17 results on '"CHAO HUANG"'
Search Results
2. Adaptive Pedestrian Stride Estimation for Localization: From Multi-Gait Perspective
- Author
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Chao Huang, Fuping Zhang, Zhengyi Xu, and Jianming Wei
- Subjects
inertial measurement units ,indoor localization ,stride length estimation ,stride segmentation ,gait recognition ,Chemical technology ,TP1-1185 - Abstract
Accurate and reliable stride length estimation modules play a significant role in Pedestrian Dead Reckoning (PDR) systems, but the accuracy of stride length calculation suffers from individual differences. This paper presents a stride length prediction strategy for PDR systems that can be adapted across individuals and broad walking velocity fields. It consists of a multi-gait division algorithm, which can divide a full stride into push-off, swing, heel-strike, and stance based on multi-axis IMU data. Additionally, based on the acquired gait phases, the correlation between multiple features of distinct gait phases and the stride length is analyzed, and multi regression models are merged to output the stride length value. In experimental tests, the gait segmentation algorithm provided gait phases division with the F-score of 0.811, 0.748, 0.805, and 0.819 for stance, push-off, swing, heel-strike, respectively, and IoU of 0.482, 0.69, 0.509 for push-off, swing, heel-strike, respectively. The root means square error (RMSE) of our proposed stride length estimation was 151.933, and the relative error for total distance in varying walking speed tests was less than 2%. The experimental results validated that our proposed gait phase segmentation algorithm can accurately recognize gait phases for individuals with wide walking speed ranges. With no need for parameter modification, the stride length method based on the fusion of multiple predictions from different gait phases can provide better accuracy than the estimations based on the full stride.
- Published
- 2022
- Full Text
- View/download PDF
3. The Diverse Gait Dataset: Gait Segmentation Using Inertial Sensors for Pedestrian Localization with Different Genders, Heights and Walking Speeds
- Author
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Chao Huang, Fuping Zhang, Zhengyi Xu, and Jianming Wei
- Subjects
inertial measurement units ,indoor localization ,stride estimation ,stride segmentation ,gait recognition ,Chemical technology ,TP1-1185 - Abstract
Stride length estimation is one of the most crucial aspects of Pedestrian Dead Reckoning (PDR). Due to the measurement noise of inertial sensors, individual variances of pedestrians, and the uncertainty in pedestrians walking, there is a substantial error in the assessment of stride length, which causes the accumulated deviation of Pedestrian Dead Reckoning (PDR). With the help of multi-gait analysis, which decomposes strides in time and space with greater detail and accuracy, a novel and revolutionary stride estimating model or scheme could improve the performance of PDR on different users. This paper presents a diverse stride gait dataset by using inertial sensors that collect foot movement data from people of different genders, heights, and walking speeds. The dataset contains 4690 walking strides data and 19,083 gait labels. Based on the dataset, we propose a threshold-independent stride segmentation algorithm called SDATW and achieve an F-measure of 0.835. We also provide the detailed results of recognizing four gaits under different walking speeds, demonstrating the utility of our dataset for helping train stride segmentation algorithms and gait detection algorithms.
- Published
- 2022
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4. Advanced Sensing and Control for Connected and Automated Vehicles
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Chao Huang, Haiping Du, Wanzhong Zhao, Yifan Zhao, Fuwu Yan, and Chen Lv
- Subjects
n/a ,Chemical technology ,TP1-1185 - Abstract
In recent years, connected and automated vehicles (CAV) have been a transformative technology that is expected to reduce emissions and change and improve the safety and efficiency of the mobilities [...]
