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Traffic Sign Detection With Event Cameras and DCNN

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arXiv 2022年

作者： Wzorek, Piotr Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland Department of Digital Systems Silesian University of Technology Gliwice Poland

In recent years, event cameras (DVS – Dynamic Vision Sensors) have been used in vision systems as an alternative or supplement to traditional cameras. They are characterised by high dynamic range, high temporal resolution, low latency, and reliable performance in limited lighting conditions – parameters that are particularly important in the context of advanced driver assistance systems (ADAS) and self-driving cars. In this work, we test whether these rather novel sensors can be applied to the popular task of traffic sign detection. To this end, we analyse different representations of the event data: event frame, event frequency, and the exponentially decaying time surface, and apply video frame reconstruction using a deep neural network called FireNet. We use the deep convolutional neural network YOLOv4 as a detector. For particular representations, we obtain a detection accuracy in the range of 86.9-88.9% mAP@0.5. The use of a fusion of the considered representations allows us to obtain a detector with higher accuracy of 89.9% mAP@0.5. In comparison, the detector for the frames reconstructed with FireNet is characterised by an accuracy of 72.67% mAP@0.5. The results obtained illustrate the potential of event cameras in automotive applications, either as standalone sensors or in close cooperation with typical frame-based cameras. © 2022, CC BY.

关键词： Cameras

S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks

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IEEE Transactions on Circuits and Systems for Video technology 2025年

作者： Wang, Zhong Zhang, Lin Wang, Hesheng Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Tongji University School of Computer Science and Technology National Pilot Software Engineering School with Chinese Characteristics Shanghai201804 China

Traditional LiDAR SLAM approaches prioritize localization over mapping, yet high-precision dense maps are essential for numerous applications involving intelligent agents. Recent advancements have introduced methods leveraging neural fields to enhance mapping capabilities;however, these approaches still face several limitations. Firstly, concerning scene representation, they typically employ neural fields with high-dimensional features and multi-layer perceptron decoders utilizing non-continuous activation functions. This results in low learning efficiency and challenges in capturing high-frequency signals. Secondly, in terms of scene organization, these methods often treat the entire scene as a singular neural field, leading to inefficiencies, inflexibility, and difficulties in rectifying accumulated errors when mapping large-scale environments over extended periods. To tackle the first issue, we propose a lightweight continuous SDF regression approach by encoding the scene in single-valued embeddings and decoding SDF values from a Kolmogorov-Arnold Network. By minimizing discrepancies in measuring range, sampling distance, and decoded SDF values, we facilitate iterative frame-to-model tracking and bundle adjustment neural mapping. To mitigate the second challenge, we propose structuring the whole scene into multiple neural SDF submaps. By establishing node-node, node-submap, and loop closure constraints into a global pose graph, the system can create dense neural maps with global consistency across large-scale scenes. Experimental evaluations in both real-world and simulated settings indicate that our system achieves superior mapping completeness and accuracy, enhanced learning efficiency, reduced memory consumption, and greater flexibility compared to its counterparts. © 2025 IEEE.

关键词： Mapping

Multi-Unit Floor Plan Recognition and Reconstruction Using Improved Semantic Segmentation of Raster-Wise Floor Plans

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arXiv 2024年

作者： Kratochvila, Lukas de Jong, Gijs Arkesteijn, Monique Bilík, Šimon Zemčík, Tomáš Horak, Karel Rellermeyer, Jan S. Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic Department of Software Technology Faculty of Electrical Engineering Mathematics and Computer Science TU Delft Delft Netherlands Department of Management in the Built Environment Faculty of Architecture and the Built Environment TU Delft Delft Netherlands Computer Vision and Pattern Recognition Laboratory Department of Computational Engineering Lappeenranta-Lahti University of Technology LUT Lappeenranta Finland Dependable and Scalable Software Systems Institute of Systems Engineering Faculty of Electrical Engineering and Computer Science Leibniz University Hannover Hannover Germany

Digital twins have a major potential to form a significant part of urban management in emergency planning, as they allow more efficient designing of the escape routes, better orientation in exceptional situations, and faster rescue intervention. Nevertheless, creating the twins still remains a largely manual effort, due to a lack of 3D-representations, which are available only in limited amounts for some new buildings. Thus, in this paper we aim to synthesize 3D information from commonly available 2D architectural floor plans. We propose two novel pixel-wise segmentation methods based on the MDA-Unet and MACU-Net architectures with improved skip connections, an attention mechanism, and a training objective together with a reconstruction part of the pipeline, which vectorizes the segmented plans to create a 3D model. The proposed methods are compared with two other state-of-the-art techniques and several benchmark datasets. On the commonly used CubiCasa benchmark dataset, our methods have achieved the mean F1 score of 0.86 over five examined classes, outperforming the other pixel-wise approaches tested. We have also made our code publicly available to support research in the field. © 2024, CC BY.

