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arXiv 2024年

作者： Zhang, Jiabao Zhang, Yu State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou China

Mapping plays a crucial role in location and navigation within automatic systems. However, the presence of dynamic objects in 3D point cloud maps generated from scan sensors can introduce map distortion and long traces, thereby posing challenges for accurate mapping and navigation. To address this issue, we propose ERASOR++, an enhanced approach based on the Egocentric Ratio of Pseudo Occupancy for effective dynamic object removal. To begin, we introduce the Height Coding Descriptor, which combines height difference and height layer information to encode the point cloud. Subsequently, we propose the Height Stack Test, Ground Layer Test, and Surrounding Point Test methods to precisely and efficiently identify the dynamic bins within point cloud bins, thus overcoming the limitations of prior approaches. Through extensive evaluation on open-source datasets, our approach demonstrates superior performance in terms of precision and efficiency compared to existing methods. Furthermore, the techniques described in our work hold promise for addressing various challenging tasks or aspects through subsequent migration. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

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AirVista: Empowering UAVs with 3D Spatial Reasoning Abilities Through a Multimodal Large Language Model Agent 27

AirVista: Empowering UAVs with 3D Spatial Reasoning Abilitie...

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27th IEEE International Conference on Intelligent Transportation systems, ITSC 2024

作者： Lin, Fei Tian, Yonglin Wang, Yunzhe Zhang, Tengchao Zhang, Xinyuan Wang, Fei-Yue State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Capital University of Economics and Business Beijing100070 China University of Chinese Academy of Sciences Department of Artificial Intelligence Beijing100049 China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing100190 China Macau University of Science and Technology Faculty of Innovation Engineering Department of Engineering Science 999078 China

ISBN: (纸本)9798331505929

In urban environments, complex transportation demands, including land, air, and maritime transport, are increasingly growing. While significant advancements have been made in land transportation and autonomous driving, research on urban air mobility (UAM) systems is still in its early stages. This paper presents an innovative urban air unmanned aerial vehicle (UAV) framework: AirVista, which is designed and built based on the Artificial systems, Computational experiments, and Parallel execution (ACP) approach, integrated with a multimodal large language model (MLLM) agent. Considering that UAM tasks often require UAVs to possess fine-grained spatial perception and reasoning capabilities, and given that existing MLLMs are somewhat lacking in exploring 3D spaces, this paper further proposes an instruction fine-tuning strategy integrated with 3D spatial knowledge, which has been validated experimentally for its effectiveness. Additionally, to enhance the understanding of the efficiency of MLLM for UAV tasks, this paper delves into prompt fine-tuning templates tailored for UAV task decomposition. Through experimental demonstrations, we showcase that the prompt-tuned MLLM exhibits efficient task decomposition and execution capabilities in handling complex UAV tasks. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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LI-GS: Gaussian Splatting with LiDAR Incorporated for Accurate Large-Scale Reconstruction

arXiv

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arXiv 2024年

作者： Jiang, Changjian Gao, Ruilan Shao, Kele Wang, Yue Xiong, Rong Zhang, Yu State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Key Laboratory of Collaborative sensing and autonomous unmanned systems of Zhejiang Province Hangzhou China

Large-scale 3D reconstruction is critical in the field of robotics, and the potential of 3D Gaussian Splatting (3DGS) for achieving accurate object-level reconstruction has been demonstrated. However, ensuring geometric accuracy in outdoor and unbounded scenes remains a significant challenge. This study introduces LI-GS, a reconstruction system that incorporates LiDAR and Gaussian Splatting to enhance geometric accuracy in large-scale scenes. 2D Gaussain surfels are employed as the map representation to enhance surface alignment. Additionally, a novel modeling method is proposed to convert LiDAR point clouds to plane-constrained multimodal Gaussian Mixture Models (GMMs). The GMMs are utilized during both initialization and optimization stages to ensure sufficient and continuous supervision over the entire scene while mitigating the risk of over-fitting. Furthermore, GMMs are employed in mesh extraction to eliminate artifacts and improve the overall geometric quality. Experiments demonstrate that our method outperforms state-of-the-art methods in large-scale 3D reconstruction, achieving higher accuracy compared to both LiDAR-based methods and Gaussian-based methods with improvements of 52.6% and 68.7%, respectively. Copyright © 2024, The Authors. All rights reserved.

