COM Adjustment Mechanism Control for Multi-Configuration Motion Stability of Unmanned Deformable Vehicle

An unmanned deformable vehicle is a wheel-legged robot transforming between two configurations: vehicular and humanoid states, with different motion modes and stability characteristics. To address motion stability in multiple configurations, a center-of-mass adjustment mechanism was designed. Further, a motion stability hierarchical control algorithm was proposed, and an electromechanical model based on a two-degree-of-freedom center-of-mass adjustment mechanism was established. An unmanned-deformable-vehicle vehicular-state steady-state steering dynamics model and a gait planning kinematic model of humanoid state walking were established. A stability hierarchical control strategy was designed to realize the stability control. The results showed that the steady-state steering stability in vehicular state and the walking stability in humanoid state could be significantly improved by controlling the slider motion.

A Multi-constraint and Multi-objective Allocation Model for Emergency Rescue in IoT Environment

Emergency relief operations are essential in disaster aftermaths, necessitating effective resource allocation to minimize negative impacts and maximize benefits. In prolonged crises or extensive disasters, a systematic, multi-cycle approach is key for timely and informed decision-making. Leveraging advancements in IoT and spatio-temporal data analytics, we've developed the Multi-Objective Shuffled Gray-Wolf Frog Leaping Model (MSGW-FLM). This multi-constraint, multi-objective resource allocation model has been rigorously tested against 28 diverse challenges, showing superior performance in comparison to established models such as NSGA-II, IBEA, and MOEA/D. MSGW-FLM's effectiveness is particularly notable in complex, multi-cycle emergency rescue scenarios, which involve numerous constraints and objectives. This model represents a significant step forward in optimizing resource distribution in emergency response situations.

Optimized Loss Functions for Object detection and Application on Nighttime Vehicle Detection

Loss functions is a crucial factor than affecting the detection precision in object detection task. In this paper, we optimize both two loss functions for classification and localization simultaneously. Firstly, by multiplying an IoU-based coefficient by the standard cross entropy loss in classification loss function, the correlation between localization and classification is established. Compared to the existing studies, in which the correlation is only applied to improve the localization accuracy for positive samples, this paper utilizes the correlation to obtain the really hard negative samples and aims to decrease the misclassified rate for negative samples. Besides, a novel localization loss named MIoU is proposed by incorporating a Mahalanobis distance between predicted box and target box, which eliminate the gradients inconsistency problem in the DIoU loss, further improving the localization accuracy. Finally, sufficient experiments for nighttime vehicle detection have been done on two datasets. Our results show than when train with the proposed loss functions, the detection performance can be outstandingly improved. The source code and trained models are available at https://github.com/therebellll/NegIoU-PosIoU-Miou.