Pub Date : 2021-12-01DOI: 10.1109/ICVISP54630.2021.00014
Behnaz Ahmadi, M. Mehrez, W. W. Melek, A. Khajepour
In this paper, a reliable path following approach based on Model Predictive Control (MPC) and using different vehicle models are developed to: 1) minimize the lateral distance between the vehicle and a reference path, 2) minimize the heading error of the vehicle, and 3) limit the rate of steering inputs to their saturation values and produce smooth motions. The proposed MPC is implemented in MATLAB/Simulink using CasADi block in which the associated Optimal Control Problem (OCP) is discretized using the direct multiple-shooting method. Results show that designed controllers pulled the system back to the predefined reference path, and tracking performances were satisfactory. The effect of changing the prediction horizon and road friction coefficient at low/high speeds is discussed.
{"title":"Model Predictive Control for Reliable Path Following with Application to the Autonomous Vehicle and Considering Different Vehicle Models","authors":"Behnaz Ahmadi, M. Mehrez, W. W. Melek, A. Khajepour","doi":"10.1109/ICVISP54630.2021.00014","DOIUrl":"https://doi.org/10.1109/ICVISP54630.2021.00014","url":null,"abstract":"In this paper, a reliable path following approach based on Model Predictive Control (MPC) and using different vehicle models are developed to: 1) minimize the lateral distance between the vehicle and a reference path, 2) minimize the heading error of the vehicle, and 3) limit the rate of steering inputs to their saturation values and produce smooth motions. The proposed MPC is implemented in MATLAB/Simulink using CasADi block in which the associated Optimal Control Problem (OCP) is discretized using the direct multiple-shooting method. Results show that designed controllers pulled the system back to the predefined reference path, and tracking performances were satisfactory. The effect of changing the prediction horizon and road friction coefficient at low/high speeds is discussed.","PeriodicalId":296789,"journal":{"name":"2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131745152","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}
Pub Date : 2021-12-01DOI: 10.1109/ICVISP54630.2021.00027
Shuliang Zhang, Xiangquan Tan, Qingwen Wu
GPS signals are often unavailable in indoor scenes where mobile robots often perform tasks. Without the help of global positioning signals, the self-positioning of indoor mobile robots becomes very difficult. In this paper, a self-positioning method for indoor mobile robots is proposed, which combines wheel odometer, inertial navigation unit (IMU) and ultrawideband (UWB). Firstly, through the analysis of each sensor participating in the fusion positioning, the positioning model of each sensor is determined. Secondly, the multi-sensor data fusion method based on extended Kalman filter is proposed so as to improve the overall positioning accuracy and robustness. Besides, in the indoor experimental environment, the feasibility of this method is verified by experiments on mobile robots. Finally, the experimental results show that, compared with the odometer and UWB positioning methods, the proposed method not only improves the positioning accuracy significantly, but also reduces the motion noise in pose estimation.
{"title":"Self-Positioning for Mobile Robot Indoor Navigation Based on Wheel Odometry, Inertia Measurement Unit and Ultra Wideband","authors":"Shuliang Zhang, Xiangquan Tan, Qingwen Wu","doi":"10.1109/ICVISP54630.2021.00027","DOIUrl":"https://doi.org/10.1109/ICVISP54630.2021.00027","url":null,"abstract":"GPS signals are often unavailable in indoor scenes where mobile robots often perform tasks. Without the help of global positioning signals, the self-positioning of indoor mobile robots becomes very difficult. In this paper, a self-positioning method for indoor mobile robots is proposed, which combines wheel odometer, inertial navigation unit (IMU) and ultrawideband (UWB). Firstly, through the analysis of each sensor participating in the fusion positioning, the positioning model of each sensor is determined. Secondly, the multi-sensor data fusion method based on extended Kalman filter is proposed so as to improve the overall positioning accuracy and robustness. Besides, in the indoor experimental environment, the feasibility of this method is verified by experiments on mobile robots. Finally, the experimental results show that, compared with the odometer and UWB positioning methods, the proposed method not only improves the positioning accuracy significantly, but also reduces the motion noise in pose estimation.","PeriodicalId":296789,"journal":{"name":"2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131046452","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}
Pub Date : 2021-12-01DOI: 10.1109/ICVISP54630.2021.00056
Haibo Fang, R. Peng, Xianggang Sha, Yongsheng Lv
In order to solve the problem that the single-background camouflage patterns designed by the existing methods cannot meet the camouflage requirements under the multi-terrain background, a multi-background camouflage pattern design method based on feature fusion is proposed, and formed a complete set of multi-background camouflage pattern design theory. Through similarity analysis of background images, camouflage color determination, patch extraction and other steps, the color and patch shape features are extracted, and then the features are merged to generate a multi-background camouflage pattern, which is suitable for multi-regional camouflage. The simulation experiment results show that the multi-background camouflage pattern is better integrated with each background in terms of brightness, color and texture characteristics. Compared with the single-background camouflage pattern, the camouflage similarity index (CSI) increased by 8.1% and 10.8% respectively.