关键词： Optical radar

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A Study of Structured Surface Generation on Tungsten Carbide by Electrical Discharge Machining with Self-assemble Ball Electrodes 38

A Study of Structured Surface Generation on Tungsten Carbide...

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38th Annual Meeting of the American Society for Precision Engineering, ASPE 2023

作者： Li, Kangsen Cheung, Chi Fai Wang, Chunjin Gong, Feng State key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems Engineering Hongkong Polytechnic University Hong Kong Hong Kong Shenzhen Key Laboratory of High Performance Nontraditional Manufacturing College of Mechatronics and Control Engineering Shenzhen University Guangdong Shenzhen China

ISBN: (纸本)9781887706599

Electrical discharge machining (EDM) has been extensively utilized in the precision manufacturing of difficult-to-cut material. The preparation of electrodes is of great importance for structured surface generation after EDM. Electrode wear is an inevitable problem, which affects the machining accuracy and efficiency of the workpiece. Therefore, the design and optimization of the electrodes are vital for the EDM process. In this paper, a novel self-assembly ball electrode for EDM of the structured array on the binderless tungsten carbide (WC) is proposed. The shape evolution and surface roughness of the structured surface was investigated. The result indicates that self-assembly ball electrodes have a great advantage in machining the structured surface arrays. © 2023 Proceedings - ASPE 2023 Annual Meeting. All rights reserved.

关键词： Tungsten carbide

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Data-driven Modeling of Nonlinear Joints in Space Structures 41

Data-driven Modeling of Nonlinear Joints in Space Structures

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第41届中国控制会议

作者： Yonglei Zhang Xiaoyu Wang Xinyuan Li Hao Wen Shidong Xu State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The existence of nonlinear joints has a great influence on the dynamics of large flexible sapce *** a prerequisite of attitude control and vibration suppression of flexible spacecraft,it is of great importance to establish highconfidence models of joints to predict its dynamic characteristics ***,a single-degree-of-freedom model of the nonlinear joint is established based on the describing function method and harmonic balance method(HBM).In particular,the dynamic funtions of the joints with cubic stiffness and freeplay nonlinearity are derived,and the response and external excitation data are used to train surrogate models by a multi-step DNN *** validity of the data-driven modeling approach is further verified by response prediction under a different excition ***,the characteristic of an unknown nonlinearjoint is revealed by the data-driven modeling approach based on the experimental data.

关键词： Nonlinear joints space structures data-driven modeling response prediction

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ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic Object Removal for Static Point Cloud Mapping

ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jiabao Zhang Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

关键词： Point cloud compression Technological innovation Accuracy Three-dimensional displays Image analysis Navigation Encoding

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From DAO to TAO: Finding the Essence of Decentralization

From DAO to TAO: Finding the Essence of Decentralization

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2023 IEEE International Conference on systems, Man, and cybernetics, SMC 2023

作者： Li, Juanjuan Liang, Xiaolong Qin, Rui Wang, Fei-Yue Institute of Automation State Key Laboratory of Multimodal Artificial Intelligence Systems Chinese Academy of Sciences Beijing100190 China Macau University of Science and Technology Faculty of Innovation Engineering Macau999078 China Institute of Automation State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9798350337020

Decentralized Autonomous Organizations (DAOs) have been gaining popularity in recent years due to their promise of realizing the decentralized Web 3.0. However, most DAOs rely heavily on token-centric value systems as well as allocate decision-making authority and yield-sharing rights according to the held tokens, which often lead to monopolization of power and rights. To address this issue, this paper contributes to propose a truly democratic organization model, named True Autonomous Organizations and Operations (TAOs), that does not count upon tokens and is guided by principles of contribution-based and on-demand allocation. We first discuss the design of TAOs, including their infrastructures, power structures, and value systems, and then provide a technical roadmap for implementing TAOs in the DeSci context. This research can provide a valuable guidance for the construction and application of TAOs. © 2023 IEEE.

关键词： Decentralized Autonomous Organizations and Operations (DAOs) governance systems open consortium blockchain True Autonomous Organizations and Operations (TAOs) value systems

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BEVTransFusion: LiDAR-Camera Fusion Under Bird’s-Eye-View for 3D Object Detection with Transformers

BEVTransFusion: LiDAR-Camera Fusion Under Bird’s-Eye-View f...

