3930 results about "Multiple target" patented technology

The invention discloses a flexible load multi-target collaborative scheduling system and method, and relates to the technical field of collaborative optimization of power systems. The method is used for solving the problem of lack of accurate prediction and multi-target coordination of agricultural electricity and water utilization regulation and control. Firstly, based on meteorological data, soil moisture content and crop growth characteristics, an irrigation demand prediction model is constructed, irrigation water demand is predicted, and a water pump load power baseline is generated; then, a dynamic baseline constraint condition is generated in combination with historical behavior data and water pump start-stop logic; establishing a power grid side objective function, a user side objective function and a water affair side objective function, and introducing an underground water and carbon emission punishment mechanism; thirdly, dividing the power distribution network into sub-regions, adopting an alternating direction multiplier method to solve a region regulation and control strategy in parallel, coordinating water resource distribution conflicts through virtual interactive variables, and outputting a global scheduling instruction; and finally, collecting real-time response data and correcting the prediction model on line to realize closed-loop adaptive optimization.

The invention discloses a multi-modal dynamic fusion and incremental learning fault diagnosis method for deep vertical shaft equipment, which belongs to the technical field of industrial equipment fault diagnosis, and comprises the following four steps of: constructing a pre-training large model to perform feature extraction, and relying on a multi-layer Transformer encoder and a dual loss function, establishing a multi-modal dynamic fusion and incremental learning fault diagnosis model; mining cross-modal universal fault features from vibration, temperature and current multi-modal time sequence data; according to the method, multi-modal features are fused, multi-modal association is constructed, modal weights are dynamically adjusted through a modal gating unit and a time delay compensation attention mechanism to adapt to signal quality changes, and meanwhile time sequence deviation is corrected to achieve accurate association; incremental learning is realized by using a decoupling projection layer, and a lightweight projection module is designed for a newly added fault task to suppress disastrous forgetting; network training is optimized, pre-training loss, incremental learning loss and attention regularization loss are integrated through a multi-objective loss function, and model stability and diagnosis precision are improved. The method has the advantage that the model stability and the diagnosis precision are improved.

The invention relates to the technical field of post-disaster path planning, in particular to a post-disaster unmanned aerial vehicle path planning method and system based on double-population constraint multi-objective optimization. The method comprises the following steps: based on a post-disaster task scene model, establishing an unmanned aerial vehicle voyage multi-objective collaborative optimization objective function and constraint conditions, including constructing a multi-objective function system, setting system constraint conditions and establishing a constraint violation degree evaluation mechanism; performing path optimization by using a double-population constraint multi-objective evolutionary algorithm, including establishing a multi-unmanned aerial vehicle path coding mechanism and initializing a double-population architecture, implementing a double-population collaborative genetic reproduction operation, and determining a double-stage constraint processing strategy; environment selection based on elite perception sorting is implemented; the multi-target collaborative optimization model and the accurate risk quantification mechanism constructed by the invention effectively solve the key problems of single target and rough risk processing of the existing method.

The invention discloses an electric power communication network visual operation and maintenance method based on digital twinning, and the method comprises the steps: carrying out the coupling mapping of a global data mirror image and multiple sources, collecting data through a reconfigurable sensing array, and outputting a three-domain digital mirror image through time alignment; semantic topology reconstruction is carried out, and a dynamically growing semantic topology is generated by using a graph semantic engine; based on explainable causal chain fault tracing, an event-causal-countermeasure knowledge network is constructed; performing multi-target balancing operation and maintenance decision making, and screening an optimal strategy by using a three-dimensional Pareto model; immersive visualization and interactive intervention are performed, and a cross-platform engine is injected to realize multi-dimensional display. According to the method, through multi-source data accurate mapping, topology dynamic adaptation, causal interpretable traceability and scientific decision making, the problems of data islands, topology lagging and low decision making efficiency in existing operation and maintenance are solved, and the operation and maintenance accuracy and efficiency of the electric power communication network are improved.