{"title":"Research on Multi-Background Camouflage Pattern Design Method Based on Feature Fusion","authors":"Haibo Fang, R. Peng, Xianggang Sha, Yongsheng Lv","doi":"10.1109/ICVISP54630.2021.00056","DOIUrl":"https://doi.org/10.1109/ICVISP54630.2021.00056","url":null,"abstract":"In order to solve the problem that the single-background camouflage patterns designed by the existing methods cannot meet the camouflage requirements under the multi-terrain background, a multi-background camouflage pattern design method based on feature fusion is proposed, and formed a complete set of multi-background camouflage pattern design theory. Through similarity analysis of background images, camouflage color determination, patch extraction and other steps, the color and patch shape features are extracted, and then the features are merged to generate a multi-background camouflage pattern, which is suitable for multi-regional camouflage. The simulation experiment results show that the multi-background camouflage pattern is better integrated with each background in terms of brightness, color and texture characteristics. Compared with the single-background camouflage pattern, the camouflage similarity index (CSI) increased by 8.1% and 10.8% respectively.","PeriodicalId":296789,"journal":{"name":"2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131161010","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}
Pub Date : 2021-12-01DOI: 10.1109/ICVISP54630.2021.00037
Yao Min, Gao Chaoyu, Min Zhao, Jian Liu
There are few effective methods to detect the inner defects of the invisible closed cavity. In order to realize the purpose of applying the γ photon imaging technology to industrial detection, a design scheme of industrial γ photon detection device is proposed. The device has the characteristics of variable detection aperture and imaging with a small number of detectors, which provides a solution for the application of γ photon imaging in industrial detection.
{"title":"Design and Implementation of Industrial γ Photon Detector for PET Application","authors":"Yao Min, Gao Chaoyu, Min Zhao, Jian Liu","doi":"10.1109/ICVISP54630.2021.00037","DOIUrl":"https://doi.org/10.1109/ICVISP54630.2021.00037","url":null,"abstract":"There are few effective methods to detect the inner defects of the invisible closed cavity. In order to realize the purpose of applying the γ photon imaging technology to industrial detection, a design scheme of industrial γ photon detection device is proposed. The device has the characteristics of variable detection aperture and imaging with a small number of detectors, which provides a solution for the application of γ photon imaging in industrial detection.","PeriodicalId":296789,"journal":{"name":"2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131883062","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}
Pub Date : 2021-12-01DOI: 10.1109/ICVISP54630.2021.00058
M. V. Andreiashchenko, O. V. Zudina, D. E. Sheronov
The article analyzes the results of using the Geometric Shift and Mikhalevich mutations, as well as combinations of these mutations with arithmetic and fuzzy crosses, respectively, to search for the extremum on the Rosenbrock, Rastrigin, Shekel functions on spaces with dimensions eight and sixteen. The result of the analysis is the conclusion that combinations of mutation and cross operators work differently on different functions both in terms of efficiency and accuracy - these parameters depend on the structural features of the functions and algorithms of the mutation and cross operators.
