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Depth-Guided Vision Transformer With Normalizing Flows for Monocular 3D Object Detection

IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 673-689页

作者： Cong Pan Junran Peng Zhaoxiang Zhang the Center for Research on Intelligent Perception and Computing(CRIPAC) National Laboratory of Pattern Recognition(NLPR)Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190 the School of Future Technology University of Chinese Academy of Sciences(UCAS)Beijing 100049China the Huawei inc. Beijing 100085China IEEE the Institute of Automation Chinese Academy of Sciences(CASIA)Beijing 100190 the University of Chinese Academy of Sciences(UCAS) Beijing 100049 the Centre for Artificial Intelligence and robotics Hong Kong Institute of Science&Innovation Chinese Academy of Sciences(HKISI CAS)Hong Kong 999077China

Monocular 3D object detection is challenging due to the lack of accurate depth information.Some methods estimate the pixel-wise depth maps from off-the-shelf depth estimators and then use them as an additional input to augment the RGB images.Depth-based methods attempt to convert estimated depth maps to pseudo-LiDAR and then use LiDAR-based object detectors or focus on the perspective of image and depth fusion learning.However,they demonstrate limited performance and efficiency as a result of depth inaccuracy and complex fusion mode with convolutions.Different from these approaches,our proposed depth-guided vision transformer with a normalizing flows(NF-DVT)network uses normalizing flows to build priors in depth maps to achieve more accurate depth information.Then we develop a novel Swin-Transformer-based backbone with a fusion module to process RGB image patches and depth map patches with two separate branches and fuse them using cross-attention to exchange information with each other.Furthermore,with the help of pixel-wise relative depth values in depth maps,we develop new relative position embeddings in the cross-attention mechanism to capture more accurate sequence ordering of input tokens.Our method is the first Swin-Transformer-based backbone architecture for monocular 3D object detection.The experimental results on the KITTI and the challenging Waymo Open datasets show the effectiveness of our proposed method and superior performance over previous counterparts.

关键词： Monocular 3D object detection normalizing flows Swin Transformer

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DEM analysis of the influence of stirrer design on die filling with forced powder feeding

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Particuology 2024年第5期88卷 107-115页

作者： Chao Zheng Edward Yost Ariel R.Muliadi Nicolin Govender Ling Zhang Chuan-Yu Wu School of Chemistry and Chemical Engineering University of SurreyGuildfordGU2 7XHUnited Kingdom Small Molecule Pharmaceutics GenentechInc.One DNA WaySouth San FranciscoCA94080USA

Die filling is a critical stage during powder compaction,which can significantly affect the product quality and efficiency.In this paper,a forced feeder is introduced attempting to improve the filling performance of a lab-scale die filling system.The die filling process is analysed with a graphics processing units(GPU)enhanced discrete element method(DEM).Various stirrer designs are assessed for a wide range of process settings(i.e.,stirrer speed,filling speed)to explore their influence on the die filling performance of free-flowing powder.Numerical results show that die filing with the novel helical-ribbon(i.e.,type D)stirrer design exhibits the highest filling ratio,implying that it is the most robust stirrer design for the feeder configuration considered.Furthermore,die filling performance with the type D stirrer design is a function of the stirrer speed and the filling speed.A positive variation of filling ratio(ηf>0%)can be ensured over the whole range of filling speed by adjusting the stirrer speed(i.e.,inc.easing the stirrer speed).The approach used in this study can not only help understand how the stirrer design affects the die filling performance but also guide the optimization of feeder system and process settings.

关键词： Discrete element method Die filling Forced feeding Stirrer design GPU computing

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A viscoelastic nonlinear energy sink with an electromagnetic energy harvester:Narrow-band random response

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Chinese Physics B 2024年第7期33卷 147-156页

作者：廖志晶孙亚辉刘洋 School of Mathematics and Statistics Guangdong University of TechnologyGuangzhou 510520China Exeter Small-Scale robotics Laboratory Engineering DepartmentUniversity of ExeterNorth Park RoadExeter EX44QFUK

