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7th International Conference on Automation, control and Robots, ICACR 2023

作者： Nagamatsu, Hiroki Matsushima, Kousuke Kurume College National Institute of Technology Advanced Engineering Course Fukuoka Japan Kurume College National Institute of Technology Department of Control and Information Systems Engineering Fukuoka Japan

ISBN: (纸本)9798350302882

In this paper, we propose a classification method for road damage images considering mobile devices. In the general deep learning approach, it is difficult to find unknown classes. Therefore, we address the problem of Novel Class Discovery (NCD). In addition, mobile devices have limited resources. Thus, we need to reduce the number of parameters in the neural network. To solve these problems, We propose to use lightweight vision transformers (ViTs) for the encoder part of UNified Objective Function (UNO), an unsupervised learning method. Furthermore, we show the effectiveness of ViT by comparing our method to convolutional neural networks (CNNs) with a similar number of parameters. © 2023 IEEE.

关键词： Damage detection

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Angle-Aware Full 3D Coverage control with ADMM-Based Dynamic Assignment of Charging Stations

Angle-Aware Full 3D Coverage Control with ADMM-Based Dynamic...

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SICE Annual Conference

作者： Zhiyuan Lu Muhammad Hanif Takeshi Hatanaka Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9784907764838

ISBN: (纸本)9798331544461

This paper presents a coverage control algorithm specialized to image sampling for 3D model reconstruction of environment using a drone network. It is widely known that the sampling the environment from rich viewing angles enhances the 3D model quality. To this end, the authors presented so-called angle-aware coverage control based on the concept of constraint-based control, which enables drones to determine its translational motion and camera rotation so that a performance constraint is enforced. In this paper, we combine this control methodology with the battery charging constraint in order to ensure mission persistency. Now, dynamically assigning charging stations to drones is expected to enhance the coverage performance. We thus design a distributed assignment algorithm of the stations based on so-called alternating direction method of multipliers (ADMM). The algorithm is then integrated with the above constraint-based controller, and the integrated system is demonstrated through simulation in Robot Operating System 2.

关键词： Solid modeling Three-dimensional displays Heuristic algorithms Operating systems Charging stations Image sampling Iron Optimization Image reconstruction Drones

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CFDNet: A Generalizable Foggy Stereo Matching network with Contrastive Feature Distillation

arXiv

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arXiv 2024年

作者： Liu, Zihua Li, Yizhou Okutomi, Masatoshi The Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan

Stereo matching under foggy scenes remains a challenging task since the scattering effect degrades the visibility and results in less distinctive features for dense correspondence matching. While some previous learning-based methods integrated a physical scattering function for simultaneous stereo-matching and dehazing, simply removing fog might not aid depth estimation because the fog itself can provide crucial depth cues. In this work, we introduce a framework based on contrastive feature distillation (CFD). This strategy combines feature distillation from merged clean-fog features with contrastive learning, ensuring balanced dependence on fog depth hints and clean matching features. This framework helps to enhance model generalization across both clean and foggy environments. Comprehensive experiments on synthetic and real-world datasets affirm the superior strength and adaptability of our method. © 2024, CC0.

关键词： Distillation

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Real-Time Adaptation of Drone Altitude and Object Detection Model for Moving Target Tracking

Real-Time Adaptation of Drone Altitude and Object Detection ...

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SICE Annual Conference

作者： Muhammad Hanif Takeshi Hatanaka Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9784907764838

ISBN: (纸本)9798331544461

This paper addresses the scenario of tracking a moving target by drones. By employing a so-called persistent coverage control strategy, drones efficiently search and monitor the target in the field. Expanding upon previous work utilizing the concept of constraint-based control to keep the target within the field of view of the drone, this research extends the approach by dynamically adjusting drone's altitude and adapting the object detection model based on the moving target's velocity. Experimental validation demonstrates the superior efficacy of the proposed algorithm in tracking a moving target compared to its predecessor, highlighting its potential for enhanced performance in dynamic target tracking scenarios.

关键词： Adaptation models Target tracking Heuristic algorithms Object detection Real-time systems Iron Monitoring Drones

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Robot Zoo Aqua: Aquatic control Testbed of Multiple USVs on Robot Operating System 2

Robot Zoo Aqua: Aquatic Control Testbed of Multiple USVs on ...

