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12th International Conference on CYBER Technology in Automation, Control, and intelligent systems, CYBER 2022

作者： Yu, Jianjun Li, Ruiqi Gong, Daoxiong Liu, Yixin Liu, Peng Beijing Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology Beijing100020 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In order to make the walking gait of biped robot more human like, this paper takes the human walking data as the expected gait of robot, and uses the periodic characteristics of gait, proposes a gait tracking control strategy of Biped Robot Based on adaptive gait switching algorithm. Firstly, this paper establishes the complete dynamic models of left leg support phase (LSP) and right leg support phase (RSP) based on Lagrange method, then designs the corresponding LQR gait tracking control strategy, and uses the adaptive weighted particle swarm algorithm (A WPSO) to obtain the optimal controller parameters. Finally, the threshold range of plantar contact force in two periods are estimated based on the adaptive mechanism, and the occurrence of gait switching is detected according to the defined decision rules, thus trigger the control strategy in the next stage to realize the walking tracking control of biped robot. The experimental results show that only two LQR controllers to realize the accurate tracking of the desired gait of the biped robot, and the maximum gait speed reaches two steps/s, which is close to the human gait speed. Compared with other methods, the gait is more human like. © 2022 IEEE.

关键词： Robots

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Gait Planning for Biped Robot Based on Variable Center-of-Mass Height Hybrid Strategy 13

Gait Planning for Biped Robot Based on Variable Center-of-Ma...

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13th IEEE International Conference on CYBER Technology in Automation, Control, and intelligent systems, CYBER 2023

作者： Yu, Jianjun Zhu, Ruihua Gong, Daoxiong Zhou, Miaoqiang Zuo, Guoyu Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent Systems Beijing100124 China

ISBN: (纸本)9798350315196

In order to make the gait of a bipedal robot more human-like and to further improve the efficiency of energy utilisation, this paper combines preview control strategy and a knee extension strategy to design a bipedal robot gait planning method based on a variable centre-of-mass height hybrid strategy. The core idea is to achieve gait stability and coordination by controlling the robot's centre-of-mass height. Firstly, the horizontal centre-of-mass trajectory of the biped robot is generated based on Preview Control strategy with a constant centre-of-mass height;secondly, the vertical centre-of-mass trajectory is generated based on the knee joint extension strategy by trajectory planning of the robot's knee joint;finally, the horizontal and vertical centre-of-mass trajectories and foot point positions are combined by the inverse kinematics of the bipedal robot to plan the offline gait of the bipedal robot with variable centre-of-mass height. The experimental results show that the bipedal robot is able to walk smoothly with the planned gait, with better human-like characteristics, and requires less knee torque than bent knee walking mode with a constant centre of mass height, which improves energy efficiency. © 2023 IEEE.

关键词： Trajectories

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6-DOF grasping pose detection method incorporating instance segmentation

6-DOF grasping pose detection method incorporating instance ...

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

作者： Yu, Jianjun Zhou, Miaoqiang Gong, Daoxiong Yu, Naigong Zhu, Ruihua Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent Systems Beijing100020 China

ISBN: (纸本)9798350327182

To improve the accuracy and reliability of the grasping pose generated by the grasping detection model, in this paper, the GPD(Grasp pose detection in point clouds) is targeted at the problem that rough object detection may treat multiple objects as one object to generate wrong grasping pose and fail to generate grasping pose at the edge of point clouds with thin walls. A grasping pose detection method combining instance segmentation and sampling based on point cloud normal vector and principal curvature was proposed. First, the Yolov7 instance segmentation network is used to generate object masks for RGB images collected by the KinectV2 camera and crop out the point cloud where the object needs to be grasped. The sampling candidate grasping the pose of the point cloud is performed based on the normal vector and principal curvature geometric features of the point cloud. Furthermore, PointNet++ was used to evaluate the network classification of grasping pose by feature extraction. Finally, collision detection was carried out on positive tag grasping pose to screen out non-collision grasping pose. Experimental results show that the grasping pose detection method integrated with instance segmentation in this paper has a higher success rate than GPD in generating a feasible grasping pose, and can solve the problem that GPD cannot generate the grasping pose at the edge of point cloud with thin walls. © 2023 IEEE.

