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Feature Pyramid Network Based on Skip Connect for Vehicle Prediction 2

Feature Pyramid Network Based on Skip Connect for Vehicle Pr...

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2nd International Conference on Robotics, Automation and Intelligent control, ICRAIC 2022

作者： Li, Peixin Liu, Jiaqi Yang, Lu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China

The trajectory prediction of the target vehicle can improve the perception ability of autonomous driving vehicles in the open world environment and is an essential technology for realizing high-level fully automatic driving. The traditional vehicle trajectory prediction model based on image input is sensitive to the image style of the dataset and has weak generalization ability. The prediction model based on intermediate features can overcome the problem of different dataset styles. However, there are relatively few explorations on building models based on intermediate semantic features. Inspired by the feature pyramid in image processing, this paper proposes an FPSP (Feature Pyramid network based on Skip connect for vehicle Prediction) network. By adding the pyramid feature branch, the original network is improved. The initial coarse information is hierarchically introduced into corresponding abstract high-dimensional features. Experiments on the KITTI dataset prove that FPSP achieves considerable improvement with only a slight increase in time consumption. © Published under licence by IOP Publishing Ltd.

关键词： Forecasting

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Teaching Innovation and Practice of Mind Mapping Applied to engineering Drawing course 12

Teaching Innovation and Practice of Mind Mapping Applied to ...

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12th IEEE International Conference on Educational and Information Technology, ICEIT 2023

作者： Xue, Yahong Mu, Haozhi Xue, Lijun Wang, Xiaofei Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9781665475518

engineering drawing is a compulsory technical foundation course for mechanical majors. Its main task is to cultivate students' ability to draw and read engineering drawings. The content of this course is complicated and abstract and not easy to understand, which makes it difficult for students to learn. Mind mapping is a visual thinking tool to systematize and organize abstract and complicated knowledge. Taking the application of mind mapping to various teaching processes of engineering drawing course, such as the construction of framework, the sorting out of fragmented knowledge, the solution of drawing geometry and sectional view, and the group project for important and difficult content as examples, we illustrate the importance of mind map in cultivating students' knowledge generalization ability, independent learning ability, enhancing students' logical thinking, creative thinking, divergent thinking, and stimulating students' interest in learning. © 2023 IEEE.

关键词： Students

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Research on vision detection technology based on photometric calibration

Research on vision detection technology based on photometric...

引用

2021 IEEE International Conference on Computer Science, Electronic Information engineering and Intelligent control Technology, CEI 2021

作者： Sun, Guoqing Zhou, Haibo Li, Chenming Zhao, Yijiao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9780738146492

The camera is affected by illumination changes and vignetting effect during the shooting process, resulting in the lack of brightness information, which affects the accuracy of target detection. In order to reduce the impact of illumination changes and vignetting effect on image quality, obtain images closer to the real scene, and improve the accuracy of target detection, this paper conducts photometric calibration on the image from two aspects: the calibration of CRF (Camera Response Function) and the compensation function of vignetting effect. This paper first uses the N-degree polynomial model to construct the camera response function, proposes a functional model of vignetting compensation based on the position of the pixel point, and finally combines the first two experimental results and conducts experimental verification on the data set before and after the photometric calibration on different algorithms of target detection. The experimental results show that the application of photometric calibration in the field of machine vision can improve the adaptability of machine vision to illumination changes and vignetting effect to a certain extent. The self-made data set is trained and tested, when IoU is 0.7, the mAP calculated by the test set after photometric calibration is improved by 2.3% compared with the original data set. © 2021 IEEE.

关键词： Computer vision

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Development of a Car-Following Tendency Prediction Method and Its Application to a Forward Collision Warning system 20

Development of a Car-Following Tendency Prediction Method an...

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20th Intelligent Transport systems World Congress, ITS 2013

作者： Aoki, Hirofumi Ozaki, Osamu Advanced Vehicle Control System Development Division Toyota Motor Corporation 1200 Mishuku Susono Shizuoka410-1193 Japan Department of Mechanical Science and Engineering Nagoya University Japan

It is important to understand the driver's car-following tendency to enhance the effectiveness as well as the acceptance of advanced driving support systems. If a system can estimate the driver's usual car-following tendency, it can provide avoidance support matched to his/her sense of normal safety driving when the vehicle is approaching a preceding one. Since the car-following tendency varies not only between drivers but also within a driver by the feeling and/or the driving environment, real-time estimation is essential. This study introduces a method that can easily predict the car-following tendency. The method uses such parameters as the throttle-pedal released timing and the braking timing that were found to be correlated from the naturalistic driving data analysis. It was found that the method can predict the car-following tendency within a short distance. We applied the method to a forward collision warning system and confirmed the potential benefit of the system.

