A Study on Control of Drone Swarms Using Depth Camera (Depth 카메라를 사용한 군집 드론의 제어에 대한 연구)
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- The Transactions of The Korean Institute of Electrical Engineers
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- v.67 no.8
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- pp.1080-1088
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- 2018
General methods of controlling a drone are divided into manual control and automatic control, which means a drone moves along the route. In case of manual control, a man should be able to figure out the location and status of a drone and have a controller to control it remotely. When people control a drone, they collect information about the location and position of a drone with the eyes and have its internal information such as the battery voltage and atmospheric pressure delivered through telemetry. They make a decision about the movement of a drone based on the gathered information and control it with a radio device. The automatic control method of a drone finding its route itself is not much different from manual control by man. The information about the position of a drone is collected with the gyro and accelerator sensor, and the internal information is delivered to the CPU digitally. The location information of a drone is collected with GPS, atmospheric pressure sensors, camera sensors, and ultrasound sensors. This paper presents an investigation into drone control by a remote computer. Instead of using the automatic control function of a drone, this approach involves a computer observing a drone, determining its movement based on the observation results, and controlling it with a radio device. The computer with a Depth camera collects information, makes a decision, and controls a drone in a similar way to human beings, which makes it applicable to various fields. Its usability is enhanced further since it can control common commercial drones instead of specially manufactured drones for swarm flight. It can also be used to prevent drones clashing each other, control access to a drone, and control drones with no permit.
Several fields of science have demanded large-scale workflow support, which requires thousands of CPU cores or more. In order to support such large-scale scientific workflows, high capacity parallel systems such as supercomputers are widely used. In order to increase the utilization of these systems, most schedulers use backfilling policy: Small jobs are moved ahead to fill in holes in the schedule when large jobs do not delay. Since an estimate of the runtime is necessary for backfilling, most parallel systems use user's estimated runtime. However, it is found to be extremely inaccurate because users overestimate their jobs. Therefore, in this paper, we propose a novel system for the runtime prediction based on workload-aware clustering with the goal of improving prediction performance. The proposed method for runtime prediction of parallel applications consists of three main phases. First, a feature selection based on factor analysis is performed to identify important input features. Then, it performs a clustering analysis of history data based on self-organizing map which is followed by hierarchical clustering for finding the clustering boundaries from the weight vectors. Finally, prediction models are constructed using support vector regression with the clustered workload data. Multiple prediction models for each clustered data pattern can reduce the error rate compared with a single model for the whole data pattern. In the experiments, we use workload logs on parallel systems (i.e., iPSC, LANL-CM5, SDSC-Par95, SDSC-Par96, and CTC-SP2) to evaluate the effectiveness of our approach. Comparing with other techniques, experimental results show that the proposed method improves the accuracy up to 69.08%.
Due to the spread of COVID-19, the online lecture has become more prevalent. However, it was found that a lot of students and professors are experiencing lack of communication. This study is therefore designed to improve interactive communication between professors and students in real-time online lectures. To do so, we explore deep learning approaches for automatic recognition of students' facial expressions and classification of their understanding into 3 classes (Understand / Neutral / Not Understand). We use 'BlazeFace' model for face detection and 'ResNet-GRU' model for facial expression recognition (FER). We name this entire process 'Degree of Understanding (DoU)' algorithm. DoU algorithm can analyze a multitude of students collectively and present the result in visualized statistics. To our knowledge, this study has great significance in that this is the first study offers the statistics of understanding in lectures using FER. As a result, the algorithm achieved rapid speed of 0.098sec/frame with high accuracy of 94.3% in CPU environment, demonstrating the potential to be applied to real-time online lectures. DoU Algorithm can be extended to various fields where facial expressions play important roles in communications such as interactions with hearing impaired people.
