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17 results on '"School of Automation [Nanjing] (NJUST)"'

1. Design of an event-triggered joint adaptive high-Gain observer for a class of nonlinear system with unknown states and parameters

Author

Xincheng Zhuang, Haoping Wang, Sofiane Ahmed-Ali, Yang Tian, Chengcheng Song, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), Informatique, BioInformatique, Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE)-Université Paris-Saclay, Industrial Center/School of Innovation and Entrepreneurship, and Nanjing Vocational Institute of Mechatronic Technology, Nanjing

Subjects
Computer Networks and Communications, Control and Systems Engineering, Applied Mathematics, Signal Processing, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; In this paper, an event-triggered joint adaptive high-gain observer design method is proposed for a class of nonlinear systems that are characterized by an unknown parameter entering the system state equations. The main difficulty in the observer design is that the event-triggered mechanism (ETM) is affected by variable delayed-sampled data and the system’s unknown parameter. To overcome this difficulty, a closed-loop output predictor is incorporated into the design of the event-triggered mechanism to compensate for the sampling and the delay affecting the system outputs. To prevent the Zeno phenomenon, and to guarantee the exponential convergence of the observer, an exponential decay factor is considered in the ETM. The effectiveness of our proposed observer is demonstrated through numerical simulations, experiments and performances comparison with previous works in the literature.

Published
2023
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2. Distributed Adaptive Fuzzy Formation Control of Uncertain Multiple Unmanned Aerial Vehicles With Actuator Faults and Switching Topologies

Author

Yajing Yu, Jian Guo, Mohammed Chadli, Zhengrong Xiang, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), Informatique, BioInformatique, Systèmes Complexes (IBISC), and Université d'Évry-Val-d'Essonne (UEVE)-Université Paris-Saclay

Subjects
Autonomous aerial vehicles, Unmodeled dynamics, Applied Mathematics, Adaptation models, Vehicle dynamics, Adaptive fuzzy control, Topology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Actuator faults, Switching topologies, Computational Theory and Mathematics, Artificial Intelligence, Control and Systems Engineering, Formation control, Switches, Actuators, Multiple unmanned aerial vehicles
Abstract

International audience; This paper investigates a distributed fuzzy adaptive formation control for quadrotor multiple unmanned aerial vehicles under unmodeled dynamics and switching topologies. The unmanned aerial vehicles dynamics model is described by the Newton-Euler formula, and the actuator faults are considered in the system model in the form of multiplicative factors and additive factors. Due to the underactuated characteristics of the unmanned aerial vehicles, two objective attitude commands are generated by designing a virtual control signal, which are transmitted to the attitude subsystem, and then the position controller is solved. By constructing a distributed communication mechanism between unmanned aerial vehicles, an adaptive formation control strategy is proposed, which can enable unmanned aerial vehicles to update their position and speed online according to their neighbor information, and then achieve the required formation. In addition, a fuzzy adaptive sliding mode controller is designed to ensure that the tracking errors of unmanned aerial vehicles converge to the neighborhood of the origin. Finally, the simulation results verify the effectiveness of the proposed control strategy.

Published
2023
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3. Prescribed-Time Formation Control for a Class of Multi-agent Systems via Fuzzy Reinforcement Learning

Author

Yan Zhang, Mohammed Chadli, Zhengrong Xiang, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), Informatique, BioInformatique, Systèmes Complexes (IBISC), and Université d'Évry-Val-d'Essonne (UEVE)-Université Paris-Saclay

Subjects
reinforcement learning, Applied Mathematics, Multi-agent systems, Performance analysis, formation control, prescribed-time control, Optimal control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, non- linear multi-agent systems, Computational Theory and Mathematics, Artificial Intelligence, Control and Systems Engineering, fuzzy logic systems, Heuristic algorithms, Hamilton-Jacobi-Bellman, Protocols
Abstract

International audience; This paper concerns optimal prescribed-time forma- tion control for a class of nonlinear multi-agent systems (MASs). Optimal control depends on the solution of the Hamilton-Jacobi- Bellman equation, which is hard to be calculated directly due to its inherent nonlinearity. To overcome this difficulty, the rein- forcement learning strategy with fuzzy logic systems is proposed, in which identifier, actor, and critic are used to estimate unknown nonlinear dynamics, implement control behavior, and evaluate system performance, respectively. Different from the existing optimal control algorithms, a new performance index function considering formation error cost and control input energy cost is constructed to achieve optimal formation control of MASs within a prescribed time. The presented control strategy can ensure that the formation error converges to the desired accuracy within a prescribed time. Finally, the validity of the presented strategy is verified via a simulation example.

