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Active Learning Method Based on Pseudo-labeling

Active Learning Method Based on Pseudo-labeling

引用

robotics, control and automation (ICRCA), international conference on

作者： Xiaonan Hou Chunlei Wang The 21st Research Institute of China Electronics Technology Group Corporation Shanghai China

ISBN: (数字)9798350344721

ISBN: (纸本)9798350344738

As an important fundamental task in the field of computer vision, object detection has a wide range of applications. the performance of object detection not only depends on excellent network structures but also requires the support of large and rich annotated datasets. However, annotating data requires a considerable amount of personnel and funding, and the quality of the annotated data greatly affects the accuracy of object detection algorithms. In order to solve the problem of labeling cost, researchers, we proposed a multi-scale feature fusion method is designed to fuse and reduce the dimensionality of the multi-scale features of unlabeled samples, while retaining the main features of the samples and reducing computational burden. Clustering is used to apply pseudo-label classification to unlabeled samples, and information entropy is introduced to calculate the uncertainty of unlabeled samples, considering both uncertainty and diversity of the unlabeled samples. the experiment results on Pascal VOC data set and MS COCO data set prove that our method is equivalent to the latest methods. the ablation experiment proves that our method can effectively improve the labeling efficiency and can achieve the effect that would otherwise be achieved in a larger data set.

关键词： Learning systems Computer vision Uncertainty Costs Fuses Object detection Labeling

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Transformer Based Sptial-Temporal Extraction Model for Video Anomaly Detection

Transformer Based Sptial-Temporal Extraction Model for Video...

引用

robotics, control and automation (ICRCA), international conference on

作者： Zhiqiang Wang Xiaojing Gu Xingsheng Gu Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministryof Education East China University of Science and Technology Shanghai China

ISBN: (数字)9798350344721

ISBN: (纸本)9798350344738

the objective of video anomaly detection is to pinpoint abnormal events through the surveillance of videos captured by vision sensors. this technique holds significant value in various fields such as public safety and industrial production process monitoring. Video data is rich in spatial and temporal information. the key to enhancing detection performance lies in effectively utilizing these features in unison. Current methods attempt to separately extract spatial and temporal features, merging them in the latent space. However, these methods overlook the continuity of the video. To address this issue, we propose a model that fuses consecutive and differential spatial-temporal features. this model generates new data containing both consecutive and differential features between different frames of the input video clips. Given that anomalies are unrelated to the background, we perform object detection to mitigate the background's influence. Subsequently, we introduce static filtering to eliminate static objects that contain confusing optical flow. Comprehensive experiments demonstrate that our proposed method delivers outstanding performance on benchmark datasets.

关键词： Filtering Surveillance Object detection vision sensors Feature extraction Transformers Spatiotemporal phenomena

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A Method of Tight Placement for Robotic Dense Packing 7

A Method of Tight Placement for Robotic Dense Packing

引用

7th IEEE international conference on Advanced robotics and Mechatronics

作者： Zhou, Zhenning Zhang, Zhuangzhuang Xie, Kaiyi Zhu, Xiaoxiao Huang, Huang Cao, Qixin Shanghai Jiao Tong Univ Sch Mech Engn State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China China Acad Space Technol Beijing 100094 Peoples R China

ISBN: (数字)9781665483063

ISBN: (纸本)9781665483063

Recent advances in the field of robotics, sensor technology and artificial intelligence, cause the perception and policy of robots to be more and more efficient, which motivates the process of packing automation in warehouses. Nevertheless, compared with manual operation, current robot packing methods tend to use a minimalistic suction cup as the end effector, which lacks flexibility and always needs subsequent push and pull actions to ensure compactness, resulting in low efficiency. Moreover, current methods mostly lack the ability of external force/torque perception, bringing much uncertainty and danger in such a contact-rich task. In this paper, we design a framework based on force/torque perception and compliance control to improve the performance in robustness and safety. Meanwhile, with the proposed compliance controller, a method of tight placement for dense packing is proposed to place cubes in the bin successfully and tightly, without additional actions as assistance. Specifically, we focus on the situation where the robotic arm has been visually guided near the desired placement position by predefined placement order and the pose of the bin, where the effect of errors caused by vision are considered in our algorithm. Finally, the proposed pipeline is evaluated in abundant contrast experiments and demonstrated to be relatively robust and accurate under errors and uncertainties, compared with prior methods.

