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Infrastructure-Based Vehicle Localization System for Indoor Parking Lots Using RGB-D Cameras

Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 61-69页

作者：曹炳全贺越生庄瀚洋杨明 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong UniversityShanghai 200240China

Accurate vehicle localization is a key technology for autonomous driving tasks in indoor parking lots,such as automated valet ***,infrastructure-based cooperative driving systems have become a means to realizing intelligent *** this paper,we propose a novel and practical vehicle localization system using infrastructure-based RGB-D cameras for indoor parking *** the proposed system,we design a depth data preprocessing method with both simplicity and efficiency to reduce the computational burden resulting from a large amount of ***,the hardware synchronization for all cameras in the sensor network is not implemented owing to the disadvantage that it is extremely cumbersome and would significantly reduce the scalability of our system in mass ***,to address the problem of data distortion accompanying vehicle motion,we propose a vehicle localization method by performing template point cloud registration in distributed depth ***,a complete hardware system was built to verify the feasibility of our solution in a real-world *** in an indoor parking lot demonstrated the effectiveness and accuracy of the proposed vehicle localization system,with a maximum root mean squared error of 5 cm at 15Hz compared with the ground truth.

关键词： infrastructure-based RGB-D camera vehicle localization point cloud registration

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Quantification of valve stiction in control loops using adaptive differential evolution algorithm

Quantification of valve stiction in control loops using adap...

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2024 China Automation Congress, CAC 2024

作者： Yang, Dong Lang, Xun Wu, Jiande Yu, Wanke Liu, Songhua Xie, Lei Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

Accurately and promptly quantifying stiction is crucial for valve maintenance in industrial settings and ensuring the stability of control loop performance. However, current Hammerstein-based stiction quantification methods overlook valve dynamics, potentially leading to inaccurate quantification. Therefore, this paper proposes a novel stiction quantification method based on an adaptive differential evolution algorithm. In addition to considering the impact of valve dynamics on stiction, the proposed method demonstrates a certain level of robustness against the interference of unknown noise. Finally, the effectiveness of the proposed method is demonstrated through a series of simulations and industrial case studies. © 2024 IEEE.

关键词： Adaptive algorithms

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2024 China Automation Congress, CAC 2024

作者： Lang, Yumin Wu, Jiande Lang, Xun Yu, Wanke Yang, Chuanyan Su, Hongye Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China School of Automation China University of Geosciences Wuhan China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (纸本)9798350368604

Oscillation is a significant indication of the deterioration of control system performance and needs to be carefully monitored to ensure safe and stable process operations. However, industrial processes are often prone to noisy artifacts and nonstationary trends, resulting in low signal-to-noise ratios. In order to tackle this problem, this study introduces a novel framework for enhanced trend removal and noise reduction, which is featured by the following steps:(i) The circulant singular spectrum analysis (CiSSA) is used to decompose oscillation data into several reconstructed components (RCs). (ii) The estimated power spectral density (PSD) ofthese RCs is then smoothed using the Savitzky-Golay filter (SGF) to eliminate noise and identify the RCs corresponding to oscillatory components. (iii) These identified RCs are subsequently reconstructed to produce purified oscillatory data. The effectiveness of the suggested approach is validated using simulations and real-world industrial case studies. The findings indicate that the method notably enhances the quality of oscillatory data. © 2024 IEEE.

关键词： Power spectral density

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Collision-Free Path Planning with Kinematic Constraints in Urban Scenarios

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Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 731-738页

作者： WANG Liang WANG Bing WANG Chunxiang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

In urban driving scenarios,owing to the presence of multiple static obstacles such as parked cars and roadblocks,planning a collision-free and smooth path remains a challenging *** addition,the path-planning problem is mostly non-convex,and contains multiple local ***,a method for combining a sampling-based method and an optimization-based method is proposed in this paper to generate a collision-free path with kinematic constraints for urban *** sampling-based method constructs a search graph to search for a seeding path for exploring a safe driving corridor,and the optimization-based method constructs a quadratic programming problem considering the desired state constraints,continuity constraints,driving corridor constraints,and kinematic constraints to perform path *** experimental results show that the proposed method is able to plan a collision-free and smooth path in real time when managing typical urban scenarios.