关键词： Object detection

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A zone-layered trimming method for ceramic core of aero-engine blade based on an advanced reconfigurable laser processing system

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Frontiers of Mechanical Engineering 2022年第2期17卷 51-69页

作者： Xiaodong WANG Dongxiang HOU Bin LIU Xuesong MEI Xintian WANG Renhan LIAN State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049China Shaanxi Key Laboratory of Intelligent Robots Xi’an 710049China Artificial Intelligence Department Beijing University of Posts and TelecommunicationsBeijing 100876China

Ceramic structural parts are one of the most widely utilized structural parts in the industry. However, they usually contain defects following the pressing process, such as burrs. Therefore, additional trimming is usually required, despite the deformation challenges and difficulty in positioning. This paper proposes an ultrafast laser processing system for trimming complex ceramic structural parts. Opto-electromechanical cooperative control software is developed to control the laser processing system. The trimming problem of the ceramic cores used in aero engines is studied. The regional registration method is introduced based on the iterative closest point algorithm to register the path extracted from the computer-aided design model with the deformed ceramic core. A zonal and layering processing method for three-dimensional contours on complex surfaces is proposed to generate the working data of high-speed scanning galvanometer and the computer numerical control machine tool, respectively. The results show that the laser system and the method proposed in this paper are suitable for trimming complex non-datum parts such as ceramic cores. Compared with the results of manual trimming, the method proposed in this paper has higher accuracy, efficiency, and yield. The method mentioned above has been used in practical application with satisfactory results.

关键词： ceramic parts trimming computer-aided laser manufacturing 3D vision reconfigurable laser processing system

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Design and Implementation of a Monocular Vision-Based Door Handle Grip Point Localization Model 13

Design and Implementation of a Monocular Vision-Based Door H...

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13th IEEE International Conference on CYBER Technology in Automation, Control, and intelligent systems, CYBER 2023

作者： Yu, Jianjun Feng, Xinyue Gong, Daoxiong Yu, Naigong Liu, Gengyuan Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent Systems Beijing100020 China

ISBN: (纸本)9798350315196

In real life, doors are ubiquitous, and opening doors has become a 'necessary skill' for general-purpose robots. The key for robots to achieve the task of opening doors is to obtain accurate three-dimensional spatial coordinates of the grip point of the door handle. The commonly used binocular camera localization technique gets the target depth information through parallax, but there are defects such as visual blindness. To recognize the door handle in real-time and predict the 3D coordinates of the door handle grip point, this paper adopts a monocular camera localization technique combined with an advanced target detection algorithm (yolov5) to design a monocular vision-based door handle grip point localization network: a total of target detection module and target localization module are included. The target detection model incorporates BiFPN feature fusion to extract effective features and fuse them through a bidirectional pyramid structure;the SMOTE overfitting sampling algorithm is incorporated to compensate for the uneven sample distribution by generating some small samples. The experimental results show that the detection accuracy and classification accuracy of the model in this paper are higher than those of yolov5 and other models. © 2023 IEEE.

关键词： Door handles

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GenAI for Simulation Model in Model-Based systems Engineering

arXiv

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arXiv 2025年

作者： Zhang, Lin Zhang, Yuteng Niyato, Dusit Ren, Lei Gu, Pengfei Chen, Zhen Laili, Yuanjun Cai, Wentong Bruzzone, Agostino School of Automation Science and Electrical Engineering Beihang University Xueyuan Road No.37 Haidian Beijing China Hangzhou International Innovation Institute Beihang University 166 Shuanghongqiao Street Pingyao Town Yuhang District Hangzhou China State Key Laboratory of Intelligent Manufacturing Systems Technology Yongding Road No.51 Haidian Beijing China College of Computing and Data Science Nanyang Technological University Block N4-02a-32 Nanyang Avenue Singapore University of Genoa Via Balbi 5 Genoa16126 Italy

Generative AI (GenAI) has demonstrated remarkable capabilities in code generation, and its integration into complex product modeling and simulation code generation can significantly enhance the efficiency of the system design phase in Model-Based systems Engineering (MBSE). In this study, we introduce a generative system design methodology framework for MBSE, offering a practical approach for the intelligent generation of simulation models for system physical properties. First, we employ inference techniques, generative models, and integrated modeling and simulation languages to construct simulation models for system physical properties based on product design documents. Subsequently, we fine-tune the language model used for simulation model generation on an existing library of simulation models and additional datasets generated through generative modeling. Finally, we introduce evaluation metrics for the generated simulation models for system physical properties. Our proposed approach to simulation model generation presents the innovative concept of scalable templates for simulation models. Using these templates, GenAI generates simulation models for system physical properties through code completion. The experimental results demonstrate that, for mainstream open-source Transformer-based models, the quality of the simulation model is significantly improved using the simulation model generation method proposed in this paper. Copyright © 2025, The Authors. All rights reserved.

