基于MultiRes+UNet网络的车道线检测算法

无人驾驶技术改变人类生活方式,带车道线属性的高精地图,是无人驾驶领域的重要一环。针对现有算法在车道线检测时存在准确率低、效率低等问题提出基于MultiRes+UNet检测方法。该方法通过空洞卷积扩大卷积感受野,从而对全局信息统筹,运用MultiRes block和Res path结构减轻编码器-解码器特征之间的差异,大大降低了内存的需求。实验结果表明,此算法在保证检测准确率的同时,提高了算法的稳定性和运行速率,在纯车道、复合车道、阴影污损车道等多情况下,调和平均值分数分别为0.959、0.942、0.891,该算法存在高效性、高鲁棒性。

The IMC Structure of Multi-rate Multivariable Predictive Control Systems and An Improved Algorithm

Multirate multivariable predictive control system with the sampling mechanism that adjusts the plant inputs only once but detects the plant outputs several times during a period is examined. The IMC structure of the system is derived, and its robust stability and zero steady state error characteristics are analyzed. A new control algorithm is developed by adding the variation of the outputs to the index performance. The simulation results show that the method is effective and has zeros steady-state error.

Parameter estimation for multirate multi-input systems using auxiliary model and multi-innovation

The multirate multi-input systems have different updating periods and sampling periods such that the conventional identification algorithms cannot be used to identify such multirate systems. By using the auxiliary model identification idea, the multiinnovation stochastic gradient algorithm is developed to estimate the parameters of multirate systems. Finally, an illustrative example is given to verify the effectiveness of the proposed algorithm.

Generalized Yule-walker and two-stage identification algorithms for dual-rate systems

In this paper, two approaches are developed for directly identifying single-rate models of dual-rate stochastic systems in which the input updating frequency is an integer multiple of the output sampling frequency. The first is the generalized Yule-Walker algorithm and the second is a two-stage algorithm based on the correlation technique. The basic idea is to directly identify the parameters of underlying single-rate models instead of the lifted models of dual-rate systems from the dual-rate input-output data, assuming that the measurement data are stationary and ergodic. An example is given.

FLOATING QUANTIZATION EFFECTS ON MULTIRATE SAMPLED-DATA NONLINEAR CONTROL SYSTEMS

In this article, floating quantization effects on multirate sampled-data control systems are studied. It shows that the solutions of multirate digital feedback control systems with nonlinear plant and with floating quantization in the controller are uniformly ultimately bounded if the associated linear systems consisting of linearization of the plant and controller with no quantization are Schur stable. Moreover, it also shows that the difference between the response of multirate digital controllers without quantizers and the same plant with floating quantization in the controllers can be made as small as desired by selecting proper quantization level.

Fuzzy modeling of multirate sampled nonlinear systems based on multi-model method

Based on the multi-model principle, the fuzzy identification for nonlinear systems with multirate sampled data is studied.Firstly, the nonlinear system with multirate sampled data can be shown as the nonlinear weighted combination of some linear models at multiple local working points. On this basis, the fuzzy model of the multirate sampled nonlinear system is built. The premise structure of the fuzzy model is confirmed by using fuzzy competitive learning, and the conclusion parameters of the fuzzy model are estimated by the random gradient descent algorithm. The convergence of the proposed identification algorithm is given by using the martingale theorem and lemmas. The fuzzy model of the PH neutralization process of acid-base titration for hair quality detection is constructed to demonstrate the effectiveness of the proposed method.

Outlier Rejecting Multirate Model for State Estimation

Wavelet transform was introduced to detect and eliminate outliers in time-frequency domain. The outlier rejection and multirate information extraction were initially incorporated by wavelet transform, a new outlier rejecting multirate model for state estimation was proposed. The model is applied to state estimation with interacting multiple model, as the outlier is eliminated and more reasonable multirate information is extracted, the estimation accuracy is greatly enhanced. The simulation results prove that the new model is robust to outliers and the estimation performance is significantly improved.

