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Hardware-in-the-loop simulation of a UAV autonomous landing algorithm implemented in SoC FPGA

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arXiv 2022年

作者： Szolc, Hubert Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

This paper presents a system for hardware-in-the-loop (HiL) simulation of unmanned aerial vehicle (UAV) control algorithms implemented on a heterogeneous SoC FPGA computing platforms. The AirSim simulator running on a PC and an Arty Z7 development board with a Zynq SoC chip from AMD Xilinx were used. Communication was carried out via a serial USB link. An application for autonomous landing on a specially marked landing strip was selected as a case study. A landing site detection algorithm was implemented on the Zynq SoC platform. This allowed processing a 1280 × 720 @ 60 fps video stream in real time. Performed tests showed that the system works correctly and there are no delays that could negatively affect the stability of the control. The proposed concept is characterised by relative simplicity and low implementation cost. At the same time, it can be applied to test various types of high-level perception and control algorithms for UAV implemented on embedded platforms. We provide the code developed on GitHub, which includes both Python scripts running on the PC and C code running on Arty Z7. © 2022, CC BY.

关键词： System-on-chip

Star-Searcher: A Complete and Efficient Aerial System for Autonomous Target Search in Complex Unknown Environments

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arXiv 2024年

作者： Luo, Yiming Zhuang, Zixuan Pan, Neng Feng, Chen Shen, Shaojie Gao, Fei Cheng, Hui Zhou, Boyu Sun Yat-Sen University China State Key Laboratory of Industrail Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong

This paper tackles the challenge of autonomous target search using unmanned aerial vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches for this task, we introduce Star-Searcher, an aerial system featuring specialized sensor suites, mapping, and planning modules to optimize searching. Path planning challenges due to increased inspection requirements are addressed through a hierarchical planner with a visibility-based viewpoint clustering method. This simplifies planning by breaking it into global and local sub-problems, ensuring efficient global and local path coverage in real-time. Furthermore, our global path planning employs a history-aware mechanism to reduce motion inconsistency from frequent map changes, significantly enhancing search efficiency. We conduct comparisons with state-of-the-art methods in both simulation and the real world, demonstrating shorter flight paths, reduced time, and higher target search completeness. Our approach will be open-sourced for community benefit. Copyright © 2024, The Authors. All rights reserved.

关键词： Stars

AI-aided power electronic converters automatic online real-time efficiency optimization method

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Fundamental Research 2023年第3期5卷 1111-1116页

作者： Tang, Yuanhong Cao, Di Xiao, Jian Jiang, Chenying Huang, Qi Li, Yunwei Chen, Zhe Blaabjerg, Frede Hu, Weihao Power System Wide-area Measurement and Control Sichuan Provincial Key Laboratory School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu 611731 China MORNSUN Guangzhou Science & Technology Co. Ltd. Guangzhou 510663 China School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu 611731 China Yangtze Delta Region Institute (Quzhou) University of Electronic Science and Technology of China Quzhou 324000 China Department of Chengdu State Grid Corporation of China Chengdu 610599 China Southwest University of Science and Technology Mianyang 621010 China Department of Electrical and Computer Engineering University of Alberta Edmonton AB T6G 2V4 Canada Department of Energy Technology Aalborg University Aalborg 9220 Denmark

Energy losses during the conversion and supply of electric power are considered a significant issue and cannot be estimated. Improvement in the efficiency of energy conversion systems is highly restricted because of their internal nonlinearity and complexity. Thus, inspired by the successful utilization of robotic chemists, we demonstrate a pioneering concept of artificial intelligence (AI)-aided automatic online real-time optimization of a power electronics converter using a dual active bridge (DAB) converter as an example. An optimal modulation strategy was obtained through repeated automatic exploration experiments on a practical DAB converter platform. Specifically, the DAB experimental platform operated autonomously around the clock for approximately 71 h. It performed 120,000 consecutive experiments (12,000 episodes) within a six-variable experimental space driven by a deep deterministic policy gradient (DDPG) algorithm. The proposed AI-aided automatic online real-time optimization method achieved significantly improved efficiency of power conversion and supply. Consequently, zero carbon emissions may be obtained in the future. © 2023

关键词： Artificial intelligence automatic online real-time exploration DC-DC converter Dual active bridge converter Energy conversion system Power electronics

Energy Efficient Hardware Acceleration of Neural Networks with Power-of-Two Quantisation

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TechRxiv

TechRxiv 2022年

作者： Przewlocka-Rus, Dominika Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

Deep neural networks virtually dominate the domain of most modern vision systems, providing high performance at a cost of increased computational complexity. Since for those systems it is often required to operate both in real-time and with minimal energy consumption (e.g., for wearable devices or autonomous vehicles, edge Internet of Things (IoT), sensor networks), various network optimisation techniques are used, e.g., quantisation, pruning, or dedicated lightweight architectures. Due to the logarithmic distribution of weights in neural network layers, a method providing high performance with significant reduction in computational precision (for 4-bit weights and less) is the Power-of-Two (PoT) quantisation (and therefore also with a logarithmic distribution). This method introduces additional possibilities of replacing the typical for neural networks Multiply and ACcumulate (MAC – performing, e.g., convolution operations) units, with more energy-efficient Bitshift and ACcumulate (BAC). In this paper, we show that a hardware neural network accelerator with PoT weights implemented on the Zynq UltraScale + MPSoC ZCU104 SoC FPGA can be at least 1.4x more energy efficient than the uniform quantisation version. To further reduce the actual power requirement by omitting part of the computation for zero weights, we also propose a new pruning method adapted to logarithmic quantisation. © 2022, CC BY.