Recently, on-device artificial intelligence (AI) solutions using mobile devices and embedded edge devices have emerged in various fields, such as computer vision, to address network traffic burdens, low-energy operations, and security problems. Although vision transformer deep learning models have outperformed conventional convolutional neural network (CNN) models in computer vision, they require more computations and parameters than CNN models. Thus, they are not directly applicable to embedded edge devices with limited hardware resources. Many researchers have proposed various model compression methods or lightweight architectures for vision transformers; however, there are only a few studies evaluating the effects of model compression techniques of vision transformers on performance. Regarding this problem, this paper presents a performance evaluation of vision transformers on embedded platforms. We investigated the behaviors of three vision transformers: DeiT, LeViT, and MobileViT. Each model performance was evaluated by accuracy and inference time on edge devices using the ImageNet dataset. We assessed the effects of the quantization method applied to the models on latency enhancement and accuracy degradation by profiling the proportion of response time occupied by major operations. In addition, we evaluated the performance of each model on GPU and EdgeTPU-based edge devices. In our experimental results, LeViT showed the best performance in CPU-based edge devices, and DeiT-small showed the highest performance improvement in GPU-based edge devices. In addition, only MobileViT models showed performance improvement on EdgeTPU. Summarizing the analysis results through profiling, the degree of performance improvement of each vision transformer model was highly dependent on the proportion of parts that could be optimized in the target edge device. In summary, to apply vision transformers to on-device AI solutions, either proper operation composition and optimizations specific to target edge devices must be considered.
Cloud computing is a computing paradigm in which users can utilize computing resources in a pay-as-you-go manner. In a cloud system, resources can be dynamically scaled up and down to the user's on-demand so that the total cost of ownership can be reduced. The Modeling and Simulation (M&S) technology is a renowned simulation-based method to obtain engineering analysis and results through CAE software without actual experimental action. In general, M&S technology is utilized in Finite Element Analysis (FEA), Computational Fluid Dynamics (CFD), Multibody dynamics (MBD), and optimization fields. The work procedure through M&S is divided into pre-processing, analysis, and post-processing steps. The pre/post-processing are GPU-intensive job that consists of 3D modeling jobs via CAE software, whereas analysis is CPU or GPU intensive. Because a general-purpose desktop needs plenty of time to analyze complicated 3D models, CAE software requires a high-end CPU and GPU-based workstation that can work fluently. In other words, for executing M&S, it is absolutely required to utilize high-performance computing resources. To mitigate the cost issue from equipping such tremendous computing resources, we propose HEMOS-Cloud service, an integrated cloud and cluster computing environment. The HEMOS-Cloud service provides CAE software and computing resources to users who want to experience M&S in business sectors or academics. In this paper, the economic ripple effect of HEMOS-Cloud service was analyzed by using industry-related analysis. The estimated results of using the experts-guided coefficients are the production inducement effect of KRW 7.4 billion, the value-added effect of KRW 4.1 billion, and the employment-inducing effect of 50 persons per KRW 1 billion.
A traveltime tomography has been carried out by transforming electromagnetic data in frequency domain to wave-like domain. The transform uniquely relates a field satisfying a diffusion equation to an integral of the corresponding wavefield. But direct transform of frequency domain magnetic fields to wave-field domain is ill-posed problem because the kernel of the integral transform is highly damped. In this study, instead of solving such an unstable problem, it is assumed that wave-fields in transformed domain can be approximated by sum of ray series. And for further simplicity, reflection and refraction energy compared to that of direct wave is weak enough to be neglected. Then first arrival can be approximated by calculating the traveltime of direct wave only. But these assumptions are valid when the conductivity contrast between background medium and the target anomalous body is low enough. So this approach can only be applied to the models with low conductivity contrast. To verify the algorithm, traveltime calculated by this approach was compared to that of direct transform method and exact traveltime, calculated analytically, for homogeneous whole space. The error in first arrival picked by this study was less than that of direct transformation method, especially when the number of frequency samples is less than 10, or when the data are noisy. Layered earth model with varying conductivity contrasts and inclined dyke model have been successfully imaged by applying nonlinear traveltime tomography in 30 iterations within three CPU minutes on a IBM Pentium Pro 200 MHz.
Submerged thin walls are extreme case of submerged rectangular blocks, and could be used for many purposes in rivers or coastal zones, e.g. to tsunami. To understand flow characteristics including flow and pressure fields around a specific submerged thin wall a numerical model was applied which includes computation of hydrodynamic pressure on
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70