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arXiv 2022年

作者： Zhu, Xiangyu Yu, Chang Huang, Di Lei, Zhen Wang, Hao Li, Stan Z. Center for Biometrics and Security Research National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences 95 Zhongguancun Donglu Beijing100190 China Beijing100049 China Beijing Advanced Innovation Center for BDBC Beihang University Beijing China Beijing100049 China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Chinese Academy of Sciences Hong Kong School of Engineering Westlake University Hangzhou China

3D Morphable Model (3DMM) fitting has widely benefited face analysis due to its strong 3D priori. However, previous reconstructed 3D faces suffer from degraded visual verisimilitude due to the loss of fine-grained geometry, which is attributed to insufficient ground-truth 3D shapes, unreliable training strategies and limited representation power of 3DMM. To alleviate this issue, this paper proposes a complete solution to capture the personalized shape so that the reconstructed shape looks identical to the corresponding person. Specifically, given a 2D image as the input, we virtually render the image in several calibrated views to normalize pose variations while preserving the original image geometry. A many-to-one hourglass network serves as the encode-decoder to fuse multiview features and generate vertex displacements as the fine-grained geometry. Besides, the neural network is trained by directly optimizing the visual effect, where two 3D shapes are compared by measuring the similarity between the multiview images rendered from the shapes. Finally, we propose to generate the ground-truth 3D shapes by registering RGB-D images followed by pose and shape augmentation, providing sufficient data for network training. Experiments on several challenging protocols demonstrate the superior reconstruction accuracy of our proposal on the face shape. Copyright © 2022, The Authors. All rights reserved.

关键词： Geometry

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FFPA-Net: Efficient Feature Fusion with Projection Awareness for 3D Object Detection

arXiv

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arXiv 2022年

作者： Jiang, Chaokang Wang, Guangming Wu, Jinxing Miao, Yanzi Wang, Hesheng Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China The Department of Engineering Mechanics Shanghai Jiao Tong University Shanghai200240 China

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D object detection. In this paper, first, unstructured 3D point clouds are filled in the 2D plane and 3D point cloud features are extracted faster using projection-aware convolution layers. Further, the corresponding indexes between different sensor signals are established in advance in the data preprocessing, which enables faster cross-modal feature fusion. To address LiDAR points and image pixels misalignment problems, two new plug- and-play fusion modules, LiCamFuse and BiLiCamFuse, are proposed. In LiCamFuse, soft query weights with perceiving the Euclidean distance of bimodal features are proposed. In BiLiCamFuse, the fusion module with dual attention is proposed to deeply correlate the geometric and textural features of the scene. The quantitative results on the KITTI dataset demonstrate that the proposed method achieves better feature-level fusion. In addition, the proposed network shows a shorter running time compared to existing methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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Optomechanical dissipative solitons (vol 600, pg 75, 2021)

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NATURE 2022年第7896期602卷 E24-E24页

作者： Zhang, Jing Peng, Bo Kim, Seunghwi Monifi, Faraz Jiang, Xuefeng Li, Yihang Yu, Peng Liu, Lianqing Liu, Yu-xi Alu, Andrea Yang, Lan Department of Electrical and Systems Engineering Washington University St. Louis MO USA Department of Automation Tsinghua University Beijing P. R. China Photonics Initiative Advanced Science Research Center City University of New York New York NY USA Physics Program Graduate Center City University of New York New York NY USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang P. R. China Institute of Microelectronics Tsinghua University Beijing P. R. China

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Evaluation of conventional inverter and nine level multilevel inverter in shunt active power filter

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AIP Conference Proceedings 2024年第1期3128卷

作者： Musa Yusup Lada Mohd Amran Mohd Radzi Jasronita Jasni Hashim Hizam Auzani Jidin Syahrul Hisham Mohamad Power Electronic & Drive Laboratory Center for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka (UTeM) 76100 Durian Tunggal Melaka Malaysia Advanced Lightning Power and Energy Research (ALPER) Centre Faculty of Engineering Universiti Putra Malaysia (UPM) 43400 Serdang Selangor Darul Ehsan Malaysia

Conventionally, a six-step inverter used in Active Power Filter (APF) to mitigate the harmonics in power system because of its simplicity and easy to control. However, six-step inverter only operates in low voltage rating for APF and additional transformer is essential to operate in high voltage rating of APF. There are three types of Multilevel Inverter (MLI) namely Cascaded H-Bridge, Neutral Point Diode Clamped (NPC) and Flying Capacitor (FC). Among the types of Multilevel Inverter (MLI), only the Cascaded H-Bridge (CHB MLI) can be used to replace the conventional six-step inverter due to its capability to work in high voltage rating, less used power device and easy to control. This paper evaluates a three-phase three-wire shunt APF based on six-step conventional inverter and Nine Level CHB MLI using Indirect Current Control (ICC) schemes. MATLAB/Simulink tools are used to model and simulate both of algorithms, consisting of three main parts namely harmonic extraction algorithm, DC link algorithm and switching algorithm. In MATLAB/Simulink, the model was created and validated the Total Harmonic Distortion (THD) line current with different frequency modulation (mf) values. According to the findings, the increasing of frequency modulation will produce a good result of THD line current. The THD line current produced by both algorithms is less than 5%, which is the permitted value as stated in IEEE 519.

