Autonomy Evaluation of Unmanned Systems Based on Task Models

In this study,relevant work on autonomy evaluation(AE)in recent years was comprehensively reviewed and classified from the perspective of task models,and a closed-loop task models based theoretical framework for AE was developed.The main contributions of this study are as follows.1)A taxonomy for AE based on task models was introduced to classify current theories,methods and standards.2)The limitations of the current autonomous evaluation methods were addressed to provide a theoretical framework for quantitative evaluation based on task models,and evaluation metrics for each stage were proposed based on the AE theoretical framework.3)Qualitative analyses of the superiority of the proposed AE framework based on the closed-loop task models were conducted.This study attempts to provide a reference for researchers and engineers in the autonomous unmanned systems field and inspire future development of AE.

FPGA-based edge computing: Task modeling for cloud-edge collaboration

With the development of the Internet of Things and devices continuing to scale,using cloud computing resources to process data in real-time is challenging.Edge computing technologies can improve real-time performance in processing data.By introducing the FPGA into the computing node and using the dynamic reconfigurability of the FPGA,the FPGA-based edge node can increase the edge node capability.In this paper,a task-based collaborative method for an FPGA-based edge computing system is proposed in order to meet the collaboration among FPGA-based edge nodes,edge nodes,and the cloud.The modeling of the task includes two parts,task information and task-dependent file.Task information is used to describe the running information and dependency infor-mation required for the task execution.Task-dependent file contains the configuration bit-stream of FPGA in running of the task.By analyzing the task behavior,this paper builds four basic behaviors,analyzes the critical attributes of each behavior,and summa-rizes the task model suitable for FPGA-based edge nodes.Tasks with specific functions can be created by modifying different attributes of model nodes.Finally,the availability of the model and the task-based collaborative method are verified by simulation exper-iments.The experimental results that the task model proposed in this paper can meet cloud-edge collaboration in the FPGA-based edge computing environment.

Modeling and Decoupling of Coupling Tasks in Collaborative Development Process of Complicated Electronic Products

It is important to improve the development efficiency of decoupling a coupling task package according to the information relevancy relation between development tasks in the collaborative development process of complicated electronic products.In order to define the task coupling model in the development process,the weighted directed graph based on the information relevancy is established,and the correspondence between weighted directed graph model and numerical design structure matrix model of coupling tasks is introduced.The task coupling model is quantized,thereby the interactivity matrix of task package is built.A multi-goal task decoupling method based on improved genetic algorithm is proposed to decouple the task coupling model,which transforms the decoupling of task package into a multi-goal optimization issue.Then the improved genetic algorithm is used to solve the interactivity matrix of coupling tasks.Finally,the effectiveness of this decomposition method is proved by using the example of task package decoupling of collaborative development of a radar’s phased array antenna.

Research on Model and Algorithm of Task Allocation and Path Planning for Multi-Robot

Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot operation, an integer programming model is established and a genetic algorithm for solving the model is designed. In order to make coordination to accomplish their respective tasks for each robot with high efficiency, this paper uses natural number encoding way. The objective function is based on penalty term constructed with the total number of collisions in the running path of robots. The fitness function is constructed by using the objective function with penalty term. Based on elitist retention strategy, a genetic algorithm with collision detection is designed. Using this algorithm for task allocation and path planning of multi-robot, it can effectively avoid or reduce the number of collisions in the process of multi-robot performing tasks. Finally, an example is used to validate the method.

Emergency Tasks Planning Based on Formal Modeling of Emergency Plan and HTN Planning System SHOP2

A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed to response to an emergency management, a workflow model is employed to complete the formal modeling of concrete emergency plan firstly. Then the HTN planning system SHOP2 is introduced, the transformation method of domain knowledge from emergency domain to SHOP2 domain is studied. At last, the general procedure to solve the emergency decision prob-lems and to generate executive emergency tasks is set up drawing support from SHOP2 planning system, which will combine the principles (or knowledge) of emergency plan and the real emergency situations.

