Point Cloud Registration Method Based On Improved Covariance Matrix Descriptor,
2023
1.Computer Science and Technology Department, North University of China, Taiyuan 030051, China;2.Shanxi Provincial Key Laboratory of Machine Vision and Virtual Reality, Taiyuan 030051, China;3.Shanxi Province Visual Information Processing and Intelligent Robot Engineering Research Center, Taiyuan 030051, China;
Point Cloud Registration Method Based On Improved Covariance Matrix Descriptor, Yuan Zhang, Haoyu Han, Xie Han, Jiaxu Fu
Journal of System Simulation
Abstract: Point cloud registration is a key part of the digital protection of cultural relics. Improving registration accuracy and noise resistance is the main goal of point cloud registration for cultural relics. In order to solve this problem, a three-dimensional (3D) point cloud registration method based on a covariance matrix descriptor is proposed. The tensor voting method is used to eliminate the noise points, and the internal shape signature method is used to extract the key points from the point cloud after removing the noise. Then, the neighborhood information is constructed for the extracted key points, …
Outlier Detection During Thermal Processes Based On Improved Gaussian Mixture Model,
2023
1.School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China;2.Hebei Technology Innovation Center of Simulation & Optimized Control for Power Generation, North China Electric Power University, Baoding 071003, China;
Outlier Detection During Thermal Processes Based On Improved Gaussian Mixture Model, Zheng Wu, Yue Zhang, Ze Dong
Journal of System Simulation
Abstract: Abnormal data detection during thermal processes is the basis for performing system modeling, control, and optimization and constitutes an important part of data processing. In this paper, an unsupervised outlier detection algorithm during thermal processes based on an improved Gaussian mixture model is proposed. The algorithm captures a class of data clusters under specific working conditions by using Gaussian components in each dimension, modifies the posterior probability density of the traditional model by adding penalty constraint factors to penalize the false detection and missed detection items, and identifies abnormal data according to the correlation differences with the …
Improved Social Force Model Based On Enhancing Psych Behavioral Heterogeneity,
2023
College of Arts and Sciences, China University of Petroleum (Beijing) at Karamay, Karamay 834000, China;
Improved Social Force Model Based On Enhancing Psych Behavioral Heterogeneity, Yandong Liu, Gaoxiang Huang, Wen Chen
Journal of System Simulation
Abstract: Simulating the evacuation behavior of people under anxiety is of great significance for solving the kinematic problems such as escape. At present, most at home and abroad studies consider the anxiety factors as the only medium of population evacuation without considering how external key factors affect anxiety factors in such emergency environments. The improved social force model is proposed, combined with Agent-based stampede risk assessment, the influence of key environmental variables on the anxiety factor is quantified. The psychological force parameters are introduced, and the impact of the anxiety factor on the actual evacuation process is applied to the …
Research On Collaborative Task Allocation Method Of Multiple Uavs Based On Blockchain,
2023
University of Naval Aviation, Yantai 264001, China;
Research On Collaborative Task Allocation Method Of Multiple Uavs Based On Blockchain, Shuangcheng Niu, Yuqiang Jin, Kunhu Kou
Journal of System Simulation
Abstract: The autonomous collaborative control of a multi-unmanned aerial vehicle (UAV) system lacks a unified underlying technology platform and faces single point failure and information security threats. In order to solve these problems, an idea to build collaborative task planning platforms based on blockchain technology is proposed. With thecollaborative task allocation of multiple UAVs as research objects, an online, safe, high-efficiency, and real-time task allocation method is designed. The contract network task allocation algorithm is described as a smart contract, and system consensus is reached based on the blockchain consensus algorithm. In addition, …
Multi-Camera Vehicle Recognition Method Based On Feature Robustness Enhancement,
2023
Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China;
