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IEEE Vehicular Networking Conference (VNC)

作者： Nagacharan Teja Tangirala Christoph Sommer Alois Knoll Chair of Robotics Artificial Intelligence and Real-time Systems Technical University of Munich Munich Germany Faculty of Computer Science TU Dresden Germany

ISBN: (数字)9798350362701

ISBN: (纸本)9798350362718

Large-scale VANET simulations are computationally intensive. Disolv is a simulation architecture proposed to support city-scale VANET studies. This paper describes software decisions taken to realize a concrete implementation of Disolv. We describe a common workflow and provide guidelines on best utilizing Disolv. Finally, a small experiment demonstrates the performance gains by comparing the execution times with state-of-the-art VANET simulators.

关键词： Computational modeling Vehicular ad hoc networks computer architecture Performance gain Software Guidelines

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Cost-Effective Network Packet Manipulation and Error-Detection Device

Cost-Effective Network Packet Manipulation and Error-Detecti...

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Consumer Communications and Networking Conference, CCNC IEEE

作者： Alexander F. K. Janus Steffen Moser Frank Slomka Faculty of Engineering Computer Science and Psychology Institute of Embedded System/Real-Time Systems School of Advanced Professional Studies Ulm University Ulm Germany

real-time multimedia communication applications like video conferencing and screen sharing tools are an integral part of our daily communications. These time-critical services are handled via the Internet, a packet-switched and essentially best-effort network, not explicitly designed for robust real-time communication. From a video conferencing service provider's perspective, network issues cause a lot of user complaints due to various reasons: lossy WLAN channels, poorly configured home routers, or crowded carrier-grade network address translation devices. All of these issues have in common that they are often time-variant and non-deterministic. Furthermore, the end-to-end transmission in these highly inhomogeneous networks often suffers from a mixture of more than one error source. To enable a detailed and impartial analysis of multimedia service quality, it is necessary to analyze packets in defective online scenarios and introduce a broadly similar error pattern in an otherwise stable lab network. In this paper, we present SEDER, a hardware-software design of a layer two transparent Ethernet bridge that can be used for two purposes: error detection and error recreation. Implemented on low-cost hardware, the bridge can be easily deployed anywhere to allow debugging, even at a user's site. It is possible to parameterize our bridge to imitate almost all possible network effects, including complex combinations of more than one effect. In addition, we present two case studies, firstly emphasizing the capabilities of SEDER and secondly showing the need to use SEDER to harden open source Video Conferencing Tools against errors.

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Residual Chain Prediction for Autonomous Driving Path Planning

arXiv

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arXiv 2024年

作者： Zhou, Liguo Zhou, Yirui Liu, Huaming Knoll, Alois Artificial Intelligence and Real-time Systems Technical University of Munich Germany The School of Computer Science Nanjing University of Information Science & Technology China The School of Computer and Information Engineering Fuyang Normal University China

In the rapidly evolving field of autonomous driving systems, the refinement of path planning algorithms is paramount for navigating vehicles through dynamic environments, particularly in complex urban scenarios. Traditional path planning algorithms, which are heavily reliant on static rules and manually defined parameters, often fall short in such contexts, highlighting the need for more adaptive, learning-based approaches. Among these, behavior cloning emerges as a noteworthy strategy for its simplicity and efficiency, especially within the realm of end-to-end path planning. However, behavior cloning faces challenges, such as covariate shift when employing traditional Manhattan distance as the metric. Addressing this, our study introduces the novel concept of Residual Chain Loss. Residual Chain Loss dynamically adjusts the loss calculation process to enhance the temporal dependency and accuracy of predicted path points, significantly improving the model's performance without additional computational overhead. Through testing on the nuScenes dataset, we underscore the method's substantial advancements in addressing covariate shift, facilitating dynamic loss adjustments, and ensuring seamless integration with end-to-end path planning frameworks. Our findings highlight the potential of Residual Chain Loss to revolutionize planning component of autonomous driving systems, marking a significant step forward in the quest for level 5 autonomous driving system. © 2024, CC BY-SA.

关键词： Motion planning

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Code Generation Based on Quality-Aware Reordering

Code Generation Based on Quality-Aware Reordering

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6th International Conference on Intelligent Computing and Signal Processing (ICSP)

作者： Yuan Song Luo Yu College of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Provincial Key Laboratory of Intelligent Information Processing and Real-time Industrial Systems Wuhan China

ISBN: (数字)9798350376548

ISBN: (纸本)9798350376555

Translation efforts from natural language to code generation have achieved great success with large pre-trained language models. However, selecting the correct code output for the problem posed by the generated set of candidate codes is still challenging. In this paper, we address this problem by proposing an outcome-based quality-aware reordering method for code selection. This method scores each code by whether the set of candidate codes passes the test cases or not as a reference to select the top k best code outputs. In addition, this method depends on the quality and number of test cases. However, it is impractical to manually create a large number of test cases for each problem, so this paper adopts an automated approach that utilizes the current model to generate test cases for each problem. The experimental results show that the approach proposed in this paper obtains a significant improvement in the pass@k benchmark for each model, and the correctness and quality of test cases generated automatically using the model are discussed experimentally. Summarizing the experimental results and discussions, the result-based quality-aware reordering method proposed in this paper achieves a significant improvement in solving the problem of selecting the correct output from natural language to code generation, effectively improves the accuracy of evaluation by automating the generation of test cases, and provides an effective solution to improving the correctness of code generation.

