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作者： Li, Zuoyong Yu, Zhaochai Liu, Weixia Xu, Yong Zhang, Daoqiang Cheng, Yong Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou350121 China The Fujian College's Research Base of Humanities and Social Science for Internet Innovation Research Center Minjiang University Fuzhou350121 China Straits Institute Minjiang University Fuzhou350121 China Bio-Computing Research Center Shenzhen Graduate School Harbin Institute of Technology Shenzhen518055 China Department of Computer Science and Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China School of Communication Engineering Nanjing Institute of Technology Nanjing211167 China

Tongue image segmentation is a crucial step in developing an automatic tongue diagnosis system. After exploring characteristics of image thresholding in different color spaces, we propose a simple and effective tongue image segmentation method. Specifically, the proposed method first extracts an initial tongue body region by performing image thresholding on the transformed hue component in HSI (Hue, Saturation, and Intensity) color space. Then, one of two image thresholding results on the red component of an original tongue image is adaptively selected to find the gap region between the tongue body root and the upper lip. Finally, the initial tongue body region is refined by removing fake object regions such as the upper lip to obtain final tongue image segmentation result. Experimental results on a tongue image dataset containing 200 subjects demonstrate the effectiveness of the proposed method. © 2018 John Wiley & Sons, Ltd.

关键词： Image segmentation

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Motion Planning In High-Dimensional Spaces

arXiv

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arXiv 2018年

作者： Petrović, Luka University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems Mobile Robotics

—Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing on systems such as planar mobile robots and low degree-of-freedom (DOF) robotic arms. The increased use of high DOF robots that must perform tasks in real time in complex dynamic environments spurs the need for fast motion planning algorithms. In this overview, we discuss several types of strategies for motion planning in high dimensional spaces and dissect some of them, namely grid search based, sampling based and trajectory optimization based approaches. We compare them and outline their advantages and disadvantages, and finally, provide an insight into future research opportunities. Copyright © 2018, The Authors. All rights reserved.

关键词： Motion planning

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A Projection-Based Approach for Memory Leak Detection

A Projection-Based Approach for Memory Leak Detection

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IEEE Annual International Computer Software and Applications Conference (COMPSAC)

作者： Xiaohui Sun Sihan Xu Chenkai Guo Jing Xu Naipeng Dong Xiujuan Ji Sen Zhang Department of Computer and Control Engineering Nankai University School of Computing National University of Singapore Department of Binhai Nankai University

One of the major software safety issues is memory leak. Moreover, detecting memory leak vulnerabilities is challenging in static analysis. Existing static detection tools find bugs by collecting programs' information in the process of scanning source code. However, the current detection tools are weak in efficiency and accuracy, especially when the targeted program contains complex branches. This paper proposes a projection-based approach to detect memory leaks in C source code with complex control flows. According to the features of memory allocation and deallocation in C source code, this approach projects the original control flow graph of a program to a simpler one, and it reduces the analysis complexity. Besides, this paper implements a memory-leak detection tool-PML_Checker, and evaluates the tool by comparing with three open-source static detection tools on both public benchmarks and study test cases. The experimental results show that PML_Checker reports the most memory leak vulnerabilities among the four existing tools with complex control flows and complex data types, and PML_Checker obtains higher efficiency and accuracy on public benchmarks.

关键词： Aerospace electronics Resource management Tools Memory management Complexity theory Projection algorithms Software

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Utilizing Frequency Changing in Communication Systems to Reduce Power in CRC Circuits

Utilizing Frequency Changing in Communication Systems to Red...

引用

Scientific Conference of Electrical engineering (SCEE)

作者： Qusay Al-Doori Omar Y. K. Alani Control and Systems Engineering Department University of Technology Baghdad Iraq School of Computing Science and Engineering University of Salford Salford Uk

ISBN: (纸本)9781728115887;9781728115870

Modern communication circuits use adaptive modulation techniques to fulfill its task. These techniques require changing the clock frequency of the of the communication units inside the communication circuit. The clock frequency can affect the power consumption of the digital circuits. In this paper, Dynamic Voltage / Frequency Scheduling (DVFS) is modified to use the clock frequency variation so that the CRC stage power is decreased. The DVFS is represented by a fuzzy controller that uses the frequency and the calculated power of the system as its input to calculate the required CRC unite supply voltage. The simulations show that for a 16bit CRC circuit a reduction in power in low frequencies can reach 75% and the reduction is 4% in high frequencies.

