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Vehicle-to-everything (V2X) communication is pivotal in enhancing cooperative awareness in vehicular networks. Typically, awareness is viewed as a vehicle's ability to perceive and share real-time kinematic information. We present a novel definition of awareness in V2X communications, conceptualizing it as a multi-faceted concept involving vehicle detection, tracking, and maintaining their safety distances. To enhance this awareness, we propose a deep reinforcement learning framework for the joint control of beacon rate and transmit power (DRL-JCBRTP). Our DRL−JCBRTP framework integrates LSTM-based actor networks and MLP-based critic networks within the Soft Actor-Critic (SAC) algorithm to effectively learn optimal policies. Leveraging local state information, the DRL-JCBRTP scheme uses an innovative reward function to increase the minimum awareness failure distance. Our SLMLab-Gym-VEINS simulations show that the DRL-JCBRTP scheme outperforms existing beaconing schemes in minimizing awareness failure probability and maximizing awareness distance, ultimately improving driving safety. [ABSTRACT FROM AUTHOR]

As autonomous vehicles (AVs) are advancing to higher levels of autonomy and performance, the associated technologies are becoming increasingly diverse. Lane-keeping systems (LKS), corresponding to a key functionality of AVs, considerably enhance driver convenience. With drivers increasingly relying on autonomous driving technologies, the importance of safety features, such as fail-safe mechanisms in the event of sensor failures, has gained prominence. Therefore, this paper proposes a reinforcement learning (RL) control method for lane-keeping, which uses surrounding object information derived through LiDAR sensors instead of camera sensors for LKS. This approach uses surrounding vehicle and object information as observations for the RL framework to maintain the vehicle's current lane. The learning environment is established by integrating simulation tools, such as IPG CarMaker, which incorporates vehicle dynamics, and MATLAB Simulink for data analysis and RL model creation. To further validate the applicability of the LiDAR sensor data in real-world settings, Gaussian noise is introduced in the virtual simulation environment to mimic sensor noise in actual operational conditions. [ABSTRACT FROM AUTHOR]

In this paper, we propose a novel normalized least mean squares (NLMS) algorithm for system identification applications. Our approach involves analyzing the mean squared deviation performance of the NLMS algorithm using a random walk model to select two optimal parameters, the step size and regularization parameters, for the rapid convergence of the colored input signals. We verified that the proposed algorithm exhibited faster convergence than existing algorithms, even in scenarios of sudden system changes. [ABSTRACT FROM AUTHOR]

Photoacoustic imaging has emerged as a promising biomedical imaging technique that enables visualization of the optical absorption characteristics of biological tissues in vivo. Among the different photoacoustic imaging system configurations, optical-resolution photoacoustic microscopy stands out by providing high spatial resolution using a tightly focused laser beam, which is typically transmitted through optical fibers. Achieving high-quality images depends significantly on optical fluence, which is directly proportional to the signal-to-noise ratio. Hence, optimizing the laser-fiber coupling is critical. Conventional coupling systems require manual adjustment of the optical path to direct the laser beam into the fiber, which is a repetitive and time-consuming process. In this study, we propose an automated laser-fiber coupling module that optimizes laser delivery and minimizes the need for manual intervention. By incorporating a motor-mounted mirror holder and proportional derivative control, we successfully achieved efficient and robust laser delivery. The performance of the proposed system was evaluated using a leaf-skeleton phantom in vitro and a human finger in vivo, resulting in high-quality photoacoustic images. This innovation has the potential to significantly enhance the quality and efficiency of optical-resolution photoacoustic microscopy. [ABSTRACT FROM AUTHOR]

Reinforcement learning agents that have not been seen during training must be robust in test environments. However, the generalization problem is challenging to solve in reinforcement learning using high-dimensional images as the input. The addition of a self-supervised learning framework with data augmentation in the reinforcement learning architecture can promote generalization to a certain extent. However, excessively large changes in the input images may disturb reinforcement learning. Therefore, we propose a contrastive learning method that can help manage the trade-off relationship between the performance of reinforcement learning and auxiliary tasks against the data augmentation strength. In this framework, strong augmentation does not disturb reinforcement learning and instead maximizes the auxiliary effect for generalization. Results of experiments on the DeepMind Control suite demonstrate that the proposed method effectively uses strong data augmentation and achieves a higher generalization than the existing methods. [ABSTRACT FROM AUTHOR]

