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Analyzing Radar Cross Section signatures at automotive microwave radar 3

Analyzing Radar Cross Section signatures at automotive micro...

引用

3rd international Computing Imaging conference, CITA 2023

作者： Wang, Zizheng Qi, Feng Wu, Hongming Xidian University Xi’an710126 China Shenyang Institute of Automation Chinese Academy of Sciences China The Key Laboratory of Liaoning Province in Terahertz Imaging and Sensing Shenyang110169 China The Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China The Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Shenyang110169 China College of information science anf engineering Northeastern University Liaoning Province Shenyang110819 China

ISBN: (纸本)9781510671409

With the increasing demand for autonomous vehicles, the reliable detection and recognition of objects have become paramount. Millimeter-wave radar systems operating at frequencies such as 94GHz offer several advantages, including high resolution, precise range measurement, and resilience to adverse weather conditions. However, accurately characterizing the RCS of objects at this frequency range is essential to optimize the performance of these radar systems. In this work, we present Radar Cross Section (RCS) measurements of various objects commonly encountered on the road such as the metal balls, the bricks. The acquired findings illuminate the radar signal fluctuations demonstrated by different entities at a frequency of 94GHz. This knowledge serves as a foundation for developing robust algorithms and signal processing techniques that enhance the object detection, classification, and tracking capabilities of radar-based autonomous driving systems. Moreover, our research provides a valuable dataset of RCS measurements for different objects at 94GHz, which can serve as a benchmark for future studies in the field of radar system design and testing. The availability of such a dataset facilitates the development and validation of radar system models, the evaluation of sensor fusion approaches, and the comparison of performance across different radar hardware and signal processing algorithms. The results contribute to the advancement of radar-based autonomous driving systems by providing crucial insights into the scattering characteristics of objects at millimeter-wave frequencies. The findings have practical implications for optimizing the design, testing, and performance of radar systems, ultimately enhancing the safety and efficiency of autonomous vehicles in real-world scenarios. © 2023 SPIE.

关键词： Millimeter waves

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Development of Hydraulically-driven Soft Hand for Handling Heavy Vegetables and its Experimental Evaluation

Development of Hydraulically-driven Soft Hand for Handling H...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Osamu Azami Kyosuke Ishibashi Mitsuo Komagata Ko Yamamoto Department of Mechano-informatics The University of Tokyo Bunkyo-ku Tokyo Japan

In this study, we develop a hydraulically-driven soft robotic hand for handling heavy vegetables in a vegetable factory and report its experimental validations. The working population in agriculture is decreasing worldwide, creating a lot of demands for the robotic automation in harvest and trans-portation of agricultural produces. In particular, a vegetable factory deals with large and heavy vegetables, e.g., cabbages, with 2–3 kg weight and 20–30 cm diameter. A soft robot hand is suitable for handling a food or vegetable; however, most of existing soft robot hands cannot generate necessary output because they are usually actuated by the air-pressure. Therefore, we employ the hydraulic actuation for our soft hand to generate 1 or 2 MPa pressure. Using the developed soft hand, we report experimental validations including basic control performance evaluation and grasping experiments assuming a vegetable factory environment.

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SE(3) Pose Estimation for Simultaneous Localization of Objects and Sensors in Dynamic Environments

SE(3) Pose Estimation for Simultaneous Localization of Objec...

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automation, robotics and Computer Engineering (ICARCE), international conference on

作者： Jiajun Lei Jiaxiang Wei Zhihao Zhang College of mechanical and electrical engineering Chengdu University of Technology Chengdu China College of management Sanya University Sanya China

ISBN: (数字)9798331529505

ISBN: (纸本)9798331529512

Visual Simultaneous Localization and Mapping (SLAM) technology offers considerable advantages for enhancing cognitive abilities for mobile robots, especially under complex, dynamic environments. The creation of robust computer vision methods is essential to optimize the understanding of rigid object motion while ensuring precise localization of sensors or cameras. In this study, we introduce a tightly-integrated SLAM approach (MOT), designed to accurately capture SE (3) pose data for sensors/cameras and motion details of objects in the environment. The method initiates by building a streamlined EKF-tracker to determine and associate the real-time motion states of objects. Then, features are separated into static background and object-specific categories based on both instance mask and state information. Static features facilitate the initialization of camera poses, while dynamic features provide SE(3) pose data for objects under observation. Finally, we introduce a novel graph optimization technique to co-optimize the static 3D landmarks, object landmarks, camera poses, and moving object poses within the scene. The proposed approach has shown effectiveness on the KITTI and OMD datasets.

关键词： Visualization Simultaneous localization and mapping Robot vision systems Pose estimation Cameras Feature extraction Aerodynamics Real-time systems Sensors Optimization

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DiversityScanner-360°: An Automated System for Digitizing Invertebrate Bulk Samples

DiversityScanner-360°: An Automated System for Digitizing I...