- Published
- 2022
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5. A Three-Dimensional Integrated Non-Linear Coordinate Control Framework for Combined Yaw- and Roll-Stability Control during Tyre Blow-Out
- Author
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Boyuan Li, Chao Huang, Yang Wu, Bangji Zhang, and Haiping Du
- Subjects
tyre blow-out ,yaw stability ,roll stability ,vehicle dynamics model ,model predictive control ,Chemical technology ,TP1-1185 - Abstract
A tyre blow-out can greatly affect vehicle stability and cause serious accidents. In the literature, however, studies on comprehensive three-dimensional vehicle dynamics modelling and stability control strategies in the event of a sudden tyre blow-out are seriously lacking. In this study, a comprehensive 14 degrees-of-freedom (DOF) vehicle dynamics model is first proposed to describe the vehicle yaw-plane and roll-plane dynamics performance after a tyre blow-out. Then, based on the proposed 14 DOF dynamics model, an integrated control framework for a combined yaw plane and roll-plane stability control is presented. This integrated control framework consists of a vehicle state predictor, an upper-level control mode supervisor and a lower-level 14 DOF model predictive controller (MPC). The state predictor is designed to predict the vehicle’s future states, and the upper-level control mode supervisor can use these future states to determine a suitable control mode. After that, based on the selected control mode, the lower-level MPC can control the individual driving actuator to achieve the combined yaw plane and roll plane control. Finally, a series of simulation tests are conducted to verify the effectiveness of the proposed control strategy.
- Published
- 2021
- Full Text
- View/download PDF
6. A New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control
- Author
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Zhejun Huang, Huiyun Li, Wenfei Li, Jia Liu, Chao Huang, Zhiheng Yang, and Wenqi Fang
- Subjects
autonomous driving ,trajectory tracking ,real-time control ,model predictive control ,Chemical technology ,TP1-1185 - Abstract
Trajectory tracking is a key technology for precisely controlling autonomous vehicles. In this paper, we propose a trajectory-tracking method based on model predictive control. Instead of using the forward Euler integration method, the backward Euler integration method is used to establish the predictive model. To meet the real-time requirement, a constraint is imposed on the control law and the warm-start technique is employed. The MPC-based controller is proved to be stable. The simulation results demonstrate that, at the cost of no or a little increase in computational time, the tracking performance of the controller is much better than that of controllers using the forward Euler method. The maximum lateral errors are reduced by 69.09%, 47.89% and 78.66%. The real-time performance of the MPC controller is good. The calculation time is below 0.0203 s, which is shorter than the control period.
- Published
- 2021
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7. Experimental Study on the Relationship between the Velocity of Surface Movements and Tilting Rate in Pre-Failure Stage of Rainfall-Induced Landslides
- Author
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Jiren Xie, Taro Uchimura, Chao Huang, Zain Maqsood, and Jingli Tian
- Subjects
rainfall-induced landslides ,tilting rate ,velocity of surface displacements ,laboratory tests and field tests ,linear relationship ,prediction ,Chemical technology ,TP1-1185 - Abstract
With the development of deformation measuring technology at slope surfaces, prediction methods for rainfall-induced landslides based on the surface movements and tilting of slopes in the pre-failure stage have been recognized as a promising technique for risk reduction of slope failure triggered by rainfall. However, the correlation and possible mechanism for these prediction methods were rarely discussed. In this study, the comparison between the prediction methods of slope failure based on the time history of surface displacements and tilting in the acceleration stage was carried out by conducting a series of laboratory tests and field tests under rainfall, in which the movements and tilting behaviors at the slope surface were measured. The results show that the predicted failure time of tested slopes obtained by different prediction methods is consistent, and the correlation between these landslide prediction methods were also detected. A proportional relationship between the velocity of surface displacements and tilting rate was observed, and a possible mechanism for the sliding behavior was discussed based on this linear relationship as well. In addition, an expression for the linear relationship between the rate of the surface tilting and displacement was also established in this study, and the results could have significance for the understanding of the sliding behavior in the failure process in rainfall-induced landslides.