关键词： Open source software

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Microblog Sentiment Analysis with Emoticon Space Model

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Journal of Computer Science & Technology 2015年第5期30卷 1120-1129页

作者：姜飞刘奕群栾焕博孙甲申朱璇张敏马少平 State Key Laboratory of Intelligent Technology and Systems Beijing 100084 China Tsinghua National Laboratory for Information Science and Technology Beijing 100084 China Department of Computer Science and Technology Tsinghua University Beijing 100084 China Language Computing Laboratory Samsung Research & Development Institute of China Beijing 100028 China

Emoticons have been widely employed to express different types of moods, emotions, and feelings in microblog environments. They are therefore regarded as one of the most important signals for microblog sentiment analysis. Most existing studies use several emoticons that convey clear emotional meanings as noisy sentiment labels or similar sentiment indicators. However, in practical microblog environments, tens or even hundreds of emoticons are frequently adopted and all emoticons have their own unique emotional meanings. Besides, a considerable number of emoticons do not have clear emotional meanings. An improved sentiment analysis model should not overlook these phenomena. Instead of manually assigning sentiment labels to several emoticons that convey relatively clear meanings, we propose the emoticon space model （ESM） that leverages more emotieons to construct word representations from a massive amount of unlabeled data. By projecting words and microblog posts into an emoticon space, the proposed model helps identify subjectivity, polarity, and emotion in microblog environments. The experimental results for a public microblog benchmark corpus （NLP＆CC 2013） indicate that ESM effectively leverages emoticon signals best runs. and outperforms previous state-of-the-art strategies and benchmark

关键词： microblog sentiment analysis emoticon space polarity classification subjectivity classification emotion clas-sification

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Dynamic State Estimation for Power System with Communication Constraint Using Event-Triggered Cubature Kalman Filter

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Journal of beijing Institute of Technology (English Edition) 2021年第zk期30卷 129-140页

作者： Wei, Minfeng Xu, Min Zhang, Fengdi School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing100854 China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing100854 China

Accurate dynamic state estimation plays an important role in power systems. Although various filtering algorithms, such as unscented Kalman filter (UKF) and particle filter (PF), have been proposed based on phasor measurement units (PMUs), they occupy a huge communication bandwidth without specific concern, which puts heavy burden on the communication network especially when wireless communications are widely applied in smart grids. In order to relieve this communication burden, the event-triggered cubature Kalman filter (ETCKF) is proposed based on the stochastic event-triggered schedule in this paper, which guarantees that only the measurements containing innovational information are transmitted and has advantages over other event-triggered schedules, such as the deterministic event-triggered schedule, since it can maintain the Gaussian property of the conditional distribution of the system state. Based on the developed nonlinear event-triggered schedule, the cubature Kalman filter (CKF), using the third-degree spherical-radial cubature rule, further provides more accurate estimation than UKF and has lower computational complexity than PF. The proposed filter can effectively reduce the communication rate while ensuring the accuracy of filtering. Finally, the standard IEEE 39-bus system is utilized to verify the feasibility and performance of the proposed method. © 2020 Journal of beijing Institute of Technology

关键词： Phasor measurement units

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Progress and Challenge of Artificial intelligence

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Journal of Computer Science & Technology 2006年第5期21卷 810-822页

作者：史忠植郑南宁 Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing 100080 P.R. China The Laboratory of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 P.R. China

Artificial intelligence （AI） is generally considered to be a subfield of computer science, that is concerned to attempt simulation, extension and expansion of human intelligence. Artificial intelligence has enjoyed tremendous success over the last fifty years. In this paper we only focus on visual perception, granular computing, agent computing, semantic grid. Human-level intelligence is the long-term goal of artificial intelligence. We should do joint research on basic theory and technology of intelligence by brain science, cognitive science, artificial intelligence and others. A new cross discipline intelligence science is undergoing a rapid development. Future challenges are given in final section.

关键词： artificial intelligence visual perception machine learning agent computing semantic web intelligence science

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Advancing the incremental fusion of robotic sensory features using online multi-kernel extreme learning machine

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Frontiers of Computer Science 2017年第2期11卷 276-289页

作者： Lele CAO Fuchun SUN Hongbo LI Wenbing HUANG State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing 100084 China Tsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing 100084 China Department of Computing and Information Systems The University of Melbourne Parkville 3010 VIC Australia

Robot recognition tasks usually require multiple homogeneous or heterogeneous sensors which intrinsically generate sequential, redundant, and storage demanding data with various noise pollution. Thus, online machine learning algorithms performing efficient sensory feature fusion have become a hot topic in robot recognition domain. This paper proposes an online multi-kernel extreme learning machine （OM-ELM） which assembles multiple ELM classifiers and optimizes the kernel weights with a p-norm formulation of multi-kernel learning （MKL） problem. It can be applied in feature fusion applications that require incremental learning over multiple sequential sensory readings. The performance of OM-ELM is tested towards four different robot recognition tasks. By comparing to several state-of-the-art online models for multi-kernel learning, we claim that our method achieves a superior or equivalent training accuracy and generalization ability with less training time. Practical suggestions are also given to aid effective online fusion of robot sensory features.

关键词： multi-kernel learning online learning extreme learning machine feature fusion robot recognition

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