The invention relates to the technical field of drawing recognition, and discloses an engineering drawing intelligent recognition method and system based on deep learning. The method comprises the steps of performing multi-target cooperative detection on a first processing image based on a detection model, identifying primitive information of the first processing image, and generating a second identification image; positioning a text area of the second recognition image, recognizing a character detection range, determining word tags represented by the character detection range, summarizing character information of the character detection range based on the word tags, and generating third image data; obtaining a correlation degree among the symbols, the attributes and the connecting line information, detecting whether the primitive information accords with a preset rule or not, constructing a symbol topological relation graph, and generating correction information containing a conflict position; and fusing the primitive information, the character information and the correction information to generate structured data comprising a symbol hierarchy tree, an attribute incidence matrix and a conflict label. According to the invention, the efficiency and accuracy of engineering drawing intelligent identification are improved.

The invention belongs to the technical field of image recognition, and provides a target tracking method and system based on AI vision, and the method comprises the following steps: collecting original video frames; environment adaptive image enhancement; performing multi-target detection and multi-modal feature extraction; estimating local optical flow motion; performing multi-target trajectory association; carrying out shielding processing and re-identification; outputting a track and analyzing a result; according to the method, a physical-deep learning cascade defogging model is set, light / dense fog processing paths are dynamically switched through a dark channel mean value, atmospheric scattering physical prior and U-Net residual error correction are fused, an environment self-adaptive sensing architecture is provided, the failure bottleneck of a traditional single model under sudden change fog concentration is broken through, and the real-time performance of the system is improved. According to the method, an apparent-motion-geometry ternary coupling trajectory cognition system is constructed, a dynamic cost matrix and a feature cache pool are designed, the ID switching problem caused by similar target aggregation and long-time shielding is solved, and the accuracy of target tracking in the shielding environment is improved.

The invention discloses an automatic scheduling method and system for ship unloading equipment, and relates to the technical field of port automation. According to the method, a high-precision digital twinborn model for ship unloading operation is constructed, physical equipment is abstracted into a digital intelligent agent with an autonomous decision-making capability, real-time multi-dimensional data and historical data are utilized to perform deep fusion to drive system synchronization, and a future multi-step scheduling strategy is deduced in a parallel simulation manner in a virtual space based on rolling time domain control, so that the real-time multi-dimensional data and historical data are subjected to real-time multi-dimensional data synchronization driving system synchronization is realized. Dynamic evaluation and optimization are carried out by adopting a multi-objective evolutionary algorithm combined with a cooperative game mechanism, and conflicts and cooperation among equipment are effectively coordinated by defining an individual utility function and introducing cooperative game negotiation and a meta-controller to dynamically adjust target weights, so that system-level global optimal scheduling is realized under multiple objectives of efficiency, energy consumption, safety and the like, and the scheduling efficiency is improved. The intellectualization, the self-adaptability and the comprehensive operation benefit of port ship unloading operation are comprehensively improved.

The invention discloses a low-altitude unmanned aerial vehicle trajectory tracking and monitoring method based on a 5G-A communication sensing integrated base station, and relates to the technical field of low-altitude traffic management and communication sensing fusion, and the method comprises the steps: firstly collecting multi-source data such as a communication sensing fusion signal, environment interference and unmanned aerial vehicle attributes, and carrying out the alignment and packaging of a unified timestamp and a coordinate system into a synchronous data frame; then, deep fusion and anti-interference processing are carried out on the data frames, noise is filtered out, and pure fusion data is generated; and furthermore, real-time track calculation and motion trend prediction are carried out on pure data by utilizing multi-base-station cooperative calculation and prediction. Based on this, through a multi-target feature recognition and clustering separation mechanism, independent individual trajectories are accurately stripped from a complex mixed data stream, and compliance verification and anomaly judgment are performed on the trajectories in combination with an airspace rule base. In this way, the problems of signal interference and multi-target aliasing in a complex environment can be effectively solved, and therefore high-precision global tracking of the low-altitude unmanned aerial vehicle and real-time monitoring of abnormal behaviors are achieved.