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Pattern Recognition and Machine Learning (PRML), IEEE International Conference on

作者： Kaiqi Feng Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology Key Laboratory of Collaborative sensing and autonomous unmanned systems of Zhejiang Province College of Control Science and Engineering Zhejiang University Hangzhou China

Recently, there is growing research interest in extracting Bird’s-Eye-View (BEV) features from images and LiDAR to improve 3D object detection. However, existing methods mainly combine the features mechanically, which limits the utilization of BEV features. To address this limitation, we draw inspiration from TransFusion and design a two-layer transformer decoder to fuse LiDAR and camera BEV features. By doing so, we can omit the steps of reference point backprojection and feature sampling, which results in better correlation between the fused LiDAR and image features and higher robustness to the calibration matrix. Furthermore, we add 3D position encoding to the BEV features to compensate for the lack of height information. We also propose an length-width-height modulated attention mechanism to incorporate scale information. We also perform comprehensive experiments to verify the effectiveness of our methods.

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Resilient Event-Triggered Model Predictive control for Adaptive Cruise control Under Sensor Attacks

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 807-809页

作者： Zhijian Hu Rong Su Kai Zhang Zeyuan Xu Renjie Ma School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore Key Laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technologyand the Center of Ultra-Precision Optoelectronic Instrument EngineeringHarbin Institute of TechnologyHarbin 150001China Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Department of Chemical and Biomolecular Engineering National University of SingaporeSingapore 117585Singapore State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China IEEE

Dear Editor,This letter addresses the resilient model predictive control(MPC)problems for adaptive cruise control(ACC)systems under sensor *** the light of vulnerabilities of ACC systems to sensor attacks,an intrusion detection mechanism is proposed at the controller side to distinguish abnormal ***,the robust control gains are derived to design the terminal region constraint for MPC.

关键词： Trigger Event constraint

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The use of machine learning to predict the effects of cryoprotective agents on the GelMA-based bioinks used in extrusion cryobioprinting

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Bio-Design and Manufacturing 2023年第4期6卷 464-477页

作者： Qian Qiao Xiang Zhang Zhenhao Yan Chuanyu Hou Juanli Zhang Yong He Na Zhao Shujie Yan Youping Gong Qian Li School of Mechanics and Safety Engineering Zhengzhou UniversityZhengzhou 450001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China NMPA Key Laboratory for Quality Control of In Vitro Diagnostics Henan Institute of Medical Device InspectionsZhengzhou 450003China School of Mechanical Engineering Hangzhou Dianzi UniversityHangzhou 310018China National Center for International Joint Research of Micro-Nano Molding Technology Zhengzhou UniversityZhengzhou 450001China Key Laboratory for Micro Molding Technology of Henan Province Zhengzhou UniversityZhengzhou 450001China

Cryobioprinting has tremendous potential to solve problems to do with lack of shelf availability in traditional bioprinting by combining extrusion bioprinting and *** order to ensure the viability of cells in the frozen state and avoid the possible toxicity of dimethyl sulfoxide(DMSO),DMSO-free bioink design is critical for achieving successful cryobioprinting.A nontoxic gelatin methacryloyl-based bioink used in cryobioprinting is composed of cryoprotective agents(CPAs)and a buffer *** selection and ratio of CPAs in the bioink directly affect the survival of cells in the frozen ***,the development of universal and efficient cryoprotective bioinks requires extensive *** first compared two commonly used CPA formulations via experiments in this *** show that the effect of using ethylene glycol as the permeable CPA was 6.07%better than that of *** datasets were obtained and four machinelearning models were established to predict experimental *** predictive powers of multiple linear regression(MLR),decision tree(DT),random forest(RF),and artificial neural network(ANN)approaches were compared,suggesting an order of ANN>RF>DT>*** final selected ANN model was then applied to another *** reveal that this machine-learning method can accurately predict the effects of cryoprotective bioinks composed of different *** also suggest that the formulations presented here have *** findings are likely to greatly accelerate research and development on the use of bioinks for cryobioprinting.

关键词： Cryobioprinting Cryoprotective bioink 3D bioprinting Machine learning Artificial intelligence Prediction model

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