关键词： Uncertainty Mechatronics automation Pipelines Robot sensing systems Robustness End effectors

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2021 7th international conference on control, automation and robotics, ICCAR 2021

2021 7th International Conference on Control, Automation and...

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7th international conference on control, automation and robotics, ICCAR 2021

ISBN: (纸本)9781665449861

the proceedings contain 72 papers. the topics discussed include: development of autonomous hand tractor’s prototype navigation using vision-based system for obstacle detection and multipoint tracking system for Philippine agricultural fields;design of bionic batfish based on topology optimization method;extending RatSLAM toward a multi-scale model of grid cells;genetic algorithm based heuristic for constrained industry factory workforce scheduling;development and locomotion control of a horizontal ledge-climbing robot;guiding deep reinforcement learning by modelling expert’s planning behavior;research on emergence reconnaissance mechanism of electromagnetic agent based on sand pile model;a framework for an intelligent robotic manipulator coupled with a wheelchair;and monocular vision based grasping approach for a mobile manipulator.

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Extended state observer based anti-disturbance tracking control for omnidirectional mobile robots subject to uncertainties and wheel skidding 6

Extended state observer based anti-disturbance tracking cont...

引用

6th international conference on automation, control and robotics Engineering (CACRE)

作者： Wang, Changshun Wang, Dan Peng, Zhouhua Dalian Maritime Univ Sch Marine Elect Engn Dalian 116026 Peoples R China Shandong Jiaotong Univ Sch Informat Sci & Elect Engn Jinan 250357 Peoples R China

ISBN: (纸本)9781665435765

this paper presents an Extended State Observer (ESO) based anti-disturbance controller for Omnidirectional Mobile Robots (OMRs) subject to uncertainties and wheel skidding. the ESO is utilized to recover the velocities and estimate the total disturbances consist of uncertainties, external disturbances and skidding. then the disturbances are compensated by an anti-disturbance controller proposed with back-stepping technique. the Input-to-State Stability (ISS) of the closed-loop system is analyzed via cascaded theory and simulation results are provided to verify the effectiveness of the proposed controller.

关键词： Extended State Observer (ESO) Omnidirectional Mobile Robot (OMR) skidding antidisturbance controller

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Design and Feasibility Test of an Automatic Scraping Robot

Design and Feasibility Test of an Automatic Scraping Robot

引用

international conference on Autonomous Robots and Agents, ICARA

作者： Zhenmeng Cui Liang Han Guancheng Dong Yingze Lin Yangzhen Gao Shuaishuai Fan School of Mechanical Engineering Southeast University NanJing China

Scraping is a key technology in high-precision machine tool machining. Scraping can eliminate the accumulated tolerances and improve the assembly accuracy of the machine tool. Scraping is a time-consuming and tedious manual labor, which is usually conducted by experienced technician. To overcome these shortcomings, a novel automatic scraping robot was designed and tested in this study. the robot includes a 3-axis moving mechanism, a vision recognition system, a 3-D measurement system, and a control system. In this study, milling is used to simulate the shape of tool marks in the traditional scraping process. After a series of tests, the designed robot has been verified to be able to perform automatic scraping work. the workpiece scraped with this robot meets the standard of a high precision machine.

关键词： Motion planning automation Shape Robot kinematics Machine vision Milling Manuals

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Integrated Machine vision and PLC Commanding for Efficient Bottle Label Detection in Industrial Processes: A Unified Approach for Quality control

Integrated Machine Vision and PLC Commanding for Efficient B...

引用

international conference on control, automation and robotics (ICCAR)

作者： Miras Akhmetov Damir Kanymkulov Amir Amirov Almira Askhatova Tohid Alizadeh Department of Robotics and Mechatronics Nazarbayev University Astana Kazakhstan Faculty of Mathematics and Natural Sciences Heinrich Heine University Düsseldorf Düsseldorf Germany Department of Electical and Computer Engineering Nazarbayev University Astana Kazakhstan

