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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Dabrowski, Adam Poznań University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Jana Pawla II 24 Poznań60-965 Poland

ISBN: (纸本)9788362065486

In this tutorial some basic linear algebra problems: basis change and projection, are discussed together with examples of their applications in signal and image processing. In typical linear algebra university courses perpendicular projections are only discussed. However, in image processing, for defining various color spaces, we need non-perpendicular projections. That is why this is the key problem in this tutorial. © 2024 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Matrix algebra

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Research on Control Methods for Electric Vehicle Networks Based on FlexRay Bus

Research on Control Methods for Electric Vehicle Networks Ba...

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2024 IEEE Transportation Electrification Conference and Expo, Asia-Pacific, ITEC Asia-Pacific 2024

作者： Xiaopeng, Huang Luwei, Gao Zheng, Zhang Chiyu, Zhang Shaanxi College Of Communication Technology Xi'an China Xi' An Jiaotong University Institute Of Robotics And Intelligent Systems School Of Mechanical Engineering Xi'an China

ISBN: (纸本)9798331529277

With the rapid development of electric, intelligent, and connected vehicles, the demand for onboard network technology in vehicles is increasing. The timeliness and robustness of onboard network technology have become key influencing factors for electric vehicle performance. CAN bus cannot meet the high-speed communication requirements of electric vehicles, while FlexRay bus become the preferred solution for intelligent development of electric vehicles due to its high bandwidth, reliability, determinism. This paper analyzes the, topology structure, and timeliness of Flex onboard network system. It also conducts in-depth research on the communication mechanism of FlexRay protocol and designs a FlexRay bus control suitable for data communication between complex onboard electronic control (ECUs). The design covers basic concepts of the FlexRay bus protocol, core transmission processes, data frame formats, encodingdecoding methods as well as implementation and simulation of multiple transmission modules. The functionality of transmission modules is simulated to complete the construction and design of the overall structure of the FlexRay controller. Finally, functional simulation and verification are performed on the designed FlexRay bus controller The test results show that this FlexRay bus controller performs well in terms of data transfer, real-time capability, and robustness;it can meet the requirements for onboard network technology electric vehicles. © 2024 IEEE.

关键词： control strategies FlexRay In-vehicle network technology Model-building Simulation verification

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Selective Privacy Control on Video Feed Using Pre-Trained DNN

Selective Privacy Control on Video Feed Using Pre-Trained DN...

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2024 IEEE International Conference on Intelligent Signal Processing and Effective Communication Technologies, INSPECT 2024

作者： Ghosh, Anupam Mukherjee, Sayan Khan, Shamir Singh, Swarit Anand Boby, Riby Abraham Indian Institute of Technology Jodhpur Inter-disciplinary Research Platform - Robotics and Mobility Systems Department of Mechanical Engineering Rajasthan Jodhpur342030 India

ISBN: (纸本)9798350379525

This article introduces an approach to provide privacy control on live video feeds using a pretrained D NN model. Due to privacy being a major concern in today's world, this approach would ensure the blurring of the faces in live feeds on a real-time basis to protect the privacy of participants. Users are also provided with the liberty to selectively blur/unblur the face of any specific participants as required, thereby providing enhanced flexibility and control over privacy settings during live video conferences or communications. The proposed approach also lets users upload a picture of someone. This ensures that the person's identity stays unobfuscated in the video stream. This feature comes in handy when some people are required to be seen, for example, in work meetings and online conferences. The developed solution can blur faces in real time and let users unblur or keep certain faces clear. This gives users a complete set of tools to handle privacy concerns. It tackles the growing concerns about facial privacy in our digital world. This solution enhances privacy during live video calls by utilizing advanced computer vision to selectively blur unwanted faces while maintaining clear visibility of intended participants. © 2024 IEEE.