- Published
- 2021
- Full Text
- View/download PDF
8. Scheduling of a Parcel Delivery System Consisting of an Aerial Drone Interacting with Public Transportation Vehicles
- Author
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Hailong Huang, Andrey V. Savkin, and Chao Huang
- Subjects
UAVs ,drones ,parcel delivery ,scheduling problem ,public transportation vehicles ,Chemical technology ,TP1-1185 - Abstract
This paper proposes a novel parcel delivery system which consists of a drone and public transportation vehicles such as trains, trams, etc. This system involves two delivery schemes: drone-direct scheme referring to delivering to a customer by a drone directly and drone–vehicle collaborating scheme referring to delivering a customer based on the collaboration of a drone and public transportation vehicles. The fundamental characteristics including the delivery time, energy consumption and battery recharging are modelled, based on which a time-dependent scheduling problem for a single drone is formulated. It is shown to be NP-complete and a dynamic programming-based exact algorithm is presented. Since its computational complexity is exponential with respect to the number of customers, a sub-optimal algorithm is further developed. This algorithm accounts the time for delivery and recharging, and it first schedules the customer which leads to the earliest return. Its computational complexity is also discussed. Moreover, extensive computer simulations are conducted to demonstrate the scheduling performance of the proposed algorithms and the impacts of several key system parameters are investigated.
- Published
- 2020
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9. Data-Driven Calibration of Soil Moisture Sensor Considering Impacts of Temperature: A Case Study on FDR Sensors
- Author
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Liping Chen, Lili Zhangzhong, Wengang Zheng, JingXin Yu, Zehan Wang, Long Wang, and Chao Huang
- Subjects
calibration ,data-driven ,impacts of temperature ,soil moisture sensor ,Chemical technology ,TP1-1185 - Abstract
Commercial soil moisture sensors have been widely applied into the measurement of soil moisture content. However, the accuracy of such sensors varies due to the employed techniques and working conditions. In this study, the temperature impact on the soil moisture sensor reading was firstly analyzed. Next, a pioneer study on the data-driven calibration of soil moisture sensor was investigated considering the impacts of temperature. Different data-driven models including the multivariate adaptive regression splines and the Gaussian process regression were applied into the development of the calibration method. To verify the efficacy of the proposed methods, tests on four commercial soil moisture sensors were conducted; these sensors belong to the frequency domain reflection (FDR) type. The numerical results demonstrate that the proposed methods can greatly improve the measurement accuracy for the investigated sensors.
- Published
- 2019
- Full Text
- View/download PDF
10. Effect of Uneven Electrostatic Forces on the Dynamic Characteristics of Capacitive Hemispherical Resonator Gyroscopes
- Author
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Zeyuan Xu, Guoxing Yi, Meng Joo Er, and Chao Huang
- Subjects
hemispherical resonator gyroscope ,uneven electrostatic forces ,capacitance gap ,influence mechanism ,dynamic characteristics ,output error ,Chemical technology ,TP1-1185 - Abstract
The hemispherical resonator gyroscope (HRG) is a typical capacitive Coriolis vibratory gyroscope whose performance is inevitably influenced by the uneven electrostatic forces caused by the uneven excitation capacitance gap between the resonator and outer base. First, the mechanism of uneven electrostatic forces due to the significantly uneven capacitance gap in that the non-uniformity of the electrostatic forces can cause irregular deformation of the resonator and further affect the performance and precision of the HRG, was analyzed. According to the analyzed influence mechanism, the dynamic output error model of the HRG was established. In this work, the effect of the first four harmonics of the uneven capacitance gap on the HRG was investigated. It turns out that the zero bias and output error, caused by the first harmonic that dominates mainly the amplitude of the uneven capacitance gap, increase approximately linearly with the increase of the amplitude, and periodically vary with the increase of the phase. The effect of the other three harmonics follows the same law, but their amplitudes are one order of magnitude smaller than that of the first one, thus their effects on the HRG can be neglected. The effect of uneven electrostatic forces caused by the first harmonic on the scale factor is that its nonlinearity increases approximately linearly with the increase of the harmonic amplitude, which was analyzed in depth. Considering comprehensively the zero bias, the modification rate of output error, and scale factor nonlinearity, the tolerance towards the uneven excitation capacitance gap was obtained.
- Published
- 2019
- Full Text
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11. A Two-Mode Underwater Smart Sensor Object for Precision Aquaculture Based on AIoT Technology.
- Author
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Chin-Chun Chang, Naomi Ubiña, Shyi-Chyi Cheng, Hsun-Yu Lan, Kuan-Chu Chen, and Chin-Chao Huang
- Published
- 2022
- Full Text
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12. A Novel RGB-D SLAM Algorithm Based on Cloud Robotics.