关键词： adaptive modulation clocks cyclic redundancy check codes microprocessor chips cyclic redundancy check codes adaptive modulation Microprocessor chips clock frequency Timing devices COMMUNICATION SYSTEMS Camera ready copy Telecommunication lines Energy sources power systems Power consumption digital circuits

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Calibration of Heterogeneous Sensor Systems

arXiv

引用

arXiv 2018年

作者： Peršić, Juraj University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems Mobile Robotics LAMOR

Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof for which sensor sensor calibration plays fundamental role. It can be divided to intrinsic and extrinsic sensor calibration. Former seeks for internal parameters of each individual sensor, while latter provides coordinate frame transformation between sensors. Calibration techniques require correspondence registration in the measurements which is one of the main challenges in the extrinsic calibration of heterogeneous sensors, since generally, each sensor can operate on a different physical principle. Measurement correspondences can originate from a designated calibration target or from features in the environment. Additionally, environment features can be used to estimate motion of individual sensors and the calibration is found by aligning these estimates. Motion-based calibration is the most common approach in the online calibration since it is more practical than the target-based methods, although it can lack in accuracy. Furthermore, online calibration is beneficial for system robustness as it can detect and adjust recalibration of the system in runtime, which can be seen as a prerequisite for long-term autonomy. Copyright © 2018, The Authors. All rights reserved.

关键词： Calibration

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Robot-based image analysis for evaluating rehabilitation after brain surgery

Robot-based image analysis for evaluating rehabilitation aft...

引用

作者： Kohout, Jan Crha, Jan Trnková, Kateřina Štícha, Karel Mareš, Jan Chovanec, Martin University of Chemistry and Technology in Prague Department of Computing and Control Engineering Technická 1905/5 Praha 6 166 28 Czech Republic Faculty Hospital Královské Vinohrady Department of Otorhinolaryngology Šrobárova 1150/50 Praha 10 100 34 Czech Republic

After certain types of brain surgery, patients are often affected by changes in both their dynamic balance and facial disorder. Because rehabilitation takes several months, it is important that both doctors and patients are able to monitor progress quantitatively. At present, such quantification is subjective and highly dependent on the doctor’s opinion. Thus, we here investigate the use of robot-based image analysis for measuring rehabilitation. To evaluate a patient’s dynamic balance, we developed a mobile robotic platform that uses a stereovision camera (MS Kinect) to capture a video of the subject walking along a hospital corridor. To evaluate a patient’s facial disorders, the same camera is used in a static mode to detect and capture precise facial movements that the subject is asked to perform. From these videos, specific patterns can be extracted for rehabilitation process description. © 2018, Brno University of Technology. All rights reserved.

关键词： Computer vision

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swMD: Performance Optimizations for Molecular Dynamics Simulation on Sunway Taihulight

swMD: Performance Optimizations for Molecular Dynamics Simul...

引用

IEEE International Conference on Big Data and Cloud computing (BdCloud)

作者： Kun Li Shigang Li Bei Wang Yifeng Chen Yunquan Zhang State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing Department of Computer Science ETH Zurich HCST Key Lab at School of EECS Peking University Beijing

ISBN: (数字)9781728143286

ISBN: (纸本)9781728143293

Molecular dynamics is an extensively utilized computational tool for solids, liquids and molecules simulation. Currently, much research on molecular dynamics simulation focuses on simplifying forces or parallelizing tasks to reduce the overheads of forces computation. However, the molecular dynamics simulation still remains challenging since the communication and neighbor list construction are time-consuming in the existing algorithm. In this paper, we propose a swMD optimization strategy including a new communication mode called ghost communication to reduce superfluous communication overheads and an innovative neighbor list algorithm to improve the construction efficiency of it. Moreover, we accelerate computation by utilizing many-core resources on Sunway Taihulight and present an auto-tuning Producer-Consumer pairing algorithm to make neighbor list construction happen in fast register communication. Compared to traditional methods, swMD optimization strategy obtains a maximal 82.2% and an average of 79.4% performance improvement. We also evaluate the scalability up to 266,240 cores and the results demonstrate the high efficiency of swMD optimization strategy on communication, computation and neighbor list construction respectively.