{"title":"Evaluation of Mutations and Their Various Combinations with Crossing Operators in Genetic Algorithms","authors":"M. V. Andreiashchenko, O. V. Zudina, D. E. Sheronov","doi":"10.1109/ICVISP54630.2021.00058","DOIUrl":"https://doi.org/10.1109/ICVISP54630.2021.00058","url":null,"abstract":"The article analyzes the results of using the Geometric Shift and Mikhalevich mutations, as well as combinations of these mutations with arithmetic and fuzzy crosses, respectively, to search for the extremum on the Rosenbrock, Rastrigin, Shekel functions on spaces with dimensions eight and sixteen. The result of the analysis is the conclusion that combinations of mutation and cross operators work differently on different functions both in terms of efficiency and accuracy - these parameters depend on the structural features of the functions and algorithms of the mutation and cross operators.","PeriodicalId":296789,"journal":{"name":"2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)","volume":"13 Suppl 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121022406","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}
Pub Date : 2021-12-01DOI: 10.1109/ICVISP54630.2021.00049
Sun Haiyang, Zhai Fujun, Zhang Ning, Bi Jingjian, Zhijun Han
With the continuous development of aerospace technology, the structure of the new generation of the space remote sensor is more and more sophisticated, and the requirements of its mobility and safety reliability are also higher and higher. When choosing some precision moving parts, it is necessary to master and verify the performance of the product. Therefore, this paper provides a technical scheme for obtaining the running trajectory of high-precision moving parts and verifying their running accuracy. Includes how to use coordinate measuring machine(CMM) to transform the dynamic trajectory into static data, while ensuring the consistency of the measured data. The full-stroke runout trajectory of the moving parts was obtained by fitting the curve and evaluating the coplanarity. The practice results show that this method can provide accurate reference data for designers and guide the matching of precision moving units and the assembly of precision components.
{"title":"The Measuring Method of Obtaining Dynamic Geometric Parameters of Precision Moving Parts","authors":"Sun Haiyang, Zhai Fujun, Zhang Ning, Bi Jingjian, Zhijun Han","doi":"10.1109/ICVISP54630.2021.00049","DOIUrl":"https://doi.org/10.1109/ICVISP54630.2021.00049","url":null,"abstract":"With the continuous development of aerospace technology, the structure of the new generation of the space remote sensor is more and more sophisticated, and the requirements of its mobility and safety reliability are also higher and higher. When choosing some precision moving parts, it is necessary to master and verify the performance of the product. Therefore, this paper provides a technical scheme for obtaining the running trajectory of high-precision moving parts and verifying their running accuracy. Includes how to use coordinate measuring machine(CMM) to transform the dynamic trajectory into static data, while ensuring the consistency of the measured data. The full-stroke runout trajectory of the moving parts was obtained by fitting the curve and evaluating the coplanarity. The practice results show that this method can provide accurate reference data for designers and guide the matching of precision moving units and the assembly of precision components.","PeriodicalId":296789,"journal":{"name":"2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121031476","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}
Pub Date : 2021-12-01DOI: 10.1109/ICVISP54630.2021.00034
Jiali Bei, Zhiye Huang, Yuan Chang
The transformation of the construction industry is imminent, and prefabricated residential buildings hold the promise of mitigating carbon dioxide (CO2) emissions from the industry. The study employed a modeling approach of life cycle inventory (LCI) to quantify the embodied CO2 emission of prefabricated and cast-in-situ concrete residential buildings in China. Besides, three provinces were selected to estimate the benefits of mitigating CO2 inherited in the country’s urbanization. Results showed that the embodied CO2 reduction of prefabricated buildings was 50 $mathrm{k}mathrm{g}/mathrm{m}2$ compared to that of cast-in-situ buildings. During the 14th Five-Year Plan period (2021 to 2025), the mitigation of CO2 emissions associated with prefabrication instead of cast-in-situ of the selected provinces were about 181 million tons, presenting a significant mitigation potential for reaching China’s 2060 carbon-neutral pledge.
