Jack Jianguo Wang

University of Technology Sydney | UTS · School of Civil and Environmental Engineering

The centimetre-level accuracy of Ultra-wideband (UWB) has attracted significant attention in indoor positioning. However, the precision of UWB positioning is severely compromised by non-line-of-sight (NLOS) conditions that arise from complex indoor environments. On the other hand, odometry is widely applicable to wheeled robots due to its reliable...

Multiple automatic guided vehicles are widely involved in industrial intelligence. Path planning is crucial for their successful application. However, achieving robust and efficient path planning of multiple automatic guided vehicles for real-time implementation is challenging. In this paper, we propose a two-layer strategy for multi-vehicle path p...

Ultra-wideband (UWB) systems promise centimetre-level accuracy for indoor positioning, yet they remain susceptible to non-line-of-sight (NLOS) errors due to complex indoor environments. A fusion mechanism that integrates the UWB with an odometer sensor is introduced to address this challenge and achieve a high positioning accuracy. A sliding window...

Biological principles draw attention to service robotics because of similar concepts when robots operate various tasks. Bioinspired perception is significant for robotic perception, which is inspired by animals’ awareness of the environment. This paper reviews the bioinspired perception and navigation of service robots in indoor environments, which...

Braille system is widely used worldwide for communication by visually impaired people. However, there are still some visually impaired people who are unable to learn Braille system due to various factors, such as the age (too young or too old), brain damage, etc. A wearable and low-cost Braille recognition system may substantially help these people...

UWB has a centimetre level of positioning accuracy in line of sight (LOS) environment, and is one of the most promoted indoor positioning technologies. However, when a wall or other objects block UWB signals, non-line of sight (NLOS) happens, which reduces the signal/noise ratio and causes signal transmission delay. As NLOS introduces large distanc...

Regular inspection of historic buildings is essential, while path planning of the building inspection is challenging because it requires comprehensive coverage at a low cost. Most of the previous research does not consider the multiple buildings’ environment. In this paper, a three-dimensional path planning approach is proposed to provide the inspe...

Braille system is world widely used for visually impaired people for communication. However, there are still some visually impaired people who are not able to learn Braille system due to various factors, such as the age (too young or too old), damage of brain, etc. A wearable and low-cost Braille recognition system may substantially help these peop...

Ultra-wideband (UWB) is a promising indoor position technology with centimetre-level positioning accuracy in line-of-sight (LOS) situations. However, walls and other obstacles are common in an indoor environment, which can introduce non-line-of-sight (NLOS) and deteriorate UWB positioning accuracy to the meter level. This paper proposed a succinct...

Numerous path-planning studies have been conducted in past decades due to the challenges of obtaining optimal solutions. This paper reviews multi-robot path-planning approaches and decision-making strategies and presents the path-planning algorithms for various types of robots, including aerial, ground, and underwater robots. The multi-robot path-p...

In this work, a dynamic S-box is designed based on the chaotic neural network using the memristor model of LiNbO3 (LNO) single crystalline thin film. The LNO memristor, which shows good repeatability and the characteristic of gradual resistance change, is used as the self-feedback weight in the Transient Chaotic Neural Network (TCNN) model to form...

Epilepsy is a serious neurological condition caused by a sudden abnormality of brain neurons. An accurate epilepsy detection based on electroencephalogram (EEG) signals can provide vital information for diagnosis and treatment. In this study, we propose a lightweight automatic epilepsy detection system with artificial neural network based on our as...

This paper presents a UAV path planning approach for multi-building inspection, which is a new application for UAV path planning. It generates helix paths for single building inspection first and defines the possible points for collecting inspection data with reasonable time slots. After inspecting one building, the UAV flies to another building wi...

In recent years, with the growth of indoor positioning demand, many kinds of indoor positioning technologies have been studied. Compared with other technologies, UWB indoor positioning technology has the advantages of high positioning accuracy and strong anti-interference ability. However, the high cost of UWB hardware limits the application of thi...

