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Extrinsic Calibration of LiDAR-Camera Based on Deep Convolutional Network 基于深度卷积网络的激光雷达相机外部定标
Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055799
Wanqin Zhang, Degang Xu
LiDAR and stereo cameras are increasingly being used for intelligent perceptual tasks in autonomous vehicles and robotic platforms. However, before the sensors can be used, they usually need to be precisely calibrated both internally and externally considering the calibration affection of the sensor parameters. With the increasing popularity of deep learning (DL), some recent studies have proved the advantages of DL in feature extraction, feature matching and global regression in extrinsic calibration. To improve the accuracy and reduce calibration time, we propose a method for automatic extrinsic calibration of LiDAR and stereo camera based on deep convolutional network. It has the nonlinear mapping ability of neural network to establish the mapping relationship between the target in the LiDAR coordinate system and its image pixel coordinate system. Moreover, the proposed method does not require the resort to any extra calibrator, which reduces some manual steps and compensates some shortcomings of traditional methods. The method can be used for the extrinsic calibration of LiDAR and camera online, which is meaningful for further fusing the sensor data.
激光雷达和立体摄像头越来越多地用于自动驾驶汽车和机器人平台的智能感知任务。然而,在传感器使用之前,考虑到传感器参数的校准影响,通常需要对传感器进行内部和外部的精确校准。随着深度学习的日益普及,近年来的一些研究证明了深度学习在特征提取、特征匹配和外在定标的全局回归等方面的优势。为了提高精度和减少标定时间,提出了一种基于深度卷积网络的激光雷达和立体相机的外部自动标定方法。它具有神经网络的非线性映射能力,可以建立LiDAR坐标系中的目标与其图像像素坐标系之间的映射关系。此外,该方法不需要使用任何额外的校准器,减少了一些人工步骤,弥补了传统方法的一些不足。该方法可用于激光雷达和相机的在线外部定标,对传感器数据的进一步融合具有重要意义。
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引用次数: 0
Studies of short-term load forecasting model based on LSTM-NBEATS 基于LSTM-NBEATS的短期负荷预测模型研究
Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055018
Song Huang, Danhong Zhang, Tuo Zheng, Guangbo Tong, Jianxin Xu, Fangzheng Jia
Due to the current rising in oil prices and energy scarcity, the role of short term load forecasting is critical in basic functioning and scheduling of power systems. The forecasting accuracy of a single model always has its limitations. Therefore, the LSTM-NBEATS model, a combined model combining LSTM and NBEATS by a MAPE (mean absolute percentage error) weighting method is proposed. This model is easy to realize and train, and does not rely on complicated feature engineering. It is applied to hourly load datasets from three European countries, Macedonia (MK), Latvia (LV), and Poland (PL). In this paper, experimental results show that in short term load forecasting the model proposed performs effective.
由于当前石油价格的上涨和能源的短缺,短期负荷预测在电力系统的基本运行和调度中起着至关重要的作用。单一模型的预测精度总是有其局限性的。为此,提出了LSTM-NBEATS模型,即通过MAPE (mean absolute percentage error)加权法将LSTM和NBEATS结合起来的组合模型。该模型易于实现和训练,不依赖于复杂的特征工程。它应用于三个欧洲国家的每小时负荷数据集,马其顿(MK),拉脱维亚(LV)和波兰(PL)。实验结果表明,该模型在短期负荷预测中是有效的。
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引用次数: 0
Sliding Mode Control Strategy For PMSM Based on Improved Reaching Law 基于改进趋近律的永磁同步电机滑模控制策略
Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055635
Ke Lin, Haiyan Gao, Zhiyong Lin, Rong Fu, Zhichao Chen, Weiqiang Tang
The sliding mode control method with double power exponential reaching law is proposed for the unstable factors such as chattering vibration and overshoot in the sliding mode control of permanent magnet synchronous motor. The method combines the advantages of the traditional reaching law, which enables the motor to approach the sliding mold surface quickly and smoothly from the initial state, and realizes the speed tracking. And the continuous function is chosen to instead of the sign function, which suppresses the chattering phenomenon of the sliding mode control. Comparing the designed new reaching law with the traditional reaching law in simulink, it can be clearly seen that the time from the system movement to the sliding surface is significantly shortened. And at the same time, in the case of uncertain disturbance, the motor can adjust the motion state faster, indicating that the new reaching law has better stability and tracking performance than the traditional reaching law.
