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4th International Symposium on Artificial Intelligence and Intelligent Manufacturing, AIIM 2024

作者： Liu, Tao Zhang, Xiao Zhang, Junfu Jiang, Shiqi School of Mechanical Engineering Xi Hua University Chengdu China International Joint Institute of Robotics and Intelligent System School of Automation Chengdu University of Information Technology Chengdu China

ISBN: (纸本)9798331541729

This paper proposes a self-organized coverage method for unmanned aerial vehicle (UAV) swarm aimed at multi-area coverage. The proposed method attempts to take the color light emitted from the UVA as an important state information. The virtual forces and the color state are incorporated to develop the self-organized coverage algorithm, so that the communication dependency among UAV swarm has been weakened. Simulation experiments show that under the condition of weak communication, the algorithm effectively achieves coverage of multiple areas. Moreover, when part of UAVs in the swarm are damaged or fails, the swarm based on the proposed algorithm can achieve self-organized recovery and continue to complete the task. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Numerical simulation of laser transmission welding of PEEK and CF-PEEK composite pipe fittings 8

Numerical simulation of laser transmission welding of PEEK a...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Huang, Mingqiang Luo, Haitao Li, Yuxin Li, Yanbin Shenyang University of Technology School of Mechanical Engineering Liaoning Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Liaoning Shenyang China

ISBN: (纸本)9798331506230

In order to realize the erection of large structural bodies in space for on-orbit construction, we are looking for the mechanical property parameters in line with the large structural unit body in space. Now based on finite element software for PEEK and CF-PEEK laser transmission welding numerical simulation, study the welding process temperature field, stress field and welding deformation distribution law, after the pre-experiment, from the point of view of numerical simulation of heat transfer to analyze the laser power, spot diameter on the overall impact of the pipe fittings to verify the correctness of the experiment as a whole. The surface of the upper layer of modified transparent PEEK material has no ablation damage, and the average fracture load of the joint in tensile test is 3585 N. The microscopic scale analysis of the three groups of welded pipe fittings is carried out by light microscope scanning, and it is proved that the two materials on the surface of weld fusion area are well fused by the observation of weld morphology with different magnification, and the weld width under the light microscope is compared with that in the simulation to validate the accuracy of the weld model. © 2024 IEEE.

关键词： Tensile testing

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A Diagnostic Method for IGBTs Open-circuit Faults in NPC Inverter 41

A Diagnostic Method for IGBTs Open-circuit Faults in NPC Inv...

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第41届中国控制会议

作者： Min Chu Jin Zhao Yujin Song ZhiXi Wu XinZhong Ding School of Artificial Intelligence and Automation Huazhong University of Science and Technology Shanghai STEP Robotics Co.Ltd

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper proposes an integration fault diagnosis approach of signal-driven method and data-driven method for threelevel inverter feeding induction motor under open-loop v/f *** current paths are analyzed under the normal case and open-circuit fault cases in the IGBTs.A method combining signal-driven and data-driven is *** average values of the positive and negative currents and the ratios are used to be the input features of a two-layer feedforward neural *** are carried out at different speed and load conditions,which verify the effectiveness of the proposed method.

关键词： NPC Inverter Open-circuit Faults Signal-driven and Data-driven Fault Diagnosis Open-loop v/f Control

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Transformers Unveiled: A Comprehensive Evaluation of Emotion Detection in Text Transcription 7

Transformers Unveiled: A Comprehensive Evaluation of Emotion...

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7th Edition Global Conference on Wireless and Optical Technologies, GCWOT 2024

作者： Ali, Sara Naz, Bushra Narejo, Sanam Ali, Sahil Pabani, Jitander Kumar Mehran University of Engineering and Technology National Center of Robotics and Automation Cms Lab Jamshoro Pakistan Mehran University of Engineering and Technology Department of Computer Systems Engineering Jamshoro Pakistan Mehran University of Engineering and Technology National Center of Rorotics and Automation Cms Lab Jamshoro Pakistan Dawood University of Engineering and Technology Department of Telecommunication Engineering Karachi Pakistan

ISBN: (纸本)9798331534271

The fast growth of digital communication via smartphones and social media has made textual data as one of the most essential forms of people's expressions. Accurate emotion discovery from text is thus important for applications in customer sentiment analysis and interactive technologies, be it a web, desktop, or mobile application, an intelligent robot, or minor connected devices. This paper is intended to evaluate the performance of five state-of-the-art transformer models, including BERT, ALBERT, DistilBERT, Transformer XL, and RoBERTa, for multiclass emotion detection using the IEMOCAP dataset. From the results, it is observed that DistilBERT has the highest accuracy of 79.2%, implying an effective approach in balancing model size and performance. These research show that smaller models like DistilBERT often outperform larger models by reducing their overfitting and computational demands. The findings also highlights the need for task-specific fine-tuning and optimization in emotion detection. © 2024 IEEE.