As interest in point cloud processing has gradually increased in the industry, point cloud sampling techniques have been researched to improve deep learning networks. As many conventional models use point clouds directly, the consideration of computational complexity has become critical for practicality. One of the representative ways to decrease computations is downsampling, which also affects the performance in terms of precision. Existing classic sampling methods have adopted a standardized way regardless of the task-model property in learning. However, this limits the improvement of the point cloud sampling network's performance. That is, the performance of such task-agnostic methods is too low when the sampling ratio is high. Therefore, this paper proposes a novel downsampling model based on the transformer-based point cloud sampling network (TransNet) to efficiently perform downsampling tasks. The proposed TransNet utilizes self-attention and fully connected layers to extract meaningful features from input sequences and perform downsampling. By introducing attention techniques into downsampling, the proposed network can learn about the relationships between point clouds and generate a task-oriented sampling methodology. The proposed TransNet outperforms several state-of-the-art models in terms of accuracy. It has a particular advantage in generating points from sparse data when the sampling ratio is high. We expect that our approach can provide a promising solution for downsampling tasks in various point cloud applications. [ABSTRACT FROM AUTHOR]

In this study, the chassis design target setting for a high-performance car was performed using a virtual prototype to solve the problem of increasing complexity of vehicle development. To achieve efficient handling performance of Hyundai Avante N, a high-performance vehicle, the kinematic and compliance (K&C) characteristics of the chassis corresponding to the design target were set prior to the design process using virtual simulation, thereby facilitating the efficient and systematic development of the actual vehicle. In order to overcome the limitations of existing research and apply it to the actual development of mass-production vehicles, the following major tasks were performed. The first is setting quantitative factors that match the sensibility evaluation. The second is building a virtual model to ensure consistency in performance predictions. The third is optimizing the chassis characteristics to achieve the vehicle performance goal. When all optimization results were applied, the average of the performance items increased by 0.5 points and the standard deviation improved by 0.4 points compared to the existing Civic Type-R, which was the best. In the case of the final specification considering design constraints, the average of performance items increased by 0.1 point and the standard deviation improved by 0.5 point compared to the existing Civic Type-R. Therefore, the design target of the chassis systems that could achieve the vehicle handling performance goal could be established prior to the design. Using this virtual development, it is possible to eliminate the trial and error process that the first and second test cars needed. This could save more than 500,000 USD (per unit trim) of the first and second test vehicles. [ABSTRACT FROM AUTHOR]

The concern over safety features in autonomous vehicles is increasing due to the rapid development and increasing use of autonomous driving technology. The safety evaluations performed for an autonomous driving system cannot depend only on existing safety verification methods, due to the lack of scenario reproducibility and the dynamic characteristics of the vehicle. Vehicle-In-the-Loop Simulation (VILS) utilizes both real vehicles and virtual simulations for the driving environment to overcome these drawbacks and is a suitable candidate for ensuring reproducibility. However, there may be differences between the behavior of the vehicle in the VILS and vehicle tests due to the implementation level of the virtual environment. This study proposes a novel VILS system that displays consistency with the vehicle tests. The proposed VILS system comprises virtual road generation, synchronization, virtual traffic manager generation, and perception sensor modeling, and implements a virtual driving environment similar to the vehicle test environment. Additionally, the effectiveness of the proposed VILS system and its consistency with the vehicle test is demonstrated using various verification methods. The proposed VILS system can be applied to various speeds, road types, and surrounding environments. [ABSTRACT FROM AUTHOR]

This paper presents a novel variable matrix-type step-size affine projection sign algorithm (VMSS-APSA) characterized by robustness against impulsive noise. To mathematically derive a matrix-type step size, VMSS-APSA utilizes mean-square deviation (MSD) for the modified version of the original APSA. Accurately establishing the MSD of APSA is impossible. Therefore, the proposed VMSS-APSA derives the upper bound of the MSD using the upper bound of the L 1 -norm of the measurement noise. The optimal matrix-type step size is calculated at each iteration by minimizing the upper bound of the MSD, thereby improving the filter performance in terms of convergence rate and steady-state estimation error. Because a novel cost function of the proposed VMSS-APSA was designed to maintain a form similar to the original APSA, they have symmetric characteristics. Simulation results demonstrate that the proposed VMSS-APSA improves filter performance in a system-identification scenario in the presence of impulsive noise. [ABSTRACT FROM AUTHOR]