{"title":"Carbon-Dioxide Mitigation of Prefabricated Residential Buildings in China: an Urbanization-Based Estimation","authors":"Jiali Bei, Zhiye Huang, Yuan Chang","doi":"10.1109/ICVISP54630.2021.00034","DOIUrl":"https://doi.org/10.1109/ICVISP54630.2021.00034","url":null,"abstract":"The transformation of the construction industry is imminent, and prefabricated residential buildings hold the promise of mitigating carbon dioxide (CO2) emissions from the industry. The study employed a modeling approach of life cycle inventory (LCI) to quantify the embodied CO2 emission of prefabricated and cast-in-situ concrete residential buildings in China. Besides, three provinces were selected to estimate the benefits of mitigating CO2 inherited in the country’s urbanization. Results showed that the embodied CO2 reduction of prefabricated buildings was 50 $mathrm{k}mathrm{g}/mathrm{m}2$ compared to that of cast-in-situ buildings. During the 14th Five-Year Plan period (2021 to 2025), the mitigation of CO2 emissions associated with prefabrication instead of cast-in-situ of the selected provinces were about 181 million tons, presenting a significant mitigation potential for reaching China’s 2060 carbon-neutral pledge.","PeriodicalId":296789,"journal":{"name":"2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114685833","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}
Pub Date : 2021-12-01DOI: 10.1109/icvisp54630.2021.00003
{"title":"[Copyright notice]","authors":"","doi":"10.1109/icvisp54630.2021.00003","DOIUrl":"https://doi.org/10.1109/icvisp54630.2021.00003","url":null,"abstract":"","PeriodicalId":296789,"journal":{"name":"2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114456017","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}
Pub Date : 2021-12-01DOI: 10.1109/ICVISP54630.2021.00041
L. Uden, A. Kumaresan
Smart City has the potential to improve its people’s quality of life and increase the competitiveness of the regional economy sustainably. Creating successful smart cities involves many different stakeholders from both public and private sectors. Business model shows how a firm creates and delivers value for customers and how it captures profits for the company. Sustainability is important for the design of smart city to improve the environmental health and quality of life for our society. Many investors today are using the Environmental, social and governance (ESG) criteria to screen potential investments. Business models for smart cities must incorporate ESG factors in its design. Because there is currently no generally used method to design an ESG smart city business model, this paper proposes the design of a sustainable framework for the design of a smart city business model. The proposed framework is based on research from ESG factors that impact sustainable development and co-creation of value to meet the different stakeholders of the smart city.
{"title":"Sustainable Smart City Business Model Framework","authors":"L. Uden, A. Kumaresan","doi":"10.1109/ICVISP54630.2021.00041","DOIUrl":"https://doi.org/10.1109/ICVISP54630.2021.00041","url":null,"abstract":"Smart City has the potential to improve its people’s quality of life and increase the competitiveness of the regional economy sustainably. Creating successful smart cities involves many different stakeholders from both public and private sectors. Business model shows how a firm creates and delivers value for customers and how it captures profits for the company. Sustainability is important for the design of smart city to improve the environmental health and quality of life for our society. Many investors today are using the Environmental, social and governance (ESG) criteria to screen potential investments. Business models for smart cities must incorporate ESG factors in its design. Because there is currently no generally used method to design an ESG smart city business model, this paper proposes the design of a sustainable framework for the design of a smart city business model. The proposed framework is based on research from ESG factors that impact sustainable development and co-creation of value to meet the different stakeholders of the smart city.","PeriodicalId":296789,"journal":{"name":"2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116830004","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}
Pub Date : 2021-12-01DOI: 10.1109/ICVISP54630.2021.00042
Han Hu, M. Tang, Liejun Li, Hesong Hu, Hang Chen, Zhuo Yang, Xuan Ji
In recent decades, with severe shortage of urban land resources due to massive increase of population density, super high-rise building construction has become one of the very important development orientations in modern construction industry. Affected by excessive loading as well as environmental deterioration, damages are likely to occur in localized regions in building structures. Accumulation of damages probably unavoidably leads to the structure performance deterioration, which might cause structure failures, along with disasters with heavy casualties and economic losses. For timely detection of potential damages with avoiding catastrophic accidents, damage identification and structural health monitoring (SHM) have been proposed. This paper presents a review of damage identification methods for super high-rise buildings to highlight their merits and limits, which further concludes future research directions and provides possible methods for specific SHM problems of engineers and researchers.
{"title":"Damage Identification Methods for Structural Health Monitoring of Super High-Rise Buildings","authors":"Han Hu, M. Tang, Liejun Li, Hesong Hu, Hang Chen, Zhuo Yang, Xuan Ji","doi":"10.1109/ICVISP54630.2021.00042","DOIUrl":"https://doi.org/10.1109/ICVISP54630.2021.00042","url":null,"abstract":"In recent decades, with severe shortage of urban land resources due to massive increase of population density, super high-rise building construction has become one of the very important development orientations in modern construction industry. Affected by excessive loading as well as environmental deterioration, damages are likely to occur in localized regions in building structures. Accumulation of damages probably unavoidably leads to the structure performance deterioration, which might cause structure failures, along with disasters with heavy casualties and economic losses. For timely detection of potential damages with avoiding catastrophic accidents, damage identification and structural health monitoring (SHM) have been proposed. This paper presents a review of damage identification methods for super high-rise buildings to highlight their merits and limits, which further concludes future research directions and provides possible methods for specific SHM problems of engineers and researchers.","PeriodicalId":296789,"journal":{"name":"2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)","volume":"154 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122827511","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}
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