Search

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]

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]

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]