Abstract. In recent years, with the growth of indoor positioning demand, many kinds of indoor positioning technologies have been studied. Compared with other technologies, UWB indoor positioning technology has the advantages of high positioning accuracy and strong anti-interference ability. However, the high cost of UWB hardware limits the applicat...

This paper introduces a method for tunnel point cloud and BIM model integration and cross-section monitoring, providing information to analyse tunnel cross-sections and surrounding rock deformation, and support for tunnel maintenance and reconstruction. Three types of data are processed for the integration: laser scanning point cloud, BIM tunnel mo...

This paper proposed an energy-efficient deep convolution neural networks coprocessor (DCNNs-CP) architecture for multi-object detection applications based on deep learning algorithms. The DCNNs-CP can support both convolutional layers and fully connected layers to accelerate various mobile deep learning algorithms. It also supports maximum and mean...

Winner-takes-all (WTA), an important mechanism in neural networks of recurrently connected neurons, is a critical element of many models of cortical processing. However, few WTA neural networks have been realized physically, especially by memristor networks. In this work, we have designed and implemented a neural network with memristor-based synaps...

In this paper, a reconfigurable and scalable spiking neural network processor, containing 192 neurons and 6144 synapses, is developed. By using deep compression technique in spiking neural network chip, the amount of physical synapses can be reduced to 1/16 of that needed in the original network, while the accuracy is maintained. This compression t...

RANSAC (random sample consensus) has been widely used as a benchmark algorithm for model fitting in the presence of outliers for more than thirty years. It is robust for outlier removal and rough model fitting, but neither reliable nor efficient enough for many applications where precision and time is critical. Many other algorithms have been propo...

Neuromorphic hardware inspired by the brain has attracted much attention for its advanced information processing concept. However, implementing online learning in the neuromorphic chip is still challenging. In this work, we present a bio-plausible online-learning spiking neural network (SNN) model for hardware implementation. The SNN consists of an...

In this work, a 2 GHz LC-VCO with neural network (Multilayer Perceptron) has been designed in a 0.13 um CMOS technology. With the integrated neural network, the linearity and tuning range of the LC-VCO has been substantially improved. Compared to a conventional VCO design, the proposed technique can improve the linearity by selecting optimized bias...

In this paper, an RF low noise amplifier (LNA) with self-recovery capability has been designed and implemented. A degradation model of hot carrier injection (HCI) of n-channel MOSFETs is proposed to simulate the aging process of the RF circuits, and a method for monitoring the HCI degradation in the RF circuits has been developed. Self-recovery mec...

Brain-inspired neuromorphic computing has attracted much attention for its advanced computing concept. However, the massive hardware cost in fully-connected architectures makes it challenging to build a large-scale neuromorphic system. In this work, we report a compact, programmable, versatile, and scalable neuromorphic architecture. To demonstrate...

Although there is a huge progress in complementary-metal-oxide-semiconductor (CMOS) technology, construction of an artificial neural network using CMOS technology to realize the functionality comparable with that of human cerebral cortex containing 1010-1011 neurons is still of great challenge. Recently, phase change memristor neuron has been propo...

Synaptic memristor has attracted much attention for its potential applications in artificial neural networks (ANNs). However useful applications in real life with such memristor-based networks have seldom been reported. In this work, an artificial neural network based on memristors is designed to learn a multi-variable regression model with back-pr...

This paper presents the design of a 3-10 GHz Ultra-wideband (UWB) low noise amplifier (LNA) in an 180 nm CMOS process. The LNA realized a high gain and reduced Noise Figure (NF) benefiting from gm-boosting structure. By using inductive-peaking-based bandwidth extension technique, this LNA can achieve a flat gain from 3 to 10 GHz. The LNA exhibits a...

Artificial intelligence algorithms have been applied separately or integrally for prediction, classification or optimization of buildings energy consumption. However, there is a salient gap in the literature on the investigation of hybrid objective function development for energy optimization problems including qualitative and quantitative datasets...

