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arXiv 2024年

作者： Yang, Haodong Xu, Jisheng Lin, Zhiliang He, Jianping The Department of Computer Science Shanghai Jiao Tong University China The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The School of Ocean and Civil Engineering Shanghai Jiao Tong University State Key Laboratory of Ocean Engineering Shanghai200240 China

computer vision techniques have empowered underwater robots to effectively undertake a multitude of tasks, including object tracking and path planning. However, underwater optical factors like light refraction and absorption present challenges to underwater vision, which cause degradation of underwater images. A variety of underwater image enhancement methods have been proposed to improve the effectiveness of underwater vision perception. Nevertheless, for real-time vision tasks on underwater robots, it is necessary to overcome the challenges associated with algorithmic efficiency and real-time capabilities. In this paper, we introduce Lightweight Underwater Unet (LU2Net), a novel U-shape network designed specifically for real-time enhancement of underwater images. The proposed model incorporates axial depthwise convolution and the channel attention module, enabling it to significantly reduce computational demands and model parameters, thereby improving processing speed. The extensive experiments conducted on the dataset and real-world underwater robots demonstrate the exceptional performance and speed of proposed model. It is capable of providing well-enhanced underwater images at a speed 8 times faster than the current state-of-the-art underwater image enhancement method. Moreover, LU2Net is able to handle real-time underwater video enhancement. Copyright © 2024, The Authors. All rights reserved.

关键词： Motion planning

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Egcnet: Edge-Guided Context Real-Time Semantic Segmentation Network

SSRN

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SSRN 2023年

作者： Yu, Kaili Chen, Zhenxue Ye, Mengting Guo, Yixin Wu, Q.M. Jonathan School of Control Science and Engineering Shandong University Jinan250061 China School of Control Science and Engineering Shandong University Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Department of Electrical and Computer Engineering University of Windsor WindsorONN9B 3P4 Canada

Semantic segmentation is widely needed in many application areas. Driven by the development of deep learning, semantic segmentation methods have made significant progress in accuracy, robustness, and speed. Based on the short-term dense concatenate network, this paper proposes an edge-guided context real-time semantic segmentation network (EGCNet), which further improves the detail branch, extracts edge information from feature maps, and enhances the network’s ability to extract edge information through edge-assisted training. Because the top-level feature map contains minimal detailed information, the network only extracts the boundary of the low-level feature map such that the useful information is utilized as much as possible while reducing the computational load. In addition, we improve the attention-refining module by embedding position information, allowing it to capture the target structure more accurately. EGCNet achieves 71 FPS and 78.6\% mIoU on the Cityscapes dataset at a low computational cost, making it an efficient real-time semantic segmentation network. © 2023, The Authors. All rights reserved.

关键词： Semantic Segmentation

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An Energy Efficient Dynamic Scheduling Algorithm for Reliability Constraints in Distributed Heterogeneous systems

An Energy Efficient Dynamic Scheduling Algorithm for Reliabi...

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IEEE Joint International Information Technology and Artificial Intelligence Conference (ITAIC)

作者： Yifan Liu Chenglie Du Jinchao Chen Xiaoyan Du Wenquan Yu School of Software Northwestern Polytechnical University Xi'an China School of Computer Science Northwestern Poly technical University Xi'an China Department of Land Unmanned System Research and Development North Automatic Control Technology Research Institute Taiyuan China

Scheduling algorithms in distributed heterogeneous systems have been the subject of extensive research. However, with the advancement of technology, addressing real-time, reliability, and energy consumption issues in dynamic environments has become increasingly critical. Existing studies mostly focus on static approaches, which are challenging to achieve scheduling objectives rapidly and adaptively. Therefore, we propose a novel dynamic energy-aware scheduling algorithm for deadlines and reliability constrained applications. Firstly, we introduce a prioritization method for multitasking applications to ensure more applications meet their deadlines. Subsequently, we present specific strategies for task allocation to achieve a better trade-off between energy consumption and reliability. Experimental results on randomly generated applications validate the superiority of our proposed method in terms of performance compared to other algorithms.

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A Blockchain Approach to IoT Security and Reliability Analysis 3

A Blockchain Approach to IoT Security and Reliability Analys...