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HybrUR: A Hybrid Physical-Neural Solution for Unsupervised Underwater Image Restoration

arXiv

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arXiv 2021年

作者： Yan, Shuaizheng Chen, Xingyu Wu, Zhengxing Tan, Min Yu, Junzhi The Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Chinese Academy of Sciences Beijing100190 China The Department of Mechanical Engineering Fuzhou University Fuzhou350000 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Xiaobing.AI Beijing100080 China The State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China

Robust vision restoration of underwater images remains a challenge. Owing to the lack of well-matched underwater and in-air images, unsupervised methods based on the cyclic generative adversarial framework have been widely investigated in recent years. However, when using an end-to-end unsupervised approach with only unpaired image data, mode collapse could occur, and the color correction of the restored images is usually poor. In this paper, we propose a data- and physics-driven unsupervised architecture to perform underwater image restoration from unpaired underwater and in-air images. For effective color correction and quality enhancement, an underwater image degeneration model must be explicitly constructed based on the optically unambiguous physics law. Thus, we employ the Jaffe-McGlamery degeneration theory to design a generator and use neural networks to model the process of underwater visual degeneration. Furthermore, we impose physical constraints on the scene depth and degeneration factors for backscattering estimation to avoid the vanishing gradient problem during the training of the hybrid physical-neural model. Experimental results show that the proposed method can be used to perform high-quality restoration of unconstrained underwater images without supervision. On multiple benchmarks, the proposed method outperforms several state-of-the-art supervised and unsupervised approaches. We demonstrate that our method yields encouraging results in real-world applications. © 2021, CC BY-NC-ND.

关键词： Image reconstruction

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Signal Feature Analysis of Contact Force at the Tip of a Flexible Ureteroscope*

Signal Feature Analysis of Contact Force at the Tip of a Fle...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Deng Yinan Yang Tangwen Dai Shaotao Guoli Song Institute of Information Science and the Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing Jiaotong University Beijing China School of Electrical Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China

ISBN: (数字)9781728119908

ISBN: (纸本)9781728119915

This paper presents a signal analysis approach to identify the contact objects at the tip of a flexible ureteroscope. First, a miniature triaxial fiber optic sensor based on Fiber Bragg Grating(FBG) is devised to measure the interactive force signals at the ureteroscope tip. Due to the multidimensional properties of these force signals, the principal components analysis(PCA) method is introduced to reduce dimensions. The signal features are then extracted from the representative principal component signals using the wavelet transform(WT) method. Experimental results show that the contact objects at the tip of a ureteroscope are readily discriminated from the measured force signals with the proposed *** Relevance-This work commits to analyze the contact force signals at the tip of a flexible ureteroscope for the purpose of contact objects identification.

关键词： Force Feature extraction Robot sensing systems Force measurement Wavelet transforms Time-frequency analysis

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One to many: Adaptive instrument segmentation via meta learning and dynamic online adaptation in robotic surgical video

arXiv

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arXiv 2021年

作者： Zhao, Zixu Jin, Yueming Lu, Bo Ng, Chi-Fai Dou, Qi Liu, Yun-Hui Heng, Pheng-Ann The Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong The T Stone Robotics Institute The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China The Department of Surgery The Chinese University of Hong Kong Hong Kong

Surgical instrument segmentation in robot-assisted surgery (RAS) - especially that using learning-based models - relies on the assumption that training and testing videos are sampled from the same domain. However, it is impractical and expensive to collect and annotate sufficient data from every new domain. To greatly increase the label efficiency, we explore a new problem, i.e., adaptive instrument segmentation, which is to effectively adapt one source model to new robotic surgical videos from multiple target domains, only given the annotated instruments in the first frame. We propose MDAL, a meta-learning based dynamic online adaptive learning scheme with a two-stage framework to fast adapt the model parameters on the first frame and partial subsequent frames while predicting the results. MDAL learns the general knowledge of instruments and the fast adaptation ability through the video-specific meta-learning paradigm. The added gradient gate excludes the noisy supervision from pseudo masks for dynamic online adaptation on target videos. We demonstrate empirically that MDAL outperforms other state-of-the-art methods on two datasets (including a real-world RAS dataset). The promising performance on ex-vivo scenes also benefits the downstream tasks such as robot-assisted suturing and camera control. Copyright © 2021, The Authors. All rights reserved.

