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arXiv 2020年

作者： Morais, Leonardo Assis Weinhold, Till de Almeida, Marcelo Pereira Combes, Joshua Rambach, Markus Lita, Adriana Gerrits, Thomas Nam, Sae Woo White, Andrew G. Gillett, Geoff Centre for Engineered Quantum Systems University of Queensland QLD4072 Australia School of Mathematics and Physics University of Queensland QLD4072 Australia Department of Electrical Computer and Energy Engineering University of Colorado Boulder BoulderCO80309 United States National Institute of Standards and Technology 325 Broadway BoulderCO80305 United States Quantum Valley Ideas Lab WaterlooONN2L 6R2 Canada

Superconducting transition-edge sensors (TES) are sensitive microcalorimeters used as photon detectors with unparalleled energy resolution. They have found applications from measuring astronomical spectra through to determining the quantum property of photon-number, nˆ=â†â, for energies from 0.6-2.33 eV. However, achieving optimal energy resolution requires considerable data acquisition-on the order of 1 GB/min-followed by post-processing, preventing real-time access to energy information. We report a custom hardware processor to process TES pulses while new detection events are still being registered, allowing the photon-number to be measured in real time. We resolve photon-number up to n=16-achieving up to parts-per-billion discrimination for low photon-numbers on the fly-providing transformational capacity for TES applications from astronomy to quantum technology. © 2020, CC BY-NC-SA.

关键词： Data acquisition

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Pedestrian Dead Reckoning with Turn-Based Correction

Pedestrian Dead Reckoning with Turn-Based Correction

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Yonghao Zhao Wai-Choong Wong Hari Krishna Garg Tianyi Feng Department of Electrical and Computer Engineering Smart Systems Institute National University of Singapore Singapore

Pedestrian dead reckoning (PDR) is a popular localization approach. However, PDR is error prone at turning points. During a turn, a small error in heading estimation can cause severe accumulated positioning errors thereafter. In this paper, we propose a turn-based correction approach which aims to reduce the potential accumulated errors caused by inaccurate heading estimations during turns. We consider a crowdsourcing environment in which previous users' data can help in the positioning of current users. For previous and current users moving in reverse directions and turn at the same position, we match the previous user's turning position with the current user's using Kullback-Leibler (KL) divergence based on the received signal strength (RSS) scans collected. Upon a match, the previous user's pre-turn positions can be used to improve the post-turn positions of the current user. Tests are done for different types of paths and the results show that the proposed approach can effectively reduce the PDR errors caused by inaccurate heading estimations at turning points.

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Wasserstein distributionally robust stochastic control: A data-driven approach

arXiv

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arXiv 2018年

作者： Yang, Insoon Department of Electrical and Computer Engineering Automation and Systems Research Institute Seoul National University

Standard stochastic control methods assume that the probability distribution of uncertain variables is available. Unfortunately, in practice, obtaining accurate distribution information is a challenging task. To resolve this issue, we investigate the problem of designing a control policy that is robust against errors in the empirical distribution obtained from data. This problem can be formulated as a two-player zero-sum dynamic game problem, where the action space of the adversarial player is a Wasserstein ball centered at the empirical distribution. We propose computationally tractable value and policy iteration algorithms with explicit estimates of the number of iterations required for constructing an ∊-optimal policy. We show that the contraction property of associated Bellman operators extends a single-stage out-of-sample performance guarantee, obtained using a measure concentration inequality, to the corresponding multi-stage guarantee without any degradation in the confidence level. In addition, we characterize an explicit form of the optimal distributionally robust control policy and the worst-case distribution policy for linear-quadratic problems with Wasserstein penalty. Our study indicates that dynamic programming and Kantorovich duality play a critical role in solving and analyzing the Wasserstein distributionally robust stochastic control problems. Copyright © 2018, The Authors. All rights reserved.

关键词： Robust control

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Intensive summer course in robotics – Robotcraft

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Applied Computing and Informatics 2018年第1-2期16卷 155-179页

作者： Ferreira, N.M. Fonseca Araujo, André Couceiro, M.S. Portugal, David Department of Electrical Engineering (DEE) Engineering Institute of Coimbra (ISEC) Polytechnic of Coimbra (IPC) Rua Pedro Nunes – Quinta da Nora Coimbra Portugal GECAD - Knowledge Research Group on Intelligent Engineering and Computing for Advanced Innovation Development of the Engineering Institute of Porto (ISEP) Polytechnic Institute of Porto (IPP) Porto Portugal INESC TEC – Institute for Systems and Computer Engineering Technology and Science Porto Portugal Ingeniarius Lda Coimbra Portugal

This paper describes a two-month summer intensive course designed to introduce participants with a hands-on technical craft on robotics and to acquire experience in the low-level details of embedded systems. Attendants started this course with a brief introduction to robotics;learned to draw, design and create a personalized 3D structure for their mobile robotic platform and developed skills in embedded systems. They were familiarize with the practices used in robotics, learning to connect all sensors and actuator, developing a typical application on differential kinematic using Arduino, exploring ROS features under Raspberry Pi environment and Arduino – Raspberry Pi communication. Different paradigms and some real applications and programming were addressed on the topic of Artificial Intelligence. Throughout the course, participants were introduced to programming languages (including Python and C++), advanced programming concepts such as ROS, basic API development, system concepts such as I2C and UART serial interfaces, PWM motor control and sensor fusion to improve robotic navigation and localization. This paper describes not just the concept, layout and methodology used on RobotCraft 2017 but also presents the participants knowledge background and their overall opinions, leading to focus on lessons learned and suggestions for future editions. © 2018, N.M. Fonseca Ferreira, André Araujo, M.S. Couceiro and David Portugal.

