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Guidance Control for Parallel Parking Tasks

IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 301-306页

作者： Jiyuan Tan Chunling Xu Li Li Fei-Yue Wang Dongpu Cao Lingxi Li Key Laboratory of Urban Intelligent Traffic Control Technology North China University of TechnologyBeijing 100144China Beijing Transport Institute Beijing 100073China Department of Automation BNRistTsinghua UniversityBeijing 100084China Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100080China Driver Cognition and Automated Driving Laboratory University of WaterlooWaterloo N2L 3G1Canada Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndiana 46202-5132 USA

Parking into small berths remains difficult for unskilled drivers. Researchers had proposed different automatic parking systems to solve this problem. The first kind of strategies(called parking trajectory planning) designs a detailed reference trajectory that links the start and ending points of a special parking task and let the vehicle track this reference trajectory so as to park into the berth. The second kind of strategies(called guidance control) just characterizes several regimes of driving actions as well as the important switching points in certain rule style and let the vehicle follows the pre-selected series of actions so as to park into the berth. Parking guidance control is simpler than parking trajectory planning. However, no studies thoroughly validated parking guidance control before. In this paper, a new automatic parking method is presented, which could characterize the desired control actions directly. Then the feasibility is examined carefully. Tests show that a simple parking guidance control strategy can work in most parallel parking tasks, if the available parking berth is not too small. This finding helps to build more concise automatic parking systems that can efficiently guide human drivers.

关键词： Automatic parking guidance control trajectory planning

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A Survey of the Self Supervised Learning Mechanisms for Vision Transformers

arXiv

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arXiv 2024年

作者： Khan, Asifullah Sohail, Anabia Fiaz, Mustansar Hassan, Mehdi Afridi, Tariq Habib Marwat, Sibghat Ullah Munir, Farzeen Ali, Safdar Naseem, Hannan Zaheer, Muhammad Zaigham Ali, Kamran Sultana, Tangina Tanoli, Ziaurrehman Akhter, Naeem Pattern Recognition Lab DCIS PIEAS Nilore Islamabad45650 Pakistan PIEAS Nilore Islamabad45650 Pakistan Deep Learning Lab Center for Mathematical Sciences PIEAS Nilore Islamabad45650 Pakistan Center of Secure Cyber-Physical Security Systems Khalifa University Abu Dhabi United Arab Emirates IBM Research United States Department of Computer Science Air University Islamabad Pakistan Department of Computer Science and Engineering Kyung Hee University Global Campus 1732 Gyeonggi-do Yongin17104 Korea Republic of Department of Electrical Engineering and Automation Aalto University Finland Finnish Center of Artificial Center Finland Faculty of Engineering and Green Technology Universiti Tunku Abdul Rahman Malaysia Computer Vision Department Mohamed Bin Zayed University of Artificial Intelligence United Arab Emirates Karachi Pakistan Department of Electronics and Communication Engineering Hajee Mohammad Danesh Science and Technology University Bangladesh HiLIFE University of Helsinki Finland

Vision Transformers (ViTs) have recently demonstrated remarkable performance in computer vision tasks. However, their parameter-intensive nature and reliance on large amounts of data for effective performance have shifted the focus from traditional human-annotated labels to unsupervised learning and pretraining strategies that uncover hidden structures within the data. In response to this challenge, self-supervised learning (SSL) has emerged as a promising paradigm. SSL leverages inherent relationships within the data itself as a form of supervision, eliminating the need for manual labeling and offering a more scalable and resource-efficient alternative for model training. Given these advantages, it is imperative to explore the integration of SSL techniques with ViTs, particularly in scenarios with limited labeled data. Inspired by this evolving trend, this survey aims to systematically review SSL mechanisms tailored for ViTs. We propose a comprehensive taxonomy to classify SSL techniques based on their representations and pre-training tasks. Additionally, we discuss the motivations behind SSL, review prominent pre-training tasks, and highlight advancements and challenges in this field. Furthermore, we conduct a comparative analysis of various SSL methods designed for ViTs, evaluating their strengths, limitations, and applicability to different scenarios. Copyright © 2024, The Authors. All rights reserved.

