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Tight Collision Probability for UAV Motion Planning in Uncertain Environment

Tight Collision Probability for UAV Motion Planning in Uncer...

引用

IEEE/RSJ international conference on Intelligent Robots and Systems (IROS)

作者： Tianyu Liu Fu Zhang Fei Gao Jia Pan Department of Mechanical Engineering The University of Hong Kong Institute of Cyber-Systems and Control Zhejiang University Department of Computer Science The University of Hong Kong

Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate robot localization and modeling errors further exacerbate these challenges. Recent research on UAV motion planning in static environments has been unable to cope with the rapidly changing surroundings, resulting in trajectories that may not be feasible. Moreover, previous approaches that have addressed dynamic obstacles or external disturbances in isolation are insufficient to handle the complexities of such environments. This paper proposes a reliable motion planning framework for UAVs, integrating various uncertainties into a chance constraint that characterizes the uncertainty in a probabilistic manner. The chance constraint provides a probabilistic safety certificate by calculating the collision probability between the robot's Gaussian-distributed forward reachable set and states of obstacles. To reduce the conservatism of the planned trajectory, we propose a tight upper bound of the collision probability and evaluate it both exactly and approximately. The approximated solution is used to generate motion primitives as a reference trajectory, while the exact solution is leveraged to iteratively optimize the trajectory for better results. Our method is thoroughly tested in simulation and real-world experiments, verifying its reliability and effectiveness in uncertain environments.

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TEFISTA-NET: GTD Parameter Estimation of Low-Frequency Ultra- Wideband Radar via Model-Based Deep Learning

TEFISTA-NET: GTD Parameter Estimation of Low-Frequency Ultra...

引用

international conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Rui Li Xueqian Wang Gang Li Xiao-Ping Zhang Department of Electronic Engineering Tsinghua University Tsinghua-Berkeley Shenzhen Institute Tsinghua University Department of Electrical Computer & Biomedical Engineering Toronto Metropolitan University

The geometrical theory of diffraction (GTD) has been widely investigated to describe the target scattering behaviors with the low-frequency ultra-wideband (LFW) radar. In this paper, we propose a new model-based deep learning method for GTD parameter estimation. The proposed method is designed by unfolding the fast iterative shrinkage thresholding algorithm (FISTA) into a deep neural network. Unlike existing methods based on compressed sensing (CS), the key parameters in our algorithm are fully learnable, avoiding nontrivial parameter tuning procedures. Our network with simple convolution operations is more computationally efficient than existing methods, which require matrix inversions or quadratic programming and have low convergence speed. A novel loss function is designed for the new network to improve the capacity of target enhancement. Experiments on simulation data show that the new method achieves higher computational efficiency while maintaining or improving the precision of GTD parameter estimation compared with existing methods.

关键词： Deep learning Parameter estimation Computational modeling Signal processing algorithms Radar Computational efficiency Speech processing

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Optimizing container housing units for informal settlements: A parametric simulation & visualization workflow for architectural resilience 26

Optimizing container housing units for informal settlements:...

引用

26th international conference of the Association for computer-Aided Architectural Design Research in Asia: Projections, CAADRIA 2021

作者： Jayedi, Aman Tabassum, Nusrat Hopfenblatt, James Kim, Jong Bum Haque, Md Obidul University of Missouri Columbia United States Institute for Advanced Architecture of Catalonia Spain Premier University Bangladesh

ISBN: (纸本)9789887891758

In rapidly growing cities like Dhaka, Bangladesh, sustainable housing in urban wetlands and slums present a challenge to more affordable and livable cities. The Container Housing System (CHS) is among the latest methods of affordable, modular housing quickly gaining acceptance among local stakeholders in Bangladesh. Even though container houses made of heat-conducting materials significantly impact overall energy consumption, there is little research on the overall environmental impact of CHS. Therefore, this study aims to investigate the performance of CHS in the climatic context of the Korail slum in Dhaka. The paper proposes a building envelope optimization and visualization workflow utilizing parametric cluster simulation modeling, multi-objective optimization (MOO) algorithms, and virtual reality (VR) as an immersive visualization technique. First, local housing and courtyard patterns were used to develop hypothetical housing clusters. Next, the CHS design variables were chosen to conduct the MOO analysis to measure Useful Daylight Illuminance and Energy Use Intensity. Finally, the prototype was integrated into a parametric VR environment to enable local stakeholders to walk through the clusters with the goal of generating feedback. This study shows that the proposed method can be implemented by architects and planners in the early design process to help improve the stakeholder's understanding of CHS and its impact on the environment. It further elaborates on the implementation results, challenges, limitations of the parametric framework, and future work needed. © 2021 and published by the Association for computer-Aided Architectural Design Research in Asia (CAADRIA), Hong Kong.

关键词： Containers

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Complex Vector modeling and Control of Interior Permanent Magnet Synchronous Machines

Complex Vector Modeling and Control of Interior Permanent Ma...

