2019 International Automatic Control Conference (CACS)最新文献_第2页

Fast Point Cloud Feature Extraction for Real-time SLAM 面向实时SLAM的快速点云特征提取

2019 International Automatic Control Conference (CACS) Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024355

Sheng-Wei Lee, Chih-Ming Hsu, Ming-Che Lee, Yuan-Ting Fu, Fetullah Atas, A. Tsai

{"title":"Fast Point Cloud Feature Extraction for Real-time SLAM","authors":"Sheng-Wei Lee, Chih-Ming Hsu, Ming-Che Lee, Yuan-Ting Fu, Fetullah Atas, A. Tsai","doi":"10.1109/CACS47674.2019.9024355","DOIUrl":"https://doi.org/10.1109/CACS47674.2019.9024355","url":null,"abstract":"Automated driving has been developed rapidly in the past five years. Many automakers have popularized SAE Level 2 on self-driving cars, some even on regular vehicles. To implement Level 3 or Level 4, it’s necessary to rely on a good localization system when GPS signal is not available. For this need, this paper proposes two effective methods to increase the accuracy of the real-time SLAM: The first method: When the original point cloud is input, the point cloud is divided into the short-range group, the medium-range group and the long-range group. An adaptive parameter adjustment method is then used to obtain the optimal parameters for each of these point cloud groups. However, Lidar’s physical characteristics can cause the point cloud to be insufficient, making an important part of points misjudged as outliers for the medium-range and long-range cases. Thanks to the help of the adaptive parameters, these point clouds, which were originally misjudged as outliers can be preserved in this paper. The second method: In point clouds, the same object in different ranges is represented with different point clouds. Hence, features, such as the roughness and density, can dramatically change with the variation of distance even when it is the same object. To solve this problem, we have designed three different range point cloud feature extraction methods to get more accurate point cloud features, such as the planes or edges. By combining these two steps, the LeGO-LOAM accuracy can be effectively increased by more than 30% while achieving the performance of the real-time SLAM, which is more accurate and faster than the NDT-Mapping used in Autoware.","PeriodicalId":247039,"journal":{"name":"2019 International Automatic Control Conference (CACS)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125204917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Systems Drug Discovery and Design for Triple-Negative Breast Cancer and Non-Triple-Negative Breast Cancer Based on Systems Carcinogenic Mechanism and Deep Learning Method 基于系统致癌机制和深度学习方法的三阴性乳腺癌和非三阴性乳腺癌的系统药物发现和设计

2019 International Automatic Control Conference (CACS) Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024736

Bo-Jie Hsu, Bor-Sen Chen

{"title":"Systems Drug Discovery and Design for Triple-Negative Breast Cancer and Non-Triple-Negative Breast Cancer Based on Systems Carcinogenic Mechanism and Deep Learning Method","authors":"Bo-Jie Hsu, Bor-Sen Chen","doi":"10.1109/CACS47674.2019.9024736","DOIUrl":"https://doi.org/10.1109/CACS47674.2019.9024736","url":null,"abstract":"In this study, in terms of systems biology approaches and deep learning method, we proposed a series of strategies for systems medicine design toward TNBC and non-TNBC. For systems biology approach, we constructed candidate genome-wide genetic and epigenetic network (GWGEN) by big data mining technique and identified real GWGEN of TNBC and non-TNBC by corresponding microarray data via system identification and model order selection methods. Core GWGEN of TNBC and non-TNBC were constructed from their corresponding GWGENs and then denoted by KEGG pathways to obtain core signaling pathways of TNBC and non-TNBC, which were compared to find essential carcinogenic biomarkers to bring about multiple cellular dysfunctions including cell proliferation, autophagy, immune response, cell differentiation, apoptosis, metastasis, angiogenesis, and epithelial-mesenchymal transition (EMT). With the help of the drug-target interaction (DTI) model based on deep neural network trained through feature vectors of drug-target databases, we could select candidate drugs for these drug targets. These candidate drugs were still filtered for the toxicity by LD50 and for regulation ability by connectively Map (CMap) as potential drugs, and then these potential drugs are combined as potential multiple-molecule drugs, i.e., resveratrol, sirolimus, prednisolone for TNBC and resveratrol, sirolimus, carbamazepine, verapamil for non-TNBC.","PeriodicalId":247039,"journal":{"name":"2019 International Automatic Control Conference (CACS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116244052","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Identification of Valve Stiction in Control Loops Using Refined Piecewise-Linear Hammerstein Models 用改进的分段线性Hammerstein模型识别控制回路中的阀门粘滞

2019 International Automatic Control Conference (CACS) Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024740

Jiravit Pratvittaya, S. Wongsa

引用次数: 1

Hopping Control of a Pneumatic Single-Legged Robot using Sliding Mode Control 基于滑模控制的气动单腿机器人跳跃控制