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SICE Annual Conference

作者： Yo Toyomoto Toshiyuki Oshima Takeshi Hatanaka Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9784907764838

ISBN: (纸本)9798331544461

This paper develops an aquatic environment testbed with multiple unmanned surface vehicles (USVs) based on Robot Operating System 2 (ROS 2). Despite the high need for multi-USVs operation, a limited number of testbeds have been reported in the literature. Since commercial USVs do not provide an open software development kit, we build three original USVs, named Karugamot, with two controllable thrusters attached to both sides of the body. The onboard microcomputer is connected to the main PC through WiFi. We also deploy an optical motion capture system to track the USVs. The present testbed coordinates the onboard microcomputer, sensing module, and control module on ROS 2. We finally show demonstrations of the Line-of-sight guidance control and circular formation control on the developed testbed.

关键词： Tracking Operating systems Robot kinematics Microcomputers Robot sensing systems Formation control Optical sensors Wireless fidelity Testing Software development management

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Evaluation of the log-homotopy particle flow filter for localisation 20

Evaluation of the log-homotopy particle flow filter for loca...

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20th IEEE Jubilee World Symposium on Applied Machine Intelligence and Informatics, SAMI 2022

作者： Csuzdi, Domonkos Toro, Oliver Aradi, Szilard Budapest University of Technology and Economics Department of Control Engineering and Information Technology Budapest Hungary Budapest University of Technology and Economics Department of Control for Transportation and Vehicle Systems Budapest Hungary

ISBN: (纸本)9781665497046

Nonlinear state estimation related to systems with high dimensional state spaces is a difficult problem that has theoretical and practical relevance. The performance of the Kalman filter is consistent in any dimension, however the same does not hold for the particle filters, due to the curse of dimensionality and particle degeneracy. The log-homotopy based particle flow filter, introduced in recent years is a promising approach to hard state estimation problems. This paper examines the applicability of the Daum-Huang particle flow filter in a challenging multi-target tracking scenario involving a nonlinear measurement model and compares it with conventional estimation methods. © 2022 IEEE.

关键词： Target tracking Atmospheric measurements Particle measurements Particle filters Mathematical models Proposals Kalman filters

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Automatic Generation of Examinations in the Automatic control Courses: Decision Support Matlab/L A TEX Toolkit for Stepwise Constructive Alignment ⁎

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IFAC-PapersOnLine 2024年第16期58卷 47-52页

作者： Alexander Stotsky Torsten Wik Division of Systems & Control Department of Electrical Engineering Chalmers University of Technology SE-412 96 Gothenburg Sweden

Final written examination is the most important part of summative assessment in automatic control courses. Preparation of the examinations with a given number of points according to the concept of Constructive Alignment (which could be the main concept in future automatic control education) takes significant amount of time of the educator and motivates development of a toolkit for automatic compilation of examination problems. A decision support Matlab/L A TEX toolkit based on random number generators for selection of examination problems is proposed in this paper to facilitate the alignment. The toolkit allows application of Stepwise Constructive Alignment (a new method proposed in this paper), where the alignment is achieved by a number of software runs associated with random trials. In each step the educator manually selects suitable problems before each run based on evaluation of the random choice from the previous run. Automatic generation of the examination together with solutions for the course ‘Process control and measurement techniques’ is presented as an example.

关键词： Constructive Alignment in Automatic control Education Computer Aided Development of Educational Materials Automatic Generation of Examinations with Desired Indices of Difficulty Stepwise Constructive Alignment Decision Support Matlab/L A T E X Toolkit

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Simultaneous multi-material embedded printing for 3D heterogeneous structures

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International Journal of Extreme Manufacturing 2023年第3期5卷 485-498页

作者： Ziqi Gao Jun Yin Peng Liu Qi Li Runan Zhang Huayong Yang Hongzhao Zhou State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058People’s Republic of China School of Mechanical Engineering Zhejiang UniversityHangzhou 310058People’s Republic of China Department of Mechanical Engineering Centre for Power Transmission and Motion ControlUniversity of BathBath BA27AYUnited Kingdom

