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Parallel Distance: A New Paradigm of Measurement for Parallel Driving

IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1169-1178页

作者： Teng Liu Hong Wang Bin Tian Yunfeng Ai Long Chen the Vehicle Intelligence Pioneers Inc. Qingdao 266109 the Department of Automotive Engineering Chongqing UniversityChongqing 400044China the Mechanical and Mechatronics Engineering Department Waterloo UniversityN2L 3G1Canada the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the School of Data and Computer Science Sun Yat-sen UniversityGuangzhou 510006China

In this paper, a new paradigm named parallel distance is presented to measure the data information in parallel driving system. As an example, the core variables in the parallel driving system are measured and evaluated in the parallel distance framework. First, the parallel driving 3.0 system included control and management platform, intelligent vehicle platform and remote-control platform is introduced. Then,Markov chain(MC) is utilized to model the transition probability matrix of control commands in these systems. Furthermore, to distinguish the control variables in artificial and physical driving conditions, different distance calculation methods are enumerated to specify the differences between the virtual and real signals. By doing this, the real system can be guided and the virtual system can be im-proved. Finally, simulation results exhibit the merits and multiple applications of the proposed parallel distance framework.

关键词： Artificial and physical system parallel distance parallel driving 3.0 parallel system rotational and accelerator signal

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Multi-block SSD based on small object detection for UAV railway scene surveillance

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Chinese Journal of Aeronautics 2020年第6期33卷 1747-1755页

作者： Yundong LI Han DONG Hongguang LI Xueyan ZHANG Baochang ZHANG Zhifeng XIAO North China University of Technology Beijing 100144China Key Laboratory of Large Structure Health Monitoring and Control Shijiazhuang 050043China Unmanned System Research Institute Beihang UniversityBeijing 100083China Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China State Key Laboratory of Information Engineering in Surveying Wuhan UniversityWuhan 430079China

A method of multi-block Single Shot Multi Box Detector(SSD)based on small object detection is proposed to the railway scene of unmanned aerial vehicle *** address the limitation of small object detection,a multi-block SSD mechanism,which consists of three steps,is ***,the original input images are segmented into several overlapped ***,each patch is separately fed into an SSD to detect the ***,the patches are merged together through two *** the first stage,the truncated object of the sub-layer detection result is *** the second stage,a sub-layer suppression and filtering algorithm applying the concept of non-maximum suppression is utilized to remove the overlapped boxes of *** boxes that are not detected in the main-layer are *** addition,no sufficient labeled training samples of railway circumstance are available,thereby hindering the deployment of SSD.A two-stage training strategy leveraging to transfer learning is adopted to solve this *** deep learning model is preliminarily trained using labeled data of numerous auxiliaries,and then it is refined using only a few samples of railway scene.A railway spot in China,which is easily damaged by landslides,is investigated as a case *** results show that the proposed multi-block SSD method produces an overall accuracy of 96.6%and obtains an improvement of up to 9.2%compared with the traditional SSD.

关键词： Deep learning Multi-block Single Shot MultiBox Detector(SSD) Objection detection Railway scene Unmanned aerial vehicle remote sensing

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ABCP: Automatic block-wise and channel-wise network pruning via joint search

arXiv

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arXiv 2021年

作者： Li, Jiaqi Li, Haoran Chen, Yaran Ding, Zixiang Li, Nannan Ma, Mingjun Duan, Zicheng Zhao, Dongbing The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China The University of Chinese Academy of Sciences Beijing China The College of Engineering and Computer Science Australian National University ACT2601 Australia

Currently, an increasing number of model pruning methods are proposed to resolve the contradictions between the computer powers required by the deep learning models and the resource-constrained devices. However, most of the traditional rule-based network pruning methods can not reach a sufficient compression ratio with low accuracy loss and are time-consuming as well as laborious. In this paper, we propose Automatic Block-wise and Channel-wise Network Pruning (ABCP1) to jointly search the block-wise and channel-wise pruning action with deep reinforcement learning. A joint sample algorithm is proposed to simultaneously generate the pruning choice of each residual block and the channel pruning ratio of each convolutional layer from the discrete and continuous search space respectively. The best pruning action taking both the accuracy and the complexity of the model into account is obtained finally. Compared with the traditional rule-based pruning method, this pipeline saves human labor and achieves a higher compression ratio with lower accuracy loss. Tested on the mobile robot detection dataset, the pruned YOLOv3 model saves 99.5% FLOPs, reduces 99.5% parameters, and achieves 37.3× speed up with only 2.8% mAP loss. The results of the transfer task on the sim2real detection dataset also show that our pruned model has much better robustness performance. Copyright © 2021, The Authors. All rights reserved.

