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7th International Conference on Cognitive systems and Information Processing, ICCSIP 2022

作者： Li, Hui Cui, Junhan Ma, Yifan Tan, Jiawei Cao, Xiaolei Yin, Chunlong Jiang, Zhihong School of Mechatronical Engineering Beijing Advanced Innovation Center for Intelligence Robots and System Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819906161

In this paper, we introduce an autonomous exploration and rescue robot system based on a tracked mobile robot platform equipped with a 7 degree-of-freedom (DoF) manipulator, which realizes autonomous navigation in indoor environments and autonomous stair climbing for safe and efficient search and rescue tasks. In Sect. 2, the hardware design of the robot system is presented, which allows flexible movement and high passability to complete obstacle crossing and stair climbing. In Sects. 3 and 4, the indoor navigation algorithm and the stair detection algorithm of the robot system are presented, respectively. The ROS-based system uses the cartographer algorithm for map construction, ROS navigation for autonomous navigation and obstacle avoidance, and a depth camera for stair detection. The process of a four-flipper tracked mobile robot stair climbing is designed. The robot system is experimentally verified in Sect. 5. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Manipulators

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MS-UCON: A Usage Control Model for Meteorological Operational systems 19

MS-UCON: A Usage Control Model for Meteorological Operationa...

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19th International Conference on Natural Computation, Fuzzy systems and Knowledge Discovery, ICNC-FSKD 2023

作者： Long, Dan Wang, Juan Han, Bin Chen, Ding Shi, Lei Chengdu University of Information Technology Chengdu610225 China Advanced Cryptography and System Security Key Laboratory of Sichuan Province China

ISBN: (纸本)9798350304398

With the national Belt and Road strategy in place, meteorological operational systems will face domestic and international dangers, and it is very urgent and important to protect the safety of meteorological equipment and resources. The existing meteorological operational system uses a role-based access control model for permission management, whose permissions do not change during one authorized access, and cannot sense the threat of user behavior to the system in real time, much less adjust user permissions in time, thus failing to cope with the security needs of the weather business system. In this paper, we propose a Meteorological Operational system-oriented Usage Control (MS-UCON) model to address this problem. The model refines the UCON model according to industry characteristics and business needs, and adds a periodic trust assessment module and a collection of trust value assessment factors to monitor user behavior in real time, perform periodic trust assessment on user behavior, sense user risky behavior in time, dynamically update user trust value attributes, and dynamically adjust permissions. Finally, the security of the MS-UCON model is proved based on state machine theory. The results show that the MS-UCON model can solve the problem that user privileges cannot be dynamically adjusted in meteorological operational systems, and also meet the security requirements of meteorological operational systems. © 2023 IEEE.

关键词： Access control

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PATH OPTIMIZATION FOR DYNAMIC OBSTACLE AVOIDANCE OF PIONEER ROBOT BASED ON DDPG SMART AGENT

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UPB Scientific Bulletin, Series D: Mechanical Engineering 2023年第2期85卷 29-42页

作者： Zheng, Qingchun Peng, Zhi Zhu, Peihao Zhao, Yangyang Ma, Wenpeng Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China China School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China School of Computer Science and Engineering Tianjin University of Technology Tianjin300384 China

To improve the path efficiency for dynamic obstacle avoidance algorithms of Pioneer robots, this paper proposes an approach to create deep deterministic policy gradient (DDPG) smart agents with recurrent neural networks (RNN) to optimize the path strategy. This approach is realized by training RNN with the backpropagation (BP) algorithm to train the agent. First, the SolidWorks model and obstacle avoidance model of the Pioneer robot is established. The LIDAR sensor is used to obtain environmental information. Further, deep reinforcement learning obstacle avoidance algorithm based on RNN is presented. The dynamic obstacle avoidance path of the Pioneer robot is further simulated in two different virtual robot experiment platform (V-REP) scenarios. The simulation results show that the proposed algorithm shortens the training time by 26.3% compared with the DDPG algorithm. Our proposed scheme can improve the path efficiency for dynamic obstacle avoidance of the Pioneer robot. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Reinforcement learning

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Flexible Sensors Used for Lower Assisting Exoskeleton 16th

Flexible Sensors Used for Lower Assisting Exoskeleton

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16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Xiao, Yang Chen, Chunjie Liu, Yao Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9789819964857