关键词： advanced driver assistance systems

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Gait Planning and Simulation of 3-RRP Legged Mobile Robot 20

Gait Planning and Simulation of 3-RRP Legged Mobile Robot

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Wang, Jinyuan Li, Bin Ma, Yue Wang, Xinjie Peng, Pai Peng, Wei Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350320831

In order to meet the requirements of keeping the body posture level with the ground during the movement of the quadruped robots, this paper designs a quadruped robot with three joints and three degrees of freedom in each leg, which is a 3-RRP kinematic chain. The legs and body of the quadruped robot are virtually modeled by SolidWorks. Combining the forward and inverse kinematics analysis, the reasonable and ideal foot trajectory and body motion trajectory are planned in Matlab. The gait stability is based on the ZMP stability criterion and is quantified by the stability margin. According to the structural characteristics of the quadruped robot in this paper, the body posture adjustment strategy is proposed. Finally, the simulation is carried out under the two gait plannings of straight driving and turning using ADAMS. The simulation results show that the quadruped robot has a reasonable walking gait on the flat road surface with little impact on the body. The minimum stability margin of the strategy with body adjustment is improved compared with the strategy without body adjustment. © 2023 IEEE.

关键词： Stability criteria

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Design of the Slave Hand Structure and Interference Detection for the Master-Slave Craniotomy Surgical Robot 2

Design of the Slave Hand Structure and Interference Detectio...

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2nd International Conference on Intelligent Equipment and Special Robots, ICIESR 2023

作者： Zhao, Lei Zhang, Guobin Li, Zehua Liu, Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (纸本)9781643685144

Existing neurosurgical robots are prone to interfering with each other in a narrow operating space due to the overlapping of several arms, which poses a great safety risk during surgery. In this paper, a 7-DOF dual-arm robot is designed to cooperate with the surgeon to complete craniotomy by manipulating the master hand mechanism. Aiming at the pain point that two real-time dynamic slave hands are prone to interference, this paper establishes a simplified model of the robot envelope, and transforms the interference detection problem between the robots into the interference checking of geometric primitives. If the interference between the two arms is detected by the algorithm, the surgical path of the current robotic arm is immediately terminated to ensure the safety of the surgery. Finally, the algorithm is simulated and verified with the robot designed in this paper. The results show that the algorithm is feasible and has high computational efficiency. © 2024 The Authors.

关键词： Structural design

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Structure design and kinematics modeling of a new continuum parallel robot 20

Structure design and kinematics modeling of a new continuum ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Wang, Xinjie Li, Bin Ma, Yue Peng, Wei Peng, Pai Wang, Jinyuan Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350320831

Compared with the traditional rigid robots, the continuum robot has been widely studied because of its advantages of compact design and flexible motion. The design of continuum parallel robots are similar to that of the traditional rigid-link parallel robot, and the precision, stability and strength characteristics of rigid-link parallel robots are combined with the compactness and flexibility characteristics of continuum robots. In recent research advances, it is well appreciated to suggest that the use of parallel continuum robots with passive supports is supported by elastic rods. The passive branch undergoes deformation along its entire length and uses complex formulas to describe its shape and kinematics. According to different methods, this paper proposes the design of a parallel robot dual continuum translation passive branch chain. This continuum joint will assume a constant curvature bend and use this assumption for kinematic modeling. Since the continuum joint is a flexible joint that utilizes the characteristics of new materials, it uses material deformation to replace the motion pair, which successfully realizes that the passive branch joint can replace the universal joint and the ball hinge in the parallel robot, and the joint can be bent more than 90 0 to achieve a larger range of workspace. Each passive branch of the new continuum robot is a continuum structure composed of two mutually coupled flexible hinge joints, and the translational motion of the end effector is inherently realized by using its material properties. The paper includes a new mechanism description and kinematics modeling. © 2023 IEEE.

