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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Performance and energy-aware bi-objective tasks scheduling for cloud data centers 6

Performance and energy-aware bi-objective tasks scheduling f...

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6th Information systems International Conference, ISICO 2021

作者： Materwala, Huned Ismail, Leila Intelligent Distributed Computing and Systems Research Laboratory Department of Computer Science and Software Engineering College of Information Technology United Arab Emirates University Al Ain Abu Dhabi 15551 United Arab Emirates National Water and Energy Center United Arab Emirates University Al Ain Abu Dhabi United Arab Emirates

Cloud computing enables remote execution of users' tasks. The pervasive adoption of cloud computing in smart cities' services and applications requires timely execution of tasks adhering to Quality of Services (QoS). However, the increasing use of computing servers exacerbates the issues of high energy consumption, operating costs, and environmental pollution. Maximizing the performance and minimizing the energy in the cloud data center is challenging. In this paper, we propose a performance and energy optimization bi-objective algorithm to trade off the contradicting performance and energy objectives. An evolutionary algorithm-based multi-objective optimization is for the first time proposed using system performance counters. The performance of the proposed model is evaluated using a realistic cloud dataset in a cloud computing environment. Our experimental results achieve higher performance and lower energy consumption compared to a state-of-the-art algorithm. © 2021 The Authors. Published by Elsevier B.V.

关键词： Quality of service

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Virtualizing modern high-speed interconnection networks with performance and scalability

Virtualizing modern high-speed interconnection networks with...

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作者： Li, Bo Huo, Zhigang Zhang, Panyong Meng, Dan National Research Center for Intelligent Computing Systems Institute of Computing Technology Chinese Academy of Sciences Beijing China Key Laboratory of Computer System and Architecture Chinese Academy of Sciences Beijing China Graduate University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9780769542201

As one of the most important enabling technologies of cloud computing, virtualization brings to HPC good manageability, online system maintenance, performance isolation and fault isolation. Furthermore, previous study on VMM-bypass I/O that virtualizes OS-bypass networks (e.g. Infini- Band) relieved the worry of performance degradation coming along with virtualization. In this paper, we address the scalability challenges imposed upon OS-bypass networks under virtualized environments. The eXtended Reliable Connection (XRC) transport, proposed in modern high-speed interconnection networks to address the scalability problem in large scale applications, would not work in virtualized environments. To solve the problem, we propose VM-proof XRC design to eliminate the scalability gap between virtualized and native environments. Prototype evaluation shows that the virtualization of modern high-speed interconnection networks could get the same raw performance and scalability as in native non-virtualized environment with our VM-proof XRC design. The connection memory scalability shows a potential of 16 times improvement on virtualized clusters composed of 16-core nodes. © 2010 IEEE.

关键词： Scalability

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Energy-Aware Edge-Cloud Computation Offloading for Smart Connected Health 8

Energy-Aware Edge-Cloud Computation Offloading for Smart Con...

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8th International Conference on Future Internet of Things and Cloud, FiCloud 2021

作者： Materwala, Huned Ismail, Leila United Arab Emirates University Intelligent Distributed Computing and Systems Research Laboratory College of Information Technology Department of Computer Science and Software Engineering Abu Dhabi Al Ain15551 United Arab Emirates National Water and Energy Center United Arab Emirates University Abu Dhabi Al Ain United Arab Emirates

ISBN: (纸本)9781665425742

Smart connected healthcare is an emerging technology in the context of smart cities. The connected network aims to provide efficient and effective remote patient care. In such scenarios, edge and clouds come into the picture to offload computation from sensors and mobile devices, monitoring patient's health conditions, having limited processing capabilities to the edge and/or the cloud. The problem of optimizing the energy consumption of the edge and cloud servers in this offloading scenario is crucial. However, existing research efforts focus on sensors or cloud energy optimization. They do not consider the edge and cloud as part of the offloading strategy. In this paper, we address this void by proposing a novel energy-aware offloading algorithm for smart connected healthcare, which optimizes the energy of the edge-cloud computing platform for compute-intensive applications. The experimental results show that our proposed algorithm is a promising approach to energy savings. © 2021 IEEE.

关键词： Energy efficiency

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Secure and Privacy-Preserving Lightweight Blockchain for Energy Trading 8

Secure and Privacy-Preserving Lightweight Blockchain for Ene...