针对永磁同步电机滑模控制中存在的抖振、超调等不稳定因素,提出了双功率指数趋近律滑模控制方法。该方法结合了传统趋近律的优点,使电机从初始状态快速平稳地逼近滑动模面,实现了速度跟踪。采用连续函数代替符号函数,有效地抑制了滑模控制中的抖振现象。将设计的新趋近律与传统趋近律在simulink中进行比较,可以清楚地看到系统从运动到滑动面的时间明显缩短。同时,在不确定扰动的情况下,电机可以更快地调整运动状态,这表明新到达律比传统到达律具有更好的稳定性和跟踪性能。
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引用次数: 0
Application research and prospect of screenless display technologies in railway intelligent station 无屏显示技术在铁路智能车站中的应用研究与展望
Pub Date : 2022-11-25 DOI: 10.1109/cac57257.2022.10055815
Jiaying Duan, H. Shen, T. Shi, Chao Li, Guoyuan Yang, Yongmei Chen
With the development of display technology, screenless display technology represented by augmented reality (AR) technology, virtual reality (VR) technology, intelligent projection technology and (pseudo) holographic technology, in the construction of smart stations, can be used in passenger identity verification, equipment inspection, staff training, onsite navigation and passenger service. This paper first classifies and summarizes the technical principles of several screenless display technologies, and elaborates on specific technologies in detail. Subsequently, we have combed and summarized the application of several screenless display technologies in railway intelligent passenger stations in detail. Based on the actual demand of railway passenger stations, according to the current situation and limitations of the use of screen display technology in railway station equipment operation and maintenance and passenger services, we can try to study and apply new screenless display technologies, such as AR, VR and intelligent projection to improve the intelligence level of railway stations.
随着显示技术的发展,以增强现实(AR)技术、虚拟现实(VR)技术、智能投影技术、(伪)全息技术为代表的无屏显示技术,在智能车站建设中,可用于旅客身份验证、设备检查、工作人员培训、现场导航、旅客服务等。本文首先对几种无屏显示技术的技术原理进行了分类和总结,并对具体技术进行了详细的阐述。随后,对几种无屏显示技术在铁路智能客运站中的应用进行了详细的梳理和总结。基于铁路客运站的实际需求,根据屏幕显示技术在火车站设备运维和旅客服务中使用的现状和局限性,可以尝试研究和应用AR、VR、智能投影等新型无屏幕显示技术,提高火车站的智能化水平。
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引用次数: 0
Research on Digital Key Positioning Method Based on Bluetooth Low Energy 基于蓝牙低功耗的数字按键定位方法研究
Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055246
Yang Xu, Xingyu Yang, Jingtao Zhang, Jianjie Yang, Jie Tang
The development of Bluetooth technology and mobile communication technology makes it possible for smartphones to replace traditional car keys. In order to achieve high-precision positioning and accurate identification of smartphones in the vehicle environment, this paper adopts a location fingerprint method based on Bluetooth Low Energy (BLE) technology. In the stage of offline fingerprint database construction, a fusion filtering algorithm based on moving average and Kalman filtering is used to obtain more stable data. In the phase of location and identification, a binary K-means clustering based on the similarity of position coordinates combined with weighted K-nearest neighbor (WKNN) algorithm is proposed to locate and identify smartphones. The experimental results show that the proposed algorithm improves the recognition accuracy of smartphones by 8.8% compared with the K-nearest neighbor (KNN) algorithm, and reduces the positioning error from 1.56m to 0.41m.