- Author
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Yanli Liu 0005, Heng Zhang 0002, and Chao Huang
- Published
- 2019
- Full Text
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13. A CMOS-Compatible Poly-Si Nanowire Device with Hybrid Sensor/Memory Characteristics for System-on-Chip Applications.
- Author
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Min-Cheng Chen, Hao-Yu Chen, Chia-Yi Lin, Chao-Hsin Chien, Tsung-Fan Hsieh, Jim-Tong Horng, Jian-Tai Qiu, Chien-Chao Huang, Chia-Hua Ho, and Fu-Liang Yang
- Published
- 2012
- Full Text
- View/download PDF
14. Experimental Study on the Relationship between the Velocity of Surface Movements and Tilting Rate in Pre-Failure Stage of Rainfall-Induced Landslides
- Author
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Zain Maqsood, Jiren Xie, Jingli Tian, Chao Huang, and Taro Uchimura
- Subjects
Surface (mathematics) ,Deformation (mechanics) ,Chemical technology ,tilting rate ,linear relationship ,rainfall-induced landslides ,Landslide ,TP1-1185 ,prediction ,Biochemistry ,Article ,Atomic and Molecular Physics, and Optics ,Displacement (vector) ,Analytical Chemistry ,Acceleration ,laboratory tests and field tests ,Linear relationship ,Geotechnical engineering ,Stage (hydrology) ,Electrical and Electronic Engineering ,Reduction (mathematics) ,Instrumentation ,velocity of surface displacements ,Geology - Abstract
With the development of deformation measuring technology at slope surfaces, prediction methods for rainfall-induced landslides based on the surface movements and tilting of slopes in the pre-failure stage have been recognized as a promising technique for risk reduction of slope failure triggered by rainfall. However, the correlation and possible mechanism for these prediction methods were rarely discussed. In this study, the comparison between the prediction methods of slope failure based on the time history of surface displacements and tilting in the acceleration stage was carried out by conducting a series of laboratory tests and field tests under rainfall, in which the movements and tilting behaviors at the slope surface were measured. The results show that the predicted failure time of tested slopes obtained by different prediction methods is consistent, and the correlation between these landslide prediction methods were also detected. A proportional relationship between the velocity of surface displacements and tilting rate was observed, and a possible mechanism for the sliding behavior was discussed based on this linear relationship as well. In addition, an expression for the linear relationship between the rate of the surface tilting and displacement was also established in this study, and the results could have significance for the understanding of the sliding behavior in the failure process in rainfall-induced landslides.
- Published
- 2021
- Full Text
- View/download PDF
15. A Novel RGB-D SLAM Algorithm Based on Cloud Robotics
- Author
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Heng Zhang, Yanli Liu, and Chao Huang
- Subjects
0209 industrial biotechnology ,Computer science ,ComputingMethodologies_SIMULATIONANDMODELING ,GeneralLiterature_INTRODUCTORYANDSURVEY ,Feature extraction ,Point cloud ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,Cloud computing ,02 engineering and technology ,Simultaneous localization and mapping ,cloud robotics ,Biochemistry ,Article ,Analytical Chemistry ,020901 industrial engineering & automation ,0202 electrical engineering, electronic engineering, information engineering ,Computer vision ,Electrical and Electronic Engineering ,Instrumentation ,business.industry ,Robotics ,ROS ,Atomic and Molecular Physics, and Optics ,3D point cloud ,Cloud robotics ,RGB color model ,Robot ,020201 artificial intelligence & image processing ,Artificial intelligence ,business ,RGB-D SLAM - Abstract
In this paper, we present a novel red-green-blue-depth simultaneous localization and mapping (RGB-D SLAM) algorithm based on cloud robotics, which combines RGB-D SLAM with the cloud robot and offloads the back-end process of the RGB-D SLAM algorithm to the cloud. This paper analyzes the front and back parts of the original RGB-D SLAM algorithm and improves the algorithm from three aspects: feature extraction, point cloud registration, and pose optimization. Experiments show the superiority of the improved algorithm. In addition, taking advantage of the cloud robotics, the RGB-D SLAM algorithm is combined with the cloud robot and the back-end part of the computationally intensive algorithm is offloaded to the cloud. Experimental validation is provided, which compares the cloud robotic-based RGB-D SLAM algorithm with the local RGB-D SLAM algorithm. The results of the experiments demonstrate the superiority of our framework. The combination of cloud robotics and RGB-D SLAM can not only improve the efficiency of SLAM but also reduce the robot&rsquo, s price and size.