关键词： Kinematics

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A Model-Data Compound Driven Method For Compensating Robot Tracking Error 20

A Model-Data Compound Driven Method For Compensating Robot T...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Peng, Pai Liu, Qi Li, Bin Peng, Wei Wang, Xinjie Wang, Jinyuan Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350320831

Industrial robots are widely used in industrial production because of their high work efficiency and high flexibility, but their low tracking accuracy makes them unable to be applied on a large scale in high-precision manufacturing. Considering the modeling error of robot, the problem of low tracking accuracy should be solved by combining model-based methods and data-based methods. Thus, a model-data compound approach is proposed for compensating robot tracking error. This method comprehensively considers two error compensation methods of model-driven and data-driven, which constructed the input matrix by using the model-based information and the data-based information. The former includes the desired position, velocity, acceleration, torque and friction torque;and the latter includes the actual torque. For the purpose of predicting the correlation between the joint error and the historical joint motion state, the historical information of the joint motion is also added in the input matrix for improving the error prediction accuracy. Then, a convolutional neural network prediction model is constructed for predicting and compensating the tracking error of each actuated joint. The experimental results show that the proposed method has good prediction accuracy and compensation effect. Compared to joint control without using the proposed method, the root mean square of joint tracking errors was reduced by up to more than 69%. © 2023 IEEE.

关键词： Error compensation

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Flow Field Simulation and Nozzle Parameter Optimization of Rust Removal Robot Based on High-Pressure Water Jet Technology 1

Flow Field Simulation and Nozzle Parameter Optimization of R...

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1st International Conference on Applied Physics and Mathematics, ICAPM 2023

作者： Peng, Wei Ma, Yue Li, Bin Wang, Xinjie Peng, Pai Wang, Jinyuan Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

To enhance the safety and longevity of large ships, employing high-pressure water jet technology for rust removal is crucial in this article, the qualitative relationship among the key parameters of high-pressure water jet rust removal is analyzed theoretically. Secondly, the flow field simulation is carried out using Computational Fluid Dynamics (CFD) software to verify the relationship among the key parameters. Finally, the influence of different nozzle length-diameter ratios on jet characteristics is analyzed. The simulation results show that the nozzle end length is 0 mm and the nozzle diameter is 1mm for the straight-cone convergent nozzle with a shrinking angle of 30° when the diameter of the length-diameter ratio remains unchanged and the length of the nozzle end is changed. Simultaneously, the highest values are observed for the nozzle exit velocity and the impact force on the target surface. The impact range of target shear force takes the maximum value when the length-diameter ratio is 1. Further, by changing the length of the nozzle-end and the nozzle diameter in the length-diameter ratio, the influence on the jet characteristics can be concluded that the nozzle diameter has a greater influence on the nozzle exit velocity than the nozzle-end length. On this basis, the optimized nozzle parameters can be obtained i.e., the nozzle-end length is 1 mm and the nozzle diameter is 1 mm, such that the effective striking area of the jet is the largest and the striking effect is the best. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Computational fluid dynamics

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TICNet: Three-Branch Real-Time Semantic Segmentation Network with Intensive Compensation of Railway Track Scenes 5

TICNet: Three-Branch Real-Time Semantic Segmentation Network...

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5th International Conference on Machine Learning and Computer Application, ICMLCA 2024

作者： Bai, Yiwen Yang, Lu Zhang, Lei Song, Yajing School of Transportation Science and Engineering Beihang University Beijing102206 China School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Tianjin300384 China Traffic Control Technology Co. Ltd. Beijing China

ISBN: (纸本)9798331530334

With the rapid development of railway traffic system, real-time semantic segmentation plays a crucial role in railway track scene monitoring. However, most of the existing methods use lightweight convolution to reduce the computational complexity, which results in reduced accuracy. To solve this problem, this paper proposes a real-time semantic segmentation network called TICNet, which is specifically used for accurate segmentation of railway track scenes. TICNet uses a novel three-branch structure designed for efficient feature extraction and accurate segmentation. Results on the RailSem19 dataset show that TICNet has a segmentation accuracy of 62.36% mIoU with an inference speed of 81.2 FPS, which is significantly better than many existing methods. © 2024 IEEE.

关键词： Semantic Segmentation

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