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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Ali Muthanna, Mohammed Saleh Lyachek, Yuliy T. Obadi Musaeed, Abdulfattah Mohammed Ahmed Hazzaa Esmail, Yaqoob Adam, Abuzar B. M. Saint Petersburg Electrotechnical University LETI Department of Automation and Control Processes Saint Petersburg Russia University of Posts and Telecommunications Department of Information and Communication Engineering Chongqing Chongqing China Xiamen University Department of Computer Science School of Information Science and Engineering Xiamen China

ISBN: (纸本)9781728157610

This paper proposes the possibility of recognizing pedestrians in real time on the end devices using a microcomputer to automate the process of signaling traffic lights and improve system mobility. The paper is devoted to a brief analysis of existing systems for the detection of pedestrians, with the subsequent development of its own system based on those studied, and its further implementation on the Raspberry Pi microcomputer. A natural experiment was conducted to detect pedestrians in an image with the subsequent determination of their location at a pedestrian crossing. A number of popular pedestrian detection systems were analyzed in terms of speed, accuracy of determination, and the possibility of implementation on microcomputers. Recommendations on the choice of the system, conditions of use and improvement of characteristics. The developed system automates the work of the traffic light through the introduction of additional functions (tracking a pedestrian's posture, moving pedestrians along the roadway), ensuring the safety of road users, which allows to improve the level of the urban environment as a whole. © 2020 IEEE.

关键词： Microcomputers

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Safe navigation of quadrotors with jerk limited trajectory

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 107-119页

作者： Shu-peng LAI Meng-lu LAN Ya-xuan LI Ben M.CHEN Department of Electrical and Computer Engineering National University of Singapore Graduate School for Integrative Science & Engineering National University of Singapore School of Control Science and Engineering Shandong University Department of Mechanical and Automation Engineering Chinese University of Hong Kong

Many aerial applications require unmanned aerial systems operate in safe zones because of the presence of obstacles or security regulations. It is a non-trivial task to generate a smooth trajectory satisfying both dynamic constraints and motion limits of the unmanned vehicles while being inside the safe zones. Then the task becomes even more challenging for real-time applications, for which computational efficiency is crucial. In this study, we present a safe flying corridor navigation method, which combines jerk limited trajectories with an efficient testing method to update the position setpoints in real time. Trajectories are generated online and incrementally with a cycle time smaller than 10 μs, which is exceptionally suitable for vehicles with limited onboard computational capability. Safe zones are represented with multiple interconnected bounding boxes which can be arbitrarily *** jerk limited trajectory generation algorithm has been extended to cover the cases with asymmetrical motion limits. The proposed method has been successfully tested and verified in flight simulations and actual experiments.

关键词： Quadrotor Unmanned aerial vehicle Motion planning

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Stochastic Gradient-based Fast Distributed Multi-Energy Management for an Industrial Park with Temporally-Coupled Constraints

arXiv

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arXiv 2022年

作者： Zhu, Dafeng Yang, Bo Ma, Chengbin Wang, Zhaojian Zhu, Shanying Ma, Kai Guan, Xinping Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao066004 China

Contemporary industrial parks are challenged by the growing concerns about high cost and low efficiency of energy supply. Moreover, in the case of uncertain supply/demand, how to mobilize delay-tolerant elastic loads and compensate real-time inelastic loads to match multi-energy generation/storage and minimize energy cost is a key issue. Since energy management is hardly to be implemented offline without knowing statistical information of random variables, this paper presents a systematic online energy cost minimization framework to fulfill the complementary utilization of multi-energy with time-varying generation, demand and price. Specifically to achieve charging/discharging constraints due to storage and short-term energy balancing, a fast distributed algorithm based on stochastic gradient with two-timescale implementation is proposed to ensure online implementation. To reduce the peak loads, an incentive mechanism is implemented by estimating users' willingness to shift. Analytical results on parameter setting are also given to guarantee feasibility and optimality of the proposed design. Numerical results show that when the bid-ask spread of electricity is small enough, the proposed algorithm can achieve the close-to-optimal cost asymptotically. © 2022, CC BY-NC-ND.

