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Hardware-in-the-loop simulation of a UAV autonomous landing algorithm implemented in SoC FPGA

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arXiv 2022年

作者： Szolc, Hubert Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

This paper presents a system for hardware-in-the-loop (HiL) simulation of unmanned aerial vehicle (UAV) control algorithms implemented on a heterogeneous SoC FPGA computing platforms. The AirSim simulator running on a PC and an Arty Z7 development board with a Zynq SoC chip from AMD Xilinx were used. Communication was carried out via a serial USB link. An application for autonomous landing on a specially marked landing strip was selected as a case study. A landing site detection algorithm was implemented on the Zynq SoC platform. This allowed processing a 1280 × 720 @ 60 fps video stream in real time. Performed tests showed that the system works correctly and there are no delays that could negatively affect the stability of the control. The proposed concept is characterised by relative simplicity and low implementation cost. At the same time, it can be applied to test various types of high-level perception and control algorithms for UAV implemented on embedded platforms. We provide the code developed on GitHub, which includes both Python scripts running on the PC and C code running on Arty Z7. © 2022, CC BY.

关键词： System-on-chip

Personalised and Adjustable Interval Type-2 Fuzzy-Based PPG Quality Assessment for the Edge

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Personalised and Adjustable Interval Type-2 Fuzzy-Based PPG ...

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Jose A. Miranda Celia López-Ongil Javier Andreu-Perez Embedded Systems Laboratory EPFL Laussane Switzerland Electronic Technology Department Universidad Carlos III of Madrid Leganés Spain School of Computer Science and Electronic Engineering University of Essex Colchester UK

Most of today's wearable technology provides seamless cardiac activity monitoring. Specifically, the vast majority employ Photoplethysmography (PPG) sensors to acquire blood volume pulse information, which is further analysed to extract useful and physiologically related features. Nevertheless, PPG-based signal reliability presents different challenges that strongly affect such data processing. This is mainly related to the fact of PPG morphological wave distortion due to motion artefacts, which can lead to erroneous interpretation of the extracted cardiac-related features. On this basis, in this paper, we propose a novel personalised and adjustable Interval Type-2 Fuzzy Logic System (IT2FLS) for assessing the quality of PPG signals. The proposed system employs a personalised approach to adapt the IT2FLS parameters to the unique characteristics of each individual's PPG signals. Additionally, the system provides adjustable levels of personalisation, allowing healthcare providers to adjust the system to meet specific requirements for different applications. The proposed system obtained up to 93.72% for average accuracy during validation. The presented system has the potential to enable ultra-low complexity and real-time PPG quality assessment, improving the accuracy and reliability of PPG-based health monitoring systems at the edge.

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Traffic Sign Classification Using Deep and Quantum Neural Networks

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arXiv 2022年

作者： Kuros, Sylwia Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland

Quantum Neural Networks (QNNs) are an emerging technology that can be used in many applications including computer vision. In this paper, we presented a traffic sign classification system implemented using a hybrid quantum-classical convolutional neural network. Experiments on the German Traffic Sign Recognition Benchmark dataset indicate that currently QNN do not outperform classical DCNN (Deep Convolutuional Neural Networks), yet still provide an accuracy of over 90% and are a definitely promising solution for advanced computer vision. © 2022, CC BY.

关键词： Traffic signs

An Efficient Domain-Incremental Learning Approach to Drive in All Weather Conditions

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arXiv 2022年

作者： Mirza, Muhammad Jehanzeb Masana, Marc Possegger, Horst Bischof, Horst Institute of Computer Graphics and Vision Graz University of Technology Austria Christian Doppler Laboratory for Embedded Machine Learning Austria TU Graz SAL Dependable Embedded Systems Lab Silicon Austria Labs Austria

Although deep neural networks enable impressive visual perception performance for autonomous driving, their robustness to varying weather conditions still requires attention. When adapting these models for changed environments, such as different weather conditions, they are prone to forgetting previously learned information. This catastrophic forgetting is typically addressed via incremental learning approaches which usually re-train the model by either keeping a memory bank of training samples or keeping a copy of the entire model or model parameters for each scenario. While these approaches show impressive results, they can be prone to scalability issues and their applicability for autonomous driving in all weather conditions has not been shown. In this paper we propose DISC - Domain Incremental through Statistical Correction - a simple online zero-forgetting approach which can incrementally learn new tasks (i.e. weather conditions) without requiring re-training or expensive memory banks. The only information we store for each task are the statistical parameters as we categorize each domain by the change in first and second order statistics. Thus, as each task arrives, we simply 'plug and play' the statistical vectors for the corresponding task into the model and it immediately starts to perform well on that task. We show the efficacy of our approach by testing it for object detection in a challenging domain-incremental autonomous driving scenario where we encounter different adverse weather conditions, such as heavy rain, fog, and snow. © 2022, CC BY.

关键词： Meteorology

Traffic Sign Classification Using Deep and Quantum Neural Networks

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TechRxiv

TechRxiv 2022年

作者： Kuros, Sylwia Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland

关键词： Traffic signs

Personalised and Adjustable Interval Type-2 Fuzzy-Based PPG Quality Assessment for the Edge

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arXiv 2023年

作者： Miranda, Jose A. López-Ongil, Celia Andreu-Perez, Javier Embedded Systems Laboratory EPFL Laussane Switzerland Electronic Technology Department Universidad Carlos III of Madrid Leganés Spain School of Computer Science and Electronic Engineering University of Essex Colchester United Kingdom