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robotics, automation and Artificial Intelligence (RAAI), IEEE international conference on

作者： Lorenz Wührl Kirsten Rotmann Rudolf Meier Emily Hartop Nathalie Klug Christian Pylatiuk Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany Center for Integrative Biodiversity Discovery Leibniz Institute for Evolution and Biodiversity Science Museum für Naturkunde Berlin Berlin Germany

ISBN: (数字)9798350307566

ISBN: (纸本)9798350307573

Digitization of natural history collections opens many opportunities for research. Some of the data and information stored in the physical collections are made accessible without the need to move fragile specimens. In addition, digi-tized specimens allow for automated analysis, for example, with machine learning methods. Despite the enormous advantage of digitization, most specimens in natural history collections (e.g., insects) remain undigitized. One of the reasons is that the existing techniques for digitization are very time-consuming and labor-intensive, especially for small objects such as invertebrates and in particular for small specimens less than three millimeters in size. They have to be imaged with high-resolution cameras from multiple angles to capture important morphological features. Therefore, we developed the DiversityScanner-360°, which allows for the automated imaging of invertebrates from multiple directions. These images can then be used for taxonomic work or as training data for machine learning applications. Multiple focal planes can be imaged and processed into one image to obtain in-focus images of the specimens. The number of perspectives and focal planes is set by the user and adapted to individual cases. In particular, the DiversityScanner-360° offers a new way for digitizing invertebrates preserved in ethanol, leading to new discoveries and a deeper understanding of the world's biodiversity.

关键词： automation Insects Ethanol Training data Machine learning Cameras History

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Constructing 3-Dimentional (3D) Model Using Light Detection and Ranging (LiDAR) on Aerial informatics and robotics Simulation (AirSim) for UAV 1

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3rd international conference on control, Instrumentation and Mechatronics Engineering, CIM 2022

作者： Minn, Tay Han Wei, Chua Ming Boon, Lim Eu Santhiran, Mohandas Sakthi Nugroho, Hermawan Electrical and Electronic Engineering Department University of Nottingham Nottingham Malaysia

ISBN: (数字)9789811939235

ISBN: (纸本)9789811939228

Topographic surveys are conducted to identify elevation features of the areas in which construction projects are planned to be built. The use of an Unmanned Aerial Vehicle (UAV) equipped with a Light Detection and Ranging (LiDAR) sensor array can improve the current method in obtaining topographic models. However, the development of UAV is usually costly, so hardware-in-loop (HIL) or software-in-loop (SIL) approaches are usually adopted first. AirSim is widely used simulation software used in HIL or SIL for UAV development. However, the simulator does not have a compact concept for 3D scanning to create a 3D topographic map. This paper develops the 3D scanning method and validates it in the virtual environment. The scanning method reads data collected from LiDAR sensor and then processes it into point clouds before constructing it into 3D objects. To validate and verify the 3D model, results collected from the avatar UAV in the simulator are compared with the actual objects. Results show that the proposed approach is accurate with less than 5% error in the measurement. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： 3D modeling

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Safe Execution of Learned Orientation Skills with Conic control Barrier Functions

Safe Execution of Learned Orientation Skills with Conic Cont...

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IEEE international conference on robotics and automation (ICRA)

作者： Zheng Shen Matteo Saveriano Fares J. Abu-Dakka Sami Haddadin Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich Germany Department of Industrial Engineering (DII) University of Trento Trento Italy Electronic and Informatics Department Faculty of Engineering Mondragon Unibertsitatea Bilbao Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In the field of Learning from Demonstration (LfD), Dynamical Systems (DSs) have gained significant attention due to their ability to generate real-time motions and reach predefined targets. However, the conventional convergence-centric behavior exhibited by DSs may fall short in safety-critical tasks, specifically, those requiring precise replication of demonstrated trajectories or strict adherence to constrained regions even in the presence of perturbations or human intervention. Moreover, existing DS research often assumes demonstrations solely in Euclidean space, overlooking the crucial aspect of orientation in various applications. To alleviate these shortcomings, we present an innovative approach geared toward ensuring the safe execution of learned orientation skills within constrained regions surrounding a reference trajectory. This involves learning a stable DS on SO(3), extracting time-varying conic constraints from the variability observed in expert demonstrations, and bounding the evolution of the DS with Conic control Barrier Function (CCBF) to fulfill the constraints. We validated our approach through extensive evaluation in simulation and showcased its effectiveness for a cutting skill in the context of assisted teleoperation.

关键词： Learning systems Perturbation methods Real-time systems Trajectory Behavioral sciences Usability Task analysis

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control Program Design of Autonomous Vehicle Robot Using Grammatical Evolution 6

Control Program Design of Autonomous Vehicle Robot Using Gra...