关键词： International trends in educational robotics Project-based learning ROS

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Semidefinite relaxation-based optimization of Yagi-Uda array antennas 12

Semidefinite relaxation-based optimization of Yagi-Uda array...

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12th European Conference on Antennas and Propagation, EuCAP 2018

作者： Lang, Hans-Dieter Sarris, Costas D. ICOM - Institute for Communication Systems HSR Hochschule für Technik Rapperswil Rapperswil Switzerland Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto TorontoON Canada

ISBN: (纸本)9781785617911

The semidefinite relaxation-based optimization framework developed for finding the physical limits on the performance of WPT systems is adopted for optimization of antenna array gain in the far-field. The technique is adapted to account for typical antenna design requirements by adding power constraints for impedance matching considerations. Simulation examples and comparisons to global optimization verify the applicability, versatility and reliability of this powerful and general method in the context of Yagi-Uda array antennas. © Institution of engineering and *** Rights Reserved.

关键词： Convex optimization

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Exponential convergence for distributed smooth optimization under the restricted secant inequality condition

arXiv

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arXiv 2019年

作者： Yi, Xinlei Zhang, Shengjun Yang, Tao Johansson, Karl H. Chai, Tianyou Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden Department of Electrical Engineering University of North Texas DentonTX76203 United States State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China

This paper considers the distributed smooth optimization problem in which the objective is to minimize a global cost function formed by a sum of local smooth cost functions, by using local information exchange. The standard assumption for proving exponential/linear convergence of first-order methods is the strong convexity of the cost functions, which does not hold for many practical applications. In this paper, we first show that the continuous-time distributed primal-dual gradient algorithm converges to one global minimizer exponentially under the assumption that the global cost function satisfies the restricted secant inequality condition. This condition is weaker than the strong convexity condition since it does not require convexity and the global minimizers are not necessary to be unique. We then show that the discrete-time distributed primal-dual algorithm constructed by using the Euler's approximation method converges to one global minimizer linearly under the same condition. The theoretical results are illustrated by numerical simulations. Copyright © 2019, The Authors. All rights reserved.

关键词： Continuous time systems

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Gait speed tracking system using UWB radar 12

Gait speed tracking system using UWB radar

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12th European Conference on Antennas and Propagation, EuCAP 2018

作者： Lau, Bernard Haider, Sahar Boroomand, Ameneh Shaker, George Boger, Jennifer Morita, Plinio Department of Electrical and Computer Engineering University of Waterloo Waterloo Canada Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo Canada Department of Systems Design Engineering University of Waterloo Waterloo Canada Department of Applied Health Sciences University of Waterloo Waterloo Canada Research Institute of Aging University of Waterloo Waterloo Canada

ISBN: (纸本)9781785617911

The ability to measure the level of activity among older adults is crucial in assessing any signs of cognitive disorders, dementia, falls and/or mortality. The use of continuous gait monitoring devices can aid in early interventions and risk detection in a frequent and accurate manner. The paper presents a study which utilizes an ultra-wide band (UWB) radar for gait speed detection. The experiment was performed on six healthy young individuals in three different speed categories i.e. slow, normal and fast. The speed measurements from the radar were then compared against the data gathered from a GAITRite mat (the gold standard commercial sensor-loaded mat for the detection of walking speed) to determine the accuracy of data acquired from the radar. © Institution of engineering and *** Rights Reserved.

关键词： Ultra-wideband (UWB)

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Congestion and Emissions Reduction in Freeway Traffic Networks via Supervisory Event-triggered Control

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IFAC-PapersOnLine 2017年第1期50卷 4240-4245页

作者： Ferrara A. Pasquale C. Sacone S. Siri S. Department of Electrical Computer and Biomedical Engineering University of Pavia Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy

This paper proposes an innovative control scheme for regulating traffic in freeway networks via ramp metering in order to reduce congestion and traffic emissions. The control scheme is composed by a supervisor, acting at a higher level, which receives measurements from the whole network and periodically makes a prediction on the system evolution, and by local feedback controllers, acting at a lower level. These latter are extended PI-ALINEA controllers which compute the control action not only on the basis of measurements immediately downstream the on-ramp, as in standard PI-ALINEA, but also on the basis of other measurements or predictions referred to farther locations which are time-varying and communicated by the supervisor. The supervisor decides when the control law of extended PI-ALINEA controllers needs to be changed according to an event-triggered logic. © 2017