In order to mimic the natural heterogeneity of native tissue and provide a better microenvironment for cell culturing,multi-material bioprinting has become a common solution to construct tissue models in *** the embedded printing method,complex 3D structure can be printed using soft biomaterials with reasonable shape ***,the current sequential multi-material embedded printing method faces a major challenge,which is the inevitable trade-off between the printed structural integrity and printing ***,we propose a simultaneous multi-material embedded printing *** this method,we can easily print firmly attached and high-precision multilayer *** multiple individually controlled nozzles,different biomaterials can be precisely deposited into a single crevasse,minimizing uncontrolled squeezing and guarantees no contamination of embedding medium within the *** analyse the dynamics of the extruded bioink in the embedding medium both analytically and experimentally,and quantitatively evaluate the effects of printing parameters including printing speed and rheology of embedding medium,on the 3D morphology of the printed *** demonstrate the printing of double-layer thin-walled structures,each layer less than 200μm,as well as intestine and liver models with 5%gelatin methacryloyl that are crosslinked and extracted from the embedding medium without significant impairment or *** peeling test further proves that the proposed method offers better structural integrity than conventional sequential printing *** proposed simultaneous multi-material embedded printing method can serve as a powerful tool to support the complex heterogeneous structure fabrication and open unique prospects for personalized medicine.

关键词： embedded printing multi-material printing printability soft materials heterogeneous structures

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Progress and Knowledge Transfer from Science to Technology in the Research Frontier of CRISPR Based on the LDA Model

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Journal of Data and Information Science 2022年第1期7卷 1-19页

作者： Yushuang Lyu Muqi Yin Fangjie Xi Xiaojun Hu Medical Information Center and Department of Neurology of Affiliated Hospital 2Zhejiang University School of MedicineHangzhou 310058China Institute of Cyber-Systems and Control Zhejiang University School of Control Science and EngineeringHangzhou 310007China

Purpose:This study explores the underlying research topics regarding CRISPR based on the LDA model and figures out trends in knowledge transfer from science to technology in this area over the latest 10 ***/methodology/approach:We collected publications on CRISPR between 2011 and2020 from the Web of Science,and traced all the patents citing them from ***.15,904 articles and 18,985 patents in total are downloaded and *** LDA model was applied to identify underlying research topics in related *** addition,some indicators were introduced to measure the knowledge transfer from research topics of scientific publications to IPC-4 classes of ***:The emerging research topics on CRISPR were identified and their evolution over time ***,a big picture of knowledge transition from research topics to technological classes of patents was *** found that for all topics on CRISPR,the average first transition year,the ratio of articles cited by patents,the NPR transition rate are respectively 1.08,15.57%,and 1.19,extremely shorter and more intensive than those of general ***,the transition patterns are different among research *** limitations:Our research is limited to publications retrieved from the Web of Science and their citing patents indexed in ***.A limitation inherent with LDA analysis is in the manual interpretation and labeling of"topics".Practical implications:Our study provides good references for policy-makers on allocating scientific resources and regulating financial budgets to face challenges related to the transformative technology of ***/value:The LDA model here is applied to topic identification in the area of transformative researches for the first time,as exemplified on ***,the dataset of all citing patents in this area helps to provide a full picture to detect the knowledge transition between S&T.

关键词： CRISPR LDA model Knowledge transfer Transformative technology

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Electric three-wheel chassis 14

Electric three-wheel chassis

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14th International Conference ELEKTRO, ELEKTRO 2022

作者： Mihalik, Michal Malobicky, Branislav Hrubos, Marian Kanalikova, Alzbeta University of Žilina Faculty of Electrical Engineering and Information Technology Department of Control and Information Systems Žilina Slovakia

ISBN: (纸本)9781665467261

This science work deals with the manufacture and control of a differential mobile chassis for the needs of Simultaneous Localization and Mapping. In the introduction, we present the issue of the SLAM (Simultaneous localization and mapping) algorithm as the way through which we want to implement the production and control of the differential chassis. In the next part, we deal with the implementation of the mobile platform of the future chassis where the configuration of one fixed drive axle was used, with two wheels and one freewheel, which indicates the direction of the chassis. This assembly is managed using the Raspberry Pi platform. © 2022 IEEE.

关键词： Chassis

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