cluttered environments. The proposed technique is composed of an analytical distributed consensus control solution in the free space and an optimization based motion planning algorithm for inter-agent and obstacle collision avoidance. More specifically, we design a distributed consensus control law to tackle a series of state constraints that include but not limited to the physical limitations of velocity, acceleration and jerk, and an optimization-based motion planning technique is utilized to generate numerical solutions when the consensus control fails to provide a collision-free trajectory. Besides, a sufficiency condition is given to guarantee the stability of the switching process between the consensus control and motion planning. Finally, both simulation and real flight experiments successfully demonstrate the effectiveness of the proposed technique.

In complex product design, lots of time and resources are consumed to choose a preference-based compromise decision from non-inferior preliminary design models with multi-objective conflicts. However, since complex products involve intensive multi-domain knowledge, preference is not only a comprehensive representation of objective data and subjective knowledge but also characterized by fuzzy and uncertain. In recent years, enormous challenges are involved in the design process, within the increasing complexity of preference. This article mainly proposes a novel decision-making method based on generalized abductive learning (G-ABL) to achieve autonomous and efficient decision-making driven by data and knowledge collaboratively. The proposed G-ABL framework, containing three cores: classifier, abductive kernel, and abductive machine, supports preference integration from data and fuzzy knowledge. In particular, a subtle improvement is presented for WK-means based on the entropy weight method (EWM) to address the local static weight problem caused by the fixed data preferences as the decision set is locally invariant. Furthermore, fuzzy comprehensive evaluation (FCE) and Pearson correlation are adopted to quantify domain knowledge and obtain abducted labels. Multi-objective weighted calculations are utilized only to label and compare solutions in the final decision set. Finally, an engineering application is provided to verify the effectiveness of the proposed method, and the superiority of which is illustrated by comparative analysis.

To use the benefits of Advanced Driver Assistance Systems (ADAS)-Tests in simulation and reality a new approach for using Augmented Reality (AR) in an automotive vehicle for testing ADAS is presented in this paper. Our procedure provides a link between simulation and reality and should enable a faster development process for future increasingly complex ADAS tests and future mobility solutions. Test fields for ADAS offer a small number of orientation points. Furthermore, these must be detected and processed at high vehicle speeds. That requires high computational power both for developing our method and its subsequent use in testing. Using image segmentation (IS), artificial intelligence (AI) for object recognition, and visual simultaneous localization and mapping (vSLAM), we aim to create a three-dimensional model with accurate information about the test site. It is expected that using AI and IS will significantly improve performance as computational speed and accuracy for AR applications in automobiles.

In this paper, we present a sufficient condition for the exponential stability of a class of linear switched systems. As an application of this stability result, we establish an output-based adaptive distributed observer for a general linear leader system over a periodic jointly connected switching communication network, which extends the applicability of the output-based adaptive distributed observer from a marginally stable linear leader system to any linear leader system and from an undirected switching graph to a directed switching graph. This output-based adaptive distributed observer will be applied to solve the leader-following consensus problem for multiple double-integrator systems.

In the near future, autonomous vehicles (AVs) may cohabit with human drivers in mixed traffic. This cohabitation raises serious challenges, both in terms of traffic flow and individual mobility, as well as from the road safety point of view. Mixed traffic may fail to fulfill expected security requirements due to the heterogeneity and unpredictability of human drivers, and autonomous cars could then monopolize the traffic. Using multi-agent reinforcement learning (MARL) algorithms, researchers have attempted to design autonomous vehicles for both scenarios, and this paper investigates their recent advances. We focus on articles tackling decision-making problems and identify four paradigms. While some authors address mixed traffic problems with or without social-desirable AVs, others tackle the case of fully-autonomous traffic. While the latter case is essentially a communication problem, most authors addressing the mixed traffic admit some limitations. The current human driver models found in the literature are too simplistic since they do not cover the heterogeneity of the drivers’ behaviors. As a result, they fail to generalize over the wide range of possible behaviors. For each paper investigated, we analyze how the authors formulated the MARL problem in terms of observation, action, and rewards to match the paradigm they apply.

Affected by parameter drift and coupling organization, nonlinear dynamical systems exhibit suppressed oscillations. This phenomenon is called amplitude death. In various complex systems, amplitude death is a typical critical phenomenon, which may lead to the functional collapse of the system. Therefore, an important issue is how to effectively predict critical phenomena based on the data in the system oscillation state. This paper proposes an enhanced Informer model to predict amplitude death. The model employs an attention mechanism to capture the long-range associations of the system time series and tracks the effect of parameter drift on the system dynamics through an accompanying parameter input channel. The experimental results based on the coupled Rössler and Lorentz systems show that the enhanced informer has higher prediction accuracy and longer effective prediction distance than the original algorithm and can predict the amplitude death of a system.