关键词： autonomous vehicle path planning dynamic searching quadratic programming

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General Simultaneous Localization and Mapping Scheme for mmWave Communication systems

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IEEE Internet of Things Journal 2024年第12期11卷 22521-22536页

作者： Du, Tao Yang, Jie Wen, Chao-Kai Xia, Shuqiang Jin, Shi Southeast University National Mobile Communications Research Laboratory Nanjing210096 China Southeast University Key Laboratory Of Measurement And Control Of Complex Systems Of Engineering Ministry Of Education The Frontiers Science Center For Mobile Information Communication And Security Nanjing210096 China Institute Of Communications Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan Zte Corporation The State Key Laboratory Of Mobile Network And Mobile Multimedia Technology Shenzhen518055 China Southeast University National Mobile Communications Research Laboratory The Frontiers Science Center For Mobile Information Communication And Security Nanjing210096 China

Utilizing high-resolution antenna arrays and wide bandwidth of the millimeter-wave (mmWave) spectrum in 5G new radio (NR) mmWave communication systems holds the potential for high-throughput data transmission while enabling user localization and environmental mapping. However, the majority of existing simultaneous localization and mapping (SLAM) algorithms rely on methods akin to the extended Kalman filter for generating initial map features. These methods prove ineffective when the measurement dimension is insufficient. Furthermore, there is a notable absence of research exploring mmWave prototype systems to evaluate and compare the performance and viability of various SLAM algorithms. To address these challenges, we propose an innovative probability hypothesis density (PHD) generation scheme for birth events and have developed a prototype system. Our approach, referred to as PHD-SLAM, exhibits remarkable effectiveness even in scenarios where the measurement dimension falls short of map features. This means it can function seamlessly with only delay or angle information available. Additionally, we have designed a 28GHz mmWave beam scanning prototype system that leverages the 5G NR frame for accomplishing SLAM algorithms. Following this, we conducted extensive simulations and experimental evaluations to gauge the performance of several leading-edge SLAM algorithms under diverse mmWave circumstances, encompassing PHD-based and belief propagation (BP) SLAM algorithms. Our analysis reveals that both PHD and BP SLAM can achieve agent localization precision within a decimeter and mapping precision within a meter, capitalizing on the angle parameters of mmWave signals. While BP SLAM showcases reduced computational demand, its estimation precision is marginally inferior to that of PHD-SLAM. © 2014 IEEE.

关键词： Belief propagation

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Distributed Identification With Input Design for Network systems

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IEEE Transactions on control of Network systems 2025年

作者： Mao, Xiangyu He, Jianping Fang, Chongrong Shanghai Jiao Tong University The Dept. of Automation China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

The distributed identification of network systems under local observation has recently become one of the research hot spots. Due to the unobservable influence of other subsystems and the noise, it is difficult for local subsystems to achieve convergent identification under local observations. This paper proposes a distributed identification algorithm for local subsystems to identify their parameter matrices under local observation with a guarantee of convergence. We obtain the necessary and sufficient conditions for the convergence of local identification. We prove that by injecting an independent random signal to the local subsystem, which is easy to implement, using a simple least-squares method to identify local systems can achieve convergent identification for a certain probability. Meanwhile, we give the minimal level of variance of the injected signal that can still guarantee the convergence of the identification. Next, we add the designed input as a vector of Gaussian noises with decreasing variance to a known controller, proving that it can converge to the original controller. Simulations demonstrate the effectiveness of the proposed algorithms. © 2025 IEEE.

关键词： Least squares approximations

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Fault Diagnosis and Prognosis in Partially-Observed Discrete Event systems with Delayed Observations 63

Fault Diagnosis and Prognosis in Partially-Observed Discrete...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Wang, Jiwei Baldi, Simone Yu, Wenwu Yin, Xiang Southeast University School of Cyber Science and Engineering Nanjing210096 China Southeast University School of Mathematics Nanjing210096 China Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing Shanghai200240 China

ISBN: (纸本)9798350316339

Fault diagnosis and prognosis in discrete event systems are studied in the scenario where the observations are possibly received with delay. To address this scenario, two conditions for diagnosis and prognosis with delayed observations are proposed, where we show that the state-of-the-art notion of prognosability must be revised to avoid conservativeness. Diagnosability and prognosability conditions are then verified by introducing a delay observer and a new verification function. Theoretical analysis indicates the effectiveness of the verification method for fault diagnosis and prognosis in the system. © 2024 IEEE.

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Jointly Learning Time-Structure-History Graph Embedding for Temporal Knowledge Graph Reasoning 19

Jointly Learning Time-Structure-History Graph Embedding for ...

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2022 IEEE SmartWorld, 19th IEEE International Conference on Ubiquitous Intelligence and Computing, 2022 IEEE International Conference on Autonomous and Trusted Vehicles Conference, 22nd IEEE International Conference on Scalable Computing and Communications, 2022 IEEE International Conference on Digital Twin, 8th IEEE International Conference on Privacy Computing and 2022 IEEE International Conference on Metaverse, SmartWorld/UIC/ATC/ScalCom/DigitalTwin/PriComp/Metaverse 2022

作者： Duan, Hao Jin, Haoyu Chen, Kang Du, Shaochong Fang, Tao Huo, Hong Shanghai Jiao Tong University Department of Automation Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China

