arXiv subjects

Rui Fan

Publications and source records attributed to Rui Fan.

At least 145 records · Page 8Linked to original sources

arXiv2019

A Robust Roll Angle Estimation Algorithm Based on Gradient Descent

This paper presents a robust roll angle estimation algorithm, which is developed from our previously published work, where the roll angle was estimated from a dense disparity map by minimizing a global energy using golden section search algorithm. In this paper, to achieve greater computational efficiency, we utilize gradient descent to optimize the aforementioned global energy. The experimental results illustrate that the proposed roll angle estimation algorithm takes fewer iterations to achieve the same precision as the previous method.

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arXiv2019

Parameters Calibration for Power Grid Stability Models using Deep Learning Methods

This paper presents a novel parameter calibration approach for power system stability models using automatic data generation and advanced deep learning technology. A PMU-measurement-based event playback approach is used to identify potential inaccurate parameters and automatically generate extensive simulation data, which are used for training a convolutional neural network (CNN). The accurate parameters will be predicted by the well-trained CNN model and validated by original PMU measurements. The accuracy and effectiveness of the proposed deep learning approach have been validated through extensive simulation and field data.

eess.SP↗

arXiv2019

A Novel Dual-Lidar Calibration Algorithm Using Planar Surfaces

Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature correspondences in scan points cannot always provide enough constraints. To address this problem, the existing methods require fixed calibration targets in scenes or rely exclusively on additional sensors. In this paper, we present a novel method that enables automatic lidar calibration without these restrictions. Three linearly independent planar surfaces appearing in surroundings is utilized to find correspondences. Two components are developed to ensure the extrinsic parameters to be found: a closed-form solver for initialization and an optimizer for refinement by minimizing a nonlinear cost function. Simulation and experimental results demonstrate the high accuracy of our calibration approach with the rotation and translation errors smaller than 0.05rad and 0.1m respectively.

cs.CV↗

arXiv2019

Adaptive Power System Emergency Control using Deep Reinforcement Learning

Power system emergency control is generally regarded as the last safety net for grid security and resiliency. Existing emergency control schemes are usually designed off-line based on either the conceived "worst" case scenario or a few typical operation scenarios. These schemes are facing significant adaptiveness and robustness issues as increasing uncertainties and variations occur in modern electrical grids. To address these challenges, for the first time, this paper developed novel adaptive emergency control schemes using deep reinforcement learning (DRL), by leveraging the high-dimensional feature extraction and non-linear generalization capabilities of DRL for complex power systems. Furthermore, an open-source platform named RLGC has been designed for the first time to assist the development and benchmarking of DRL algorithms for power system control. Details of the platform and DRL-based emergency control schemes for generator dynamic braking and under-voltage load shedding are presented. Extensive case studies performed in both two-area four-machine system and IEEE 39-Bus system have demonstrated the excellent performance and robustness of the proposed schemes.

cs.LG↗

arXiv2019

Road Crack Detection Using Deep Convolutional Neural Network and Adaptive Thresholding

Crack is one of the most common road distresses which may pose road safety hazards. Generally, crack detection is performed by either certified inspectors or structural engineers. This task is, however, time-consuming, subjective and labor-intensive. In this paper, we propose a novel road crack detection algorithm based on deep learning and adaptive image segmentation. Firstly, a deep convolutional neural network is trained to determine whether an image contains cracks or not. The images containing cracks are then smoothed using bilateral filtering, which greatly minimizes the number of noisy pixels. Finally, we utilize an adaptive thresholding method to extract the cracks from road surface. The experimental results illustrate that our network can classify images with an accuracy of 99.92%, and the cracks can be successfully extracted from the images using our proposed thresholding algorithm.

cs.CV↗

arXiv2019

Convolutional Neural Network and Transfer Learning for High Impedance Fault Detection

This letter presents a novel high impedance fault (HIF) detection approach using a convolutional neural network (CNN). Compared to traditional artificial neural networks, a CNN offers translation invariance and it can accurately detect HIFs in spite of variance and noise in the input data. A transfer learning method is used to address the common challenge of a system with little training data. Extensive studies have demonstrated the accuracy and effectiveness of using a CNNbased approach for HIF detection.