Heat storage has become more important because it utilizes the wasted energy to improve the overall efficiency of energy systems. This study was aimed to develop a chemical heat storage system using magnesium hydroxide (Mg(OH) 2) and its endothermic and exothermic reactions to cover thermal energy from the exhaust gas of internal combustion engines...

Simultaneous Localisation and Mapping (SLAM) has become one of key technologies used in advanced robot platform. The current state-of-art indoor SLAM with laser scanning rangefinders can provide accurate realtime localisation and mapping service to mobile robotic platforms such as PR2 robot. In recent years, many modern building designs feature lar...

Objective: The Fourier transform infrared spectroscopy (FT-IR) and two-dimension IR correlation infrared spectroscopy (2D-IR) were used for the identification of Paeoniae Radix Alba and Paeoniae Radix Rubraand their alcohol extracts. Methods: The FT-IR spectra method and 2D-IR correlation spectra method were used. Results: The structural informatio...

Objective: To study the dynamic processes of in vivo metabolism of multicomponent in the decoction of Angelicae Sinensis Radix (ASR), select the quality control components, look for a new quality evaluation method for Chinese materia medica (CMM). Methods: The blood was taken from mesenteric vein and abdominal aorta. By analyzing HPLC fingerprints...

It is believed that drawing an applicable, relevant and coherent batch of variables is a fundamental tenet in the success of having an integrated BIM-based energy optimisation but in order to achieve a high level of usefulness, these variables need to be refined and prioritised. Thus, this paper is to investigate BIM compatible variables which are...

This paper reports a compensating method for RF performance degradation of an ultra-wideband low noise amplifier (LNA) designed in 180 nm CMOS process. A self-compensating circuit for this LNA is presented. RF stress can cause a deterioration of RF performance due to the transconductance degradation. By applying this technique, the loss of transcon...

Precise trajectory prediction is a fundamental issue for ping-pong robot systems. Due to the difficulty of spin estimation and the complexity of the motion model, most existing algorithms ignore the effect of spin, which will result in a significant deviation in trajectory prediction of spinning ping-pong ball. Some literatures proposed to estimate...

Predicting the trajectory of flying objects with spin is a challenge but an essential task in many fields, especially in military and sports. Robots playing ping-pong is a very good platform to validate the trajectory prediction method. Various vision systems have been proposed, but only position information was used in most cases, which limits the...

In the recent decade, the potential of saving energy by systematic building management is known to be significant and this task should be considered throughout the life-cycle of a building. However, the most effective decisions related to sustainable design of a building facility are made in the feasibility and early design stages. Using buildi...

Although synaptic behaviours of memristors have been widely demonstrated, implementation of an even simple artificial neural network is still a great challenge. In this work, we demonstrate the associative memory on the basis of a memristive Hopfield network. Different patterns can be stored into the memristive Hopfield network by tuning the resist...

Although synaptic behaviours of memristors have been widely demonstrated, implementation of an even simple artificial neural network is still a great challenge. In this work, we demonstrate the associative memory on the basis of a memristive Hopfield network. Different patterns can be stored into the memristive Hopfield network by tuning the resist...

Genuine medicinal materials (GMM) is the representative of high quality materials, the particular area, excellent quality, and good efficacy make it into the essence of traditional Chinese medicine (TCM). But the scientific connotation of the GMM quality and the relationship between the quality and efficacy of GMM are the emphases and difficulty in...

ANSAC (random sample consensus) is a robust algorithm for model fitting and outliers’ removal, however, it is neither efficient nor reliable enough to meet the requirement of many applications where time and precision is critical. Various algorithms have been developed to improve its performance for model fitting. A new algorithm named PURSAC (purp...

