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3D Geometry-Based UAV-MIMO Channel Modeling and Simulation

China Communications 2018年第12期15卷 64-74页

作者： Rubing Jia Yiran Li Xiang Cheng Bo Ai State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Engineering and Computer Science Peking University School of electronic and information engineering of Beijing Jiaotong University Beijing Jiaotong University

A more general narrowband regular-shaped geometry-based statistical model(RS-GBSM) combined with the line of sight(LoS) and single bounce(SB) rays for unmanned aerial vehicle(UAV) multiple-input multiple-output(MIMO) channel is proposed in this paper. The channel characteristics, including space-time correlation function(STCF), Doppler power spectral density(DPSD), level crossing rate(LCR) and average fade duration(AFD), are derived based on the single sphere reference model for a non-isotropic environment. The corresponding sum-of-sinusoids(SoS) simulation models including both the deterministic model and statistical model with finite scatterers are also proposed for practicable implementation. The simulation results illustrate that the simulation models well reproduce the channel characteristics of the single sphere reference model with sufficient simulation scatterers. And the statistical model has a better approximation of the reference model in comparison with the deterministic one when the simulation trials of the stochastic model are sufficient. The effects of the parameters such as flight height, moving direction and Rice factor on the characteristics are also studied.

关键词： UAV-MIMO geometry-based model channel characteristics simulation model

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Distance distribution between two random nodes in arbitrary polygons

arXiv

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arXiv 2019年

作者： Pure, Ross Durrani, Salman Tong, Fei Pan, Jianping Research School of Electrical Energy and Materials Engineering Australian National University CanberraACT2615 Australia Department of Control Science and Engineering Zhejiang University Hangzhou China Department of Computer Science University of Victoria BC Canada

Distance distributions are a key building block in stochastic geometry modelling of wireless networks and in many other fields in mathematics and science. In this paper, we propose a novel framework for analytically computing the closed form probability density function (PDF) of the distance between two random nodes each uniformly randomly distributed in respective arbitrary (convex or concave) polygon regions (which may be disjoint or overlap or coincide). The proposed framework is based on measure theory and uses polar decomposition for simplifying and calculating the integrals to obtain closed form results. We validate our proposed framework by comparison with simulations and published closed form results in the literature for simple cases. We illustrate the versatility and advantage of the proposed framework by deriving closed form results for a case not yet reported in the literature. Finally, we also develop a Mathematica implementation of the proposed framework which allows a user to define any two arbitrary polygons and conveniently determine the distance distribution numerically. Copyright © 2019, The Authors. All rights reserved.

关键词： Geometry

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Opacity of Nondeterministic Transition Systems: A (Bi)Simulation Relation Approach

Opacity of Nondeterministic Transition Systems: A (Bi)Simula...

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作者： Zhang, Kuize Yin, Xiang Zamani, Majid ACCESS Linnaeus Center School of Electrical Engineering KTH Royal Institute of Technology Stockholm10044 Sweden Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China Computer Science Department University of Colorado Boulder BoulderCO80309 United States

In this paper, we propose several opacity-preserving (bi)simulation relations for nondeterministic transition systems (NTSs) in terms of initial-state opacity, current-state opacity, K-step opacity, and infinite-step opacity. We also show how one can leverage quotient constructions to compute such relations. As a result, although the opacity verification problem for infinite NTSs is generally undecidable, if one can find such an opacity-preserving relation from an infinite NTS to a finite one, the (lack of) opacity of the infinite NTS can be easily verified over the finite one, which is decidable. © 1963-2012 IEEE.

关键词： Opacity

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Probably Approximate Safety Verification of Hybrid Dynamical Systems 21st

Probably Approximate Safety Verification of Hybrid Dynamical...

