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LiFT: Lightweight, FPGA-Tailored 3D Object Detection Based on LiDAR Data 18th

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LiFT: Lightweight, FPGA-Tailored 3D Object Detection Based o...

18th International Workshop on Design and Architecture for Signal and Image Processing, DASIP 2025

作者： Lis, Konrad Kryjak, Tomasz Gorgoń, Marek Embedded Vision Systems Group Department of Automatic Control and Robotics AGH University of Krakow Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783031878961

This paper presents LiFT, a lightweight, fully quantized 3D object detection algorithm for LiDAR data, optimized for real-time inference on FPGA platforms. Through an in-depth analysis of FPGA-specific limitations, we identify a set of FPGA-induced constraints that shape the algorithm’s design. These include a computational complexity limit of 30 GMACs (billion multiply-accumulate operations), INT8 quantization for weights and activations, 2D cell-based processing instead of 3D voxels, and minimal use of skip connections. To meet these constraints while maximizing performance, LiFT combines novel mechanisms with state-of-the-art techniques such as reparameterizable convolutions and fully sparse architecture. Key innovations include the Dual-bound Pillar Feature Net, which boosts performance without increasing complexity, and an efficient scheme for INT8 quantization of input features. With a computational cost of just 20.73 GMACs, LiFT stands out as one of the few algorithms targeting minimal-complexity 3D object detection. Among comparable methods, LiFT ranks first, achieving an mAP of 51.84% and an NDS of 61.01% on the challenging NuScenes validation dataset. The code will be available at https://***/vision-agh/lift. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： 3d object detection FPGA LiDAR NuScenes quantisation

Diabetic Foot Ulcer Unsupervised Segmentation with Vision Transformers Attention 4th

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Diabetic Foot Ulcer Unsupervised Segmentation with Vision T...

4th Diabetic Foot Ulcers Grand Challenge, DFUC 2024 held in Conjunction 27th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2024

作者： Brodzicki, Andrzej Kucharski, Dariusz Moniak, Bartlomiej Kostuch, Aleksander Noworolnik, Filip Anna, W. Jaworek-Korjakowska, Joanna Department of Automatic Control and Robotics AGH University of Kraków Kraków Poland Center of Excellence in Artificial Intelligence AGH University of Kraków Kraków Poland

ISBN: (纸本)9783031808708

The Diabetic Foot Ulcer Challenge is a global computer vision competition organised to raise awareness of the complications caused by diabetes and motivate researchers to develop solutions that might help in the treatment. In 2024, the challenge focused on self-supervised learning methods and synthetic data, as the process of collecting and labelling medical data is a tedious one. In this research, we present a novel, two-stage method for self-supervised DFU segmentation. It is based on a Vision Transformer attention from classification pre-task, followed by U-Net weakly supervised segmentation refinement. Our solution took 3rd place on the challenge leaderboard, with a 0.4796 Dice Score on the test set. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Distribution transformers

Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

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Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第2期73卷

作者： Mrotek, Mikolaj Michalski, Jacek Madonski, Rafal Pazderski, Dariusz Retinger, Marek Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed. © 2025 The Author(s).

关键词： Disturbance rejection

Real-Time Multi-Object Tracking using YOLOv8 and SORT on a SoC FPGA

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arXiv 2025年

作者： Danilowicz, Michal Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow Poland

关键词： System-on-chip

LiFT: Lightweight, FPGA-tailored 3D object detection based on LiDAR data

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arXiv 2025年

作者： Lis, Konrad Kryjak, Tomasz Gorgoń, Marek Embedded Vision Systems Group Department of Automatic Control and Robotics AGH University of Krakow Al. Mickiewicza 30 Krakow30-059 Poland

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Design and comparison of PI and boundary-based predictive controller for control of aeration in activated sludge bioreactor – Simulation and laboratory research

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Journal of Process control 2025年 151卷

作者： Ujazdowski, Tomasz Piotrowski, Robert Nocoń, Witold Stebel, Krzysztof Pośpiech, Jakub Faculty of Electrical and Control Engineering Gdańsk University of Technology G. Narutowicza 11/12 Gdańsk80-233 Poland Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland

In this paper, a classical PI and an on/off predictive boundary-based predictive controller (BBPC) algorithms are compared and verified using an ASM3-based model of an activated sludge system with a reactor and secondary settler. A laboratory-scale activated sludge setup is modelled in MATLAB/Simulink and verified using experimental data. BBPC and PI algorithms are compared in two scenarios of batch and continuous operation of the activated sludge process. To accommodate the on/off nature of the actuator, a pulse-width modulation (PWM) module is added to the PI controller, but a modification in the computation of control error is still needed for the PI to control the process properly. The BBPC, on the other hand, while its implementation is complex, proves to be superior in its ability to limit the control costs, the number of switching of the actuator and most importantly, in its ability to instantaneously compensate for the changes in process load. © 2025 Elsevier Ltd