关键词： Self-supervised learning

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Exploring Contextual Representation and Multi-Modality for End-to-End Autonomous Driving

arXiv

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arXiv 2022年

作者： Azam, Shoaib Munir, Farzeen Kyrki, Ville Jeon, Moongu Pedrycz, Witold Department of Electrical Engineering and Automation Aalto University Espoo Finland Finnish Center for Artificial Intelligence Finland School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology Gwangju61005 Korea Republic of Department of Electrical and Computer Engineering University of Alberta EdmontonABT6R 2V4 Canada Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia Systems Research Institute Polish Academy of Sciences Warsaw01-447 Poland

Learning contextual and spatial environmental representations enhances autonomous vehicle’s hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often lack full environmental context. Humans, when driving, naturally employ neural maps that integrate various factors such as historical data, situational subtleties, and behavioral predictions of other road users to form a rich contextual understanding of their surroundings. This neural map-based comprehension is integral to making informed decisions on the road. In contrast, even with their significant advancements, autonomous systems have yet to fully harness this depth of human-like contextual understanding. Motivated by this, our work draws inspiration from human driving patterns and seeks to formalize the sensor fusion approach within an end-to-end autonomous driving framework. We introduce a framework that integrates three cameras (left, right, and center) to emulate the human field of view, coupled with top-down bird-eye-view semantic data to enhance contextual representation. The sensor data is fused and encoded using a self-attention mechanism, leading to an auto-regressive waypoint prediction module. We treat feature representation as a sequential problem, employing a vision transformer to distill the contextual interplay between sensor modalities. The efficacy of the proposed method is experimentally evaluated in both open and closed-loop settings. Our method achieves displacement error by 0.67m in open-loop settings, surpassing current methods by 6.9% on the nuScenes dataset. In closed-loop evaluations on CARLA’s Town05 Long and Longest6 benchmarks, the proposed method enhances driving performance, route completion, and reduces infractions. © 2022, CC BY.

关键词： Autonomous vehicles

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Event-triggered Observability: A Set-membership Perspective

arXiv

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arXiv 2022年

作者： Zheng, Kaikai Shi, Dawei Chen, Tongwen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada

This work attempts to discuss the observability of linear time-invariant systems with event-triggered measurements. A new notion of observability, namely, ǫ-observability is defined with parameter ǫ, which relates to the worst-case performance of inferring the initial state based on not only the received measurement but also the implicit information in the event-triggering conditions at no-event instants. A criterion is developed to test the proposed ǫ-observability of discrete-time linear systems, based on which an iterative event-triggered set-membership observer is designed to evaluate a set containing all possible values of the state. The proposed set-membership observer is designed as the outer approximation of the ellipsoids predicted based on previous state estimates and the ellipsoids inferred by fusing the received measurement and communication conditions, which is optimal in the sense of trace at each step and is proved to be asymptotically bounded. The efficiency of the proposed event-triggered set-membership state observer is verified by numerical experiments. © 2022, CC BY.

关键词： State estimation

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Constrained Optimization with Decision-Dependent Distributions

arXiv

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arXiv 2023年

作者： Wang, Zifan Liu, Changxin Parisini, Thomas Zavlanos, Michael M. Johansson, Karl H. Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The Department of Engineering and Architecture University of Trieste Trieste34127 Italy The KIOS Research and Innovation Center of Excellence University of Cyprus NicosiaCY-1678 Cyprus The Department of Mechanical Engineering and Materials Science Duke University DurhamNC United States

In this paper we deal with stochastic optimization problems where the data distributions change in response to the decision variables. Traditionally, the study of optimization problems with decision-dependent distributions has assumed either the absence of constraints or fixed constraints. This work considers a more general setting where the constraints can also dynamically adjust in response to changes in the decision variables. Specifically, we consider linear constraints and analyze the effect of decision-dependent distributions in both the objective function and constraints. Firstly, we establish a sufficient condition for the existence of a constrained equilibrium point, at which the distributions remain invariant under retraining. Morevoer, we propose and analyze two algorithms: repeated constrained optimization and repeated dual ascent. For each algorithm, we provide sufficient conditions for convergence to the constrained equilibrium point. Furthermore, we explore the relationship between the equilibrium point and the optimal point for the constrained decision-dependent optimization problem. Notably, our results encompass previous findings as special cases when the constraints remain fixed. To show the effectiveness of our theoretical analysis, we provide numerical experiments on both a market problem and a dynamic pricing problem for parking based on real-world data. Copyright © 2023, The Authors. All rights reserved.