引用

IEEE international conference on Electric Machines and Drives (IEMDC)

作者： Samira Tungare Shivang Agrawal Debranjan Mukherjee Arijit Banerjee Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana USA

In applications where the ratio of switching frequency to fundamental frequency is low, time delays in the system lead to poor current regulation and cross-coupling between the d and q axes. The phase lag introduced by the PWM and sampling delays lead to poor transient characteristics and can even cause system system instability. This paper proposes a complex vector model of an interior permanent magnet synchronous machine (IPMSM) that requires only a single complex current controller and allows complex current controller design methods applied to non-salient pole machines to be easily adapted for salient pole machines. simulation results using an IPMSM and experimental results using a 3-ϕ balanced RL load show that using the complex current controller reduces cross coupling in comparison to the conventional scalar approach at lower switching frequencies. With a sudden load torque change leading to a sudden change in i q , the reduced deviation in i d from its reference can help prevent the temporary demagnetization. Also, with a sudden change in i d in the Maximum Torque per Ampere (MTPA) or Field-weakening (FW) mode, the reduced deviation in i q from its reference can help avoid transient spike in electromagnetic torque.

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Data Acquisition and Analysis for Improving the Utility of Low Cost Soil Moisture Sensors

Data Acquisition and Analysis for Improving the Utility of L...

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international conference on Smart Computing (SMARTCOMP)

作者： Gautam Mundewadi Rich Wolski Chandra Krintz Department of Computer Science University of California Santa Barbara Santa Barbara United States

To cultivate healthy plants and high crop yields, growers must be able to measure soil moisture and irrigate accordingly. Errors in soil moisture measurements can lead to irrigation mismanagement with costly consequences. In this paper, we present a new approach to smart computing for irrigation management to address these challenges at a lower cost. We calibrate low cost, low precision soil moisture sensors to more accurately distinguish wet from dry soils using high cost, high precision Davis Instrument sensors. We investigate different modeling techniques including the natural log of the odds ratio (Log-odds), Monte Carlo simulation, and linear regression to distinguish between wet and moist soils and to establish a trustworthy threshold between these two moisture states. We have also developed a new smartphone application that simplifies the process of data collection and implements our analysis approach. The application is extensible by others and provides growers with low cost, data-driven decision support for irrigation. We implement our approach for UCSB’s Edible Campus student farm and empirically evaluate it using multiple test beds. Our results show an accuracy rate of 91% and lowers costs by 4x per deployment, making it useful for gardeners and farmers alike.

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Space simulation and Environment Construction of Urban Public Facilities Based on VR Technology 2

Space Simulation and Environment Construction of Urban Publi...

引用

2nd international conference on computers, Information Processing and Advanced Education, CIPAE 2021

作者： Li, Jingjing Gan, Xiang Li, Mengjuan Zhang, Ke School of Art and Design Chuzhou University Anhui China

ISBN: (纸本)9781665426657

Virtual reality technology can provide the public with an immersive sense of participation, promote the public's cognition and evaluation of urban design, and has application value in the field of public participation in urban design. However, there are still some problems in the application of VR in public participation in urban design, such as the weak theoretical basis, which limits its application and promotion. The purpose of this study is to supplement the research on the theoretical basis and application methods of VR application in the field of public participation in urban design, try to build a method with theoretical basis, which can meet the two-way balance of public participation, and guide the effective application of VR in the field of public participation in urban design. VR can support the public to recognize the meso and micro scale content of urban design, and has the advantages of cognition, evaluation and mobilization of participation enthusiasm. This paper summarizes the rules of VR application in public participation in urban design, and verifies some application rules through public participation experiments. © 2021 IEEE.

关键词： computers Solid modeling Education Decision making Virtual reality Information processing computer architecture

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Research on computer simulation Big Data Intelligent Collection and Analysis System 7

Research on Computer Simulation Big Data Intelligent Collect...

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2020 7th international conference on computer-Aided Design, Manufacturing, modeling and simulation, CDMMS 2020

作者： Liu, Hongying Department of Computer Science and Engineering Guangzhou College of Technology and Business Guangzhou510850 China

As a characteristic of big data, the individual data in it is no longer isolated, and the data and its underlying mechanisms have complex associations, which make all data into an indivisible whole. The dynamic generation and disappearance of data will change its original relationship and affect the overall characteristics of the data. This feature of big data makes the subject-oriented analysis methods such as data mining present limitations: the presupposition of the subject and the analysis by subject split the interaction relationship between the subjects, leading to the loss of the implicit mechanism in these relationships. Aiming at the problems of traditional network big data multi-resolution acquisition methods such as high acquisition cost, long completion time and low acquisition accuracy, a JA-va3D-based big data network multi-resolution acquisition method is proposed, and average interactive data is introduced. The extraction method estimates the power spectral density of the network data multi-resolution acquisition, and uses the ADASYN algorithm to remove the invalid multi-resolution data, and realizes the large data multi-resolution accurate acquisition. Experimental results show that the proposed method has lower acquisition cost, shorter completion time, and higher acquisition accuracy;it has certain practical value and can be widely used in various fields. © Published under licence by IOP Publishing Ltd.

