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StixelNExT: Toward Monocular Low-Weight Perception for Object Segmentation and Free Space Detection

StixelNExT: Toward Monocular Low-Weight Perception for Objec...

引用

IEEE Symposium on Intelligent Vehicle

作者： Marcel Vosshans Omar Ait-Aider Youcef Mezouar Markus Enzweiler Institute for Intelligent Systems Which is Part of the Faculty of Computer Science and Engineering University of Applied Sciences Esslingen Germany Institut Pascal ISPR (Image Systems of Perception Robotics) Universite Clermont Auvergne INP / CNRS France

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

In this work, we present a novel approach for general object segmentation from a monocular image, eliminating the need for manually labeled training data and enabling rapid, straightforward training and adaptation with minimal data. Our model initially learns from LiDAR during the training process, which is subsequently removed from the system, allowing it to function solely on monocular imagery. This study leverages the concept of the Stixel-World to recognize a medium level representation of its surroundings. Our network directly predicts a 2D multi-layer Stixel-World and is capable of recognizing and locating multiple, superimposed objects within an image. Due to the scarcity of comparable works, we have divided the capabilities into modules and present a free space detection in our experiments section. Furthermore, we introduce an improved method for generating Stixels from LiDAR data, which we use as ground truth for our network.

关键词： Training Space vehicles Adaptation models Laser radar Image recognition Intelligent vehicles Training data

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Switched-capacitor finite impulse response rotator filter

Switched-capacitor finite impulse response rotator filter

引用

Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Paweł Pawłowski Rafał Długosz Adam Dąbrowski Division of Signal Processing and Electronic Systems Jana Pawł a II 24 Poznan University of Technology Faculty of Control Robotics and Electrical Engineering and Institute of Automation and Robotics Poznań Poland Faculty of Telecommunication Computer Science and Electrical Engineering Kaliskiego 7 UTP University of Science and Technology Bydgoszcz Poland

ISBN: (数字)9788362065394

ISBN: (纸本)9781728177465

Design of the topology and layout for an analog finite impulse response (FIR) filter realized in the CMOS technology using the switched capacitor (SC) technique, is presented. The filter is based on the so called “rotator structure” supplemented with the programmable capacitor array. This array makes the on-line adjusting of the frequency response of the filter possible in a very wide range, thus, enlarges the area of applications of this circuit, e.g., to multi-standard wireless communication, software-defined radio, adaptive systems, etc. The presented circuit realizes filters of orders up to 15 (16 filter coefficients). The maximum frequency range approaches ca. 2 MHz. The circuit dissipates ca. 8 mW from the power supply.

关键词： Finite impulse response filters Capacitors IIR filters Clocks Operational amplifiers Switches Capacitance

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A Robotic Framework for the Robot@Factory 4.0 Competition

A Robotic Framework for the Robot@Factory 4.0 Competition

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Ricardo B. Sousa Cláudia D. Rocha João G. Martins João Pedro Costa João Tomás Padrão José Maria Sarmento José Pedro Carvalho Maria S. Lopes Paulo G. Costa António Paulo Moreira Faculty of Engineering University of Porto (FEUP) Porto Portugal CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal C2SR - Cyber-Physical Control Systems and Robotics SYSTEC - Research Center for Systems and Technologies Porto Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Robotic competitions stand as platforms to propel the forefront of robotics research while nurturing STEM education, serving as hubs of both applied research and scientific innovation. In Portugal, the Portuguese robotics Open (FNR) is an event with several robotic competitions, including the Robot@Factory 4.0 competition. This competition presents an example of deploying autonomous robots on a factory shop floor. Although the literature has works proposing frameworks for the original version of the Robot@Factory competition, none of them proposes a system framework for the Robot@Factory 4.0 version that presents the hardware, firmware, and software to complete the competition and achieve autonomous navigation. This paper proposes a complete robotic framework for the Robot@Factory 4.0 competition that is modular and open-access, enabling future participants to use and improve it in future editions. This work is the culmination of all the knowledge acquired by winning the 2022 and 2023 editions of the competition.

关键词： Technological innovation Education Propulsion Production facilities Software Hardware Autonomous robots

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Global Exponential Stabilization on the n-Dimensional Sphere

Global Exponential Stabilization on the n-Dimensional Sphere

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American Control Conference

作者： Pedro Casau Christopher G. Mayhew Ricardo G. Sanfelice Carlos Silvestre Department of Electrical and Computer Engineering and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal Department of Computer Engineering University of California Santa Cruz CA 95064 Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau Macao China

ISBN: (纸本)9781479917730

In this paper, we show that the existence of centrally synergistic potential functions on the n-dimensional sphere, denoted by S~n, is a sufficient condition for the global asymptotic stabilization of a point in S~n. Additionally, if these functions decrease exponentially fast during flows and are bounded from above and from below by some polynomial function of the tracking error, then the reference point can be globally exponentially stabilized. We construct two kinds of centrally synergistic functions: the first kind consists of a finite family of potential functions on S~n while the second kind consists of an uncountable number of potential functions on S~n. While the former generates a simpler jump logic, the latter is optimal in the sense that it generates flows with minimal length.