关键词： Reinforcement learning

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MVM3Det: A novel method for multi-view monocular 3D detection

arXiv

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arXiv 2021年

作者： Li, Haoran Duan, Zicheng Ma, Mingjun Chen, Yaran Li, Jiaqi Zhao, Dongbin The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The University of Chinese Academy of Sciences Beijing China The College of Engineering and Computer Science Australian National University ACT2601 Australia The School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China

Monocular 3D object detection encounters occlusion problems in many application scenarios, such as traffic monitoring, pedestrian monitoring, etc., which leads to serious false negatives. Multi-view object detection effectively solves this problem by combining data from different perspectives. However, due to label confusion and feature confusion, the orientation estimation of multi-view 3D object detection is intractable, which is important for object tracking and intention prediction. In this paper, we propose a novel multi-view 3D object detection method named MVM3Det which simultaneously estimates the 3D position and orientation of the object according to the multi-view monocular information. The method consists of two parts: 1) Position proposal network, which integrates the features from different perspectives into consistent global features through feature orthogonal transformation to estimate the position. 2) Multi-branch orientation estimation network, which introduces feature perspective pooling to overcome the two confusion problems during the orientation estimation. In addition, we present the first dataset for multi-view 3D object detection named MVM3D. Comparing with State-Of-The-Art (SOTA) methods on our dataset and public dataset WildTrack, our method achieves very competitive results. © 2021, CC BY.

关键词： Object recognition

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Bio-inspired polarization event camera

arXiv

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arXiv 2021年

作者： Haessig, Germain Joubert, Damien Haque, Justin Chen, Yingkai Milde, Moritz B. Delbruck, Tobi Gruev, Viktor AIT Austrian Institute of Technology Center for Vision Automation & Control High-performance Vision Systems Vienna Austria Institute of Neuroinformatics University of Zurich ETH Zurich Switzerland International Centre for Neuromorphic Systems The MARCS Institute Western Sydney University Sydney Australia Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign UrbanaIL United States

The stomatopod (mantis shrimp) visual system0 has recently provided a blueprint for the design of paradigm-shifting polarization and multispectral imaging sensors0, enabling solutions to challenging medical0 and remote sensing problems0. However, these bioinspired sensors lack the high dynamic range (HDR) and asynchronous polarization vision capabilities of the stomatopod visual system, limiting temporal resolution to ∼12 ms and dynamic range to ∼72 dB. Here we present a novel stomatopod-inspired polarization camera which mimics the sustained and transient biological visual pathways to save power and sample data beyond the maximum Nyquist frame rate. This bio-inspired sensor simultaneously captures both synchronous intensity frames and asynchronous polarization brightness change information with sub-millisecond latencies over a million-fold range of illumination. Our PDAVIS camera is comprised of 346x260 pixels, organized in 2-by-2 macropixels, which filter the incoming light with four linear polarization filters offset by 45°. Polarization information is reconstructed using both low cost and latency event-based algorithms and more accurate but slower deep neural networks. Our sensor is used to image HDR polarization scenes which vary at high speeds and to observe dynamical properties of single collagen fibers in bovine tendon under rapid cyclical loads. © 2021, CC BY.

关键词： Cameras

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Parallel Governance for Decentralized Autonomous Organizations enabled by Blockchain and Smart Contracts

Parallel Governance for Decentralized Autonomous Organizatio...

引用

Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Wen Wen Ding XiaoLong Liang JiaChen Hou Ge Wang Yong Yuan Junqing Li Fei-Yue Wang Institute of Systems Engineering Macau University of Science and Technology Macau China School of Mathematics Renmin University of China Beijing China College of Computer Science and Engineering Shandong University of Science and Technology Qingdao China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Decentralized autonomous organizations(DAOs) enabled by blockchain and smart contracts is regarded as an effective tool to solve corporate governance problems. It can minimize the contract risks, principal-agent dilemmas, and other issues in corporate governance. However, DAOs also face a variety of governance issues, such as internal governance issues and external governance issues caused by the technical attributes of blockchain and smart contracts. DAO is a typical complex system with the characteristics of both social and engineering complexity. It is difficult for existing governance theories to solve governance problems in DAOs. The parallel intelligence theory based on the artificial systems + computational experiments + parallel execution (ACP) method is a suitable research and practical approach to solve management and control problems for complex systems. Therefore, we propose a parallel governance framework for DAO based on the parallel intelligence theory and discuss its key research issues. Finally, we construct a parallel governance system for GnosisDAO, and conduct computational experiments on its voting mechanism. The results show the defects of GnosisDAO governance mechanism and we thus propose further research directions. We consider that parallel governance represents the future trend of DAO research and practice. This paper is aimed at stimulating further effort and providing helpful guidance and reference for future research works.