蓝牙技术和移动通信技术的发展,使得智能手机取代传统的车钥匙成为可能。为了在车载环境中实现智能手机的高精度定位和准确识别,本文采用了基于蓝牙低功耗(BLE)技术的位置指纹方法。在离线指纹数据库构建阶段,采用基于移动平均和卡尔曼滤波的融合滤波算法,获得更稳定的数据。在定位识别阶段,提出了一种基于位置坐标相似性的二元k均值聚类结合加权k近邻(WKNN)算法对智能手机进行定位识别。实验结果表明,与k近邻(KNN)算法相比,该算法将智能手机的识别精度提高了8.8%,并将定位误差从1.56m降低到0.41m。
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引用次数: 0
Neural Adaptive Dynamic Surface Control of PMSMs with Input Saturation and output constraint 带输入饱和和输出约束的永磁同步电机神经网络自适应动态曲面控制
Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055960
Dongchao Lv, Shaobo Li, T. Zhang, Fengbin Wu, Menghan Li, Chao Zheng
This paper discusses an adaptive neural tracking control of permanent magnet synchronous motors subject to input saturation and output constraint. The difficulty is to consider output constraints and input saturation. Firstly, the adaptive dynamic surface control design process is systematized by embedding many existing tools into the classical backstepping framework. Then, a nonlinear transformation function is proposed to transform the output constrained system into an unconstrained system. Furthermore, using radial basis function neural networks to Process the unknown terms, the Gaussian error function is utilized to describe the continuously differentiable asymmetric saturation nonlinearity. It turns out that all signals in the proposed scheme are bounded. The simulation results are provided to further show the feasibility of the proposed method.
讨论了输入饱和和输出约束下永磁同步电动机的自适应神经跟踪控制。难点在于考虑输出约束和输入饱和。首先,通过在经典的回溯框架中嵌入许多现有工具,将自适应动态曲面控制设计过程系统化。然后,利用非线性变换函数将输出约束系统转化为无约束系统。利用径向基函数神经网络对未知项进行处理,利用高斯误差函数对连续可微的非对称饱和非线性进行描述。结果表明,该方案中的所有信号都是有界的。仿真结果进一步证明了该方法的可行性。
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引用次数: 0
Feature Enhancement and Reweighting for Transformer-Based Change Detection 基于变压器的变化检测特征增强和重加权
Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055045
Sicheng Shao, Zheng Lu, Bin Zhang, Xuetao Zhang
As Transformer is more widely used in the domain of Computer Vision (CV), modern techniques for Change Detection (CD) have also begun to use Transformer structures, including Bitemporal Image Transformer (BIT). Although BIT shows excellent performance due to its efficient context modeling ability, the simple backbone network and the Cross-Entropy (CE) loss it uses still have room for improvement. In this paper, we propose a Feature Pyramid Network of Change Detection (FPN-CD) and a Change Detection focal (CDF) loss to address the shortcomings of the BIT method. Meanwhile, the outcomes of ablation experiments performed on two CD datasets attest to the method's efficacy.
随着Transformer在计算机视觉(CV)领域的广泛应用,现代变化检测(CD)技术也开始使用Transformer结构,包括bittemporal Image Transformer (BIT)。尽管BIT由于其高效的上下文建模能力而表现出优异的性能,但其简单的骨干网络和使用的交叉熵(Cross-Entropy, CE)损失仍有改进的空间。在本文中,我们提出了变化检测的特征金字塔网络(FPN-CD)和变化检测焦点(CDF)损失来解决BIT方法的缺点。同时,在两个CD数据集上进行的消融实验结果证明了该方法的有效性。
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引用次数: 0
Real-time Path Planning Algorithms for Autonomous UAV 自主无人机实时路径规划算法
Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10054770
Min Zhang, Yungang Liu, Yuan Wang, Fengzhong Li, Lin Chen
With the increasing complexity of UAV missions, path planning, as a key issue, is receiving more and more attention. Currently, most of the literatures related to this problem are concerned about off-line path planning. However, the dynamic and complex environment with uncertainty makes it more challenging for UAVs to complete their missions autonomously, safely and quickly, which calls for path planning in real time. In the paper, several representative algorithms for UAV real-time path planning are reviewed, from perspective on path searching and trajectory optimization. Therein, Artificial Potential Field (APF) method, Markov Decision Process (MDP) based method and Artificial Neural Network (ANN) algorithm are set forth, while their performance, fusion and improvement are analyzed. Finally, we propose a series of challenging real-time path planning problems for future research.
