Virtual Sensing in High-Performance Vehicles With Artificial Intelligence

2019 ◽  
Author(s):  
Angelo Bonfitto ◽  
Stefano Feraco ◽  
Nicola Amati ◽  
Andrea Tonoli
Keyword(s):  
Neural Networks ◽  
Optical Sensor ◽  
High Performance ◽  
Mean Value ◽  
Sideslip Angle ◽  
The Road ◽  
Wheel Drive ◽  
Virtual Sensing ◽  
Instrumented Vehicle ◽  
Cascaded Regression

Abstract This paper presents a technique for the estimation of the sideslip angle and longitudinal speed of a high-performance four-wheel drive vehicle by means of Artificial Neural Networks. The proposed architecture relies on the combination of a pattern recognition neural classifier with two stages of cascaded regression neural networks. The classifier allows identifying the road condition and the regression stages perform the two estimation tasks. The networks are trained by means of datasets recorded on an instrumented vehicle. The strategy is tested in different road adherence conditions, namely dry, wet and icy, and in a variety of driving maneuvers. The effectiveness of the technique is demonstrated experimentally by deploying the algorithm on the vehicle and comparing the sideslip angle estimation with the measurement computed by an optical sensor and the longitudinal speed estimation with both the estimation already present on the vehicle and obtained as the mean value of the wheels’ velocity and with the optical sensor measurement.

scholarly journals A Data-Driven Method for Vehicle Speed Estimation

2021 ◽  
Vol 23 (3) ◽  
pp. B165-B177
Author(s):  
Angelo Bonfitto ◽  
Stefano Feraco
Keyword(s):  
Neural Networks ◽  
Estimation Method ◽  
Mean Value ◽  
Estimation Accuracy ◽  
Speed Estimation ◽  
Vehicle Speed ◽  
The Road ◽  
Computing Platform ◽  
Road Condition ◽  
The Mean

This paper presents a method based on Artificial Neural Networks for estimation of the vehicle speed. The technique exploits the combination of two tasks: a) speed estimation by means of regression neural networks dedicated to different road conditions (dry, wet and icy); b) identification of the road condition with a pattern recognition neural network. The training of the networks is conducted with experimental datasets recorded during the driving sessions performed with a vehicle on different tracks. The effectiveness of the proposed approach is validated experimentally on the same car by deploying the algorithm on a dSPACE computing platform. The estimation accuracy is evaluated by comparing the obtained results to the measurement of an optical sensor installed on the vehicle and to the output of another estimation method, based on the mean value of velocity of the four wheels.

Evaluation of Gloriosa superba for Yield Attributing Characters and Quantification of Colchicine Originated from Different Agro Climatic Zones of Tamil Nadu and Andhra Pradesh

2017 ◽  
Vol 9 (3) ◽  
Author(s):  
Arun Kumar P. ◽  
Elangaimannan R.
Keyword(s):  
Seed Yield ◽  
Tamil Nadu ◽  
High Performance ◽  
Andhra Pradesh ◽  
Crop Improvement ◽  
Mean Value ◽  
Hplc Method ◽  
Gloriosa Superba ◽  
Climatic Zones ◽  
Colchicine Alkaloid

The study was conducted to evolve Gloriosa superba for yield characters and alkalodi content for selecting elite genotypes for comercial exploitatio n. The genotypes were sowm in Variyankaval village, Udayarpalayam taluk of Ariyalur district, Tamil Nadu. The highest mean value for fresh and dry seed yield was observed in Chittor local. The genotype Mulanur local has recorded the highest mean value for number of pods per plant and number of seeds per pod and Arupukotai local excelled the general mean for the traits seeds per pod, fresh and dry seed yield and also for tuber characters. An investigation was carried out to quantify the colchicine (alkaloid) present in tubers by High Performance Liquid Chromatography (HPLC) method. The genotypes collected from Arupukotai recorded the highest colchicine content (0.760 mg/g) followed by Chittoor (0.578 mg/g) and Mulanur (0.496 mg/g) and there by these three genotypes were utilized for further crop improvement.