Throughput Analysis of IEEE 802.11 Multirate WLANs with Collision Aware Rate Adaptation Algorithm

This paper presents a mathematical model that analyzes the throughput of the IEEE 802.11b distributed coordination function （DCF） with the collision aware rate adaptation （CARA） algorithm. IEEE 802.11 WLANs provide multiple transmission rates to improve system throughput by adapting the transmission rate to the current channel conditions. The system throughput is determined by some stations using low transmission rates due to bad channel conditions. CARA algorithm does not disturb the existing IEEE 802.11b formats and it can be easily incorporated into the commercial wireless local area networks （WLAN） devices. Finally, we verify our findings with simulation.

2-D MULTIRATE ALGORITHMS FOR EFFICIENT IMPLEMENTATION OF EDGE DETECTION

Edge detection is a fundamental issue in image analysis. This paper proposes multirate algorithms for efficient implementation of edge detector, and a design example is illustrated.The multirate (decimation and/or interpolation) signal processing algorithms can achieve considerable savings in computation and storage. The proposed algorithms result in mapping relations of their z-transfer functions between non-multirate and multirate mathematical expressions in terms of time-varying coefficient instead of traditional polyphase decomposition counterparts.The mapping properties can be readily utilized to efficiently analyze and synthesize multirate edge detection filters. The Very high-speed Hardware Description Language (VHDL) simulation results verify efficiency of the algorithms for real-time Field Programmable Gate-Array (FPGA)implementation.

RATE ADAPTIVE PROTOCOL FOR MULTIRATE IEEE 802.11 NETWORKS

In this paper, a rate adaptive protocol AMARF (Adaptive Multirate Auto Rate Fallback) for multirate IEEE 802.11 networks is proposed. In AMARF, each data rate is assigned a unique success threshold, which is a criterion to judge when to switch a rate to the next higher one, and the success thresholds can be adjusted dynamically in an adaptive manner according to the running conditions, such as packet length and channel parameters. Moreover, the proposed protocol can be implemented by software without any change to the current IEEE 802.11 standards. Simulation result shows that AMARF yields significantly higher throughput than other existing schemes including ARF and its variants, in various running conditions.

Overview of multirate sampled-data control system

The basic analysis and synthesis approaches for multirate sampled-data control system are reviewed. After giving the definition and some properties of multirate system are given, its origination, development and design methods are discussed in detail. Finally, some remarks, expectations and conclusions on the present research status and the research directions are given.

Monotone routing in multirate rearrangeable log_d (N,m,p) network

The construction of multirate rearrangeable network has long been an interesting problem. Of many results published, all were achieved on 3-stage Clos network. The monotone routing algorithm proposed by Hu et al.(2001) was also first applied to 3-stage Clos network. In this work, we adopt this algorithm and apply it to logd(N,m,p) networks. We first analyze the properties of logd(N,m,p) networks. Then we use monotone algorithm in logd(N,0,p) network. Furthermore we extend the result to construct multirate rearrangeable networks based on logd(N,m,p) network (1≤m≤n?1).

Multirate diversity strategy of fractal modulation

Previous analyses of fractal modulation were carried out mostly from a signle perspective or a subband, but the analyses from the perspective of multiscale synthesis have not been found yet; while multiscale synthesis is just the essence of the mutlirate diversity which is the most important characteristic of fractal modulation. As for the mutlirate diversity of fractal modulation, previous studies only dealt with the general outspread of its concept, lacked the thorough and intensive quantitative comparison and analysis. In light of the above fact, from the perspective of multiscale synthesis, in this paper we provide a comprehensive analysis of the multirate diversity of fractal modulation and corresponding quantitative analysis. The results show that mutlirate diversity, which is a fusion of frequency diversity and time diversity, pays an acceptable price in spectral efficiency in exchange for a significant improvement in bit error rate. It makes fractal modulation particularly suitable for the channels whose bandwidth and duration parameters axe unknown or cannot be predicted to the transmitter. Surely it is clearly of great significance for reliable communications. Moreover, we also attain the ability to flexibly make various rate-bandwidth tradeoffs between the transmitter and the receiver, to freely select the reception time and to expediently control the total bandwidth. Furthermore, the acquisitions or improvements of these fine features could provide support of the technical feasibility for the electromagnetic spectrum control technology in a complex electromagnetic environment.