Published
2023
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4. Predefined-Time Adaptive Fuzzy Control for a Class of Nonlinear Systems With Output Hysteresis

Author

Yan Zhang, Mohammed Chadli, Zhengrong Xiang, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), Informatique, BioInformatique, Systèmes Complexes (IBISC), and Université d'Évry-Val-d'Essonne (UEVE)-Université Paris-Saclay

Subjects
Adaptive fuzzy control, Adaptive systems, Asymptotic stability, Control systems, Fuzzy control, Hysteresis, Input saturation, Nonlinear systems, nonlinear systems, output hysteresis, predefined-time control, Stability criteria, Computational Theory and Mathematics, Artificial Intelligence, Control and Systems Engineering, Applied Mathematics, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; The adaptive fuzzy predefined-time tracking control problem for a class of nonlinear systems with output hysteresis is investigated in this article. An inverse model is utilized to capture the output hysteresis phenomenon, and then the Nussbaum-type function technique is utilized to overcome the difficulty of unknown time-varying control gain caused by output hysteresis. An adaptive fuzzy control scheme under the backstepping framework is developed using the predefined-time stability criterion. Different from the existing predefined-time design approaches, the adaptive law designed in this article is represented as a nonlinear differential equation. Theoretical analysis demonstrates that all signals of the closed-loop systems are bounded, and the tracking error can converge to the neighborhood near origin within an expected settling time. The developed scheme's feasibility is verified by an example of an electromechanical system.

Published
2022
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5. A one-sided exponentially weighted moving average control chart for time between events

Author

FuPeng Xie, Xuelong Hu, Philippe Castagliola, YuLong Qiao, Jinsheng Sun, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), Conception, Pilotage, Surveillance et Supervision des systèmes (LS2N - équipe CPS3), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Nantes Université (Nantes Univ), and Nanjing University of Posts and Telecommunications [Nanjing] (NJUPT)

Subjects
Statistics and Probability, Markov chain, Time-between-events, Estimation theory, Computer science, Control chart, Parameter Estimation, Exponentially weighted moving average, Process (computing), Early detection, Articles, [STAT]Statistics [stat], Markov chain model, One sided, EWMA chart, Statistics, Probability and Uncertainty, EWMA, Algorithm
Abstract

International audience; Exponentially weighted moving average (EWMA) control charts for time-between-events (TBE) are commonly suggested to monitor high-quality manufacturing processes for the early detection of process deteriorations. In this study, an enhanced one-sided EWMA TBE control chart is developed for rapid detection of increases or decreases in the process mean. The use of the truncation method helps to improve the sensitivity of the proposed scheme in the process mean detection. Moreover, by taking the effects of parameter estimation into account, the proposed scheme with estimated parameters is also investigated in this paper. Both the average run length (ARL) and standard deviation of run length (SDRL) performances of the proposed scheme with known and estimated parameters are studied using the Markov chain method, respectively. Furthermore, an optimal design procedure is developed for the recommended one-sided EWMA TBE chart based on ARL. Numerical results show that the proposed optimal one-sided EWMA TBE chart is more sensitive than the existing optimal one-sided exponential EWMA chart in monitoring both upward and downward mean shifts. Meanwhile, it also performs better than the existing comparative scheme in resisting the effect of the parameter estimation. Finally, two illustrative examples are considered to show the implementation of the recommended one-sided EWMA TBE scheme for simulated and real datasets. For the real dataset of F-16 aircraft, the accident occurrences of F-16 are very low, in which case monitoring the time between two successive F-16 accidents is more efficient than the traditional monitoring schemes. Moreover, the usage of the truncation method makes the proposed one-sided EWMA TBE chart more appropriate for monitoring those two datasets with known shift directions, and the operation of the proposed scheme is simple which does not need to predetermine the reflecting boundary of the existing comparative scheme.

Published
2022
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6. Disturbance observer‐based adaptive boundary iterative learning control for a rigid‐flexible manipulator with input backlash and endpoint constraint

Author

Haoping Wang, Yang Tian, Gang Zheng, Xingyu Zhou, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), Deformable Robots Simulation Team (DEFROST ), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), National Natural Science Foundation of China, 61773212, and Natural Science Foundation of Jiangsu Province, BK20170094.

