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Licong Zhang

Bio: Licong Zhang is an academic researcher from Technische Universität München. The author has contributed to research in topics: FlexRay & Software. The author has an hindex of 11, co-authored 26 publications receiving 397 citations. Previous affiliations of Licong Zhang include Dresden University of Technology.

Papers
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Proceedings ArticleDOI
24 Dec 2012
TL;DR: This paper considers the problem of tracking human motion with a 22-DOF kinematic model from depth images and finds that the approach is significantly more robust for unconstrained motions and under (partial) occlusions.
Abstract: In this paper, we consider the problem of tracking human motion with a 22-DOF kinematic model from depth images. In contrast to existing approaches, our system naturally scales to multiple sensors. The motivation behind our approach, termed Multiple Depth Camera Approach (MDCA), is that by using several cameras, we can significantly improve the tracking quality and reduce ambiguities as for example caused by occlusions. By fusing the depth images of all available cameras into one joint point cloud, we can seamlessly incorporate the available information from multiple sensors into the pose estimation. To track the high-dimensional human pose, we employ state-of-the-art annealed particle filtering and partition sampling. We compute the particle likelihood based on the truncated signed distance of each observed point to a parameterized human shape model. We apply a coarse-to-fine scheme to recognize a wide range of poses to initialize the tracker. In our experiments, we demonstrate that our approach can accurately track human motion in real-time (15Hz) on a GPGPU. In direct comparison to two existing trackers (OpenNI, Microsoft Kinect SDK), we found that our approach is significantly more robust for unconstrained motions and under (partial) occlusions.

111 citations

Proceedings ArticleDOI
20 Feb 2014
TL;DR: This work forms the co-synthesis problem of task and communication schedules as a Mixed Integer Programming (MIP) model taking into account a number of Ethernet-specific timing parameters such as interframe gap, precision and synchronization error.
Abstract: In this paper, we study time-triggered distributed systems where periodic application tasks are mapped onto different end stations (processing units) communicating over a switched Ethernet network. We address the problem of application level (i.e., both task- and network-level) schedule synthesis and optimization. In this context, most of the recent works [10], [11] either focus on communication schedule or consider a simplified task model. In this work, we formulate the co-synthesis problem of task and communication schedules as a Mixed Integer Programming (MIP) model taking into account a number of Ethernet-specific timing parameters such as interframe gap, precision and synchronization error. Our formulation is able to handle one or multiple timing objectives such as application response time, end-to-end delay and their combinations. We show the applicability of our formulation considering an industrial size case study using a number of different sets of objectives. Further, we show that our formulation scales to systems with reasonably large size.

60 citations

Proceedings ArticleDOI
11 Apr 2016
TL;DR: A co-optimization approach for FlexRay-based distributed control systems, that synthesizes both the controllers and the task and communication schedules and generates a Pareto front representing the trade-offs between these two, which allows the engineers to make suitable design choices.
Abstract: Recently, research on control and architecture co- design has been drawing increasingly more attention. This is because these techniques integrate the design of the controllers and the architecture and explore the characteristics on both sides to achieve more efficient design of embedded control systems. However, there still exist several challenges like the large design space and inadequate trade-off opportunities for different objectives like control performance and resource utilization. In this paper, we propose a co-optimization approach for FlexRay-based distributed control systems, that synthesizes both the controllers and the task and communication schedules. This approach exploits some FlexRay protocol specific characteristics to reduce the complexity of the whole optimization problem. This is done by employing a customized control design and a nested two-layered optimization technique. Therefore, compared to existing methods, the proposed approach is more scalable. It also allows multi-objective optimization taking into account both the overall control performance and the bus resource utilization. This approach generates a Pareto front representing the trade-offs between these two, which allows the engineers to make suitable design choices.

43 citations

Proceedings ArticleDOI
01 Jul 2017
TL;DR: This paper identifies that battery management of such application has a major impact of the costs, and formulates an optimization problem to reduce the aging of batteries, and identifies two sub-problems, battery assignment, and battery scheduling to derive a solution that minimizes the Aging of the batteries.
Abstract: Recent advances in battery and drone technologies have opened up possibilities of commercial use of drones. Private companies are looking into the possibilities of using drones for commercial deliveries from the legal, technical, and economical perspective. Nevertheless, the battery management perspective of such businesses has not yet been thoroughly investigated. In this paper, we identify that battery management of such application has a major impact of the costs, and formulate an optimization problem to reduce the aging of batteries. We identify two sub-problems, battery assignment, and battery scheduling to derive a solution that minimizes the aging of the batteries. We show that the formulation enables leveraging the trade-off relationships between the packet waiting time and battery purchasing cost. The experimental results show the proposed method reduce the electricity and battery purchasing cost by 25%, and average packet waiting time by more than 50%.

29 citations

Proceedings ArticleDOI
07 Nov 2016
TL;DR: The XiL approach implies fast development cycles due to easy integration of software, vehicle and plant components on the PC, and strives for seamless transition between X-in-the-loop setups, with X representing any control model, software, or hardware under test.
Abstract: The development of automotive electronics and software systems is often associated with high costs due to their multi-domain nature (including control engineering, electronics, hydraulics, mechanics, etc). The involvement of these different disciplines makes it difficult for control engineers to test their controllers with them being integrated in the whole system, in early development phases. By introducing the "XiL approach", ETAS wants to leverage virtualization techniques in order to bring embedded systems to the desk of every developer. The XiL approach implies fast development cycles due to easy integration of software, vehicle and plant components on the PC. XiL strives for seamless transition between X-in-the-loop setups, with X representing any control model (M), software (S), or hardware (H) under test. This paper will outline this methodology with an engine management system example.