关键词： Big data

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Replicating the MAP Kinase Cascade in Membrane Computing 2

Replicating the MAP Kinase Cascade in Membrane Computing

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2nd international conference on Physics and Applied Sciences, ICPAS 2021

作者： Mohan, Bareq Shaalan Mahmood, Ali A. Mohammed, Mohammed Q. Zaki, Nashwan Dheyaa School of Computer Science Faculty of Information Science and Technology University Kebangsaan Malaysia Bangi Selangor43600 Malaysia University of Information Technology and Communications Baghdad Iraq Al-Esraa University College Baghdad Iraq

Membrane Computing (MC) is defined as one of the main areas in computer sciences;MC has the aim of discovering novel computational models from studying biological cells, specifically the cellular membranes. Mitogen-Activated Protein Kinases (MAPK) cascade was the subject of research in the areas of modeling and simulation. Various software tools such as Performance Evaluation Process Algebra (PEPA) have been used to solve the MAPK cascade for the purpose of improving the effectiveness of signaling. In this study, the MAPK cascade is modeled by using MC. The models of Membrane Computing could be totally fully utilized by applying parallel computing platforms. P-Lingua can be defined as a programming language for MeCoSim and MC, where MC simulators are used to model and simulate MAPK. P-Lingua will be applied to structure, develop and examine the implementation of MAPK cascades in membrane computing. MeCoSim supports charts, outputs, and inputs which have been adapted to MC. The simulation results have been put to comparison with PEPA model. The results indicate that MC improves the MAPK implementation compared to PEPA. This study showed that MC, with its biological characteristics, could improve the implementation regarding biological processes including MAPK. © Published under licence by IOP Publishing Ltd.

关键词： computer aided software engineering

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Integrating 4D simulations and Virtual Reality Environments: An Innovative Prototype 1

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18th international conference on Cooperative Design, Visualization, and Engineering (CDVE)

作者： Mezrag, Yacine Boton, Conrad Ecole Technol Super LaRTIC Res Lab Informat Technol Construct 1100 Rue Notre Dame Ouest Montreal PQ Canada

ISBN: (数字)9783030882075

ISBN: (纸本)9783030882075;9783030882068

4D simulation based on immersive Virtual Reality-based collaboration can be a great help in constructability studies and in detecting spatiotemporal interference. Recent publications propose some methods and frameworks to support collaboration centered on 4D BIM models in Virtual Reality (VR) environments. However, the existing VR systems and platforms remains poorly suited to the task of integrating the data libraries generally conveyed by 4D models. In the context of the multiplication of platforms and the increased need for interoperability, it will be essential to develop interoperable solutions, based on OpenBIM formats. However, to date, there is no framework based on open interoperable formats to guide experts and users through the steps necessary for effective VR-based 4D simulation. This work proposes a new method to improve the integration of 4D simulations in virtual reality environments. The method is centered on the use of OpenBIM standards, uses a normalized and structured workflow on three main phases that correspond to different work environments, and considers a two-way data exchange mechanism. In order to evaluate and validate the proposed method, a prototype was developed, adopting the same workflow and using a suitable software ecosystem.

关键词： 4D simulation Virtual reality Constructability Building information modeling Common data environment

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A Colored Petri Net Tool for the Design of Robotic Palletizing Cells

A Colored Petri Net Tool for the Design of Robotic Palletizi...

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international conference on Control, Decision and Information Technologies (CoDIT)

作者： Graziana Cavone Silvia Stella Paolo Scarabaggio Raffaele Carli Stefano Lisi Achille Claudio Garavelli Mariagrazia Dotoli Department of Civil Computer Science and Aeronautical Technologies Engineering University Roma Tre Italy Department of Mechanics Mathematics and Management Polytechnic of Bari Italy Department of Electrical and Information Engineering Polytechnic of Bari Italy

Driven by the digital transformation required by Logistics 4.0, the use of automation in warehouses is constantly growing. In particular, robotic palletizers offer significant potential for optimizing warehouse operations, thanks to higher flexibility and throughput than traditional palletizing systems. Despite the availability of several solutions in the market, the optimal deployment of a robotic palletizer in warehouses is not straightforward: a design phase is needed to determine the most convenient configuration that ensures automatic palletizing is fully integrated into the warehouse processes. In this paper, we propose a simulation-based versatile tool for modeling and analysis purposes, aimed at supporting the design of a robotic palletizing cell in a bottom-up fashion. As a core methodology, we employ timed colored Petri nets, which allow - once the analysis on packing requirements and constraints is conducted - to rapidly model the system as a composition of basic subsystems, and implement alternative simulations to evaluate the corresponding performance and effectively benchmark the alternative configurations. The proposed approach is applied to a real case study, showing its effectiveness in identifying the solution that achieves a good compromise between the use of resources and the performance of warehouse operations.

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