scholarly journals Computational Complexity Reduction of Neural Networks of Brain Tumor Image Segmentation by Introducing Fermi–Dirac Correction Functions

Entropy ◽  
2021 ◽  
Vol 23 (2) ◽  
pp. 223
Author(s):  
Yen-Ling Tai ◽  
Shin-Jhe Huang ◽  
Chien-Chang Chen ◽  
Henry Horng-Shing Lu
Keyword(s):  
Neural Networks ◽  
Deep Learning ◽  
Computational Complexity ◽  
High Performance ◽  
Low Cost ◽  
Structural Complexity ◽  
Correction Function ◽  
Computational Time ◽  
Learning Methods ◽  
Band Theory

Nowadays, deep learning methods with high structural complexity and flexibility inevitably lean on the computational capability of the hardware. A platform with high-performance GPUs and large amounts of memory could support neural networks having large numbers of layers and kernels. However, naively pursuing high-cost hardware would probably drag the technical development of deep learning methods. In the article, we thus establish a new preprocessing method to reduce the computational complexity of the neural networks. Inspired by the band theory of solids in physics, we map the image space into a noninteraction physical system isomorphically and then treat image voxels as particle-like clusters. Then, we reconstruct the Fermi–Dirac distribution to be a correction function for the normalization of the voxel intensity and as a filter of insignificant cluster components. The filtered clusters at the circumstance can delineate the morphological heterogeneity of the image voxels. We used the BraTS 2019 datasets and the dimensional fusion U-net for the algorithmic validation, and the proposed Fermi–Dirac correction function exhibited comparable performance to other employed preprocessing methods. By comparing to the conventional z-score normalization function and the Gamma correction function, the proposed algorithm can save at least 38% of computational time cost under a low-cost hardware architecture. Even though the correction function of global histogram equalization has the lowest computational time among the employed correction functions, the proposed Fermi–Dirac correction function exhibits better capabilities of image augmentation and segmentation.

scholarly journals Deep Neural Networks for Road Sign Detection and Embedded Modeling Using Oblique Aerial Images

2021 ◽  
Vol 13 (5) ◽  
pp. 879
Author(s):  
Zhu Mao ◽  
Fan Zhang ◽  
Xianfeng Huang ◽  
Xiangyang Jia ◽  
Yiping Gong ◽  
...  
Keyword(s):  
Neural Networks ◽  
Smart Cities ◽  
Geometric Constraints ◽  
Small Object ◽  
The Road ◽  
Road Signs ◽  
Road Sign ◽  
Synthesis Strategy ◽  
Urban Models ◽  
Sign Detection

Oblique photogrammetry-based three-dimensional (3D) urban models are widely used for smart cities. In 3D urban models, road signs are small but provide valuable information for navigation. However, due to the problems of sliced shape features, blurred texture and high incline angles, road signs cannot be fully reconstructed in oblique photogrammetry, even with state-of-the-art algorithms. The poor reconstruction of road signs commonly leads to less informative guidance and unsatisfactory visual appearance. In this paper, we present a pipeline for embedding road sign models based on deep convolutional neural networks (CNNs). First, we present an end-to-end balanced-learning framework for small object detection that takes advantage of the region-based CNN and a data synthesis strategy. Second, under the geometric constraints placed by the bounding boxes, we use the scale-invariant feature transform (SIFT) to extract the corresponding points on the road signs. Third, we obtain the coarse location of a single road sign by triangulating the corresponding points and refine the location via outlier removal. Least-squares fitting is then applied to the refined point cloud to fit a plane for orientation prediction. Finally, we replace the road signs with computer-aided design models in the 3D urban scene with the predicted location and orientation. The experimental results show that the proposed method achieves a high mAP in road sign detection and produces visually plausible embedded results, which demonstrates its effectiveness for road sign modeling in oblique photogrammetry-based 3D scene reconstruction.

scholarly journals Communication Failure Resilient Distributed Neural Network for Edge Devices