eess.SP↗

arXiv2019

Real-Time Dense Stereo Embedded in A UAV for Road Inspection

The condition assessment of road surfaces is essential to ensure their serviceability while still providing maximum road traffic safety. This paper presents a robust stereo vision system embedded in an unmanned aerial vehicle (UAV). The perspective view of the target image is first transformed into the reference view, and this not only improves the disparity accuracy, but also reduces the algorithm's computational complexity. The cost volumes generated from stereo matching are then filtered using a bilateral filter. The latter has been proved to be a feasible solution for the functional minimisation problem in a fully connected Markov random field model. Finally, the disparity maps are transformed by minimising an energy function with respect to the roll angle and disparity projection model. This makes the damaged road areas more distinguishable from the road surface. The proposed system is implemented on an NVIDIA Jetson TX2 GPU with CUDA for real-time purposes. It is demonstrated through experiments that the damaged road areas can be easily distinguished from the transformed disparity maps.

cs.CV↗

arXiv2019

Using DP Towards A Shortest Path Problem-Related Application

The detection of curved lanes is still challenging for autonomous driving systems. Although current cutting-edge approaches have performed well in real applications, most of them are based on strict model assumptions. Similar to other visual recognition tasks, lane detection can be formulated as a two-dimensional graph searching problem, which can be solved by finding several optimal paths along with line segments and boundaries. In this paper, we present a directed graph model, in which dynamic programming is used to deal with a specific shortest path problem. This model is particularly suitable to represent objects with long continuous shape structure, e.g., lanes and roads. We apply the designed model and proposed an algorithm for detecting lanes by formulating it as the shortest path problem. To evaluate the performance of our proposed algorithm, we tested five sequences (including 1573 frames) from the KITTI database. The results showed that our method achieves an average successful detection precision of 97.5%.

cs.CV↗

arXiv2018

Mobile Robot Localisation and Navigation Using LEGO NXT and Ultrasonic Sensor

Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to perform tasks autonomously can be expensive because of the need for various types of sensors and the high price of robot platforms. Hence, in this paper we present a mobile robot localisation and navigation system which uses a LEGO ultrasonic sensor in an indoor map based on the LEGO MINDSTORM NXT. This provides an affordable and ready-to-use option for most robot fans. In this paper, an effective method is proposed to extract useful information from the distorted readings collected by the ultrasonic sensor. Then, the particle filter is used to localise the robot. After robot's position is estimated, a sampling-based path planning method is proposed for the robot navigation. This method reduces the robot accumulative motion error by minimising robot turning times and covering distances. The robot localisation and navigation algorithms are implemented in MATLAB. Simulation results show an average accuracy between 1 and 3 cm for three different indoor map locations. Furthermore, experiments performed in a real setup show the effectiveness of the proposed methods.

cs.RO↗

arXiv2018

Real-Time Stereo Vision for Road Surface 3-D Reconstruction

Stereo vision techniques have been widely used in civil engineering to acquire 3-D road data. The two important factors of stereo vision are accuracy and speed. However, it is very challenging to achieve both of them simultaneously and therefore the main aim of developing a stereo vision system is to improve the trade-off between these two factors. In this paper, we present a real-time stereo vision system used for road surface 3-D reconstruction. The proposed system is developed from our previously published 3-D reconstruction algorithm where the perspective view of the target image is first transformed into the reference view, which not only increases the disparity accuracy but also improves the processing speed. Then, the correlation cost between each pair of blocks is computed and stored in two 3-D cost volumes. To adaptively aggregate the matching costs from neighbourhood systems, bilateral filtering is performed on the cost volumes. This greatly reduces the ambiguities during stereo matching and further improves the precision of the estimated disparities. Finally, the subpixel resolution is achieved by conducting a parabola interpolation and the subpixel disparity map is used to reconstruct the 3-D road surface. The proposed algorithm is implemented on an NVIDIA GTX 1080 GPU for the real-time purpose. The experimental results illustrate that the reconstruction accuracy is around 3 mm.