In recent years, with the aging of the social population, exoskeleton robots have a wide range of application prospects in rehabilitation assistance, walking assistance, and physical expansion. However, the sensors developed for traditional robots currently have problems such as poor wearability, poor biocompatibility, and poor adaptability. To realize human-machine motion coordination assistance with multiple degrees of freedom and multiple motion states more effectively, and improve the flexibility, real-time performance, and reliability of the interaction between the wearer and the exoskeleton, it is necessary to design a set of flexible sensing systems to monitor the wearer’s motion status. It provides intelligent sensing technology support for adaptive control of exoskeleton in complex environments. This paper proposes a new flexible stretchable capacitive sensor and introduces its selection and manufacturing process. In the following experiments, three different slopes in the static experiment and dynamic experiment were used to test its performance and explore the accuracy and stability of its angle measurement. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Capacitive sensors

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A Lightweight Network for Detecting Small Targets in the Air 6th

A Lightweight Network for Detecting Small Targets in the Air

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6th International Conference on Innovative Computing, IC 2023

作者： Li, Jiaxin Li, Hui Yong, Ting Hou, Xingyu Institute of System Engineering Nanjing China The Institute of North Electronic Equipment Beijing China National Key Laboratory of Science and Technology on Information System Security Beijing China Zhengzhou Xinda Institute of Advanced Technology Zhengzhou China

ISBN: (纸本)9789819922864

Fast and accurate detection and identification of small airborne targets are of great importance, to security in the air. Unmanned aerial vehicle detection algorithms are mostly deployed on edge devices, and a yolov5-based aerial target lightweight detector is proposed by compressing channels and network cropping for the limited resource characteristics on edge devices. Firstly, the shallow cross-stage partial module is extended and optimized when designing the feature ex-traction network to maximize the use of shallow features. Secondly, the network is cropped to reduce the number of down-sampling, which makes the computation faster. Finally, the pyramid network used for feature fusion is simplified by modifying from two upsampling operations and two downsampling operations to only one upsampling operation. On the homemade dataset, the proposed Yolo-mini achieves 94.44% mean average accuracy on the test set and the Giga floating-point operations per second of the model is only 3.2, which achieves a better balance of accuracy and computation compared to other lightweight algorithms. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Object detection

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Study on the Adversarial Sample Generation Algorithm Based on Adversarial Quantum Generation Adversarial Network 3

Study on the Adversarial Sample Generation Algorithm Based o...

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3rd International Symposium on Computer technology and Information Science, ISCTIS 2023

作者： Cheng, Wen Zhang, ShiBin Lin, Yusheng School of Cybersecurity Sichuan Key Laboratory of Advanced Cryptography and System Security Chengdu University of Information Technology Chengdu610225 China

ISBN: (纸本)9798350325386

In response to the inefficiency of the existing advGAN method, which requires calculating the differences between the adversarial samples and the normal samples one by one when generating adversarial perturbations, this paper proposes a quantum adversarial sample generation algorithm (QASGA) based on adversarial quantum generative adversarial networks. First, the real samples are encoded into quantum states, then the generator G of QGAN is used to generate adversarial perturbations, which are superimposed with normal samples to obtain adversarial samples. At the same time, the SWAP-TEST method is used to calculate the similarity between all real samples and adversarial samples at once, thereby accelerating adversarial attacks. Experimental results show that the QASGA algorithm proposed in this paper can generate high-fidelity adversarial samples with a one-time similarity calculation on the IRIS dataset, and can reduce the classification accuracy of the BP neural network from 96.67% to 26.67%, verifying the effectiveness of the proposed QASGA algorithm. © 2023 IEEE.

关键词： Generative adversarial networks

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Analysis, Modeling, and Control of Merging Behavior at Low Speeds

Analysis, Modeling, and Control of Merging Behavior at Low S...

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2025 IEEE/SICE International Symposium on system Integration, SII 2025

作者： Ishiguro, Tatsuya Okuda, Hiroyuki Tominaga, Kenta Suzuki, Tatsuya Nagoya University Graduate School Department of Mechanical System Engineering Furo-cho Chikusa-ku Aichi Nagoya Japan Mitsubishi Electric Corporation Advanced Technology RD Center

ISBN: (纸本)9798331531614

In a merging environment where automatic and manual operations are mixed, it is important for both parties to communicate with each other. While much research has been conducted at high speeds, such as on expressways, little progress has been made at low speeds, such as on ordinary roads. In this presentation, we will experimentally observe the driving characteristics of drivers in right-angle merging at low speeds, and construct a right-angle merging model that takes negotiation into account. © 2025 IEEE.