关键词： Semantic Segmentation

Neural Network-Based Prescription of Chinese Herbal Medicines 11

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Neural Network-Based Prescription of Chinese Herbal Medicine...

11th International Conference on Information technology in Medicine and Education, ITME 2021

作者： Zhao, Wen Lu, Weikai Zhou, Chang'en Li, Zuoyong Fan, Haoyi Lin, Xuejuan Yang, Zhaoyang Li, Candong Fujian University of Traditional Chinese Medicine School of Traditional Chinese Medicine Fuzhou350122 China Minjiang University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Fuzhou350121 China Harbin University of Science and Technology School of Computer Science and Technology Harbin150080 China

ISBN: (纸本)9781665406796

Objective: To develop a neural network model that recommends traditional Chinese medicine (TCM) herbal prescriptions. Methods: We constructed a new dataset of diagnosis and treatment knowledge from the Treatise on Febrile Diseases. Based on TCM's logical principles of 'syndrome differentiation' and 'state recognition', a back-propagation neural network model is proposed that simulates clinical diagnosis and treatment. Results: The proposed model is a four-layer BP neural network. Experiments on the constructed dataset show that the proposed method achieved the best precision, recall, and F1-scores. Conclusion: The proposed method provides much more accurate herbal prescription recommendations than logistic regression. © 2021 IEEE.

关键词： Diagnosis

MSONoC: A Metasurface-assisted Hybrid Waveguide/FSO Network-on-Chip Architecture

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IEEE Transactions on Green Communications and Networking

IEEE Transactions on Green Communications and Networking 2024年

作者： Sun, Wei Li, Jingsi Guo, Pengxing He, Xiangyu Wang, Zimo Hu, Cong Liu, Weichen Hou, Weigang Guo, Lei School of Communications and Information Engineering Chongqing University of Posts and Telecommunications Chongqing400065 China Institute of Intelligent Communications and Network Security Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Big Data Intelligent Computing Chongqing University of Posts and Telecommunications Chongqing400065 China Guangxi Key Laboratory of Automatic Detecting Technology and Instruments Guilin University of Electronic Technology Guilin541004 China School of Computer Science and Engineering Nanyang Technological University Singapore

Optical networks-on-chips (ONoCs) have emerged as the most promising solution for on-chip interconnection networks, offering distinct advantages such as high bandwidth and low latency. However, traditional wired-based ONoCs often suffer from a high average number of hops, leading to challenges such as increased insertion loss, crosstalk noise, and energy consumption. Therefore, this paper presents a novel ONoC structure known as the metasurface ONoC (MSONoC), which integrates wired waveguide and free-space optical (FSO) transmission with the assistance of metasurfaces. Specifically, this work encompasses the design of a passive metasurface structure tailored for ONoCs, a virtual network cluster partitioning method, an optical metasurface access points select strategy, and a shortest-path routing algorithm. Performance verification is conducted using a modified Noxim simulator. The simulation results demonstrate that the proposed MSONoC offers advantages over traditional NoCs, radio frequency (RF)-based hybrid wired/wireless NoCs, and wired-based ONoCs in terms of throughput, delay, energy consumption, and signal-to-noise ratio under both synthetic traffic and real traffic models. These improvements proves the effectiveness of the MSONoC architecture in optimizing network performance, making it a promising solution for high-performance, energy-efficient communication in on-chip networks. © 2017 IEEE.

关键词： Network-on-chip

Distributed Nash Equilibrium Seeking in Coalition Games for Uncertain Euler-Lagrange Systems With Application to USV Swarm Confrontation

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arXiv 2025年

作者： Yuwen, Cheng Wen, Guanghui Zhou, Jialing Luan, Meng Huang, Tingwen School of Automation Southeast University Nanjing210096 China State Key Laboratory of CNS/ATM Beijing Institute of Technology Beijing519088 China Department of System Science School of Mathematics Southeast University Nanjing211189 China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen218055 China

In this paper, a coalition game with local and coupling constraints is studied for uncertain Euler-Lagrange (EL) systems subject to disturbances with unknown bounds. In the coalition game, each agent collaborates with other agents within the same coalition to optimize its coalition’s cost function while simultaneously competing against agents in other coalitions. Under a distributed framework where each agent has access only to its own action, cost function, and constraint parameters, a distributed strategy is proposed to seek the Nash equilibrium (NE). By combining adaptive methods and sign functions, model uncertainties and disturbances with unknown bounds in the EL system are compensated and suppressed, respectively. Furthermore, an integration of adaptive methods and consensus protocols is employed to update the Lagrange multipliers of both local and coupling constraints. A dynamic average consensus is employed to estimate the gradient of coalition function, while the leader-following protocol is adopted to estimate the actions of other agents. By leveraging Lyapunov theory, the NE is proven to be asymptotically stable. Moreover, an unmanned surface vehicle swarm confrontation is meticulously modeled and analyzed in the coalition game framework. A diverse array of tasks, including formation, encirclement, and interception, are systematically formulated. A numerical example demonstrates the effectiveness of the proposed algorithm. Copyright © 2025, The Authors. All rights reserved.

