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5th IEEE International Conference on Cloud Computing and Big Data Analytics, ICCCBDA 2020

作者： Wang, Fudong Zhang, Tao Zhao, Bingjie Yang, Fan Li, Qingxin Li, Ziyang Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Networked Control Systemsm Chinese Academy of Sciences Liaoning Shenyang China

ISBN: (纸本)9781728160245

With the development of artificial intelligence technology and heterogeneous computing, heterogeneous communication speed is becoming more and more important. The latency of transmitting data determines whether a heterogeneous computing architecture is available. Current acceleration cards usually use PCIe interface. IBM developed the CAPI communication architecture for heterogeneous computing. This paper compares the technical principles and delays of the Power CAPI architecture and a high speed PCIe communication method. © 2020 IEEE.

关键词： Computer architecture

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Indoor 3D scene reconstruction for mobile robots using Microsoft kinect sensor 35

Indoor 3D scene reconstruction for mobile robots using Micro...

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第35届中国控制会议

作者： LI Jiang-Wei ZHENG Ding-Fu GUAN Zhi-Hong CHEN Chao-Yang JIANG Xiao-Wei ZHANG Xian-He College of Automation Huazhong University of Science and Technology The Key Laboratory of Ministry of Education for Image Processing and Intelligent Control (Huazhong University of Science and Technology) School of Information and Electrical Engineering Hunan University of Science and Technology College of Mechatronics and Control Engineering Hubei Normal University

ISBN: (纸本)9781509009107

3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to obtain3 D *** the process,consistent frames of RGB-D data are captured and *** Closest Point(ICP)algorithm and incremental registration method are employed to perform the fine ***,we use OctoMap to store 3D map of octree representation,an efficient data ***,our results demonstrate the practical applicability and effectiveness of the proposed approach.

关键词： 3D mapping Kinect OctoMap Mobile Robots

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Virtual chain: A storage model supporting cross-blockchain transaction

Virtual chain: A storage model supporting cross-blockchain t...

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作者： Wang, Yan Yang, Bingqing Liu, Jingxin Zeng, Hui Xia, Changqing College of Information Liaoning University Shenyang China State key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

At present, blockchain is not only applied in the financial field, but also extended to the medical, insurance, internet of things, and many other fields. Its independence leads to more and more significant problems of network isolation. To address the problem of the cooperative operation between different blockchains, this article proposes virtual chain, a storage model supporting cross-blockchain transaction. It not only ensures that cross-chain transactions are tamper-proof and traceable but also realizes completely decentralized storage. First, to tackle the multidimensional heterogeneous problem existing in cross-chain trading, a data structure based on prefix tree is proposed to manage cross-chain trading data on top of source chain and target chain. Second, a signature verification mechanism based on elliptic curve is proposed to meet the operational atomicity requirements of both parties of cross-chain transaction. Third, the data fusion technology is used to expand the block capacity indirectly to achieve the high throughput of cross-chain transactions. Finally, by using the credibility-based access control and block chain technology to ensure the security of the data storage model, and conduct security analysis from three aspects of tamper-proof, data protection and anti-conspiracy node attack. The experiment shows that the proposed cross-chain transaction storage model can realize the efficient storage of the heterogeneous data, and satisfy the high requirement of the cross-chain transaction. Moreover, the virtual chain storage model establishes a safe and reliable working environment. © 2020 John Wiley & Sons Ltd.

关键词： Blockchain

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An Improved Upper Bound on the Maximum Eigenvalue of Exponential Model Based Spatial Correlation Matrices in Massive MIMO Systems 19

An Improved Upper Bound on the Maximum Eigenvalue of Exponen...

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19th IEEE International Conference on Communication Technology, ICCT 2019

作者： Gong, Tierui Yang, Guang Mu, Ke Zhao, Chun Yang, Zhijia Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781728105352

Massive Multiple-Input, Multiple-Output (MIMO) communications are considered as one of the most promising directions for the next generation communications and have attracted extensive research interests. The using of exponential model is recognized as an effective manner to describe the spatial correlation matrix in a spatially correlated MIMO channel for its simple form and accurate fitting on the experimental measurements. Based on this useful exponential model, an improved upper bound on the maximum eigenvalue of the spatial correlation matrix is given in this paper. Complying with the existing results, the proposed upper bound is also a function of the number of antennas and the absolute value of correlation coefficient. However, the proposed upper bound is obtained using a trace-based derivation, which is tighter than existing results in high spatial correlation massive MIMO systems. Simulations show that the proposed upper bound is closer to the true maximum eigenvalues for both uniform linear array and uniform planar array scenarios, which is expected to be widely used in massive MIMO systems. © 2019 IEEE.

关键词： Eigenvalues and eigenfunctions

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A new SPICE modeling approach of annular MOSFET in 350 nm commercial CMOS process 3

A new SPICE modeling approach of annular MOSFET in 350 nm co...

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3rd International Conference on Electronic Information Engineering and Computer, EIECT 2023

作者： Cheng, He Yang, Zhijia Zhang, Chao Zhang, Zhipeng Key Laboratory of Networked Control Systems Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350357707

Annular gate MOSFETs have emerged as potential solutions for radiation-hardened electronics, demonstrating exceptional total ionizing dose tolerance. However, accurate modeling of annular MOSFETs is crucial when designing analog integrated circuits for use in radiation environments, especially when implementing commercial CMOS processes. To enable circuit simulation using tools like SPECTRE/SPICE, foundry-provided PDKs must incorporate a rigorously verified compact model of annular MOSFET behavior. TCAD simulation can then be used to numerically evaluate the current characteristics of the annular MOSFET against the refined compact model constructed from the foundry-provided PDK. In this paper, by aligning the current characteristics of a standard NMOS between TCAD and SPICE simulations, we can verify the material process conditions. Then, based on the material process parameters, the model of the annular gate MOSFET is established using the TCAD simulator. Finally, reasonable agreements are obtained between the TCAD and SPICE simulation results for the IDS-VGS and IDS-VDS characteristics. © 2023 IEEE.