随着无人机任务的日益复杂,路径规划作为一个关键问题越来越受到人们的重视。目前,与该问题相关的文献大多关注离线路径规划。然而,具有不确定性的动态复杂环境给无人机自主、安全、快速完成任务带来了更大的挑战,这就需要实时进行路径规划。本文从路径搜索和轨迹优化两方面综述了几种具有代表性的无人机实时路径规划算法。在此基础上,提出了人工势场(APF)方法、基于马尔可夫决策过程(MDP)的方法和人工神经网络(ANN)算法,并分析了它们的性能、融合和改进。最后,我们提出了一系列具有挑战性的实时路径规划问题,以供未来研究。
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引用次数: 0
A Cooperative Transmission Scheme with Dynamic Clustering Based on Splitting and Reorganization for Event-Driven WSNs 基于分裂和重组的事件驱动wsn动态聚类协同传输方案
Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055314
Min Li, Ke Xu, Yu Li, Dong Li
Continuous event monitoring for large-scale wireless sensor networks (WSNs) is one of the important applications. In these applications, clusters should be efficiently and dynamically organized and of appropriate size. This paper proposes a cooperative transmission scheme with dynamic clustering based on splitting and reorganization for monitoring applications. When no event occurs, a static network model with a hierarchical clustering tree for large-scale WSNs is proposed. Once the event was triggered, a dynamic clustering scheme based on splitting and reorganization according to the characteristics of event diffusion is proposed. Moreover, selection cooperation is introduced into the data transmission of cluster head(CH) and a cooperative transmission protocol by utilizing a feedback mechanism is designed to enhance the transmission reliability of the event area. Simulation results show that the proposed scheme can effectively improve the transmission reliability for wireless sensor networks driven by diffuse events.
大规模无线传感器网络(WSNs)的连续事件监测是其重要应用之一。在这些应用程序中,集群应该被有效地、动态地组织起来,并具有适当的大小。针对监控应用,提出了一种基于拆分和重组的动态聚类协同传输方案。在无事件发生的情况下,提出了一种基于分层聚类树的大规模wsn静态网络模型。在事件触发后,根据事件扩散的特点,提出了一种基于分裂和重组的动态聚类方案。在簇头数据传输中引入了选择合作,设计了一种利用反馈机制的协作传输协议,提高了事件区域的传输可靠性。仿真结果表明,该方案可以有效地提高由扩散事件驱动的无线传感器网络的传输可靠性。
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引用次数: 0
Research and application of pattern recognition LSTM based bridge data anomaly detection 基于模式识别LSTM的桥梁数据异常检测研究与应用
Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10054767
Zheng Gao, Funian Li, Xingsheng Yu, Junfeng Yan, Zhidan Chen
The effectiveness of bridge condition assessment relies on the reliability of monitoring data, which can have multiple types of anomaly patterns in complex environments, and the accuracy and timeliness of traditional pattern recognition anomaly detection schemes do not meet the needs of practice. To address the multiple types of anomalies in bridge monitoring data, nine features that fit the bridge data situation are constructed using high-frequency acceleration data, and anomaly detection is performed using a pattern recognition LSTM neural network that is sensitive to time series, and run in real time by Flux in the Ganjiang Special Bridge monitoring system. The experimental results show that this scheme achieves a high level of accuracy for each category of anomaly detection, with a 4.53% improvement in accuracy compared to the PRNN neural network scheme. The overall detection time of real-time samples in practice is about 1.10s, and the overall anomaly detection accuracy reaches 99.65%, which meets the need for timeliness and accuracy of bridge anomaly detection system in practice.
桥梁状态评估的有效性依赖于监测数据的可靠性,而监测数据在复杂的环境中可能存在多种类型的异常模式,传统模式识别异常检测方案的准确性和时效性不满足实践的需要。针对桥梁监测数据中的多类型异常,利用高频加速度数据构建了9个与桥梁数据情况相匹配的特征,利用对时间序列敏感的模式识别LSTM神经网络进行异常检测,并由Flux在赣江特种桥梁监测系统中实时运行。实验结果表明,该方案对每一类异常检测都达到了较高的准确率,与PRNN神经网络方案相比,准确率提高了4.53%。实际中实时样本的整体检测时间约为1.10s,整体异常检测准确率达到99.65%,满足了桥梁异常检测系统在实际中对时效性和准确性的需求。
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引用次数: 0
期刊
2022 China Automation Congress (CAC)
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