关键词： Differential privacy

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Robust Global Attitude Tracking on SO(3) via MRP-based hybrid feedback 63

Robust Global Attitude Tracking on SO(3) via MRP-based hybri...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Martins, Luis Cardeira, Carlos Oliveira, Paulo Instituto Superior Técnico Universidade de Lisboa Institute of Mechanical Engineering Lisboa Portugal Instituto Superior Técnico Universidade de Lisboa Institute of Mechanical Engineering and the Institute for Systems and Robotics Lisboa Portugal

ISBN: (纸本)9798350316339

This paper introduces an innovative control solution to tackle the problem of robust attitude tracking for fully actuated rigid bodies. The approach resorts to the modified Rodrigues parameters (MRP), whose configuration manifold is a double cover of the three-dimensional rotation group, to design a dynamic hybrid controller that yields uniform global asymptotic and semi-global exponential tracking results in the covering space. The controller includes an integral term to deal with constant disturbances and a smoothing mechanism to generate a jump-free control signal. By relying on a hybrid dynamic path-lifting algorithm and novel equivalence of stability concepts, the authors demonstrate that the MRP-based dynamic controller globally asymptotically and semi-globally exponentially stabilizes the tracking dynamics in the base space SO(3) with robustness to small measurement noise and unknown fixed disturbances. The simulation results showcase the performance of the proposed hybrid controller. © 2024 IEEE.

关键词： Robustness (control systems)

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Microparticle orientation and pattern in a combined acoustic and magnetic field 26

Microparticle orientation and pattern in a combined acoustic...

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26th International Conference on Miniaturized systems for Chemistry and Life Sciences, MicroTAS 2022

作者： Zhang, Zhiyuan Ahmed, Daniel Acoustic Robotics Systems Laboratory Institute of Robotics and Intelligent Systems Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland

ISBN: (纸本)9781733419048

Microparticle manipulation actuating by external fields, magnetic fields and acoustic fields, are attractive for lab-on-chip systems and microscale medical applications since they allow for the manipulation of microparticles without contact, and unaffected by object opacity. The combination of both fields could overcome the limitations encountered by single actuation methods and provide more freedoms of operations. Here we demonstrate the intentional control over the local orientation and pattern of microparticles in a bulk liquid medium, impelled by a combination of magnetic and acoustic fields. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized systems for Chemistry and Life Sciences. All rights reserved.

关键词： Acoustic fields

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Crawling Gait Enables Stable Quadrupedal Locomotion in A Bioinspired Robotic Rat

Crawling Gait Enables Stable Quadrupedal Locomotion in A Bio...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Wang, Ruochao Quan, Xiaolong Xiao, Hang Du, Rongjie Qin, Boyang Shi, Qing Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China

ISBN: (纸本)9798350372601

Constrained by the performance of actuators and controllers, achieving stable walking in small-scale quadruped robots has been more challenging compared to larger ones. Rats, in their natural habitat, can achieve stable walking even in extreme environments like narrow spaces by utilizing crawling motion to lower their center of mass. Inspired by this, we conducted a comparative study of the walking stability between crawling and trot gaits on a ratinspired robot named SQuRo. Initially, we collected motion data for both crawling and trot gaits of SQuRo in a simulated environment. Subsequently, we analyzed the dynamic stability of the robot using Poincaré maps. The results indicate that SQuRo's phase trajectories converged into closed loops with periodicity under both gaits, demonstrating the presence of limit cycles. Moreover, fixed points were observed in the Poincaré maps for both gaits, suggesting the dynamic stability of quadrupedal locomotion. Compared to the trot gait, the convergence loops of the crawling gait phase trajectories were smaller, indicating more stable locomotion. We tested the performance of SQuRo's crawling gait in challenging outdoor environments, where SQuRo demonstrated stable walking consistently. This work provides a new approach for achieving stable walking in small-scale quadruped robots and can be readily applied to controller design across different sizes of legged robots. © 2024 IEEE.