Multi-Camera Vehicle Recognition Method Based On Feature Robustness Enhancement, Huicheng Luo, Shujuan Wang
Journal of System Simulation
Abstract: Due to factors such as viewpoint changes, complex environments, and pose differences under multiple cameras, the images of the same vehicle in different scenes show huge appearance ambiguity, which brings challenges to vehicle identity matching. In order to solve this problem, a feature robustness enhancement method for vehicle recognition is proposed under the transformer framework. Based on the fact that the structural information of the vehicle is invariant under multiple cameras, a module for enhancing structural information guided by contour features is designed, and a structural feature perception loss is proposed to promote the fusion …
An Algorithm For Obtaining Interception Guidance Routes Weighted By Threat Indexes,
2023
Academy of Electronics & Information Technology, China Electronics Technology Group Corporation, Beijing 100041, China;
An Algorithm For Obtaining Interception Guidance Routes Weighted By Threat Indexes, Shuyuan Liu
Journal of System Simulation
Abstract: Interception guidance and threat assessment are two inseparable parts of command and control. The former implements specific command and guidance through guidance solutions, and the latter provides basis for threat assessment and situation advantage to command and control. Taking threat indexes as the weight, a kind of optimal interception route index is proposed to obtain the guidance solution with the least threat. Simulation results show that the proposed algorithm can effectively provide routing solutions for interception with the least threat, and is reliable under different situations, or with different weights of threat indexes. The algorithm provides a new idea …
Fixed-Wing Uav Detection Based On Simulated Data Transfer Learning,
2023
1.Engineering Research Center of Learning-Based Intelligent System, Ministry of Education, Tianjin 300384, China;2.School of Computer Science and Engineering, Tianjin University of Technology, Tianjin 300384, China;
Fixed-Wing Uav Detection Based On Simulated Data Transfer Learning, Yu Fu, Yao Zhang, Meng Zhao, Mianzhao Wang, Jiangpeng Zheng, Chen Jia, Shengyong Chen
Journal of System Simulation
Abstract: Data play an important role in visual inspection tasks, but it is difficult to obtain a sufficient amount of real fixed-wing UAV data. Therefore, a data set containing a large number of simulated fixed-wing UAV data and a small number of real fixed-wing UAV data is constructed, and the real fixed-wing UAV data are detected by training simulated fixed-wing UAV data based on the idea of weight transfer. On this basis, a two-stage learning strategy is proposed to further reduce the missed detection rate of UAVs by using multi-scale feature fusion.The simulation results show that …
Robot Learning To Pour Solid Objects Accurately,
2023
University of South Florida
Robot Learning To Pour Solid Objects Accurately, Juan Wilches, Yu Sun
Florida Conference on Recent Advances in Robotics
Pouring is an efficient way to transfer objects from
one container to another. This abstract summarizes a method
to accurately pour solid objects, such as ice cubes. It leverages
visual and proprioceptive feedback together with contextual
information to control the forward and backward rotation of the
pouring container. These feedback signals are fed to a recurrent
neural network that produces the control signal. The proposed
approach can achieve a human-like pouring accuracy in both a
simulation and a real setup.
Multi-Object Grasping -- Stochastic Grasping From A Pile,
2023
University of California - Berkeley
Multi-Object Grasping -- Stochastic Grasping From A Pile, Tianze Chen, Adheesh Shenoy, Yu Sun
Florida Conference on Recent Advances in Robotics
Grasping multiple objects at once from a pile is common for humans. It makes us efficient in pick and transfer tasks. It is essential for a robot to gain multi-object grasping capability (MOG). This paper defines the multi-object grasping problem and introduces several novel multi-object grasping techniques. These techniques include probability-based pre-grasp potential calculation, a stochastic flexing/extending routine, obtaining end-grasp types, and estimating the number of objects in a grasp. It also proposes a new stochastic grasping strategy for grasping a desired number of objects.
