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Spatio-Temporal Context Modeling for Road Obstacle Detection 1

4th International Conference on Machine Learning for Cyber Security, ML4CS 2022

作者： Wu, Xiuen Wang, Tao Liang, Lingyu Li, Zuoyong Ching, Fum Yew College of Computer and Data Science Fuzhou University Fuzhou350108 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou350108 China The Key Laboratory of Cognitive Computing and Intelligent Information Processing of Fujian Education Institutions Wuyi University Wuyishan354300 China School of Electronic and Information Engineering South China University of Technology Guangzhou510641 China Ministry of Education Key Laboratory of Computer Network and Information Integration Southeast University Nanjing211189 China Guangzhou510320 China Penang11800 Malaysia

ISBN: (数字)9783031200960

ISBN: (纸本)9783031200953

Road obstacle detection is an important problem for vehicle driving safety. In this paper, we aim to obtain robust road obstacle detection based on spatio-temporal context modeling. Firstly, a data-driven spatial context model of the driving scene is constructed with the layouts of the training data. Then, obstacles in the input image are detected via the state-of-the-art object detection algorithms, and the results are combined with the generated scene layout. In addition, to further improve the performance and robustness, temporal information in the image sequence is taken into consideration, and the optical flow is obtained in the vicinity of the detected objects to track the obstacles across neighboring frames. Qualitative and quantitative experiments were conducted on the Small Obstacle Detection (SOD) dataset and the Lost and Found dataset. The results indicate that our method with spatio-temporal context modeling is superior to existing methods for road obstacle detection. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Object detection

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A V-band Wideband Waveguide Filters with Inductive Iris 16

A V-band Wideband Waveguide Filters with Inductive Iris

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16th UK-Europe-China Workshop on Millimetre Waves and Terahertz Technologies, UCMMT 2023

作者： Cai, Haizhen Liu, Hao Su, Guodong Yang, Nan Liu, Jun Sun, Lingling Hangzhou Dianzi University Zhejiang Provincial Laboratory of Integrated Circuit Design Hangzhou310018 China Sun Yat-sen University Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Guangzhou510006 China

ISBN: (纸本)9798350339406

A multi-resonator rectangular waveguide band-pass filter (BPF) loaded with inductive diaphragms is presented in this paper, which operates in the passband of 60-65GHz. The presented BPF is equipped with low rectangle coefficient. By loading more diaphragms, resulting in an increased number of resonators, the presented BPF is characterized by high out-of-band rejection. The width of the diaphragm window is adjusted to reduce insertion loss and length of cavity between diaphragms is mainly adjusted for determining the central frequency. Simulation results show that the BPF with central frequency of 62.5GHz has highest return loss of -9.1dB and maximum insertion loss of 0.9dB, over the whole passband. Additionally, compared to other waveguide BPFs, the presented BPF is designed with low 20-dB rectangle coefficient of 1.13, which means that the presented BPF can provide a highly selective response. The measured result is basically consistent with the simulation result, which shows that the maximum insertion loss is 2.3dB at 60GHz and the highest return loss is -10.26dB at 65GHz. © 2023 IEEE.

关键词： Bandpass filters

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Language Reasoning in Vision-Language-Action Model for Robotic Grasping

Language Reasoning in Vision-Language-Action Model for Robot...

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2024 China Automation Congress, CAC 2024

作者： Fan, Lingling Chen, Kang Xu, Zhezhuang Yuan, Meng Huang, Ping Huang, Weibing College of Electrical Engineering and Automation Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China Evomotion Co. Ltd. Guangdong Shenzhen518000 China

ISBN: (纸本)9798350368604

Grasping tasks are crucial for the interaction between the robot and environment, requiring the robot to make autonomous decisions based on environmental conditions and instructions. Recently, multimodal Vision Language Models (VLMs) have demonstrated significant potential for robotic grasping. However, previous work has often been confined to high-level planning due to the gap between the text output of VLMs and the numerical predictions of robot actions, as well as the challenges of transferring rich semantic information from large models to the prediction of grasping actions. In this paper, we co-fine-tune a pre-trained VLM using the mix of large-scale visual language data and robotic grasping trajectory data, integrating model into an end-to-end robot control system to construct a Vision Language Action Model (VLA) capable of generating the robot’s underlying actions. Simultaneously, to fully leverage the prior knowledge and reasoning capabilities of the pre-trained model, we insert a language reasoning structure to bridge the mapping from high-level tasks to low-level actions. This method first deduces the relevant information regarding the target object and the end-effector motions, followed by predicting the grasping actions value with finer granularity based on the language reasoning, thereby enhancing the accuracy of action predictions. A series of grasping experiments demonstrate that our method achieves a high grasping success rate under flexible language instructions and exhibits strong generalization capabilities for unseen objects and scenes. © 2024 IEEE.

