检索结果-内蒙古大学图书馆

Scenario Parameter Generation Method and Scenario Representativeness Metric for Scenario-Based Assessment of Automated Vehicles

学校读者我要写书评

暂无评论

arXiv 2022年

作者： de Gelder, Erwin Hof, Jasper Cator, Eric Paardekooper, Jan-Pieter den Camp, Olaf Op Ploeg, Jeroen De Schutter, Bart TNO Integrated Vehicle Safety Helmond Netherlands Delft University of Technology Delft Center for Systems and Control Delft Netherlands Radboud University Medical Center Department for Health Evidence Nijmegen Netherlands Radboud University Applied Stochastics Nijmegen Netherlands Radboud University Donders Institute for Brain Cognition and Behaviour Nijmegen Netherlands Eindhoven University of Technology Dept. of Mechanical Engineering Dynamics and Control Group Eindhoven Netherlands

The development of assessment methods for the performance of Automated Vehicles (AVs) is essential to enable the deployment of automated driving technologies, due to the complex operational domain of AVs. One candidate is scenario-based assessment, in which test cases are derived from real-world road traffic scenarios obtained from driving data. Because of the high variety of the possible scenarios, using only observed scenarios for the assessment is not sufficient. Therefore, methods for generating additional scenarios are necessary. Our contribution is twofold. First, we propose a method to determine the parameters that describe the scenarios to a sufficient degree while relying less on strong assumptions on the parameters that characterize the scenarios. By estimating the probability density function (pdf) of these parameters, realistic parameters values can be generated. Second, we present the Scenario Representativeness (SR) metric based on the Wasserstein distance, which quantifies to what extent the scenarios with the generated parameter values are representative of real-world scenarios while covering the actual variety found in the real-world scenarios. A comparison of our proposed method with methods relying on assumptions of the scenario parameterization and pdf estimation shows that the proposed method can automatically determine the optimal scenario parameterization and pdf estimation. Furthermore, it is demonstrated that our SR metric can be used to choose the (number of) parameters that best describe a scenario. The presented method is promising, because the parameterization and pdf estimation can directly be applied to already available importance sampling strategies for accelerating the evaluation of AVs. Copyright © 2022, The Authors. All rights reserved.

关键词： Importance sampling

A Unified NOMA Framework in Beam-Hopping Satellite Communication systems

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Zhang, Xuyang Yue, Xinwei Li, Tian Han, Zhihao Wang, Yafei Ding, Yong Liu, Rongke The Key Laboratory of Information and Communication Systems Ministry of Information Industry The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The 54th Research Institute of China Electronics Technology Group Corporation Hebei Shijiazhuang050081 China The School of Electronic and Information Engineering Beihang University Beijing100191 China Shenzhen Institution of Beihang University Shenzhen518063 China The Baicells Technologies Co. Ltd Beijing100095 China

This paper investigates the application of a unified non-orthogonal multiple access framework in beam hopping (U-NOMA-BH) based satellite communication systems. More specifically, the proposed U-NOMA-BH framework can be applied to code-domain NOMA based BH (CD-NOMA-BH) and power-domain NOMA based BH (PD-NOMA-BH) systems. To satisfy dynamic-uneven traffic demands, we formulate the optimization problem to minimize the square of discrete difference by jointly optimizing power allocation, carrier assignment and beam scheduling. The non-convexity of the objective function and the constraint condition is solved through Dinkelbach’s transform and variable relaxation. As a further development, the closed-from and asymptotic expressions of outage probability are derived for CD/PD-NOMA-BH systems. Based on approximated results, the diversity orders of a pair of users are obtained in detail. In addition, the system throughput of U-NOMA-BH is discussed in delay-limited transmission mode. Numerical results verify that: i) The gap between traffic requests of CD/PD-NOMA-BH systems appears to be more closely compared with orthogonal multiple access based BH (OMA-BH);ii) The CD-NOMA-BH system is capable of providing the enhanced traffic request and capacity provision;and iii) The outage behaviors of CD/PD-NOMA-BH are better than that of OMA-BH. Copyright © 2024, The Authors. All rights reserved.

关键词： Satellite communication systems

Relay Satellite Assisted LEO Constellation NOMA Communication System

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Zhang, Xuyang Yue, Xinwei Han, Zhihao Li, Tian Shen, Xia Wang, Yafei Liu, Rongke Key Laboratory of Information and Communication Systems Ministry of Information Industry China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China 54th Research Institute of China Electronics Technology Group Corporation Shijiazhuang Hebei050081 China Beijing100191 China School of Electronic and Information Engineering Beihang University Beijing100191 China Shenzhen Beihang Emerging Industry Technology Research Institute Shenzhen518063 China