关键词： System-on-chip

Towards real-time and energy efficient Siamese tracking - a hardware-software approach

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arXiv 2022年

Siamese trackers have been among the state-of-the-art solutions in each Visual Object Tracking (VOT) challenge over the past few years. However, with great accuracy comes great computational complexity: to achieve real-time processing, these trackers have to be massively parallelised and are usually run on high-end GPUs. Easy to implement, this approach is energy consuming, and thus cannot be used in many low-power applications. To overcome this, one can use energy-efficient embedded devices, such as heterogeneous platforms joining the ARM processor system with programmable logic (FPGA). In this work, we propose a hardware-software implementation of the well-known fully connected Siamese tracker (SiamFC). We have developed a quantised Siamese network for the FINN accelerator, using algorithm-accelerator co-design, and performed design space exploration to achieve the best efficiency-to-energy ratio (determined by FPS and used resources). For our network, running in the programmable logic part of the Zynq UltraScale+ MPSoC ZCU104, we achieved the processing of almost 50 frames-per-second with tracker accuracy on par with its floating point counterpart, as well as the original SiamFC network. The complete tracking system, implemented in ARM with the network accelerated on FPGA, achieves up to 17 fps. These results bring us towards bridging the gap between the highly accurate but energy-demanding algorithms and energy-efficient solutions ready to be used in low-power, edge systems. © 2022, CC BY.

关键词： Energy efficiency

Multimodal Brain-computer Interfaces: AI-powered Decoding Methodologies

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arXiv 2025年

作者： Li, Siyang Wang, Hongbin Chen, Xiaoqing Wu, Dongrui The Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China The Henan Key Laboratory of Brain Science and Brain Computer Interface Technology School of Electrical and Information Engineering Zhengzhou University China

Brain-computer interfaces (BCIs) enable direct communication between the brain and external devices. This review highlights the core decoding algorithms that enable multimodal BCIs, including a dissection of the elements, a unified view of diversified approaches, and a comprehensive analysis of the present state of the field. We emphasize algorithmic advancements in cross-modality mapping, sequential modeling, besides classic multi-modality fusion, illustrating how these novel AI approaches enhance decoding of brain data. The current literature of BCI applications on visual, speech, and affective decoding are comprehensively explored. Looking forward, we draw attention on the impact of emerging architectures like multimodal Transformers, and discuss challenges such as brain data heterogeneity and common errors. This review also serves as a bridge in this interdisciplinary field for experts with neuroscience background and experts that study AI, aiming to provide a comprehensive understanding for AI-powered multimodal BCIs. © 2025, CC BY-NC-ND.

关键词： Brain computer interface

Research on Multi-dimensional Bilingual Teaching Model of computer Courses Supported by Artificial Intelligence 17th

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Research on Multi-dimensional Bilingual Teaching Model of Co...

17th International Conference on computer science and Education, ICCSE 2022

作者： Zhao, Changhua Mi, Chunqiao Tangbo School of Computer Science and Engineering Huaihua University Hunan Huaihua418000 China Key Laboratory of Wuling-Mountain Health Big Data Intelligent Processing and Application in Hunan Province Universities Hunan Huaihua418000 China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture in Hunan Province Hunan Huaihua418000 China

ISBN: (纸本)9789819924486

Aiming at the problems of the integration of computer course teaching with international teaching and engineering certification, this study designs a multi-dimensional teaching mode of computer courses through the support of Artificial Intelligence. It analyzes the teaching resources, learning services, teaching process and teaching means involved in computer course teaching. Taking the course of "computer Introduction" as an example, this study explores the multi-dimensional bilingual teaching mode supported by Artificial Intelligence, trains computer talents who meet the ability requirements of the era of Artificial Intelligence, and provides ideas for the teaching innovation of other courses. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Artificial intelligence

Domain Migration Representation Learning for Blind MR Image Super-Resolution

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SSRN

SSRN 2023年

作者： Liu, Xiaodong Guo, Haipeng Liu, Huanyu Li, Junbao Department of Automatic Test and Control School of Electronics and Information Engineering Harbin Institute of Technology Harbin150080 China Information Countermeasure Technique Institute School of Computer Science and Technology Harbin Institute of Technology Harbin150080 China

Recently, magnetic resonance imaging has been widely used in clinical treatment to assist doctors in diagnosis because of its high resolution of soft tissue and no radiation. However, limited by imaging equipment and imaging time, the resolution of MR imaging is low. The previous super-resolution algorithms used for MR images use paired datasets to generate down-sampled images by artificially assuming the image degradation process, and forming a sample pair to monitor and train the super-resolution network. However, the super-resolution network obtained by this way will cause serious degradation of the network performance in practical application. In this paper, we propose a blind super-resolution framework DMN based on domain migration, which decouples the blind super-resolution network with the idea of domain migration, and avoids the false detail generation problem of the blind super-resolution network in the MR images super-resolution task through independent training. At the same time, we propose a multi-level parallel transformer feature enhancement module MPTB, which takes noise as the original input and embeds noise features step by step to enhance the fitting ability of the network while reducing the complexity of the network structure design. Besides, we also use the k-space loss function to form a constraint function, so that the domain migration network can fully consider the k-space characteristics of MR images. The experimental results on the MR images of the knee joint and brain in the fastMRI dataset show that the super-resolution performance of our proposed DMN network is better than the previous super-resolution networks. © 2023, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

Towards real-time and energy efficient Siamese tracking - a hardware-software approach

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TechRxiv

TechRxiv 2022年

关键词： Field programmable gate arrays (FPGA)