For indoor pedestrian navigation with a shoe-mounted inertial measurement unit (IMU), the zero velocity update (ZUPT) technique is implemented to constrain the sensors' error. ZUPT uses the fact that a stance phase appears in each step at zero velocity to correct IMU errors periodically. This paper introduces three main contributions we have achiev...

Grid cells in the dorsocaudal medial entorhinal cortex (dMEC) of the rat provide a metric representation of the animal's local environment. The collective firing patterns in a network of grid cells forms a triangular mesh that accurately tracks the location of the animal. The activity of a grid cell network, similar to head direction cells, display...

Head direction cells are thought to be an integral part of the neural navigation system. These cells track the agent's current head direction irrespective of the host's location. In doing so, they process a combination of inputs: angular velocity and visual inputs are major effectors; to correctly encode the agent's current heading. There are close...

The core of multicomponent drug metabolism is the mutual influence of the transporters and drug metabolic enzymes interaction of more ingredients, with the simultaneous determination for multiple components as the principle, and with many components changes on the environmental impact as the emphasis. Its theoretical content composes by sequential...

In current China, the quality evaluation for Chinese materia medica (CMM) is one strategic issue of enormous important questions that need to be addressed. According to the current situation and major problems on the quality control (QC) for CMM, we use chemical analysis method, pharmacological model experiment method, and the calculation method co...

For ping-pong playing robots, observing a ball and predicting a ball’s trajectory accurately in real-time is essential. However, most existing vision systems can only provide ball’s position observation, and do not take into consideration the spin of the ball, which is very important in competitions. This paper proposes a way to observe and estimat...

RANSAC (random sample consensus) is a robust algorithm for model fitting and outliers’ removal, however, it is neither efficient nor reliable enough to meet the requirement of many applications where time and precision is critical. Various algorithms have been developed to improve its performance for model fitting. A new algorithm named PURSAC (pur...

This paper introduces a new algorithm for dead reckoning navigation named Constant Velocity Update (CUPT), which is an extension of popular Zero Velocity Update (ZUPT). With a low-cost IMU (Inertial Measurement Unit) attached to a user's shoe, the proposed algorithm can efficiently reduce IMU errors by detecting not only the stance phases during wa...

This paper addresses the issue of automatically profiling the road surface based on sensor fusion. Road surface profiling in this research paper includes road boundary detection, white line detection and lane division. We propose an approach to perform automatic and robust road surface profiling with the fusion of the following sensors: LADAR (Lase...

This paper presents a new state vector and a map joining algorithm for range-only SLAM problems. Local maps are built by least squares optimization using the new state vector and a landmark initialization strategy which is an improvement on our preliminary work [1]. The map joining algorithm combines the local maps using least squares optimization...

Zero velocity update (ZUPT) is an effective way for pedestrian navigation in a GPS (Global Positioning System) denied environment. The stance phase in each step provides zero velocity measurement for IMU (Inertial Measurement Unit) drift correction. Most previous research, however, gives navigation solutions only for pedestrian walking but not runn...

This paper discusses algorithmic concepts, design and testing of a pedestrian dead reckoning (PDR) navigation system based on a low-cost inertial measurement unit (IMU) attached to a user's shoe. The algorithm uses the technique known as “Zero Velocity Update” (ZUPT) and Kalman Filter consists of 24 error states to reduce IMU errors. We propose a n...

Road assets' condition has a critical impact on road safety and efficiency. It is a big challenge to accurately and efficiently monitor and manage road assets. This paper proposes a mobile surveying system that is cost efficient and robust to acquire and manage road assets information in highly dynamic environments like highways and urban streets,...

Kalman filtering theory plays an important role in integrated GPS/INS georeference system design. A Kalman filter (KF) uses measurement updates to correct system states error and to limit the errors in navigation solutions. However, only when the system dynamic and measurement models are correctly defined, and the noise statistics for the process a...

This paper considers the simultaneous localization and mapping (SLAM) problem where the range-only sensor is used. Landmark initialization is a critical issue in range-only SLAM due to the lack of bearing information from the robot to the landmarks. A new state vector is proposed to be used in solving the range-only SLAM. In the new state vector, t...

