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Robotics, Vision and Control : Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And Updated Edition
Robotic vision, the combination of robotics and computer vision, involves the application of computer algorithms to data acquired from sensors. The research community has developed a large body of such algorithms but for a newcomer to the field this can be quite daunting. For over 20 years the author has maintained two open-source MATLAB® Toolboxes, one for robotics and one for vision. They provide implementations of many important algorithms and allow users to work with real problems, not just trivial examples. This book makes the fundamental algorithms of robotics, vision and control accessible to all. It weaves together theory, algorithms and examples in a narrative that covers robotics and computer vision separately and together. Using the latest versions of the Toolboxes the author shows how complex problems can be decomposed and solved using just a few simple lines of code. The topics covered are guided by real problems observed by the author over many years as a practitioner of both robotics and computer vision. It is written in an accessible but informative style, easy to read and absorb, and includes over 1000 MATLAB and Simulink® examples and over 400 figures. The book is a real walk through the fundamentals of mobile robots, arm robots. then camera models, image processing, feature extraction and multi-view geometry and finally bringing it all together with an extensive discussion of visual servo systems. This second edition is completely revised, updated and extended with coverage of Lie groups, matrix exponentials and twists; inertial navigation; differential drive robots; lattice planners; pose-graph SLAM and map making; restructured material on arm-robot kinematics and dynamics; series-elastic actuators and operational-space control; Lab color spaces; light field cameras; structured light, bundle adjustment and visual odometry; and photometric visual servoing. \"An authoritative book, reaching across fields, thoughtfully conceived and brilliantly accomplished!\" OUSSAMA KHATIB, Stanford.
Book
Prognostics and Health Management of Engineering Systems
This book introduces the methods for predicting the future behavior of a system's health and the remaining useful life to determine an appropriate maintenance schedule. The authors introduce the history, industrial applications, algorithms, and benefits and challenges of PHM (Prognostics and Health Management) to help readers understand this highly interdisciplinary engineering approach that incorporates sensing technologies, physics of failure, machine learning, modern statistics, and reliability engineering. It is ideal for beginners because it introduces various prognostics algorithms and explains their attributes, pros and cons in terms of model definition, model parameter estimation, and ability to handle noise and bias in data, allowing readers to select the appropriate methods for their fields of application.Among the many topics discussed in-depth are:- Prognostics tutorials using least-squares- Bayesian inference and parameter estimation- Physics-based prognostics algorithms including nonlinear least squares, Bayesian method, and particle filter- Data-driven prognostics algorithms including Gaussian process regression and neural network- Comparison of different prognostics algorithms The authors also present several applications of prognostics in practical engineering systems, including wear in a revolute joint, fatigue crack growth in a panel, prognostics using accelerated life test data, fatigue damage in bearings, and more. Prognostics tutorials with a Matlab code using simple examples are provided, along with a companion website that presents Matlab programs for different algorithms as well as measurement data. Each chapter contains a comprehensive set of exercise problems, some of which require Matlab programs, making this an ideal book for graduate students in mechanical, civil, aerospace, electrical, and industrial engineering and engineering mechanics, as well as researchers and maintenance engineers in the above fields.
eBook
Deep Neural Networks Motivated by Partial Differential Equations
Partial differential equations (PDEs) are indispensable for modeling many physical phenomena and also commonly used for solving image processing tasks. In the latter area, PDE-based approaches interpret image data as discretizations of multivariate functions and the output of image processing algorithms as solutions to certain PDEs. Posing image processing problems in the infinite-dimensional setting provides powerful tools for their analysis and solution. For the last few decades, the reinterpretation of classical image processing problems through the PDE lens has been creating multiple celebrated approaches that benefit a vast area of tasks including image segmentation, denoising, registration, and reconstruction. In this paper, we establish a new PDE interpretation of a class of deep convolutional neural networks (CNN) that are commonly used to learn from speech, image, and video data. Our interpretation includes convolution residual neural networks (ResNet), which are among the most promising approaches for tasks such as image classification having improved the state-of-the-art performance in prestigious benchmark challenges. Despite their recent successes, deep ResNets still face some critical challenges associated with their design, immense computational costs and memory requirements, and lack of understanding of their reasoning. Guided by well-established PDE theory, we derive three new ResNet architectures that fall into two new classes: parabolic and hyperbolic CNNs. We demonstrate how PDE theory can provide new insights and algorithms for deep learning and demonstrate the competitiveness of three new CNN architectures using numerical experiments.
Journal Article
Transformers in Time-Series Analysis: A Tutorial
Transformer architectures have widespread applications, particularly in Natural Language Processing and Computer Vision. Recently, Transformers have been employed in various aspects of time-series analysis. This tutorial provides an overview of the Transformer architecture, its applications, and a collection of examples from recent research in time-series analysis. We delve into an explanation of the core components of the Transformer, including the self-attention mechanism, positional encoding, multi-head, and encoder/decoder. Several enhancements to the initial Transformer architecture are highlighted to tackle time-series tasks. The tutorial also provides best practices and techniques to overcome the challenge of effectively training Transformers for time-series analysis.
