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Integrated Virtual Simulation and Test System for Vision-Based applications of UAVs

Integrated Virtual Simulation and Test System for Vision-Bas...

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International conference on Autonomous Unmanned systems (ICAUS)

作者： Huang, Xucong Cai, Yangguang Deng, Heng Peng, Zhaoqin Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Shanghai Electromech Engn Inst Shanghai 201109 Peoples R China Beijing Univ Technol Fac Informat Technol Beijing 100124 Peoples R China

ISBN: (纸本)9789819904815;9789819904792;9789819904785

Vision-based tasks of Unmanned Aerial Vehicles (UAVs) attracted significant research attention. Nowadays, testing a complex vision-based system using real experiments is expensive and time-consuming. This paper focuses on designing and implementing an integrated virtual simulation and test system for vision-based algorithm verification in visual perception, communication transmission, and closed-loop control of UAVs. First, a unified modular modeling process is proposed to construct the test system, which consists of a virtual environment subsystem, a vision algorithm subsystem, and a corresponding control subsystem. Although the vision algorithm and control subsystems are the same real experiments and virtual simulation, the virtual environment subsystem focuses on ensuring simulation credibility as the only difference between real and virtual experimentation. Then, some essential components are verified, including the camera model, image process, and communication of the visual sensor network. Finally, two case studies are performed to validate the efficiency and easy deployment, illustrating it as a promising platform for verifying and validating advanced guidance, navigation, and control algorithms.

关键词： Virtual testing Unmanned aerial vehicles Simulation Vision-based algorithms

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A Fast High Sensitivity Power Transfer Device Approach for (sub)mm-wave applications 103

A Fast High Sensitivity Power Transfer Device Approach for (...

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103rd ARFTG Microwave Measurement conference (ARFTG) on advanced Measurement Techniques for Next-G Communication systems

作者： Louwes, Bart Pelk, M. J. Bueno, J. Shokrollahzadeh, E. De Martino, C. Spirito, M. Delft Univ Technol Delft Netherlands The Hague Univ Appl Sci Res Grp Smart Sensor Syst Delft Netherlands Vertigo Technol BV Delft Netherlands

ISBN: (纸本)9798350362749;9798350362732

In this paper, we present a low-noise, high-gain readout hardware to be used in conjunction with (sub)mm-wave zero bias detectors, to enable high sensitivity (i.e., similar to -50 dBm) and fast (i.e., below a second at -50 dBm) power detection. The developed hardware employs a cascade of two (COTS) programmable gain amplifier (PGA), capable of reaching up to 90 dB gain (volt to volt), each providing an input referred noise level of 16 nV/root Hz. The signal is then digitized on the same board via a 500 kHz 12bit ADC, providing an SNR of 74 dB. The digitized signal is then readout via an ST microcontroller and transferred to the operator PC via a USB interface. The sensitive bias voltages for the PGAs are provided via the microcontroller, or alternatively can be fed by an external lab grade supply to further improve on the (already high) supply noise rejection from the first stage PGA. The proposed hardware is designed to interface with VDI zero bias detectors, high responsivity and low NEP diodes (around 2000 V/W and below 12 pW/root Hz, respectively) operating in monomodal waveguide bands up to 500 GHz. In this contribution we demonstrate the usage of the developed hardware with WR10, WR6.5, WR5 and WR 3 ZBD diodes.

关键词： mm-wave power detector zero bias diode large-signal

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Highly Sensitive Flexible Capacitive Pressure sensor Based on Bionic Hybrid Microstructures 17

Highly Sensitive Flexible Capacitive Pressure Sensor Based o...

引用

17th IEEE International conference on Nano/Micro Engineered and Molecular systems, NEMS 2022

作者： Li, Lin Chen, Jing Zhu, Zhengfang Luo, Zebang Zhou, Nian Tan, Yuewu Wang, Lei Li, Hui Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen518055 China Cas Key Laboratory for Health Informatics Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen518055 China

ISBN: (纸本)9781665483018

Flexible capacitance pressure sensors have shown excellent application potential in biomedical equipment, human-computer interaction, and robotics. Herein, we propose a flexible capacitive pressure sensor based on bionic hybrid microstructures (BHM) which consists of micro-cones by facile replication of the surface of Calathea zebrina leaf and mini-domes by vacuum adsorption from through-hole arrays, respectively. The sensor presents a high pressure sensitivity of 3.17 kPa-1, and wide detection range. These promising advantages of the pressure sensor enable continuous pulse signal monitoring and heart condition analyzing of human body. This work highlights the potential of the pressure sensor in a wide range of applications, including wearable devices, robots, and human-machine interaction. © 2022 IEEE.

