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arXiv 2020年

作者： Wang, Guangming Chen, Muyao Liu, Hanwen Yang, Yehui Liu, Zhe Wang, Hesheng The Department of Automation Institute of Medical Robotics Key Laboratory of System Control and Information Processing Ministry of Education Key Laboratory of Marine Intelligent Equipment System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China The Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai200240 China The Department of Computer Science and Technology University of Cambridge

With the rapid development of measurwement technology, LiDAR and depth cameras are widely used in the perception of the 3D environment. Recent learning based methods for robot perception most focus on the image or video, but deep learning methods for dynamic 3D point cloud sequences are underexplored. Therefore, developing efficient and accurate perception method compatible with these advanced instruments is pivotal to autonomous driving and service robots. An Anchor-based Spatio-Temporal Attention 3D Convolution operation (ASTA3DConv) is proposed in this paper to process dynamic 3D point cloud sequences. The proposed convolution operation builds a regular receptive field around each point by setting several virtual anchors around each point. The features of neighborhood points are firstly aggregated to each anchor based on the spatio-temporal attention mechanism. Then, anchor-based 3D convolution is adopted to aggregate these anchors' features to the core points. The proposed method makes better use of the structured information within the local region and learns spatio-temporal embedding features from dynamic 3D point cloud sequences. Anchor-based Spatio-Temporal Attention 3D Convolutional Neural Networks (ASTA3DCNNs) are built for classification and segmentation tasks based on the proposed ASTA3DConv and evaluated on action recognition and semantic segmentation tasks. The experiments and ablation studies on MSRAction3D and Synthia datasets demonstrate the superior performance and effectiveness of our method for dynamic 3D point cloud sequences. Our method achieves the state-of-the-art performance among the methods with dynamic 3D point cloud sequences as input on MSRAction3D and Synthia datasets. Copyright © 2020, The Authors. All rights reserved.

关键词： Embeddings

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Obtaining a Stabilizing Prediction Horizon in Quadratic Programming Model Predictive control

Obtaining a Stabilizing Prediction Horizon in Quadratic Prog...

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IEEE Annual Conference on Decision and control

作者： Dimitri Morgenstern Daniel Gorges Andreas Wirsen Department of System Analysis Prognosis and Control Fraunhofer Institute for Industrial Mathematics Kaiserslautern Germany Department of Electrical and Computer Engineering University of Kaiserslautern Germany

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

In this paper, it is shown how a performance tuple can be obtained in model predictive control if the optimal control problem is a quadratic program. The quotient of the finite-horizon optimal cost and the tuple's first entry upper bounds the sum of all instances over the finite-horizon optimal cost. The tuple's second entry is a stabilizing prediction horizon. The algorithm taking the describing matrices and giving a performance tuple is easily verifiable.

关键词： Optimal control Stability analysis Optimization Predictive control Upper bound Asymptotic stability controllability

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Coalition game based user association for mmWave mobile relay systems in rail traffic scenarios

arXiv

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arXiv 2021年

作者： Chen, Chen Niu, Yong Mao, Shiwen Zhang, Xiaodan Han, Zhu Ai, Bo Gao, Meilin Xiao, Huahua Wang, Ning The State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China The Frontiers Science Center for Smart High-Speed Railway System Beijing Jiaotong University Beijing100044 China The National Mobile Communications Research Laboratory Southeast University Nanjing211189 China The Department of Electrical and Computer Engineering Auburn University AuburnAL36849-5201 United States The School of Management Shenzhen Institute of Information Technology Shenzhen518172 China The Department of Electrical and Computer Engineering The University of Houston HoustonTX77004 United States The Department of Computer Science and Engineering Kyung Hee University Seoul446-701 Korea Republic of The Beijing Engineering Research Center of High-Speed Railway Broadband Mobile Communications Beijing Jiaotong University Beijing100044 China The Tsinghua Space Center Tsinghua University Beijing100091 China The ZTE Corporation State Key Laboratory of Mobile Network Mobile Multimedia Technology Shenzhen518057 China The School of Information Engineering Zhengzhou University Zhengzhou450001 China

