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Efficient Object Detection Acceleration Methods for Autonomous-driving Embedded Platforms

IEIE Transactions on Smart Processing and Computing 2022年第4期11卷 255-261页

作者： Choi, Jiwoong Chun, Dayoung Lee, Hyuk-Jae Kim, Hyun Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of Research Center for Electrical and Information Technology Department of Electrical and Information Engineering Seoul National University of Science and Technology Seoul01811 Korea Republic of

Object detection in autonomous vehicles is typically operated in an embedded system to reduce power consumption. The use of an object detection algorithm with high accuracy and real-time detection speed in the embedded systems is essential for ensuring safe driving. This study proposes a parallel processing method for GPU and CPU operations to enhance the detection speed of the model. In addition, this study proposes data augmentation and image resize techniques that consider the camera input size of autonomous driving, which increases the accuracy significantly while improving the detection speed. The application of these proposed schemes to a baseline algorithm, tiny Gaussian YOLOv3, improves the mean average precision by 1.14 percent points (pp) for the Berkeley Deep Drive (BDD) dataset and 1.34 pp for the KITTI dataset compared to the baseline. Furthermore, in the NVIDIA Jetson AGX Xavier, which is an embedded platform for autonomous driving, the proposed algorithm improves the detection speed by 22.54 % for the BDD, and 24.67 % for the KITTI compared to the baseline, thereby enabling high-speed real-time detection on both datasets. © 2022 Institute of Electronics and Information Engineers. All rights reserved.

关键词： Object detection

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A Survey of Artificial Hummingbird Algorithm and Its Variants: Statistical Analysis, Performance Evaluation, and Structural Reviewing

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Archives of Computational Methods in engineering 2025年第1期32卷 269-310页

作者： Hosseinzadeh, Mehdi Rahmani, Amir Masoud Husari, Fatimatelbatoul Mahmoud Alsalami, Omar Mutab Marzougui, Mehrez Nguyen, Gia Nhu Lee, Sang-Woong Institute of Research and Development Duy Tan University Da Nang Viet Nam School of Medicine and Pharmacy Duy Tan University Da Nang Viet Nam Future Technology Research Center National Yunlin University of Science and Technology Yunlin Taiwan Department of Communication and Computer Engineering Faculty of Engineering Cihan University-Erbil Kurdistan Region Iraq Department of Electrical Engineering College of Engineering Taif University Taif21944 Saudi Arabia Department of Computer Engineering College of Computer Science King Khalid University Abha61413 Saudi Arabia School of Computer Science Duy Tan University Da Nang Viet Nam Pattern Recognition and Machine Learning Lab Gachon University 1342 Seongnamdaero Sujeonggu Seongnam13120 Korea Republic of

In the last few decades, metaheuristic algorithms that use the laws of nature have been used dramatically in numerous and complex optimization problems. The artificial hummingbird algorithm (AHA) is one of the metaheuristic algorithms that was invented in 2022 based on the foraging and migration behavior of the hummingbird for modeling and solving optimization problems. The algorithm initially starts with an initial random population of solutions. It then uses iterative processes and hummingbird position updates to balance exploration and exploitation toward the most optimal solutions. This paper has a detailed and extensive review of the AHA algorithm considering the aspects of hybrid, improved, binary, multi-objective, and optimization problems. In addition, a wide range of applications of AHA in various fields such as feature selection, image processing, scheduling, Internet of Things, classification, clustering, financial and economic issues, forecasting, wireless sensor networks, and many engineering challenges are explored. The statistical and numerical results showed that the AHA algorithm with deep learning methods, Levy flight, and opposition-based learning had the best performance. Also, the AHA algorithm is most widely used in solving multimodal optimization problems and continuous functions. © The Author(s) under exclusive licence to International center for Numerical Methods in engineering (CIMNE) 2024.