关键词： Microstructure

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Printed Directional Power sensor 23

Printed Directional Power Sensor

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23rd International conference on Electromagnetics in advanced applications, ICEAA 2022

作者： Maree, Jacques Van Der Walt, Pieter Reutech Radar Systems Stellenbosch South Africa

ISBN: (数字)9781665481113

ISBN: (纸本)9781665481113

Transmitted and reflected power is typically measured between the output of a power amplifier and the input of an antenna of a transmitter. Directional couplers in conjunction with power detectors are commonly used for this purpose, where the coupled port of the coupler is used to measure the transmitted power from the amplifier and the isolated port is used to measure the reflected power from the antenna. Classical directional couplers, such as quarter-wavelength coupled-line couplers, can become physically large components in a system, depending on the frequency of operation. A directional coupler also adds additional cost, power loss and generates excess heat. © 2022 IEEE.

关键词： Directional couplers

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Sub-bin histogram peak detection for the direct time-of-flight SPAD-based laser ranging systems with millimeter range precision 8

Sub-bin histogram peak detection for the direct time-of-flig...

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8th International conference on Speckle Metrology, Speckle 2023

作者： Ma, Ning He, Mengfan Zhao, Juan Hangzhou Parity Microelectronics Co. Ltd Hangzhou310051 China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (数字)9781510674592

ISBN: (纸本)9781510674585

Direct time-of-flight (dToF) Lidar system based on single photon avalanche diode (SPAD) sensor plays a key role in the range finding applications because of its high sensitivity, low power consumption and high integrity. The travel time of photons backscattered from a distant target will be measured by the time-to digital-converters (TDC) to create a histogram whose peak location indicates the target distance. However, the bin width of histogram determined by the TDC's time resolution (LSB) limits the precision of distance measurement. Therefore, sub-bin interpolation methods are introduced to facilitate super precision on-chip distance estimation. The balance between the performance and algorithm complexity must be kept very carefully, to maintain acceptable circuit area occupied, the power consumption and yet not to severely degrade performance. In this paper, we present the experimental results obtained from single point Lidar system composing of the Hangzhou Parity's MPX102Q SPAD sensor as the receiver and a VCSEL pulse emitter as the transmitter. Several interpolation methods like the simple centroid or center-of-mass (CM) algorithm, and the gaussian mask centroid are applied to process raw histograms. The interpolation results of different algorithms are compared with the direct peak location method to examine their performance including distance resolution and ranging accuracy in different situations. Both sub-bin depth resolution, together with high precision and accuracy (mm level) covering a range up to 15m are achieved by this sensor containing integrated circuits for sub-bin interpolation, and this sensor is with potential to benefit the price-sensitive and power-constrained consumer products like sweeping robots. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Interpolation

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A Single High Gain and Narrow-Beam Folded Dipole Antenna for Millimeter-Wave applications 11

A Single High Gain and Narrow-Beam Folded Dipole Antenna for...

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11th IEEE-APS Topical conference on Antennas and Propagation in Wireless Communications (IEEE APWC) / 23rd International conference on Electromagnetics in advanced applications (ICEAA)

作者： Matsunaga, Mayumi Shizuoka Univ Hamamatsu Shizuoka Japan

ISBN: (数字)9781665481137

ISBN: (纸本)9781665481137

Millimeter wave applications are expanding, such as the 5th generation mobile communication system (5G), imaging technologies and RF sensors. Since wavelengths of millimeter waves are shorter than those of microwaves, it is necessary to increase radiation gains of antennas in order to secure the same communication distance as microwaves. For increasing antennas’ radiation gains, making beams narrow is effective. And the narrow beam width is necessary for high resolution imaging technologies.

关键词： Microwave antennas Wireless communication Radio frequency Dipole antennas Millimeter wave technology Microwave communication sensor systems and applications

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advanced Mathematical Modeling and Control Strategies for Autonomous Drone systems 25

Advanced Mathematical Modeling and Control Strategies for Au...

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25th International Carpathian Control conference (ICCC)

作者： Rus, Cosmin Lupulescu, Eduard Leba, Monica Risteiu, Marius Univ Petrosani Dept Automat Comp Elect & Power Engn Petrosani Romania Univ Petrosani Doctoral Sch Petrosani Romania

ISBN: (纸本)9798350350708;9798350350715

This paper explores the mathematical modelling and simulation of drones, focusing on both low-level and high-level control aspects. The low-level control involves altitude maintenance and stabilization, alongside disturbance compensation, essential for ensuring stable flight. At the high-level control, the research addresses compensating for air currents, drift correction, obstacle avoidance, localization, mapping, navigation to predefined points, returning to the take-off position (return to home), and person tracking. Additionally, it highlights the inherent limitations in drone usage, including restricted weight capacity, limited processing power, a constrained number of sensors, short battery life, rapid dynamics requiring electronic stabilization, continuous motion of the drone, and safety concerns. The study emphasizes the intricate interplay between mathematical models and control strategies to manage these control objectives and constraints. It delves into the development of mathematical models representing drone dynamics and sensor data fusion techniques. Simulation environments are utilized to validate and optimize control algorithms, replicating real-world scenarios to ensure reliable and robust drone performance. The paper aims to address these challenges by proposing mathematical modelling techniques and control strategies. By integrating sophisticated algorithms with limited hardware resources, it seeks to improve the efficiency and autonomy of drones while overcoming constraints. Ultimately, the research endeavours to contribute to the advancement of drone technology, enabling enhanced capabilities for various applications while ensuring safety and reliability.

