检索结果-内蒙古大学图书馆

arXiv 2018年

作者： Peršić, Juraj University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems Mobile Robotics LAMOR

Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof for which sensor sensor calibration plays fundamental role. It can be divided to intrinsic and extrinsic sensor calibration. Former seeks for internal parameters of each individual sensor, while latter provides coordinate frame transformation between sensors. Calibration techniques require correspondence registration in the measurements which is one of the main challenges in the extrinsic calibration of heterogeneous sensors, since generally, each sensor can operate on a different physical principle. Measurement correspondences can originate from a designated calibration target or from features in the environment. Additionally, environment features can be used to estimate motion of individual sensors and the calibration is found by aligning these estimates. Motion-based calibration is the most common approach in the online calibration since it is more practical than the target-based methods, although it can lack in accuracy. Furthermore, online calibration is beneficial for system robustness as it can detect and adjust recalibration of the system in runtime, which can be seen as a prerequisite for long-term autonomy. Copyright © 2018, The Authors. All rights reserved.

关键词： Calibration

来源：评论

学校读者我要写书评

暂无评论

Practical adaptive time-varying output formation tracking for high-order nonlinear multi-agent systems using neural networks

Practical adaptive time-varying output formation tracking fo...

引用

第三十八届中国控制会议

作者： Jianglong Yu Xiwang Dong Qingdong Li Zhang Ren Ming Ma School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Shananxi Key Laboratory of Integrated and Intelligent Navigation Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Xi'an Research Institute of Navigation Technology

Practical adaptive time-varying output formation tracking problems for high-order nonlinear strict-feedback multiagent systems are investigated in this paper. The time-varying output formation tracking requires the followers' output vectors to track the output vector of the leader while achieving a time-varying formation. The dynamics of the leader and the followers can have uncertain mismatched nonlinearities while the leader's control input is also unknown. To deal with the mismatched nonlinearities, the backstepping techniques are utilized to construct the protocols. Firstly, visual controllers are designed to overcome the effects of the uncertainties while guaranteeing the stability of each layer. The complicated visual controllers are estimated by the neural networks. A full adaptive protocol is constructed with adaptive gains to avoid using the global information of the interaction topology. Then, an algorithm is presented to design the protocol, whose parameters are much less. Besides, the stability of the algorithm is proved by Lyapunov theories. Finally, simulation results are presented to prove the effectiveness.

关键词： Practical time-varying formation tracking Adaptive control High-order nonlinear dynamics Multi-agent systems Neural networks

来源：评论

学校读者我要写书评

暂无评论

Deep learning for image and point cloud fusion in autonomous driving: A review

arXiv

引用

arXiv 2020年

作者： Cui, Yaodong Chen, Ren Chu, Wenbo Chen, Long Tian, Daxin Li, Ying Cao, Dongpu The Waterloo CogDrive Lab Department of Mechanical and Mechatronics Engineering University of Waterloo 200 University Ave West WaterlooONN2L3G1 Canada Research Institute Co. Ltd. Beijing100176 China School of Data and Computer Science Sun Yat-sen University Zhuhai519082 China Waytous Inc. Qingdao266109 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing100191 China

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are equipped with a suite of different sensors to ensure robust, accurate environmental perception. In particular, the camera-LiDAR fusion is becoming an emerging research theme. However, so far there has been no critical review that focuses on deep-learning-based camera-LiDAR fusion methods. To bridge this gap and motivate future research, this paper devotes to review recent deep-learning-based data fusion approaches that leverage both image and point cloud. This review gives a brief overview of deep learning on image and point cloud data processing. Followed by in-depth reviews of camera-LiDAR fusion methods in depth completion, object detection, semantic segmentation, tracking and online cross-sensor calibration, which are organized based on their respective fusion levels. Furthermore, we compare these methods on publicly available datasets. Finally, we identified gaps and over-looked challenges between current academic researches and real-world applications. Based on these observations, we provide our insights and point out promising research directions. Copyright © 2020, The Authors. All rights reserved.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

Innovative Approach in AGILE Policies Validation

引用

IFAC-PapersOnLine 2018年第6期51卷 301-305页

作者： Kawala-Janik, Aleksandra Zolubak, Magda Podpora, Michal Pelc, Mariusz Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology ul.Proszkowska 76 bud. 1 Opole45-758 Poland Faculty of Architecture Computing and Humanities University of Greenwich Old Royal Naval College Park Row LondonSE10 9LS United Kingdom