关键词： Optimization

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Real-time deep learning-assisted mechano-acoustic system for respiratory diagnosis and multifunctional classification

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npj Flexible Electronics 2024年第1期8卷 192-203页

作者： Hee Kyu Lee Sang Uk Park Sunga Kong Heyin Ryu Hyun Bin Kim SangHoon Lee Danbee Kang Sun Hye Shin Ki Jun Yu Juhee Cho Joohoon Kang Il Yong Chun Hye Yun Park Sang Min Won Department of Electrical and Computer Engineering Sungkyunkwan UniversitySuwonRepublic of Korea Department of Clinical Research Design and Evaluation SAIHSTSungkyunkwan UniversitySeoulRepublic of Korea Patient-Centered Outcomes Research Institute Samsung Medical CenterSeoulRepublic of Korea Center for Clinical Epidemiology Samsung Medical CenterSeoulRepublic of Korea Division of Pulmonary and Critical Care Medicine Department of MedicineSamsung Medical CenterSungkyunkwan University School of MedicineSeoulRepublic of Korea School of Electrical and Electronic Engineering Yonsei UniversitySeoulRepublic of Korea School of Advanced Materials Science and Engineering Sungkyunkwan UniversitySuwonRepublic of Korea Center for Neuroscience Imaging Research Institute for Basic ScienceSuwonRepublic of Korea

Epidermally mounted sensors using triaxial accelerometers have been previously used to monitor physiological processes with the implementation of machine learning(ML)algorithm *** findings from these previous studies have established a strong foundation for the analysis of highresolution,intricate signals,typically through frequency domain *** this study we integrate a wireless mechano-acoustic sensor with a multi-modal deep learning system for the real-time analysis of signals emitted by the laryngeal prominence area of the thyroid cartilage at frequency ranges up to 1 *** interface provides real-time data visualization and communication with the ML server,creating a system that assesses severity of chronic obstructive pulmonary disease and analyzes the user’s speech patterns.

关键词： system diagnosis mounted

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A Rigid-Flexible Coupling Recursive Formulation for Dynamic Modeling of Biped Robots 16th

A Rigid-Flexible Coupling Recursive Formulation for Dynamic...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Tang, Lingling Liang, Dingkun Wang, Xin Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964796

Biped robots are complex rigid-flexible coupling multibody systems that achieve the desired stable locomotion through foot-ground interactions. In the recent bio-inspired structure designs for biped robots, flexible parts are usually adopted to absorb the foot-ground impact and store the contact energy. However, most existing modeling formulations can only treat biped robots as rigid multibody systems, and the flexible parts are simply replaced by some linear or torsion springs. Since the deformations of the flexible parts have significant effects on the dynamic responses of the biped robot, the rigid multibody modeling method inevitably leads to a gap between the simulation model and the real prototype, and makes the sim-to-real transfer more difficult. To address this problem, a rigid-flexible coupling recursive modeling formulation is presented in this paper. In addition, the foot-ground interaction is modeled via a smooth normal contact model and a velocity-based Coulomb friction model. Finally, several numerical examples including inverse dynamics, kinematic closed-loop and frictional contact are given to verify the rigid-flexible coupling formulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Machine design

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Nonsmooth Dynamic Modeling of a Humanoid Robot with Parallel Mechanisms 16th

Nonsmooth Dynamic Modeling of a Humanoid Robot with Paral...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Xiong, Jiaming Liang, Dingkun Wang, Xin Huang, Yongshan Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

This paper establishes a nonsmooth dynamic model for a humanoid robot with parallel mechanisms. Firstly, the constraint equations of the parallel mechanism are derived through kinematic analysis. By combining the links involved in closed-loop constraints into aggregate nodes, the topology of the robot can be equivalent to a tree structure. Equivalent physical quantities for the aggregate nodes are defined to unify their treatment with individual nodes during dynamic modeling. Subsequently, the contact and impact dynamics of the robot are modeled using constraint-based methods, with a frictional multiple impacts model employed for impacts. Due to the high degree of freedom of the robot, recursive methods are adopted to calculate the corresponding dynamic matrices. Finally, numerical examples are provided to illustrate the dynamic model of the robot. A comparison with the compliance-based methods of Simscape Multibody demonstrates that our dynamic model can reflect more realistic physical processes, providing a more accurate simulation environment for the motion control of the robot. The simulation of standing balance control is also performed based on our dynamic model. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Anthropomorphic robots

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Spectral period doubling and encoding of dissipative optical solitons via gain control

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PhotoniX 2024年第1期5卷 290-305页

