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throughput analysis for cyber-physical systems under the slotted ALOHA protocol 15

Throughput analysis for cyber-physical systems under the slo...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Li, Zhihui Liu, Zhongchang Guo, Ge Wang, Yuhuai Dalian Univ Technol Sch Control Sci & Engn Dalian 116024 Peoples R China Dalian Maritime Univ Coll Marine Elect Engn Dalian 116026 Peoples R China Chinese Univ Hong Kong Dept Informat Engn Shatin Hong Kong Peoples R China Jiangsu Automat Res Inst Lianyungang 222006 Peoples R China

ISBN: (纸本)9781538695821

this paper investigates the effect of network throughput on the stability of a collection of cyber-physical systems (CPSs) which transmit their measurement information via a single communication channel. the slotted ALOHA access protocol is used for scheduling all CPSs, where time is divided into time slots and only one plant can access the channel at any time slot. By formulating the collection of cyber-physical systems into a switch system, we derive the relationship between the throughput and the attenuation rate using the average dwell time technique. Finally, a co-design algorithm is given to compute the controller gains. A numerical example illustrates the effectiveness of the proposed co-design procedure.

关键词： cyber-physical systems slotted ALOHA throughput

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Spatial-temporal Fusion Convolutional Neural Network for Simulated Driving Behavior Recognition 15

Spatial-temporal Fusion Convolutional Neural Network for Sim...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Hu, Yaocong Lu, MingQi Lu, Xiaobo Southeast Univ Sch Automat Nanjing 210096 Jiangsu Peoples R China Minist Educ Key Lab Measurement & Control Complex Syst Engn Nanjing 210096 Jiangsu Peoples R China

ISBN: (纸本)9781538695821

Abnormal driving behaviour is one of the leading cause of terrible traffic accidents endangering human life. therefore, study on driving behaviour surveillance has become essential to traffic security and public management. In this paper, we conduct this promising research and employ a two stream CNN framework for video-based driving behaviour recognition, in which spatial stream CNN captures appearance information from still frames, whilst temporal stream CNN captures motion information with pre-computed optical flow displacement between a few adjacent video frames. We investigate different spatial-temporal fusion strategies to combine the intra frame static clues and inter frame dynamic clues for final behaviour recognition. So as to validate the effectiveness of the designed spatial-temporal deep learning based model, we create a simulated driving behaviour dataset, containing 1237 videos with 6 different driving behavior for recognition. Experiment result shows that our proposed method obtains noticeable performance improvements compared to the existing methods.

关键词： driving behaviour convolutional neural networks spatial-temporal deep learning fusion

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An Intelligent Human Activity Recognition Method with Incremental Learning Capability for Bedridden Patients 15

An Intelligent Human Activity Recognition Method with Increm...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Luo, Shengwei Zhao, Chunhui Fu, Yongji Zhejiang Univ Coll Control Sci & Engn State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China Hill Rom Serv Inc 1069 State Route 46E Batesville IN 47006 USA

ISBN: (纸本)9781538695821

Human activity recognition (HAR) is now valuable for bedridden patients to prevent falling, bedsore or other dangerous situation. this work proposes an intelligent broad learning system (BLS) recognition method based on the random vector functional-link neural network (RVFLNN) to identify the actions of bedridden patients. And the actions cover six types, including turning over to left, turning over to right, sitting up, lying down, stretching out for something and exiting from the bed. With the data collected from four pressure sensors that installed at four corners of an intelligent nursing bed, first, some pivotal preprocessing such as median filtering and down sampling are adopted to make a good performance. then sparse auto encoder (SAE) is adopted for feature extraction. Finally, the RVFLNN is used for classification. Besides, for both new samples and new categories, the proposed method offers an incremental learning ability that can easily update the model with no need of model retaining. Compared with the convolutional neural network (CNN), the proposed method has superiority in training time while the accuracy is guaranteed.

关键词： Learning systems

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A Hybrid control Architecture For Autonomous Driving In Urban Environment 15

A Hybrid Control Architecture For Autonomous Driving In Urba...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Jung, Chanyoung Jung, Seokwoo Shim, David Hyunchul

ISBN: (纸本)9781538695821

Autonomous driving in an urban environment is one of the most actively studied topics. To date, many studies on autonomous driving can be classified into two main approaches: 1. local perception-based approach 2. global path tracking-based approach. However, each approach has its own limitations for fully autonomous driving. In the case of perception-based approach, it is impossible to autonomously drive to the global destination because it only runs locally within the sensor range. On the other hand, the path tracking-based approach relies heavily on accurate navigation. For accurate navigation, there are many studies using expensive equipment or extremely precise and detailed maps, but they have not been resolved yet, and they are also not practical. In this paper, we address the problem of autonomous driving in an urban environment through the proposed hybrid control architecture. Proposed control architecture is designed to be complementary of local perception-based and global path tracking-based approaches. Especially, end-to-end deep learning based autonomous driving, which mimics human driving, is applied as a local perception-based approach. In addition, path tracking-based autonomous driving is performed in an environment where directional information to the destination is required, such as intersections. At the same time, our hybrid control architecture effectively compensates for the navigation error using ICP matching between the perception-based driven trajectory and the global path to the destination without any highly detailed prior map or expensive equipment. the performance of the proposed architecture on a full-scale autonomous vehicle is verified through experiments in the urban environment.