关键词： Energy management

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End-to-end 2D-3D Registration between Image and LiDAR Point Cloud for Vehicle Localization

arXiv

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arXiv 2023年

作者： Wang, Guangming Zheng, Yu Guo, Yanfeng Liu, Zhe Zhu, Yixiang Burgard, Wolfram Wang, Hesheng Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China China Department of Artificial Intelligence Shanghai Jiao Tong University Shanghai200240 China Electrical and Computer Engineering University of California Los Angeles United States Institute of Artificial Intelligence Shanghai Jiao Tong University Shanghai200240 China Department of Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Engineering University of Technology Nuremberg Germany

Robot localization using a previously built map is essential for a variety of tasks including highly accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines illumination-invariant LiDAR-based mapping with economical image-based localization. However, the recent works for image-to-point cloud registration either divide the registration into separate modules or project the point cloud to the depth image to register the RGB and depth images. In this paper, we present I2PNet, a novel end-to-end 2D-3D registration network. I2PNet directly registers the raw 3D point cloud with the 2D RGB image using differential modules with a unique target. The 2D-3D cost volume module for differential 2D-3D association is proposed to bridge feature extraction and pose regression. 2D-3D cost volume module implicitly constructs the soft point-to-pixel correspondence on the intrinsic-independent normalized plane of the pinhole camera model. Moreover, we introduce an outlier mask prediction module to filter the outliers in the 2D-3D association before pose regression. Furthermore, we propose the coarse-to-fine 2D-3D registration architecture to increase localization accuracy. We conduct extensive localization experiments on the KITTI Odometry and nuScenes datasets. The results demonstrate that I2PNet outperforms the state-of-the-art by a large margin. In addition, I2PNet has a higher efficiency than the previous works and can perform the localization in real-time. Moreover, we extend the application of I2PNet to the camera-LiDAR online calibration and demonstrate that I2PNet outperforms recent approaches on the online calibration task. Copyright © 2023, The Authors. All rights reserved.

关键词： Calibration

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Skin-like cryogel electronics from suppressed-freezing tuned polymer amorphization

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Nature Communications 2023年第1期14卷 1-10页

作者： Zhang, Xiansheng Yan, Hongwei Xu, Chongzhi Dong, Xia Wang, Yu Fu, Aiping Li, Hao Lee, Jin Yong Zhang, Sheng Ni, Jiahua Gao, Min Wang, Jing Yu, Jinpeng Ge, Shuzhi Sam Jin, Ming Liang Wang, Lili Xia, Yanzhi State Key Laboratory of Bio-Fibers and Eco-Textiles College of Textiles and Clothing Qingdao University Qingdao 266071 China Institute for Future Shandong Key Laboratory of Industrial Control Technology School of Automation Qingdao University Qingdao 266071 China College of Materials Science and Engineering Qingdao University Qingdao 266071 China CAS Key Laboratory of Engineering Plastics Institute of Chemistry Chinese Academy of Sciences Beijing 100190 China Department of Chemistry SungKyunKwan University Suwon 16419 South Korea State Key Laboratory of Fluid Power and Mechatronic Systems College of Mechanical Engineering Zhejiang University Hangzhou 310027 China College of Biological Science and Medical Engineering Donghua University Shanghai 201620 China Institute of Environmental Engineering ETH Zürich Zürich 8093 Switzerland Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

The sole situation of semi-crystalline structure induced single performance remarkably limits the green cryogels in the application of soft devices due to uncontrolled freezing field. Here, a facile strategy for achieving multifunctionality of cryogels is proposed using total amorphization of polymer. Through precisely lowering the freezing point of precursor solutions with an antifreezing salt, the suppressed growth of ice is achieved, creating an unusually weak and homogenous aggregation of polymer chains upon freezing, thereby realizing the tunable amorphization of polymer and the coexistence of free and hydrogen bonding hydroxyl groups. Such multi-scale microstructures trigger the integrated properties of tissue-like ultrasoftness (Young’s modulus <10 kPa) yet stretchability, high transparency (~92%), self-adhesion, and instantaneous self-healing (<0.3 s) for cryogels, along with superior ionic-conductivity, antifreezing (−58 °C) and water-retention abilities, pushing the development of skin-like cryogel electronics. These concepts open an attractive branch for cryogels that adopt regulated crystallization behavior for on-demand functionalities. © 2023, Springer Nature Limited.

