车道线检测的PSPNet改进算法

车道线检测已成为智能驾驶领域研究的一项重要课题,而实际应用时,常出现车道线分割不准确、实时检测能力不佳的问题。为此本文提出一种金字塔场景分析网络的改进算法。在编码结构的基础上搭建主体网络PSPNet,选用MobileNet v2轻量级网络作为编码器的主干网络,减少了整体网络的计算复杂度及参数量;网络中添加了空洞卷积,并在不同层间实现特征融合,扩充了模型感受野,同时丰富了局部特征;最后用自适应直线拟合算法对各类型车道线拟合。本文使用Caltech车道线数据集进行测试,实验结果显示,改进后的PSPNet算法对不同类型的车道线均有较好的分割结果,与PSPNet算法相比精度和交并比分别提升了3.91%、4.14%,且FPS达28帧/s,本文算法的分割精度和推理速度均优于其他对比算法。     

An Efficient One-Arrow-Two-Hawks Strategy Achieves High Efficiency and Stable Batch Variance for Benzodifuran-based Polymer Solar Cells

With the development of organic solar cells (OSCs), the high-performance and stable batch variance are becoming a new challenge for designing polymer donors. To obtain high photovoltaic performance, adopting polymers with high molecular weight as donors is an ordinary strategy. However, the high molecular weight need to subtly control the reaction time and state, inevitably caused batch-to-batch variations. Herein, a strategy of steric effect is applied to benzodifuran (BDF)-based polymer by introducing different positions of Cl atom, producing two polymers PBDFCl-1 and PBDFCl-2. The more twisted side chains conformation not only achieve the control of moderate molecular weight for PBDFCl-2, but also easily form molecular stacking through adopting BDF unit and maintain sufficient polymeric crystallinity. Due to the optimized stacking mode and good blend miscibility, PBDFCl-2-based device exhibitsa more elegant power conversion efficiency (PCE) of 17.00% compared to PBDFCl-1-based device. This is the highest efficiency record for BDF-based binary OSCs. Meanwhile, the PCE device variation of the different molecular weights for PBDFCl-2 is little, indicating the reduction of the batch variation. Therefore, smartly using steric effect of Cl atom in strong crystalline BDF unit can form efficient molecular stacking regulations and realize the coordination of high-performance and stable batch variance.     

Tough Transient Ionic Junctions Printed with Ionic Microgels

Emerging soft ionotronics better match the human body mechanically and electrically compared to conventional rigid electronics. They hold great potential for human-machine interfaces, wearable and implantable devices, and soft machines. Among various ionotronic devices, ionic junctions play critical roles in rectifying currents as electrical p–n junctions. Existing ionic junctions, however, are limited in electrical and mechanical performance, and are difficult to fabricate and degrade. Herein, the design, fabrication, and characterization of tough transient ionic junctions fabricated via 3D ionic microgel printing is reported. The 3D printing method demonstrates excellent printability and allows one to fabricate ionic junctions of various configurations with high fidelity. By combining ionic microgels, degradable networks, and highly charged biopolymers, the ionic junctions feature high stretchability (stretch limit 27), high fracture energy (>1000 Jm⁻²), excellent electrical performance (current rectification ratio >100), and transient stability (degrade in 1 week). A variety of ionotronic devices, including ionic diodes, ionic bipolar junction transistors, ionic full-wave rectifiers, and ionic touchpads are further demonstrated. This study merges ionotronics, 3D printing, and degradable hydrogels, and will motivate the future development of high-performance transient ionotronics.     

Stealthy switching attacks on sensors against state estimation in cyber-physical systems

This article focuses on designing sensor attacks to deteriorate the state estimation in cyber-physical systems. The scenario that the malicious attack signals can be injected into different but limited number of sensor communication channels is considered. The state estimation error variations and innovation variations are adopted to measure attack performance and attack stealthiness, respectively. A switching attack strategy is proposed, under which the estimation error variations are driven to the predesigned target value and the norm of innovation variations remains at a small level. The switching attack design problem is formulated as a discrete switched optimal control problem which can be solved by dynamic programming, while the computational burden is heavy. To overcome this difficulty, by using pruning technique to remove the redundant matrices generated in dynamic programming, the quadratic optimization problem becomes numerically tractable. In this way, the suboptimal attack signal sequence and switching sequence can be acquired. Finally, a simulation example is provided to illustrate the effectiveness of the proposed attack strategy.     

IoT设备程序同源性智能检测技术综述

IoT设备与各行业的深度融合方兴日盛,使得IoT程序快速开发的需求不断增长。开发者习惯于集成第三方库或常用代码。不幸的是,若这些代码中隐藏着潜在的漏洞,那他们也会被扩散到不同的程序中,为其大规模扩散创造了条件。这也是造成近年来IoT设备群体性安全事件频发的重要原因之一。为了降低危害,发现具备相似漏洞的程序并进行相关的处置是一个有效的方法。同源性分析作为挖掘程序间关联关系的重要手段之一,可高效地实现程序漏洞的智能溯源取证。结合机器学习和深度学习技术,它表现出解决大规模程序安全性检测的巨大潜力。然而,IoT设备的软硬件特点仍使得该技术的使用面临挑战。当前已有诸多方案在IoT设备程序的同源性智能检测方面取得了进展。因此,本文将系统性回顾近年来相关技术研究的成果,将他们分为相似性分析和创作者归属技术。首先,我们介绍了两种方式的数据来源。接着,检测过程中涉及的特征选择、特征表示以及相对应的检测方法也被依次介绍。进一步的,本文不仅比较和总结了方案的特点和局限性,还对他们在不同类型IoT设备程序的适配性进行了对比分析。最后,文章针对IoT程序分析提出了一些研究建议。作者希望本综述可为研究者阐明这些工作的核心技术点,并为他们在IoT设备上的进一步应用提供启发。     