The invention discloses a large-model-driven intelligent calculation method and system for a water conservancy mechanism model. According to the method, natural language input, structured conversion and intelligent optimization calculation of a scheduling target are realized by integrating a field-enhanced large language model and a water conservancy professional mechanism model. The method comprises the steps of receiving a calculation target expressed by a user in a natural language, and analyzing and converting the calculation target into a constraint condition and a target function which can be recognized by a water conservancy mechanism model; a hydrological model, a hydraulic model, a hydrodynamic model and other models are called based on a workflow engine, and reverse calculation is carried out by adopting a hybrid optimization strategy of'coarse adjustment-fine adjustment-verification '; synchronously and visually displaying the parameter change and the result convergence state in the calculation process; and outputting a calculation result including parameter adjustment logic, standard conformity analysis and multi-scheme comparison. The system comprises a natural language interaction module, a target conversion module, an intelligent calculation engine module, a visualization module and a result generation module, and supports multiple application scenes such as multi-target scheduling, emergency decision making and ecological guarantee. Compared with a traditional scheme, the method has the advantages that the model use threshold is lowered, the dispatching efficiency and calculation transparency are improved, and the method is suitable for complex hydraulic engineering calculation tasks such as reservoir dispatching, cross-basin water transfer and flood control emergency.

The invention discloses a multi-modal fusion real-time environment monitoring visual robot system, and relates to the technical field of real-time vision. The system comprises a multi-mode sensing module, and is equipped with various sensors such as a binocular stereo camera and a laser radar to collect environment data. The heterogeneous data preprocessing unit cleans and downsamples data such as images and point clouds; the space-time alignment fusion module realizes multi-source data space-time registration and synchronization; the environment semantic understanding engine constructs an environment semantic graph through a multi-branch network in combination with an attention mechanism; the abnormal event detection unit identifies abnormity based on a historical data model; the path planning and decision-making module integrates multiple targets to generate an optimal path; the autonomous movement execution module controls the robot to move and operate; and the cloud cooperative control center supports model updating and remote intervention. According to the invention, through cooperative work of all the modules, full-process intelligentization of environment monitoring data acquisition, processing, analysis and decision making is realized.

The invention discloses a multi-agent collaborative data exchange dynamic routing optimization method and system, and relates to the technical field of network communication, and the method comprises the steps: obtaining the real-time state information of each node in a network, and outputting a node state data set; constructing a historical state sequence of each node, calculating a load change trend, and outputting a routing adjustment signal when the load change trend reaches a load critical value; calculating a collaborative weight according to the network contribution degree of each agent, establishing a task allocation mapping relationship among the agents based on the collaborative weight, and outputting a collaborative scheduling result; determining a candidate path set, performing index evaluation on paths in the candidate path set, and outputting an optimal routing path; and executing data transmission, obtaining a quality difference between an actual transmission effect and an expected effect, and performing parameter correction. According to the invention, active optimization and multi-target balance of network routing are realized, and routing efficiency and system stability in a dynamic network environment are improved.

The invention provides a digital twin water conservancy hyper-fusion method for coupling multi-source data and an all-in-one machine, and relates to the technical field of intelligent water conservancy. By constructing a unified water conservancy spatio-temporal data link protocol, efficient fusion of multi-source heterogeneous data of hydrology, meteorology, engineering operation and the like is realized, and the problem of water conservancy system data islands is solved; a coupling distributed hydrological model and a hydrodynamic model are established, and real-time accurate simulation of the watershed hydrological process and the river channel hydrodynamic process is achieved; a multi-target dynamic weight reinforcement learning algorithm is adopted to optimize a water conservancy scheduling scheme, model parameters are dynamically corrected in real time through a time sequence error regression analysis model, and closed-loop adaptive optimization is achieved; according to the method, closed-loop cooperation of water conservancy data fusion, real-time accurate simulation, intelligent scheduling optimization and dynamic parameter self-correction is realized, and the real-time performance and accuracy of water conservancy intelligent decision making are remarkably improved.

The invention relates to the technical field of oil and gas equipment operation control, in particular to an oil and gas equipment operation parameter self-adaptive fine tuning method and system, and the method comprises the steps: constructing an operation parameter optimization library driven by reinforcement learning, defining an action space containing equipment types, working condition modes and key parameter combinations, predicting accuracy, response efficiency and safety compliance are optimized in combination with a multi-target reward function, an optimized instruction set is generated, safety perception mixing precision fine adjustment is carried out in parallel, calculation precision is configured in a layered mode, errors are monitored in real time, a high-precision mode is switched if the precision exceeds the limit, and a reservoir engineering equation mechanism constraint matrix is embedded to guide parameter updating. A generative adversarial network is utilized to synthesize fault data, a Darcy seepage causal engine is integrated to correct a loss function, the system comprises an action space construction unit, a precision dynamic scheduling unit, a mechanism constraint embedding unit and a data causal cooperation unit, and the method and the system realize data-mechanism fusion, balance precision and real-time performance, and improve equipment operation safety and adaptability.