This paper proposes a relay satellite assisted low earth orbit (LEO) constellation non-orthogonal multiple access combined beamforming (R-NOMA-BF) communication system, where multiple antenna LEO satellites deliver information to ground non-orthogonal users. To measure the service quality, we formulate a resource allocation problem to minimize the second-order difference between the achievable capacity and user request traffic. Based on the above problem, joint optimization for LEO satellite-cell assignment factor, NOMA power and BF vector is taken into account. The optimization variables are analyzed with respect to feasibility and non-convexity. Additionally, we provide a pair of effective algorithms, i.e., doppler shift LEO satellite-cell assisted monotonic programming of NOMA with BF vector (D-mNOMA-BF) and ant colony pathfinding based NOMA exponential cone programming with BF vector (A-eNOMA-BF). Two compromise algorithms regarding the above are also presented. Numerical results show that: 1) D-mNOMA-BF and A-eNOMA-BF algorithms are superior to that of orthogonal multiple access based BF (OMA-BF) and polarization multiplexing schemes;2) With the increasing number of antennas and single satellite power, R-NOMA-BF system is able to expand users satisfaction;and 3) By comparing various imperfect successive interference cancellation, the performance of A-mNOMA-BF algorithm exceeds D-mNOMA-BF. Copyright © 2024, The Authors. All rights reserved.

关键词： Satellite communication systems

Model reduction methods for complex network systems

学校读者我要写书评

暂无评论

arXiv 2020年

作者： Cheng, Xiaodong Scherpen, Jacquelien M.A. Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Jan C. Willems Center for Systems and Control ENTEG University of Groningen Netherlands

Network systems consist of subsystems and their interconnections, and provide a powerful framework for analysis, modeling and control of complex systems. However, subsystems may have high-dimensional dynamics, and the amount and nature of interconnections may also be of high complexity. Therefore, it is relevant to study reduction methods for network systems. An overview on reduction methods for both the topological (interconnection) structure of the network and the dynamics of the nodes, while preserving structural properties of the network, and taking a control systems perspective, is provided. First topological complexity reduction methods based on graph clustering and aggregation are reviewed, producing a reduced-order network model. Second, reduction of the nodal dynamics is considered by using extensions of classical methods, while preserving the stability and synchronization properties. Finally, a structure-preserving generalized balancing method for simplifying simultaneously the topological structure and the order of the nodal dynamics is treated. Copyright © 2020, The Authors. All rights reserved.

关键词： Dynamics

Trust your model: Iterative label improvement and robust training by confidence based filtering and dataset partitioning

学校读者我要写书评

暂无评论

arXiv 2020年

作者： Haase-Schütz, Christian Stal, Rainer Hertlein, Heinz Sick, Bernhard Engineering Cognitive Systems Automated Driving Chassis Systems Control Robert Bosch GmbH Abstatt Germany Intelligent Embedded Systems Group University of Kassel Germany

State-of-the-art, high capacity deep neural networks not only require large amounts of labelled training data, they are also highly susceptible to labelling errors in this data, typically resulting in large efforts and costs and therefore limiting the applicability of deep learning. To alleviate this issue, we propose a novel meta training and labelling scheme that is able to use inexpensive unlabelled data by taking advantage of the generalization power of deep neural networks. We show experimentally that by solely relying on one network architecture and our proposed scheme of iterative training and prediction steps, both label quality and resulting model accuracy, can be improved significantly. Our method achieves state-of-the-art results, while being architecture agnostic and therefore broadly applicable. Compared to other methods dealing with erroneous labels, our approach does neither require another network to be trained, nor does it necessarily need an additional, highly accurate reference label set. Instead of removing samples from a labelled set, our technique uses additional sensor data without the need for manual labelling. Copyright © 2020, The Authors. All rights reserved.

关键词： Deep neural networks

Circulant shift-based beamforming for secure communication with low-resolution phased arrays

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Patel, Kartik Myers, Nitin Jonathan Heath, Robert W. Wireless Networking and Communications Group The University of Texas at Austin United States Delft Center for Systems and Control Delft University of Technology Netherlands Department of Electrical and Computer Engineering North Carolina State University United States

Millimeter wave (mmWave) technology can achieve high-speed communication due to the large available spectrum. Furthermore, the use of directional beams in mmWave system provides a natural defense against physical layer security attacks. In practice, however, the beams are imperfect due to mmWave hardware limitations such as the low-resolution of the phase shifters. These imperfections in the beam pattern introduce an energy leakage that can be exploited by an eavesdropper. To defend against such eavesdropping attacks, we propose a directional modulation-based defense technique where the transmitter applies random circulant shifts of a beamformer. We show that the use of random circulant shifts together with appropriate phase adjustment induces artificial phase noise (APN) in the directions different from that of the target receiver. Our method corrupts the phase at the eavesdropper without affecting the communication link of the target receiver. We also experimentally verify the APN induced due to circulant shifts, using channel measurements from a 2-bit mmWave phased array testbed. Using simulations, we study the performance of the proposed defense technique against a greedy eavesdropping strategy in a vehicle-to-infrastructure scenario. The proposed technique achieves better defense than the antenna subset modulation, without compromising on the communication link with the target receiver. Copyright © 2021, The Authors. All rights reserved.