Subjects
0209 industrial biotechnology, Adaptive control, Observer (quantum physics), Computer science, Iterative learning control, Boundary (topology), ComputingMilieux_LEGALASPECTSOFCOMPUTING, 02 engineering and technology, Constraint (information theory), [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Control and Systems Engineering, Distributed parameter system, Control theory, Signal Processing, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, Electrical and Electronic Engineering, Intelligent control, Backlash
Abstract

International audience; In this article, an observer‐based adaptive boundary iterative learning control law is developed for a class of two‐link rigid‐flexible manipulator with input backlash, the unknown external disturbance, and the endpoint constraint. To tackle the backlash nonlinearities and ensure the vibration suppression, the disturbance observers based upon the iterative learning conception are considered in the adaptive boundary control design. A barrier Lyapunov function is incorporated with boundary control law to restrict the endpoint state. Based on the defined barrier composite energy function, the tracking angle error convergence of the rigid part is guaranteed, and the vibrations of the flexible part are suppressed through the rigorous analysis. Finally, a numerical simulation is provided to illustrate the effectiveness of the proposed control.

Published
2020
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7. Optimal design of one-sided exponential EWMA charts based on median run length and expected median run length

Author

Jinsheng Sun, Philippe Castagliola, YuLong Qiao, Xuelong Hu, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), Conception, Pilotage, Surveillance et Supervision des systèmes (LS2N - équipe CPS3), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Nantes Université (Nantes Univ), and Nanjing University of Posts and Telecommunications [Nanjing] (NJUPT)

Subjects
Statistics and Probability, Optimal design, 021103 operations research, Expected median run length, 0211 other engineering and technologies, Exponential chart, 02 engineering and technology, Median run length, Exponentially weighted moving average chart, 01 natural sciences, Exponential type, Exponential function, [STAT]Statistics [stat], 010104 statistics & probability, One sided, Applied mathematics, EWMA chart, 0101 mathematics, Mathematics
Abstract

International audience; Exponential type charts are useful tools to monitor the time between events in high-quality processes with a low defect rate. Most studies on exponential charts are 1 designed with the average run length (ARL) metric. The only use of ARL in the design of control charts is sometimes criticized because the shape of the run length (RL) distribution of control charts changes with the shift size. In fact, the RL distribution of the exponential exponentially weighted moving average (EWMA) chart is skewed, especially when the process is in-control. Hence, the median run length (M RL) serves as a more meaningful indicator. Moreover, in some situations, the shift size in the process is unknown in advance. Under this case, the expected median run length (EM RL) can be used as the metric. In this paper, the RL properties of both the upper-and lower-sided exponential EWMA charts are studied through a Markov chain approach. Two optimal design procedures are developed for one-sided exponential EWMA charts based on the M RL and EM RL, respectively. The choices of reflecting boundaries for one-sided exponential EWMA charts are discussed through many numerical studies. The M RL and EM RL performances of the one-sided exponential EWMA charts are investigated.

Published
2020
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8. One-sided Adaptive Truncated Exponentially Weighted Moving Average X Schemes for Detecting Process Mean Shifts

Author

FuPeng Xie, Philippe Castagliola, Zhonghua Li, JinSheng Sun, XueLong Hu, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), Conception, Pilotage, Surveillance et Supervision des systèmes (LS2N - équipe CPS3), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Nantes Université (Nantes Univ), Nankai University (NKU), and Nanjing University of Posts and Telecommunications [Nanjing] (NJUPT)

Subjects
[STAT]Statistics [stat], Information Systems and Management, Adaptive EWMA X control chart, Markov chain model, Truncation method, Management of Technology and Innovation, Industrial relations, Variable sampling interval, Management Science and Operations Research, Business and International Management, One-sided type scheme, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; One-sided type schemes are known to be more appropriate for monitoring a process when the direction of a potential mean shift can be anticipated. Furthermore, if the magnitude of the potential mean shift is unknown, it is desired to design a control chart to perform well over a wide range of shifts instead of only optimizing its performance in monitoring a particular mean shift level. The one-sided adaptive truncated exponentially weighted moving average (ATEWMA) X scheme recommended in this paper is a control chart that combines a Shewhart X scheme and a new one-sided EWMA X scheme together in a smooth way for rapidly detecting the upward (or downward) mean shifts. The basic idea of the recommended one-sided ATEWMA X scheme is to truncate the observations (i.e., the sample means X) first, and then to dynamically weight the past observations according to a suitable function of the current prediction error. This helps to improve the sensitivity of the proposed one-sided ATEWMA X scheme for detecting both small and