The invention discloses a radar and vision multi-mode fused three-dimensional multi-target tracking method and related equipment. The method comprises the following steps: establishing a three-dimensional constant turning rate and speed motion model for detecting a target vehicle; constructing a multi-modal measurement model, and obtaining a fusion target measurement result according to the point cloud data and the image data collected by the 4D millimeter wave radar; performing two-stage front and back frame matching and filtering according to a fusion target measurement result to obtain a matching target of the track; track life cycle management: newly building, confirming, keeping or deleting the track according to the matching result and the time step; according to the rule after track re-tracking, under the condition that the target is temporarily lost or shielded, a virtual track in the shielding period is constructed, state correction is conducted on the virtual track, the corrected state serves as the initial state of the current moment, and tracking continues. According to the invention, through fusion of complementary information of the 4D millimeter wave radar and the visual sensor, accurate sensing and tracking of three-dimensional multiple targets in a complex automatic driving environment are realized.

The invention discloses a UUV cluster dynamic task planning method based on a multi-target genetic algorithm, a program, equipment and a storage medium, and belongs to the field of underwater multi-UUV cooperative detection of multiple targets. According to the method, firstly, for path planning of regional task points, chromosome representation is completed through sequential coding, chromosomes are selected and ranked randomly, and the chromosome with the highest fitness value is selected from each group; then, in each group of the current population, selecting an optimal parent individual to carry out crossover and mutation operations so as to improve the quality of offspring individuals, and carrying out updating to obtain a next-generation population; and finally, obtaining a plurality of optimal individuals, and outputting a task planning path result. Dividing the search area into a plurality of task sub-areas, and completing the dynamic task planning of the UUV cluster according to the target distribution condition of the sub-areas and the condition of each UUV. According to the method, the search strategy can be adjusted in real time according to the real-time detection result and the environment change, so that the target distribution non-uniformity and the cluster efficiency difference are effectively relieved.

The invention discloses a multi-target intelligent optimization method and system for blasting parameters of a strip mine in a high-altitude cold region. The method comprises the following steps: carrying out data acquisition to obtain a parameter data set; performing data preprocessing on the parameter data set to obtain a feature sample set; constructing an initial blasting parameter model based on a machine learning algorithm, and performing hyper-parameter optimization on the model to obtain a blasting parameter model; a multi-objective optimization function is constructed: based on the multi-objective optimization function and the blasting parameter model, solving is carried out in combination with environmental condition constraints, and a pareto optimal solution set is obtained; according to the pareto optimal solution set, a representative solution is selected, a visual scheme is generated, and blasting parameter optimization of the strip mine in the high-altitude cold region is completed. According to the method, temperature, oxygen and frozen soil constraint conditions of the high-cold and high-altitude environment are introduced, blasting safety, lumpiness uniformity and the explosive utilization rate are considered at the same time through multi-target collaborative optimization, the method can adapt to the extreme environment, meanwhile, the one-sidedness of single-target optimization is avoided, and the intelligent level of blasting design and implementation is greatly improved.

The invention relates to the technical field of computer vision and three-dimensional space modeling, and discloses a real-time multi-instance segmentation method and device based on a Gaussian splash radiation field model. The method comprises the following steps: based on a two-dimensional Gaussian splash radiation field model, rendering a visual angle with continuous spatial change to obtain an image sequence, and obtaining a multi-visual-angle consistent two-dimensional instance segmentation mask of the image sequence; and assigning an instance tag to each Gaussian primitive based on the two-dimensional instance segmentation mask. And for a two-dimensional Gaussian splash radiation field model with an instance label, acquiring a coarse instance segmentation mask and a color image at any view angle by using a Gaussian splash algorithm, inputting the mask and the image into a lightweight post-processing network for edge detection and region connectivity repair, and outputting a target two-dimensional instance segmentation mask with a complete structure and a label consistent with a three-dimensional scene. The method does not depend on any training or distillation process, directly acts on a Gaussian splash radiation field model, and has the advantages of high reasoning speed, high semantic consistency, support of multi-target continuous tracking and the like.

