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Targetless Extrinsic Calibration for LiDAR and Camera systems with Intensity Information 7

Targetless Extrinsic Calibration for LiDAR and Camera System...

引用

7th international conference on Mechatronics, Robotics and automation

作者： Jiang, Weiyang Zhang, Yanduo Lu, Tao Hu, Yunxiao Wang, Jiaming Wuhan Inst Technol Hubei Key Lab Intelligent Robot Wuhan Peoples R China Guangyu Jingye Wuhan Intelligent Technol Co Ltd Wuhan Peoples R China Wuhan Inst Technol Wuhan Peoples R China

ISBN: (纸本)9798350352481;9798350352474

Accurate and efficient external calibration, available in real-time within a targetless environment, remains a significant challenge due to the inherent inhomogeneous reflectance, density distribution, and small FOV of Non-Repeat Scanning (NRS) LiDAR system data, these issues bring difficulties for subsequent applications in areas such as simultaneously localization and mapping (SLAM) and autonomous driving. To address these issues, this paper proposes a targetless method for the automatic calibration of LiDAR and camera systems. Initially, we analyzed the complexity and variability of LiDAR point cloud information and developed a feature extraction method that integrates geometric and intensity data. Subsequently, we optimized the intensity data within the point cloud to extract reliable intensity information. Finally, we matched and iteratively optimized the sensor system data to obtain the final extrinsic parameters. Through extensive experimental analysis, we verified the effectiveness and accuracy of our algorithm.

关键词： Non-repeating scanning LiDAR Calibration Targetless-based Method

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CPPS-3D: A Methodology to Support cyber Physical Production systems Design, Development and Deployment 32nd

CPPS-3D: A Methodology to Support Cyber Physical Production ...

引用

32nd international conference on Flexible automation and intelligent Manufacturing

作者： Cunha, Pedro F. Pelixo, Dario Madeira, Rui Inst Politecn Setubal Escola Sup Tecnol Setubal Setubal Portugal

ISBN: (纸本)9783031382406;9783031382413

cyber-Physical Production systems Design, Development and Deployment methodology (CPPS-3D) is a systematic approach in assessing necessities, identifying gaps, and then designing, developing, and deploying solutions to fill such gaps. It aims to support enterprise's evolution into the industry 4.0 paradigms and technologies, promoting process improvements and enterprise competitiveness. The methodology considers the real context of the enterprise, in terms of its level of organization, competencies and technology. It is a two-phased sequentially stepped process to enable discussion, reflection or reasoning, decision-making and action-taking towards evolution. The first phase assesses an enterprise across its organizational, technological and human dimensions. The second phase establishes a sequence of tasks to successfully deploy solutions to fill previously identified gaps. The methodology was applied at a Portuguese enterprise with the development of a new visual management system on the shop-floor, capable of remote communications. This solution promoted faster decision-making, improved data availability and fostered a more dynamic workplace with enhanced reactivity to unexpected problems.

关键词： Production systems cyber-physical system Problem-solving

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Offensive and Defensive Strategy for Distribution Network CPS Considering EV Source-charge Bidirectional 2

Offensive and Defensive Strategy for Distribution Network CP...

引用

2nd international conference on cyber-Energy systems and intelligent Energy, ICCSIE 2024

作者： Zhao, Zhenqi Teng, Jun Yu, Wenduo Yang, Fan Deng, Linjiang He, Bangpeng State Grid Yingkou Power Supply Company Yingkou China State Grid Shenyang Power Supply Company Shenyang China Northeastern University Shenyang China

ISBN: (纸本)9798350373318

The modern power system has developed into a cyber-physical system(CPS) in which power and information networks are highly interpenetrating. However, along with the large-scale grid integration of Electric Vehicles(EV), the modern power system's ability to consume new energy has been greatly increased while further reducing the network security of the distribution network. On this basis, this paper firstly proposes a distributed energy management strategy based on the consistency algorithm, which regards EV clusters as energy storage devices with source-charge bidirectional characteristics. Considering false data injection(FDI) attack, a control strategy based on prestige value isolation is proposed to achieve the energy management of the system under cyber attack. Finally, the feasibility of the control strategy is verified by arithmetic simulation. © 2024 ieee.

关键词： cyber attacks

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An Adaptive Golden Jackal Optimization Algorithm for Mobile Robotic Path Planning

An Adaptive Golden Jackal Optimization Algorithm for Mobile ...