关键词： DistilBERT IEMOCAP NLP Text Emotion Detection Transformers

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On-Orbit Thermal Analysis of Ring Truss-Type Deployable Antenna 23rd

On-Orbit Thermal Analysis of Ring Truss-Type Deployable Ante...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Zhang, Xiong Kang, Xi Huang, Hailin Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9789811993978

As space antenna tends to be large-scale, deployable antenna is more and more widely used. As a key part of antenna structure, the antenna profile will be deformed due to uneven heating during on-orbit operation, which affects the service performance of the antenna. In this paper, the thermal effect mode of space environment on the on-orbit antenna is analyzed firstly, and the differential heat conduction equation is obtained by taking the profile as research object. Then, thermal simulation of the ring truss-type deployable antenna in the sun-synchronous orbit is carried out by using the NX-TMG software. The temperature characteristics of the antenna profile and the influence law of material parameters on the profile temperature during on-orbit operation are analyzed. It is concluded that temperature of antenna profile changes in one orbital period. The selection of low absorption rate and high density materials can reduce the profile temperature difference, which provides the reference for ring truss-type deployable antenna design. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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A Distributed Task Allocation Algorithm for UAV Swarm Based on Local Information 4

A Distributed Task Allocation Algorithm for UAV Swarm Based ...

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4th International Symposium on Artificial Intelligence and Intelligent Manufacturing, AIIM 2024

作者： Zhang, Junfu Liu, Chengjin Liu, Tao Jiang, Shiqi School of Mechanical Engineering Xi Hua University Chengdu China International Joint Institute of Robotics and Intelligent System School of Automation Chengdu University of Information Technology Chengdu China

ISBN: (纸本)9798331541729

This article proposes a distributed task allocation algorithm based on local information for unmanned aerial vehicle (UAV) swarm. A Part of the UAVs which are in the information exchange range participate in the local range auction. The auction members will change due to the movement of the UAVs in the following auctions. Each UAV in the swarm will be allocated a task by multiple rounds of local range auctions. The experimental data clearly demonstrate that the method has superior performance for enabling UAV swarm to complete the allocation of tasks based on local information. © 2024 IEEE.

关键词： Consensus algorithm

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The Development Status, Challenges and Development Trends in Rehabilitation robotics: A Review 17

The Development Status, Challenges and Development Trends in...

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17th International Convention on Rehabilitation Engineering and Assistive technology, i-CREATe 2024

作者： Zhang, Liyuan Peng, Yige Qi, Xiaoxuan Bao, Sheng Yuan, Jianjun Shanghai Ic Technology & Industry Promotion Center Shanghai210203 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai200444 China

ISBN: (纸本)9798350355154

This paper presents the research status of rehabilitation robot in detail. In order to understand the current situation of rehabilitation robots, they are divided into four categories, such as upper limb rehabilitation robots, lower limb rehabilitation robots, massage assistance robots and other rehabilitation robots. The research status and existing problems of rehabilitation robots at home and abroad in recent years are introduced in detail, and the functions of rehabilitation robots are demonstrated. Trained upper limb rehabilitation robots and lower limb rehabilitation robots have been introduced, which help patients undergo rehabilitation training and demonstrate strong recovery functions. Massage auxiliary robots provide continuous and stable massage therapy to the patient's specific muscle tissue, relieving the patient's pain. Thermal moxibustion robots and acupuncture robots provide rehabilitation treatment for patients in the way of traditional Chinese medicine. Finally, the common challenges in the research field of rehabilitation robots are discussed, and the future development trends of various rehabilitation robots are proposed. © 2024 IEEE.

