2021 21st International Conference on Control, Automation and Systems (ICCAS)最新文献_第10页

Visual surveillance transformer 可视监控变压器

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.5302/j.icros.2021.21.0143

Choi Keonghun, J. Ha

引用次数: 0

Partitioned Gaussian Process Regression for Online Trajectory Planning for Autonomous Vehicles 自动驾驶汽车在线轨迹规划的分割高斯过程回归

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649997

Pavlo Vlastos, A. Hunter, R. Curry, Carlos Isaac Espinosa Ramirez, G. Elkaim

{"title":"Partitioned Gaussian Process Regression for Online Trajectory Planning for Autonomous Vehicles","authors":"Pavlo Vlastos, A. Hunter, R. Curry, Carlos Isaac Espinosa Ramirez, G. Elkaim","doi":"10.23919/ICCAS52745.2021.9649997","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649997","url":null,"abstract":"Gaussian process regression and ordinary kriging are effective methods for spatial estimation, but are generally not used in online trajectory-planning applications for autonomous vehicles. A common use for kriging is spatial estimation for exploration. Kriging is limited by the necessary covariance matrix inversion and its computational complexity of O(n3), where $n$ represents the number of measurements taken in a sparsely-sampled field. Using the Sherman-Morison matrix inversion lemma, the complexity can be reduced to O(n2). This work focuses on further improving the computational time required to conduct spatial estimation with partitioned ordinary kriging (POK) for online trajectory-planning. A recursive algorithm is introduced to quickly subdivide a field for local kriging, reducing the computation time. We show computational time decreases between ordinary kriging with a regular inverse (OK), the iterative inverse ordinary kriging (IIOK), and POK with the iterative inverse method. Computation times are also compared between OK, IIOK, and POK methods for trajectory planning using a highest variance criterion and linear trajectory segments.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127177030","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

Robust Model Predictive Control with Control Barrier Function for Nonholonomic Robots with Obstacle Avoidance 具有控制障碍函数的非完整机器人鲁棒模型预测控制

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649854

Y. Quan, Jin Sung Kim, C. Chung

{"title":"Robust Model Predictive Control with Control Barrier Function for Nonholonomic Robots with Obstacle Avoidance","authors":"Y. Quan, Jin Sung Kim, C. Chung","doi":"10.23919/ICCAS52745.2021.9649854","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649854","url":null,"abstract":"In this paper, we propose a Robust Model Predictive Control combined with Control Barrier Function (RMPC-CBF) for a nonholonomic robot with obstacle avoidance subject to additive input disturbances. Both Input-to-State Stability (ISS) and Input-to-State Safety (ISSf) are provided to theoretically guarantee the system's stability and safety. CBF-based safety conditions are formulated as constraints inside a robust MPC strategy. Robust satisfaction of the constraints is ensured by tightening the state constraint set. With admissible disturbances under a certain bound, ISS and robust recursive feasibility are guaranteed by computing the terminal region and state constraint set. For obstacle avoidance, Input-to-State Safe Control Barrier Function (ISSf-CBF) is chosen to provide robust set safety for the dynamic systems under input disturbances, which always guarantees that states stay inside or close to the safe set. With the proposed method, the future state prediction is taken into consideration and optimal performance is accomplished via MPC, and the system's safety is ensured via CBF. Numerical simulation results confirm the effectiveness and validity of the proposed approach.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126580340","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

Distributed Optimization Algorithms on Structurally Balanced Signed Networks 结构平衡签名网络的分布式优化算法

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9650060

Wen Du, Yusheng Wei, Mingjun Du

引用次数: 0

Energy Consumption Analysis of Downward-Tethered Quadcopter 下系留四轴飞行器的能耗分析

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649943

Changhyeong Lee, Junwoo Jason Son, Hakjun Lee, Soohee Han

引用次数: 3

Globally Optimal and Scalable Video Image Stitching for Robotic Visual Inspection of Electric Generators 面向发电机机器人视觉检测的全局最优可扩展视频图像拼接