关键词： Tin Manifolds Robots Trajectory Robustness Three-dimensional displays computers

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Creating Own AI Datasets from Different Language Sources Efficiently: Advantages, Disadvantages and Best Pracitces to Make Own Datasets 6

Creating Own AI Datasets from Different Language Sources Eff...

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6th IEEE International Conference and Workshop Obuda on Electrical and Power Engineering, CANDO-EPE 2023

作者： Molnar, Gyorgy Cserko, Jazsef Nagy, Eniko Balogh, Zoltan Óbuda University Kandó Kálmán Faculty of Electrical Engineering Budapest Hungary Széchenyi University János Csere Apáczai Faculty Győr Hungary John von Neumann University Gamf Faculty of Engineering and Computer Science Kecskemét Hungary Győr Hungary Institute of Cyberphysical Systems Óbuda University Antal Bejczy Center for Intelligent Robotics John von Neumann Faculty Budapest Hungary Constantine the Philosopher University in Nitra Faculty of Natural Sciences and Informatics Department of Informatics Nitra94901 Slovakia

ISBN: (纸本)9798350328752

Artificial Intelligence (AI) has become a ubiquitous technology that has the potential to revolutionize many industries. However, AI requires access to vast amounts of data to achieve its full potential. By understanding these data sources and the best practices for working with them, we can unlock the full potential of AI and create groundbreaking solutions that benefit society as a whole. Data sources can be utilized to train AI algorithms, including structured and unstructured data, but finding relevant datasets is challenging. The main problem is the international sources. Most of the datasets are available only in English or other common languages. However these are good sources, but translating them is expensive and time-consuming. This paper shows how to generate own datasets from open-source data with translation. © 2023 IEEE.

关键词： Artificial intelligence

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Implementation of IoT Concept for Early Diagnostic of Subacute Rumen Acidosis in Cows

Implementation of IoT Concept for Early Diagnostic of Subacu...

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Mediterranean Conference on Embedded Computing (MECO)

作者： Anatolijs Zabasta Nadezda Kunicina Uldis Grunde Janis Judvaitis Ilga Sematovica Institute of Industrial Electronics and Electrical Engineering Riga Technical University Riga Latvia Robotics and Machine Perception laboratory Institute of Electronics and Computer Science Riga Latvia Cyber-Physical Systems laboratory Institute of Electronics and Computer Science Riga Latvia Faculty of Veterinary Medicine of Latvia University of Life Sciences and Technologies Jelgava Latvia

ISBN: (数字)9781728169491

ISBN: (纸本)9781728169507

Highly productive dairy cow' ration under intensive production conditions causes the development of subacute rumen acidosis (SARA). In this paper we discuss a reticulo-ruminal long-acting cyber-physical diagnostic system' prototype, which applies Internet of Things (IoT) for monitoring rumen parameters of cows. The new diagnostic system architecture includes, reticulo-ruminal bolus with pH and temperature sensors, a microcontroller, a radio transmitter and a power supply module. The system includes gateways for data collection from boluses, an MQTT (Message Queuing Telemetry Transport) broker, a web server and a database. The diagnostic system' prototype provides timely data on cow health status to the users, so they can evaluate the cow' health status and implement further actions. Therefore, the use of diagnostic system provides opportunity to increase cow productivity, longevity and to save maintenance cost of milk farms. The results of the first stage of the research are discussed in this paper.

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Low-power wireless sensor network system for early diagnostic of subacute rumen acidosis in cows

Low-power wireless sensor network system for early diagnosti...

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IEEE Workshop on Advances in Information, Electronic and Electrical Engineering (AIEEE)

作者： Anatolijs Zabasta Nadezda Kunicina Kristaps Vitols Ilmars Duritis Uldis Grunde Janis Judvaitis Modris Greitans Ilga Sematovica Aija Malniece Ilja Galkins Institute of Electrical Engineering and Electronics EEF Riga Technical University Riga Latvia Faculty of Veterinary Medicine Latvia University of Life Sciences and Technologies Jelgava Latvia Robotics and Machine Perception laboratory Institute of Electronics and Computer Science Riga Latvia Cyber-Physical Systems laboratory Institute of Electronics and Computer Science Riga Latvia

High-yielding cow rations under intensive production conditions contribute to the development of subacute rumen acidosis (SARA), leading to pathologies such as rumenitis, laminitis, reproductive disorders, loss of productivity and reduced longevity. The aim of this work is to develop a reticulo-ruminal long-acting cyber-physical system for monitoring rumen parameters. Three scientific institutions in cooperation with two farmers conduct the research in order to create a prototype of a low-power wireless sensor network system for early diagnostic of subacute rumen acidosis of dairy cows. The new system architecture includes, reticulo-ruminal bolus with pH and temperature sensors, a microcontroller, a radio transmitter and a power supply module. The system includes a base station for data collection from boluses, an MQTT broker, a web server and a database. Data communication solution has been developed and tested in the laboratory, and micro-controllers have been selected and adapted for data processing. In addition, research is under way to create an autonomous long-term power supply system. Work shall be conducted in two directions: (a) stand-alone battery-powered electricity supply system; (b) an autonomous power supply system based on the generation of an electrostatic generator. The results of the initial stage of the research are discussed in this paper.