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A Fault-tolerant Control Method for USV Trajectory-tracking with Sensor Faults

A Fault-tolerant Control Method for USV Trajectory-tracking ...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Guo, Weilun Li, Weimin Wu, Xinyu Wang, Haibin Mu, Xinxing Wang, Qiang Xu, Yi Shandong Zhongke Advanced Technology Co. Ltd Jinan250098 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China

ISBN: (纸本)9798350327182

This paper studies the trajectory tracking problem of the unmanned surface vehicle with sensor deviation faults. Firstly, the trajectory tracking controller based on model predictive control is designed according to the physical characteristics of the unmanned vehicle system. Moreover, an event trigger mechanism is explored in the controller to reduce the waste of computing resources. Then, a H∞ fault estimator is designed to accurately estimate the value of sensor deviation faults. Finally, the influence of sensor faults on the designed controller is analyzed. At the same time, the faults information was used for improving the tracking performance. The proposed trajectory tracking method with the fault-tolerant algorithm is verified by simulation examples. © 2023 IEEE.

关键词： Controllers

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Multimodal Physiological Signal Analysis Using Attention-Based Feature and Model Fusion 17th

Multimodal Physiological Signal Analysis Using Attention-Bas...

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17th International Conference on Brain Informatics, BI 2024

作者： Liu, Wei Jia, Kebin Sun, Zhonghua Feng, Jinchao Zhao, Xiaohu Faculty of Information Technology Beijing University of Technology Beijing100124 China Beijing Laboratory of Advanced Information Networks Beijing100124 China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing University of Technology Beijing100124 China

ISBN: (纸本)9789819632930

Disease analysis using multimodal physiological signals is currently a hot research area. Aiming at the problem that current multimodal feature fusion approaches neglect the correlation between different modalities, this paper proposes a hybrid multimodal fusion model based on the attention mechanism for depression recognition. The model selects two modalities, EEG and speech signals, for feature fusion. In the feature extraction stage of EEG signals, the correlation between features is analyzed using Spearman’s rank correlation coefficient to achieve dimensionality reduction. In the feature-level modal fusion stage, the attention mechanism is applied to automatically learn the contribution of different features and the complementarity between different modalities. In the model fusion layer, a multi-layer long and short-term memory network (ML-LSTM) is adopted, which makes full use of the complementarity between the features of EEG signals and audio signals. Finally, the outputs of feature-level fusion and model-level fusion are weighted and combined to obtain the final prediction results. Experimental results on the MODMA dataset show that the accuracy of the proposed multimodal fusion model for depression recognition reached 88.54%. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Electroencephalography

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Dynamic Characteristics of the Subsea Direct Drive Hydraulic Servo Rotary Valve

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China Ocean Engineering 2025年第2期39卷 329-339页

作者： SHI You-cheng SHAN Jun-feng ZHANG Hu-cheng LIU Yin-shui College of Energy and Fluid Power Engineering Lanzhou University of TechnologyLanzhou 730050China Key Laboratory of Advanced Pumps Valves and Fluid Control System of the Ministry of EducationLanzhou University of TechnologyLanzhou 730050China

Hydraulic technology has the outstanding advantages of easy pressure compensation and high power *** is an indispensable part of subsea equipment,such as deep-sea operations and submersible *** are few studies on electrohydraulic servo valves(EHSVs)in the deep *** this work,a novel electro-hydraulic servo rotary valve is designed,and its mathematical model is *** analysis considers the variations in physical parameters such as temperature,ambient pressure,and oil viscosity resulting from changes in sea *** study focuses on the deformation of the rotary valve and the consequent alterations in leakage and friction *** findings indicate that at a depth of 12000 m,the fit clearance between the valve spool and the valve sleeve is 0.00413 mm,representing a 17%reduction compared with the clearance in a land ***,the response of the rotary valve to depth is *** results indicate that the bandwidth of the rotary valve decreases with increasing *** study provides a reference for the use of the EHSV in the deep sea.

关键词： subsea hydraulic technology electro-hydraulic servo rotary valve valve deformation fit clearance dynamic characteristics response

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