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21st International Conference on Formal engineering Methods, ICFEM 2019

作者： Xue, Bai Fränzle, Martin Zhao, Hengjun Zhan, Naijun Easwaran, Arvind State Key Laboratory of Computer Science Institute of Software CAS Beijing China University of Chinese Academy of Sciences Beijing China Beijing Institute of Control Engineering Beijing China Carl von Ossietzky Universität Oldenburg Oldenburg Germany Southwest University Chongqing China Nanyang Technological University Singapore Singapore

ISBN: (纸本)9783030324087

In this paper we present a method based on linear programming that facilitates reliable safety verification of hybrid dynamical systems subject to perturbation inputs over the infinite time horizon. The verification algorithm applies the probably approximately correct (PAC) learning framework and consequently can be regarded as statistically formal verification in the sense that it provides formal safety guarantees expressed using error probabilities and confidences. The safety of hybrid systems in this framework is verified via the computation of so-called PAC barrier certificates, which can be computed by solving a linear programming problem. Based on scenario approaches, the linear program is constructed by a family of independent and identically distributed state samples. In this way we can conduct verification of hybrid dynamical systems that existing methods are not capable of dealing with. Some preliminary experiments demonstrate the performance of our approach. © 2019, Springer Nature Switzerland AG.

关键词： Hybrid systems

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Scalable block-diagonal locality-constrained projective dictionary learning

arXiv

引用

arXiv 2019年

作者： Zhang, Zhao Jiang, Weiming Zhang, Zheng Li, Sheng Liu, Guangcan Qin, Jie School of Computer Science School of Artificial Intelligence Hefei University of Technology China School of Computer Science and Technology Soochow University China School of Information Technology and Electrical Engineering University of Queensland Australia Department of Computer Science University of Georgia United States School of Information and Control Nanjing University of Information Science and Technology China Computer Vision Laboratory ETH Zurich Switzerland

We propose a novel structured discriminative blockdiagonal dictionary learning method, referred to as scalable Locality-Constrained Projective Dictionary Learning (LC-PDL), for efficient representation and classification. To improve the scalability by saving both training and testing time, our LC-PDL aims at learning a structured discriminative dictionary and a block-diagonal representation without using costly l0/l1-norm. Besides, it avoids extra time-consuming sparse reconstruction process with the well-trained dictionary for new sample as many existing models. More importantly, LC-PDL avoids using the complementary data matrix to learn the sub-dictionary over each class. To enhance the performance, we incorporate a locality constraint of atoms into the DL procedures to keep local information and obtain the codes of samples over each class separately. A block-diagonal discriminative approximation term is also derived to learn a discriminative projection to bridge data with their codes by extracting the special block-diagonal features from data, which can ensure the approximate coefficients to associate with its label information clearly. Then, a robust multiclass classifier is trained over extracted block-diagonal codes for accurate label predictions. Experimental results verify the effectiveness of our algorithm. Copyright © 2019, The Authors. All rights reserved.

关键词： Machine learning

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Experimental Validation of Vehicle Velocity, Attitude and IMU Bias Estimation

引用

IFAC-PapersOnLine 2019年第8期52卷 118-123页

作者： Wouter J. Scholte Vicent Rodrigo Marco Henk Nijmeijer Mechanical Engineering Department Eindhoven University of Technology Eindhoven Netherlands Research and Development Daimler AG 71059 Sindelfingen Germany Control Systems Group Department of Electrical Engineering and Computer Science Technische Universität Berlin D-10587 Berlin Germany

This paper proposes an estimation method for the three dimensional velocity, and the roll and pitch angles of a land vehicle. The usage of low-cost sensors is required for applications in production vehicles. The proposed estimation method uses a low-cost inertial measurement unit (IMU) of which the biases are estimated. A nonlinear system is used to create an observer for simultaneous state and parameter estimation. Experimental results show the potential of this approach in a real world environment.

关键词： Autonomous vehicles State estimation Parameter estimation Sensor fusion Inertial measurement units Motion estimation

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Fuzzy control for maximum power-point tracking of a photovoltaic system 7

Fuzzy control for maximum power-point tracking of a photovol...

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7th International Conference on Systems and control, ICSC 2018

作者： Safia, Z. Ben Allouch, M. Harrabi, N. Bahloul, M. Chaabane, M. Aitouche, A. National Engineering School of SFAX Tunisia CRIStAL Research Center in Computer Science Signal and Automatic Control of Lille University of Lille France

ISBN: (纸本)9781538685372

This paper proposes a new T-S fuzzy method to deal with the power tracking problem of the power generating systems. First, a dynamic model of the PV system is developed which is subsequently converted into a Takagi-Sugeno (TS) model. Then, after leading to this exact model, a fuzzy controller is designed to obtain the MPP even during the variation of the climatic conditions. Based on the T-S fuzzy model, the fuzzy maximum power point tracking controller is designed by constructing fuzzy gain state feedback controller and an optimal reference model for the optimal PV output voltage, which corresponds actually to maximum power point (MPP).The controller gains are obtained by solving a set of linear matrix inequalities (LMIs). Finally, simulation results are given to illustrate the optimal tracking performance of the proposed fuzzy controller even in the case of abrupt changing climatic conditions. © 2018 IEEE.