cs.CV↗

arXiv2018

Multiple Lane Detection Algorithm Based on Optimised Dense Disparity Map Estimation

Lane detection is very important for self-driving vehicles. In recent years, computer stereo vision has been prevalently used to enhance the accuracy of the lane detection systems. This paper mainly presents a multiple lane detection algorithm developed based on optimised dense disparity map estimation, where the disparity information obtained at time t_{n} is utilised to optimise the process of disparity estimation at time t_{n+1}. This is achieved by estimating the road model at time t_{n} and then controlling the search range for the disparity estimation at time t_{n+1}. The lanes are then detected using our previously published algorithm, where the vanishing point information is used to model the lanes. The experimental results illustrate that the runtime of the disparity estimation is reduced by around 37% and the accuracy of the lane detection is about 99%.

cs.CV↗

arXiv2018

Real-Time Subpixel Fast Bilateral Stereo

Stereo vision technique has been widely used in robotic systems to acquire 3-D information. In recent years, many researchers have applied bilateral filtering in stereo vision to adaptively aggregate the matching costs. This has greatly improved the accuracy of the estimated disparity maps. However, the process of filtering the whole cost volume is very time consuming and therefore the researchers have to resort to some powerful hardware for the real-time purpose. This paper presents the implementation of fast bilateral stereo on a state-of-the-art GPU. By highly exploiting the parallel computing architecture of the GPU, the fast bilateral stereo performs in real time when processing the Middlebury stereo datasets.

cs.CV↗

arXiv2018

A Novel Disparity Transformation Algorithm for Road Segmentation

The disparity information provided by stereo cameras has enabled advanced driver assistance systems to estimate road area more accurately and effectively. In this paper, a novel disparity transformation algorithm is proposed to extract road areas from dense disparity maps by making the disparity value of the road pixels become similar. The transformation is achieved using two parameters: roll angle and fitted disparity value with respect to each row. To achieve a better processing efficiency, golden section search and dynamic programming are utilised to estimate the roll angle and the fitted disparity value, respectively. By performing a rotation around the estimated roll angle, the disparity distribution of each row becomes very compact. This further improves the accuracy of the road model estimation, as demonstrated by the various experimental results in this paper. Finally, the Otsu's thresholding method is applied to the transformed disparity map and the roads can be accurately segmented at pixel level.

cs.CV↗

arXiv2018

Does putting your emotions into words make you feel better? Measuring the minute-scale dynamics of emotions from online data

Studies of affect labeling, i.e. putting your feelings into words, indicate that it can attenuate positive and negative emotions. Here we track the evolution of individual emotions for tens of thousands of Twitter users by analyzing the emotional content of their tweets before and after they explicitly report having a strong emotion. Our results reveal how emotions and their expression evolve at the temporal resolution of one minute. While the expression of positive emotions is preceded by a short but steep increase in positive valence and followed by short decay to normal levels, negative emotions build up more slowly, followed by a sharp reversal to previous levels, matching earlier findings of the attenuating effects of affect labeling. We estimate that positive and negative emotions last approximately 1.25 and 1.5 hours from onset to evanescence. A separate analysis for male and female subjects is suggestive of possible gender-specific differences in emotional dynamics.

cs.SI↗

arXiv2018

Real-time stereo vision-based lane detection system

The detection of multiple curved lane markings on a non-flat road surface is still a challenging task for automotive applications. To make an improvement, the depth information can be used to greatly enhance the robustness of the lane detection systems. The proposed system in this paper is developed from our previous work where the dense vanishing point Vp is estimated globally to assist the detection of multiple curved lane markings. However, the outliers in the optimal solution may severely affect the accuracy of the least squares fitting when estimating Vp. Therefore, in this paper we use Random Sample Consensus to update the inliers and outliers iteratively until the fraction of the number of inliers versus the total number exceeds our pre-set threshold. This significantly helps the system to overcome some suddenly changing conditions. Furthermore, we propose a novel lane position validation approach which provides a piecewise weight based on Vp and the gradient to reduce the gradient magnitude of the non-lane candidates. Then, we compute the energy of each possible solution and select all satisfying lane positions for visualisation. The proposed system is implemented on a heterogeneous system which consists of an Intel Core i7-4720HQ CPU and a NVIDIA GTX 970M GPU. A processing speed of 143 fps has been achieved, which is over 38 times faster than our previous work. Also, in order to evaluate the detection precision, we tested 2495 frames with 5361 lanes from the KITTI database (1637 lanes more than our previous experiment). It is shown that the overall successful detection rate is improved from 98.7% to 99.5%.