Mathematical Model and Algorithm for the Task Allocation Problem of Robots in the Smart Warehouse

In the smart warehousing system adopting cargo-to-person mode, all the items are stored in the movable shelves. There are some warehouse robots transporting the shelves to the working platforms for completing order picking or items replenishment tasks. When the number of robots is insufficient, the task allocation problem of robots is an important issue in designing the warehousing system. In this paper, the task allocation problem of insufficient warehouse robots (TAPIR) is investigated. Firstly, the TAPIR problem is decomposed into three sub-problems: task grouping problem, task scheduling problem and task balanced allocation problem. Then three sub-problems are respectively formulated into integer programming models, and the corresponding heuristic algorithms for solving three sub-problems are designed. Finally, the simulation and analysis are done on the real data of online bookstore. Simulation results show that the mathematical models and algorithms of this paper can provide a theoretical basis for solving the TAPIR problem.

融合知识图谱和大模型的高校科研管理问答系统设计

科研管理是高校管理中的重要组成部分,但现有的科研管理系统难以满足用户的个性化需求。以高校科研管理向智能化转型为需求导向,将知识图谱、传统模型和大语言模型相结合,共同构建新一代高校科研管理问答系统。采集科研知识用于构建科研知识图谱。利用同时进行意图分类和实体提取的多任务模型进行语义解析。借助解析结果来生成查询语句,并从知识图谱中检索信息来回复常规问题。将大语言模型与知识图谱相结合,以辅助处理开放性问题。在意图和实体具有关联的数据集上的实验结果表明,采用的多任务模型在意图分类和实体识别任务上的F1值分别为0.958和0.937,优于其他对比模型和单任务模型。Cypher生成测试表明了自定义Prompt在激发大语言模型涌现能力方面的成效,利用大语言模型实现文本生成Cypher的准确率达到85.8%,有效处理了基于知识图谱的开放性问题。采用知识图谱、传统模型和大语言模型搭建的问答系统的准确性为0.935,很好地满足了智能问答的需求。

SWARM-LLM:基于大语言模型的无人集群任务规划系统

针对无人集群系统自主智能性不足、异构无人集群协同效率低、任务分配不均衡等问题,文中面向无人集群自主规划、高效协作、智能决策的需求,首先提出了一种新的基于大语言模型的无人集群任务规划系统框架(SWARM-LLM)。该框架利用大语言模型将高层次的任务指令转化为具体的智能无人集群任务规划方案,通过任务分解、任务分配、任务执行等多个阶段来实现无人集群协同任务。进一步地,设计了一套适用于无人集群规划的提示工程方法-规划链(Planning Chain, PC),用来指导和优化上述各阶段的实施。最终,在无人集群仿真环境(AirSim)中构建了不同类别和复杂度的任务,并进行了评估实验。与其他基于优化算法和机器学习的算法相比,实验结果证明了SWARM-LLM框架的有效性,并在任务成功率上展现出了显著的优势,平均性能提升了47.8%。

多任务联合学习下的复杂天气航拍图像目标检测算法

针对雨雾等复杂天气下无人机图像质量下降导致目标检测效果不佳的问题,提出基于上下文引导和提示学习的目标检测算法CGP-YOLO(context-guided and prompt-based YOLOv8)。构建一个多任务联合学习的检测网络,通过双分支结构达到平衡图像检测和恢复的任务。提出基于提示学习的跨层注意力加权图像去噪分支,指导网络利用退化提示重构清晰的图像;模型主干设计基于上下文的残差采样模块,集成卷积注意力机制,综合目标的局部和全局信息;采用可分离大核多尺度特征提取模块,处理网络多尺度特征;引入小目标的专用检测头,增强小目标的检测精度。实验结果表明,在参数量仅为基线模型60%的情况下,该模型的检测精度提高了2.4个百分点,平均精度(mAP)提高了2.04个百分点,模型检测效果优于其他经典模型,具备卓越的性能。

Complex Problems Solution as a Service Based on Predictive Optimization and Tasks Orchestration in Smart Cities