In this paper an innovative approach in providing formalised method of analysis AGILE policies was in short presented. For the purpose of such policies validation the Definition Language was undertaken. The proposed method plays a significant role while using AGILE policies in certain applications such as inter alia control systems or safety critical systems. The method proposed in this paper can be successfully applied for the purpose of AGILE policies validation. One version of a policy used for managing an Air Cooling system will be as an example discussed. © 2018

关键词： Agile manufacturing systems Application programs Automation Computer aided software engineering Computer applications control engineering Safety engineering Air cooling system Innovative approaches Method of analysis Safety critical systems Software performance

来源：评论

学校读者我要写书评

暂无评论

Petri Net control Method for Pipe-line Systems and Its Implementation via CIF3 ⁎

引用

IFAC-PapersOnLine 2019年第24期52卷 261-266页

作者： YuHao Fu JiLiang Luo Huifeng Wu Jianhong Ye Yi-sheng Huang College Information Science and Engineering Huaqiao University Xiamen 361021 China College Information Science and Engineering Huaqiao University Xiamen 361021 China and also with Fujian Engineering Research Center of Motor Control and System Optimal Schedule Xiamen 361021 China Institute of Intelligent and Software Technology Hangzhou Dianzi University Hangzhou 310018 China Computer Science and Technology Huaqiao University Xiamen 361021 China and also with Fujian Provincial Key Laboratory of Data Intensive Computing Quanzhou 362000 China Department of Electrical Engineering National Ilan University Taiwan

As for a pipe-line system subjected to complex operations, an approach is proposed to synthesize the controller via Petri nets (PNs) such that the plant is run as concurrently as possible and the loads of equipments are balanced. A P-timed and labeled PN is designed to model the whole process of a pipe-line system, where tasks, including transporting material from one tank to another and cleaning tank, are represented by operational places, and level sensors amounted in tanks are represented by labels assigned to transitions. Further, monitor places are designed to resolve the conflict relations among tasks due to the shared valves and pipes. An method is presented to translate an PN controller into a CIF3 (Compositional Interchange Format) model, which can be converted into a PLC program in the CIF3 tool. A beer filtration plant is taken as an example to illustrate the approach, and its simulation experiments are carried out to verify the theoretic results.

关键词： Chemical plant Valve control Petri net CIF3

来源：评论

学校读者我要写书评

暂无评论

Robust Small Target Detection under Intense Noise Based on Extreme Learning Machine 2

Robust Small Target Detection under Intense Noise Based on E...

引用

2nd IEEE Advanced Information Management, Communicates, Electronic and Automation control Conference, IMCEC 2018

作者： Liu, Depeng Li, Zhengzhou Che, Peng Chen, Cheng Cao, Lei Chongqing University College of Communication Engineering Chongqing China Key Laboratory of Dependable Service Computing in Cyber Physical Society Ministry of Education Chongqing University Chongqing China Chinese Academy of Sciences Key Laboratory of Beam Control Chengdu China

ISBN: (纸本)9781538618035

T211 robust detection of dim small targets is the key problem in infrared search and track systems. However, the intense noise in infrared image has similar appearance and intensity distribution with the dim small target. This may lead to terrible probabilities of detection and serious false alarm rates for traditional small target detection methods. To cope with the disturbance of intense noise, a novel small target detection method based on the cascade sparse histogram feature and extreme learning machine is proposed in this paper. Firstly, top-hat transformation based pre-processing is applied on the infrared image to eliminate most of the background clutter. The top-hat based pre-processing can reduce the computation burden for the subsequent extreme learning machine based classification phase, however, some intense noise might still remain in the pre-processed image. Then, a novel descriptive feature namely the cascade sparse histogram is proposed to describe the characteristics of the target and the noise. Finally, the feature vectors of target and noise are discriminated by the extreme learning machine so the target could be detected. Extensive experiments show that the proposed method not only has outstanding small target detection performance under different backgrounds but also works more stably against intense noise compared with conventional baseline methods. © 2018 IEEE.

关键词： Chemical detection

来源：评论

学校读者我要写书评

暂无评论

swMD: Performance Optimizations for Molecular Dynamics Simulation on Sunway Taihulight

swMD: Performance Optimizations for Molecular Dynamics Simul...

