2019 3rd International Symposium on Autonomous Systems (ISAS)最新文献

Event-triggered Control of Positive Switched Systems Based on Linear Programming 基于线性规划的正开关系统的事件触发控制

2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-10-02 DOI: 10.1109/ISASS.2019.8757720

Lai-You Liu, Junfeng Zhang, Yu Shao, Miao Li

引用次数: 15

A Simple Conceptor Model for Hand-written-digit Recognition 手写体数字识别的简单概念模型

2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757783

Wenqiang Xu, Xiumin Li, Hao Yi, Z. Deng

引用次数: 0

Pattern recognition of a spiking neural network based on visual motion model 基于视觉运动模型的脉冲神经网络模式识别

2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757738

Hao Yi, Xiumin Li, Wenqiang Xu, Z. Deng, Jiajun Yang

引用次数: 0

Robust Power Control in D2D-Enabled Vehicular Communication Network 基于d2d的车载通信网络鲁棒功率控制

2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757748

Yuan-ai Xie, Zhixin Liu, K. Ma, Yazhou Yuan

{"title":"Robust Power Control in D2D-Enabled Vehicular Communication Network","authors":"Yuan-ai Xie, Zhixin Liu, K. Ma, Yazhou Yuan","doi":"10.1109/ISASS.2019.8757748","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757748","url":null,"abstract":"The power control scheme is investigated for device-to-device-enabled vehicular communications (D2D-V) system in this paper. The D2D-V system is underlaid in cellular network, where one cellular uplink and multiple D2D-V links share a common channel. To pursue a fine D2D-V system, the sum rate of all D2D-V links is maximized, and the cochannel cellular link reliability is ensured by the cellular user (CU) interference constraint. However, the channel is time-varying and with high uncertainty, especially in the high mobility vehicular environment. To make the power control scheme be more robust against the channel fluctuations, the CU interference probability constraint is introduced, and it is transformed into deterministic one by Bernstein approximation since the probabilistic constraint is intractable. The deterministic constraint is reformulated as a separable structure for a more efficient solution. Besides, the nonconvex problem whose objective function involves the nonconvex logarithmic form, is transformed into a convex one by successive convex approximation method. After that, a distributed robust power control algorithm is proposed to achieve the optimal solution. Numerical simulations are performed to evaluate the performance of the proposed scheme and demonstrate velocity impacts on system performance when a high mobility vehicular environment is considered.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115117455","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

Accurate Initialization Method for Monocular Visual-Inertial SLAM 单目视觉惯性SLAM的精确初始化方法

2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757790

Abderraouf Amrani, Hesheng Wang

{"title":"Accurate Initialization Method for Monocular Visual-Inertial SLAM","authors":"Abderraouf Amrani, Hesheng Wang","doi":"10.1109/ISASS.2019.8757790","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757790","url":null,"abstract":"This In robotics, visual-inertial sensor fusion has become one of the most active research topics; optimization-based fusion approaches have gone beyond filtering approaches in terms of robustness and accuracy. For the optimization-based visual-inertial Simultaneous Localization and Mapping (SLAM), accurate initialization is essential for this nonlinear system which requires an accurate estimation of the initial states (Inertial Measurement Unit (IMU) biases, scale, gravity, and velocity). Therefore, our goal is to propose a more robust initialization method. First, we estimate the gyroscope bias, initial scale, and gravity. Then, we use the gravity magnitude to refine the gravity direction by minimizing the error state on the tangent space of the estimated gravity vector. After that, we estimate the accelerometer bias separately from gravity. Finally, based on the condition number and convergence process, we propose a robust and automatic termination criterion to indicate when the initialization is successfully achieved. Additionally, we use all the initial estimated values to initialize a visual-inertial SLAM system. We test our initialization method with different sequences of the public EuRoC dataset, and real-time hand-held experiment in indoor and outdoor environments. The results demonstrated good performance of both the estimated initial state and the automatic termination criterion. They also illustrated that the estimated gravity converges within a short time interval using the refinement approach.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117064363","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

A Simple Control Method of Single-Link Flexible Manipulators 单连杆柔性机械臂的一种简单控制方法

2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757711

Chenglin Zhang, Tong Yang, Ning Sun, Jianyi Zhang

引用次数: 4

Efficient Error Packet Recovery without Redundant Bytes for IEEE 802.15.4 Protocol IEEE 802.15.4协议中无冗余字节的有效错误包恢复

2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757787

Jionghong Gu, Cailian Chen, Shanying Zhu, Jianping He

引用次数: 1

Neuroadaptive Fault-tolerant PI Control of Nonlinear Systems with Unknown Control Direction 未知控制方向非线性系统的神经自适应容错PI控制

2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757746

Yanan Zhang, Jun-Feng Lai, Zhirong Zhang, S. Tan

引用次数: 0

A Survey on Forest Fire Monitoring Using Unmanned Aerial Vehicles 利用无人机监测森林火灾的研究进展

2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757707

F. A. Hossain, Youmin Zhang, C. Yuan

{"title":"A Survey on Forest Fire Monitoring Using Unmanned Aerial Vehicles","authors":"F. A. Hossain, Youmin Zhang, C. Yuan","doi":"10.1109/ISASS.2019.8757707","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757707","url":null,"abstract":"Every year, forest fire causes heavy death toll and destruction around the world. The number of forest fires is increasing each year along with the damages associated with it. At this point, traditional forest fire detection methods such as point sensors, thermal sensors, watch tower, human patrol and satellite imagery are not being enough to provide early detection and continuous monitoring. Recent developments in electronics and control systems have made unmanned aerial vehicles (UAVs) more readily available and created an opportunity to utilize them for continuous forest monitoring with higher flexibility, maneuverability and precision. Early level experiments show that the limitations of the previous methods could be overcome by UAV-facilitated forest fire monitoring strategies. This paper highlights the basic idea of UAV-based forest fire monitoring and relevant researches and operations that have been conducted in this field thus far. The future of forest fire monitoring relies more on the use of UAVs and their onboard mission payloads, and the main motivation of this paper is to help for identifying the methodologies behind the existing systems and to find new methods of improving the UAV systems to fight this dreadful calamity.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"360 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120942539","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: 20

Research and Application of Deep Belief Network Based on Local Binary Pattern and Improved Weight Initialization 基于局部二值模式和改进权值初始化的深度信念网络研究与应用

2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-29 DOI: 10.1109/ISASS.2019.8757780

Longyang Wang, J. Qiao

引用次数: 1