关键词： Autonomous vehicles

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Simulation and Comparison of Different Types of First-order Decentralized Sliding Mode Estimators 15

Simulation and Comparison of Different Types of First-order ...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Zhou, Ning Wen, Guoxing Huang, Jie Yang, Qingkai Chen, Liangming Fujian Agr & Forestry Univ Coll Comp & Informat Sci Fuzhou Fujian Peoples R China Binzhou Univ Dept Math Binzhou Peoples R China Fuzhou Univ Coll Elect Engn & Automat Fuzhou Fujian Peoples R China Univ Groningen Fac Sci & Engn NL-9742AG Groningen Netherlands

ISBN: (纸本)9781538695821

this paper focuses on the simulation and comparison of different types of first-order decentralized sliding mode estimators (FDSMEs). From the previous works, three types of FDSMEs were presented and applied to solve the cooperative control problems. Utilizing the FDSME, a finite-time leader-follower tracking control algorithm is proposed for a networked single-integrator vehicle system. then based on the existing structure of FDSME, a new compound FDSME is developed to improve the estimation performance. Simulation and comparison of all the presented FDSMEs are given in detail to evaluate the theoretical results. Finally, regulation rules of the parameters in the compound FDSME are summarized according to the simulation results.

关键词： First-order Decentralized Sliding Mode Estimator Finite-time control Cooperative control

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Detection and Compensation of Motion Error for Nanomanipulation Platform in Scanning Electron Microscope 15

Detection and Compensation of Motion Error for Nanomanipulat...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Wang, Mingyu Wang, Yaqiong Yang, Zhan Chen, Tao Sun, Lining Fukuda, Toshio Soochow Univ Jiangsu Prov Key Lab Adv Robot Suzhou 215123 Peoples R China Soochow Univ Collaborat Innovat Ctr Suzhou Nano Sci & Technol Suzhou 215123 Peoples R China Nagoya Univ Dept Micronano Syst Engn Chikusa Ku Furo Cho Nagoya Aichi 4648603 Japan

ISBN: (纸本)9781538695821

Nanomanipulation system based on scanning electron microscope(SEM) with good real-time visual feedback and nanoscale observation resolution had high operability in a vacuum working environment. Different nanomanipulation tasks of carbon nanotubes (CNTs) are carried out through the nanomanipulation system in SEM. Nanomanipulation platform existed inherent manufacture errors, installation errors and other errors, and imprecise nanomanipulation system were also time-consuming and laborious for operators. this paper presentes a method of combining the visual feedback and feedforward control to detect and compensate the motion error of the multi-dimensional SmarAct nanomanipulation platform in the nanomanipulation system in SEM. this method reduces the motion error in the X-Y direction and achieved higher operating accuracy. At the different step speed, the motion error in the X direction and Y direction is 135.7nm and 112.9nm respectively. After the feedforward compensation, the motion error in the X direction and Y direction reduces to 61.3nm and 54.1nm respectively.

关键词： Scanning Electron Microscope (SEM) nanomanipulation visual feedbacak feedforward control

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Automatic basketball detection in sport video based on R-FCN and soft-NMS 2019

Automatic basketball detection in sport video based on R-FCN...

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4th international conference on automation, control and robotics Engineering, CACRE 2019

作者： Liang, Qiaokang Mei, Li Wu, Wanneng Sun, Wei Wang, Yaonan Zhang, Dan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing National Engineering Laboratory for Robot Vision Perception and Control Hunan University Changsha410082 China Department of Mechanical Engineering York University TorontoM3J 1P3 Canada

ISBN: (纸本)9781450371865

In basketball videos, the ball is always so small in the camera that its appearance feature is hard to be extracted. In this paper, we introduce a deep-learning technology to detect the basketball. Specifically, we train our basketball detection model based on the Region-based Fully Convolutional Networks (R-FCN) which uses the fully convolutional Residual Network (ResNet) as the backbone network. What’s more, we apply some new techniques including Online Hard Example Mining (OHEM), Soft-NMS and multi-scale training strategy to achieve higher detection accuracy. In detail, the OHEM method can reduce the cost of fine-tuning during training by calculating the loss of the RoIs. Soft-NMS can reduce the false positive rate by decreasing the object detection score between the overlap object. And the multi-scale training can improve the detection performance by receiving the good feature from the object with different scale. Finally, we achieve a mean average precision (mAP) value of 89.7% on a public basketball dataset. It proves that applying the deep-learning approach to basketball detection is effective. © 2019 Copyright is held by the owner/author(s).