关键词： Foundries

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Force-based Feedback for Haptic Device of Mobile Assembly Robot 27

Force-based Feedback for Haptic Device of Mobile Assembly Ro...

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Lukin, Aleksandr Demidova, Galina L. Rassolkin, Anton Vaimann, Toomas Roozbahani, Hamid ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Lappeenranta University of Technology Laboratory of Intelligent Machines Lappeenranta Finland

ISBN: (纸本)9781728141589

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating System (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device. © 2020 IEEE.

关键词： Mobile robots

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Design and Implementation of Industrial Real-Time Ethernet Redundant Network Based on Parallel Redundancy Protocol 3

Design and Implementation of Industrial Real-Time Ethernet R...

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3rd International Conference on Computer Science, Electronic Information Engineering and intelligent control Technology, CEI 2023

作者： Gang, Mingxu Yan, Bingjun Hu, Bo Chinese Academy of Sciences Key Laboratory of Networked Control Systems China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350372052

Industrial real-time Ethernet technology is widely used in modern industrial control systems due to its high communication rate and low application cost. However, in complex network environments, industrial real-time Ethernet may encounter data collisions, data loss, and other issues, which reduce the overall reliability of industrial control systems. To address these issues, a method for designing and implementing industrial real-time Ethernet redundancy networks based on parallel redundancy protocols is proposed. The method first analyzes the redundant data frame structure, dual-connected node (DANP) structure, and redundancy implementation principle of parallel redundancy protocols (PRP). Then, aiming at the standard redundancy discard algorithm principle and its shortcomings, an improved sliding window redundancy discard algorithm is proposed to adapt to complex network environments. Based on the discard algorithm, dual-connected redundancy nodes are designed and implemented. Finally, the dual-connected redundancy nodes are used as the core to construct industrial real-time Ethernet redundancy networks. The test results show that in a PRP-based industrial real-time Ethernet redundant network, when a single redundant network fails, the system can switch without delay, greatly improving the reliability of the industrial control system communication network © 2023 IEEE.

关键词： Redundancy

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Antenna Cross-correlation based Compressive Subspace Learning for Wideband Spectrum Sensing 19

Antenna Cross-correlation based Compressive Subspace Learnin...

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19th IEEE International Conference on Communication Technology, ICCT 2019

作者： Gong, Tierui Liu, Zhifeng Yang, Zhijia Wang, Gengshan Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781728105352

To address the performance degradation of wide-band spectrum sensing by sub-Nyquist sampling (SNS) in wireless fading channels, two compressive subspace learning (CSL) algorithms are proposed for signal subspace learning based on antenna cross-correlations for further improving the sensing performance. Both algorithms are developed based on different organizations of SNS samples, and both exploit space diversity and noise uncorrelations between antennas. We further establish the expressions for statistical covariance matrices (SCMs) obtained by SNS samples in the multi-antenna SNS cognitive radio system. Based on the derived SCM expressions, conditions to ensure SCMs without noise contamination are given. Simulations validate the derived conditions and show the improvement on sensing performance over related works. © 2019 IEEE.

关键词： Covariance matrix

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Representing Objects in Map Building Using A Semantic SLAM Scheme

Representing Objects in Map Building Using A Semantic SLAM S...

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Chinese automation Congress (CAC)

作者： Yu Yang Di Wang Weiqi Zheng School of Mechatronics Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai

In order to make the robot understand the scene better and the human-robot interaction more friendly, a lightweight semantic SLAM system is proposed in this paper. Our system uses a LIDAR combined with a camera to obtain object location in SLAM and determines object information such as category with a CNN-based object detector. The object identities are represented in the form of joint probability distributions that are updated by Bayes’ theorem. The FPA algorithm is used to obtain parameter valuation with maximum posterior probability so as to determine the modeling feature parameters of objects on the map. The similarity between objects is measured with the Bhattacharyya coefficient to avoid duplicate modeling of identified objects in map updating. The proposed system is simulated in Gazebo and an effective scheme balancing accuracy and computation cost is obtained. Finally, experiments on a small indoor robot demonstrate the effectiveness of our method.

关键词： Simultaneous localization and mapping Navigation Computational modeling Semantics Robot vision systems Human-robot interaction Probability distribution

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OPTIMIZING THE SUBDIVISION OF ELEMENTS IN DISCONTINUITY MESHING FOR HIERARCHICAL RADIOSITY

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International Journal on Artificial Intelligence Tools 2003年第4期12卷 395-411页

作者： IOANNIS A. PANTAZOPOULOS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Electrical and Computer Engineering Department National Technical University of Athens Zographou Athens Greece

This paper presents a new topological structure for use in the context of hierarchical radiosity combined with discontinuity meshing. This is most useful for a new strategy adopted for subdividing the elements of a scene consisting of convex polygons. The subdivision is done in a local optimization manner keeping the aspect ratios of produced polygons low. The generated meshes give high visual accuracy.

关键词： Hierarchical radiosity discontinuity meshing mesh pre(post)-processing multigriding aspect-ratio

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