Smart cities have different contradicting goals having no apparent solution.The selection of the appropriate solution,which is considered the best compromise among the candidates,is known as complex problem-solving.Smart city administrators face different problems of complex nature,such as optimal energy trading in microgrids and optimal comfort index in smart homes,to mention a few.This paper proposes a novel architecture to offer complex problem solutions as a service(CPSaaS)based on predictive model optimization and optimal task orchestration to offer solutions to different problems in a smart city.Predictive model optimization uses a machine learning module and optimization objective to compute the given problem’s solutions.The task orchestration module helps decompose the complex problem in small tasks and deploy them on real-world physical sensors and actuators.The proposed architecture is hierarchical and modular,making it robust against faults and easy to maintain.The proposed architecture’s evaluation results highlight its strengths in fault tolerance,accuracy,and processing speed.

Task-Based Approach在高职英语专业《综合英语》中的应用

Task-Based Approach(TBA:任务型教学法)不仅有利于提高学生综合运用英语的能力,而且有助于培养学生的自主学习意识与合作精神.本文介绍了任务型语言教学法运用于高职英语专业《综合英语》教学的实施原则和教学模式.

多层次算力网络办公流程多轮任务防冲突调度研究

在多层次算力网络环境中,任务的构成、约束和需求复杂多变,这给任务调度带来极大的挑战。传统策略基于固定规则和算法进行任务分配,难以全面考虑任务间的依赖关系和约束条件,导致资源分配不均、任务执行冲突等问题。因此,文章提出一种多层次算力网络办公流程多轮任务防冲突调度方法。通过从任务构成、任务约束以及任务需求三个角度构建多层次算力网络办公流程多轮任务三元组模型。在调度过程中,引入势博弈机制,综合考虑任务间的依赖关系和约束条件,通过计算效用函数值选择满足任务约束和需求的虚拟机,实现多层次算力资源的高效利用和任务的优化执行。测试结果显示,所提方法显著降低冲突率,即使在任务数量大幅增加时,冲突率增幅也较小,展现出良好的稳定性和低冲突特性。

On the Application of Task-based Language Teaching Approach to English Phonetic Teaching

Task-based language teaching approach(TBLTA), which lays stress on "learning by doing", gained increasing popularity in English teaching in recent years. The design of phonetic teaching calls for more emphasis from English educators since it is one of the basic rounds of English teaching. This paper made a trial on the utilization of TBLTA in the English phonetic teaching context and designed a TBLTA model for English phonetic teaching based on discussions about model and merits of TBLTA.

A blockchain bee colony double inhibition labor division algorithm for spatio-temporal coupling task with application to UAV swarm task allocation

It is difficult for the double suppression division algorithm of bee colony to solve the spatio-temporal coupling or have higher dimensional attributes and undertake sudden tasks.Using the idea of clustering,after clustering tasks according to spatio-temporal attributes,the clustered groups are linked into task sub-chains according to similarity.Then,based on the correlation between clusters,the child chains are connected to form a task chain.Therefore,the limitation is solved that the task chain in the bee colony algorithm can only be connected according to one dimension.When a sudden task occurs,a method of inserting a small number of tasks into the original task chain and a task chain reconstruction method are designed according to the relative relationship between the number of sudden tasks and the number of remaining tasks.Through the above improvements,the algorithm can be used to process tasks with spatio-temporal coupling and burst tasks.In order to reflect the efficiency and applicability of the algorithm,a task allocation model for the unmanned aerial vehicle(UAV)group is constructed,and a one-to-one correspondence between the improved bee colony double suppression division algorithm and each attribute in the UAV group is proposed.Task assignment has been constructed.The study uses the self-adjusting characteristics of the bee colony to achieve task allocation.Simulation verification and algorithm comparison show that the algorithm has stronger planning advantages and algorithm performance.

MoM-PO/SBR Algorithm Based on Collaborative Platform and Mixed Model

For electromagnetic scattering of 3?D complex electrically large conducting targets,a new hybrid algorithm,MoM?PO/SBR algorithm,is presented to realize the interaction of information between method of moment(MoM)and physical optics(PO)/shooting and bouncing ray(SBR).In the algorithm,the COC file that based on the Huygens equivalent principle is introduced,and the conversion interface between the equivalent surface and the target is established.And then,the multi?task flow model presented in this paper is adopted to conduct CPU/graphics processing unit(GPU)tests of the algorithm under three modes,i.e.,MPI/OpenMP,MPI/compute unified device architecture(CUDA)and multi?task programming model(MTPM).Numerical results are presented and compared with reference solutions in order to illustrate the accuracy and the efficiency of the proposed algorithm.