关键词： Codes Accuracy Computational modeling Estimation Signal processing Benchmark testing

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Software-defined event-based camera and vision algorithms for digitizing highly dynamic manufacturing tasks

Software-defined event-based camera and vision algorithms fo...

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2024 Low-Cost Digital Solutions for Industrial Automation, LoDiSA 2024

作者： Walker, Emily Turner, Christopher J. Oyekan, John Department of Automatic Control & Systems Engineering The University of Sheffield SheffieldS1 3JD United Kingdom Surrey Business School The University of Surrey Surrey GuildfordGU2 7XH United Kingdom Real Time & Distributed Systems Group Department of Computer Science University of York Heslington YorkYO10 5GH United Kingdom

ISBN: (纸本)9781837242672

Event-based cameras are inspired by the way the retina in the eye process information. Rather than capturing image frames at a constant rate, event cameras generate data asynchronously, based on changes in pixel value between frames. As a result, these cameras have a high spatiotemporal accuracy, low power constraints and reduced artefacts from motion blur. Hence, they represent favourable properties for digitizing highly dynamic manufacturing tasks such as machine vibrations and rapid human assembly actions. However, the costs of event-based cameras are prohibitively high for small to medium sized enterprises (SMEs). In this research, we present the development of a rig that combines low-cost visual sensors with low-cost algorithms to perform action recognition for highly dynamic manual manufacturing tasks. We applied our algorithms to achieve an action classification system via a novel threshold-based approach and in parallel use a neural network to perform classification of objects in the video feed. The results achieved demonstrated that our approach was able to successfully identify various rapid manual tasks being performed on identified objects. In addition to SMEs, our approach would be suited for providing low-cost digitization on legacy machines. © This is an open access article published by the IET under the Creative Commons Attribution License (http://***/licenses/by/3.0/).

关键词： Machine vibrations

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Data-Driven Graph Construction of Power Flow Graphs for Electric Power Transmission Networks

Data-Driven Graph Construction of Power Flow Graphs for Elec...

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International Conference on Machine Learning and Applications (ICMLA)

作者： Benjamin Poole Rajan Ratnakumar Dulip Tharaka Madurasinghe Christian Kümmerle Ganesh Kumar Venayagamoorthy Minwoo Lee Department of Computer Science University of North Carolina Charlotte USA Real-Time Power and Intelligent Systems Laboratory Clemson University USA Department of Electrical Electronic and Computer Engineering University of Pretoria South Africa

ISBN: (数字)9798350374889

ISBN: (纸本)9798350374896

A comprehensive understanding of the topology of the electric power transmission network (EPTN) is essential for reliable and robust control of power systems. While existing research primarily relies on domain-specific methods, it lacks data-driven approaches that have proven effective in modeling the topology of complex systems. To address this gap, this paper explores the potential of data-driven methods for more accurate and adaptive solutions to uncover the true underlying topology of EPTNs. First, this paper examines Gaussian Graphical Models (GGM) to create an EPTN network graph (i.e., undirected simple graph). Second, to further refine and validate this estimated network graph, a physics-based, domain-specific refinement algorithm is proposed to prune false edges and construct the corresponding electric power flow network graph (i.e., directed multi-graph). The proposed method is tested using a synchrophasor dataset collected from a two-area, four-machine power system simulated on the real-time digital simulator (RTDS) platform. Experimental results show both the network and flow graphs can be reconstructed using various operating conditions and topologies with limited failure cases.

关键词： Robust control Network topology Data models real-time systems Phasor measurement units Power systems Topology Power system reliability Reliability Load flow

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Generating Manipulation Sequences using Reinforcement Learning and Behavior Trees for Peg-In-Hole Task

Generating Manipulation Sequences using Reinforcement Learni...

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2022 IEEE International Conference on systems, Man, and Cybernetics, SMC 2022

作者： Xu, Jiahua Lin, Yunhan Zhou, Haotian Min, Huasong Wuhan University of Science and Technology College of Computer Science and Technology Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan430065 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Reinforcement Learning (RL), a method of learning skills through trial-and-error, has been successfully used in many robotics applications in recent years. We combine manipulation primitives (MPs), behavior trees (BTs), and reinforcement learning to propose an algorithm for peg-in-hole tasks, which speeds up the convergence of the RL model and enhance the adaptability of the dynamic environment. Manipulation primitives are used as actions for RL, which can reduce the gap between control instruction and robotic actions and speed up the convergence of the RL model. Behavior trees are used as robot behavior control, which makes robots can actively adapt to the changes in the environment. In experiments, RL-BT, from the combination of RL and BT, is designed for the peg-in-hole task in the Gazebo simulation environment by using UR5 as the actuator. The experiments are conducted on a simple peg and a complex multi-hole peg by three aspects, which include convergence speed verification experiment, adaptability of dynamic environment experiment, and algorithm robustness experiment. The experiment result proves that our RL-BT can speed up the convergence and adapt to the changes in the environment. © 2022 IEEE.