Published
2022
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9. Fault-Tolerant Mapping of Real-Time Parallel Applications under multiple DVFS schemes

Author

Lei Mo, Emmanuel Casseau, Angeliki Kritikakou, Minyu Cui, Architectures matérielles spécialisées pour l’ère post loi-de-Moore (TARAN), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-ARCHITECTURE (IRISA-D3), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes 1 (UR1), and Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique)

Subjects
Mathematical optimization, Multi-core processor, Linear programming, Computer science, Reliability (computer networking), [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, Energy consumption, Frequency scaling, Integer programming, Computer Science::Operating Systems, Nonlinear programming, Task (project management)
Abstract

International audience; On multicore platforms, reliable task execution, as well as low energy consumption, are essential. Dynamic Voltage/Frequency Scaling (DVFS) is typically used for energy saving, but with a negative impact on reliability, especially when the frequency is low. Using high frequencies to meet reliability constraints is not always feasible, while multiple replicas increase energy consumption. To minimize energy consumption, enhancing reliability, with-out violating real-time constraints, we propose an approach that combines distinct reliability enhancement techniques, under task-level, processor-level and system-level DVFS. Our task mapping problem jointly optimizes task allocation, task frequency assignment, and task duplication, under multiple constraints. This is achieved by formulating the task mapping problem as a mixed integer non-linear programming problem and equivalently transforming it into a mixed integer linear programming, that is optimally solved. From the obtained results, the proposed approach achieves better energy consumption and finds solutions, when other approaches fail.

Published
2021
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10. Energy-aware Partial-Duplication Task Mapping under Real-Time and Reliability Constraints

Author

Angeliki Kritikakou, Lei Mo, Emmanuel Casseau, Minyu Cui, Energy Efficient Computing ArchItectures with Embedded Reconfigurable Resources (CAIRN), ARCHITECTURE (IRISA-D3), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria), School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), This work has been founded by China Scholarship Council (CSC)., Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-ARCHITECTURE (IRISA-D3), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)

Subjects
010302 applied physics, Multi-core processor, Mathematical optimization, Computer science, Frequency assignment, Reliability (computer networking), multicores, 02 engineering and technology, Energy consumption, Reliability, 01 natural sciences, 020202 computer hardware & architecture, Task (project management), [INFO.INFO-PF]Computer Science [cs]/Performance [cs.PF], Task mapping, 0103 physical sciences, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, DVFS, Integer programming, Real-time, Energy (signal processing), Integer (computer science)
Abstract

International audience; An efficient task execution on multicore platforms can lead to low energy consumption. To achieve that, an Integer Non-Linear Programming (INLP) formulation is proposed that performs task mapping by jointly addressing task allocation, task frequency assignment, and task duplication. The goal is to minimize energy consumption under real-time and reliability constraints. To provide an optimal solution, the original INLP problem is safely transformed to an equivalent Mixed Integer Linear Programming (MILP) problem. The comparison of the proposed approach with existing energy-aware task mapping approaches shows that the proposed approach is able to find solutions when other approaches fail, achieving an overall lower energy consumption.

Published
2020

11. DSmT-Based Fusion Strategy for Human Activity Recognition in Body Sensor Networks

Author

Dong, Yilin, Li, Xinde, Dezert, Jean, Khyam, Mohammad Omar, Noor-A-Rahim, Md, Ge, Shuzhi Sam, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), DTIS, ONERA, Université Paris Saclay [Palaiseau], ONERA-Université Paris-Saclay, School of Electrical Engineering, Central Queensland University, Melbourne, Australia, University College Cork (UCC), and National University of Singapore (NUS)

Subjects
[PHYS]Physics [physics], [SPI]Engineering Sciences [physics], RECONNAISSANCE ACTIVIÉ HUMAINE, FONCTIONS DE CROYANCE, FUSION MULTI-SENSEURS, DSMT
Abstract