关键词： Predictive control systems

Vision-based automatic fruit counting with UAV

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arXiv 2025年

作者： Szolc, Hubert Wasala, Mateusz Mietla, Remigiusz Iwicki, Kacper Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow al. Mickiewicza 30 Krakow30–059 Poland

The use of unmanned aerial vehicles (UAVs) for smart agriculture is becoming increasingly popular. This is evidenced by recent scientific works, as well as the various competitions organised on this topic. Therefore, in this work we present a system for automatic fruit counting using UAVs. To detect them, our solution uses a vision algorithm that processes streams from an RGB camera and a depth sensor using classical image operations. Our system also allows the planning and execution of flight trajectories, taking into account the minimisation of flight time and distance covered. We tested the proposed solution in simulation and obtained an average score of 87.27/100 points from a total of 500 missions. We also submitted it to the UAV Competition organised as part of the ICUAS 2024 conference, where we achieved an average score of 84.83/100 points, placing 6th in a field of 23 teams and advancing to the finals. © 2025, CC BY.

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Enhancing Thin-Film Wafer Inspection With A Multi-Sensor Array And Robot Constraint Maintenance

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arXiv 2025年

作者： Sánchez-Arriaga, Néstor Eduardo Canzini, Ethan Espley-Plumb, Nathan John Farnsworth, Michael Pope, Simon Leyland, Adrian Tiwari, Ashutosh Department of Automatic Control & Systems Engineering University of Sheffield Sheffield United Kingdom Department of Materials Science & Engineering University of Sheffield Sheffield United Kingdom Airbus Robotics Airbus UK Chester United Kingdom

Thin-film inspection on large-area substrates in coating manufacture remains a critical parameter to ensure product quality;however, extending the inspection process precisely over a large area presents major challenges, due to the limitations of the available inspection equipment. An additional manipulation problem arises when automating the inspection process, as the silicon wafer requires movement constraints to ensure accurate measurements and to prevent damage. Furthermore, there are other increasingly important large-area industrial applications, such as Roll-to-Roll (R2R) manufacturing where coating thickness inspection introduces additional challenges. This paper presents an autonomous inspection system using a robotic manipulator with a novel learned constraint manifold to control a wafer to its calibration point, and a novel multi-sensor array with high potential for scalability into large substrate areas. We demonstrate that the manipulator can perform required motions whilst adhering to movement constraints. We further demonstrate that the sensor array can perform thickness measurements statically with an error of 0.5◦ from the calibration point whilst monitoring the RMSE and R2 over 1406 data points. These features are potentially useful for detecting displacement variations in R2R manufacturing processes. © 2025, CC BY-NC-ND.

关键词： Silicon wafers

Adaptive barrier function terminal sliding mode control for nonlinear systems subject to uncertain bounded perturbations

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Ain Shams Engineering Journal 2025年第7期16卷

作者： Wang, ZiKai Hsia, Kuo-Hsien Mobayen, Saleh Mofid, Omid Skruch, Pawel China Bachelor Program in Intelligent Robotics National Yunlin University of Science and Technology Douliou640301 Taiwan of Intelligent Data Science National Yunlin University of Science and Technology 123 University Road Section 3 Yunlin Douliou640301 Taiwan Computer Science Department University of Tulsa OK India Department of Automatic Control and Robotics AGH University of Krakow Poland

This research proposes a tracking control strategy for perturbed and uncertain nonlinear systems by incorporating an adaptive barrier function within a terminal sliding mode control framework. The proposed approach leverages terminal sliding mode control, integrated with the global convergence principle, to ensure global finite-time tracking performance. Additionally, the adaptive barrier function mechanism is employed to effectively mitigate the impact of system perturbations and uncertainties, enhancing overall robustness and stability in nonlinear system control. The key findings and advantages of the proposed method are summarized as: (1) The use of terminal sliding mode control enhances the system's robustness;(2) Since the controller derivative is continuous except for a discontinuous sign function, integrating the barrier function-based control signal effectively minimizes chattering;(3) By incorporating an adaptive barrier-tuning function, the method ensures robustness against system uncertainties, disturbances, and nonlinearities while mitigating the chattering effect;(4) The proposed method improves tracking accuracy and reduces chattering caused by switching laws;(5) This novel approach holds significant potential for real-world applications, particularly in tracking control scenarios involving input saturations and time delays in uncertain nonlinear systems. Additionally, the proposed approach is highly adaptable for practical applications as it employs two adaptation rules to handle uncertainties and disturbances with unknown upper bounds under specific conditions. Numerical simulation and experimental validation on a rotary inverted pendulum system demonstrate the effectiveness and feasibility of the proposed control scheme for the trajectory tracking control of the real nonlinear system, which confirms the compatibility of the proposed method in real applications. © 2025 The Author(s)

关键词： control nonlinearities