- Published
- 2019
- Full Text
- View/download PDF
16. Data-Driven Calibration of Soil Moisture Sensor Considering Impacts of Temperature: A Case Study on FDR Sensors
- Author
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Lili Zhangzhong, Zehan Wang, Long Wang, Chao Huang, Zheng Wengang, Chen Liping, and Yu Jingxin
- Subjects
Accuracy and precision ,impacts of temperature ,Soil moisture sensor ,Case Report ,02 engineering and technology ,lcsh:Chemical technology ,Biochemistry ,Analytical Chemistry ,Data-driven ,soil moisture sensor ,Kriging ,0202 electrical engineering, electronic engineering, information engineering ,Calibration ,lcsh:TP1-1185 ,Electrical and Electronic Engineering ,Instrumentation ,Water content ,Remote sensing ,Multivariate adaptive regression splines ,020208 electrical & electronic engineering ,04 agricultural and veterinary sciences ,calibration ,Atomic and Molecular Physics, and Optics ,Frequency domain ,data-driven ,040103 agronomy & agriculture ,0401 agriculture, forestry, and fisheries ,Environmental science - Abstract
Commercial soil moisture sensors have been widely applied into the measurement of soil moisture content. However, the accuracy of such sensors varies due to the employed techniques and working conditions. In this study, the temperature impact on the soil moisture sensor reading was firstly analyzed. Next, a pioneer study on the data-driven calibration of soil moisture sensor was investigated considering the impacts of temperature. Different data-driven models including the multivariate adaptive regression splines and the Gaussian process regression were applied into the development of the calibration method. To verify the efficacy of the proposed methods, tests on four commercial soil moisture sensors were conducted; these sensors belong to the frequency domain reflection (FDR) type. The numerical results demonstrate that the proposed methods can greatly improve the measurement accuracy for the investigated sensors.
- Published
- 2019
17. A CMOS-Compatible Poly-Si Nanowire Device with Hybrid Sensor/Memory Characteristics for System-on-Chip Applications
- Author
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Chia-Hua Ho, Fu-Liang Yang, Chien-Chao Huang, Jian-Tai Qiu, Jim-Tong Horng, Chao-Hsin Chien, Tsung-Fan Hsieh, Hao-Yu Chen, Chia-Yi Lin, and Min-Cheng Chen
- Subjects
nano-sensor fabrication ,nanowire FET ,nonvolatile memories ,semiconductive sensors ,Chemical technology ,TP1-1185 - Abstract
This paper reports a versatile nano-sensor technology using “top-down” poly-silicon nanowire field-effect transistors (FETs) in the conventional Complementary Metal-Oxide Semiconductor (CMOS)-compatible semiconductor process. The nanowire manufacturing technique reduced nanowire width scaling to 50 nm without use of extra lithography equipment, and exhibited superior device uniformity. These n type polysilicon nanowire FETs have positive pH sensitivity (100 mV/pH) and sensitive deoxyribonucleic acid (DNA) detection ability (100 pM) at normal system operation voltages. Specially designed oxide-nitride-oxide buried oxide nanowire realizes an electrically Vth-adjustable sensor to compensate device variation. These nanowire FETs also enable non-volatile memory application for a large and steady Vth adjustment window (>2 V Programming/Erasing window). The CMOS-compatible manufacturing technique of polysilicon nanowire FETs offers a possible solution for commercial System-on-Chip biosensor application, which enables portable physiology monitoring and in situ recording.
- Published
- 2012
- Full Text
- View/download PDF
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