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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Kim, Taek-Lim Jang, Byung Jin Yeon, Joo Yeon Kim, Tae-Hyeong Park, Tae-Hyoung Chungbuk National University Dept. of Robot Control Eng Cheongju Korea Republic of Chungbuk National University Dept. of Intelligent Systems and Robotics Cheongju Korea Republic of Dept. of Research & Development Daegu Korea Republic of

ISBN: (纸本)9798331531614

Roadside sensors like cameras and LiDAR enhance pedestrian safety by providing comprehensive traffic data. While traditional traffic surveillance systems primarily focus on vehicle-related violations, such as signal violations and speeding, pedestrian jaywalking remains a significant cause of accidents. This paper presents a jaywalking detection method that fuses camera-based image segmentation with LiDAR ground segmentation to handle various conditions, including day and night. Our system addresses challenges such as poor lighting and vehicle occlusion by leveraging LiDAR's robustness in unlearned environments. Road segmentation is enhanced by combining camera outputs with LiDAR ground data, refining road boundary detection for more accurate road area analysis. By integrating road segmentation and object tracking, the system reduces false negatives and improves jaywalking detection. Experimental results from real-road data validate its effectiveness, showing significant potential to enhance traffic surveillance. © 2025 IEEE.

关键词： Image segmentation

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Design and Control of Omnidirectional Conveyor Model Using Image Processing 9

Design and Control of Omnidirectional Conveyor Model Using I...

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9th Somaiya International Conference on Technology and Information Management, SICTIM 2023

作者： Bangal, Rohit Nalawade, Satyajeet Dusane, Chaitalee Design and Development Tantradnyan Engineers Ahmednagar India Electronics Design Robotics Research Lab Pune India Dept. of Instrumentation and Control Govt College of Engg. and Research Pune India

ISBN: (纸本)9798350333299

Many industries have begun to adhere to the regulations of the fourth industrial revolution, whereby their production rates are anticipated to rise sharply. A smart and efficient conveyor system is necessary to handle this surge in production rate. Smart conveyor systems can maintain track of individual goods while monitoring multiple aspects including the speed and direction of objects. This paper's goal is to design and control a smart conveyor system called an'Omnidirectional Conveyor' using visual feedback via OpenCV-based image processing. The unique configuration of the wheels and the specially developed algorithm felicitates the transfer, orientation, and position of various objects separately from one another, enabling holonomic motion along any path. © 2023 IEEE.

关键词： Visual communication

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Risk-Aware Fixed-Time Stabilization of Stochastic Systems Under Measurement Uncertainty

Risk-Aware Fixed-Time Stabilization of Stochastic Systems Un...

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American Control Conference (ACC)

作者： Mitchell Black Georgios Fainekos Bardh Hoxha Dimitra Panagou Toyota North America Research & Development Ann Arbor MI USA Dept. of Robotics and Dept. of Aerospace Engineering Univ. of Michigan Ann Arbor MI USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely risk-aware fixed-time- and risk-aware path-integral-control Lyapunov functions, are introduced. Then, it is shown how the use of either for control design certifies that a system is both stable in probability and probabilistically fixed-time convergent (for a given probability) to a goal set. That is, the system trajectories probabilistically reach the set within a finite time, independent of the initial condition, despite the additional presence of measurement noise. These methods represent an improvement over the state-of-the-art in stochastic fixed-time stabilization, which presently offers bounds on the settling-time function in expectation only. The theoretical results are verified by an empirical study on an illustrative, stochastic, nonlinear system and the proposed controllers are evaluated against an existing method. Finally, the methods are demonstrated via a simulated fixed-wing aerial robot on a reach-avoid scenario to highlight their ability to certify the probability that a system safely reaches its goal.

关键词： Control design System verification Stochastic systems Measurement uncertainty Stochastic processes Probabilistic logic Autonomous aerial vehicles

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Camera-LiDAR Jaywalking Detection in Traffic Surveillance System

Camera-LiDAR Jaywalking Detection in Traffic Surveillance Sy...

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IEEE/SICE International Symposium on System Integration

作者： Taek-Lim Kim Byung Jin Jang Joo Yeon Yeon Tae-Hyeong Kim Tae-Hyoung Park Dept. of Robot Control Eng Chungbuk National University Cheongju Republic of Korea Dept. of Intelligent Systems and Robotics Chungbuk National University Cheongju Republic of Korea Dept. of Research & Development Korea Intelligent Automotive Parts Promotion Institute (KIAPI) Daegu Republic of Korea

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

Roadside sensors like cameras and LiDAR enhance pedestrian safety by providing comprehensive traffic data. While traditional traffic surveillance systems primarily focus on vehicle-related violations, such as signal violations and speeding, pedestrian jaywalking remains a significant cause of accidents. This paper presents a jaywalking detection method that fuses camera-based image segmentation with LiDAR ground segmentation to handle various conditions, including day and night. Our system addresses challenges such as poor lighting and vehicle occlusion by leveraging LiDAR’s robustness in unlearned environments. Road segmentation is enhanced by combining camera outputs with LiDAR ground data, refining road boundary detection for more accurate road area analysis. By integrating road segmentation and object tracking, the system reduces false negatives and improves jaywalking detection. Experimental results from real-road data validate its effectiveness, showing significant potential to enhance traffic surveillance.

