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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yan, Xufei Chen, Renliang Zhu, Shiqiang Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China College of Aeronautics Nanjing University of Aeronautics and Astronautics National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics Jiangsu Nanjing China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

An augmented longitudinal rigid-body model is developed with a set of algebra equations describing the controls in the cockpit and the differential equations describing the pilot inherent limitations. The landing procedure after one engine failure is formulated into a nonlinear optimal control problem. XV-15 tilt-rotor aircraft is taken as the sample for the demonstration of landing in one engine failure during short takeoff. The results show that the total power required, thrust coefficient, longitudinal flapping angle and optimal controls are more relatively gentle than the solutions without considering the pilot inherent limitations. Compared with the basic longitudinal rigid-body model, the optimal solutions involve more control information. © 2022 IEEE.

关键词： Differential equations

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Dynamic and Distributed Optimization for the Allocation of Aerial Swarm Vehicles

Dynamic and Distributed Optimization for the Allocation of A...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jason Hughes Dominic Larkin Charles O’ Donnell Christopher Korpela Department of Electrical Engineering and Computer Science Robotics Research Center United States Military Academy West Point NY USA

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405942

Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve appropriate task allocation and execution. Drone swarm deployments already operate in multiple domains where sensors are used to gain knowledge of an environment [1]. Use cases such as, chemical and radiation detection, and thermal and RGB imaging create a specific need for an algorithm that considers parameters on both the UAV and waypoint side and allows for updating the matching scheme as the swarm gains information from the environment. Additionally, the need for a centralized planner can be removed by using a distributed algorithm that can dynamically update based on changes in the swarm network or parameters. To this end, we develop a dynamic and distributed OT algorithm that matches a UAV to the optimal waypoint based on one parameter at the UAV and another parameter at the waypoint. We show the convergence and allocation of the algorithm through a case study and test the algorithm’s effectiveness against a greedy assignment algorithm in simulation.

关键词： Heuristic algorithms Radiation detectors Imaging Autonomous aerial vehicles Dynamic scheduling Sensors Resource management

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Development and Analysis of a Versatile Dataset of Speech, Real and Synthesized, of Arabic Learners

Development and Analysis of a Versatile Dataset of Speech, R...

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Computing and Information Technology (ICCIT-1441), 2020 International Conference on

作者： Mansour Alsulaiman Mohammed Algabri Hassan Mathkour Mohamed A. Bencherif Ghulam Muhammad Saad Al-Gahtani Mohammed Faisal Mohamed Amine Mekhtiche Taha Alfakih Computer Engineering Department College of Computer and Information Sciences King Saud University Riyadh Saudi Arabia Computer Science and Information Systems Department College of Applied Sciences AlMaarefa University Riyadh Saudi Arabia Computer Science Department College of Computer and Information Sciences King Saud University Riyadh Saudi Arabia Centre of Smart Robotics Research (CS2R) King Saud University Riyadh Saudi Arabia Arabic Language Institute King Saud University Saudi Arabia Center of AI & Robotics Kuwait College of Science and Technology (KCST) Kuwait

computer-Aided Pronunciation Training (CAPT) systems are gaining popularity recently due to the advancements in deep neural networks (DNN) and machine learning and the availability of databases of speech of language learners. Unfortunately, research in Arabic CAPT systems suffer from the lack of CAPT datasets compared to other languages. In this paper, we present the details of and the ideas used in the development of a versatile dataset of speech, real and synthesized, of Arabic Learners. To develop the dataset, we utilized an existing Arabic speech corpus, King Saud University Speech Database (KSU-SD). KSU-SD's main application was a speaker recognition system, but it was designed to be useful in other applications such as CAPT systems. KSU-SD includes a large number of speakers from diverse nationalities (Saudis, Arabs, and Non-Arabs). KSU-SD contains the recording of about 60 non-native speakers from more than 20 nationalities, hence we selected it to build the non-native Arabic-CAPT corpus. The developed corpus consists of transcribed, segmented, and annotated speech, which makes it suitable for building Arabic CAPT systems. In addition to presenting the details of developing the dataset, we also present an analysis of the text and speech errors of the dataset. The dataset was verified by many CAPT systems.