An enhanced affine projection algorithm (APA) is proposed to improve the filter performance in aspects of convergence rate and steady-state estimation error, since the adjustment of the input-vector number can be an effective way to increase the convergence rate and to decrease the steady-state estimation error at the same time. In this proposed algorithm, the input-vector number of APA is adjusted reasonably at every iteration by comparing the averages of the accumulated squared errors. Although the conventional APA has the constraint that the input-vector number should be integer, the proposed APA relaxes that integer-constraint through a pseudo-fractional method. Since the input-vector number can be updated at every iteration more precisely based on the pseudo-fractional method, the filter performance of the proposed APA can be improved. According to our simulation results, it is demonstrated that the proposed APA has a smaller steady-state estimation error compared to the existing APA-type filters in various scenarios. [ABSTRACT FROM AUTHOR]

Plasma parameters of inductively coupled plasma system with an annular plasma source have been studied experimentally. At low pressures (about 1 mTorr), electron temperature inside the plasma source is rather high (8–13 eV) and is much greater than in the diffusion (main) chamber (4–5 eV). The plasma potential inside the source is also much higher than in the main chamber. There is a rapid drop of the electron temperature and plasma potential at the boundary between the plasma source and the main chamber. The drop of the plasma potential at the boundary (about 20 V) means the existence of a strong axial electric field, which retards the electrons inside the plasma source and accelerates the ions from the source into the main chamber. Measurements of ion energy distributions in the main chamber volume reveal the existence of ions with kinetic energies about 15 eV. [ABSTRACT FROM AUTHOR]

The normalised subband adaptive filter (NSAF) is a useful adaptive filter, which improves the convergence rate compared with the normalised least mean‐square algorithm. Most analytical results of the NSAF set the regularisation parameter set to zero or present only steady‐state mean‐square error performance of the regularised NSAF (ε ‐NSAF). This study presents a mean‐square performance analysis of ε ‐NSAF, which analyses not only convergence behaviour but also steady‐state behaviour. Furthermore, a novel adaptive regularisation for NSAF (AR‐NSAF) is also developed based on the proposed analysis approach. The proposed AR‐NSAF selects the optimal regularisation parameter that leads to improving the performance of the adaptive filter. Simulation results comparing the proposed analytical results with the results achieved from the simulation are presented. In addition, these results verify that the proposed AR‐NSAF outperforms the previous algorithms in a system‐identification and acoustic echo‐cancellation scenarios. [ABSTRACT FROM AUTHOR]

This paper proposes a novel robust affine projection sign algorithm (R-APSA) through a modified criterion that consists of the Euclidean norm of the sum of the difference between the present weight vector and the previous weight vectors. Because the filter update equation of the proposed R-APSA is obtained from the modified criterion, it has robustness against the high power of measurement noises. Moreover, due to the characteristic inherent in the original APSA, the proposed R-APSA performs well even though impulsive noises occur. Simulation results verify that the proposed R-APSA attains smaller steady-state errors than the existing released algorithms. Copyright © 2016 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]

This paper proposes a new variable step‐size sign algorithm through the minimisation of mean‐square deviation (MSD). As it is difficult to obtain the MSD accurately, the upper bound of the MSD is derived for calculating the step size at each iteration. The proposed algorithm is not only robust to impulsive noises, but also has improved filter performance in aspects of convergence rate and steady‐state estimation error owing to the proposed variable step‐size strategy. The simulation results verify that the proposed algorithm has better performance than the existing algorithms in a system‐identification scenario in the presence of impulsive noises. [ABSTRACT FROM AUTHOR]

This brief proposes a novel normalized least mean square algorithm that is characterized by robustness against noisy input signals. To compensate for the bias caused by the input noise that is added at the filter input, a derivation method based on reasonable assumptions finds a bias-compensating vector. Moreover, the proposed algorithm has a fast convergence rate when applied to sparse systems, owing to its \cal L0 -norm cost in the proposed update equation. The simulation results verify that the proposed algorithm improves the performance of the filter, in terms of system identification in sparse systems, in the presence of noisy input signals. [ABSTRACT FROM PUBLISHER]

This brief proposes a novel variable step-size affine projection sign algorithm (APSA), which is characterized by its robustness against impulsive noises. To obtain a step size reasonably, the proposed algorithm investigates the mean-square deviation (MSD) of APSA. Because it is impossible to accurately compute the MSD of APSA, the proposed algorithm derives the upper bound of the MSD using the upper bound of the \cal L1-norm of the measurement noise. The optimal step size is calculated at each iteration by minimizing the upper bound of the MSD, which improves the filter performance, with respect to the convergence rate and the steady-state estimation error. The simulation results demonstrate that the proposed algorithm improves the filter performance in a system-identification scenario in the presence of impulsive noises. [ABSTRACT FROM PUBLISHER]