Rail transportation, especially, high-speed rails (HSR), is an important infrastructure for the development of national economy and the promotion of passenger experience. Due to the large bandwidth, millimeter wave (mmWave) communication is regarded as a promising technology to meet the demand of high data rates. However, since mmWave communication has the characteristic of high attenuation, mobile relay (MR) is considered in this paper. Also, full-duplex (FD) communications have been proposed to improve the spectral efficiency. However, because of the high speed, as well as the problem of penetration loss, passengers on the train have a poor quality of service. Consequently, an effective user association scheme for HSR in mmWave band is necessary. In this paper, we investigate the user association optimization problem in mmWave mobile relay systems where the MRs operate in the FD mode. To maximize the system capacity, we propose a cooperative user association approach based on coalition formation game, and develop a coalition formation algorithm to solve the challenging NP-hard problem. We also prove the convergence and Nash-stable property of the proposed algorithm. Extensive simulations are done to show the system performance of the proposed scheme under various network settings. It is demonstrated that the proposed distributed low complexity scheme achieves a near-optimal performance and outperforms two baseline schemes in terms of average system throughput. Copyright © 2021, The Authors. All rights reserved.

关键词： Game theory

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An optimized energy management strategy for fuel cell hybrid vehicles 6

An optimized energy management strategy for fuel cell hybrid...

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2019 6th International Conference on Advanced Composite Materials and Manufacturing engineering, ACMME 2019

作者： Xiao, Wenxin Wang, Lei Liu, Dongyin Zhang, Wenwen Chinese-German College Tongji University Shanghai China Department of Electrical and Computer Engineering Technische Universität München Munich Germany Research Center of Control Science and Intelligent System University of Electronic Science and Technology of China Chengdu China College of Electronics and Information Engineering Tongji University Shanghai China

Fuel cell hybrid vehicles are environmentally friendly and have good development prospects. Their energy management is very important, but there are currently few studies on this topic. In this paper, an optimized energy management strategy specifically applied to fuel cell hybrid vehicles is proposed. Fuel cell hybrid vehicles have some different characteristics from ordinary hybrid vehicles, which need to be considered in energy management. For the fuel cell to remain activated during driving, its output power must remain above a minimum power. In addition, it takes some time for the fuel cell to start up. These characteristics are considered in the vehicle model. The energy management strategy proposed in this paper maximizes energy use efficiency by controlling the SOC value of the battery. The SOC value of the battery is in the proper range during driving. At high speeds, fuel is consumed as a source of energy and the battery is charged to keep its SOC at a high level. When approaching the destination or when the vehicle is traveling at a low speed, the battery is discharged to reduce fuel consumption. Applying this strategy to the ECE-15 and EUDCL environments, the simulation results show that this optimized energy management strategy improves the energy efficiency of the fuel cell and enables the battery to operate at the appropriate power. © Published under licence by IOP Publishing Ltd.

关键词： Fuel cells

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Fabry-perot lasers as enablers for parallel reservoir computing

arXiv

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arXiv 2020年

作者： Bogris, Adonis Mesaritakis, Charis Deligiannidis, Stavros Li, Pu Department of Informatics and Computer Engineering University of West Attica Aghiou Spiridonos Egaleo Athens12243 Greece Department of Information & Communication Systems Engineering University of the Aegean 2 Palama & Gorgyras St. Karlovassi Samos83200 Greece Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan030024 China

We introduce the use of Fabry-Perot (FP) lasers as potential neuromorphic computing machines with parallel processing capabilities. With the use of optical injection between a master FP laser and a slave FP laser under feedback we demonstrate the potential for scaling up the processing power at longitudinal mode granularity and perform real-time processing for signal equalization in 25 Gbaud intensity modulation direct detection optical communication systems. We demonstrate the improvement of classification performance as the number of nodes increases and the capability of simultaneous processing of arbitrary data streams. Extensive numerical simulations show that up to 8 longitudinal modes in typical Fabry-Perot lasers can be leveraged so as to enhance classification performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Recurrent neural networks

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Reliable Task Offloading for Vehicular Fog Computing under Information Asymmetry and Information Uncertainty

Reliable Task Offloading for Vehicular Fog Computing under I...