关键词： Constrained optimization

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Wireless-Friendly Window Position Optimization for RIS-Aided Outdoor-to-Indoor Networks based on Multi-Modal Large Language Model

arXiv

引用

arXiv 2024年

作者： Hou, Jinbo Qiu, Kehai Zhang, Zitian Yu, Yong Wang, Kezhi Capolongo, Stefano Zhang, Jiliang Li, Zeyang Zhang, Jie The Department of Electronic and Electrical Engineering the University of Sheffield Sheffield United Kingdom The Department of Computer Science and Technology University of Cambridge CambridgeCB3 0FD United Kingdom Brunel University London United Kingdom The School of Information and Electronic Engineering Zhejiang Gongshang University Hangzhou China The Design & Health Lab Department of Architecture Built Environment and Construction Engineering Politecnico di Milano Italy The Department of Computer Science Brunel University London Middlesex UxbridgeUB8 3PH United Kingdom The State Key Laboratory of Synthetical Automation for Process Industries The College of Information Science and Engineering Northeastern University Shenyang China The Centre for Wireless Innovation Queen’s University of Belfast BelfastBT3 9DT United Kingdom

This paper aims to simultaneously optimize indoor wireless and daylight performance by adjusting the positions of windows and the beam directions of window-deployed reconfigurable intelligent surfaces (RISs) for RIS-aided outdoor-to-indoor (O2I) networks utilizing large language models (LLM) as optimizers. Firstly, we illustrate the wireless and daylight system models of RIS-aided O2I networks and formulate a joint optimization problem to enhance both wireless traffic sum rate and daylight illumination performance. Then, we present a multi-modal LLM-based window optimization (LMWO) framework, accompanied by a prompt construction template to optimize the overall performance in a zero-shot fashion, functioning as both an architect and a wireless network planner. Finally, we analyze the optimization performance of the LMWO framework and the impact of the number of windows, room size, number of RIS units, and daylight factor. Numerical results demonstrate that our proposed LMWO framework can achieve outstanding optimization performance in terms of initial performance, convergence speed, final outcomes, and time complexity, compared with classic optimization methods. The building’s wireless performance can be significantly enhanced while ensuring indoor daylight performance. Copyright © 2024, The Authors. All rights reserved.

关键词： Daylighting

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A Low-Overhead Incorporation-Extrapolation based Few-Shot CSI Feedback Framework for Massive MIMO systems

arXiv

引用

arXiv 2023年

作者： Zhou, Binggui Yang, Xi Wang, Jintao Ma, Shaodan Gao, Feifei Yang, Guanghua The School of Intelligent Systems Science and Engineering Jinan University Zhuhai519070 China The State Key Laboratory of Internet of Things for Smart City The Department of Electrical and Computer Engineering University of Macau 999078 China The School of Communication and Electronic Engineering East China Normal University Shanghai200241 China The National Mobile Communications Research Laboratory Southeast University Nanjing210096 China Department of Automation Tsinghua University Beijing100084 China The School of Intelligent Systems Science and Engineering The Guangdong International Cooperation Base of Science and Technology for GBA Smart Logistics Jinan University Zhuhai519070 China

Accurate channel state information (CSI) is essential for downlink precoding in frequency division duplexing (FDD) massive multiple-input multiple-output (MIMO) systems with orthogonal frequency-division multiplexing (OFDM). However, obtaining CSI through feedback from the user equipment (UE) becomes challenging with the increasing scale of antennas and subcarriers and leads to extremely high CSI feedback overhead. Deep learning-based methods have emerged for compressing CSI but these methods generally require substantial collected samples and thus pose practical challenges. Moreover, existing deep learning methods also suffer from dramatically growing feedback overhead owing to their focus on full-dimensional CSI feedback. To address these issues, we propose a low-overhead Incorporation-Extrapolation based Few-Shot CSI feedback Framework (IEFSF) for massive MIMO systems. An incorporation-extrapolation scheme for eigenvector-based CSI feedback is proposed to reduce the feedback overhead. Then, to alleviate the necessity of extensive collected samples and enable few-shot CSI feedback, we further propose a knowledge-driven data augmentation (KDDA) method and an artificial intelligence-generated content (AIGC) -based data augmentation method by exploiting the domain knowledge of wireless channels and by exploiting a novel generative model, respectively. Experimental results based on the DeepMIMO dataset demonstrate that the proposed IEFSF significantly reduces CSI feedback overhead by 64 times compared with existing methods while maintaining higher feedback accuracy using only several hundred collected samples. Copyright © 2023, The Authors. All rights reserved.