Joint Optimization of Admission Control and Rate Adaptation for Video Sharing over Multirate Wireless Community Cloud

Emerging wireless community cloud enables usergenerated video content to be shared and consumed in a social context. However, the nature of shared wireless medium and timevarying channels seriously limits the quality of service(QoS), partially owing to the lack of mechanisms for effectively utilizing multi-rate channel resources. In this paper, the joint optimization of admission control and rate adaptation is proposed, resulting in a bandwidth-aware rate-adaptive admission control(BRAC) scheme to provide bandwidth guarantee for sharing social multimedia contents. The analytical approach leads to the following major contributions:(1) a bandwidth-aware rate selection(BRS) algorithm to optimally meet the bandwidth requirement of the data session and channel conditions at the physical layer;(2) a routing-coupled rate adaption and admission control algorithm to admit data sessions with bandwidth guarantee. Moreover, extensive numerical simulations suggest that BRAC is efficient and effective in meeting the bandwidth requirements for sharing social multimedia contents. These insights will shed light on communication system implementation for multimedia content sharing over multirate wireless community cloud.

Bearings-only fusion tracking for maneuvering target with wavelettransform in three dimensional space

A new fusion tracking algorithm is presented to track maneuvering target in three-dimensional (3D) space with bearings-only measurements. With the introduction of passive location and interacting multiple model (IMM) algorithm based on multirate model, the high-rate sequence measurements of two sensors are utilized. Simulation results show that the performance of tracking has been improved. The new algorithm removes the barrier of processing high-rate bearings-only measurements.

A Robust Interacting Multisensor State Fusion Based on Adaptive Outlier Controlling Multirate Model

An adaptive outlier controlling multirate model based on Hong’s multirate kinetic model was represented in order to resist the outliers and utilize their useful information. Wavelet transform was introduced to detect and control the outliers. The multirate information extraction and the controlling of outliers were properly integrated to establish an adaptive outlier controlling multirate model. The proposed model was applied to multisensor state fusion with interacting multiple model (IMM), and a robust interacting multisensor state fusion algorithm was established based on adaptive outlier controlling multirate model. The Monte-Carlo simulation shows that it could improve the accuracy of fusion estimation by 70% compared to Hong’s algorithm and at least 14% to Xiao’s algorithm.

On 1-rate and 2-rate multicast 3-stage Clos networks

The 3-stage Clos network C（n, m, r） is considered as the most basic and popular multistage interconnection network which has been widely employed for data communications and parallel computing systems. Quite a lot of efforts has been put on the research of the 3- stage Clos network. Unfortunately, very little is known for the multirate multicast Clos network which is the most complicated case. Firstly a sufficient condition for 1-rate multicast networks to be SNB is given, from which a result for 2-rate multicast networks to be WSNB can easily be gotten. Furthermore, by using a reservation-scheme routing, more specific result for 2-rate multicast networks to be WSNB can be obtained for the case of one of them exceeding 1/2.

A MULTIRATE PROCESSING APPROACH FOR MICROWAVE IMAGING

In this paper,a multirate processing approach for microwave imaging is presented.This approach has the advantages of largely compressing the raw spectral data for imaging,greatly reducing the storage requirement and enhancing the processing efficiency.To demonstrateits applicability,the proposed approach is tested on both simulated and experimental data.

Chip Interleaved Multirate and Multimedia Transmission in Self-Encoded Communication System with Iterative Detection over Fading Channels

In this paper, we investigate the self-encoded multirate and the multimedia (SEMM) transmission. In SEMM system, the spreading codes are derived from its own previously transmitted bits rather than the pseudorandom code generator. We employ block chip interleaving at the transmitter to combat the deep fading over the channels. At the receiver, decorrelation scheme separates the combined signals not only to reduce the crosstalk between different applications, but also provide a better estimation for the despreading sequence. Interference cancelation (IC) is also adopted to improve both the correlation detection and iterative detection (ID) performance. The simulation results show that the proposed scheme significantly improves performance over fading channels.

Transfer Function Model of Multirate Feedback Control Systems

Based on the suitably defined multivariable version of Kranc operators and the extended input and output vectors, the multirate sampling plant is transformed to a equivalent time invariant single rate one, then the transfer function model of the multivariable multirate sampling plant is obtained. By combining this plant model with the time invariant description of the multirate controller in terms of extended vectors, the closed loop transfer function model of the multirate feedback control system can be determinated. This transfer function model has a very simple structure, and can be used as a basis for the analysis and synthesis of the multirate sampling feedback control systems in the frequency domain.