关键词： Visual languages

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A WLP Bandpass Filter with Ultra-wide Stopband by Transversal Signal Interference Concept 16

A WLP Bandpass Filter with Ultra-wide Stopband by Transversa...

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16th UK-Europe-China Workshop on Millimetre Waves and Terahertz Technologies, UCMMT 2023

作者： Le, Yi Liu, Hao Su, Guodong Yang, Nan Liu, Jun Hangzhou Dianzi University Zhejiang Provincial Laboratory of Integrated Circuit Design Hangzhou310018 China Sun Yat-sen University Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Guangzhou510006 China

ISBN: (纸本)9798350339406

A compact and high-selective bandpass filter is proposed with an ultra-wide stopband in this paper. It is manufactured using silicon-based wafer-level packaging (WLP) technology. The main transmission path of the filter consists of a stepped-impedance resonator (SIR) loaded with three pairs of short-circuited stubs and two pairs of open-circuited stubs. By bending and coupling two pairs of short-circuited stubs, two subordinate paths are formed, which create a transmission zero (TZ) at low frequencies without disrupting the passband structure of the main transmission path, thereby greatly improving the selectivity of the filter. Additionally, in accordance with the harmonic effect, by utilizing the stopbands generated by stubs at multiple frequencies, the filter achieves a wide stopband for out-of-band rejection. The simulation and measurement results show that the BPF exhibits a minimum insertion loss of 2.6 dB and a minimum return loss of 13.9 dB. Its 3-dB bandwidth covers 9.36-13.72 GHz, and the stopband range extends from 15 GHz to 117 GHz. This confirms that the filter is capable of effectively shielding millimeter-wave signals in transceiver systems operating in traditional RF frequency bands. © 2023 IEEE.

关键词： Bandpass filters

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An aircraft brake control algorithm with torque compensation based on RBF neural network

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Chinese Journal of Aeronautics 2024年第1期37卷 438-450页

作者： Ning BAI Xiaochao LIU Juefei LI Zhuangzhuang WANG Pengyuan QI Yaoxing SHANG Zongxia JIAO School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100191China Key Laboratory of Advanced Aircraft Systems(Beihang University) Ministry of Industry and Information TechnologyBeijing 100091China Research Institute for Frontier Science Beihang UniversityBeijing 100191China Ningbo Institute of Technology of Beihang University Ningbo 315800China Tianmushan Laboratory Xixi Octagon CityYuhang DistrictHangzhou 310023China

The wheel brake system of an aircraft is the key to ensure its safe landing and rejected takeoff.A wheel’s slip state is determined by the brake torque and ground adhesion torque,both of which have a large degree of *** is this nature that brings upon the challenge of obtaining high deceleration rate for aircraft brake *** overcome the disturbances caused by the above uncertainties,a braking control law is designed,which consists of two parts:runway surface recognition and wheel’s slip state *** runway surface recognition,the identification rules balancing safety and braking efficiency are defined,and the actual identification process is realized through recursive least square method with forgetting *** slip state tracking,the LuGre model with parameter adaptation and a brake torque compensation method based on RBF neural network are proposed,and their convergence are *** effectiveness of our control law is verified through simulation and ground *** in the experiments on the ground inertial test bench,compared to the improved pressure-biased-modulation(PBM)anti-skid algorithm,fewer wheel slips occur,and the average deceleration rate is increased by 5.78%,which makes it a control strategy with potential for engineering applications.

关键词： Aircraft landing Brakes Disturbance observer Neural networks Runway identification

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An array of two periodic leaky-wave antennas with sum and difference beam scanning for application in target detection and tracking

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Frontiers of information Technology & Electronic Engineering 2023年第4期24卷 567-581页

作者： Mianfeng HUANG Juhua LIU School of Electronics and Information Technology Sun Yat-sen UniversityGuangzhou 510006China Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Sun Yat-sen UniversityGuangzhou 510006Chin

An array of two substrate-integrated waveguide(SIW) periodic leaky-wave antennas(LWAs) with sum and difference beam scanning is proposed for application in target detection and tracking. The array is composed of two periodic LWAs with different periods, in which each LWA generates a narrow beam through the n=-1 space harmonic. Due to the two different periods for the two LWAs, two beams with two different directions can be realized, which can be combined into a sum beam when the array is fed in phase or into a difference beam when the array is fed 180?out of phase. The array integrated with 180?hybrid is designed, fabricated, and *** results show that the sum beam can reach a gain up to 15.9 dBi and scan from-33.4?to 20.8?. In the scanning range, the direction of the null in the difference beam is consistent with the direction of the sum beam,with the lowest null depth of-40.8 dB. With the excellent performance, the antenna provides an alternative solution with low complexity and low cost for target detection and tracking.