关键词： Heuristic algorithms Computer architecture Computational modeling Microprocessors Program processors Registers Surface treatment

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Deep learning for image and point cloud fusion in autonomous driving: A review

arXiv

引用

arXiv 2020年

作者： Cui, Yaodong Chen, Ren Chu, Wenbo Chen, Long Tian, Daxin Li, Ying Cao, Dongpu The Waterloo CogDrive Lab Department of Mechanical and Mechatronics Engineering University of Waterloo 200 University Ave West WaterlooONN2L3G1 Canada Research Institute Co. Ltd. Beijing100176 China School of Data and Computer Science Sun Yat-sen University Zhuhai519082 China Waytous Inc. Qingdao266109 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing100191 China

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are equipped with a suite of different sensors to ensure robust, accurate environmental perception. In particular, the camera-LiDAR fusion is becoming an emerging research theme. However, so far there has been no critical review that focuses on deep-learning-based camera-LiDAR fusion methods. To bridge this gap and motivate future research, this paper devotes to review recent deep-learning-based data fusion approaches that leverage both image and point cloud. This review gives a brief overview of deep learning on image and point cloud data processing. Followed by in-depth reviews of camera-LiDAR fusion methods in depth completion, object detection, semantic segmentation, tracking and online cross-sensor calibration, which are organized based on their respective fusion levels. Furthermore, we compare these methods on publicly available datasets. Finally, we identified gaps and over-looked challenges between current academic researches and real-world applications. Based on these observations, we provide our insights and point out promising research directions. Copyright © 2020, The Authors. All rights reserved.

关键词： Object detection

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Petri Net control Method for Pipe-line Systems and Its Implementation via CIF3 ⁎

引用

IFAC-PapersOnLine 2019年第24期52卷 261-266页

作者： YuHao Fu JiLiang Luo Huifeng Wu Jianhong Ye Yi-sheng Huang College Information Science and Engineering Huaqiao University Xiamen 361021 China College Information Science and Engineering Huaqiao University Xiamen 361021 China and also with Fujian Engineering Research Center of Motor Control and System Optimal Schedule Xiamen 361021 China Institute of Intelligent and Software Technology Hangzhou Dianzi University Hangzhou 310018 China Computer Science and Technology Huaqiao University Xiamen 361021 China and also with Fujian Provincial Key Laboratory of Data Intensive Computing Quanzhou 362000 China Department of Electrical Engineering National Ilan University Taiwan

As for a pipe-line system subjected to complex operations, an approach is proposed to synthesize the controller via Petri nets (PNs) such that the plant is run as concurrently as possible and the loads of equipments are balanced. A P-timed and labeled PN is designed to model the whole process of a pipe-line system, where tasks, including transporting material from one tank to another and cleaning tank, are represented by operational places, and level sensors amounted in tanks are represented by labels assigned to transitions. Further, monitor places are designed to resolve the conflict relations among tasks due to the shared valves and pipes. An method is presented to translate an PN controller into a CIF3 (Compositional Interchange Format) model, which can be converted into a PLC program in the CIF3 tool. A beer filtration plant is taken as an example to illustrate the approach, and its simulation experiments are carried out to verify the theoretic results.

关键词： Chemical plant Valve control Petri net CIF3

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Design and Implementation of RFID based Smart Shopping Booth

Design and Implementation of RFID based Smart Shopping Booth

引用

International Conference on Information Science and control engineering (ICISCE)

作者： Ehtisham Lodhi Fenghua Zhu Zeeshan Lodhi Qasim Saleem Gang Xiong FeiYue Wang The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering COMSATS University Islamabad Pakistan School of Automation Science and Electrical Engineering Beihang University Beijing China The Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728157122

ISBN: (纸本)9781728157139

In this modern era, technology has advanced to such an extent to make our daily life more proficient and convenient. This paper presents the design and implementation of vending machine (VM) for students, which operates on radio frequency identification technology (RFID). Hence, it turns the VM into smart shopping booth (SSB). The SSB gives the access only through RFID card and vend different products according to the desire of student. The SSB is equipped with RFID reader and student identity card that holds the RFID tag. When the student identity card is scanned for verification and then after selecting the required products, will be dispensed off if a student has available balance in his/her identity card and SMS will be sent to students about remaining balance in their cards by GSM technology. The programming for controller is done by using proton IDE language. The SSB is the customized idea of vending machine and it attempts to resolve various issues that appeared in coin/note based VM. The student identity card RFID based technology is a breakthrough towards a paperless and cashless environment. Moreover, it is very beneficial in saving the precious time of students due to fast paced life and also user friendly. RFID based SSB also improved the communication and sensing capabilities of VM. Hence, our suggested approach outperforms in all aspects.

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