International audience; Multi-sensor fusion strategies have been widely applied in Human Activity Recognition (HAR) in Body Sensor Networks (BSNs). However, the sensory data collected by BSNs systems are often uncertain or even incomplete. Thus, designing a robust and intelligent sensor fusion strategy is necessary for high- quality activity recognition. In this paper, Dezert-Smarandache Theory (DSmT) is used to develop a novel sensor fusion strategy for HAR in BSNs, which can effectively improve the accuracy of recognition. Specifically, in the training stage, the Kernel Density Estimation (KDE) based models are first built and then precisely selected for each specific activity according to the proposed discriminative functions. After that, a structure of Basic Belief Assignment (BBA) can be constructed, using the relationship between the test data of unknown class and the selected KDE models of all considered types of activities. In order to deal with the conflict between the obtained BBAs, Proportional Conflict Redistribution-6 (PCR6) is applied to fuse the acquired BBAs. Moreover, the missing data of the involved sensors are addressed as ignorance in the framework of the DSmT without manual interpolation or intervention. Experimental studies on two real-world activity recognition datasets (The OPPORTUNITY dataset; Daily and Sports Activity Dataset (DSAD)) were conducted, and the results showed the superiority of our proposed method over some state-of-the-art approaches proposed in the literature.

Published
2020
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12. Approximation d'une assignation basique de croyance par compatibilité des éléments focaux

Author

Qing Wei, Xinde Li, Jean Dezert, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), DTIS, ONERA, Université Paris Saclay (COmUE) [Palaiseau], ONERA-Université Paris Saclay (COmUE), and André, Cécile

Subjects
[PHYS]Physics [physics], INFORMATION FUSION, [SPI] Engineering Sciences [physics], ASSIGNATION BASIQUE DE CROYANCE, [MATH] Mathematics [math], [INFO] Computer Science [cs], [PHYS] Physics [physics], [SPI]Engineering Sciences [physics], BASIC BELIEF ASSIGNMENT, FONCTIONS DE CROYANCE, [INFO]Computer Science [cs], [MATH]Mathematics [math], BELIEF FUNCTIONS, FUSION D'INFORMATION, APPROXIMATION
Abstract

International audience; The theory of belief functions is an important tool in the field of information fusion. However, the fusion of Basic Belief Assignments (BBAs) requires high computational cost and long computing time when a large number of focal elements are involved in the fusion rules. This problem becomes a bottleneck of application of Belief Functions (BF) in high-dimensional real problems. To overcome this drawback, many approaches were proposed to approximate BBAs to reduce the computational complexity in the fusion process. In this paper, we present a novel method based on the compatibility of focal elements to approximate a BBA by removing some focal elements of the original BBA. Besides, a new mass assignment strategy based on the distance of focal elements is proposed. Several examples, simulations and related analyses are provided to illustrate the interest and efficiency of the proposed method.

Published
2019

13. Event-Driven Joint Mobile Actuators Scheduling and Control in Cyber-Physical Systems

Author

Ye-Qiong Song, Xianghui Cao, Angeliki Kritikakou, Pengcheng You, Lei Mo, Energy Efficient Computing ArchItectures with Embedded Reconfigurable Resources (CAIRN), ARCHITECTURE (IRISA-D3), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria), Johns Hopkins University (JHU), School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-ARCHITECTURE (IRISA-D3), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)

Subjects
Computer science, Iterative method, Time allocation, 02 engineering and technology, Scheduling (computing), [INFO.INFO-MC]Computer Science [cs]/Mobile Computing, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, joint design, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], scheduling, Electrical and Electronic Engineering, Cyber-physical systems, 020208 electrical & electronic engineering, Cyber-physical system, actuation delay, Energy consumption, experiments, Computer Science Applications, Control and Systems Engineering, mobile actuator, Bounded function, Scalability, Actuator, control, Information Systems
Abstract

International audience; In cyber-physical systems, mobile actuators can enhance system's flexibility and scalability, but at the same time incurs complex couplings in the scheduling and controlling of the actuators. In this paper, we propose a novel event-driven method aiming at satisfying a required level of control accuracy and saving energy consumption of the actuators, while guaranteeing a bounded action delay. We formulate a joint-design problem of both actuator scheduling and output control. To solve this problem, we propose a two-step optimization method. In the first step, the problem of actuator scheduling and action time allocation is decomposed into two subproblems. They are solved iteratively by utilizing the solution of one in the other. The convergence of this iterative algorithm is proved. In the second step, an on-line method is proposed to estimate the error and adjust the outputs of the actuators accordingly. Through simulations and experiments, we demonstrate the effectiveness of the proposed method.