关键词： mathematical modelling low-level control high-level control limited hardware resources real-world scenarios

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APT: a buzzword and a reality - A bibliometric review of the literature (2010-2020) 23

APT: a buzzword and a reality - A bibliometric review of the...

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23rd IEEE International conference on High Performance Computing and Communications, 7th IEEE International conference on Data Science and systems, 19th IEEE International conference on Smart City and 7th IEEE International conference on Dependability in sensor, Cloud and Big Data systems and applications, HPCC-DSS-SmartCity-DependSys 2021

作者： Bhat, Budi Aditya Kumar, Rajesh Birla Institute of Technology and Science Department of Computer Sc. and Information Systems Pilani India

ISBN: (纸本)9781665494571

This paper performs a bibliometric analysis of the peer-reviewed literature on advanced Persistent Threats (APTs) taken from 2010-2020. APTs being a complex and tactical attack, require a multi-disciplinary perspective. In this study, we reveal several emerging trends based on 1205 literature papers. We report many popular bibliometric indicators, for example, publication trends, prolific authors, citation analysis, co-author analysis, and publication forums. An important indicator reported in our study is to find common research themes. To do that, we utilize the unsupervised Louvain algorithm. We believe our work will give insights into the current development in APT work, identifying common research themes and promote collaborations between researchers. © 2021 IEEE.

关键词： Computer science Bibliometrics Social sciences Citation analysis Collaboration Media Market research

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DIKW Upward Enabling Manufacturing from Digitalization in Industry 3.0 to Wisdom in Industry 4.0 23

DIKW Upward Enabling Manufacturing from Digitalization in In...

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作者： Yao, Xifan Wang, Kesai Ma, Nanfeng Mai, Haifeng Huang, Yansong Yang, Erfu School of Mechanical and Automotive Engineering South China University of Technology Guangzhou China University of Strathclyde Department of Design Manufacturing and Engineering Management GlasgowG1 1XJ United Kingdom

ISBN: (纸本)9781665494571

The upward progress in Data-Information-Knowledge-Wisdom (DIKW) has advanced manufacturing from digitalization to networking in Industry 3.0, and to intelligence and even wisdom in Industry 4.0, which reveals the inevitable trend of manufacturing evolution from 'Computer Plus' to 'Internet Plus' to 'Knowledge Plus' and towards 'Wisdom Plus'. Wisdom manufacturing is the further development of intelligent/smart manufacturing in the form of social-cyber-physical system by integrating Internet of Things, Internet of Services, Internet by and for People, and Internet of Contents and Knowledge in manufacturing as a whole. © 2021 IEEE.

关键词： Industries Technological innovation Sociotechnical systems Smart cities Production Manufacturing Fourth Industrial Revolution

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Design and Implementation of Dynamic Motion Policy for Multi-sensor Omnidirectional Mobile Arm Robot System in Human-Robot Coexisted Healthcare Workplace

Design and Implementation of Dynamic Motion Policy for Multi...

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2023 International conference on advanced Robotics and Intelligent systems, ARIS 2023

作者： Wu, Yu-Hsiung Li, Tzuu-Hseng S. National Cheng Kung University Ms Degree Program on Ai Robotics AiRobots Lab. Tainan Taiwan

ISBN: (纸本)9798350302714

This paper presents the design and implementation of an Omnidirectional Mobile Arm Robot System (O-MARS) equipped with multiple sensors. The system integrates sensor information using Riemannian Motion Policies (RMP) to generate dynamic motion policies, which are continuously transmitted to the corresponding actuators of the robot. To facilitate dynamic motion policies for the robot arm and mobile robot, this paper incorporates Eye-in-Hand and Eye-to-Hand vision applications as well as self-collision avoidance. The integration of vision and LIDAR localization guides the mobile robot towards its goal position. Additionally, a virtual model of the robot's environment is constructed, and a virtual-physical integration system is devised. Within this system, the decision-making process of the RMP involves establishing relevant connections between recognized modeled environmental obstacles and the robot's digital twins. This capability enables the mobile robot to navigate around obstacles in a familiar environment. Furthermore, the inclusion of digital twins allows for the integration of LiDAR obstacle avoidance, empowering the robot to exhibit avoidance behavior when encountering unknown obstacles. The system also incorporates human skeletons and whole-body position information to autonomously analyze collision dynamics between humans and robots, ensuring their safe coexistence in shared environments. Lastly, a physical experiment is conducted in a healthcare workplace where humans and robots coexist, with a specific focus on the transportation of medical supplies. This experiment aims to demonstrate the system's effectiveness in terms of accuracy, efficiency, and safety. This paper applies the RMP approach to various domains, including sensor integration, virtual-physical integration, and the heterogeneous application of manipulators and mobile robots. The experimental results of this paper can be found at https://***/watch?v=pRyd0-gvutM. © 2023 IEEE.

关键词： Mobile robots

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