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Smooth Behavioral Estimation for Ramp Merging Control in Autonomous Driving

Smooth Behavioral Estimation for Ramp Merging Control in Aut...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Dong, Chiyu Dolan, John M. Litkouhi, Bakhtiar Department of Electrical and Computer Engineering Carnegie Mellon University PittsburghPA15213 United States Robotics Institute Carnegie Mellon University PittsburghPA15213 United States GM R and D Center WarrenMI48090 United States

ISBN: (纸本)9781538644522

Cooperative driving behavior is essential for driv- ing in traffic, especially for ramp merging, lane changing or navigating intersections. Autonomous vehicles should also man- age these situations by behaving cooperatively and naturally. In this paper, we enhance our previous learning-based method to efficiently estimate other vehicles' intentions and interact with them in ramp merging scenarios, without over-the-air commu- nication between vehicles. The proposed approach inherits our previous Probabilistic grahpical Model (PGM) and distance- keeping framework. Real driving trajectories are used to learn transition models in the PGM. Thus, besides the structure of the PGM, our method does not require human-designed reward or cost functions. The PGM-based intention estimation is followed by an off-the-shelf distance-keeping model to generate proper acceleration/deceleration controls. The PGM plays a plug-in role in our self-driving framework. The new model eliminates two assumptions in the previous model: 1) a fixed merging point for all merging agents, which is hard to determine before the merging vehicles make the merge;2) Perfect velocity mea- surement, which requires sophisticated perception systems. We validate the performance of our method both on real merging data and using a designed merging strategy in simulation, and show significant improvements compared with previous methods. Parameter design is also discussed by experiments. The new method is computationally efficient, and exhibits better robustness against sensing uncertainty. © 2018 IEEE.

关键词： Merging

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Benchmarking quality-dependent and cost-sensitive score-level multimodal biometric fusion algorithms

arXiv

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arXiv 2021年

作者： Poh, Norman Bourlai, Thirimachos Kittler, Josef Allano, Lorene Alonso-Fernandez, Fernando Ambekar, Onkar Baker, John Dorizzi, Bernadette Fatukasi, Omolara Fierrez, Julian Ganster, Harald Ortega-Garcia, Javier Maurer, Donald Salah, Albert Ali Scheidat, Tobias Vielhauer, Claus Centre for Vision Speech and Signal Processing School of Electronics and Physical Sciences University of Surrey Guildford SurreyGU2 7XH United Kingdom Biometrics Center Lane Department of Computer Science and Electrical Engineering College of Engineering and Mineral Resources West Virginia University MorgantownWV26506-6109 United States Institut Telecom Telecom and Management SudParis Evry91011 France Biometric Recognition Group – ATVS Escuela Politecnica Superior Universidad Autonoma de Madrid Madrid28049 Spain Amsterdam1098 XG Netherlands Applied Physics Laboratory Johns Hopkins University LaurelMD20723 United States Electronics and Physics Department Institut Telecom Telecom and Management SudParis Evry91011 France Institute of Digital Image Processing Joanneum Research Graz8010 Austria ISLA-ISIS University of Amsterdam Amsterdam1098 XG Netherlands Department of Informatics and Media Brandenburg University of Applied Sciences Brandenburg an der HavelD-14770 Germany Research Group Multimedia and Security Department of Technical and Business Information Systems Faculty of Computer Science Otto-von-Guericke-University of Magdeburg MagdeburgD-39106 Germany

Automatically verifying the identity of a person by means of biometrics (e.g., face and fingerprint) is an important application in our day-to-day activities such as accessing banking services and security control in airports. To increase the system reliability, several biometric devices are often used. Such a combined system is known as a multimodal biometric system. This paper reports a benchmarking study carried out within the framework of the BioSecure DS2 (Access Control) evaluation campaign organized by the University of Surrey, involving face, fingerprint, and iris biometrics for person authentication, targeting the application of physical access control in a medium-size establishment with some 500 persons. While multimodal biometrics is a well-investigated subject in the literature, there exists no benchmark for a fusion algorithm comparison. Working towards this goal, we designed two sets of experiments: quality-dependent and cost-sensitive evaluation. The quality-dependent evaluation aims at assessing how well fusion algorithms can perform under changing quality of raw biometric images principally due to change of devices. The cost-sensitive evaluation, on the other hand, investigates how well a fusion algorithm can perform given restricted computation and in the presence of software and hardware failures, resulting in errors such as failure-to-acquire and failure-to-match. Since multiple capturing devices are available, a fusion algorithm should be able to handle this nonideal but nevertheless realistic scenario. In both evaluations, each fusion algorithm is provided with scores from each biometric comparison subsystem as well as the quality measures of both the template and the query data. The response to the call of the evaluation campaign proved very encouraging, with the submission of 22 fusion systems. To the best of our knowledge, this campaign is the first attempt to benchmark quality-based multimodal fusion algorithms. In the presence of changing

关键词： Benchmarking

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