The invention discloses a power distribution network dynamic multi-target regulation and control method and system based on graph-model driving, and belongs to the technical field of power system automation. The method comprises the following steps: generating a dynamic topological graph model with a time mark correction label based on an acquired power distribution network topological state and preset power grid graph model verification; in combination with the dynamic topological graph model and the electrical parameters, executing state estimation and security risk analysis, and generating a security risk space-time distribution matrix; based on the security risk space-time distribution matrix, generating a multi-target strategy set for simultaneously optimizing a network loss index, a voltage fluctuation index and a load balancing index; and executing the multi-target strategy set, collecting power grid state response data after execution, calculating a control effect index, and judging whether to iteratively update the dynamic topological graph model or not. The method is used for solving the problems that topology modeling is static, state estimation granularity is coarse, risk assessment lacks a spatio-temporal evolution mechanism and strategy closed-loop capacity is weak in a traditional method.

The invention provides a mining area ecological restoration guidance system based on ecological big data. Relates to the technical field of environmental engineering and big data application, and comprises a data acquisition and fusion module used for acquiring remote sensing images, unmanned aerial vehicle aerial photography, ground sensor and historical monitoring data according to a unified space-time coordinate system and outputting fusion data; the prediction and risk quantification module is used for constructing a space-time deep learning model based on the fused data and outputting an ecological index prediction value and a corresponding risk probability; and the strategy optimization module is used for generating a restoration scheme according to the ecological index prediction value and the corresponding risk probability through a multi-target reinforcement learning model. According to the mining area ecological restoration guidance system based on ecological big data, ecological benefits, economic cost and residual risks can be considered synchronously, and a quantifiable and comparable optimal parameter combination is provided for a mining area restoration scheme.

The invention discloses a target detection method and system based on a millimeter wave radar. The target detection method and system are used for realizing accurate detection, positioning and dynamic and static recognition of multiple targets under a complex background. According to the method, a distance-Doppler spectrogram is generated through the technical means of sliding window construction, spectral analysis, clutter suppression and the like, and candidate target points are detected by adopting an SO-CFAR algorithm. Then, determining a target position through high-resolution direction estimation and coordinate transformation, performing spatial clustering in combination with a density-based DBSCAN algorithm, and extracting a target geometric center and a bounding box; in the aspect of target tracking, Kalman filtering is used for predicting and updating the position and speed of the target, and a beam forming technology is used for enhancing a target signal, so that the target recognition stability is improved. And finally, the system performs robust dynamic and static state recognition on the target through a dynamic and static judgment module, so that high precision and robustness of the target detection process are ensured. The method can effectively cope with static background interference and dynamic target changes, and is suitable for target detection and tracking in a complex environment.

The invention provides a multi-target track tracking method based on dynamic anti-noise clustering and bidirectional verification matching. The method comprises the following steps: firstly, collecting heterogeneous data of different sensors in real time; secondly, performing dynamic space-time registration processing on the heterogeneous data to obtain space-time aligned multi-sensor measurement data; then, noise filtering and target preliminary screening are carried out on the measurement data, multi-modal data fusion is realized in combination with sensor confidence coefficient weights, and multi-target position information after multi-sensor fusion is obtained; constructing and solving a forward space-time enhancement cost matrix and a reverse space-time enhancement cost matrix, carrying out bidirectional verification on target points and a track, and carrying out track matching on obtained multi-target position information and an existing track; and finally, predicting a target state through extended Kalman filtering, and dynamically optimizing the process through a closed-loop feedback mechanism to obtain a stable track and complete multi-target track tracking. According to the method, the multi-target continuous stable tracking capability can be obviously improved, and reliable technical support is provided for sea area situation awareness.