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649973

Leonid Kostrykin, Claus Rohr, K. Rohr

{"title":"Globally Optimal and Scalable Video Image Stitching for Robotic Visual Inspection of Electric Generators","authors":"Leonid Kostrykin, Claus Rohr, K. Rohr","doi":"10.23919/ICCAS52745.2021.9649973","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649973","url":null,"abstract":"Large-scale image stitching of temporal video data acquired by a small robot can facilitate the inspection process of electric generators, reduce the inspection time, and improve the reliability. However, the image data poses a number of challenges due to the small field of view, lack of distinct texture, specular highlights, and other image artifacts. We introduce a novel image stitching method, which generates composite images of generator wedges from temporal videos using intensity-based registration and non-linear blending. In contrast to previous intensity-based registration approaches, our global method simultaneously exploits the information of all image frames of a video and directly determines the global image translations. We propose a suitable energy function and employ a graph-based method for globally optimal minimization in linear runtime. Regularization is used to exploit physical knowledge about the application domain which improves the robustness. We have applied our approach to temporal video data of rotor wedges and performed a comparison with previous methods. We found that our method yields superior results.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133589572","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

Deep Reinforcement Learning based Autonomous Air-to-Air Combat using Target Trajectory Prediction 基于目标轨迹预测的深度强化学习自主空对空作战

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649876

J. Yoo, Donghwi Kim, D. Shim

引用次数: 5

Extraction of Cervical Lymph Nodes Based on Three-Dimensional Image Registration 基于三维图像配准的颈部淋巴结提取

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649797

Nozomi Shime, Tohru Kamiya, T. Ishida

{"title":"Extraction of Cervical Lymph Nodes Based on Three-Dimensional Image Registration","authors":"Nozomi Shime, Tohru Kamiya, T. Ishida","doi":"10.23919/ICCAS52745.2021.9649797","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649797","url":null,"abstract":"One of the difficulties of cancer is the metastasis of cancer through the lymph nodes. Therefore, early detection and treatment of cancerous is important. Visual screening is one of useful tool for diagnosing of the cancer. However, the number of images obtained at a time is large, and the burden on the reading physician is increasing. Furthermore, reading of image is based on the subjective judgment of the physician, which may lead to different diagnostic results. To solve these problems, computer aided diagnosis (CAD) systems have been attracting attention in recent years. One of the CAD systems is the temporal subtraction image technology. In this paper, we propose an image alignment method for generating temporal subtraction images from images taken before and after contrast agent was administered to the cervical lymph nodes of the same subject. In addition, we propose an image analysis method that suppresses overextraction of lymph node candidate regions on the temporal subtraction image based on the features of lymph nodes. We applied the proposed method to the CT images of three sets and compared the temporal subtraction images with the final lymph node extraction images, and confirmed that the proposed method can suppress the overextraction of lymph node regions.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"163 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132227631","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

Radar based Obstacle Detection System for Autonomous Unmanned Surface Vehicles 基于雷达的自主无人水面车辆障碍物检测系统

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9649770

Jee-Soo Ha, Soo-Ri Im, W. Lee, Dong-Hoon Kim, Jaekwan Ryu

{"title":"Radar based Obstacle Detection System for Autonomous Unmanned Surface Vehicles","authors":"Jee-Soo Ha, Soo-Ri Im, W. Lee, Dong-Hoon Kim, Jaekwan Ryu","doi":"10.23919/ICCAS52745.2021.9649770","DOIUrl":"https://doi.org/10.23919/ICCAS52745.2021.9649770","url":null,"abstract":"This paper proposes a dynamic obstacle detection system for USV based on marine radar and Electronic Navigational chart (ENC), the most common navigation sensors on ships. This system has the advantage of enabling simple obstacle recognition without the need to additionally mount expensive equipment. In this system, we generated two types of grid maps: one is plan position indicator (PPI) images from marine radar, the other is a hull information-based grid map extracted from ENC. By accumulating the two grid map images, obstacles that appear repeatedly are classified as fixed obstacles, and obstacles that move as the grid map is updated are classified as dynamic obstacles. The proposed obstacle detection system was installed in the Sea Sword USV developed by LIGNex1 and tested in a marine environment. The system proposed in the experiment recognized the small rubber boat as a dynamic obstacle and the surrounding environment as a static obstacle. Along with our proposed obstacle detection system, it is possible to recognize obstacles through ENC and radar, which are essential equipment for ships, without video equipment.","PeriodicalId":411064,"journal":{"name":"2021 21st International Conference on Control, Automation and Systems (ICCAS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131703759","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: 2

A Fusion Framework for Multi-Spectral Pedestrian Detection using EfficientDet 基于EfficientDet的多光谱行人检测融合框架

2021 21st International Conference on Control, Automation and Systems (ICCAS) Pub Date : 2021-10-12 DOI: 10.23919/ICCAS52745.2021.9650057

Jongchan Kim, In-Deok Park, Sungho Kim

引用次数: 4