Published
2019
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14. PCANet: An energy perspective

Author

Shijie Qiu, Yang Chen, Longyu Jiang, Lotfi Senhadji, Wankou Yang, Youyong Kong, Jiasong Wu, Huazhong Shu, Centre de Recherche en Information Biomédicale sino-français (CRIBS), Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Southeast University [Jiangsu]-Institut National de la Santé et de la Recherche Médicale (INSERM), Laboratory of Image Science and Technology [Nanjing] (LIST), Southeast University [Jiangsu]-School of Computer Science and Engineering, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), Laboratoire Traitement du Signal et de l'Image (LTSI), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National de la Santé et de la Recherche Médicale (INSERM), 61271312, 61201344, 61773117, 61401085, 31571001, 31640028, 31400842, 61572258, 11301074, National Natural Science Foundation of China, BK20150650, Natural Science Foundation of Jiangsu Province, 2017YFC0107900, National Key R&D Program of China, BRA2015288, Qing Lan Project and the ‘333′ project, WQ20163200398, Short-term Recruitment Program of Foreign Experts, Université de Rennes (UR)-Southeast University [Jiangsu]-Institut National de la Santé et de la Recherche Médicale (INSERM), Université de Rennes (UR)-Institut National de la Santé et de la Recherche Médicale (INSERM), and Senhadji, Lotfi

Subjects
0209 industrial biotechnology, Relation (database), Logarithm, Computer science, Cognitive Neuroscience, Word error rate, 02 engineering and technology, 020901 industrial engineering & automation, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, [SPI.SIGNAL] Engineering Sciences [physics]/Signal and Image processing, [SDV.IB] Life Sciences [q-bio]/Bioengineering, Energy, business.industry, Deep learning, Perspective (graphical), Pattern recognition, Image recognition, Computer Science Applications, PCANet, Principal component analysis, Curve fitting, 020201 artificial intelligence & image processing, Convolutional neural networks, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Artificial intelligence, Error rate, business, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract

International audience; The principal component analysis network (PCANet), which is one of the recently proposed deep learning architectures, achieves the state-of-the-art classification accuracy in various databases. However, the visualization or explanation of the PCANet is lacked. In this paper, we try to explain why PCANet works well from energy perspective point of view based on a set of experiments. The paper shows that the error rate of PCANet is qualitatively correlated with the inverse of the logarithm of BlockEnergy, which is the energy after the block sliding process of PCANet, and also this relation is quantified by using curve fitting method. The proposed energy explanation approach can also be used as a testing method for checking if every step of the constructed networks is necessary.

Published
2018
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15. Distributed Node Coordination for Real-Time Energy-Constrained Control in Wireless Sensor and Actuator Networks

Author

Lei Mo, Xianghui Cao, Ye-Qiong Song, Angeliki Kritikakou, Energy Efficient Computing ArchItectures with Embedded Reconfigurable Resources (CAIRN), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-ARCHITECTURE (IRISA-D3), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), ARCHITECTURE (IRISA-D3), Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Inria Rennes – Bretagne Atlantique, and Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, Computer Networks and Communications, Computer science, delay, Distributed computing, distributed coordination, 02 engineering and technology, convergence analysis, 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Computer Science::Networking and Internet Architecture, Wireless, Wireless sensor and actuator networks, [INFO]Computer Science [cs], Coordination game, business.industry, Node (networking), 020206 networking & telecommunications, Kalman filter, Computer Science Applications, Hardware and Architecture, Signal Processing, business, Actuator, Wireless sensor network, Information Systems, energy
Abstract

