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2024 IEEE Opportunity Research Scholars Symposium, ORSS 2024

作者： Cort, Carlton Dalal, Aditya De Ocampo, James Du, Yanwei Feng, Shiyu Vela, Patricio A. Intelligent Vision and Automation Lab Georgia Tech Institute for Robots and Intelligent Machines Georgia Tech School of Electrical and Computer Engineering United States

ISBN: (纸本)9798350390698

Simultaneous localization and mapping (SLAM) and navigation systems are pivotal to realizing autonomous robotic capabilities. Research toward these systems will have direct impacts on the already large and rapidly growing market of autonomous robotics. Typically, research efforts in SLAM and navigation isolate one of the two systems when benchmarking their performance. As such, potential confounding issues from integrating the full navigation stack with pose estimates from a SLAM algorithm, such as the compounded latency of both systems, never arise. This paper aims to remove this shortcoming by providing a cost-effective closed-loop benchmarking framework for several navigation stacks integrated with several SLAM algorithms on a physical platform (Turtlebot2 in an office environment). A frugal vision-based motion capture method is utilized to capture the localization data. The lessened cost of such a system removes the barriers to real-world testing of this type often presented by common expensive motion capture systems. In the benchmarking framework, conventional performance metrics for both SLAM and navigation research and novel metrics were collected to characterize the closed-loop performance. An analysis of these metrics will enable the selection of algorithms for real-world applications since the framework tests complete mobile autonomy stacks in a task-driven closed-loop environment. © 2024 IEEE.

关键词： SLAM robotics

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Generalized Simultaneous Perturbation Stochastic Approximation with Reduced Estimator Bias 57

Generalized Simultaneous Perturbation Stochastic Approximati...

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57th Annual Conference on Information Sciences and Systems, CISS 2023

作者： Bhatnagar, Shalabh Prashanth, L.A. Indian Institute of Science Department of Computer Science and Automation Bengaluru India Indian Institute of Technology Madras Department of Computer Science and Engineering Chennai India

ISBN: (纸本)9781665451819

We present in this paper a family of generalized simultaneous perturbation stochastic approximation (G-SPSA) estimators that estimate the gradient of the objective using noisy function measurements, but where the number of function measurements and the form of the gradient estimator is guided by the desired estimator bias. In particular, estimators with more function measurements are seen to result in lower bias. We provide an analysis of convergence of generalized SPSA, and point to possible future directions. © 2023 IEEE.

关键词： Approximation theory

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Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 388-402页

作者： Xian Yang Jing Yan Changchun Hua Xinping Guan the Institute of Information Science and Engineering Yanshan University the Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004China IEEE the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

关键词： Asymptotic stability bilateral teleoperation time-varying delay velocity observer

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Secrecy Performance Review for IoT-based Cognitive Farming System

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Recent Patents on engineering 2024年第7期18卷 66-75页

作者： Chopra, Khyati Alam, M. Afshar Department of CSE Jamia Hamdard University New Dehli India University School of Automation and Robotics GGSIPU New Delhi110032 India Department of Computer Science and Engineering Jamia Hamdard University New Delhi110062 India

Smart farm management has complex challenges;therefore, there is a need to improve the overall adaptability, profitability, and environmental soundness of the farming systems. Agricultural production can be enhanced with the help of IoT-based cognitive tools. The rapid increase in IoT-based smart systems has raised critical concerns about efficiently utilizing the wireless spectrum. To drastically bring the improvement in the utilization of the wireless spectrum, cognitive radio (CR) has emerged as an effective solution. The inherent openness and broadcast nature of the wireless medium have given rise to many security issues in cooperative networks. Information-theoretic security or physical layer security (PLS) is evolved as an efficacious wireless prototype for reliable transmissions to avert the eavesdropper from expropriating transmittal data on the wireless connections. Security is the key factor in these networks as they are exposed and active in be-havior, thus, are susceptible to fraudulent activities. In this patent study, we investigated the performance of the CR system in terms of secrecy and also examined the system in terms of diversity receipt and selection of relay. The secrecy outcome of channel state information at the sender was also studied. The detrimental effects of fading in cooperative networks were also extensively discussed. Cooperative diversity was examined by deploying MRC and SC strategies at receptors. It has been deduced that CSI knowledge at the sender also has an eloquent concussion on the secrecy of the cognitive system. © 2024 Bentham Science Publishers.