This paper introduces the worldwide history of fully automatic operation (FAO) system in urban rail transit, followed by the development status in China. Then, the architecture and characteristics of the FAO system are described, and the analysis method of system design requirements is proposed based on the human factors engineering. The key technologies are introduced from the aspects of signaling system, vehicle system, communication system, traffic integrated automation system and reliability, availability, maintainability, and safety (RAMS) assurance. Furthermore, based on the independent practical experience of the FAO system, this paper summarizes the management methods for the construction and operation of FAO lines and prospects its future development trends toward a more intelligent urban rail transit system.

Wafer yield prediction, as the basis of quality control, is dedicated to predicting quality indices of the wafer manufacturing process. In recent years, data-driven machine learning methods have received a lot of attention due to their accuracy, robustness, and convenience for the prediction of quality indices. However, the existing studies mainly focus on the model level to improve the accuracy of yield prediction does not consider the impact of data characteristics on yield prediction. To tackle the above issues, a novel wafer yield prediction method is proposed, in which the improved genetic algorithm (IGA) is an under-sampling method, which is used to solve the problem of data overlap between finished products and defective products caused by the similarity of manufacturing processes between finished products and defective products in the wafer manufacturing process, and the problem of data imbalance caused by too few defective samples, that is, the problem of uneven distribution of data. In addition, the high-dimensional alternating feature selection method (HAFS) is used to select key influencing processes, that is, key parameters to avoid overfitting in the prediction model caused by many input parameters. Finally, SVM is used to predict the yield. Furthermore, experiments are conducted on a public wafer yield prediction dataset collected from an actual wafer manufacturing system. IGA-HAFS-SVM achieves state-of-art results on this dataset, which confirms the effectiveness of IGA-HAFS-SVM. Additionally, on this dataset, the proposed method improves the AUC score, G-Mean and F1-score by 21.6%, 34.6% and 0.6% respectively compared with the conventional method. Moreover, the experimental results prove the influence of data characteristics on wafer yield prediction.

This article develops a novel approach for multi-objective optimization on the basis of ratio analysis plus the full multiplicative form (MULTIMOORA) using spherical fuzzy sets (SFSs) to obtain proper evaluations. SFSs surpass Pythagorean and intuitionistic fuzzy sets in modeling human cognition since the degree of hesitation is expressed explicitly in a three-dimensional space. In the spherical fuzzy environment, the implementation of the MULTIMOORA encounters two major problems in the aggregation operators and the distance measures that might lead to erroneous results. The extant aggregation operators in some cases can result in a biased evaluation. Therefore, two aggregation functions for SFSs are proposed. These functions guarantee balanced evaluation and avoid false ranking. In the reference point technique, when comparing SFSs, being closer to the ideal solution does not necessarily imply an SFS with a better score. To make up for this drawback, two reference points are employed instead of one, and the distance is not expressed as a crisp value but as an SFS instead. To overcome the disadvantages of the dominance theory in large-scale applications, the results of the three techniques are aggregated to get the overall utility on which the ranking is based. The illustration and validation of the proposed spherical fuzzy MULTIMOORA are examined through two applications, personnel selection, and energy storage technologies selection. The results are compared with the results of other methods to explicate the adequacy of the proposed method and validate the results.

The road is the most commonly used means of transportation and serves as a country’s arteries, so it is extremely important to keep the roads in good condition. Potholes that happen to appear in the road must be repaired to keep the road in good condition. Spotting potholes on the road is difficult, especially in a country like India where roads stretch millions of kilometres across the country. Therefore, there is a need to automate the identification of potholes with high speed and real-time precision. YOLOX is an object detection algorithm and our main goal of this article is to train and analyse the YOLOX model for pothole detection. The YOLOX model is trained with a pothole dataset and the results obtained are analysed by calculating the accuracy, recall and size of the model which is then compared to other YOLO algorithms. The experimental results in this article show that the YOLOX-Nano model predicts potholes with higher accuracy compared to other models while having low computational costs. We were able to achieve an Average Precision (AP) value of 85.6% from training the model and the total size of the model is 7.22 MB. The pothole detection capabilities of the newly developed YOLOX algorithm have never been tested before and this paper is one of the first to detect potholes using the YOLOX object detection algorithm. The research conducted in this paper will help reduce costs and increase the speed of pothole identification and will be of great help in road maintenance.