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作者： Zhou, Zhenyu Liao, Haijun Zhao, Xiongwen Ai, Bo Guizani, Mohsen State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of Electrical and Electronic Engineering North China Electric Power University Beijing China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing China Department of Computer Science and Engineering Qatar University Doha Qatar

Vehicular fog computing has emerged as a cost-efficient solution for task processing in vehicular networks. However, how to realize effective server recruitment and reliable task offloading under information asymmetry and uncertainty remains a critical challenge. In this paper, we adopt a two-stage task offloading framework to address this challenge. First, we propose a convex-concave-procedure-based contract optimization algorithm for server recruitment, which aims to maximize the expected utility of the operator with asymmetric information. Then, a low-complexity and stable task offloading mechanism is proposed to minimize the total network delay based on the pricing-based matching. Furthermore, we extend the work to the scenario of information uncertainty and develop a matching-learning-based task offloading mechanism, which takes both occurrence awareness and conflict awareness into consideration. Simulation results demonstrate that the proposed algorithm can effectively motivate resource sharing and guarantee bounded deviation from the optimal performance without the global information. © 2019 IEEE.

关键词： Fog computing

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Opacity of Nondeterministic Transition systems: A (Bi)Simulation Relation Approach

Opacity of Nondeterministic Transition Systems: A (Bi)Simula...

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作者： Zhang, Kuize Yin, Xiang Zamani, Majid ACCESS Linnaeus Center School of Electrical Engineering KTH Royal Institute of Technology Stockholm10044 Sweden Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China Computer Science Department University of Colorado Boulder BoulderCO80309 United States

In this paper, we propose several opacity-preserving (bi)simulation relations for nondeterministic transition systems (NTSs) in terms of initial-state opacity, current-state opacity, K-step opacity, and infinite-step opacity. We also show how one can leverage quotient constructions to compute such relations. As a result, although the opacity verification problem for infinite NTSs is generally undecidable, if one can find such an opacity-preserving relation from an infinite NTS to a finite one, the (lack of) opacity of the infinite NTS can be easily verified over the finite one, which is decidable. © 1963-2012 IEEE.

关键词： Opacity

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Zinc Oxide Quantum Dots as Photoanode for Dye-Sensitized Solar Cell

Zinc Oxide Quantum Dots as Photoanode for Dye-Sensitized Sol...

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IEEE International Conference on Semiconductor Electronics (ICSE)

作者： M. I. Idris Yasmin Zainol Abidin Huda Abdullah S. Shafie Siti Amaniah Mohd Chachuli M. Rashid K. J. Xian Micro and Nano Electronic (MiNE) Faculty of Electronic and Computer Engineering Melaka Malaysia Faculty of Electronic and Electronic Engineering (UTeM) Melaka Malaysia Department of Electrical Electronic and Systems Engineering Universiti Kebangsaan Malaysia (UKM) Selangor Malaysia Department of Electrical and Electronic Engineering Universiti Putra Malaysia (UPM) Selangor Malaysia Advanced Sensors and Embedded Control System (ASECs) Faculty of Electronic and Computer Engineering Melaka Malaysia School of Physics Universiti Sains Malaysia (USM) Penang Malaysia Faculty of Engineering and Built Environment Universiti Kebangsaan Malaysia (UKM) Selangor Malaysia