Nonlinear energy sink is a passive energy absorption device that surpasses linear dampers, and has gained significant attention in various fields of vibration suppression. This is owing to its capacity to offer high vibration attenuation and robustness across a wide frequency spectrum. Energy harvester is a device employed to convert kinetic energy into usable electric energy. In this paper, we propose an electromagnetic energy harvester enhanced viscoelastic nonlinear energy sink(VNES) to achieve passive vibration suppression and energy harvesting simultaneously. A critical departure from prior studies is the investigation of the stochastic P-bifurcation of the electromechanically coupled VNES system under narrowband random excitation. Initially, approximate analytical solutions are derived using a combination of a multiple-scale method and a perturbation approach. The substantial agreement between theoretical analysis solutions and numerical solutions obtained from Monte Carlo simulation underscores the method's high degree of validity. Furthermore, the effects of system parameters on system responses are carefully examined. Additionally, we demonstrate that stochastic P-bifurcation can be induced by system parameters, which is further verified by the steady-state density functions of displacement. Lastly,we analyze the impacts of various parameters on the mean square current and the mean output power, which are crucial for selecting suitable parameters to enhance the energy harvesting performance.

关键词： nonlinear energy sink fractional-order damping multiple-scale method energy harvester

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Tiny Det: accurately detecting small objects within 1 GFLOPs

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Science China(Information Sciences) 2023年第1期66卷 318-319页

作者： Shaoyu CHEN Tianheng CHENG Jiemin FANG Qian ZHANG Yuan LI Wenyu LIU Xinggang WANG School of Electronic Information and Communications Huazhong University of Science and Technology Institute of Artificial Intelligence Huazhong University of Science and Technology horizon robotics inc. Google inc.

Dear editor,Object detection plays an important role in computer vision,and has gradually become the technical foundation of many applications. However, the inference procedure of advanced detection models requires ma... 详细信息

关键词： Economic and social effects

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General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Princ.ple of Least Action

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Engineering 2024年第2期33卷 63-76页

作者： Heye Huang Yicong Liu Jinxin Liu Qisong Yang Jianqiang Wang David Abbink Arkady Zgonnikov School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China Department of Cognitive robotics Faculty of MechanicalMaritime and Materials Engineering(3mE)Delft University of TechnologyDelft 2628Netherlands Department of Software Technology Faculty of Electrical EngineeringMathematics and Computer ScienceDelft University of TechnologyDelft 2628Netherlands Xi’an Institute of High-Technology Xi’an 710051China

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the princ.ple of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

关键词： Autonomous vehicle Trajectory planning Multi-performance objectives Princ.ple of least action

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Reachability-Based Confidence-Aware Probabilistic Collision Detection in Highway Driving

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Engineering 2024年第2期33卷 90-107页

作者： Xinwei Wang Zirui Li Javier Alonso-Mora Meng Wang School of Engineering and Materials Science Queen Mary University of LondonLondon E14NSUK Department of Cognitive robotics Delft University of TechnologyDelft 2628 CDNetherlands School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Chair of Traffic Process Automation “Friedrich List”Faculty of Transport and Traffic SciencesTU DresdenDresden 01069Germany

Risk assessment is a crucial component of collision warning and avoidance systems for intelligent vehicles.Reachability-based formal approaches have been developed to ensure driving safety to accurately detect potential vehicle collisions.However,they suffer from over-conservatism,potentially resulting in false–positive risk events in complicated real-world applications.In this paper,we combine two reachability analysis techniques,a backward reachable set(BRS)and a stochastic forward reachable set(FRS),and propose an integrated probabilistic collision–detection framework for highway driving.Within this framework,we can first use a BRS to formally check whether a two-vehicle interaction is safe;otherwise,a prediction-based stochastic FRS is employed to estimate the collision probability at each future time step.Thus,the framework can not only identify non-risky events with guaranteed safety but also provide accurate collision risk estimation in safety-critical events.To construct the stochastic FRS,we develop a neural network-based acceleration model for surrounding vehicles and further inc.rporate a confidence-aware dynamic belief to improve the prediction accuracy.Extensive experiments were conducted to validate the performance of the acceleration prediction model based on naturalistic highway driving data.The efficiency and effectiveness of the framework with infused confidence beliefs were tested in both naturalistic and simulated highway scenarios.The proposed risk assessment framework is promising for real-world applications.