Electronics ◽  
2021 ◽  
Vol 10 (14) ◽  
pp. 1614
Author(s):  
Jonghun Jeong ◽  
Jong Sung Park ◽  
Hoeseok Yang
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
High Performance ◽  
State Of The Art ◽  
Wearable Devices ◽  
Communication Failure ◽  
Canadian Institute ◽  
Multiple Devices ◽  
Knowledge Distillation ◽  
Partitioning Technique

Recently, the necessity to run high-performance neural networks (NN) is increasing even in resource-constrained embedded systems such as wearable devices. However, due to the high computational and memory requirements of the NN applications, it is typically infeasible to execute them on a single device. Instead, it has been proposed to run a single NN application cooperatively on top of multiple devices, a so-called distributed neural network. In the distributed neural network, workloads of a single big NN application are distributed over multiple tiny devices. While the computation overhead could effectively be alleviated by this approach, the existing distributed NN techniques, such as MoDNN, still suffer from large traffics between the devices and vulnerability to communication failures. In order to get rid of such big communication overheads, a knowledge distillation based distributed NN, called Network of Neural Networks (NoNN), was proposed, which partitions the filters in the final convolutional layer of the original NN into multiple independent subsets and derives smaller NNs out of each subset. However, NoNN also has limitations in that the partitioning result may be unbalanced and it considerably compromises the correlation between filters in the original NN, which may result in an unacceptable accuracy degradation in case of communication failure. In this paper, in order to overcome these issues, we propose to enhance the partitioning strategy of NoNN in two aspects. First, we enhance the redundancy of the filters that are used to derive multiple smaller NNs by means of averaging to increase the immunity of the distributed NN to communication failure. Second, we propose a novel partitioning technique, modified from Eigenvector-based partitioning, to preserve the correlation between filters as much as possible while keeping the consistent number of filters distributed to each device. Throughout extensive experiments with the CIFAR-100 (Canadian Institute For Advanced Research-100) dataset, it has been observed that the proposed approach maintains high inference accuracy (over 70%, 1.53× improvement over the state-of-the-art approach), on average, even when a half of eight devices in a distributed NN fail to deliver their partial inference results.

scholarly journals Providing large-scale disk storage at CERN

2019 ◽  
Vol 214 ◽  
pp. 04033
Author(s):  
Hervé Rousseau ◽  
Belinda Chan Kwok Cheong ◽  
Cristian Contescu ◽  
Xavier Espinal Curull ◽  
Jan Iven ◽  
...  
Keyword(s):  
High Performance ◽  
Large Scale ◽  
Distributed Storage ◽  
Storage System ◽  
Primary Data ◽  
Disk Storage ◽  
The Road ◽  
Ongoing Work ◽  
Software Distribution ◽  
Microsoft Office

The CERN IT Storage group operates multiple distributed storage systems and is responsible for the support of the infrastructure to accommodate all CERN storage requirements, from the physics data generated by LHC and non-LHC experiments to the personnel users' files. EOS is now the key component of the CERN Storage strategy. It allows to operate at high incoming throughput for experiment data-taking while running concurrent complex production work-loads. This high-performance distributed storage provides now more than 250PB of raw disks and it is the key component behind the success of CERNBox, the CERN cloud synchronisation service which allows syncing and sharing files on all major mobile and desktop platforms to provide offline availability to any data stored in the EOS infrastructure. CERNBox recorded an exponential growth in the last couple of year in terms of files and data stored thanks to its increasing popularity inside CERN users community and thanks to its integration with a multitude of other CERN services (Batch, SWAN, Microsoft Office). In parallel CASTOR is being simplified and transitioning from an HSM into an archival system, focusing mainly in the long-term data recording of the primary data from the detectors, preparing the road to the next-generation tape archival system, CTA. The storage services at CERN cover as well the needs of the rest of our community: Ceph as data back-end for the CERN OpenStack infrastructure, NFS services and S3 functionality; AFS for legacy home directory filesystem services and its ongoing phase-out and CVMFS for software distribution. In this paper we will summarise our experience in supporting all our distributed storage system and the ongoing work in evolving our infrastructure, testing very-dense storage building block (nodes with more than 1PB of raw space) for the challenges waiting ahead.

