To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was proposed.Fir...To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was proposed.First and foremost,a coevolutionary multi-agent genetic algorithm (CE-MAGA) was formed by introducing coevolutionary mechanism to multi-agent genetic algorithm (MAGA),an efficient global optimization algorithm.A dynamic route representation form was also adopted to improve the flight route accuracy.Moreover,an efficient constraint handling method was used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation.Simulation and corresponding analysis show that the planning results of CE-MAGA have better performance on terrain following,terrain avoidance,threat avoidance (TF/TA2) and lower route costs than other existing algorithms.In addition,feasible flight routes can be acquired within 2 s,and the convergence rate of the whole evolutionary process is very fast.展开更多
The application of reinforcement learning is widely used by multi-agent systems in recent years. An agent uses a multi-agent system to cooperate with other agents to accomplish the given task, and one agent′s behavio...The application of reinforcement learning is widely used by multi-agent systems in recent years. An agent uses a multi-agent system to cooperate with other agents to accomplish the given task, and one agent′s behavior usually affects the others′ behaviors. In traditional reinforcement learning, one agent takes the others location, so it is difficult to consider the others′ behavior, which decreases the learning efficiency. This paper proposes multi-agent reinforcement learning with cooperation based on eligibility traces, i.e. one agent estimates the other agent′s behavior with the other agent′s eligibility traces. The results of this simulation prove the validity of the proposed learning method.展开更多
Although the famous brittle characteristics of molecular crystals are unfavorable when they are used as flexible smart materials(FSMs),an increasing number of organic crystal-based FSMs have been reported recently.Thi...Although the famous brittle characteristics of molecular crystals are unfavorable when they are used as flexible smart materials(FSMs),an increasing number of organic crystal-based FSMs have been reported recently.This breaks the perception of their stiff and brittle properties and promises a bright future for basic research and practical applications.Crystalline smart materials present considerable advantages over polymer materials under certain circumstances,rendering them potential candidates for certain applications,such as rapidly responsive actuators,ON/OFF switching,and microrobots.In this review,we summarize the recent developments in the field of organic crystal-based FSMs,including the derivatives of azobenzene,diarylethene,anthracene,and olefin.These organic crystal-based FSMs can bend,curl,twist,deform,or respond otherwise to external stimuli,such as heat or light.The detailed mechanisms of their smart behaviors are discussed with their potential applications in exciting intelligent fields.We believe this review could provide guidelines toward future fabrication and developments for novel organic crystal-based FSMs and their advanced smart applications.展开更多
Auto-focus is very important for capturing sharp human face centered images in digital and smart phone cameras. With the development of image sensor technology, these cameras support more and more highresolution image...Auto-focus is very important for capturing sharp human face centered images in digital and smart phone cameras. With the development of image sensor technology, these cameras support more and more highresolution images to be processed. Currently it is difficult to support fast auto-focus at low power consumption on high-resolution images. This work proposes an efficient architecture for an Ada Boost-based face-priority auto-focus. The architecture supports block-based integral image computation to improve the processing speed on high-resolution images; meanwhile, it is reconfigurable so that it enables the sub-window adaptive cascade classification, which greatly improves the processing speed and reduces power consumption. Experimental results show that 96% detection rate in average and 58 fps(frame per second) detection speed are achieved for the1080p(1920×1080) images. Compared with the state-of-the-art work, the detection speed is greatly improved and power consumption is largely reduced.展开更多
基金Project(60925011) supported by the National Natural Science Foundation for Distinguished Young Scholars of ChinaProject(9140A06040510BQXXXX) supported by Advanced Research Foundation of General Armament Department,China
文摘To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was proposed.First and foremost,a coevolutionary multi-agent genetic algorithm (CE-MAGA) was formed by introducing coevolutionary mechanism to multi-agent genetic algorithm (MAGA),an efficient global optimization algorithm.A dynamic route representation form was also adopted to improve the flight route accuracy.Moreover,an efficient constraint handling method was used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation.Simulation and corresponding analysis show that the planning results of CE-MAGA have better performance on terrain following,terrain avoidance,threat avoidance (TF/TA2) and lower route costs than other existing algorithms.In addition,feasible flight routes can be acquired within 2 s,and the convergence rate of the whole evolutionary process is very fast.
文摘The application of reinforcement learning is widely used by multi-agent systems in recent years. An agent uses a multi-agent system to cooperate with other agents to accomplish the given task, and one agent′s behavior usually affects the others′ behaviors. In traditional reinforcement learning, one agent takes the others location, so it is difficult to consider the others′ behavior, which decreases the learning efficiency. This paper proposes multi-agent reinforcement learning with cooperation based on eligibility traces, i.e. one agent estimates the other agent′s behavior with the other agent′s eligibility traces. The results of this simulation prove the validity of the proposed learning method.
基金the AME Programmatic Funding Scheme of Cyber Physiochemical Interfaces(CPI)project(#A18Alb0045)Singapore National Research Foundation Fellowship(NRF-NRFF11-2019-0004)the start-up funds of the Youth Talent Support Program from Xi’an Jiaotong University。
文摘Although the famous brittle characteristics of molecular crystals are unfavorable when they are used as flexible smart materials(FSMs),an increasing number of organic crystal-based FSMs have been reported recently.This breaks the perception of their stiff and brittle properties and promises a bright future for basic research and practical applications.Crystalline smart materials present considerable advantages over polymer materials under certain circumstances,rendering them potential candidates for certain applications,such as rapidly responsive actuators,ON/OFF switching,and microrobots.In this review,we summarize the recent developments in the field of organic crystal-based FSMs,including the derivatives of azobenzene,diarylethene,anthracene,and olefin.These organic crystal-based FSMs can bend,curl,twist,deform,or respond otherwise to external stimuli,such as heat or light.The detailed mechanisms of their smart behaviors are discussed with their potential applications in exciting intelligent fields.We believe this review could provide guidelines toward future fabrication and developments for novel organic crystal-based FSMs and their advanced smart applications.
基金supported in part by China Major Science and Technology (S&T) Project (Grant No. 2013ZX01033-001-001-003)National High-Tech R&D Program of China (863) (Grant Nos. 2012AA012701, 2012AA0109-04)+2 种基金National Natural Science Foundation of China (Grant No. 61274131)International S&T Cooperation Project of China (Grant No. 2012DFA11170)Importation and Development of the High-Caliber Talents Project of Beijing Municipal Institutions (Grant No. YETP0163)
文摘Auto-focus is very important for capturing sharp human face centered images in digital and smart phone cameras. With the development of image sensor technology, these cameras support more and more highresolution images to be processed. Currently it is difficult to support fast auto-focus at low power consumption on high-resolution images. This work proposes an efficient architecture for an Ada Boost-based face-priority auto-focus. The architecture supports block-based integral image computation to improve the processing speed on high-resolution images; meanwhile, it is reconfigurable so that it enables the sub-window adaptive cascade classification, which greatly improves the processing speed and reduces power consumption. Experimental results show that 96% detection rate in average and 58 fps(frame per second) detection speed are achieved for the1080p(1920×1080) images. Compared with the state-of-the-art work, the detection speed is greatly improved and power consumption is largely reduced.