ISBN: (数字)9781728159683

ISBN: (纸本)9781728159690

Quantum dots dye-sensitized solar cells (QDSSC) has emerged as a highly promising photovoltaic technology for next-generation solar cells due to the distinct optoelectronics features of quantum dots (QDs) light-harvesting materials such as high absorption coefficient, multiple exciton generation possibility and easily tunable absorption range that can deliver both low production costs. TiO 2 is currently the conventional electron transport material (ETM) used in dye sensitized solar cell (DSSC) but incur high cost and high-temperature processing. Zinc oxide (ZnO) is identified as a low-cost material with higher electron mobility than TiO2 for efficient electron extraction. Furthermore, solution-process able ZnO quantum dots (QDs) allow manipulation of quantum confinement, light scattering and energy band alignment to improve charge extraction. ZnO QDs were synthesised using a self-assembly method of zinc acetate dihydrate solution with potassium hydroxide (KOH) solution and deposited on the Indium Tin Oxide (ITO) glass substrate by using spin coater (200-1500 rpm) for 20 seconds. Afterward, annealed for 5 hours in the furnace at temperatures of 450 ° C. In the characterization the solar cell used X-Ray Diffraction (XRD), UV-Visible spectroscopy, and Scanning Electron Microscope (SEM).

关键词： Zinc oxide II-VI semiconductor materials Photovoltaic cells Indium tin oxide Quantum dots Glass Absorption

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A registration-aided domain adaptation network for 3D Point cloud based place recognition

arXiv

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arXiv 2020年

作者： Qiao, Zhijian Hu, Hanjiang Shi, Weiang Chen, Siyuan Liu, Zhe Wang, Hesheng Department of Automation Insititue of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China Department of Mechanical Engineering Carnegie Mellon University United States Department of Computer Science and Technology University of Cambridge United Kingdom

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather variance. However, it is time-consuming and effort-costly to obtain high-quality point cloud data for place recognition model training and ground truth for registration in the real world. To this end, a novel registration-aided 3D domain adaptation network for point cloud based place recognition is proposed. A structure-aware registration network is introduced to help to learn features with geometric information and a 6-DoFs pose between two point clouds with partial overlap can be estimated. The model is trained through a synthetic virtual LiDAR dataset through GTA-V with diverse weather and daytime conditions and domain adaptation is implemented to the real-world domain by aligning the global features. Our results outperform state-of-the-art 3D place recognition baselines or achieve comparable on the real-world Oxford RobotCar dataset with the visualization of registration on the virtual dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Three dimensional computer graphics

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Offset-Free MPC for Resource Sharing on a Nonlinear SCARA Robot⁎

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IFAC-PapersOnLine 2018年第20期51卷 265-272页

作者： Bianchi, M. van der Maas, A. Maljaars, E. Heemels, W.P.M.H. Department of Mechanical Engineering Control System Technology Group Eindhoven University of Technology Eindhoven5600MB Netherlands Department of Information Engineering Computer Science and Mathematics Center of Excellence DEWS University of L'Aquila L'Aquila67100 Italy

High-precision motion industrial systems must satisfy tight performance requirements. Both positioning accuracy and throughput demands are typically achieved through improvements in hardware, thereby raising the bill of materials. A cost saving alternative could be to strive for a reduction in the hardware components needed, in combination with advanced motion control, to still meet the desired specifications. Particularly, in this paper, the possibility is analyzed to allow for resource sharing among several actuators. This results in a switched system, for which we develop a real-time MPC algorithm for optimization of both the input and the switching signals. This implementation applies to a fairly general class of nonlinear systems and uses a novel offset-free formulation in velocity form for LTV prediction models, to realize good tracking performance under the resource sharing constraints. We provide a proof of concept for this MPC solution on a high fidelity model of an industrial SCARA robot, where it is proposed to use a single amplifier to serve two actuators. The MPC solution is compared to heuristically switched LTI controllers, and the potential of the proposed approach is shown in simulations. © 2018

关键词： computer systems programming

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