Model-Independent Control of a Flexible-Joint Robot Manipulator

2009 ◽  
Vol 131 (4) ◽  
Author(s):  
Withit Chatlatanagulchai ◽  
Peter H. Meckl
Keyword(s):  
Neural Networks ◽  
Open Problem ◽  
High Performance ◽  
Robot Manipulator ◽  
Intrinsic Property ◽  
Variable Structure ◽  
System Model ◽  
Control Input ◽  
Control Laws ◽  
Flexible Joint

Flexibility at the joint of a manipulator is an intrinsic property. Even “rigid-joint” robots, in fact, possess a certain amount of flexibility. Previous experiments confirmed that joint flexibility should be explicitly included in the model when designing a high-performance controller for a manipulator because the flexibility, if not dealt with, can excite system natural frequencies and cause severe damage. However, control design for a flexible-joint robot manipulator is still an open problem. Besides being described by a complicated system model for which the passivity property does not hold, the manipulator is also underactuated, that is, the control input does not drive the link directly, but through the flexible dynamics. Our work offers another possible solution to this open problem. We use three-layer neural networks to represent the system model. Their weights are adapted in real time and from scratch, which means we do not need the mathematical model of the robot in our control algorithm. All uncertainties are handled by variable-structure control. Backstepping structure allows input efforts to be applied to each subsystem where they are needed. Control laws to adjust all adjustable parameters are devised using Lyapunov’s second method to ensure that error trajectories are globally uniformly ultimately bounded. We present two state-feedback schemes: first, when neural networks are used to represent the unknown plant, and second, when neural networks are used to represent the unknown parts of the control laws. In the former case, we also design an observer to enable us to design a control law using only output signals—the link positions. We use simulations to compare our algorithms with some other well-known techniques. We use experiments to demonstrate the practicality of our algorithms.

Lane Detection Algorithm Based on Genetic Algorithm and its Parallel Computing Realization

2012 ◽  
Vol 479-481 ◽  
pp. 65-70
Author(s):  
Xiao Hui Zhang ◽  
Liu Qing ◽  
Mu Li
Keyword(s):  
Genetic Algorithm ◽  
Data Transmission ◽  
High Speed ◽  
High Performance ◽  
Large Data ◽  
Detection Algorithm ◽  
Lane Detection ◽  
The Road ◽  
Time Problem ◽  
High Speed Data

Based on the target detection of alignment template, the paper designs a lane alignment template by using correlation matching method, and combines with genetic algorithm for template stochastic matching and optimization to realize the lane detection. In order to solve the real-time problem of lane detection algorithm based on genetic algorithm, this paper uses the high performance multi-core DSP chip TMS320C6474 as the core, combines with high-speed data transmission technology of Rapid10, realizes the hardware parallel processing of the lane detection algorithm. By Rapid10 bus, the data transmission speed between the DSP and the DSP can reach 3.125Gbps, it basically realizes transmission without delay, and thereby solves the high speed transmission of the large data quantity between processor. The experimental results show that, no matter the calculated lane line, or the running time is better than the single DSP and PC at the parallel C6474 platform. In addition, the road detection is accurate and reliable, and it has good robustness.

Wavelets as activation functions in Neural Networks

2021 ◽  
pp. 1-11
Author(s):  
Oscar Herrera ◽  
Belém Priego
Keyword(s):  
Neural Networks ◽  
Deep Learning ◽  
High Performance ◽  
Research Area ◽  
Experimental Results ◽  
Activation Functions ◽  
Hyperbolic Tangent ◽  
Open Research ◽  
Bounded Functions

Traditionally, a few activation functions have been considered in neural networks, including bounded functions such as threshold, sigmoidal and hyperbolic-tangent, as well as unbounded ReLU, GELU, and Soft-plus, among other functions for deep learning, but the search for new activation functions still being an open research area. In this paper, wavelets are reconsidered as activation functions in neural networks and the performance of Gaussian family wavelets (first, second and third derivatives) are studied together with other functions available in Keras-Tensorflow. Experimental results show how the combination of these activation functions can improve the performance and supports the idea of extending the list of activation functions to wavelets which can be available in high performance platforms.

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