2019 International Automatic Control Conference (CACS) Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024741

Hong-Hsu Liou, Ming-Tzu Ho

引用次数: 4

Attitude Motion Control of a Half car Model with Tracking Controller Using Aerodynamic Surfaces 基于气动曲面跟踪控制器的半车姿态运动控制

2019 International Automatic Control Conference (CACS) Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024365

Ejaz Ahmad, Y. Song, Muhammad Arshad Khan, I. Youn

引用次数: 4

Human-Robot Interaction Design Based on Specific Person Finding and Localization of a Mobile Robot 基于移动机器人特定人员查找与定位的人机交互设计

2019 International Automatic Control Conference (CACS) Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024734

K. Song, Pei-Chun Lu, Shao-Huan Song

引用次数: 0

Mobile Robot Localization using GPS, IMU and Visual Odometry 基于GPS、IMU和视觉里程计的移动机器人定位

2019 International Automatic Control Conference (CACS) Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024731

Guo-Sheng Cai, H. Lin, Shih-Fen Kao

引用次数: 10

RePack: Dense Object Packing Using Deep CNN with Reinforcement Learning RePack:使用深度CNN和强化学习进行密集对象打包

2019 International Automatic Control Conference (CACS) Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024360

Yu-Cheng Chu, Horng-Horng Lin

引用次数: 1

Logistics service quality evaluation of cross border e-commerce operators: a multilayer framework analysis in digital shopping market 跨境电商物流服务质量评价:基于数字购物市场的多层框架分析

2019 International Automatic Control Conference (CACS) Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024358

S. Huang, I-Hsuan Su, Wei-Chi Lee, Tz-Heng Lin

{"title":"Logistics service quality evaluation of cross border e-commerce operators: a multilayer framework analysis in digital shopping market","authors":"S. Huang, I-Hsuan Su, Wei-Chi Lee, Tz-Heng Lin","doi":"10.1109/CACS47674.2019.9024358","DOIUrl":"https://doi.org/10.1109/CACS47674.2019.9024358","url":null,"abstract":"The aim of this paper is to improve logistics service quality of cross border e-commerce business. Cross border e-commerce is one of the most important industries for capturing fast growing digital consuming market. Famous Asian e-commerce giants such as Alibaba from China and Softbank from Japan also adopted aggressive market expansion strategies, and these global competitors deeply push lots of pressure on Taiwan’s e-commerce operators. To stay competitive in this market, excellent logistics service quality is indispensable for supporting the e-commerce business development for satisfying online shoppers. Therefore, this paper applies multilayer QFD method to evaluate logistics service quality of cross border e-commerce operator. The theoretical contribution of this project is to modify classic QFD framework by using sophisticated multilayer analysis method. Multilayer QFD framework may improve this shortcoming by evaluating the requirements from both service provider side (logistics service provider) and customer side (online shopper). The logistics service quality solutions based on the technical measures may be more precise under multilayer QFD framework. The result of this paper will provide insights and implication for e-commerce operator, logistics provider and platform operators with solutions to improve service quality.","PeriodicalId":247039,"journal":{"name":"2019 International Automatic Control Conference (CACS)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131126607","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multi-task Cascaded and Densely Connected Convolutional Networks Applied to Human Face Detection and Facial Expression Recognition System 多任务级联密集连接卷积网络在人脸检测和面部表情识别系统中的应用

2019 International Automatic Control Conference (CACS) Pub Date : 2019-11-01 DOI: 10.1109/CACS47674.2019.9024357

Kuan-Yu Chou, Yi-Wen Cheng, Wei-Ren Chen, Yon-Ping Chen

{"title":"Multi-task Cascaded and Densely Connected Convolutional Networks Applied to Human Face Detection and Facial Expression Recognition System","authors":"Kuan-Yu Chou, Yi-Wen Cheng, Wei-Ren Chen, Yon-Ping Chen","doi":"10.1109/CACS47674.2019.9024357","DOIUrl":"https://doi.org/10.1109/CACS47674.2019.9024357","url":null,"abstract":"Face detection and recognition is an important issue and a difficult task in computer vision and human-computer interaction. Recently, with the development of deep learning, several related technologies have been proposed for face detection and facial expression recognition (FER), and the outstanding convolutional neural networks are the most common used in this field. This thesis applies the multi-task cascade convolutional neural network to face detection, and then designs the real-time FER system based on densely connected convolution network (DenseNet). The system first scales the input image to an image pyramid, and then uses the hierarchical network to determine whether a candidate window includes a human face. If a face exists, then send the candidate window to the FER system. Since DenseNet possesses the property of feature reuse, it can effectively reduce the amount of parameters and computation efforts, beneficial to develop the real-time system. In order to capture the variation of facial muscle in different expressions, this architecture adopts convolution operations with a stride 1 and tries different numbers of dense blocks. Through experiments, the proposed system can achieve real-time recognition in 30FPS and with recognition accuracy better than human eyes.","PeriodicalId":247039,"journal":{"name":"2019 International Automatic Control Conference (CACS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128148118","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3