This paper first demonstrates an interesting property of bundle adjustment (BA), “scale drift correction”. Here “scale drift correction” means that BA can converge to the correct solution (up to a scale) even if the initial values of the camera pose translations and point feature positions are calculated using very different scale factors. This pro...

Autonomously operating unmanned aerial vehicles (UAV) have a great potential for many applications such as reconnaissance, mapping and surveillance. Whilst needing low cost and light weight navigation systems in their implementations, sensors like GPS or low cost inertial sensors can't separately provide either the complete set of information or th...

This paper introduces a new 3D landmark extraction method using the range and intensity images captured by a single range camera. Speeded up robust features (SURF) detection and matching is used to extract and match features from the intensity images. The range image information is used to transfer the selected 2D features into 3D points. The range...

This paper introduces a new approach for improving land vehicle navigation by integrating a digital camera with a GNSS receiver and a MEMS INS, to provide seamless robust navigation solutions in urban environment. As a camera has the ability to detect surrounding environment, it can measure its relative position and direction to the surrounding obj...

This paper presents an integrated GPS/INS/Vision navigation system for Unmanned Aerial Vehicles (UAVs). A CCD (Charge-Coupled Device) video camera and laser rangefinder (LRF) based vision system, combined with inertial sensors, provides the information on the vertical and horizontal movements of the UAV (helicopter) relative to the ground, which is...

Integrated GPS/INS systems have been used for geo-referencing airborne surveying and mapping platforms. However, due to the limited constellation of GPS satellites and their geometric distribution, the accuracy of such integrated systems cannot meet the requirements of precise airborne surveying. This problem can be addressed by including additiona...

GPS/INS integrated systems have been used in mapping applications for direct geo-referencing, which needs very accurate position and attitude solutions. However, due to the limited constellation of GPS satellites and their geometric distribution, the accuracy of GPS positioning cannot meet the requirements of large scale aerial photogrammetry. A GP...

Pseudolites, ground-based GPS signal transmitters, can significantly enhance the GPS satellite geometry or can even be an independent positioning system. However, as pseudolites are very close to the receivers, error effects are different from the traditional GPS and should be considered and modeled in a different way. Tropospheric delay is one of...

This paper presents a hybrid method for handwritten numeral recognition that combines two compensatory recognition algorithms by analysing their performance for several aspects. The skeleton-based structural recognition algorithm employed in this method is robust under distortion but sensitive to noise and flaws. On the other hand, the neural netwo...

Many handwritten character recognition systems can achieve a high recognition rate in general, but yield poor accuracy for flawed handwritten characters. This paper presents a new scheme to improve the recognition of flawed handwritten characters using a sequence of connected stroke separations, broken character mending and distorted characters rec...

Broken characters always create problems in handwriting recognition systems, especially those using boundary and/or skeleton information. This paper presents a macrostructure analysis (MSA) mending method based on skeleton and boundary information and an MSA that investigates the stroke tending direction and other properties of handwritings. A new...

GPS has been widely used as a geo-referencing tool in aerial surveying. However, the accuracy and availability of GPS positioning cannot meet the stringent requirements of large-scale photogrammetry. G round-based pseudolites can strengthen measurement geometry for GPS based airborne geo-referencing systems. As a result, positioning accuracy and re...

Carrier phase based DGPS systems have been used for airborne mapping for many years. Integrated GPS/INS systems are also becoming popular in order to improve the positioning accuracy, system reliability and achieve direct geo-referencing. However, this approach is limited by the current GPS constellation. Further improvement is required to achieve...

Although Kalman filtering is an optimal real-time data fusion method for GPS/INS integration, it has some limitations in terms of stability, adaptability and observability, etc. A Kalman filter can perform optimally only when its dynamic model is correctly defined and the noise statistics for the measurement and process are completely known. As a K...