The existing camera tracking and perception methods mainly rely on sparse SLAM, which limits the dense perception ability of the scene and affects the reliability of auxiliary decision-making. Different from this, this work proposes a real-time tracking and unsupervised dense sensing framework. Firstly, the dense depth value of the scene is predicted by unsupervised multi-view stereo to remove the dependence on labeled data. Then, the quality of synthetic pseudo-reference image is quantified according to the predicted depth map and used as a weighted guidance to train the unsupervised model, thus reducing the ambiguity of feature matching in areas such as specular reflection. Moreover, the sparse optical flow of the keyframes is solved by real-time and robust ORB feature matching operator, which assists the high-precision training of unsupervised depth inference model. To increase the prediction accuracy of occluded area, a novel rendering consistency loss via neural radiance fields is designed to constrain the geometric characteristics of object surface. Finally, dense direct image alignment is performed from a global model to improve the tracking robustness, which is incrementally constructed from dense depth prediction. Extensive experiments on synthetic datasets and real datasets validate the effectiveness and practicability of the proposed work, which is an effective supplement to the existing SLAM work.

In order to improve the trajectory tracking accuracy and environmental adaptability of a quadrotor unmanned aerial vehicle (UAV), an adaptive robust trajectory tracking controller for a quadrotor UAV with uncertain environment parameters based on Backstepping sliding mode method is proposed. This controller uses adaptive estimates to approximate the unknown parameters in the system model and designs an anti-interference link to counteract the negative impact of the external environment, which compensates the control input of the UAV rotor and improves the accuracy and stability of the quadrotor UAV trajectory tracking. Firstly, the mathematical model of the quadrotor UAV in the interference environment is established. Secondly, the tracking target of the quadrotor UAV is divided into attitude target and position target. Then, the adaptive method and Backstepping sliding mode method are used to design the update laws of the estimates and the rotor control input equations. Meanwhile, the appropriate Lyapunov function is established to verify the asymptotic stability of the UAV attitude system and position system. Finally, simulation experiments are carried out to compare the trajectory tracking performance of the quadrotor UAV with various controllers, and the effectiveness and superiority of the proposed controller are verified.Note to Practitioners—This paper mainly focuses on studying a trajectory tracking controller suitable for the dynamics of quadrotor UAVs, especially its application in resisting unknown environmental parameters and disturbances. In practice, adaptive predictive laws are used to estimate model parameter perturbations, and this controller is applied to the rotor control in yaw, pitch, and roll directions, enabling the UAV to track the established reference trajectory. Meanwhile, our backstepping sliding mode controller can effectively improve the robustness of the UAV, ensuring flight accuracy while reducing interference from environmental parameters. In flight control, it is worth studying to solve the external wind field interference and modeling deviation. Parameter prediction based on adaptive methods can effectively handle these unknown variables and prevent UAVs from oversteer in complex environments. The simulation results have verified that the proposed controller can enable the UAV to track the artificially set spiral ascent trajectory, demonstrating high application value in interference environments. In the future, we plan to design an intelligent control method that does not rely on physical modeling, rather than precise models. With this change, we will further improve the application realizability of quadrotor UAV in real world scenarios.

The application of aerial refueling technology to UAVs can reduce the dependence on the pilot’s operation, which has unique advantages in carrying out battlefield reconnaissance, monitoring suspicious targets and collecting intelligence through all-weather work. The existing vision-based drogue detection methods are assumed to be carried out under daily lighting conditions, but special weather, such as fog, makes it difficult to identify the characteristics of the drogue, which will greatly degrade the model performance or even fail. Moreover, the traditional computing architecture is difficult to be directly applied to real airborne equipment, so it is necessary to adopt AI processor module with faster and better computing power and supporting parallel computing to meet the requirements of low delay and high security in aerial refueling. Therefore, this work proposes a robust detection network based on image domain adaption. Firstly, an end-to-end image defogging module is designed to deal with foggy image enhancement under weak supervision. Then, knowledge distillation with the teacher-student network is applied to guide the student model to obtain the instance-level features of the unlabeled target domain. In addition, the detection model is compiled and transplanted on the system-on-chip chip of JFMQL100TAI. The comprehensive experimental results on public datasets and real refueling datasets validate the effectiveness and feasibility of the proposed work, which effectively complements the drogue detection of special autonomous aerial refueling tasks. Note to Practitioners—As a widely used refueling technology in the field of national defense, probe-and-drogue refueling has developed from manual control docking to monitoring auxiliary docking. However, it is difficult for pilots to accurately and quickly obtain the relative position of the refueling drogue through visual perception. In this work, a semi-supervised drogue detection network for special aerial refueling task is designed. The proposed work has good application potential in refueling scenes, which can provide fast and accurate drogue positioning under foggy conditions.

This paper presents a novel Linear Mapping Field (LMF) to map time series into two-dimensional images. The LMF extracts deeper features of fNIRS signals, which makes fNIRS less reliant on some prior. The developed convolution neural networks detect more prominent features than the state-of-the-art methods. The experimental results indicate that different from RNNs which can only perceive the time series in a “sequential” manner, LMF’s characteristic of “jumpingly” perception is the key to achieving excellent results.Note to Practitioners—As an optical and non-invasive technique to obtain the changes of oxyhemoglobin (O2Hb) and deoxyhemoglobin (HHb), fNIRS can be used to measure the changes of cerebral hemodynamics related to brain activities. This work proposes a linear mapping field and other mapping fields to map fNIRS signals to two-dimensional images, and the deep features of these generated images can be further extracted by convolutional neural networks, establishing an end-to-end bridge to detect the activation of brain functions under different tasks. Compared with mainstream methods, this work can be used as an effective mapping for fNIRS with low computational complexity and good performance.