cs.CV↗

arXiv2017

A Comparative Study of Interface Techniques for Transmission and Distribution Dynamic Co-Simulation

Transmission and distribution dynamic co-simulation is a practical and effective approach to leverage existing simulation tools for transmission and distribution systems to simulate dynamic stability and performance of transmission and distribution systems in a systematic manner. Given that these tools are developed as stand-alone programs and there are inherent differences between them, interface techniques become critical to bridge them. Two important unsolved questions are: 1) which interface technique is better and should be used, and 2) how the modeling and simulation capabilities in these tools that are available and can be exploited for co-simulation should be considered when selecting an interface technique. To address these questions, this paper presents a comparative study for different interface techniques that can be employed for T and D dynamic co-simulation. The study provides insights into the pros and cons of each interface technique, and helps researchers make informed decisions on choosing the interface techniques.

eess.SY↗

arXiv2017

An agent-based model for emotion contagion and competition in online social media

Recent studies suggest that human emotions diffuse in not only real-world communities but also online social media. More and more mechanisms beyond emotion contagion are revealed, including emotion correlations which indicate their influence and the coupling of emotion diffusion and network structure such as tie strength. Besides, different emotions might even compete in shaping the public opinion. However, a comprehensive model that considers up-to-date findings to replicate the patterns of emotion contagion in online social media is still missing. In this paper, to bridge this vital gap, we propose an agent-based emotion contagion model which combines features of emotion influence and tie strength preference in the dissemination process. The simulation results indicate that anger-dominated users have higher vitality than joy-dominated ones, and anger prefers weaker ties than joy in diffusion, which could make it easier to spread between online groups. Moreover, anger's high influence makes it competitive and easily to dominate the community, especially when negative public events occur. It is also surprisingly revealed that as the ratio of anger approaches joy with a gap less than 10%, angry tweets and users will eventually dominate the online social media and arrives the collective outrage in the cyber space. The critical gap disclosed here can be indeed warning signals at early stages for outrage controlling in online social media. All the parameters of the presented model can be easily estimated from the empirical observations and their values from historical data could help reproduce the emotion contagion of different circumstances. Our model would shed lights on the study of multiple issues like forecasting of emotion contagion in terms of computer simulations.

cs.SI↗

arXiv2017

A GPU-Based Solution to Fast Calculation of Betweenness Centrality on Large Weighted Networks

Recent decades have witnessed the tremendous development of network science, which indeed brings a new and insightful language to model real systems of different domains. Betweenness, a widely employed centrality in network science, is a decent proxy in investigating network loads and rankings. However, the extremely high computational cost greatly prevents its applying on large networks. Though several parallel algorithms have been presented to reduce its calculation cost on unweighted networks, a fast solution for weighted networks, which are in fact more ubiquitous than unweighted ones in reality, is still missing. In this study, we develop an efficient parallel GPU-based approach to boost the calculation of betweenness centrality on very large and weighted networks. Comprehensive and systematic evaluations on both synthetic and real-world networks demonstrate that our solution can arrive the performance of 30x to 150x speedup over the CPU implementation by integrating the work-efficient and warp-centric strategies. Our algorithm is completely open-sourced and free to the community and it is public available through https://dx.doi.org/10.6084/m9.figshare.4542405. Considering the pervasive deployment and declining price of GPU on personal computers and servers, our solution will indeed offer unprecedented opportunities for exploring the betweenness related problems in network science.

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