The invention discloses an AI-based multimodal transport resource collaborative dynamic configuration method, which comprises the following steps of: constructing a real-time data layer for acquiring multi-dimensional data; preprocessing the data of the real-time data layer; dynamically constructing a digital twin platform based on the preprocessed data information; training a plurality of agents; carrying out cooperative training on a plurality of agents under a federated learning cluster framework; jointly training a global AI model; the AI decision center generates an optimal or nearly optimal dynamic resource configuration decision; the dynamic configuration engine dynamically schedules resources and generates an instruction; issuing the generated detailed instruction to a physical system of an execution layer; and the IoT equipment continuously monitors the execution state and the physical environment change, and feeds back new data to the real-time data layer. According to the invention, the bottleneck of data islands and response delay is broken through, and a cost-aging-carbon emission multi-target balanced intelligent decision-making system is constructed; and performing multi-agent collaborative training under a federated learning framework to realize cross-domain collaborative optimization.

The invention relates to an improved NSGA-III-based multi-target geographic site selection optimization method and system, belongs to the technical field of optimization in business management and resource planning, and particularly relates to resource allocation and site selection decision making by using a calculation model. The technology aims to solve the problems of slow scheme convergence, non-uniform solution set distribution and low calculation efficiency when multi-target site selection is carried out under limited resources. According to the scheme, geographic space data is preprocessed, and an initial population representing different site selection schemes is generated; carrying out optimization iteration by adopting an improved NSGA-III algorithm, and calculating a plurality of objective functions such as coverage rate, normalized population density and medical service accessibility; and performing individual selection and population updating by utilizing improved reference point generation and vertical distance measurement. The method is mainly used for improving the efficiency and effect of commercial and municipal decisions such as urban planning, medical resource configuration, energy station layout and logistics network optimization.

The invention discloses a crop nitrogen fertilizer management system and method based on multi-agent reinforcement learning, and belongs to the technical field of intelligent agriculture. Comprising the following steps: collecting and preprocessing multi-source data of a target area, calibrating a crop growth-nitrogen cycle model based on the multi-source data, and constructing a dynamic simulation environment; constructing a nitrogen fertilizer application strategy model and a multi-target award function, and performing agent reinforcement learning training by adopting a centralized training-decentralized execution architecture; introducing a large language model, and updating a strategy network and / or a value network of each agent in a training process according to a reward adjustment signal and a decision constraint; when the index fluctuation ratio in the continuous evaluation period is smaller than a preset threshold value, it is judged that the nitrogen fertilizer application strategy model is converged, and an optimal nitrogen fertilizer application strategy model is obtained; and generating a nitrogen fertilizer application scheme based on the optimal nitrogen fertilizer application strategy model in combination with the real-time state data, and generating a natural language interpretation and risk assessment report based on a large language model.

The invention discloses a multi-modal data collaborative intelligent detection and three-dimensional positioning method for marine ships. The method comprises the following steps: performing refined preprocessing on collected multi-source heterogeneous data, and performing preliminary target detection; performing dynamic weighted fusion on the preprocessed multi-source heterogeneous data, and realizing accurate coordinate recovery of the ship target in a three-dimensional space by combining depth data of the laser radar; and predicting and updating the motion state of the identified target based on a multi-tracking mechanism collaborative strategy. Through multi-modal data perception and preliminary processing, heterogeneous data deep fusion and three-dimensional positioning, and advanced multi-target continuous tracking and state estimation, abundant texture information of a visible light image, anti-interference capability of thermal imaging and accurate space depth data of a laser radar are fully utilized, and a multi-tracking mechanism cooperation strategy is integrated. The motion state of the recognized target is predicted and updated, and the problem of tracking interruption caused by nonlinear motion or transient shielding of the marine target is effectively solved.

The invention provides an unmanned aerial vehicle pose visual angle optimization method and system for fracture refined shooting. The method comprises the steps of performing fracture detection and boundary extraction on a coarse inspection image; recovering a camera track and sparse point cloud based on multi-view three-dimensional reconstruction, carrying out back projection and estimating a normal vector of a crack surface; constructing a shooting spherical shell with limited inner and outer radiuses by taking the crack point as a center, and generating a view cone and spherical shell intersection region allowed to be shot as a candidate set in combination with a normal vector; sampling in the candidate area to generate a plurality of candidate shooting points, and synchronously resolving the flight and holder integrated pose of the corresponding unmanned aerial vehicle; constructing a multi-target cost function including path length, attitude, pan-tilt angle and shooting error, and generating an optimal shooting point sequence and an inspection path through an optimization algorithm; the system realizes fine, efficient and automatic shooting of cracks in a complex structure environment through cooperation of multiple modules, and effectively improves the imaging quality and the detection precision.