关键词： Antenna Leaky-wave antenna(LWA) Substrate-integrated waveguide(SIW) Sum and difference beam Target detection and tracking

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Transformer-Based Sequence Modeling with Action Discretization for Robotic Grasping

Transformer-Based Sequence Modeling with Action Discretizati...

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2024 China Automation Congress, CAC 2024

作者： Hou, Yaokun Zheng, Song Xu, Zhezhuang Yuan, Meng Huang, Ping Huang, Weibing College of Electrical Engineering and Automation Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China Evomotion Co. Ltd. Guangdong Shenzhen518000 China

ISBN: (纸本)9798350368604

The powerful representational and sequential modeling capabilities of Transformer have been validated in various fields such as natural language processing. However, how to better address sequential decision-making problems like robotic grasping through the Transformer architecture and achieve autonomous control of robotic grasping remains a longstanding challenge. Models that directly output continuous decision actions for robotic arms often rely on mean squared error (MSE) loss for training, which is unable to effectively handle the randomness and diversity of actions. This limitation leads to the generation of relatively singular actions in certain grasping scenarios, reducing the success rate of grasping. To address this issue, this paper proposes a Transformer-based method for discretizing robotic arm actions, where actions are discretized by dimension to enable autoregressive modeling. Experimental results demonstrate that this method effectively improves the grasping performance of robotic arms in simulation environments. © 2024 IEEE.

关键词： Mean square error

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Edge Node Cooperation and Resource Sharing in Mobile Edge Computing 15

Edge Node Cooperation and Resource Sharing in Mobile Edge Co...

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15th IEEE International Conference on Wireless Communications and Signal processing, WCSP 2023

作者： Meng, Anqi Gao, Xiaozheng Huang, Yuting Xu, Zhan Shang, Jiadong Ministry of Education Beijing Information Science and Technology University Key Laboratory of Modern Measurement and Control Technology Beijing China Ministry of Information Industry Beijing Information Science and Technology University Key Laboratory of Information and Communication Systems Beijing China Beijing Institute of Technology School of Information and Electronics Beijing China Beijing Institute of Remote Sensing Equipment Beijing China

ISBN: (纸本)9798350324662

As edge computing undergoes ongoing development propelled by the advancements in Internet of Things and mobile communication technologies, the issue of edge node cooperation and resource sharing needs to be investigated. In this paper, the issue of edge node cooperation and resource sharing is modeled as a two-layer framework. In the lower layer, a heuristic matching algorithm between users and edge nodes is developed, and a resource sharing algorithm among edge nodes in the same coalition is proposed. In the upper layer, a coalition formation algorithm is designed based on the coalition game. Simulation results show that the proposed algorithms reduce the network cost effectively compared with non-cooperative scheme. © 2023 IEEE.

关键词： coalition game mobile edge computing resource sharing

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Stability Analysis of Boolean Networks: Exploring the Influence of Multi-bit Function Perturbations 63

Stability Analysis of Boolean Networks: Exploring the Influe...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Liu, Aixin Wang, Lin Chen, Guanrong Guan, Xinping Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China City University of Hong Kong Department of Electrical Engineering Hong Kong

ISBN: (纸本)9798350316339

This study investigates the impact of multi-bit function perturbations (MFPs) on the steady-state distribution of Boolean networks (BNs), with a focus on robust stability. First, the algebraic formulation of BNs under MFPs is introduced. Then, a novel stability criterion is proposed, demonstrating that monotonically decreasing perturbations can effectively ensure the stability of BNs against MFPs. A significant advantage of this approach is that it enables robust stability assessment without remodeling the perturbed BNs. Applying this methodology to a simplified Boolean model of the lactose operon in Escherichia coli reveals that MFPs can serve as strategic tools to promote stability within BNs, rather than being merely disruptive. © 2024 IEEE.

关键词： Stability criteria

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Gait Planning and Motion control Based on Vrep Simulation for Quadruped Robot 5

Gait Planning and Motion Control Based on Vrep Simulation fo...

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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Zhou, Linqi Chen, Zhihua Liu, Jun Liu, Zhi Chen, Yumeng Zhang, Liting Nanchang Hangkong University Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Moe Key Lab of Nondestructive Testing Technology Nanchang330063 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing100081 China

ISBN: (纸本)9798350307320

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot's foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper. © 2023 IEEE.

关键词： Robot programming

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