特色农产品销售评价大数据的弱监督分析方法

针对特色农产品评价大数据多维度分析中,可信标签不足以及挖掘消费者各维度真实情感语义困难等问题。该研究提出了一种基于弱监督训练的深度学习方法。首先,通过主题模型分析大规模评论,提取产品评价主题和关键词。然后,结合句法依存和情感词典为评论生成不同维度的伪标签。最后,构建多标签多分类深度网络,在伪标签上进行弱监督学习。结果表明,该方法在红心柚评论数据集上取得89.2%的准确率和80.3%的F1值,比随机森林算法提升了7.1个百分点的准确率和11.5个百分点的F1值。相比Transformer模型,准确率提高5.6个百分点,F1值提高2.0个百分点,参数量减少了92%。该方法能从海量评论中高效提取产品评价维度和消费者关注点,为完善农产品质量和销售服务提供数据支持。

MODEL-BASED DEVELOPMENT OF REAL-TIME SOFTWARE SYSTEM FOR ELECTRONIC UNIT PUMP SYSTEM

A real-time operating system （RTOS）, also named OS, is designed based on the hardware platform of MC68376, and is implemented in the electronic control system for unit pump in diesel engine. A parallel and time-based task division method is introduced and the multi-task software architecture is built in the software system for electronic unit pump （EUP） system. The V-model software development process is used to control algorithm of each task. The simulation results of the hardware-in-the-loop simulation system （HILSS） and the engine experimental results show that the OS is an efficient real-time kernel, and can meet the real-time demands of EUP system; The built multi-task software system is real-time, determinate and reliable. V-model development is a good development process of control algorithms for EUP system, the control precision of control system can be ensured, and the development cycle and cost are also decreased.

面向古文自然语言处理生成任务的大语言模型评测研究

大语言模型的频繁发布为大语言模型的评测研究带来了机遇与挑战,针对通用领域大语言模型的评测体系日趋成熟,而面向垂直领域的大语言模型评测仍在起步阶段,本文以古文领域评测为切入点,从语言和知识两个维度构建了一批古籍领域评测任务,并选取当前各大榜单中性能较为优越的13个通用领域大语言模型进行评测。评测结果显示,ERNIE-Bot在古籍领域知识方面遥遥领先于其他模型,而GPT-4模型在语言能力方面表现出最佳性能,在开源模型中,ChatGLM系列模型表现最为出色。通过构建评测任务和数据集,制定了一套适用于古籍领域的大语言模型评测标准,为古籍领域大语言模型性能评测提供了参考,也为后续古籍大语言模型训练过程中的基座模型选取提供了依据。

Research on Task Planning Algorithm of Retrieving Invalid Satellite for Free-Flying Space Robot

A free-flying space robot will accomplish manufacturing, assembling and repair instead of astronauts in the future unmanned space flight hbecause of its flexible maneuverability in space. This paper presents a task planning algorithm of retrieving invalid satellite for free-fiving space robot. First we discuss kinematics model and deduct cinematics equations of dual-arm space robot. Then the process of retrieving an invalid satellite, which is divided into eleven motion procedures. At the same time, we have developed a free-flying space robot task planning simulation system and the experimental results show that this algorithm is feasible and correct.

Research on Object Model-Based Architecture for Service Robot System

An object model based software architecture for service robot system is presented, which addresses both software engineering issues such as reuse, extensibility, and management of complexity as well as system engineering issues like scalability, reactivity, and robustness. A novel approach to the service robot system architecture is discussed. Cognitive psychology is considered in designing the software system, i.e., a humans way of vision and planning is applied. The planner can incorporate the users request into its task selection mechanism and generate plans biased toward picking the most reliable task execution in a given situation, and the planner can alter task selection based on changes that occur in dynamic and uncertain environments.