关键词： Reinforcement learning

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PL-TD3: A Dynamic Path Planning Algorithm of Mobile Robot

PL-TD3: A Dynamic Path Planning Algorithm of Mobile Robot

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2022 IEEE International Conference on systems, Man, and Cybernetics, SMC 2022

作者： Tan, Yijian Lin, Yunhan Liu, Tong Min, Huasong Wuhan University of Science and Technology College of Computer Science and Technology Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan430065 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

In this paper, Prioritized Experience Replay (PER) strategy and Long Short Term Memory (LSTM) neural network are introduced to the path planning process of mobile robots, which solves the problems of slow convergence and inaccurate perception of dynamic obstacles with the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm. We dubbed this new method as PL-TD3. Firstly, we improve the convergence speed of the algorithm by introducing PER strategy. Secondly, we use LSTM neural network to achieve the improvement of the algorithm for dynamic obstacle perception. In order to verify the method of this paper, we design static environment, dynamic environment and adaptability to dynamic experiments to compare and analyze the methods before and after improvement. The experimental results show that PL-TD3 outperforms TD3 in terms of execution time and execution path length in all environments. © 2022 IEEE.

关键词： Motion planning

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Unsupervised Spatio-Temporal Anomalous Thermal Behavior Monitoring of Inside-Built Environments

Unsupervised Spatio-Temporal Anomalous Thermal Behavior Moni...

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International Conference on Distributed Computing in Sensor systems (DCOSS)

作者： Naima Khan Md Abdullah Al Hafiz Khan Nirmalya Roy Department of Information Systems University of Maryland Baltimore County (UMBC) Center for Real-time Distributed Sensing and Autonomy UMBC Department of Computer Science Kennesaw State University

Continual wavering of outside weather degrades the efficiency of inside building envelope over time and leads to additional energy consumption, various structural damages, etc. Frequent monitoring of the indoor built environment with thermal images can assist in identifying the energy-leaking and potentially damage-prone areas. Although in recent years different researches performed deep learning and computer vision based thermal anomaly detection in built environment, several issues related to conducting strategic non-intrusive indoor thermal inspection using temporal thermal images, are still unresolved in uncontrolled environment of residential buildings. In this work, we propose a scalable thermal image-based monitoring approach for building envelopes combining the visual knowledge of structural joint information among different building components and their corresponding temporal thermal status. We collected longitudinal thermal images from indoor scenes of different building components (e.g., door, window, wall) and employed a high-level spatio-temporal graph (st-graph) to represent the structural connection among different building components and their temporal self-changes. Our proposed novel unsupervised spatio-temporal clustering framework assigns the cluster label to nodes in st-graph, combining its structural (the self and neighboring component) and temporal features which achieves better performance in identifying thermal variation compared to other clustering based approaches. We demonstrate thermal variation across the spots which indicates the potential energy leakage areas inside the built environment. The cluster patterns obtained from our proposed model assist in understanding the thermal characteristics of various surfaces at certain conditions, such as sun reflection and airflow in the inside built environment.

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Multi-stage Objective Function Optimized Hand-Eye Self-calibration of Robot in Autonomous Environment 1

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17th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2022

作者： Liu, Kaibo Zheng, Wangli Min, Huasong Lin, Yunhan School of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Hubei Wuhan430065 China State Grid Electric Power Research Institute Jiangsu Nanjing211106 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Hubei Wuhan430081 China

ISBN: (数字)9789819915491

ISBN: (纸本)9789819915484

In the application scenario of robot autonomous tasks, the robot needs to be able to complete calibration online and automatically to achieve self-maintenance, which differs from traditional robot hand-eye calibration in that the traditional robot hand-eye calibration requires a dedicated calibration board to assist offline completion. Aiming at the problem that the existing self-calibration methods cannot be optimized as a whole, which leads to low accuracy and instability of the solution, a multi-stage objective function optimization self-calibration algorithm is proposed, which describes the solution of hand-eye self-calibration as a minimization objective function problem involving multiple stages. An optimization method based on the minimization of re-projection error is designed to compensate for the results, which uses an efficient Oriented fast and rotated brief (ORB) feature extraction algorithm and introduces a scoring mechanism to retain more correct matching points in the feature matching stage. Two different types of experiments were designed to validate our method. One is a single camera dataset experiment, which shows that our method is more accurate and robust than the existing self-calibration method;the other is an application platform experiment, which verifies the feasibility and availability of our method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Calibration

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