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8th International Conference on Future Internet of Things and Cloud, FiCloud 2021

作者： Materwala, Huned Ismail, Leila College of Information Technology United Arab Emirates University Intelligent Distributed Computing and Systems Research Laboratory Department of Computer Science and Software Engineering Abu Dhabi Al Ain15551 United Arab Emirates National Water and Energy Center United Arab Emirates University Abu Dhabi Al Ain United Arab Emirates

ISBN: (纸本)9781665425742

Renewable energy is gaining wide attention to address the issues, such as depleting resources and environmental degradation, linked with the current non-renewable energy. However, storing renewable energy is challenging. Consequently, energy trading is required to transfer the surplus amount of renewable energy from the prosumers to the consumers. The current centralized energy trading system is less secure and involves large transmission losses and high overheads. The decentralization, replication, immutability, and transparency characteristics of blockchain show a promising potential to address the inherent issues of centralized energy trading. However, the existing blockchain-based energy trading suffers from the drawbacks such as limited scalability, high energy loss, and low transaction throughput. In this paper, we propose a secure and privacy-preserving lightweight blockchain for energy trading that reduces the computational and communication overhead compared to the bitcoin network. This is by clustering the prosumers and perform the energy trading through a cluster head. Our experimental results show the potential of our architecture. © 2021 IEEE.

关键词： Scalability

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An Obstacle Avoidance Path Planning Algorithm for Manipulator in Deep Crate Grasping

An Obstacle Avoidance Path Planning Algorithm for Manipulato...

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2023 China Automation Congress, CAC 2023

作者： Yao, Zhuobin Gan, Yahui Han, Zao Gao, Huan Li, Ang School of Automation Southeast University Key Laboratory of Measurement and Control of Systems of Engineering Ministry of Education NanJing China Intel Joint Research Institute on Intelligent Edge Computing Nanjing YingQi Intelligent Technology Co. Ltd. NanJing China

ISBN: (纸本)9798350303759

The deep crate grasping problem is a major challenge for manipulator in industrial applications. In order to solve the issue of deep crate grasping and ensure the path quality of the algorithm, this paper proposes a new hybrid obstacle avoidance planning algorithm based on goal-biased rapidly exploring random tree and improved artificial potential field (RRT-APF). Initially, the algorithm strategizes an efficient trajectory for the working element within the operational area. Subsequently, it dissects this trajectory through sampling, creating a sequence of sub-target points. These points serve as the basis for obstacle avoidance planning within the manipulator's configuration space, mitigating planning complexities. Moreover, the RRT algorithm is employed to address the challenge of local optima within the artificial potential field method. The stochastic nature of the RRT algorithm plays a crucial role in enabling the APF algorithm to break free from local optima. Ultimately, the efficacy of the algorithm is demonstrated through the planning of a path for obstacle avoidance on the DOBOT CR5 manipulator using MATLAB. © 2023 IEEE.

关键词： Trees (mathematics)

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DU-DARTS: Decreasing the Uncertainty of Differentiable Architecture Search 32

DU-DARTS: Decreasing the Uncertainty of Differentiable Archi...

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32nd British Machine Vision Conference, BMVC 2021

作者： Lu, Shun Hu, Yu Yang, Longxing Sun, Zihao Mei, Jilin Zeng, Yiming Li, Xiaowei Research Center for Intelligent Computing Systems Institute of Computing Technology Chinese Academy of Sciences China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences China School of Computer Science and Technology University of Chinese Academy of Sciences China Tecent ADlab China

Differentiable Neural Architecture Search (DARTS) recently attracts a lot of research attention because of its high efficiency. However, the competition of candidate operations in DARTS introduces high uncertainty for selecting the truly important operation, thus leading to serious performance collapse. In this work, we decrease the uncertainty of differentiable architecture search (DU-DARTS) by enforcing the distribution of architecture parameters to approach the one-hot categorical distribution and by replacing the zero operation with a gate switch. Without any extra search cost, our method achieves state-of-the-art performance with 2.32%, 16.74%, and 24.1% test error on CIFAR-10, CIFAR-100, and ImageNet datasets, respectively. Moreover, DU-DARTS can robustly find an excellent architecture on NAS-Bench-1Shot1 and NAS-Bench-201, which further demonstrates the effectiveness of our method. The source code is available at https://***/ShunLu91/DU-DARTS. © 2021. The copyright of this document resides with its authors.