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6th international conference on robotics and automation Engineering, ICRAE 2021

作者： Yamada, Syuya Sato, Ryoma Tamaki, Tatsuhiro Kita, Eisuke Nagoya University Graduate School of Informatics Nagoya Japan Nagoya University Graduate School of Information Science Nagoya Japan National Institute of Technology Okinawa College Department of Media Information Engineering Nago Japan

ISBN: (纸本)9781665406970

The automatic design of the control program of the vehicle robot is presented in this study. LEGO MINDSTORM EV3 and RVW Level Builder are used for this study. The control program of EV3 is designed automatically by using Grammatical Evolution (GE), which is one of the evolutionary algorithms. The generated program is applied for controlling EV3. The results show that the robot behavior in the experiment of EV3 was roughly equivalent to it in simulator. Therefore, the proposed algorithm based on GE can generate the control program of robot automatically. © 2021 IEEE.

关键词： Machine design

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Phase-Shift Algorithm for Two Nonorthogonal Interferograms

Phase-Shift Algorithm for Two Nonorthogonal Interferograms

引用

informatics, Electronics, and Radio Engineering (PIERE), international conference Problems of

作者： Vladimir I. Guzhov Sergey P. Ilinykh Dmitry S. Khaidukov Faculty of Automation and Computer Engineering Novosibirsk State Technical University Novosibirsk Russian Federation

ISBN: (数字)9798331516321

ISBN: (纸本)9798331516338

The phase step method is widely used to analyze interferograms and extract the phase distribution from them. Its limitation is the large number of interferograms required for this purpose. The minimum number is three interferograms. This paper describes a general analysis algorithm that requires only two interferograms, the phase shifts between which may not be orthogonal. The idea of the paper is to obtain an additional interferogram by transforming a two-dimensional elliptical cross section that is formed by the two interferograms into a threedimensional cross section with respect to the base of some spatial cylinder. After determining the parameters of the ellipse, a projection vector parallel to the center axis of the cylinder is found. Then the two-dimensional section is projected onto a three-dimensional plane perpendicular to the center axis of the cylinder. Each of the projections of this plane onto the coordinate planes forms one of the interferograms. After obtaining three interferograms, phase demodulation was performed using a three-point algorithm. The RMS error of the phase calculation was 0.015 radians.

关键词： Vectors informatics Demodulation

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Evaluation of the Effectiveness of Data Preparation in Phenotyping Wheat Seedlings of Various Varieties

Evaluation of the Effectiveness of Data Preparation in Pheno...

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informatics, Electronics, and Radio Engineering (PIERE), international conference Problems of

作者： Andrew V. Goonko Gennady V. Seroklinov Automation Chair Novosibirsk State Technical University Novosibirsk Russia Siberian Federal Scientific Centre of AgroBioTechnologies of RAS Siberian Physical Ntchnical Institution Krasnoobsk Novosibirsk region Russia

ISBN: (数字)9798331516321

ISBN: (纸本)9798331516338

The work discusses the analysis of the results of recalculating the parameters of biological potential signals of plants with different ages by clustering methods of wheat seedlings “Novosibirskaya 41” varieties. Briefly described are the goals of studies of plant biopotentials, conditions and features of measurements. The results of clustering according to the attributes of biopotential signals arising from exposure to reduced and elevated temperatures on 10-, 12- and 14-day seedlings obtained using the methods of SpectralClustering, Bisecting KMeans, GaussianMixture from the scikit-learn library (formerly known as sklearn) in the Python programming environment. The need for preliminary assessment of the results of experiments is motivated for their significant difference from neighboring ones in the group in order to exclude cases of incorrect conduct of them. Partial confirmation of the hypothesis on the influence of the age of samples on the quality of their clustering by grades is recorded. Directions of further research are proposed.

关键词： Temperature measurement Phenotypes Plants (biology) Biology Libraries Electrical resistance measurement informatics Python Programming environments Immune system

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Development of a Software System Based on Microservice Architecture for Flaw Detection of Industrial Products

Development of a Software System Based on Microservice Archi...

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informatics, Electronics, and Radio Engineering (PIERE), international conference Problems of

作者： Alexander V. Peshkov Faculty of Automation and Computer Engineering Novosibirsk State Technical University Novosibirsk Russia

ISBN: (数字)9798331516321

ISBN: (纸本)9798331516338

This paper presents the results of developing a prototype software system for detecting fine defects in industrial products. The core of the computing unit contains a previously developed computational-heuristic algorithm that allows detecting thin defects in the product under study based on a priori information about the reference sample of this product. The developed software system is designed on the basis of a microservice architecture, which allows dividing a monolithic application into independently operating modules. The paper also presents an algorithm for generating cracks in the object model, which allows creating the necessary set of test data close to real ones. The presented results demonstrate a significant increase in system performance compared to the previous implementation due to the use of a multi-threaded approach. The developed prototype of the system can be further developed and used to solve real problems in the field of industrial flaw detection.

关键词： Heuristic algorithms System performance Software algorithms Fault tolerant systems Microservice architectures Prototypes Computer architecture Software systems Software reliability informatics

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