关键词： Millimeter waves

3D Pipe Network Reconstruction Based on Structure from Motion with Incremental Conic Shape Detection and Cylindrical Constraint

学校读者我要写书评

暂无评论

arXiv 2020年

作者： Kagami, Sho Taira, Hajime Miyashita, Naoyuki Torii, Akihiko Okutomi, Masatoshi Dept. of Systems and Control Engineering Tokyo Institute of Technology R&D Group Olympus Corporation

Pipe inspection is a critical task for many industries and infrastructure of a city. The 3D information of a pipe can be used for revealing the deformation of the pipe surface and position of the camera during the inspection. In this paper, we propose a 3D pipe reconstruction system using sequential images captured by a monocular endoscopic camera. Our work extends a state-of-the-art incremental Structure-from-Motion (SfM) method to incorporate prior constraints given by the target shape into bundle adjustment (BA). Using this constraint, we can minimize the scale-drift that is the general problem in SfM. Moreover, our method can reconstruct a pipe network composed of multiple parts including straight pipes, elbows, and tees. In the experiments, we show that the proposed system enables more accurate and robust pipe mapping from a monocular camera in comparison with existing state-of-the-art methods. Copyright © 2020, The Authors. All rights reserved.

关键词： Cameras

V2X-BGN: Camera-based V2X-Collaborative 3D Object Detection with BEV Global Non-Maximum Suppression

学校读者我要写书评

暂无评论

V2X-BGN: Camera-based V2X-Collaborative 3D Object Detection ...

IEEE Symposium on Intelligent Vehicle

作者： Caiji Zhang Bin Tian Shi Meng Shuangying Qi Yang Sun Yunfeng Ai Long Chen School of Artificial Intelligence University of Chinese Academy of Sciences and With the National Key Laboratory for Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Bin Tian is With the National Key Laboratory for Multi-Modal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences and With the School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China National Key Laboratory for Multi-Modal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences and With the School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Chongqing Iron and Steel Group Mining Co. Ltd. Chongqing China School of Mechanical and Equipment Engineering Hebei University of Engineering Handan China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Waytous Inc. Qingdao China School of Computer Science and Engineering Sun Yat-Sen University Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Waytous Ltd. Qingdao China

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

In recent years, research on Vehicle-to-Everything (V2X) cooperative perception algorithms mainly focuses on the fusion of intermediate features from LiDAR point clouds. Since the emergence of excellent single-vehicle visual perception models like BEVFormer, collaborative perception schemes based on camera and late-fusion have become feasible approaches. This paper proposes a V2X-collaborative 3D object detection structure in Bird's Eye View (BEV) space, based on global non-maximum suppression and late-fusion (V2X-BGN), and conducts experiments on the V2X-Set dataset. Focusing on complex road conditions with extreme occlusion, the paper compares the camera-based algorithm with the LiDAR-based algorithm, validating the effectiveness of pure visual solutions in the collaborative 3D object detection task. Additionally, this paper highlights the complementary potential of camera-based and LiDAR-based approaches and the importance of object-to-ego vehicle distance in the collaborative 3D object detection task.

关键词： Point cloud compression Visualization Three-dimensional displays Laser radar Roads Collaboration Object detection

Single module identifiability in linear dynamic networks with partial excitation and measurement

学校读者我要写书评

暂无评论

arXiv 2020年

作者： Shi, Shengling Cheng, Xiaodong Van Den Hof, Paul M.J. Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands Control Group Department of Engineering University of Cambridge CB2 1PZ United Kingdom

Identifiability of a single module in a network of transfer functions is determined by whether a particular transfer function in the network can be uniquely distinguished within a network model set, on the basis of data. Whereas previous research has focused on the situations that all network signals are either excited or measured, we develop generalized analysis results for the situation of partial measurement and partial excitation. As identifiability conditions typically require a sufficient number of external excitation signals, this work introduces a novel network model structure such that excitation from unmeasured noise signals is included, which leads to less conservative identifiability conditions than relying on measured excitation signals only. More importantly, graphical conditions are developed to verify global and generic identifiability of a single module based on the topology of the dynamic network. Depending on whether the input or the output of the module can be measured, we present four identifiability conditions which cover all possible situations in single module identification. These conditions further lead to synthesis approaches for allocating excitation signals and selecting measured signals, to warrant single module identifiability. In addition, if the identifiability conditions are satisfied for a sufficient number of external excitation signals only, indirect identification methods are developed to provide a consistent estimate of the module. All the obtained results are also extended to identifiability of multiple modules in the network. Copyright © 2020, The Authors. All rights reserved.

关键词： Transfer functions