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2024 international conference on Mechatronics and intelligent control, ICMIC 2024

作者： Chen, Siwen Zheng, Xiujuan Shanghai United Imaging Healthcare Co. Ltd. Shanghai China Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9781510686847

ISBN: (纸本)9781510686830

Given the shortcomings of the traditional Golden Jackal Optimization (GJO) algorithm, including limited accuracy and slow convergence speed in solving mobile robot path planning problems, an improved adaptive Golden Jackal Optimization (IAGJO) method is proposed. Firstly, a nonlinear adaptive energy strategy is presented to adjust the energy decay pattern, balancing global and local search. Secondly, an enhanced position update mechanism based on Cauchy and Gaussian mutation increases population diversity and guide the search based on optimal individuals, thereby facilitating efficient exploration of unknown regions and avoiding local optima. Finally, the IAGJO algorithm is applied to mobile robot path planning (MRPP), demonstrating that the IAGJO achieves shorter path lengths and higher search efficiency, exhibiting significant advantages over existing methods. © 2025 SPIE.

关键词： Optimization algorithms

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Toward Automating the Composition of Digital Twins Within System-of-systems 29

Toward Automating the Composition of Digital Twins Within Sy...

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29th ieee international conference on Emerging Technologies and Factory automation, ETFA 2024

作者： Gill, Milapji Singh Zhang, Jingxi Wortmann, Andreas Fay, Alexander Institute of Automation Technology Helmut Schmidt University Hamburg Germany Institute of Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Automation Ruhr University Bochum Germany

ISBN: (纸本)9798350361230

cyber-Physical Production systems necessitate efficient configuration and continuous reconfiguration to adapt to evolving requirements and shifting goals. This process involves integrating various system structures to derive new functions and behaviors. The concept of the Digital Twin, which allows for effective integration and testing, is instrumental in facilitating this task. However, a fundamental prerequisite is that Digital Twins of individual system components must be composed efficiently and in accordance with dynamic System-of-systems. We address this challenge by introducing an approach for the automated horizontal and vertical composition of Digital Twins, aimed at minimizing manual intervention and enhancing adaptability. Therefore, a pipeline specifically designed for this goal is proposed, which includes the generation of new functions and behaviors. This approach is intended to provide a foundation for future research. © 2024 ieee.

关键词： System of systems

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Balance control for Lower Limb Exoskeleton based on the Center of Mass 12

Balance Control for Lower Limb Exoskeleton based on the Cent...

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12th international conference on cyber technology in automation, control, and intelligent systems, cyber 2022

作者： Liu, Ligang Chen, Wanxin Li, Mengze Zhao, Jiawei Zhang, Bi Zhao, Xingang State Key Lab of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes of Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China College of Information Science and Engineering Northeastern University Shenyang China University of Chinese Academy of Sciences Beijing China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

This paper designs a compliance controller by imitating human walking characteristics, balance recovery strategy, and combining anomaly detection algorithm for lower limb exoskeleton. Our final goal is to run it on the lower limb exoskeleton. We first analyze the characteristics human balance control and introduce an anomaly detection algorithm based on One-Class Support Vector Machine (OCSVM). Then, according to the abnormal index, the controller is designed for each joint with the law of human joint activity. Finally, the results of human-exoskeleton experiment showed that the exoskeleton can balance recovery when the Center of Mass (CoM) of the human-exoskeleton system is over the range of balance. © 2022 ieee.

关键词： controllers

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Event-based Motion Planning and control for Mobile Manipulator 12

Event-based Motion Planning and Control for Mobile Manipulat...

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12th international conference on cyber technology in automation, control, and intelligent systems, cyber 2022

作者： Ye, Jiajie Ma, Ye Wang, Siyu Kwok, Chun Wang, Qingyang Xi, Ning The University of Hong Kong Department of Industrial and Manufacturing Systems Engineering Pokfulam Hong Kong

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

This paper presents a whole-body, event-based motion planning and control method for a non-holonomic, six degrees of freedom (DOF) mobile manipulator. First, the mathematical modeling of the mobile manipulator is intro-duced in order to construct the event-based planning and control framework. Then, the synchronization performance of the mobile base and manipulator is illustrated. Finally, the experimental process verifies that the event-based method has a lower tracking error under the same external conditions by comparing the experimental results of the time- and event-based motion planning and control methods. © 2022 ieee.