面向边缘计算的人工鱼群搜索任务调度

如何将计算任务分配到合适的边缘计算资源上进行计算,以满足边缘计算环境下用户的计算需求、提高用户任务请求 的服务质量,是边缘计算中面临的关键问题。 本文提出一种基于人工鱼群搜索的边缘计算任务调度方法(AFETSA)。 将人工 鱼群搜索算法和边缘计算任务调度模型相结合,采用非线性递减函数动态地调整人工鱼的视野范围和步长,以提高启发式任务 调度算法的全局搜索能力,降低任务的计算时延;同时与禁忌搜索算法进行融合,通过引入忌禁表,在每一次迭代中防止算法陷 入局部最优,提高算法的寻优能力。 CloudSim3. 0 仿真平台实验评测结表明,本文所提 AFETSA 方法和已有的 AFSA、ACO 和 PSO 这 3 种调度算法相比,在任务执行时间、算法稳定性、负载均衡方面都有明显的提升,可充分利用边缘服务器计算资源,提 升计算任务的计算性能,有效解决边缘计算中任务调度不均导致的时延过高和负载不均衡问题。     

Critical Relation Path Aggregation-Based Industrial Control Component Exploitable Vulnerability Reasoning

With the growing discovery of exposed vulnerabilities in the Industrial Control Components (ICCs), identification of the exploitable ones is urgent for Industrial Control System (ICS) administrators to proactively forecast potential threats. However, it is not a trivial task due to the complexity of the multi-source heterogeneous data and the lack of automatic analysis methods. To address these challenges, we propose an exploitability reasoning method based on the ICC-Vulnerability Knowledge Graph (KG) in which relation paths contain abundant potential evidence to support the reasoning. The reasoning task in this work refers to determining whether a specific relation is valid between an attacker entity and a possible exploitable vulnerability entity with the help of a collective of the critical paths. The proposed method consists of three primary building blocks: KG construction, relation path representation, and query relation reasoning. A security-oriented ontology combines exploit modeling, which provides a guideline for the integration of the scattered knowledge while constructing the KG. We emphasize the role of the aggregation of the attention mechanism in representation learning and ultimate reasoning. In order to acquire a high-quality representation, the entity and relation embeddings take advantage of their local structure and related semantics. Some critical paths are assigned corresponding attentive weights and then they are aggregated for the determination of the query relation validity. In particular, similarity calculation is introduced into a critical path selection algorithm, which improves search and reasoning performance. Meanwhile, the proposed algorithm avoids redundant paths between the given pairs of entities. Experimental results show that the proposed method outperforms the state-of-the-art ones in the aspects of embedding quality and query relation reasoning accuracy.     

车用柴油机电控喷油系统齿条位移反馈控制研究

介绍了齿条位移反馈控制器的设计,包括开环系统性能分析、系统建模和控制参数整定。设计的直接数字式ＰＩ控制器使得闭环控制系统的静、动态特性满足柴油机喷油电控的要求。     

基于VXI总线的噪声测试系统设计与应用

武器发射时产生的脉冲噪声对人员和仪器会造成很大的危害,因此噪声测试在武器勤务性能考核巾具有重要意义,针对脉冲噪声信号特性,开发了一套基于VXI总线的噪声测试系统;详细介绍了系统硬件结构设计、基于LabWindows/CVI虚拟仪器开发平台的软件设计和系统功能;设计的系统具有存储容量大、采样率高和软件功能强等特点,能够用于各种武器单发或连发射击时的噪声测试,也可以用于武器非行驶状态下的稳态噪声测试;通过在试验中的应用,表明本系统操作简便,工作可靠.     

Disc cutters plane layout design of the full-face rock tunnel boring machine (TBM) based on different layout patterns

The quality of plane layout design of the disc cutters for the full-face rock tunnel boring machine (TBM) directly affects the balance of force distribution on the cutter head during the excavating. Various layout patterns have been adopted in practice during the layout design of the disc cutters. Considering the engineering technical requirements and the corresponding structure design requirements of the cutter head, this study formulates a nonlinear multi-objective mathematical model with multiple constraints for the disc cutters plane layout design, and analyses the characteristics of a multi-spiral layout pattern, a dynamic star layout pattern and a stochastic layout pattern. And then a genetic algorithm is employed to solve a disc cutters’ multi-spiral layout problem, and a cooperative co-evolutionary genetic algorithm (CCGA) is utilized to solve a disc cutters’ star or stochastic layout problems. The emphasis was put on the study of superiority of three different layout patterns. Finally, an instance of the disc cutters’ plane layout design was solved by the proposed methods using three different kinds of layout patterns. Experimental results showed the effectiveness of the method of combining the mathematical model with the algorithms, and the pros and cons of the three layout patterns.