作者： Kangwen Yang Yi Zhou Yuqing Ling Kevin K.Tsia Heping Zeng Kenneth K.Y.Wong Shanghai Key Laboratory of Modern Optical System and Engineering Research Center of Optical Instrument and SystemMinistry of EducationSchool of Optical Electrical and Computer EngineeringUniversity of Shanghai for Science and TechnologyShanghai 200093China Department of Electrical and Electronic Engineering The University of Hong KongHong KongChina Advanced Biomedical Instrumentation Centre Hong Kong Science ParkHong KongChina State Key Laboratory of Precision Spectroscopy East China Normal UniversityShanghai 200062China

Period-doubling bifurcation,as an intermediate state between order and chaos,is ubiquitous in all disciplines of nonlinear ***,previous experimental observations of period doubling in ultrafast fiber lasers are mainly restricted to self-sustained steady state,controllable manipulation and dynamic switching between period doubling and other intriguing dynamical states are still largely ***,we propose to expand the vision of dissipative soliton periodic doubling,which we illustrate experimentally by reporting original spontaneous,collisional,and controllable spectral period doubling in a polarization-maintaining ultrafast fiber ***,the spontaneous period doubling can be observed in both single-and *** mechanism of the switchable state and periodic doubling was revealed by numerical ***,state transformation of individual solitons can be resolved during the collision of triple solitons involving stationary,oscillating,and period ***,controllable deterministic switching between period doubling and other dynamical states,as well as exemplifying the application of period-doubling-based digital encoding,is achieved under programmable pump *** results open a new window for unveiling complex Hopf bifurcation in dissipative systems and bring useful insights into nonlinear science and applications.

关键词： Period doubling Mode locking Ultrafast fiber lasers

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Experimental observation of coherent-perfect-absorber and laser points in anti-PT symmetry

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Physical Review A 2024年第3期110卷 033504页

作者： Minye Yang Qi Zhong Zhilu Ye Şahin K. Özdemir Mohamed Farhat Ramy El-Ganainy Pai-Yen Chen State Key Laboratory for Manufacturing Systems Engineering School of Electronic Science and Engineering Department of Electrical and Computer Engineering Department of Engineering Science and Mechanics The Materials Research Institute Computer Electrical and Mathematical Science and Engineering Division Department of Physics Henes Center for Quantum Phenomena

The coexistence of coherent perfect absorber and laser or amplifier (CPAL) point is a peculiar spectral singularity associated with the scattering matrices of non-Hermitian systems. While the potential of CPAL systems for sensing application has been highlighted recently, the extreme sensitivity of parity-time (PT)-symmetric CPAL devices to the input signal deviations has so far impeded their practical utilization. Here we explore a strategy for implementing CPAL circuits by exploiting another type of non-Hermitian symmetry, namely anti-PT (APT) symmetry. We demonstrate that the condition for building CPAL in our proposed APT-symmetric electronic circuits additionally requires parity symmetry, which simplifies the circuit design and implementation. Additionally, we show that this newly proposed structure is 1.85 times more robust compared to previous CPAL devices studied in the literature.

关键词： Noise Quantum sensing Non-Hermitian systems PT-symmetry

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A Joint Tracking System: Robot is Online to Access Surveillance Views

A Joint Tracking System: Robot is Online to Access Surveilla...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Lin, Zheyuan Ji, Shanshan Wang, Wen Qin, Mengjie Yang, Rong Wan, Minhong Gu, Jason Li, Te Zhang, Chunlong Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798350325706

The application of robots in social life, equipped with sensors and actuators and embedded with AI, assists people in all aspects. However, the first perspective of the robot horizon is heavily constrained, which weakens its performance. A joint tracking system is designed and built to deal with this, by integrating a surveillance system with the robot visual, providing a third perspective. This system takes one horizontal view and two top views from various directions as inputs and matches a person among the frames and in time sequence. In order to deal with the identity match with a huge visual feature gap, a special dataset is collected, simultaneously labeling identities from a mobile robot perspective and multiple indoor static surveillance monitors. The experiment shows that such match is a task worth exploring that can be better handled by training on our dataset than existing open source Re-identification (Re-id) datasets. Moreover, in the real scenario, this system improves the performance on issues like in and out of the robot's field of vision and heavy occlusion by people or objects. © 2023 IEEE.