关键词： Image segmentation Laser radar Pedestrians Roads Surveillance Transportation System integration Traffic control Cameras Sensors

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Risk-Aware Fixed-Time Stabilization of Stochastic Systems under Measurement Uncertainty

arXiv

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arXiv 2024年

作者： Black, Mitchell Fainekos, Georgios Hoxha, Bardh Panagou, Dimitra Toyota North America Research & Development 1555 Woodridge Ave Ann ArborMI48105 United States Dept. of Robotics Dept. of Aerospace Engineering Univ. of Michigan Ann ArborMI48109 United States

关键词： Stabilization

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Design and Control of Omnidirectional Conveyor Model Using Image Processing

Design and Control of Omnidirectional Conveyor Model Using I...

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Technology and Information Management (SICTIM), Somaiya International Conference on

作者： Rohit Bangal Satyajeet Nalawade Chaitalee Dusane Design and Development Tantradnyan Engineers Ahmednagar India Electronics Design Robotics Research Lab Pune India Dept. of Instrumentation and Control Govt. College of Engg. And Research Pune India

Many industries have begun to adhere to the regulations of the fourth industrial revolution, whereby their production rates are anticipated to rise sharply. A smart and efficient conveyor system is necessary to handle this surge in production rate. Smart conveyor systems can maintain track of individual goods while monitoring multiple aspects including the speed and direction of objects. This paper’s goal is to design and control a smart conveyor system called an ‘Omnidirectional Conveyor’ using visual feedback via OpenCV-based image processing. The unique configuration of the wheels and the specially developed algorithm felicitates the transfer, orientation, and position of various objects separately from one another, enabling holonomic motion along any path.

关键词： Visualization Image processing Wheels Process control Production Maintenance engineering Regulation

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Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier Functions

Safety Under Uncertainty: Tight Bounds with Risk-Aware Contr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mitchell Black Georgios Fainekos Bardh Hoxha Danil Prokhorov Dimitra Panagou Dept. of Aerospace Engineering Univ. of Michigan Ann Arbor MI USA Toyota North America Research & Development Ann Arbor MI USA Dept. of Robotics Univ. of Michigan Ann Arbor MI USA

We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems. Leveraging a result from the stochastic level-crossing literature, we deviate from the martingale theory that is currently used in stochastic CBF techniques and prove that a RA-CBF based control synthesis confers a tighter upper bound on the probability of the system becoming unsafe within a finite time interval than existing approaches. We highlight the advantages of our proposed approach over the state-of-the-art via a comparative study on an mobile-robot example, and further demonstrate its viability on an autonomous vehicle highway merging problem in dense traffic.

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DNN Based Geoid Undulation Prediction Accuracy Evaluation Using EGM08 Gravity Model

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Transactions of the Korean Institute of Electrical Engineers 2022年第8期71卷 1153-1163页

作者： Kim, Hyun-Seok Park, Chan-Sik Dept. of Intelligent Systems & Robotics Research Institute for Computer and Information Communication Chungbuk National University Korea Republic of Agency for Defense Development Korea Republic of

The difference between mean sea level and ellipsoid height is defined as geoid relief, which is essential information when building barometric altimeter/GPS combined systems or terrain matching systems. Therefore, an accurate calculation of the geoid undulation is required. In this paper, we propose a deep neural network method for calculating geoid undulations in real time in an embedded system. Then, using the EGM08 geoid model of order 2160, training data at intervals of 0.001 degrees were generated, and the prediction model accuracy was evaluated for 4 cases according to the number of hidden layers. As the number of hidden layers increased, the prediction accuracy increased, and it was confirmed that the calculation time also increased proportionally. © 2022 Korean Institute of Electrical Engineers. All rights reserved.

关键词： Forecasting

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Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier Functions

arXiv

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arXiv 2023年

作者： Black, Mitchell Fainekos, Georgios Hoxha, Bardh Prokhorov, Danil Panagou, Dimitra Dept. of Aerospace Engineering Univ. of Michigan 1320 Beal Ave Ann ArborMI48109 United States Toyota North America Research & Development 1555 Woodridge Ave Ann ArborMI48105 United States Dept. of Robotics Dept. of Aerospace Engineering Univ. of Michigan Ann ArborMI48109 United States

关键词： Stochastic systems

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Chemical and physical study of waste PA2200 powder

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UPB Scientific Bulletin, Series B: Chemistry and Materials Science 2021年第1期83卷 175-186页

作者： Costache, A. Cristina Moagăr-Poladian, Gabriel Obreja, Cosmin A. Tutunaru, Oana Rădoi, Antonio Pachiu, Cristina Dept. of Industrial Engineering Faculty of Industrial Engineering and Robotics University POLITEHNICA of Bucharest Bucharest Romania National Institute for Research & Development in Microtehnologies Bucharest Romania

The paper presents the experimental results regarding the recycling process of waste PA2200 powder resulting from Selective Laser Sintering. This waste refers to that fraction of used powder that is normally vacuum-cleaned and disposed to the dump. This sort of disposal may put a great risk as regards microplastic pollution of the environment. It is the aim of this paper to show a decontamination route that allows recovery of this waste and its further recycling. In this way, a cleaner and more eco-friendly SLS process is obtained. The decontamination process and the detailed characterization of the recovered waste (SEM, EDX, FTIR and Raman spectroscopy) are presented. © 2021, Politechnica University of Bucharest. All rights reserved.

关键词： Pollution

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