关键词： Cognitive radio

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FD-YOLOX: An improved YOLOX object detection algorithm based on dilated convolution 18

FD-YOLOX: An improved YOLOX object detection algorithm based...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Wang, Zhizhong Xia, Fei Zhang, Chuanling Shanghai University of Electric Power College of Automation Engineering Shanghai China Shanghai University of Electric Power College of Computer Engineering Shanghai China

ISBN: (纸本)9798350312201

In autonomous driving perception, vehicle object detection based on deep learning has been a major research topic. However, detecting vehicles has been a complex issue in computer vision. To address this challenge, we present the FD-YOLOX algorithm with three effective modules. The Fusion Dilated Convolution Module (FDCM) is combined dilated convolution feature fusion with an attention mechanism, which is allowed the network to obtain richer semantic information while adaptively detecting targets. The Dilated Channel-Adjusted Convolution (DCAC) is also proposed to address the small receptive field of high feature layers and adjust the number of channels in the input feature layer. Finally, the Dilated Spatial Pyramid Pooling (DSSP) is built by introducing dilated convolution in SPP, enhancing the receptive field of the network and preserving more information about small targets and their locations. Through experiments on the SODA10M data set, the FD-YOLOX-s model showed an increased mean average precision of 2.05%(640× 640) and 1.15%(1280 × 1280) compared to YOLOX-s. Moreover, the FD-YOLOX model achieved competitive performance against other advanced object detection algorithms in the detection of small target vehicles. © 2023 IEEE.

关键词： Convolution

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Modeling and Measurement of 3D Solenoid Inductor Based on Through-Silicon Vias

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Chinese Journal of Electronics 2023年第2期32卷 365-374页

作者： YIN Xiangkun WANG Fengjuan ZHU Zhangming Vasilis F.Pavlidis LIU Xiaoxian LU Qijun LIU Yang YANG Yintang Shaanxi Key Lab.of Integrated Circuits and Systems School of Microelectronics Xidian University School of Automation and Information Engineering Xi'an University of Technique Department of Computer Science University of Manchester

Through-silicon via(TSV) provides vertical interconnectivity among the stacked dies in three-dimensional integrated circuits(3D ICs) and is a promising option to minimize 3D solenoid inductors for on-chip radio-frequency applications. In this paper, a rigorous analytical inductance model of 3D solenoid inductor is proposed based on the concept of loop and partial inductance. And a series of 3D samples are fabricated on 12-in high-resistivity silicon wafer using low-cost standard CMOS-compatible process. The results of the proposed model match very well with those obtained by simulation and measurement. With this model, the inductance can be estimated accurately and efficiently over a wide range of inductor windings, TSV height, space, and pitch.

关键词： Semiconductor device modeling Inductance Analytical models Solid modeling Three-dimensional displays Integrated circuit modeling Inductors

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Short-wave infrared continuous-variable quantum key distribution over satellite-to-submarine channels

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Chinese Physics B 2022年第6期31卷 211-220页

作者： Qingquan Peng Qin Liao Hai Zhong Junkai Hu Ying Guo School of Automation Central South UniversityChangsha 410083China College of Computer Science and Electronic Engineering Hunan UniversityChangsha 410082China School of Computer Science Beijing University of Posts and TelecommunicationsBeijing 100876China

The trans-media transmission of quantum pulse is one of means of free-space transmission which can be applied in continuous-variable quantum key distribution(CVQKD)*** traditional implementations for atmospheric channels,the 1500-to-1600-nm pulse is regarded as an ideal quantum pulse ***,the underwater transmission of this pulses tends to suffer from severe attenuation,which inevitably deteriorates the security of the whole CVQKD *** this paper,we propose an alternative scheme for implementations of CVQKD over satellite-to-submarine *** estimate the parameters of the trans-media channels,involving atmosphere,sea surface and seawater and find that the shortwave infrared performs well in the above *** 450-nm pulse is used for generations of quantum signal carriers to accomplish quantum communications through atmosphere,sea surface and seawater *** simulations show that the proposed scheme can achieve the transmission distance of 600 *** addition,we demonstrate that non-Gaussian operations can further lengthen its maximal transmission distance,which contributes to the establishment of practical global quantum networks.

关键词： continuous-variable quantum key distribution(CVQKD) short-wave infrared satellite-to-submarine

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Eglcr: Edge Structure Guidance and Scale Adaptive Attention for Iterative Stereo Matching 24

Eglcr: Edge Structure Guidance and Scale Adaptive Attention ...