引用

IEEE International Conference on Big Data and Cloud computing (BdCloud)

作者： Kun Li Shigang Li Bei Wang Yifeng Chen Yunquan Zhang State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing Department of Computer Science ETH Zurich HCST Key Lab at School of EECS Peking University Beijing

ISBN: (数字)9781728143286

ISBN: (纸本)9781728143293

Molecular dynamics is an extensively utilized computational tool for solids, liquids and molecules simulation. Currently, much research on molecular dynamics simulation focuses on simplifying forces or parallelizing tasks to reduce the overheads of forces computation. However, the molecular dynamics simulation still remains challenging since the communication and neighbor list construction are time-consuming in the existing algorithm. In this paper, we propose a swMD optimization strategy including a new communication mode called ghost communication to reduce superfluous communication overheads and an innovative neighbor list algorithm to improve the construction efficiency of it. Moreover, we accelerate computation by utilizing many-core resources on Sunway Taihulight and present an auto-tuning Producer-Consumer pairing algorithm to make neighbor list construction happen in fast register communication. Compared to traditional methods, swMD optimization strategy obtains a maximal 82.2% and an average of 79.4% performance improvement. We also evaluate the scalability up to 266,240 cores and the results demonstrate the high efficiency of swMD optimization strategy on communication, computation and neighbor list construction respectively.

关键词： Heuristic algorithms Computer architecture Computational modeling Microprocessors Program processors Registers Surface treatment

来源：评论

学校读者我要写书评

暂无评论

Design and Implementation of RFID based Smart Shopping Booth

Design and Implementation of RFID based Smart Shopping Booth

引用

International Conference on Information Science and control engineering (ICISCE)

作者： Ehtisham Lodhi Fenghua Zhu Zeeshan Lodhi Qasim Saleem Gang Xiong FeiYue Wang The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering COMSATS University Islamabad Pakistan School of Automation Science and Electrical Engineering Beihang University Beijing China The Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728157122

ISBN: (纸本)9781728157139

In this modern era, technology has advanced to such an extent to make our daily life more proficient and convenient. This paper presents the design and implementation of vending machine (VM) for students, which operates on radio frequency identification technology (RFID). Hence, it turns the VM into smart shopping booth (SSB). The SSB gives the access only through RFID card and vend different products according to the desire of student. The SSB is equipped with RFID reader and student identity card that holds the RFID tag. When the student identity card is scanned for verification and then after selecting the required products, will be dispensed off if a student has available balance in his/her identity card and SMS will be sent to students about remaining balance in their cards by GSM technology. The programming for controller is done by using proton IDE language. The SSB is the customized idea of vending machine and it attempts to resolve various issues that appeared in coin/note based VM. The student identity card RFID based technology is a breakthrough towards a paperless and cashless environment. Moreover, it is very beneficial in saving the precious time of students due to fast paced life and also user friendly. RFID based SSB also improved the communication and sensing capabilities of VM. Hence, our suggested approach outperforms in all aspects.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic Systems

引用

IFAC-PapersOnLine 2017年第1期50卷 5914-5919页

作者： Arbanas B. Boljuncic S. Petrovic T. Bogdan S. University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： decentralized systems distributed artificial intelligence Hierarchical decision making scheduling algorithms

来源：评论

学校读者我要写书评

暂无评论

LPI-Based OFDM Radar Waveform Design in a Cooperative Radar-Communications System

LPI-Based OFDM Radar Waveform Design in a Cooperative Radar-...

引用

Signal, Information and Data Processing (ICSIDP), IEEE International Conference on

作者： Chenguang Shi Yijie Wang Fei Wang Sana Salous Jianjiang Zhou Science and Technology on Electro-Optic Control Laboratory Luoyang China Key Laboratory of Radar Imaging and Microwave Photonics (Nanjing Univ. Aeronaut. Astronaut.) Ministry of Education Nanjing China School of Engineering and Computing Sciences Durham University Durham U.K.

ISBN: (数字)9781728123455

ISBN: (纸本)9781728123462

This paper investigates the problem of low probability of intercept (LPI)-based orthogonal frequency division multiplexing (OFDM) radar waveform design in a cooperative radar-communications system, where the communications base station (CBS) is able to receive and process the radar transmissions. The primary objective of the proposed strategy is to minimize the radar transmitted power while guaranteeing a specified target time delay estimation accuracy. The expression for Cramér-Rao lower bound (CRLB) is analytically derived and utilized as a performance metric for target time delay estimation performance. Numerical simulation results are provided to demonstrate that the total transmitted power of radar system can be considerably decreased for the cooperative scenario.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：