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Utilization of Data Augmentation Techniques to Enhance Learning with Sparse Datasets

Utilization of Data Augmentation Techniques to Enhance Learn...

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Artificial Intelligence for Industries (AI4I)

作者： Richard Yarnell Daniel Brignac Yanjie Fu Ronald F. DeMara Electrical and Computer Engineering University of Central Florida Orlando FL Center for Research in Computer Vision University of Central Florida Orlando FL Department of Computer Science University of Central Florida Orlando FL

Neural network-based object detection has many important applications but requires a vast amount of training data. In applications where training data may be scarce, data augmentation techniques can be used to expand ... 详细信息

关键词： Training Industries Training data Object detection Artificial intelligence

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无人飞行器在不确定扰动下的动态目标跟踪

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Engineering 2024年第4期35卷 74-85页

作者： Yanjie Chen Yangning Wu Limin Lan Hang Zhong Zhiqiang Miao Hui Zhang Yaonan Wang School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350108China Department of Computer Science Aberystwyth UniversityAberystwyth SY233DBUK School of Robotics Hunan UniversityChangsha 410082China College of Electrical and Information Engineering Hunan UniversityChangsha 410082China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan UniversityChangsha 410082China

This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied *** proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is *** depth model ensures image feature accuracy and image trajectory smoothness in rotating target *** relative velocities of the UAV and the dynamic target are estimated using the proposed velocity *** to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is *** integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance *** stability of the velocity observer and IBVS controller is analyzed using the Lyapunov *** simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.

关键词： Unmanned aerial vehicle Visual servoing Velocity observer Target tracking

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Impact Evaluation of Driving Style on Electric Vehicle Battery based on Field Testing Result

Impact Evaluation of Driving Style on Electric Vehicle Batte...

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Consumer Communications and Networking Conference, CCNC IEEE

作者： Ka Seng Chou Davide Aguiari Rita Tse Su-Kit Tang Giovanni Pau Faculty of Applied Sciences Macao Polytechnic University Macao SAR China Department of Computer Science and Engineering Alma Mater Studiorum University of Bologna Bologna IT Autonomous Robotics Research Center Technology Innovation Institute UCLA Samueli Computer Science University of California Los Angeles

Monitoring electric vehicles' battery status and forecasting their state of health is still an open challenge. To determine how and why a battery degrades over time, we have extensively monitored a Nissan Leaf's battery pack for more than one year. Collecting more than 4.5 million samples via a custom monitoring connected device to investigate how different driving behaviors affect battery aging. In addition, the best driving behaviors based on the battery's optimal temperature are revealed, including speed, acceleration and brake pedal pressure, and horsepower.

关键词： Temperature sensors Temperature measurement Aging Electric vehicles Batteries Behavioral sciences Brakes

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Detecting and Localizing Objects on an Unmanned Aerial System (UAS) Integrated with a Mobile Device

Detecting and Localizing Objects on an Unmanned Aerial Syste...

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2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

作者： Kim, Jinho Lin, Kevin Nogar, Stephen M. Larkin, Dominic Korpela, Christopher M. Robotics Research Center United States Military Academy Department of Electrical Engineering and Computer Science West PointNY10996 United States MD21005 United States

ISBN: (纸本)9780738131153

There is a strong need for Unmanned Aerial Systems (UAS) that can navigate autonomously using visual information for GPS denied and other degraded environments. In this paper, a system architecture is proposed that utilizes visual-inertial odometry (VIO) and object recognition and localization for a quadrotor UAS. It also incorporates communication with an Android Team Awareness Kit (ATAK) device, allowing users to share situational awareness of the UAS in real-time. The system architecture is validated through experiments in which a human is detected and localized as the object of interest. © 2021 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Intelligent Network Selection Algorithm for Multiservice Users in 5G Heterogeneous Network System: Nash Q-Learning Method

Intelligent Network Selection Algorithm for Multiservice Use...