Most of today’s wearable technology provides seamless cardiac activity monitoring. Specifically, the vast majority employ Photoplethysmography (PPG) sensors to acquire blood volume pulse information, which is further analysed to extract useful and physiologically related features. Nevertheless, PPG-based signal reliability presents different challenges that strongly affect such data processing. This is mainly related to the fact of PPG morphological wave distortion due to motion artefacts, which can lead to erroneous interpretation of the extracted cardiac-related features. On this basis, in this paper, we propose a novel personalised and adjustable Interval Type-2 Fuzzy Logic System (IT2FLS) for assessing the quality of PPG signals. The proposed system employs a personalised approach to adapt the IT2FLS parameters to the unique characteristics of each individual’s PPG signals. Additionally, the system provides adjustable levels of personalisation, allowing healthcare providers to adjust the system to meet specific requirements for different applications. The proposed system obtained up to 93.72% for average accuracy during validation. The presented system has the potential to enable ultra-low complexity and real-time PPG quality assessment, improving the accuracy and reliability of PPG-based health monitoring systems at the edge. © 2023, CC BY-NC-ND.

关键词： Photoplethysmography

ActMAD: Activation Matching to Align Distributions for Test-Time-Training

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arXiv 2022年

作者： Mirza, Muhammad Jehanzeb Soneira, Pol Jané Lin, Wei Kozinski, Mateusz Possegger, Horst Bischof, Horst Institute for Computer Graphics and Vision TU Graz Austria Christian Doppler Laboratory for Embedded Machine Learning Institute of Control Systems KIT Germany Christian Doppler Laboratory for Semantic 3D Computer Vision

Test-Time-Training (TTT) is an approach to cope with out-of-distribution (OOD) data by adapting a trained model to distribution shifts occurring at test-time. We propose to perform this adaptation via Activation Matching (ActMAD): We analyze activations of the model and align activation statistics of the OOD test data to those of the training data. In contrast to existing methods, which model the distribution of entire channels in the ultimate layer of the feature extractor, we model the distribution of each feature in multiple layers across the network. This results in a more fine-grained supervision and makes ActMAD attain state of the art performance on CIFAR-100C and Imagenet-C. ActMAD is also architecture- and task-agnostic, which lets us go beyond image classification, and score 15.4% improvement over previous approaches when evaluating a KITTI-trained object detector on KITTI-Fog. Our experiments highlight that ActMAD can be applied to online adaptation in realistic scenarios, requiring little data to attain its full performance. © 2022, CC BY.

关键词： Chemical activation

A weakly supervised pavement crack segmentation based on adversarial learning and transformers

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Multimedia systems 2025年第3期31卷 1-21页

作者： Apedo, Yvon Tao, Huanjie School of Computer Science Northwestern Polytechnical University Xi’an People’s Republic of China Engineering and Research Center of Embedded Systems Integration (Northwestern Polytechnical University) Ministry of Education Xi’an People’s Republic of China National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology Xi’an People’s Republic of China

While pixel-level crack segmentation has demonstrated significant potential in infrastructure inspections, its reliance on detailed annotations poses challenges for widespread adoption due to the time-consuming and expensive nature of such labeling. In response, weakly supervised crack segmentation has garnered attention as it eliminates the need for pixel-level annotations. However, existing methods, primarily based on class activation maps (CAM), involve complex training processes and suffer from poor performance due to misalignment between CAM-generated labels and the true target in the image. To address these challenges, we propose a weakly supervised approach for crack segmentation that simultaneously generates synthetic crack images and performs segmentation through adversarial learning. Unlike traditional methods that rely on coarse labels, our approach leverages synthetic crack images with corresponding labels, effectively eliminating issues of misalignment and noisy pseudo-labels. Our method introduces an encoder-decoder architecture for the segmentation model, incorporating a Transformer-based Feature Enhancement module (TFE) in the encoder. This module is specifically designed to capture long-range dependencies and efficiently integrate both high- and low-level features. Additionally, the model includes a Hilo block to extract both high- and low-frequency information from the images, along with a Progressive Shrinking Decoder (PSD) to aggregate and refine adjacent feature maps. Extensive experiments were conducted, and our model achieved an ODS of 67.12% on the CrackForest dataset, 60.11% on the Crack500 dataset, and 44.80% on the AEL dataset. These results demonstrate that our model outperforms several existing weakly supervised pavement segmentation methods across these datasets.

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Exploration of Optimizing FPGA-based Qubit Controller for Experiments on Superconducting Quantum Computing Hardware

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Exploration of Optimizing FPGA-based Qubit Controller for Ex...

IEEE International Conference on Electro-Information Technology

作者： Hans Johnson Silvia Zorzetti Jafar Saniie Department of Electrical and Computer Engineering Embedded Computing and Signal Processing (ECASP) Research Laboratory Illinois Institute of Technology Chicago IL U.S.A. Superconducting Quantum Materials and Systems Center (SQMS) Fermi National Accelerator Laboratory Batavia IL U.S.A.

This work explores avenues and target areas for optimizing FPGA-based control hardware for experiments conducted on superconducting quantum computing systems and serves as an introduction to some of the current research at the intersection of classical and quantum computing hardware. With the promise of building larger-scale error-corrected quantum computers based on superconducting qubit architecture, innovations to room-temperature control electronics are needed to bring these quantum realizations to fruition. The QICK (Quantum Instrumentation Control Kit) is one leading experimental FPGA-based implementations. However, its integration into other experimental quantum computing architectures, especially those using superconducting radiofrequency (SRF) cavities, is largely unexplored. We identify some key target areas for optimizing control electronics for superconducting qubit architectures and provide some preliminary results to the resolution of a control pulse waveform. With optimizations targeted at 3D superconducting qubit setups, we hope to bring to light some of the requirements in classical computational methodologies to bring out the full potential of this quantum computing architecture, and to convey the excitement of progress in this research.

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