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3rd International Conference on Intelligent Engineering and Management, ICIEM 2022

作者： Jain, Nilesh Wahid, Nazia Al-Farhani, Liwa H. Manideep, A. Sai Bhardwaj, Vikash Sangeeth Kumar, M. Mandsaur University Department of Computer Applications Madhya Pradesh Mandsaur India Vishwakarma University Faculty of Science & Technology Department of Mathematics & Statistics Maharashtra Pune India RDUN University System Analysis Control and Information Processing Academy of Engineering Moscow Russia Vignan's Foundation for Science Technology and Research Department of Management Studies Andhra Pradesh Guntur India Dewan VS Institute of Engineering & Technology Uttar Pradesh Meerut India Sona College of Technology Mechanical Engineering Department Tamilnadu Salem India

ISBN: (数字)9781665467568

ISBN: (纸本)9781665467568

An investigation area of interest including the use of blockchain technology to address Internet of Things security concerns (IoT). Despite the fact that numerous relevant ideas have been offered, there are few published works that provide hypothetical and information backing. The examination of model building and execution assessment is the focus of this research. First, an IoT security paradigm is outlined, using blockchain and the Inter-Planetary-File-system (IPFS) in a view. Many of the security risks associated with traditional IoT designs can be avoided with this paradigm, and framework execution is entirely focused on distributed large limit stockpiling, simultaneity, and query. In addition, the suggested model's display is evaluated using normal idleness and throughput, which are important for further investigation and enhancement of this course. The blockchain-based security model's feasibility has been demonstrated via analysis and experiments. © 2022 IEEE.

关键词： Blockchain

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Coupling between automatic generation control and automatic voltage regulator while considering generation rate constraint of two areas 2

Coupling between automatic generation control and automatic ...

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2nd International Conference on Advanced Electrical and Energy systems, AEES 2021

作者： Elmukhtar, Omer Zhang, Jianhua Department of computer science and control engineering North China Electric Power University Beijing China State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing China

This paper describes the implementation of automatic generation control (AGC) and automatic voltage regulator (AVR) under generation rate constraint (GRC) and coupling between automatic generation control and automatic voltage regulator while considering generation rate constrain of two areas for improve and better performance characteristic of load frequency control (LFC) problem. our control aim has to normalize the area control error (ACE), frequency error and tie-line power error in spite of the presences of system uncertainties and external load disturbance, So that the required frequency and power interchange with adjacent structures are maintained in order to reduce the transient deviations and to provide zero steady state error in proper short time, the behavior of the planned is checked by MATLAB SIMULINK software. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Voltage regulators

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MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis

arXiv

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arXiv 2024年

作者： Liu, Shuhong Deng, Tianchen Zhou, Heng Li, Liuzhuozheng Wang, Hongyu Wang, Danwei Li, Mingrui Department of Information Science and Technology Department of Complexity Science and Engineering The University of Tokyo Tokyo113-8654 Japan Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Mechanical Engineering Columbia University New York10027 United States School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Computer Science Dalian University of Technology Dalian116024 China

Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments, characterized by substantial holes due to unobserved geometry caused by obstacles or limited view angles. To address this challenge, we present Manhattan Gaussian SLAM, an RGB-D system that leverages the Manhattan World hypothesis to enhance geometric accuracy and completeness. By seamlessly integrating fused line segments derived from structured scenes, our method ensures robust tracking in textureless indoor areas. Moreover, The extracted lines and planar surface assumption allow strategic interpolation of new Gaussians in regions of missing geometry, enabling efficient scene completion. Extensive experiments conducted on both synthetic and real-world scenes demonstrate that these advancements enable our method to achieve state-of-the-art performance, marking a substantial improvement in the capabilities of Gaussian SLAM systems. © 2024, CC BY.

关键词： Gaussian distribution

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Adaptive Estimation for Environmental Monitoring Using an Autonomous Underwater Vehicle

Adaptive Estimation for Environmental Monitoring Using an Au...

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IEEE Conference on Decision and control

作者： Ziwen Yang Joana Fonseca Shanying Zhu Cailian Chen Xinping Guan Karl H. Johansson Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Digital Futures

This paper considers the problem of monitoring and adaptively estimating an environmental field, such as temperature or salinity, using an autonomous underwater vehicle (AUV). The AUV moves in the field and persistently measures environmental scalars and its position in its local coordinate frame. The environmental scalars are approximately linearly distributed over the region of interest, and an adaptive estimator is designed to estimate the gradient. By orthogonal decomposition of the velocity of the AUV, a linear time-varying system is equivalently constructed, and the sufficient conditions on the motion of the AUV are established, under which the global exponential stability of the estimation error system is rigorously proved. Furthermore, an estimate of the exponential convergence rate is given, and a reference trajectory that maximizes the estimate of the convergence rate is obtained for the AUV to track. Numerical examples verify the stability and efficiency of the system.

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Joint Transmission for Industrial 5G-TSN Networks: A Deep Graph Clustering Approach

Joint Transmission for Industrial 5G-TSN Networks: A Deep Gr...