关键词： Object recognition

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A Teleoperated Robotic Catheter System with Motion and Force Feedback for Vascular Surgery 18

A Teleoperated Robotic Catheter System with Motion and Force...

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18th international conference on control, automation and Systems (ICCAS)

作者： Omisore, Olatunji Mumini Han, ShiPeng Ren, LingXue Wang, Lei Chinese Acad Sci Shenzhen Inst Adv Technol Res Ctr Med Robot & Minimally Invas Surg Devices Shenzhen 518055 Peoples R China Univ Chinese Acad Sci Shenzhen Coll Adv Technol Shenzhen Peoples R China

ISBN: (纸本)9788993215151

In recent time, robotic catheter systems have been proposed to minimize major limitations in minimally invasive vascular surgery. Technical evaluations of conventional systems have shown that teleoperation of robot-based systems could provide feasible and safe treatment method for vascular abnormalities. However, despite the merits, robot-assisted vascular surgeries are performed in fewer clinical centres, worldwide. In this study, a 2-DoF teleoperated robotic catheter system is proposed for treatment of vascular catheterization. the system provides visual feedbacks of motion and force information during catheterization procedures. Operation of the robotic catheter system was experimentally validated using master-slave teleoperation system. In the experiments, different phantom models of human vasculaturc were catheterized and the results obtained shows that the proposed robotic catheter system can provide useful motion and force feedback for vascular surgery.

关键词： Robotic catheter system vascular surgery master-slave teleoperation force feedback minimally invasive surgery medical robotics

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UAV Formation Flight Cooperative Tracking controller Design 15

UAV Formation Flight Cooperative Tracking Controller Design

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Zhang, Jialong Yan, Jianguo Lv, Maolong Kong, Xiangjie Zhang, Pu Northwestern Polytech Univ Sch Automat Xian 710129 Shaanxi Peoples R China Delft Univ Technol Delft Ctr Syst & Control Mekelweg 2 NL-2628 CD Delft Netherlands Dalian Univ Technol Sch Software Key Lab Ubiquitous Network & Serv Software Liaoni Dalian 116620 Peoples R China

ISBN: (纸本)9781538695821

Aiming at the collision between the unmanned aerial vehicles (UAVs) in tracking motion target due to the inconsistency information, we design the unmanned aerial vehicle (UAV) formation cooperative tracking controller and analyze the flight-stability of the designed controller in the case of only knowing the UAV local information. Recently, a Lyapunov guidance vector field approach is proposed to achieve the desired circular trajectory in the paper. the path planning of a single UAV and the Multi-UAVs cooperative formation tracking motion target are simultaneously studied. In the ideal case, a guidance vector field method is proposed for the heading convergence, which has the advantage of analyzing and solving the collision problem between the unmanned aerial vehicles (UAVs). Further, a variable airspeed controller is used to maintain the UAV cooperative formation flight in a circular orbit, and an adaptive estimate is introduced to ensure the flight-stability of a circular orbit in the case of unknown wind and moving targets. In the process of the UAV formation tracking motion targets, we use a variable airspeed controller to achieve the desired angular spacing. In this paper, the designed controller laws are decentralized based on the local information. Meanwhile, the simulation shows that the designed controller has a good the flight-stability in the process of tracking motion target.

关键词： controllers

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Fractional Order Flight control of Quadrotor UAS: an OS4 Benchmark Environment and a Case Study 15

Fractional Order Flight Control of Quadrotor UAS: an OS4 Ben...

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15th international conference on control, automation, robotics and vision (ICARCV)

作者： Shang, Bo Zhang, Yunzhou Wu, Chengdong Chen, YangQuan Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China Northeastern Univ Fac Robot Sci & Engn Shenyang 110819 Liaoning Peoples R China Univ Calif Sch Engn Merced CA 95343 USA

ISBN: (纸本)9781538695821

the OS4 quadrotor is a classic quadrotor simulation platform. So far, many different kinds of controllers have been designed based on its plant model. Most of the research only provided a numerical simulation to verify their designed controllers. Only a few researches have put the proposed controllers back to OS4 quadrotor to verify, but they didn't share the project folder to let others continue their work. More open-source and well-documented codes are needed to accelerate the application of fractional order controllers in industry. this paper updated the OS4 folder for the latest MATLAB version. A case of study demonstrated the workflow to design a fractional order proportional derivative controller for the simulated drone. Comparisons showed that fractional order controllers perform better in a nonlinear system like OS4 than integer order PID controllers. An impulse disturbance scenario is also used as a testbed. Project folder can be accessed from: https://***/matlabcentral/fileexchange/67882-os4-foc. Related videos can be found from this link:https://***/heuz4tFqf64.

关键词： controllers

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