关键词： Motion planning

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Fully distributed Consensus of Multi-Agent systems Based on Event-Driven control Policy 1

Fully distributed Consensus of Multi-Agent Systems Based on ...

引用

1st international conference on cyber-Energy systems and intelligent Energy, ICCSIE 2022

作者： Cai, Yuliang Sun, Shaoxin Gao, Zhiyun Zhang, Juan Qiao, Wei He, Qiang Liaoning University School of Mathematics and Statistics Liaoning Shenyang110036 China Chongqing University College of Automation Chongqing400044 China Civil Aviation University of China School of Transportation Science and Engineering Tianjin300300 China Northeastern University School of Information Science and Engineering Liaoning Shenyang110004 China Northeastern University College of Medicine and Biological Information Engineering Liaoning Shenyang110169 China

ISBN: (纸本)9781665452151

This study focuses on the fully distributed consensus problem of heterogeneous linear multi-agent systems with asynchronous edge-based event-driven control scheme. First, a new-type of event-triggered control mechanism was designed, and under this triggering condition, a compensator of fully distributed event driven is present to observe the leader's state. Then, for the unmeasurable state variables, a state observer is designed. Finally, a distributed controller is put forward to handle the output consensus problem, and Zeno phenomenon on each edge is eliminated theoretically. At last, the availability of the main theoretical results is verified by a numerical example. © 2023 ieee.

关键词： Multi agent systems

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Discretization of CPS Time Series with Neural Networks 29

Discretization of CPS Time Series with Neural Networks

引用

29th ieee international conference on Emerging Technologies and Factory automation, ETFA 2024

作者： Overlöper, Phillip Johann Moddemann, Lukas Hranisavljevic, Nemanja Windmann, Alexander Niggemann, Oliver Institute of Automation Technology Helmut-Schmidt-University Hamburg Germany

ISBN: (纸本)9798350361230

This paper investigates the application of machine learning techniques for discretizing multivariate time series data in cyber-physical systems, emphasizing an unsupervised learning approach. Due to the lack of system information about the systems under investigation, we focus our work on the conversion of high-dimensional, continuous data into discrete state representations to improve the interpretability of the system. The study evaluates several unsupervised machine learning methods using both simulated and real datasets of cyber-physical systems, particularly examining their utility in anomaly detection tasks. Our analysis highlights the trade-offs between the complexity and the purity of the learned state representations, and how this influences the performance in subsequent anomaly detection applications. The paper provides a comprehensive view of how different machine-learning-based discretization methods perform under various conditions and offers practical guidelines for selecting the appropriate method. Through this work, we aim to contribute to the broader understanding and implementation of effective unsupervised machine learning strategies for data analysis in cyber-physical systems. © 2024 ieee.

关键词： Adversarial machine learning

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Enhancing Workplace Efficiency: An intelligent Office automation System Leveraging IoT

Enhancing Workplace Efficiency: An Intelligent Office Automa...

引用

2024 international conference on Innovations in Science, Engineering and technology, ICISET 2024

作者： Kabir, Md. Humyun Hasnat, Arif Haque, Mirza Umidul Mahdi, Ahmed Jaser Hoque, Md. Jiabul Ahmed, Md. Razu International Islamic University Dept. of Computer and Communication Engineering Chattogram Chittagong4318 Bangladesh

ISBN: (纸本)9798350355499

Traditional office automation systems generally depend on human procedures and obsolete technology, leading to inefficiencies and heightened costs. Since the advent of Internet of Things (IoT) technology, substantial transformations have transpired in both personal and professional domains. By incorporating IoT devices into their work environments, businesses may obtain real-time data on many operational aspects. This enhances organizational decision-making using data and automates processes. This research introduces a novel framework for workplace environments, utilizing the revolutionary capabilities of IoT technology. We provide a distinctive framework for intelligent workplace settings to replace manual switches with mobile control, improve security measures, and raise safety standards. This framework utilizes the capabilities of the IoT. The paper highlights the prospective benefits of IoT-enabled smart workplaces through research investigations and simulations employing Cisco Packet Tracer. The essential components of the proposed framework include access control that is based on RFID technology, intelligent sensor devices, technologies that are efficient with energy, tight security processes, and automation mechanisms. The findings provide evidence that the IoT is effective in managing administrative tasks, improving network connectivity, reducing latency, and protecting workplace safety and security. © 2024 ieee.

关键词： Office automation

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