关键词： Surgical equipment

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Multibody simulation for tracking error reduction in solar tracking robots

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AIP Conference Proceedings 2023年第1期2872卷

作者： Aldo Hernández-Díaz Diego A. Flores-Hernández Alberto Luviano-Juárez Sergio Isai Palomino-Resendiz Itzamá López-Yáñez National Polytechnic Institute - UPIITA Applied Dynamic Systems Laboratoy Mexico City 07340 Mexico National Polytechnic Institute - UPIITA Advanced Robotics Laboratory Mexico City 07340 Mexico National Polytechnic Institute - ESIME-ZAC Department of Control and Automation Mexico City 07738 Mexico National Polytechnic Institute - CIDETEC Mexico City 07738 Mexico

Currently, the use of renewable energy sources such as solar energy, collected by photovoltaic technology, has gained ground in the energy sector. Its use has been popularised due to the fact that it is considered a clean energy, that is a type of energy is produced without burning fossil fuels which are a cause of global warming, among other environmental damages. In order to optimize the energy harvesting through photovoltaic technology, it is necessary to maintain a perpendicular incidence of the sun rays with the photovoltaic module, leading to the use of solar tracking systems that demand the application of trajectory tracking control strategies that minimize the tracking errors while ensuring the lowest energy consumption of the robotic system. In this work, a comprehensive multibody simulation was carried out to obtain a concrete appreciation of the behavior of the tracking system prior to an experimental implementation. This type of simulations allows us to simulate complete systems formed by solid links and rigid joints that were previously designed, and with a calculated analytical model (Kinematic and Dynamic). Furthermore, the obtained simulator allows us to apply a variety of control strategies that are represented by means of 3D simulations which are very similar to the actual experimental results, so that it would be possible to estimate the ªtracking error results° without the necessity of a physical implementation. From the kinematic and dynamic models of a solar tracker of two degrees of freedom, released in an azimuthal-elevation configuration, a PID controller and a passivity-based controller were implemented in Matlab-Simscape®, obtaining simulations of a solar trajectory tracking minimizing the error between the reference and the solar tracker.

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Grapevine Winter pruning automation: On potential pruning points detection through 2D plant modeling using grapevine segmentation

arXiv

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arXiv 2021年

作者： Fernandes, Miguel Scaldaferri, Antonello Fiameni, Giuseppe Teng, Tao Gatti, Matteo Poni, Stefano Semini, Claudio Caldwell, Darwin Chen, Fei Active Perception and Robot Interactive Learning Laboratory Department of Advanced Robotics Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Department of Informatics Bioengineering Robotics and System Engineering Università di Genoa Viale Causa 13 Genova16145 Italy Italy Department of Sustainable Crop Production Università Cattolica del Sacro Cuore Via Emilia Parmense 84 Piacenza29122 Italy lab Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Department of Mechanical and Automation Engineering T-Stone Robotics Institute Chinese University of Hong Kong Chung Chi Rd Ma Liu Shui Hong Kong

Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity of this task is also the reason why it is time consuming. Considering that this operation takes about 80-120 hours/ha to be completed, and therefore is even more crucial in large-size vineyards, an automated system can help to speed up the process. To this end, this paper presents a novel multidisciplinary approach that tackles this challenging task by performing object segmentation on grapevine images, used to create a representative model of the grapevine plants. Second, a set of potential pruning points is generated from this plant representation. We will describe (a) a methodology for data acquisition and annotation, (b) a neural network fine-tuning for grapevine segmentation, (c) an image processing based method for creating the representative model of grapevines, starting from the inferred segmentation and (d) potential pruning points detection and localization, based on the plant model which is a simplification of the grapevine structure. With this approach, we are able to identify a significant set of potential pruning points on the canes, that can be used, with further selection, to derive the final set of the real pruning points. © 2021, CC BY.

关键词： automation

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Stairs reconstruction with 3D point cloud for gait generation of lower limb exoskeleton robot

Stairs reconstruction with 3D point cloud for gait generatio...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Feng, Yachun Xia, Linqing He, Yong Wang, Can Yan, Zefeng Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781728163215

With the aging of the population, a considerable number of elderly persons suffer from walking disability. Lower limb exoskeleton robots have been proved to be effective in rehabilitation training and walking assistance. Though significant advancement has been made in the last decade, lacking the ability of adapting to complex terrain is one of the main challenges that restrict the wide application of exoskeleton robots. Thus we focus on the environmental perception and corresponding gait pattern generation of lower limb assistant exoskeleton. In this paper, we introduce a method to generate gait of exoskeleton walking on a stair, which applies the L-0 minimization-based acquisition and reconstruction of stairs information through 3D Point Cloud. The results of experiments show that our method can precisely measure the physical dimension information of stairs. © 2019 IEEE.

关键词： Stairs

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