关键词： Probabilistic collision detection Confidence awareness Probabilistic acceleration prediction Reachability analysis Risk assessment

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Strong observability as a sufficient condition for non-singularity and lossless convexification in optimal control with mixed constraints

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Control Theory and Technology 2022年第4期20卷 475-487页

作者： Sheril Kunhippurayil Matthew W.Harris Torc robotics Inc.405 Partnership DriveBlacksburg 24060VirginiaUSA Department of Mechanical and Aerospace Engineering Utah State University4130 Old Main HillLogan 84322UtahUSA

This paper analyzes optimal control problems with linear time-varying dynamics defined on a smooth manifold in addition to mixed constraints and pure control constraints.The main contribution is the identification of sufficient conditions for the optimal controls to be non-singular,which enables exact(or lossless)convex relaxations of the control constraints.The problem is analyzed in a geometric framework using a recent maximum princ.ple on manifolds,and it is shown that strong observability of the dual system on the cotangent space is the key condition.Two minimum time problems are analyzed and solved.A minimum fuel planetary descent problem is then analyzed and relaxed to a convex form.Convexity enables its efficient solution in less than one second without any initial guess.

关键词： Optimal control Strong observability Lossless convexification

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Maximizing the Efficiency of Automation Solutions with Automation 360: Approaches for Developing Subtasks and Retry Framework

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Intelligent Control and Automation 2023年第2期14卷 19-35页

作者： Sai Madhur Potturu robotics Center of Excellence (CoE) Zoetis inc. Parsippany USA

I present a solution that explores the use of A360 subtasks as a comparable concept to functions in programming. By leveraging subtasks as reusable and maintainable functions, users can efficiently develop customized high-quality automation solutions. Additionally, the paper introduces the retry framework, which allows for the automatic retrying of subtasks in the event of system or unknown exceptions. This framework enhances efficiency and reduces the manual effort required to retrigger bots. The A360 Subtask and Retry Framework templates provide valuable assistance to both professional and citizen developers, improving code quality, maintainability, and the overall efficiency and resiliency of automation solutions.

关键词： Automation 360 robotics Process Automation (RPA) Subtasks Retry Framework Efficiency Resiliency Exception Handling Reusability

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A360 Bot Framework: Empowering Smart Robotic Process Automation Solutions

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电脑和通信(英文) 2023年第10期11卷 23-50页

作者： Sai Madhur Potturu robotics Center of Excellence (CoE) Zoetis inc. Parsippany USA

This research paper explores the significance of the “A360 Bot Framework” in Automation 360 (A360) platform. A360 is Automation Anywhere’s cloud-based automation platform designed to make business processes more efficient. It’s known for its user-friendly interface, which allows both technical and non-technical users to use it effectively. Automation 360 is versatile, offering a range of tools to automate tasks, manage complex workflows, and integrate various applications. It empowers users to create customized solutions for their specific needs. Being cloud-based it ensures scalability, security, and real-time updates, making it a top choice in the fast-paced digital world. As demand for A360 rises, having a structured way to develop bots becomes crucial. The paper introduces the “A360 Bot Framework” as a guiding approach for bot developments. This framework ensures consistency and scalability, especially when working with both professional developers and non-technical users. It outlines key elements like setting up work folders, managing logs, dealing with errors, and ensuring secure bot execution. Ultimately, the “A360 Bot Framework” is presented as a foundational structure that enhances consistency, resiliency, and development efficiency. By following predefined practices and templates, bot developers can mitigate risks and streamline debugging processes. This framework accelerates the bot development lifecycle, allowing developers to focus on specific functionalities and value-added features. The research paper aims to provide insights into the benefits of adopting the A360 Bot Framework and its potential to revolutionize A360 bot development practices, leading to more efficient and effective automation solutions.

关键词： Robotic Process Automation (RPA) Automation Anywhere Automation 360 A360 Bot Framework Reusability Citizen Development Scalability

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Competition for roadside camera monocular 3D object detection

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National Science Review 2023年第6期10卷 34-37页

作者： Jinrang Jia Yifeng Shi Yuli Qu Rui Wang Xing Xu Hai Zhang Baidu inc. Institute of Artificial Intelligence and robotics Xi'an Jiaotong University College of Software Jilin University School of Computer Science and Engineering University of Electronic Science and Technology of China Pazhou Laboratory (Huangpu) School of Mathematics Northwest University

INTRODUCTION Accurate environment perception is a critical topic in autonomous driving and intelligent traffic.Current environmental perception methods mostly rely on on-board cameras.However,limited by the installation height,thereare problems such as blind spots and unstable long-range perception in vehicle perceptual systems.Recently,with the rapid improvement of intelligent infrastructure,it has become possible to use roadside cameras for traffic environment perception.Benefiting from the inc.eased height when compared with on-boardsensors,roadside cameras can obtain a larger perceptual field of view and realize long-range observation.

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