关键词： Rats

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Geometric algebra methods in volumetric accuracy analysis

Geometric algebra methods in volumetric accuracy analysis

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作者： Navrátilová, Barbora Byrtus, Roman Holub, Michal Institute of Mathematics Faculty of Mechanical Engineering Brno University of Technology Brno Czech Republic Institute of Production Machines Systems and Robotics Faculty of Mechanical Engineering Brno University of Technology Brno Czech Republic

With the help of plane geometric algebra, we see volumetric errors as pure geometric objects. We use this identification to expand errors with respect to Abbe's principle into the whole working space with respect to some additional conditions. We show that geometric algebra helps us to understand errors in kinematics chains. We demonstrate our approach on a model example. © 2022 The Authors. Mathematical Methods in the Applied Sciences published by John Wiley & Sons Ltd.

关键词： Machine tools

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Camera-based light source localization for precise luminous intensity measurement of airport lamps 27

Camera-based light source localization for precise luminous ...

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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Podbucki, Kacper Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawla II 24 Poznań60-965 Poland

ISBN: (纸本)9788362065486

Measuring luminous intensity using electronic sensors requires their precise positioning. In the case of mobile measurement platforms, it is important to detect the light source and thus determine the correct direction of movement of the measuring device. This article presents research on a solution for the initial detection of glowing airport lamps based on camera images. The impact of the selection of parameters and image processing methods on the prepared data set was assessed. The histogram filtration method was introduced to improve the effectiveness of airport lamp localization. The proposed solution was investigated in different weather and daytime conditions. The overall accuracy of the proposed solution is more than 90%. © 2024 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Image enhancement

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Foreign Object Debris detection at aerodromes using YOLOv5 27

Foreign Object Debris detection at aerodromes using YOLOv5

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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Suder, Jakub Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawla II 24 Poznań60-965 Poland

ISBN: (纸本)9788362065486

The latest EASA recommendations from 2024 indicate the possibility of using machine learning techniques in aerodrome monitoring. The aim of the work was to analyze solutions and prepare FOD (Foreign Object Debris) object detection software on aerodromes. In order to implement the issue, a dataset of photos and video recordings for testing algorithms was developed. The dataset consists of 1480 photos showing FOD at aerodromes and photos of the runway itself, according to EASA and FAA recommendations. FOD detection was implemented using a classical, k-means method and effective YOLOv5. © 2024 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Video recording

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MATD3-Based End-Edge Collaborative Resource Optimization for NOMA-Assisted Industrial Wireless Networks

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Computers, Materials & Continua 2025年第2期82卷 3203-3222页

作者： Ru Hao Chi Xu Jing Liu College of Information Engineering Shenyang University of Chemical TechnologyShenyang110142China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China

Non-orthogonal multiple access (NOMA) technology has recently been widely integrated into multi-access edge computing (MEC) to support task offloading in industrial wireless networks (IWNs) with limited radio resources. This paper minimizes the system overhead regarding task processing delay and energy consumption for the IWN with hybrid NOMA and orthogonal multiple access (OMA) schemes. Specifically, we formulate the system overhead minimization (SOM) problem by considering the limited computation and communication resources and NOMA efficiency. To solve the complex mixed-integer nonconvex problem, we combine the multi-agent twin delayed deep deterministic policy gradient (MATD3) and convex optimization, namely MATD3-CO, for iterative optimization. Specifically, we first decouple SOM into two sub-problems, i.e., joint sub-channel allocation and task offloading sub-problem, and computation resource allocation sub-problem. Then, we propose MATD3 to optimize the sub-channel allocation and task offloading ratio, and employ the convex optimization to allocate the computation resource with a closed-form expression derived by the Karush-Kuhn-Tucker (KKT) conditions. The solution is obtained by iteratively solving these two sub-problems. The experimental results indicate that the MATD3-CO scheme, when compared to the benchmark schemes, significantly decreases system overhead with respect to both delay and energy consumption.

关键词： Industrial wireless networks(IWNs) multi-access edge computing(MEC) non-orthogonal multiple access(NOMA) task offloading resource allocation

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