关键词： Computational modeling Digital twin Conferences Smart contracts Tools Systems modeling Market research

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Performance analysis of platoons with adaptive cruise control

引用

IFAC-PapersOnLine 2018年第9期51卷 79-85页

作者： Lunze, Jan Ruhr-University Bochum Institute of Automation and Computer Control BochumD-44780 Germany

The paper investigates under what conditions the controlled vehicles in a platoon follow the time-headway spacing policy and can be guaranteed to avoid collisions. The first result is a requirement on the vehicle delay, which is a quantity that is directly related to the dynamics of the controlled vehicles. The second result shows that if the controlled vehicles have specified first-order dynamics, they follow the time-headway policy permanently and, hence, avoid collisions in all possible situations. For higher-order vehicles, a robustness approach is developed that uses the specified first-order model as approximate representation of the controlled vehicles and analyses how far the platoon may deviate from the behaviour of this ideal platoon. Examples demonstrate that these deviations are usually very small so that the collision avoidance guarantee can be transferred from the approximate model to the real platoon. © 2018

关键词： Adaptive cruise control

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Design of the communication structure of cooperative adaptive cruise controllers for vehicle platoons

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IFAC-PapersOnLine 2019年第5期52卷 7-12页

作者： Jan Lunze Ruhr-University Bochum Institute of Automation and Computer Control D-44780 Bochum Germany

The paper proposes a systematic way to find the communication structure of cooperative adaptive cruise controllers for vehicle platoons. It investigates under what conditions the controlled vehicles follow asymptotically the time-headway spacing policy. The result is a requirement on the individual vehicle delay, which is a quantity that is directly related to the dynamics of the controlled vehicles. If the delay is too large, communication from vehicles ahead improve the performance of the vehicle within the platoon. This requirement leads to the answer of the question which vehicles have to communicate their velocity to which other vehicles and how should the vehicles combine the information received to asymptotically observe the time-headway requirement.

关键词： Cooperative adaptive cruise control platoon dynamics collision avoidance robustness

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A Simplified Variant for Graph Convolutional Network Based Knowledge Graph Completion Model

A Simplified Variant for Graph Convolutional Network Based K...

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IEEE International Conference on Data Science in Cyberspace (DSC)

作者： Yashen Wang Qiang Li Yi Zhang Xuecheng Zhang Zhuoya Ju Jian Sun National Engineering Laboratory for Risk Perception and Prevention (RPP) Key Laboratory of Cognition and Intelligence Technology (CIT) China Academy of Electronics and Information Technology Artificial Intelligence Institute of CETC Beijing China The State Key Laboratory for Management and Control of Complex Systems Scientific and Technological Innovation Center of ARI Institute of Automation Chinese Academy of Sciences Beijing China CETC Academy of Electronics and Information Technology Group Co. Ltd. Beijing China Khoury College of Computer Science Northeastern University U.S.A Scientific and Technological Innovation Center of ARI Beijing China Qi An Xin Technology Group Inc. Beijing China

Knowledge graphs (KGs) serve as useful resources for various applications including machine learning, data mining, and artificial intelligence. Knowledge Graph Completion (KGC) aims at reasoning over known (observed) facts and infer the missing (unobserved) relationships, to improve KG's coverage. Many recent works have laid stress on leveraging Graph Convolutional Networks (GCNs) for KGC task, which obtain good representation learning ability for graph-structured data, and have achieved satisfactory results. However, GCN-based researches continue to improve these lines of models by introducing an increasingly complex feature space. Especially, the hyper-parameter space of conventional GCN-based KGC model is too huge, resulting in low computational efficiency and excessive storage pressure. To overcome this problem, this paper investigates a simplified and generic variant for GCN-based KGC model, and shows that simple changes in the architecture of the underlying architecture (with a Subtraction Operator and an Addition Operator), can compte with state-of-the-art GCN-based models. Therefore, this paper proposes a easy-to-accomplish plug-in unit, which could be loaded into any current GCN-based KGC architectures, and help them maximize the maintenance of native model's original performance while significantly reducing parameter scale.

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Intelligent production of the future - first results of a survey 17

Intelligent production of the future - first results of a su...

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17th IMEKO TC 10 and EUROLAB Virtual Conference: Global Trends in Testing, Diagnostics and Inspection for 2030

作者： Nick, Gábor Szaller, Ádám Zsolt János, Viharos Várgedő, Tamás Bányai, Dóra Fries, Christian Fechter, Manuel EPIC InnoLabs Nonprofit Ltd Budapest Hungary Institute for Computer Science and Control Budapest Hungary Budapest University of Technology and Economics Budapest Hungary Széchenyi University Research Center of Vehicle Industry Győr Hungary Fraunhofer-Institute for Manufacturing Engineering and Automation IPA Stuttgart Germany John von Neumann University Kecskemét Hungary University of Stuttgart Institute of Industrial Manufacturing and Management IFF Germany

Witnessing the unprecedented scale and speed of industry transformation due to digitization in general and the emergence of smart solutions in all aspects of manufacturing in particular, it is well justified to deal with the question of what production of the future will look like. How intelligent will it be when the hard challenges and disruptive effects of the changes will be overcome, and what are the chances to meet the critical requirements of collaboration and cooperation, flexibility and competitiveness? What are the technological and management tools to avoid being stuck in the so-called pilot purgatory? These issues are addressed in an international survey based on a questionnaire specifically tailored to conclude to viable options and recommendations for industrial companies. The results that are mostly in conformity with those published in the literature show that there is yet a lot to do to facilitate a definite turn in the mindset of the actors and to make them realize the relevance of simultaneous and continuous cultural and technological development. © Global Trends in Testing, Diagnostics and Inspection for *** rights reserved.

关键词： Manufacture

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