关键词： Extrapolation

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A biosensing system employing nanowell microelectrode arrays to record the intracellular potential of a single cardiomyocyte

引用

Microsystems & Nanoengineering 2022年第3期8卷 185-198页

作者： Yuting Xiang Haitao Liu Wenjian Yang Zhongyuan xu Yue Wu Zhajian Tang Zhjing Zhu Zhiyong Zeng Depeng Wang Tianxing Wang Ning Hu Diming Zhang Department of Obstetrics and Gynecology Affiliated Dongguan People's HospitalSouthern Medical UniversityDongguan 523058China Research Center for Inelligent Sensing Systems Zhejiang LaboratoryHangzhou 311100China Research Center for Humanoid Sensing Zhejiang LaboratoryHangzhou 311100China Key Laboratory of Novel Target and Drug Study for Neural Repair of Zhejiang Province School of MedicineSchool of Computer&Computing ScienceZhejiang University City CollegeHangzhou 310015China School of Brain Science and Brain Medicine Zhejiang UniversityHangzhou 310058China School of Automation Nanjing University of Science and TechnologyNanjing 210094China College of Energy and Power Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China E-Link Care Meditech Co. LtdHangzhou 310011China ZJU-Hangzhou Global Scientific and Technological Innovation Center Department of ChemitryZhejiang UniversityHangzhou 310058China

Electrophysiological recording is a widely used method to investigate cardiovascular pathology,pharmacology and developmental *** arrays record the electrical potential of cells in a minimally invasive and highthroughput ***,commonly used microelectrode arays primarily employ planar microelectrodes and cannot work in applications that require a recording of the intracellular action potential of a single *** this study,we proposed a novel measuring method that is able to record the intracellular action potential of a single cardiomyocyte by using a nanowell patterned microelectrode array(NWMEA).The NWMEA consists of five nanoscale wells at the center of each circular planar *** pulse electroporation was applied to the NWMEA to penetrate the cardiomyocyte membrane,and the intracellular action potential was continuously *** intracellular potential recording of cardiomyocytes by the NWMEA measured a potential signal with a higher quality(213.76±25.85%),reduced noise root-mean-square(~33%),and higher signal-to-noise ratio(254.36±12.61%)when compared to those of the extracellular *** to previously reported nanopillar microelectrodes,the NWMEA could ensure single cell electroporation and acquire high-quality action potential of cardiomyocytes with reduced fabrication *** NWMEA-based biosensing system is a promising tool to record the intracellular action potential of a single cell to broaden the usage of microelectrode arrays in electrophysiological investigation.

关键词： arrays potential record

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Offsite Evaluation of Localization systems: Criteria, systems, and Results From IPIN 2021 and 2022 Competitions

IEEE Journal on Indoor and Seamless Positioning and Navigati...

引用

IEEE Journal on Indoor and Seamless Positioning and Navigation 2024年 2卷 92-129页

作者： Potorti, Francesco Crivello, Antonino Lee, Soyeon Vladimirov, Blagovest Park, Sangjoon Chen, Yushi Wang, Long Chen, Runze Zhao, Fang Zhuge, Yue Luo, Haiyong Perez-Navarro, Antoni Jimenez, Antonio R. Wang, Han Liang, Hengyi De Cock, Cedric Plets, David Cui, Yan Xiong, Zhi Li, Xiaodong Ding, Yiming Franco, Fernando Javier Alvarez Polo, Fernando Jesus Aranda Rodriguez, Felipe Parralejo Moreira, Adriano Pendao, Cristiano Silva, Ivo Ortiz, Miguel Zhu, Ni Li, Ziyou Renaudin, Valerie Wei, Dongyan Ji, Xinchun Zhang, Wenchao Wang, Yan Ding, Longyang Kuang, Jian Zhang, Xiaobing Dou, Zhi Yang, Chaoqun Kram, Sebastian Stahlke, Maximilian Mutschler, Christopher Coene, Sander Li, Chenglong Venus, Alexander Leitinger, Erik Tertinek, Stefan Witrisal, Klaus Wang, Yi Wang, Shaobo Jin, Beihong Zhang, Fusang Su, Chang Wang, Zhi Li, Siheng Li, Xiaodong Li, Shitao Pan, Mengguan Zheng, Wang Luo, Kai Ma, Ziyao Gao, Yanbiao Chang, Jiaxing Ren, Hailong Guo, Wenfang Torres-Sospedra, Joaquin Pisa56124 Italy Electronics and Telecommunications Research Institute Daejeon34129 Korea Republic of Beijing University of Posts and Telecommunications School of Computer Science National Pilot Software Engineering School Beijing100876 China Chinese Academy of Sciences Beijing Key Laboratory of Mobile Computing and Pervasive Device Institute of Computing Technology Beijing100190 China Universitat Oberta de Catalunya Faculty of Computer Sciences Multimedia and Telecommunication Barcelona08035 Spain Arganda del Rey28500 Spain Huawei Technologies Company Ltd. Shenzhen100015 China IMEC-WAVES/Ghent University Department of Information Technology Gent9052 Belgium Nanjing University of Aeronautics and Astronautics College of Automation Nanjing210016 China University of Extremadura Badajoz06006 Spain University of Trás-os-Montes and Alto Douro Department of Engineering School of Sciences and Technology Vila Real5000-801 Portugal Universidade Do Minho Centro Algoritmi Guimarães4800-058 Portugal Ame Department of the University Gustave Eiffel Geoloc Laboratory Bouguenais44344 France Chinese Academy of Sciences Aerospace Information Research Institute Beijing100094 China Wuhan University Gnss Research Center Wuhan430072 China AutoNavi Software Company Ltd. China Fraunhofer Institute for Integrated Circuits Iis Fraunhofer Iis Nuremberg90411 Germany Erlangen91058 Germany Graz University of Technology Christian Doppler Laboratory for Location-Aware Electronic Systems Graz8010 Austria Institute of Software Chinese Academy of Sciences Beijing100190 China Purple Mountain Laboratories Pervasive Communication Research Center Nanjing210000 China Beijing University of Posts and Telecommunications Beijing100876 China