关键词： Fuzzy control

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Multi-person remote heart-rate measurement from human faces - a CNN based approach

Multi-person remote heart-rate measurement from human faces ...

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IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin)

作者： Thomas Pursche Marcel Walz Roland Clauß Robert Roth Bernd Tibken Reinhard Möller School of Electrical Information and Media Engineering Automatic Control University of Wuppertal Wuppertal Germany Faculty of Electrical Information and Media Engineering Automatic Control University of Wuppertal Wuppertal Germany Faculty of Electrical Information and Media Engineering Automation/Computer Science University of Wuppertal Wuppertal Germany

The conventional heart rate measurement techniques using electrocardiogram, wrist belts and so on, are attached with some disadvantages like discomfort, irritation of the skin and even more. From this starting point various video based heart rate measurement techniques were developed in the last years. All of these techniques use video data of the human faces to extract information to estimate the heart rate of the person in front of the camera. Most of them work with the detection of minimal changes in the color spectrum of the recorded video data. With these extracted information and multiple concluding steps, they are able to estimate the heart rate of the person sitting in front of the camera. All of these approaches have some big disadvantages, they are only able to measure the heart rate of one person - and in a small number of cases up to three persons. So the main objective of this work is to adapt and enhance existing research approaches of processing visual biological signals. The focus is set on the design and deployment of a new system, which is able to process visual data as well as detect and localize human faces by using artificial neural networks and calculate each individuals heart rate from the processed data's information. For the first time in this research area, different scenarios with more than three observed participants are being analyzed to calculate the heart rate for each of them separately. It will be shown that by using the applied technical architecture and technologies, it is possible to deploy a comparable and qualitatively competitive system. In addition, the implemented system proves the feasibility of processing various faces' signals and calculating the respective heart rates simultaneously within an acceptable range of tolerance.

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3D Visualization of Objects under scattering media conditions using Integral Imaging

3D Visualization of Objects under scattering media condition...

引用

International Conference on Information and Communication Technology Convergence (ICTC)

作者： Jaehoon Lee Kotaro Inoue Myungjin Cho Min-Chul Lee Department of Computer Science and Networks Kyushu Institute of Technology Iizuka city Japan Electrical Electronic and Control Engineering Hankyong National University Anseong-si Korea

In this paper, we propose a new three-dimensional (3D) reconstruction technique in scattering media using integral imaging. In conventional integral imaging, it can visualize 3D images well when high-resolution elemental images are used. However, when low-resolution images are used, the visual quality of the 3D images is reduced. In addition, it is difficult to recognize the objects under scattering media conditions. Therefore, to visualize 3D images in scattering media, we create a mask filter in frequency domain to remove the scattering media. In addition, we calculate the density of the scattered media to adjust the contrast and histogram equalization automatically. To prove our method, we implemented optical experiments.

关键词： Media Scattering Three-dimensional displays Image reconstruction Imaging Visualization Histograms

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A framework for synchronizing a team of aerial robots in communication-limited environments

arXiv

引用

arXiv 2019年

作者： Díaz-Báñez, J.M. Caraballo, L.E. Lopez, M.A. Bereg, S. Maza, I. Ollero, A. Department of Applied Mathematics II University of Seville Spain Department of Computer Science University of Denver United States Department of Computer Science University of Texas Dallas United States Department of Systems Engineering and Automatic Control University of Seville Spain

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a previously assigned closed trajectory. When two robots are close enough, a communication link may be established, allowing the robots to exchange information. The goal is to schedule the flights such that the entire system can be synchronized for maximum information exchange, that is, every pair of neighbors always visit the feasible communication link at the same time. We propose an algorithm for scheduling a team of robots in this scenario and propose a robust framework in which the synchronization of a large team of robots is assured. The approach allows us to design a fault-tolerant system that can be used for multiple tasks such as surveillance, area exploration, searching for targets in a hazardous environment, and assembly and structure construction, to name a few. Copyright © 2019, The Authors. All rights reserved.

关键词： Synchronization

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