关键词： Lagrange multipliers

Dynamic Stiffness Analysis and Experimental Verification of Axial Magnetic Bearing Based on Air Gap Flux Variation in Magnetically Suspended Molecular Pump

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Chinese Journal of Mechanical engineering 2020年第4期33卷 139-149页

作者： Jinji Sun Wanting Wei Jiqiang Tang Chun‑E Wang Key Laboratory of Fundamental Science for National Defense Novel Inertial Instrument and Navigation System TechnologySchool of Instrument Science and Opto‑Electronics EngineeringBeihang UniversityBeijing 100191China State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China Beijing Institute of Automatic Control Equipment Beijing 100074China

Current and displacement stiffness are important parameters of axial magnetic bearing(AMB)and are usually considered as constants for the control ***,in actual dynamic work situations,time-varying force leads to time-varying currents and air gap with a specific frequency,which makes the stiffness of appear decrease and even worsens control performance for the whole *** this paper,an AMB dynamic stiffness model considering the flux variation across the air gap due to frequency is established to obtain the accurate dynamic *** dynamic stiffness characteristics are analyzed by means of the dynamic equivalent magnetic circuit *** analytical results show that the amplitude of current and displacement stiffness decreases with frequency ***,compared with the stiffness model without considering the variation of flux density across the air gap,the improved dynamic stiffness results are closer to the actual *** the dynamic stiffness measurement method of AMB,experiments of AMB in magnetically suspended molecular pump(MSMP)are carried out and the experimental results are consistent with theoretical analysis *** paper proposes the dynamic stiffness model of axial magnetic bearing considering the variation of flux density across the air gap,which improves the accuracy of the AMB stiffness analysis.

关键词： Axial magnetic bearing(AMB) Dynamic stiffness Magnetically suspended molecular pump(MSMP)

Emulation-based Stabilization for Networked control Systems with Stochastic Channels

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arXiv 2024年

作者： Ren, Wei Wang, Wei Pan, Zhuo-Rui Sun, Xi-Ming Teel, Andrew R. Nešić, Dragan Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian116024 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China Department of Electrical and Electronic Engineering University of Melbourne ParkvilleVIC3052 Australia Department of Electrical and Computer Engineering University of California Santa Barbara Santa BarbaraCA93106 United States

This paper studies the stabilization problem of networked control systems (NCSs) with random packet dropouts caused by stochastic channels. To describe the effects of stochastic channels on the information transmission, the transmission times are assumed to be deterministic, whereas the packet transmission is assumed to be random. We first propose a stochastic scheduling protocol to model random packet dropouts, and address the properties of the proposed stochastic scheduling protocol. The proposed scheduling protocol provides a unified modelling framework for a general class of random packet dropouts due to different stochastic channels. Next, the proposed scheduling protocol is embedded into the closed-loop system, which leads to a stochastic hybrid model for NCSs with random packet dropouts. Based on this stochastic hybrid model, we follow the emulation approach to establish sufficient conditions to guarantee uniform global asymptotical stability in probability. In particular, an upper bound on the maximally allowable transmission interval is derived explicitly for all stochastic protocols satisfying Lyapunov conditions that guarantee uniform global asymptotic stability in probability. Finally, two numerical examples are presented to demonstrate the derived results. Copyright © 2024, The Authors. All rights reserved.

关键词： Networked control systems

Non-Convex Potential Games for Finding Global Solutions to Sensor Network Localization

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Non-Convex Potential Games for Finding Global Solutions to S...

European control Conference (ECC)

作者： Gehui Xu Guanpu Chen Yiguang Hong Baris Fidan Thomas Parisini Karl H. Johansson Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Control Science and Engineering Tongji University Shanghai China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai China Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Department of Electrical and Electronic Engineering Imperial College London London UK Department of Engineering and Architecture University of Trieste Trieste Italy

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Sensor network localization (SNL) problems require determining the physical coordinates of all sensors in a network. This process relies on the global coordinates of anchors and the available measurements between non-anchor and anchor nodes. Attributed to the intrinsic non-convexity, obtaining a globally optimal solution to SNL is challenging, as well as implementing corresponding algorithms. In this paper, we formulate a non-convex multi-player potential game for a generic SNL problem to investigate the identification condition of the global Nash equilibrium (NE) therein, where the global NE represents the global solution of SNL. We employ canonical duality theory to transform the non-convex game into a complementary dual problem. Then we develop a conjugation-based algorithm to compute the stationary points of the complementary dual problem. On this basis, we show an identification condition of the global NE: the stationary point of the proposed algorithm satisfies a duality relation. Finally, simulation results are provided to validate the effectiveness of the theoretical results.

关键词： Location awareness Coordinate measuring machines Simulation Current measurement Noise Europe Games