Indoor positioning is a thriving research area, which is slowly gaining market momentum. Its applications are mostly customized, ad hoc installations;ubiquitous applications analogous to Global Navigation Satellite System for outdoors are not available because of the lack of generic platforms, widely accepted standards and interoperability protocols. In this context, the indoor positioning and indoor navigation (IPIN) competition is the only long-term, technically sound initiative to monitor the state of the art of real systems by measuring their performance in a realistic environment. Most competing systems are pedestrian-oriented and based on the use of smartphones, but several competing tracks were set up, enabling comparison of an array of technologies. The two IPIN competitions described here include only off-site tracks. In contrast with on-site tracks where competitors bring their systems on-site - which were impossible to organize during 2021 and 2022 - in off-site tracks competitors download prerecorded data from multiple sensors and process them using the EvaalAPI, a real-time, web-based emulation interface. As usual with IPIN competitions, tracks were compliant with the EvAAL framework, ensuring consistency of the measurement procedure and reliability of results. The main contribution of this work is to show a compilation of possible indoor positioning scenarios and different indoor positioning solutions to the same problem. © 2023 CCBY.

关键词： Smartphones

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Optimizing the fluidity in thin-section investment casting for vacuum induction molten AZ91D-1 %wt. CaO

引用

Journal of Magnesium and Alloys 2025年

作者： Carneiro, V.H. Lopes, V. Duarte, I. Puga, H. INESC TEC - Institute for Systems and Computer Engineering Technology and Science R. Dr. Roberto Frias Porto4200-465 Portugal Department of Engineering School of Science and Technology - Universidade de Trás-os-Montes e Alto Douro Quinta de Prados Vila Real5001-801 Portugal INL – International Iberian Nanotechnology Laboratory Avenida Mestre José Veiga Braga4715-330 Portugal CMEMS-UMinho Department of Mechanical Engineering University of Minho Campus de Azurém Guimarães4800-058 Portugal TEMA - Centre for Mechanical Technology and Automation Department of Mechanical Engineering University of Aveiro Campus Universitário de Santiago Aveiro3810-193 Portugal LASI - Intelligent Systems Associate Laboratory Campus Azurém Guimarães4800-058 Portugal

This paper discusses an experimental investigation into the fluidity of AZ91D-1 %wt. CaO magnesium melt via induction for thin-section investment casting. Plaster molds with thin spiral cavities (0.5 to 1.5 mm square sections) were designed and manufactured to assess the impact of casting conditions on filling length, as magnesium alloys cause severe melting and melt-mold exothermic reactions, making investment casting challenging. Combinations of traditional Mg-mold reaction mitigation techniques, such as applying a protective mold coating (Yttria) and vacuum, were examined to determine their role in the filling process. The results suggest that when induction is employed to melt reactive alloys, these methods are not always beneficial, as initially thought. Particularly at higher melt temperatures, the combination of Yttria-coated molds with low-pressure vacuum induction significantly reduce fluidity: vacuum induced melt levitation which promotes oxidation with the residual atmosphere;and Yttria-coating cracking due to thermal stress during the mold fabrication slows filling and promotes significant melt-mold reaction. This study shows that best results to investment cast thin-sections are obtained by avoiding both vacuum and protective coatings, providing a viable route for the precision manufacturing of stent biomedical devices. © 2025 Chongqing University

关键词： Investment casting

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