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作者： Ma, Mingfang Zhu, Anqi Guo, Songtao Yang, Yuanyuan The College of Computer Science Chongqing University Chongqing China Robotics Research Center College of Intelligence Science and Technology National University of Defense Technology Changsha China Department of Electrical and Computer Engineering Stony Brook University Stony BrookNY United States

The 5G heterogeneous network architecture integrates different radio access technologies (RATs), which will support the large-scale communication connection of massive Internet-of-Things (IoT) devices. However, as the rapid growth of IoT connections, personalized requirements of services requested and heterogeneity deepening of the network system, how to design an intelligent network selection scheme for user devices (UDs) is becoming a crucial challenge in the 5G heterogeneous network system. Most of the existing network selection methods only optimize the selection strategies from the user side or network side, which results in heavy network congestion, poor user experience, and system performance degradation. Accordingly, we propose a multiagent $Q$ -learning network selection (MAQNS) algorithm based on Nash $Q$ -learning, which can learn a joint optimal selection strategy to improve system throughput and reduce user blocking on the premise of ensuring the requirements of IoT services. In particular, we apply the discrete-time Markov chains to model the network selection, and the analytic hierarchy process (AHP) and gray relation analysis (GRA) are jointly utilized to obtain user preferences for each network. Finally, performance evaluation demonstrates that comparing to the existing schemes, MAQNS proposed cannot only improve system throughput and reduce user blocking but also promote user experience on average energy efficiency and delay. © 2014 IEEE.

关键词： Internet of things

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Implicit Learning of Scene Geometry from Poses for Global Localization

arXiv

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arXiv 2023年

作者： Altillawi, Mohammad Li, Shile Prakhya, Sai Manoj Liu, Ziyuan Serrat, Joan The AI Robotics & Simulation team Huawei Munich Research Center Germany Department of Computer Science Universitat Autònoma de Barcelona Cerdanyola del Vallès Bellaterra08193 Spain

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by latest advances in deep learning, many existing approaches directly learn and regress 6 DoF pose from an input image. However, these methods do not fully utilize the underlying scene geometry for pose regression. The challenge in monocular relocalization is the minimal availability of supervised training data, which is just the corresponding 6 DoF poses of the images. In this paper, we propose to utilize these minimal available labels (.i.e, poses) to learn the underlying 3D geometry of the scene and use the geometry to estimate the 6 DoF camera pose. We present a learning method that uses these pose labels and rigid alignment to learn two 3D geometric representations (X, Y, Z coordinates) of the scene, one in camera coordinate frame and the other in global coordinate frame. Given a single image, it estimates these two 3D scene representations, which are then aligned to estimate a pose that matches the pose label. This formulation allows for the active inclusion of additional learning constraints to minimize 3D alignment errors between the two 3D scene representations, and 2D re-projection errors between the 3D global scene representation and 2D image pixels, resulting in improved localization accuracy. During inference, our model estimates the 3D scene geometry in camera and global frames and aligns them rigidly to obtain pose in real-time. We evaluate our work on three common visual localization datasets, conduct ablation studies, and show that our method exceeds state-of-the-art regression methods’ pose accuracy on all datasets. © 2023, CC BY-NC-SA.

关键词： Geometry

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RAIN: RegulArization on Input and Network for Black-Box Domain Adaptation

arXiv

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arXiv 2022年

作者： Peng, Qucheng Ding, Zhengming Lyu, Lingjuan Sun, Lichao Chen, Chen Center for Research in Computer Vision University of Central Florida United States Department of Computer Science Tulane University United States Sony AI Lehigh University United States

Source-Free domain adaptation transits the source-trained model towards target domain without exposing the source data, trying to dispel these concerns about data privacy and security. However, this paradigm is still at risk of data leakage due to adversarial attacks on the source model. Hence, the Black-Box setting only allows to use the outputs of source model, but still suffers from overfitting on the source domain more severely due to source model's unseen weights. In this paper, we propose a novel approach named RAIN (RegulArization on Input and Network) for Black-Box domain adaptation from both input-level and network-level regularization. For the input-level, we design a new data augmentation technique as Phase MixUp, which highlights task-relevant objects in the interpolations, thus enhancing input-level regularization and class consistency for target models. For network-level, we develop a Subnetwork Distillation mechanism to transfer knowledge from the target subnetwork to the full target network via knowledge distillation, which thus alleviates overfitting on the source domain by learning diverse target representations. Extensive experiments show that our method achieves state-of-the-art performance on several cross-domain benchmarks under both single- and multi-source black-box domain adaptation. © 2022, CC BY.

关键词： Distillation

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