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32nd ACM International Conference on Multimedia, MM 2024

作者： Dai, Zhien Tang, Zhaohui Zhang, Hu Tian, Can Pan, Mingjun Xie, Yongfang School of Automation Central South University Changsha China College of Computer Science and Engineering Changsha University Changsha China School of Computer Science and Cyber Engineering Guangzhou University Guangzhou China School of Electronic and Computer Engineering Peking University Shenzhen China School of Mathematics and statistics Central South University China

ISBN: (纸本)9798400706868

Stereo matching is a pivotal technique for depth estimation and has been popularly applied in various computer vision tasks. Although many related methods have been reported recently, they still face some challenges such as significant disparity variations at object boundaries, difficult prediction at large disparity regions, and suboptimal generalization when label distribution varies between source and target domains. Therefore, we propose a stereo-matching model (i.e., Eglcr) that utilizes edge structure information and multi-scale matching similarity features for better disparity estimation. First, we use a lightweight network to predict the initial disparity. Then, we develop a multi-scale similarity feature extraction module, incorporating adaptive attention mechanisms, to capture the fusion similarity information of stereo images across various scales. Meanwhile, we introduce an edge structure-aware module that features an iteratively optimized disparity map and a scale attention factor, aimed at accurately delineating edge information in complex scenes. After that, we employ an iterative strategy for disparity estimation, guided by the fusion similarity features across multiple scales and the detailed edge structure information. We conduct abundant experiments on some popular stereo matching datasets including Middlebury, KITTI, ETH3D, and Scene Flow. The results show that our proposed Eglcr achieves state-of-the-art performance both in accuracy and generalization. Our code is available at https://***/kangarooCV/Eglcr. © 2024 ACM.

关键词： Feature extraction

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Design and Implementation of Model-Based Design for UAV Intelligent Decision-Making and Control System

Design and Implementation of Model-Based Design for UAV Inte...

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2023 China automation Congress, CAC 2023

作者： Wang, Guoqing Cao, Lijia Wu, Xiaodong Zhou, Jie Song, Pinde Cao, Yujin Sichuan University of Science & Engineering School of Automation & Information Engineering Yibin644000 China Sichuan University of Science & Engineering School of Computer Science and Engineering Yibin644000 China

ISBN: (纸本)9798350303759

Researching and developing relevant algorithms for Unmanned Aerial Vehicle(UAV) intelligent decision-making and control systems involves a lot of experimentation and testing. However, utilizing advanced languages such as C/C++ and Python for system development, testing, and hardware deployment takes time and effort. In order to solve this issue, a model-based design (MBD) method for designing and implementing UAV intelligent decision-making and control systems is presented in this paper. This method builds a model of an intelligent decision-making and control system for UAVs using MATLAB/Simulink. It deploys the flight control system to the PIXHAWK embedded hardware through automatic code generation and deploys the intelligent decision-making system to the Jetson Xavier NX edge computing device. The high-fidelity UAV dynamics model is deployed to the Box03 high-performance real-time simulation machine. These operations achieve real-time simulation of the system's software/hardware-in-the-loop. Finally, the UAV dynamics model is replaced with an actual UAV system. The experiments demonstrate that UAVs with intelligent decision-making and control algorithms accomplish real-time tasks such as obstacle avoidance and path planning. The design of the UAV's intelligent decision-making and control system can be achieved more conveniently and efficiently through the aforementioned methods, providing valuable insights for further research and application in this field. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Natural Disaster Damage Assessment using Semantic Segmentation of UAV Imagery

Natural Disaster Damage Assessment using Semantic Segmentati...

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2023 International Conference on Robotics and automation in Industry, ICRAI 2023

作者： Asad, Muhammad Haroon Asim, Malik Muhammad Awan, Muhammad Naeem Mumtaz Yousaf, Muhammad Haroon University of Engineering and Technology Computer Engineering Department Taxila Pakistan National Center of Robotics and Automation University of Engineering and Technology Swarm Robotics Lab Taxila Pakistan

ISBN: (纸本)9781665464727

Numerous natural disasters due to climate change pose major threats to the sustainability of public infrastructure and human lives. For emergency rescue and recovery during a disaster, a rapid and accurate evaluation of disaster damage is essential. In recent years, the Transformer has gained popularity in a number of tasks related to computer vision, which offers tremendous potential for improving the accuracy of disaster damage assessments. Our research aims to determine whether Vision Transformer (ViT) can be used to assess natural disaster damage on high-resolution Unmanned Aerial Vehicle (UAV) data in comparison with conventional deep-learning semantic segmentation techniques. We discuss if Transformer can perform better than CNNs in accurately assessing the damage caused in order to bridge the gap. Detailed performance comparison of state-of-art deep learning semantic segmentation models (UNET, Segnet, PSPNet, Deeplabv3+) and Transformer framework (SegFormer) for damage assessment is presented. The experimentation is performed on both natural disaster damage datasets (RescueNet, FloodNet). The study supported SegFormer as the most appropriate model for estimating disaster damage, with mIoUs of 96% on the RescueNet dataset and 82.22% on the FloodNet dataset, respectively. The Transformer is capable of outperforming conventional segmentation CNNs in understanding the entirety of the scene and assessing the severity of the damage, based on both quantitative evaluation and visual results. © 2023 IEEE.

关键词： Disasters

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