This paper proposes a novel model predictive control (MPC) algorithm that increases the path tracking performance according to the control input. The proposed algorithm reduces the path tracking errors of MPC by updating the sampling time of the next step according to the control inputs (i.e., the lateral velocity and front steering angle) calculated in each step of the MPC algorithm. The scenarios of a mixture of straight and curved driving paths were constructed, and the optimal control input was calculated in each step. In the experiment, a scenario was created with the Automated Driving Toolbox of MATLAB, and the path-following performance characteristics and computation times of the existing and proposed MPC algorithms were verified and compared with simulations. The results prove that the proposed MPC algorithm has improved path-following performance compared to those of the existing MPC algorithm. [ABSTRACT FROM AUTHOR]

An improved affine projection sign algorithm (APSA) was developed herein using a L p -norm-like constraint to increase the convergence rate in sparse systems. The proposed APSA is robust against impulsive noise because APSA-type algorithms are generally based on the L 1 -norm minimization of error signals. Moreover, the proposed algorithm can enhance the filter performance in terms of the convergence rate due to the implementation of the L p -norm-like constraint in sparse systems. Since a novel cost function of the proposed APSA was designed for maintaining the similar form of the original APSA, these have symmetric properties. According to the simulation results, the proposed APSA effectively enhances the filter performance in terms of the convergence rate of sparse system identification in the presence of impulsive noises compared to that achieved using the existing APSA-type algorithms. [ABSTRACT FROM AUTHOR]

Proposed is a novel affine projection sign algorithm with L0-norm cost to improve the convergence rate in a sparse system. The proposed algorithm is robust to impulsive noise due to L1-norm minimisation. It also ensures improved performance in terms of convergence rate owing to the L0-norm cost. The simulation results demonstrate that the proposed algorithm improves the filter performance of sparse system identification. [ABSTRACT FROM AUTHOR]

Summary: This paper proposes a novel proportionate normalized least‐mean‐squares (PNLMS) algorithm that is robust to input noises. Through compensating for biases due to input noise added at the filter input, the proposed PNLMS algorithm avoids performance deterioration owing to the noisy input signals. Moreover, since the proposed PNLMS algorithm uses a new gain‐distribution matrix, it has a fast convergence rate compared with the existing PNLMS algorithms, even when there is no input noise. The experimental results verify that the proposed PNLMS algorithm enhances the filter performance for sparse system identification in the presence of input noises. [ABSTRACT FROM AUTHOR]

In the endless hot rolling process, camber is a significant defect where camber is flatness asymmetries produced by nonuniform distribution of rolling pressure. This kind of defect may not only cause clogging of the finishing mill, but also visible defects, such as bar edge folds, edge cracks, holes, and scrapes. It is important to measure the exact camber values of the overall shape and head/tail part of steel bars to reduce camber for hot-rolled steel bars. We introduce a vision-based camber measurement system based on two-area-scan charge-coupled device (CCD) cameras and proposes a camber-detection algorithm to achieve the optimal cutting-line, the overall bar shape, and camber values from the obtained image. The proposed algorithm consists of three parts: optimal cutting-line detection, image-stitching, and camber detection. The optimal cutting-line detection part determines the cutting line of the head/tail part of the bar for continuous joining between steel bars. The image-stitching part obtains the overall shape of a hot-rolled steel bar with continuous image sequence obtained by two-area-scan CCD cameras. The camber-detection part measures head camber, tail camber, and whole camber of the steel bar. Through the proposed camber-detection algorithm, the system not only satisfies a time constraint for detecting the camber of the steel bar but also obtains the optimal cutting line, the overall bar shape, and the camber values. [ABSTRACT FROM AUTHOR]

[Purpose] A simple rehabilitation device system for strengthening upper limb muscles in hemiplegic patients was developed. This system, which stimulates active exercise while accounting for intensity, time, and frequency, was examined in the present pilot study. [Subjects and Methods] Patients had shoulder pain and limited shoulder movement. Changes in range of motion (ROM) and scores of a visual analog scale (VAS) for pain were evaluated in the experimental and control groups every four weeks for twelve weeks. The modified motor assessment scale (MMAS) was used before and after experiments. [Results] Significant differences between experimental times in ROM for shoulder flexion, abduction, and adduction on the paralyzed side were observed in the experimental group at every time point. Pain VAS scores in the experimental group improved progressively and significantly with time, indicating a consistently increasing effect of exercise. There were significant differences between the MMAS scores before and after completion of the program in the experimental group. [Conclusion] Muscle strengthening is important in hemiplegic patients, and active exercise was more efficient than passive exercise in this regard. Rehabilitation with the Monkey Chair and Band system may represent an efficient and important tool in upper limb training and comprehensive modern rehabilitation therapy.