The invention relates to an Internet of Vehicles edge computing multi-target unloading method and system fusing dynamic environment modeling and improved SARSA, and belongs to the field of intelligent traffic and edge computing fusion. The method and the system comprise MEC environment perception and multi-dimensional state construction, dynamic reward feedback oriented to multi-dimensional performance indexes, intelligent decision model construction and learning based on improved SARSA, and antagonism training oriented to real disturbance. A high-fidelity environment model is constructed through a space-time attention mechanism, an SARSA algorithm is improved to realize hierarchical qualification trace attenuation and collaborative Q table updating, a multi-target hierarchical reward engine is combined to implement differential optimization on an emergency task and a conventional task, and an adversarial training mechanism is introduced to improve robustness. The core problems of high mobility, task diversity, resource limitation and the like in the Internet of Vehicles are effectively solved, the comprehensive performance is optimal in multiple dimensions of delay, energy consumption, resource utilization rate and the like, and the actual landing of the edge computing technology of the Internet of Vehicles is promoted.

The invention discloses a control method of a picking robot, and particularly relates to the technical field of intelligent control. According to the method, three-dimensional point cloud data of all fruits in a fruit cluster area are collected in real time, and a spatial connection topological structure of fruit stems is established; establishing a finite element mechanical analysis model based on the spatial connection topological structure of the carpopodium, analyzing a stress transmission path after the picking action acts on the carpopodium, and predicting position deviation of adjacent unpicked fruits; meanwhile, a multi-target path optimization algorithm is adopted to generate an initial path of continuous picking of the picking robot, and then the spatial position of the next fruit picking action is dynamically corrected according to fruit stem stress transmission path data; and abnormal change characteristics of fruit positions and postures are identified according to actual position deviation data of the picking action, so that control parameters and path planning of the next picking action are adjusted in real time. The precision and stability of picking path planning are improved, and the overall efficiency and reliability of picking operation of the robot are improved.

The invention relates to an unmanned aerial vehicle group-oriented sensing communication integrated network multi-resource joint scheduling method, and belongs to the technical field of wireless communication, and the method comprises the steps: building a system model of multiple UAV-ISAC tasks, and defining a joint optimization problem; extracting spatio-temporal features from the dynamic heterogeneous graph in which the unmanned aerial vehicle, the user and the sensing target are abstracted as nodes and the relationship is abstracted as edges; taking the features as input, and adopting a layered multi-agent reinforcement learning architecture to solve the joint optimization problem on line; in the architecture, resource allocation and trajectory planning actions are generated through cooperation of a central Actor and all unmanned aerial vehicle Actors, and system performance is evaluated by a central Critic; constructing a multi-target weighted reward function, stabilizing a training process by combining experience playback and a Mini-batch sampling mechanism, and updating network parameters in parallel; and obtaining an optimal resource allocation and unmanned aerial vehicle trajectory strategy through training. The sensing performance is improved, the communication quality is guaranteed, and the defects in the aspect of dynamic resource scheduling in the prior art are overcome.

The invention relates to an uncertainty perception passive multi-target field adaptive image classification method, which is used for image recognition of autism spectrum disorder patients. According to the method, firstly, source domain model parameters are obtained and used for initializing a target model, then resting state functional magnetic resonance images of a plurality of imaging centers are preprocessed, and a plurality of target domains are constructed. On this basis, a current most representative target domain is selected through a minimum inter-domain difference strategy, an uncertainty modeling method based on evidence deep learning is adopted to train a target model, and class feature consistency is improved through domain contrast learning based on a class prototype in combination with a dynamically expanded auxiliary data set; and generating a pseudo tag to relieve the influence caused by tag noise. And finally, a trained target model is obtained through fine tuning optimization, and accurate classification of unknown images is realized. The method does not need to access source domain data, has the advantages of high robustness, high generalization ability and the like, and is suitable for actual cross-center medical image analysis scenes.