Live Audiovisual Remote Assistance System (Laras) For Person With Visual Impairments,
2023
University of South Florida
Live Audiovisual Remote Assistance System (Laras) For Person With Visual Impairments, Zachary Frey, Nghia Vo, Varaha Maithreya, Tais Mota, Urvish Trivedi, Redwan Alqasemi, Rajiv Dubey
Florida Conference on Recent Advances in Robotics
According to "The World Report on Vision" by World Health Organization (WHO) [1], there are more than 2.2 billion people who have near or distant vision Impairments, out of which 36 million people are classified as entirely blind. This report also emphasizes the importance of social and communal support in enabling individuals with vision impairments to integrate into society and reach their full potential. While performing daily activities and navigating the environment, people with visual impairments (PVIs) often require direct or synchronous assistance [2]. Consequently, there is a growing need for automated solutions to assist in this regard. However, existing …
Assistive Robotic Platform For Non‐Urgent Household Tasks: A New Design,
2023
University of West Florida
Assistive Robotic Platform For Non‐Urgent Household Tasks: A New Design, Amanda Serger, Normandy Tanguilan, Hakki Erhan Sevil
Florida Conference on Recent Advances in Robotics
Humans overcome minor household inconveniences daily without fully recognizing how challenging these tasks could be for individuals such as elderly people or people with disabilities. Those people often times struggle to complete tasks, for instance opening a door or reaching for an item, leading them to rely on caregivers for help. During the COVID-19 pandemic, this caregiver support becomes an unsafe and unreliable solution that can result in a greater risk, thus the need for another solution arises: robotic technology. Recent developments in the robotics field have paved the way for this research, aiming to design a home assistance robot …
Reinforcement Learning And Place Cell Replay In Spatial Navigation,
2023
University of South Florida
Reinforcement Learning And Place Cell Replay In Spatial Navigation, Chance Hamilton, Pablo Scleidorovich Phd, Alfredo Weitzenfeld Phd
Florida Conference on Recent Advances in Robotics
In the last decade, studies have demonstrated that hippocampal place cells influence rats’ navigational learning ability. Moreover, researchers have observed that place cell sequences associated with routes leading to a reward are reactivated during rest periods. This phenomenon is known as Hippocampal Replay, which is thought to aid navigational learning and memory consolidation. These findings in neuroscience have inspired new robot navigation models that emulate the learning process of mammals. This study presents a novel model that encodes path information using place cell connections formed during online navigation. Our model employs these connections to generate sequences of
state-action pairs to …
Biologically Inspired Multi-Robot System Based On Wolf Hunting Behavior,
2023
University of South Florida
Biologically Inspired Multi-Robot System Based On Wolf Hunting Behavior, Zachary Hinnen, Chance Hamilton, Alfredo Weitzenfeld
Florida Conference on Recent Advances in Robotics
Studies involving the group predator behavior of wolves have inspired multiple robotic architectures to mimic these biological behaviors in their designs and research. In this work, we aim to use robotic systems to mimic wolf packs' single and group behavior. This work aims to extend the original research by Weitzenfeld et al [7] and evaluate under a new multi-robot robot system architecture. The multiple robot architecture includes a 'Prey' pursued by a wolf pack consisting of an 'Alpha' and 'Beta' robotic group. The Alpha Wolf' will be the group leader, searching and tracking the 'Prey.' At the same time, the …
Programming By Demonstration Using Learning Based Approach: A Mini Review,
2023
University of South Florida
Programming By Demonstration Using Learning Based Approach: A Mini Review, Atul Acharya, Rajiv Dubey, Redwan Alqasemi
Florida Conference on Recent Advances in Robotics
Wheelchair-mounted robotic arms are used in rehabilitation robotics to help physically impaired people perform ADL (Activity of daily living) tasks. However, the dexterity of manipulation tasks makes the teleoperation of the robotic arm challenging for the user, as it is difficult to control all degrees of freedom with a handheld joystick or a screen touch device. PbD (Programming by demonstration) allows the user to demonstrate the desired behavior and enables the system to learn from the demonstrations and adapt to a new environment. This learned model can perform a new set of actions in a new environment. Learning from a …
Towards Optimal Operation And Control Of Emerging Electric Distribution Networks,
2023
Rowan University
Towards Optimal Operation And Control Of Emerging Electric Distribution Networks, Jimiao Zhang
Theses and Dissertations