ISBN: (纸本)9798350346558

The Temporal Knowledge Graph(TKG) reasoning is an imperative task for various applications of TKG. However, reasoning over TKGs which aims to predict future facts has been less explored. Intuitively, entities and relations in TKG change differently over time, and the variations are different. It also can be observed that what happens in the past may affect the future. Apart from these, structure information that exists in the neighborhood of a given entity in a KG has been proven to be important. Inspired by these, a novel graph embedding method for TKG reasoning, called time-structure-history graph embedding (TSHGE), is proposed in this paper. TSHGE consists of three progressive learning units. The first time information learning unit employs a novel time-aware mechanism to encode the time influence on entities and relations. Then a relation-aware GAT (Graph Attention Network) is used in the structure information learning unit to model the 1-hop neighborhoods of all entities in a KG at each timestamp in TKG. Finally, the history information learning unit utilizes GRU (Gated Recurrent Unit) to learn history information from various facts. Then the ultimate embedding representations of entities and relations can be obtained for the prediction of future facts. The evaluations on three public TKG datasets have demonstrated the effectiveness and superiority of TSHGE for predicting future facts. © 2022 IEEE.

关键词： Forecasting

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PORTABLE ELECTROCHEMICAL SENSOR BASED ON MOLECULARLY IMPRINTED POLYMER FOR OXYTETRACYCLINE DETECTION 10

PORTABLE ELECTROCHEMICAL SENSOR BASED ON MOLECULARLY IMPRINT...

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10th International Symposium on Test Automation and Instrumentation, ISTAI 2024

作者： Tang, Yuxin Hu, Jingfang Wang, Linzhe Wei, Wensong Song, Yu Li, Yansheng Gao, Guowei Beijing key Laboratory of sensor Beijing Information Science & Technology University Beijing100101 China Key Laboratory of Agricultural Product Processing Ministry of Agriculture Institute of Food Science and Technology Chinese Academy of Agricultural Sciences Beijing100193 China Key Laboratory of Modern Measurement and Control Technology Ministry of Education Beijing Information Science & Technology Unive rsity Beijing100192 China Zibo Institute for Digital Agriculture and Rural Research Zibo255051 China

ISBN: (纸本)9781837242672

Reduced graphene oxide (rGO) plays a critical role in enhancing the performance of electrochemical sensors through its excellent electrical conductivity, large surface area, ease of functionalization, chemical stability, and synergy with other nanomaterials. In this paper, A novel electrochemical sensor was developed based on rGO and molecularly imprinted polymer (MIP) for detection of trace oxytetracycline (OTC) in water. The MIP/rGO composites are synthesized by in-situ electrochemical modification on a disposable screen-printed electrode (SPE). Due to the large surface area and good electron transport rate of rGO, as well as the specific recognition for TC of MIP, the sensitive determination of trace TC at MIP/rGO/SPE was realized. Linear sweep voltammetry (LSV) was performed on the sensor for the electrochemical analysis of OTC. Under optimized conditions, the peak current of MIP/rGO/SPE exhibited a good linear correlation with OTC concentration in a wide linear range (1-25 (j,mol/L), possessed a detection limit of 0.34 (j,mol/L. Spiked detection of OTC was applied for the sensor in actual water samples, with relative standard deviations (RSDs) of 93.2%-108.7%. These results indicate that the proposed MIP/rGO/SPE sensor has the ability to accurately, rapidly and selectively detect OTC in water samples. © The Institution of Engineering & Technology 2024.

关键词： Reduced Graphene Oxide

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Terahertz metamaterial narrowband absorber based on metal split ring

Terahertz metamaterial narrowband absorber based on metal sp...

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2023 Applied Optics and Photonics China: Optical Sensing, Imaging, and Display Technology and Applications;and Biomedical Optics, AOPC 2023

作者： Ji, Xiaodi Ge, Hongyi Jiang, Yuying Wu, Xuyang Jia, Zhiyuan Sun, Zhenyu Key Laboratory of Grain Information Processing and Control Henan University of Technology Ministry of Education Henan China Henan Provincial Key Laboratory of Grain Photoelectric Detection and Control Henan China College of Information Science and Engineering Henan University of Technology Henan Zhengzhou450001 China School of Artificial Intelligence and Big Data Henan University of Technology Henan Zhengzhou450001 China

ISBN: (纸本)9781510672321

Multi-band terahertz metamaterial absorbers offer new perspectives to achieve perfect absorption and multipoint information matching, which enable an ever-growing number of applications. In this study, a dual-band terahertz metamaterial absorber based on the metal split ring is designed. The absorber has perfect absorption peaks at 1.15 THz and 2.47 THz, and the absorption rate is more than 99%. The absorber produces a harp peak with a bandwidth of 0.008 at 2.47 THz, which has an extremely high quality factor of 308. The distribution of the electric field and surface current at two resonance points is analyzed using the finite element integration method. Through full wave simulation calculation, the maximum sensitivity of the analyte refractive index of the absorber is 400 GHz/RIU, and the maximum sensitivity of the thickness is 35 GHz/μm. The results show that the absorber can achieve highly sensitive detection of trace substances. © 2023 SPIE. All rights reserved.

关键词： Metamaterials

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