Journal Article
Slim-neck by GSConv: a lightweight-design for real-time detector architectures
Real-time object detection is significant for industrial and research fields. On edge devices, a giant model is difficult to achieve the real-time detecting requirement, and a lightweight model built from a large number of the depth-wise separable convolutional could not achieve the sufficient accuracy. We introduce a new lightweight convolutional technique, GSConv, to lighten the model but maintain the accuracy. The GSConv accomplishes an excellent trade-off between the accuracy and speed. Furthermore, we provide a design suggestion based on the GSConv, slim-neck (SNs), to achieve a higher computational cost-effectiveness of the real-time detectors. The effectiveness of the SNs was robustly demonstrated in over twenty sets comparative experiments. In particular, the real-time detectors of ameliorated by the SNs obtain the state-of-the-art (70.9% AP
50
for the SODA10M at a speed of ~ 100 FPS on a Tesla T4) compared with the baselines. Code is available at
https://github.com/alanli1997/slim-neck-by-gsconv
.
Journal Article
Handbook of convex optimization methods in imaging science
This book covers recent advances in image processing and imaging sciences from an optimization viewpoint, especially convex optimization with the goal of designing tractable algorithms.
eBook
Ubiquitous cell-free Massive MIMO communications
Since the first cellular networks were trialled in the 1970s, we have witnessed an incredible wireless revolution. From 1G to 4G, the massive traffic growth has been managed by a combination of wider bandwidths, refined radio interfaces, and network densification, namely increasing the number of antennas per site. Due its cost-efficiency, the latter has contributed the most. Massive MIMO (multiple-input multiple-output) is a key 5G technology that uses massive antenna arrays to provide a very high beamforming gain and spatially multiplexing of users and hence increases the spectral and energy efficiency (see references herein). It constitutes a centralized solution to densify a network, and its performance is limited by the inter-cell interference inherent in its cell-centric design. Conversely, ubiquitous cell-free Massive MIMO refers to a distributed Massive MIMO system implementing coherent user-centric transmission to overcome the inter-cell interference limitation in cellular networks and provide additional macro-diversity. These features, combined with the system scalability inherent in the Massive MIMO design, distinguish ubiquitous cell-free Massive MIMO from prior coordinated distributed wireless systems. In this article, we investigate the enormous potential of this promising technology while addressing practical deployment issues to deal with the increased back/front-hauling overhead deriving from the signal co-processing.
Journal Article
Blockchain smart contracts: Applications, challenges, and future trends
In recent years, the rapid development of blockchain technology and cryptocurrencies has influenced the financial industry by creating a new crypto-economy. Then, next-generation decentralized applications without involving a trusted third-party have emerged thanks to the appearance of smart contracts, which are computer protocols designed to facilitate, verify, and enforce automatically the negotiation and agreement among multiple untrustworthy parties. Despite the bright side of smart contracts, several concerns continue to undermine their adoption, such as security threats, vulnerabilities, and legal issues. In this paper, we present a comprehensive survey of blockchain-enabled smart contracts from both technical and usage points of view. To do so, we present a taxonomy of existing blockchain-enabled smart contract solutions, categorize the included research papers, and discuss the existing smart contract-based studies. Based on the findings from the survey, we identify a set of challenges and open issues that need to be addressed in future studies. Finally, we identify future trends.
Journal Article
A summary of the REVERB challenge: state-of-the-art and remaining challenges in reverberant speech processing research
In recent years, substantial progress has been made in the field of reverberant speech signal processing, including both single- and multichannel dereverberation techniques and automatic speech recognition (ASR) techniques that are robust to reverberation. In this paper, we describe the REVERB challenge, which is an evaluation campaign that was designed to evaluate such speech enhancement (SE) and ASR techniques to reveal the state-of-the-art techniques and obtain new insights regarding potential future research directions. Even though most existing benchmark tasks and challenges for distant speech processing focus on the noise robustness issue and sometimes only on a single-channel scenario, a particular novelty of the REVERB challenge is that it is carefully designed to test robustness against
reverberation
, based on
both real, single-channel, and multichannel recordings
. This challenge attracted 27 papers, which represent 25 systems specifically designed for SE purposes and 49 systems specifically designed for ASR purposes. This paper describes the problems dealt within the challenge, provides an overview of the submitted systems, and scrutinizes them to clarify what current processing strategies appear effective in reverberant speech processing.
Journal Article
EEG seizure detection and prediction algorithms: a survey
Epilepsy patients experience challenges in daily life due to precautions they have to take in order to cope with this condition. When a seizure occurs, it might cause injuries or endanger the life of the patients or others, especially when they are using heavy machinery, e.g., deriving cars. Studies of epilepsy often rely on electroencephalogram (EEG) signals in order to analyze the behavior of the brain during seizures. Locating the seizure period in EEG recordings manually is difficult and time consuming; one often needs to skim through tens or even hundreds of hours of EEG recordings. Therefore, automatic detection of such an activity is of great importance. Another potential usage of EEG signal analysis is in the prediction of epileptic activities before they occur, as this will enable the patients (and caregivers) to take appropriate precautions. In this paper, we first present an overview of seizure detection and prediction problem and provide insights on the challenges in this area. Second, we cover some of the state-of-the-art seizure detection and prediction algorithms and provide comparison between these algorithms. Finally, we conclude with future research directions and open problems in this topic.
Journal Article