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

this paper presents an integrated approach to bottle label detection in industrial processes, combining machine vision techniques with Programmable Logic controller (PLC) commanding for an efficient and reliable quality control system. the logic of the label detection station was developed using ladder diagrams to simulate the process and determine whether to retain or remove a bottle on the conveyor based on label presence. the image processing component, executed in Python, manipulated the main variable indicating the label's presence on the bottle. CODESYS was employed to visually represent the process, and in the simulation phase, the bottle traversed the conveyor, halting when the proximity sensor activated. Python code provided the labeling status, and the corresponding image was displayed on a simulation screen. To bridge the gap between image processing and logic control, the functionality of image processing in Python was linked with the CODESYS logic. An OPC UA server in CODESYS facilitated external connections, enabling Python to access and configure CODESYS variables. Challenges, such as scanning rate disparities between Python and CODESYS, were addressed through the introduction of sessions synchronized by a counter. Technical steps involved using an OPC UA client program to monitor server availability and access CODESYS program variables. the installation of the Security plugin in CODESYS ensured secure external connections. the project's key realization was the seamless linkage between image processing and PLC logic, demonstrating an effective integration of machine vision into industrial processes. For bottle label detection, the paper employed OpenCV for object recognition. the image segmentation method, utilizing adaptive thresholding, distinguished the bottle from its background, optimizing the separation process. Contours were identified using findContours(), and a thorough cleanup using arcLength() and approxPolyDP() functions ensured only relev

关键词： Image segmentation thresholding (Imaging) Machine vision Image processing Process control Quality control Labeling

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vision-based Air-writing Character Segmentation and Reproduction

Vision-based Air-writing Character Segmentation and Reproduc...

引用

robotics, Intelligent control and Artificial Intelligence (RICAI), international conference on

作者： Yi Zhang Chao Zeng Chenguang Yang College of Automation Science and En-gineering South China University of Technology Guangzhou China College of Automation Guangdong University of Technology Guangzhou China

To address the writing needs of visually impaired individuals, this paper proposes an air-writing segmentation and reproduction system that combines the advantages of air-writing with the efficiency of robotic learning by demonstration (LID). the solution utilizes the Mediapipe Hand to record the writer's continuous spatial character trajectory in front of the camera, and later uses a rule-based approach to achieve automatic segmentation of the continuous character trajectory. In addition, the utilization of dynamic movement primitives (DMPs) maintains the writer's original writing habits while reproducing the char-acters in a designated area, adhering to the writing specifications and ensuring legibility. the proposed system was tested on 15 sets of continuous word trajectories covering 26 letters, experimen-tally proves the effectiveness of the algorithm.

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Research on High-Frequency Motion control of Voice Coil Motors Based on Fuzzy PID 16th

Research on High-Frequency Motion Control of Voice Coil Moto...

引用

16th international conference on Intelligent robotics and Applications, ICIRA 2023

作者： Huang, Feng Wang, Chenxi Fu, Yang Wang, Lijun Li, Qipeng School of Mechanical and Energy Engineering Zhejiang University of Science and Technology Hangzhou China Zhejiang Lianyi Motor Co. Ltd. Hangzhou China School of Automation and Electrical Engineering Zhejiang University of Science and Technology Hangzhou China

ISBN: (纸本)9789819964918

Voice coil motors are widely used in high-precision manufacturing and processing fields because of their simple mechanical structure, fast dynamic response, and high linearity. the motion control algorithms and control accuracy of voice coil motors have become the focus of industry research. In this paper, the mechanical structure and electrical system of a voice coil motor are modeled, and a cascade fuzzy PID controller is designed for the motor. then the control simulation is carried out in Simulink to verify the control method. the simulation results show that the performance of the designed fuzzy PID controller is superior to the classical PID controller in terms of adapting load change. © the Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Motion control

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Model-Free Feedback control of a Hybrid-driven Soft Manipulator

Model-Free Feedback Control of a Hybrid-driven Soft Manipula...

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international conference on Mechatronics and Machine vision in Practice (M2VIP)

作者： Xin Fu Daohui Zhang Kai Li Yaqi Chu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

Soft robots offer high compliance and flexibility, enhancing their human and environmental interaction capabilities. However, complex modeling and control hinder the adoption of soft robots. this paper presents a novel model-free control approach for a hybrid-driven soft manipulator. It utilizes a model-free control method to estimate the Jacobian matrix in real time via end position feedback of the soft manipulator. To mitigate operational noise, Huber’s M-estimation technique is incorporated. Furthermore, an inner and outer loop motion controller is designed to effectively govern the soft manipulator and accelerate the pneumatic drive's response within the hybrid drive system. the proposed control approach is demonstrated through experiments. the results substantiate its capability to withstand external disturbances and environmental noise, enabling efficient soft manipulator control.

关键词： Jacobian matrices Computational modeling Working environment noise Refining Noise Estimation Soft robotics Manipulators Real-time systems Tendons

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