25 citations


Cited by
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Book
26 Aug 2021
TL;DR: The use of unmanned aerial vehicles (UAVs) is growing rapidly across many civil application domains, including real-time monitoring, providing wireless coverage, remote sensing, search and rescue, delivery of goods, security and surveillance, precision agriculture, and civil infrastructure inspection.
Abstract: The use of unmanned aerial vehicles (UAVs) is growing rapidly across many civil application domains, including real-time monitoring, providing wireless coverage, remote sensing, search and rescue, delivery of goods, security and surveillance, precision agriculture, and civil infrastructure inspection. Smart UAVs are the next big revolution in the UAV technology promising to provide new opportunities in different applications, especially in civil infrastructure in terms of reduced risks and lower cost. Civil infrastructure is expected to dominate more than $45 Billion market value of UAV usage. In this paper, we present UAV civil applications and their challenges. We also discuss the current research trends and provide future insights for potential UAV uses. Furthermore, we present the key challenges for UAV civil applications, including charging challenges, collision avoidance and swarming challenges, and networking and security-related challenges. Based on our review of the recent literature, we discuss open research challenges and draw high-level insights on how these challenges might be approached.

901 citations

Journal ArticleDOI
02 Jul 2014-Sensors
TL;DR: A depth-based life logging HAR system is designed to recognize the daily activities of elderly people and turn these environments into an intelligent living space and achieves satisfactory recognition rates against the conventional approaches.
Abstract: Recent advancements in depth video sensors technologies have made human activity recognition (HAR) realizable for elderly monitoring applications. Although conventional HAR utilizes RGB video sensors, HAR could be greatly improved with depth video sensors which produce depth or distance information. In this paper, a depth-based life logging HAR system is designed to recognize the daily activities of elderly people and turn these environments into an intelligent living space. Initially, a depth imaging sensor is used to capture depth silhouettes. Based on these silhouettes, human skeletons with joint information are produced which are further used for activity recognition and generating their life logs. The life-logging system is divided into two processes. Firstly, the training system includes data collection using a depth camera, feature extraction and training for each activity via Hidden Markov Models. Secondly, after training, the recognition engine starts to recognize the learned activities and produces life logs. The system was evaluated using life logging features against principal component and independent component features and achieved satisfactory recognition rates against the conventional approaches. Experiments conducted on the smart indoor activity datasets and the MSRDailyActivity3D dataset show promising results. The proposed system is directly applicable to any elderly monitoring system, such as monitoring healthcare problems for elderly people, or examining the indoor activities of people at home, office or hospital.

195 citations

Journal ArticleDOI
TL;DR: An automatic online assessment method for the reliability of CPS is proposed, which builds an evaluation framework based on the knowledge of machine learning, designs an online rank algorithm, and realizes the online analysis and assessment in real time.
Abstract: The intelligent industrial environment developed with the support of the new generation network cyber-physical system (CPS) can realize the high concentration of information resources. In order to carry out the analysis and quantification for the reliability of CPS, an automatic online assessment method for the reliability of CPS is proposed in this article. It builds an evaluation framework based on the knowledge of machine learning, designs an online rank algorithm, and realizes the online analysis and assessment in real time. The preventive measures can be taken timely, and the system can operate normally and continuously. Its reliability has been greatly improved. Based on the credibility of the Internet and the Internet of Things, a typical CPS control model based on the spatiotemporal correlation detection model is analyzed to determine the comprehensive reliability model analysis strategy. Based on this, in this article, we propose a CPS trusted robust intelligent control strategy and a trusted intelligent prediction model. Through the simulation analysis, the influential factors of attack defense resources and the dynamic process of distributed cooperative control are obtained. CPS defenders in the distributed cooperative control mode can be guided and select the appropriate defense resource input according to the CPS attack and defense environment.

190 citations

Proceedings ArticleDOI
10 Jul 2019
TL;DR: Evaluation on two different self-driving car software systems demonstrates that AsFault can generate effective virtual road networks that succeed in revealing software failures, which manifest as cars departing their lane.
Abstract: Self-driving cars rely on software which needs to be thoroughly tested. Testing self-driving car software in real traffic is not only expensive but also dangerous, and has already caused fatalities. Virtual tests, in which self-driving car software is tested in computer simulations, offer a more efficient and safer alternative compared to naturalistic field operational tests. However, creating suitable test scenarios is laborious and difficult. In this paper we combine procedural content generation, a technique commonly employed in modern video games, and search-based testing, a testing technique proven to be effective in many domains, in order to automatically create challenging virtual scenarios for testing self-driving car soft- ware. Our AsFault prototype implements this approach to generate virtual roads for testing lane keeping, one of the defining features of autonomous driving. Evaluation on two different self-driving car software systems demonstrates that AsFault can generate effective virtual road networks that succeed in revealing software failures, which manifest as cars departing their lane. Compared to random testing AsFault was not only more efficient, but also caused up to twice as many lane departures.

141 citations