International audience; Wireless Sensor and Actuator Networks (WSANs) are emerging as a new generation of Wireless Sensor Networks (WSNs). Due to the coupling between the sensing areas of the sensors and the action areas of the actuators, the efficient coordination among the nodes is a great challenge. In this paper, we address the problem of distributed node coordination in WSANs aiming at meeting the user's requirements on the states of the Points of Interest (POIs) in a real-time and energy-efficient manner. The node coordination problem is formulated as a non-linear program. To solve it efficiently, the problem is divided into two correlated subproblems: the Sensor-Actuator (S-A) coordination and the Actuator-Actuator (A-A) coordination. In the S-A coordination, a distributed federated Kalman filter-based estimation approach is applied for the actuators to collaborate with their ambient sensors to estimate the states of the POIs. In the A-A coordination, a distributed Lagrange-based control method is designed for the actuators to optimally adjust their outputs, based on the estimated results from the S-A coordination. The convergence of the proposed method is proved rigorously. As the proposed node coordination scheme is distributed, we find the optimal solution while avoiding high computational complexity. The simulation results also show that the proposed distributed approach is an efficient and practically applicable method with reasonable complexity.

Published
2018
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16. Collaborative State Estimation and Actuator Scheduling for Cyber-Physical Systems Under Random Multiple Events

Author

Lei Mo, Angeliki Kritikakou, Xianghui Cao, Energy Efficient Computing ArchItectures with Embedded Reconfigurable Resources (CAIRN), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-ARCHITECTURE (IRISA-D3), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), ARCHITECTURE (IRISA-D3), Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Inria Rennes – Bretagne Atlantique, and Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Mathematical optimization, Temperature control, Computer science, Cyber-physical systems, 020208 electrical & electronic engineering, Cyber-physical system, 020206 networking & telecommunications, 02 engineering and technology, Mixture model, [SPI.AUTO]Engineering Sciences [physics]/Automatic, System model, Scheduling (computing), Gaussian mixture model, 0202 electrical engineering, electronic engineering, information engineering, event estimation, Actuator, Integer programming, actuator scheduling
Abstract

International audience; The design of fast and effective coordination among sensors and actuators in Cyber-Physical Systems (CPS) is a fundamental, but challenging issue, especially when the system model is a priori unknown and multiple random events can simultaneously occur. We propose a novel collaborative state estimation and actuator scheduling algorithm with two phases. In the first phase, we propose a Gaussian Mixture Model (GMM)-based method using the random event physical field distribution to estimate the locations and the states of events. In the second phase, based on the number of identified events and the number of available ac-tuators, we study two actuator scheduling scenarios and formulate them as Integer Linear Programming (ILP) problems with the objective to minimize the actuation delay. We validate and demonstrate the performance of the proposed scheme through both simulations and physical experiments for a home temperature control application.

Published
2018
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17. GENERIC OBJECT RECOGNITION BASED ON FEATURE FUSION IN ROBOT PERCEPTION

Author

Jean Dezert, Xinde Li, Yingzi Tan, Chaomin Luo, School of Automation [Nanjing], Nanjing University of Science and Technology [Nanjing], University of Detroit ( ECE Department ), ONERA - The French Aerospace Lab ( Palaiseau ), ONERA, School of Automation [Nanjing] (NJUST), Nanjing University of Science and Technology (NJUST), University of Detroit (ECE Department), ONERA - The French Aerospace Lab [Palaiseau], and ONERA-Université Paris Saclay (COmUE)

Subjects
[ INFO.INFO-TS ] Computer Science [cs]/Signal and Image Processing, Computer science, SVM, 3D single-object recognition, 02 engineering and technology, POINT CLOUD, 01 natural sciences, 010309 optics, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, SIFT, [ INFO.INFO-PL ] Computer Science [cs]/Programming Languages [cs.PL], 0103 physical sciences, Robot perception, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer vision, BELIEF FUNCTIONS, Feature fusion, [INFO.INFO-PL]Computer Science [cs]/Programming Languages [cs.PL], business.industry, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Cognitive neuroscience of visual object recognition, FEATURE FUSION, 021001 nanoscience & nanotechnology, GENERIC OBJECT RECOGNITION, Artificial intelligence, 0210 nano-technology, business
Abstract

International audience; A new generic object recognition (GOR) method for robot perception is proposed in this paper, based on multi-feature fusion of two-dimensional (2D) and 3D scale invariant feature transform descriptors drawn from 2D images and 3D point clouds. The trained support vector machine is utilized to construct multi-category classifiers that recognize the objects. According to our results, this new GOR approach achieves higher recognition rates than classical methods tested, even when one has large intra-class variations, or high inter-class similarities of the objects. Simulation results demonstrate the effectiveness and efficiency of the proposed GOR approach.

Published
2016
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