In future battlefields, missiles are expected to become highly precise and efficient strike weapons, with missile intelligence emerging as a critical development trend. To address the problem of optimizing 3-D missile interception guidance laws, this article introduces the deep Q-network (DQN) algorithm on the foundation of proportional navigation guidance (PNG) and proposes an adaptive proportional guidance algorithm based on deep reinforcement learning (DRL). The proposed algorithm uses air combat situational information as the state space and incorporates parameters such as the missile-target relative distance and line-of-sight (LOS) angle into the reward function design. The optimal proportional navigation coefficient$K^{*}$for low-overload maneuvering targets is determined through network search, and the longitudinal and lateral control commands of the missile are decoupled by designing the proportional coefficient increment$\Delta K$, constructing a discretized action space. Simulation results show that, compared to the PNG with a constant$K^{*}$, the proposed method significantly improves the hit probability of high-overload maneuvering targets while maintaining the hit rate for low-overload maneuvering targets. As an exploration of future intelligent combat scenarios, this guidance law design method holds both theoretical significance and practical application value.

The industrial knowledge graph (IKG) can improve the cognitive intelligence of the manufacturing system and is recognized as one of the cores of the next-generation industrial management information system. Due to the multisource heterogeneous nature of industrial data, aligning entities with the same semantics (entity alignment) is the core technology for building large-scale, high-coverage IKGs. Existing approaches show that embedded learning of IKGs performs well for this task. However, most advanced methods ignore concept information when learning topological information about IKGs. Inspired by the ontology matching theory, in this article, we realize the importance of entity concepts in alignment. The conceptual semantics of entities can usually be obtained through the is–a relation. However, the IKG is usually constructed by triples (entity, relation, entity) automatically extracted from a large text corpus. This will lead to entities in the IKG having problems such as lacking conceptual information, belonging to multiple concepts, or having different concept granularities. To solve the two problems of lacking conceptual information and different concept granularity, we propose the concept-aware entity alignment network (CAEA), aggregating bidirectional relations and attributes to get the entity concept semantics by a novel concept-aware graph attention mechanism. The excellent performance of the CAEA can better support the construction of large and complete IKGs and support downstream applications such as industrial knowledge recommendation and assisted decision-making. To verify the performance of the CAEA on the IKG, we construct a new entity alignment benchmark using industrial control network security data and verify the effectiveness of the CAEA on the new benchmark and several mainstream datasets. Experimental results show that our method outperforms other state-of-the-art (SOTA) methods and promotes the development of IKGs.

Emergency events such as fire, flood and COVID-19 occurred in urban rail transit (URT) usually triggered chain effect and evolved into huge disaster. This kind of chain with complexity and uncertainty evolution brought great challenges to the safety management of the system. Thus, the coupling effects of emergencies and then its relationship with the chain evolution is necessary to analyze emphatically. A Graph Evaluation and Review Technique Simulation (GERTS) evolution network is firstly constructed to describe the coupling effect and chain evolution of emergencies. Then, considering the internal and external influencing factors of the emergency chain, a dynamic evolution model of the emergency chain based on Coupled Map Lattice (CML) is proposed. This paper takes fire chain of URT as an example to simulate the evolution process of emergency chain, and analyze the impact of different coupling effects and various influencing factors on the evolution of emergency chain. The results of numerical simulation show that the AND-coupling can significantly inhibit the evolution of emergency events, while the OR-coupling and CO-coupling can expand the impact scope of emergency events. In addition, the evolution speed of emergency events can be controlled by increasing the coupling action time and improving the URT repair ability. When an emergency event occurs, the analysis of coupling effect and the accompanied chain evolution will help managers to make scientific judgment on the development trend of the emergency events and make targeted emergency defense measures.

This work provides a graph network solution for pilot brain fatigue state inference based on electroencephalography (EEG) fatigue indicators. Two graph methods are built as follows. The first one uses a single EEG signal sample as a node, and fatigue detection as a node classification task in a graph network. The developed graph network is then utilized to extract the correlation among different samples to achieve multisample joint decision making. The second method uses a single EEG signal sample as a graph structure, and EEG fatigue prediction as a graph classification task. Electrode position correlation is used to construct a graph. The feature fusion of adjacent electrodes is obtained through the connection relationship among nodes in a graph structure to improve network learning accuracy. In addition, a Bayesian optimization method is proposed to model the randomness of attention weights, and a Bayesian graph attention network is built. This work constructs a based-graph deep learning structures to achieve a pilot fatigue detection model with high accuracy, good generalization, and strong adaptability. Experimental results demonstrate the effectiveness of the proposed model.

Redundant robot manipulators play a significant role in modern industry. In this article, we propose a solution scheme to the trajectory tracking problem of the redundant robot manipulator with physical constraints through the Zhang neural dynamics method. Such problem is integrated into a time-varying system consisting of time-varying nonlinear equation (TVNE) and time-varying linear inequality (TVLI) and solved online by the varying-parameter Zhang neural dynamics (VPZND) model. It is ensured that the redundant robot manipulator can still perform the tracking task perfectly under the coexistence of time-varying bounded noise and physical constraints. Theoretical analysis proves that this VPZND model also has an explicit fixed convergence time. Numerical experiments confirm the feasibility of our VPZND model for TVLI. The trajectory tracking problem of the redundant robot manipulator with six or three degrees of freedom under the dual influence of physical constraints and noise is perfectly solved by the VPZND model, which is enough to verify its practical value.