关键词： Gels and hydrogels Polymers

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Prototype Model of an IoT-based Digital and Smart Door Locking System with Enhanced Security

Prototype Model of an IoT-based Digital and Smart Door Locki...

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International Conference on Mathematics, Actuarial Science, computer Science and Statistics (MACS)

作者： M. Adil Khan Kashif Nisar Ehtisham Lodhi Jawad Khan Muhammad Imran Khan Tariq Rahim Soomro Sana Nisar Department of Computer Science and Technology Chang'an University Xi'an China Victorian Institute of Technology (VIT) Adelaide South Australia The SKL for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department Computer Science Abbottabad University of Science and Technology Havelian KP Pakistan Department of Computer Science Abdul Wali Khan University Mardan Pakistan CCSIS Institute of Business Management Karachi Pakistan Faculty of Computing and Informatics University Malaysia Sabah Jalan UMS Kota Kinabalu Sabah Malaysia

ISBN: (纸本)9781665460729

Biometric-based digital door locking system plays a significant role in providing authentication, reducing the workforce in smart homes, and building automation scenarios. This paper proposes a prototype model of an IoT-based Smart Door Locking System (SDLS) with reliable double-access authentication. The IoT and biometric technology authentication mechanism is adopted to make SDLS more secure and reachable with the alert mechanism on unauthorized access. The SDLS contains a biometric scanner, and a thumb impression is made either from a mobile or a biometric-mounted device on the door and both are connected to the centralized cloud-hosted real-time database. The proposed system was tested in real-time and has shown competitive results compared to other Radio-Frequency Identification (RFID) and password-based door locks. Hence, the overall performance efficiency of SDLS is satisfactory and provides biometric-based remote access to control and monitor door locks with the alert system on unauthorized access.

关键词： Biometrics (access control) Biological system modeling Authentication Prototypes Smart homes Real-time systems Security

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Vehicle control in Highway Traffic by Using Reinforcement Learning and Microscopic Traffic Simulation 18

Vehicle Control in Highway Traffic by Using Reinforcement Le...

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18th IEEE International Symposium on Intelligent Systems and Informatics, SISY 2020

作者： Szoke, Laszlo Aradi, Szilard Becsi, Tamas Gaspar, Peter Budapest University of Technology and Economics Department of Control for Transportation and Vehicle Systems Megyetem rkp. 3 BudapestH-1111 Hungary Computer and Automation Research Institute Hungarian Academy of Sciences Systems and Control Laboratory Kende u. 13-17 BudapestH-1111 Hungary

ISBN: (纸本)9781728173528

The paper presents a simple yet powerful and intelligent driver agent, designed to operate in a preset highway situation using Policy Gradient Reinforcement Learning (RL) agent. The goal is to navigate safely in dense highway traffic and proceed through the defined length with the shortest time possible. The algorithm uses a dense neural network as a function approximator for the agent with discrete action space on the control level, e.g., acceleration and steering. The developed simulation environment uses the open-source traffic simulator called Simulation of Urban MObility (SUMO), integrated with an interface, to interact with the agent in real-time. With this tool, numerous driving and highway situations can be created and fed to the agent from which it can learn. The environment opens the opportunity to randomize and customize the other road users' behavior. Thus the experience can be more diverse, and thus the representation becomes more general. The article describes the modeling environment, the details on the learning agent, and the rewarding scheme. After evaluating the experiences gained from the training, some ideas for optimization and further development goals are also proposed. © 2020 IEEE.

关键词： Reinforcement learning

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Study on spiral winding swimming motion control of a slender legless creature model

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High Technology Letters 2021年第4期27卷 415-421页

作者： Lu Zhenli Ma Zhipeng Marko Pencic Maja Cavic Borovac Branislav Roumiana Ilieva Bojan Nemec Marjan Mernik School of Electrical Engineering and Automation Changshu Institute of TechnologyChangshu 215500P.R.China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116P.R.China Faculty of Technical Sciences University of Novi SadNovi Sad 621000Serbia Faculty of Management Technical University of SofiaSofia 1000Bulgaria Department of Automatics Biocybernetics and RoboticsJožef Stefan InstituteLjubljana 1000Slovenia Faculty of Electrical Engineering and Computer Science University of MariborMaribor 462000Slovenia