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IEEE International Conference on Communications in China (ICCC)

作者： Mingyan Li Houling Liu Chao Chen Fuqiang Gu Songtao Guo Xinping Guan College of Computer Science Chongqing University Chongqing P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai P. R. China Department of Automation Shanghai Jiao Tong University Shanghai P. R. China

ISBN: (数字)9798350378412

ISBN: (纸本)9798350378429

The integration of 5G and time-sensitive networking (TSN) is a promising technology to provide ubiquitous connection and deterministic transmission for industrial internet of things (IIoT), However, the seamless flow transmission of 5G-TSN is challenging as it requires joint modeling of frequency multiplexing in 5G and time-access in TSN with the scheduling resolution mis-match of the considered systems. To address this issue, this paper focuses on the integrated enhancement of 5G and TSN by optimizing the flow transmission of age-aware monitoring systems with the protocols of 5G grant-free uplink and TSN cyclic queuing and forwarding (CQF) considered. Then, an age-aware flow clustering scheme, STage, is proposed based on deep graph clustering. STage allows each system transmitting in a grant-free and distributed manner on the resources of a pre-allocated configured-grant (CG), that best suits its spatial realization in terms of 5G device relative location as well as the TSN delivery path. Based on the techniques of graph attentional autoencoder and interference-aware self-clustering, STage can jointly optimize the end-to-end 5G-TSN transmission by reducing the CQF queue overflow in TSN and the co-channel interference in 5G. Simulations show that STage can assist 5G-TSN integrated networks offering superior transmission capabilities under the limited spectrum and queue resources.

关键词： Protocols Job shop scheduling 5G mobile communication Frequency division multiplexing Uplink Interchannel interference Monitoring

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COMPUTATIONAL FLUID-STRUCTURE INTERACTION FRAMEWORK FOR SIMULATING CHARACTERISTIC DEFORMATIONS IN INSECT FLAPPING WINGS 9

COMPUTATIONAL FLUID-STRUCTURE INTERACTION FRAMEWORK FOR SIMU...

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9th International Conference on Computational Methods for Coupled Problems in science and Engineering, COUPLED PROBLEMS 2021

作者： Onishi, Minato Ishihara, Daisuke Department of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka Fukuoka820-8502 Japan Department of Intelligent and Control Systems Kyushu Institute of Technology Kyushu Institute of Technology 680-4 Kawazu Iizuka Fukuoka820-8502 Japan

In this study, a computational fluid-structure interaction (FSI) framework for characteristic deformations in insect's wings is proposed. The proposed framework consists of a pixel wing model using a structured shell finite element mesh, a projection method for the monolithic FSI monolithic equations using an algebraic splitting, and the FSI dynamic similarity law to measure dynamic similarity between model's and actual insect's flights. It is shown that the proposed framework can directly simulate passive feathering and cambering in insect's wings caused by the FSI, whose magnitudes are very close to those of actual insects. © 2021 9th International Conference on Computational Methods for Coupled Problems in science and Engineering, COUPLED PROBLEMS 2021. All rights reserved.

关键词： Fluid structure interaction

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Mesenchymal stem cells loaded on 3D-printed gradient poly(e-caprolactone)/methacrylated alginate composite scaffolds for cartilage tissue engineering

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Regenerative Biomaterials 2021年第3期8卷 70-83页

作者： Yanyan Cao Peng Cheng Shengbo Sang Chuan Xiang Yang An Xiaochun Wei Zhizhong Shen Yixia Zhang Pengcui Li Key Lab of Advanced Transducers and Intelligent Control System of the Ministry of Education MicroNano System Research CenterCollege of Information and ComputerTaiyuan University of TechnologyTaiyuan 030024China College of Information Science and Engineering Hebei North UniversityZhangjiakou 075000China Shanxi Key Laboratory of Bone and Soft Tissue Injury Repair Department of OrthopedicsThe Second Hospital of Shanxi Medical UniversityTaiyuan 030001China Department of Plastic Surgery Peking University Third HospitalBeijing 100191China Department of Biomedical Engineering College of Biomedical EngineeringTaiyuan University of TechnologyTaiyuan 030024China

Cartilage has limited self-repair ability due to its avascular,alymphatic and aneural *** combination of three-dimensional(3D)printing and tissue engineering provides an up-and-coming approach to address this ***,we designed and fabricated a tri-layered(superficial layer(SL),middle layer(ML)and deep layer(DL))stratified scaffold,inspired by the architecture of collagen fibers in native cartilage *** scaffold was composed of 3D printed depth-dependent gradient poly(e-caprolactone)(PCL)impregnated with methacrylated alginate(ALMA),and its morphological analysis and mechanical properties were *** prove the feasibility of the composite scaffolds for cartilage regeneration,the viability,proliferation,collagen deposition and chondrogenic differentiation of embedded rat bone marrow mesenchymal stem cells(BMSCs)in the scaffolds were assessed by Live/dead assay,CCK-8,DNA content,cell morphology,immunofluorescence and real-time reverse transcription polymerase chain ***-loaded gradient PCL/ALMA scaffolds showed excellent cell survival,cell proliferation,cell morphology,collagen II deposition and hopeful chondrogenic differentiation compared with three individual-layer ***,our study demonstrates the potential use of the gradient PCL/ALMA construct for enhanced cartilage tissue engineering.

关键词： three-dimensional printing cartilage tissue engineering PCL methacrylated alginate bone marrow mesenchymal stem cells

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