关键词： Acupuncture

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Comprehensive Performance Optimization of a Novel Anthropomorphic Dexterous Hand

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IEEE robotics and automation Letters 2025年第7期10卷 6816-6823页

作者： Ma, Yifan Shang, Weiwei Zhang, Fei Pang, Shunxiang Dai, Shuqing Yi, Zhengkun Li, Guotao Cong, Shuang University of Science and Technology of China Department of Automation Jinzhai Road 96 Hefei230027 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China

Grasp and in-hand manipulation of dexterous hands are essential for daily operational tasks. In this study, an optimized design method for a novel anthropomorphic dexterous hand is proposed, which improves the comprehensive performance of grasp and manipulability of the dexterous hand. The constraints of multi-fingered contact force and kinematics are established with full consideration of the applicability to the objects of different sizes and the shape characteristics of finger contact surface. The performance index of in-hand manipulation ability is proposed, and the optimization problem is constructed through the technique for order preference by similarity to ideal solution (TOPSIS) to achieve multi-objective optimization of precision grasp and in-hand manipulation. Finally, simulation and experiment verify the feasibility of our prototype and optimization method. The results show that the in-hand translation space and in-hand rotation range are increased by 20% and 8.5%, respectively. Our dexterous hand has excellent abilities of multi-fingered interaction and in-hand manipulation, which can perform 33 grasp gestures and two/three-fingered in-hand manipulation. This study provides a valuable reference for the design of dexterous hands with anthropomorphic functions. © 2016 IEEE.

关键词： Multiobjective optimization

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MangoLeafXNet: An Explainable Deep Learning Model for Accurate Mango Leaf Disease Classification

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IEEE Access 2025年 13卷 93977-94008页

作者： Rayed, Md Eshmam Jim, Jamin Rahman Islam, Md Juniadul Mridha, M.F. Kabir, Md Mohsin Hossen, Md. Jakir American International University-Bangladesh Department of Computer Science and Engineering Dhaka1229 Bangladesh Mälardalens University Division of Computer Science and Software Engineering Västerås722 20 Sweden Multimedia University Faculty of Engineering and Technology Department of Robotics and Automation Melaka Malaysia

Addressing the global challenge of ensuring a consistent and abundant supply of fresh fruit, particularly in the context of fruit crops, is hindered by the prevalence of plant diseases. These diseases directly impact the quality of fruits, leading to a decline in overall agricultural production. Mango leaf diseases pose significant threats to global mango production, necessitating accurate and efficient classification techniques for timely disease management. Our study focuses on introducing MangoLeafXNet, a customized Convolutional Neural Network (CNN) architecture specifically tailored for the classification of mango leaf diseases, along with a healthy class. Our proposed model comprises six layers optimized to capture intricate disease patterns, demonstrating superior performance compared with prevalent pre-trained models. The model is trained and evaluated on three publicly available datasets: MangoLeafBD (4000 images across 8 classes), MangoPest (16 pest classes including healthy leaves), and MLDID (3000 high-resolution images across 5 classes). Our model demonstrated exceptional classification performance, attaining 99.8% accuracy, 99.62% recall, 99.5% precision, and an F1-score of 99.56%. Further validation on the MangoPest dataset and the Mango Leaf Disease Identification Dataset (MLDID) resulted in accuracies of 96.31% and 96.33%, respectively, confirming the robustness and adaptability of MangoLeafXNet across different datasets. Additionally, we incorporate Explainable AI techniques, including GRAD-CAM, Saliency Map, and LIME to enhance the interpretability of our model. We deployed Gradio web interface to create an interactive interface that allows users to upload images of mango leaves and get real-time classification and validation results along with confidence scores. This contribution not only advances the state-of-the-art in mango leaf disease classification but also offers promising prospects for real-time disease diagnosis and precision agriculture

关键词： Fruits

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Gas distribution mapping based on integrating system with mobile robot and sensor network 41

Gas distribution mapping based on integrating system with mo...

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第41届中国控制会议

作者： Zhirui Xu Lei Cheng Daiwei Tang Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The monitoring of industrial environmental gas quality becomes an increasingly important topic due to its significant impact on the health of the producers and the safety of the production ***,there are two main approaches to this task:first,using mobile robots equipped with sensors to patrol and monitor the environment,the prediction accuracy of this method is relatively poor;second,using a sensor network distributed in the environment for a long term monitoring,however this method lefts spatial relations and non-detection areas *** solve the above problems,this paper proposes a method combining the spatial map constructed by the mobile robot with fixed monitoring *** this method,the concentration of gas is collected by a fixed gas sensor and predicted by a deep neural *** the same time,a mobile robot equipped with lidar and a gas sensor is used to model the spatial construction of the environment as well as verify the *** embedding the predicted concentration map with the spatial map,a gas concentration map with high accuracy and spatial information is *** using anhydrous ethanol odor sources in a closed and windless room showed high prediction accuracy(98%) with this method.

关键词： Gas distribution mapping Deep neural networks spatial-temporal distribution simultaneous Localization and Mapping(SLAM)

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