The growing integration of power-electronics converters enabled components causes low inertia in the evolving electric distribution networks, which also suffer from uncertainties due to renewable energy sources, electric demands, and anomalies caused by physical or cyber attacks, etc. These issues are addressed in this dissertation. First, a virtual synchronous generator (VSG) solution is provided for solar photovoltaics (PVs) to address the issues of low inertia and system uncertainties. Furthermore, for a campus AC microgrid, coordinated control of the PV-VSG and a combined heat and power (CHP) unit is proposed and validated. Second, for islanded AC microgrids composed of SGs and …
A Novel Graph Neural Network-Based Framework For Automatic Modulation Classification In Mobile Environments,
2023
University of Nebraska-Lincoln
A Novel Graph Neural Network-Based Framework For Automatic Modulation Classification In Mobile Environments, Pejman Ghasemzadeh
Department of Electrical and Computer Engineering: Dissertations, Theses, and Student Research
Automatic modulation classification (AMC) refers to a signal processing procedure through which the modulation type and order of an observed signal are identified without any prior information about the communications setup. AMC has been recognized as one of the essential measures in various communications research fields such as intelligent modem design, spectrum sensing and management, and threat detection. The research literature in AMC is limited to accounting only for the noise that affects the received signal, which makes their models applicable for stationary environments. However, a more practical and real-world application of AMC can be found in mobile environments where …
Tech Time,
2023
DePaul University
Tech Time
DePaul Magazine
DePaul is embracing tech more than ever, incorporating innovative devices and approaches into education in all corners of the university. Here are seven ways DePaul provides hands-on experiences with cutting-edge tools that position students and faculty in the forefront of their industries and disciplines.
Security-Enhanced Serial Communications,
2023
University of South Florida
Security-Enhanced Serial Communications, John White, Alexander Beall, Joseph Maurio, Dane Fichter, Dr. Matthew Davis, Dr. Zachary Birnbaum
Military Cyber Affairs
Industrial Control Systems (ICS) are widely used by critical infrastructure and are ubiquitous in numerous industries including telecommunications, petrochemical, and manufacturing. ICS are at a high risk of cyber attack given their internet accessibility, inherent lack of security, deployment timelines, and criticality. A unique challenge in ICS security is the prevalence of serial communication buses and other non-TCP/IP communications protocols. The communication protocols used within serial buses often lack authentication and integrity protections, leaving them vulnerable to spoofing and replay attacks. The bandwidth constraints and prevalence of legacy hardware in these systems prevent the use of modern message authentication and …
A Graph-Based Approach For Adaptive Serious Games,
2023
Rowan University
A Graph-Based Approach For Adaptive Serious Games, Nidhi G. Patel
Theses and Dissertations
Traditional education systems are based on the one-size-fits-all approach, which lacks personalization, engagement, and flexibility necessary to meet the diverse needs and learning styles of students. This encouraged researchers to focus on exploring automated, personalized instructional systems to enhance students’ learning experiences. Motivated by this remark, this thesis proposes a personalized instructional system using a graph method to enhance a player’s learning process by preventing frustration and avoiding a monotonous experience. Our system uses a directional graph, called an action graph, for representing solutions to in-game problems based on possible player actions. Through our proposed algorithm, a serious game integrated …
Modern Practices For Responsive Web Design And Web Accessibility,
2023
University of Nebraska-Lincoln
Modern Practices For Responsive Web Design And Web Accessibility, Keyaun Washington
Honors Program: Senior Projects (Public)
Responsive web design and web accessibility play crucial roles in ensuring an optimal user experience on the web. By designing websites with responsiveness and accessibility in mind, more opportunities are opened up for a wider audience to access and interact with our content. Through modern practices, responsive web design allows websites to reach several different devices ranging from compact smartwatches to expansive television screens. Designing for accessibility provides accommodations for individuals with impairments while also providing benefits for individuals without impairments. However, designing for responsiveness and accessibility can present challenges; a poor attempt at providing accessibility features can worsen a …