关键词： Computer vision

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Development of a Universal RNA Dual-Terminal Labeling Method for Sensing RNA-Ligand Interactions

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CCS Chemistry 2023年第1期5卷 221-233页

作者： Longhuai Cheng Dejun Ma Jie Zhang Xueying Kang Yang Wu Yi Zhao Long Yi Zhen Xi State Key Laboratory of Elemento-Organic Chemistry Department of Chemical BiologyCollege of ChemistryNational Pesticide Engineering Research CenterCollaborative Innovation Center of Chemical Science and EngineeringNankai UniversityTianjin 300071 State Key Laboratory of Organic-Inorganic Composites and Beijing Key Laboratory of Bioprocess Beijing University of Chemical Technology(BUCT)Beijing 100029 Key Laboratory of Intelligent Information Processing Research Center for Ubiquitous Computing SystemsInstitute of Computing TechnologyChinese Academy of SciencesBeijing 100190

Dual labeling of an RNA can provide Förster resonance energy transfer(FRET)sensors for studying RNA folding,miRNA maturation,and RNA-protein ***,we report the development of a highly efficient strategy for direct dual-terminal labeling of any RNA of *** explored new Michael cycloaddition for facile labeling of 5′-terminal RNA with improved *** chemical tetrazinylation of RNA at the 3′-terminus was achieved with the highly efficient and catalysis-free tetrazine-cycloalkyne *** single-terminal labeling methods were combined for dual-terminal labeling of an RNA including short hairpin RNA,pre-miRNA,riboswitch,and noncoding ***,these dual-labeled RNA-based FRET sensors were used to monitor RNA-ligand interactions in vitro and in live *** is anticipated that these universal RNA labeling strategies will be useful to study RNA structures and functions.

关键词： dual labeling Förster resonance energy transfer sensor Michael cycloaddition tetrazinecycloalkyne ligation RNA-ligand interaction

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A Lightweight Object Detection Network for Industrial Robot Based YOLOv5

A Lightweight Object Detection Network for Industrial Robot ...

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2023 China Automation Congress, CAC 2023

作者： Zhong, Tao Gan, Yahui Han, Zao Gao, Huan Li, Ang School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Ministry of Education NanJing China Nanjing YingQi Intelligent Technology Co. Ltd. Intel Joint Research Institute on Intelligent Edge Computing NanJing China

ISBN: (纸本)9798350303759

With the rapid development of deep learning, it has been widely applied in fields such as computer vision, natural language processing, and robotics. Despite the superior performance of deep learning in object detection, most industrial vision robots still rely on traditional object detection methods due to computational constraints of robot controllers. In order to improve the performance of object detection for vision robots, a lightweight 3D object detection network based on You Only Look Once version 5 (YOLOv5) is proposed for satisfying industrial production. YOLOv5 work to efficiently object detection using deep convolutional networks. In terms of model deployment, we adopt a novel OpenVINO-based model deployment approach. The OpenVINO framework significantly enhances the inference speed of models by model optimization and compression. Our model achieves a 70% reduction in inference time compared to the baseline model on CPU. The effectiveness of the proposed method is demonstrated through experiments. © 2023 IEEE.

关键词： Object detection

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cco-exist with other services on a VM-based virtualized computing platform?

cco-exist with other services on a VM-based virtualized comp...

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2007 Asian Technology Information Program's (ATIP's) 3rd Workshop on High Performance computing in China - Solution Approaches to Impediments for High Performance computing, CHINA HPC'07

作者： Song, Ying Wang, Hui Li, Yaqiong Sun, Yuzhong Zeng, Yu Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing 100080 China National Research Center for Intelligent Computing Systems ICT Beijing 100080 China Graduate University of Chinese Academy of Sciences Beijing 100049 China

ISBN: (纸本)9781595939036

Trend towards providing heterogeneous services concurrently by ISPs and low utilization of servers make it necessary to consolidate various services computing into a single platform. In such a shared environment, meeting application-level QoS goals and avoiding interaction among services become challenges as each application consumes different amount of resource and requires different QoS. Video-on-demand (VoD) has been identified as an important application among multimedia services. In this paper, we study a case of interaction among services concurrently running on a virtualized computing environment. The contributions of this paper are follows. 1) We design a novel capability service computing framework for service computing consolidation (CSCF) to study the interaction among concurrent services in a VM-Based Virtualized computing Environment;2) A dynamic and lazy memory flowing algorithm (DLMFaVM) among VMs is proposed to partially fulfill this computing model by resource flowing;3) We also develop a virtualized computing platform to study the possibility of service computing consolidation;4) We analyze the interaction among VoD service and other typical enterprise services in our capability service computing environment and draw a conclusion that the VoD streaming service co-existing with other services on a VM-based virtualized computing platform is a trend for ISPs. But it presents some challenges for the designers of service soft and the designers of service computing platform. Copyright 2007 ACM.

关键词： Video on demand

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