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Image and Command Transmission Over the 5G Network for Teleoperation of Mobile Robots

Image and Command Transmission Over the 5G Network for Teleo...

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Iberian robotics Conference (ROBOT)

作者： Thiago B. Levin João Miguel Oliveira Ricardo B. Sousa Manuel F. Silva Bruno S. Parreira Héber Miguel Sobreira Hélio Sousa Mendonça CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Portugal Faculty of Engineering University of Porto (FEUP) Portugal ISEP Polytechnic of Porto. Portugal NOS SGPS Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

Human oversight can benefit scenarios with complex tasks, such as pallet docking and loading and unloading containers, beyond the current capabilities of autonomous systems without any failures. Furthermore, teleoperation systems allow remote control of mobile ground robots, especially with the surge of 5G technology that promises reliable and low latency communication. Current works research on exploring the latest features from the 5G standard, including ultra-Reliable Low-Latency Communication (uRLLC) and network slicing. However, these features may not be available depending on the Internet Service Provider (ISP) and communication devices. Thus, this work proposes a network architecture for the teleoperation of ground mobile robots in industrial environments using commercially available devices over the 5G Non-Standalone (NSA) standard. Experimental results include an evaluation of the network and End-to-End (E2E) latency of the proposed system. The results show that the proposed architecture enables teleoperation, achieving an average E2E latency of 347.19 ms.

关键词： 5G mobile communication Network slicing Web and internet services Ultra reliable low latency communication Mobile robots Reliability Surges Standards Remote control Pallets

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An Efficient Scheme for Path Planning in Internet of Drones

An Efficient Scheme for Path Planning in Internet of Drones

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IEEE Global Communications Conference

作者： Aditya Goyal Nikhil Kumar Amit Dua Neeraj Kumar Joel J. P. C. Rodrigues Dushantha Nalin K. Jayakody Computer Science and Information Systems Department Birla Institute of Technology and Science Pilani Computer science and Engineering Department Thapar Institute of Engineering and Technology Punjab National Institute of Telecommunications (INATEL) Brazil Instituto de Telecomunicações Portugal Federal University of Piauí (UFPI) Brazil Faculty of Engineering Sri Lanka Technological Campus Sri Lanka School of Computer Science & Robotics National Research Tomsk Polytechnic University Russia

ISBN: (数字)9781728109626

ISBN: (纸本)9781728109633

The Internet of Drones (IoD) is a multi-layered, control architecture to regulate and coordinate the navigation of Unmanned Aerial Vehicles (UAV) in a shared public airspace. UAVs have the potential to be employed in public space for purposes like surveillance, monitoring, package delivery, emergency services, etc. For proper operation, an efficient path planning among IoD is required so that they can adaptively decide their path for data dissemination. Most of the existing solutions for this problem have made unreasonable assumptions and do not offer scalability. The scheme proposed in the paper provides a network architecture for the scalable solution of UAVs in an urban environment addressing issues of path planning, safety, privacy, and network connectivity. The scheme has been tested using exhaustive simulation and results prove that the proposed scheme is efficient in terms of reducing the overall cost and delivery time with the increasing weight of payload in the drones.

关键词： Drones Path planning Internet Navigation Atmospheric modeling Scalability Companies

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Optical Fiber Sensor for the Detection of Decarboxylation Products of Amino Acids 27

Optical Fiber Sensor for the Detection of Decarboxylation Pr...

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27th International Conference on Optical Fiber Sensors, OFS 2022

作者： Vasconcelos, Helena De Almeida, José M. M. M. Mendes, João Dias, Bernardo Jorge, Pedro A. S. Saraiva, Cristina Coelho, Luís C. C. School of Agrarian and Veterinary Sciences University of Trás-os-Montes E Alto Douro Vila Real5001-801 Portugal Faculty of Sciences INESC TEC-Institute for Systems and Computer Engineering University of Porto Technology and Science Porto4169-007 Portugal CIQUP - Chemistry Research Unit Chemistry and Biochemistry Department Faculty of Sciences University of Porto Porto4169-007 Portugal Department of Physics and Astronomy Faculty of Sciences University of Porto Porto4169-007 Portugal Department of Physics School of Science and Technology University of Trás-os-Montes E Alto Douro Vila Real5001-801 Portugal

Long period fiber gratings coated with TiO2 and poly(ethylene-co-vinyl acetate) (PEVA), a polymeric structure permeable biogenic amines found in foodstuff, were used to detect these compounds through the wavelength sh... 详细信息

ISBN: (纸本)9781957171142

关键词： Ethylene

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