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A Comprehensive SLAM Dataset for Indoor Exhibition Environments: Data Collection, Processing, and Comparative Evaluation

A Comprehensive SLAM Dataset for Indoor Exhibition Environme...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yuan, Songyu Zhang, Jing Pan, Chen Zhang, Chunlong Wan, Minhong Zheng, Tao Gu, Jason Zhejiang Lab Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798350325706

The field of Simultaneous Localization and Mapping(SLAM) has witnessed significant advancements in recent years. However, due to the difficulty of data obtains and ground-truth makes, there is a lack of real indoor scenarios datasets, especially the scenarios with less-texture, repeat-texture, extreme light condition, causing the slowly progress in indoor SLAM. In this paper, we present a dataset captured in a real indoor exhibition hall with diverse type of sensor data. Which contributes to diverse school of SLAM that using different sensors. We provide ground-truth 6DoF pose captured by motion capture devices, RGB-D data captured by a RealSense D455 camera. Laser-data captured by Ouster. And a high-resolution color point cloud captured by a laser scanner. This dataset offers three distinct sources of ground truth from real-world scenarios. It combines motion capture, ICP based laser localization, and visual localization methods to provide comprehensive and accurate reference data. This dataset is designed for evaluating positioning methods that employ various types of sensors, moving beyond a singular matrix-based evaluation approach. Besides, We show results of several state-of-the-art SLAM method in our datasets, illustrates the utility of our dataset and served as a reference for other researcher. We converge LiDAR-based SLAM with ground truth, made a good closure. An ensemble approach-based Visual SLAM, achieves results of odometry errors of 4% and loop closure position errors of 40 cm. Additionally, visual localization demonstrated an absolute position error of 21 cm using high-resolution point clouds. We highlight the potentials of our indoor datasets in LiDAR SLAM, RGB-D SLAM, and visual localization and combines method. The datasets are available at https://***/IMBAfarmer09/ExhibitionDataset © 2023 IEEE.

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Novelty of Different Distance Approach for Multi-Criteria Decision-Making Challenges Using q-Rung Vague Sets

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computer Modeling in engineering & sciences 2024年第6期139卷 3353-3385页

作者： Murugan Palanikumar Nasreen Kausar Dragan Pamucar Seifedine Kadry Chomyong Kim Yunyoung Nam Saveetha School of Engineering Saveetha Institute of Medical and Technical SciencesChennai602105India Department of Mathematics Faculty of Arts and ScienceYildiz Technical UniversityEsenlerIstanbul34220Turkey Department of Operations Research and Statistics Faculty of Organizational SciencesUniversity of BelgradeBelgrade11000Serbia College of Engineering Yuan Ze UniversityTaoyuan City320315TaiwanChina Department of Applied Data Science Noroff University CollegeKristiansand4612Norway Artificial Intelligence Research Center(AIRC) Ajman UniversityAjman346United Arab Emirates Department of Electrical and Computer Engineering Lebanese American UniversityByblos1102-2801Lebanon ICT Convergence Research Center Soonchunhyang UniversityAsan31538South Korea Department of Computer Science and Engineering Soonchunhyang UniversityAsan31538South Korea

In this article,multiple attribute decision-making problems are solved using the vague normal set(VNS).It is possible to generalize the vague set(VS)and q-rung fuzzy set(FS)into the q-rung vague set(VS).A log q-rung normal vague weighted averaging(log q-rung NVWA),a log q-rung normal vague weighted geometric(log q-rung NVWG),a log generalized q-rung normal vague weighted averaging(log Gq-rung NVWA),and a log generalized q-rungnormal vagueweightedgeometric(logGq-rungNVWG)operator are discussed in this *** is provided of the scoring function,accuracy function and operational laws of the log q-rung *** algorithms underlying these functions are also described.A numerical example is provided to extend the Euclidean distance and the Humming ***,idempotency,boundedness,commutativity,and monotonicity of the log q-rung VS are examined as they facilitate recognizing the optimal alternative more quickly and help clarify *** chose five anemia patients with four types of symptoms including seizures,emotional shock or hysteria,brain cause,and high fever,who had either retrograde amnesia,anterograde amnesia,transient global amnesia,post-traumatic amnesia,or infantile *** numbers q are used to express the results of the *** demonstrate the effectiveness and accuracy of the models we are investigating,we compare several existing models with those that have been developed.

关键词： Vague set aggregating operators euclidean distance hamming distance decision making

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