Through the observation and analysis of the motion trajectory of spiral winding motion for slender legless biological creatures in water,V-REP software is adopted to build a dynamic simulator to study on the mechanism of spiral winding swimming(SWS)*** using the output of spiral function(SF),the dynamic simulation model of slender legless creature(SLC)realizes the SWS motion in *** corresponding experiments under the control of different bending angle of SF to control the dynamic model are also carried out to analyze the water performance of SWS in still *** with the output of two different bending angles of the spiral function,the dynamic model can be used to realize SWS and up/down *** work provides technical reserve and experimental platform for the corresponding study in related fields.

关键词： V-REP spiral winding swimming(SWS) motion control slender legless creature(SLC)

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Formation control for mobile robot using fuzzy - PI controller

Formation control for mobile robot using fuzzy - PI controll...

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2020 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2020

作者： Lee, Min-Fan Ricky Willybrordus, H.P.M. Sukamto Hassen, Sharfiden Nugroho, Asep National Taiwan University of Science and Technology Taipei Taiwan National Taiwan University of Science and Technology Department of Electrical Engineering Taipei Taiwan National Taiwan University of Science and Technology Department of Computer Science and Information Engineering Taipei Taiwan National Taiwan University of Science and Technology College of Graduate Institute of Automation and Control Taipei Taiwan National Taiwan University of Science and Technology Graduate Institute of Automation and Control Taipei Taiwan

ISBN: (纸本)9781728198231

Protecting soldiers in the long march of platoon formation is crucial mission in the military operation. Autonomous ground mobile robots can be deployed to carry out such kind of the mission. The primary task is maintaining robot position automatically based on the movement of soldier in a platoon formation. The GPS is employed to determine the soldier current pose. This information is used as an input to create a dynamic convex hull around a platoon. The Proportional-Integral (PI) controller is applied to control each robot so it can move in a desired trajectory. The fuzzy logic control (FLC) is involved to tune the gain of PI controller to optimize the performance. Three protective robots and nine soldiers are used to evaluate the algorithm in simulation. The proposed algorithm will provide a platoon soldiers with optimal protection encirclement and enhance their safety. The simulation results show good performance using the proposed controller. © 2020 IEEE.

关键词： Mobile robots

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How Simulation Helps Autonomous Driving: A Survey of Sim2real, Digital Twins, and Parallel Intelligence

arXiv

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arXiv 2023年

作者： Hu, Xuemin Li, Shen Huang, Tingyu Tang, Bo Huai, Rouxing Chen, Long The School of Artificial Intelligence Hubei University Hubei Wuhan430062 China The Department of Electrical and Computer Engineering Worcester Polytechnic Institute WorcesterMA01609 United States Beijing Huairou Academy of Parallel Sensing Beijing101499 China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100864 China The Waytous Inc. Beijing100083 China

Safety and cost are two important concerns for the development of autonomous driving technologies. From the academic research to commercial applications of autonomous driving vehicles, sufficient simulation and real world testing are required. In general, a large scale of testing in simulation environment is conducted and then the learned driving knowledge is transferred to the real world, so how to adapt driving knowledge learned in simulation to reality becomes a critical issue. However, the virtual simulation world differs from the real world in many aspects such as lighting, textures, vehicle dynamics, and agents' behaviors, etc., which makes it difficult to bridge the gap between the virtual and real worlds. This gap is commonly referred to as the reality gap (RG). In recent years, researchers have explored various approaches to address the reality gap issue, which can be broadly classified into three categories: transferring knowledge from simulation to reality (sim2real), learning in digital twins (DTs), and learning by parallel intelligence (PI) technologies. In this paper, we consider the solutions through the sim2real, DTs, and PI technologies, and review important applications and innovations in the field of autonomous driving. Meanwhile, we show the state-of-the-arts from the views of algorithms, models, and simulators, and elaborate the development process from sim2real to DTs and PI. The presentation also illustrates the far-reaching effects and challenges in the development of sim2real, DTs, and PI in autonomous driving. Copyright © 2023, The Authors. All rights reserved.

关键词： Textures

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