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2024 China automation Congress, CAC 2024

作者： Jiang, Sen Wang, Bo School of HDU-ITMO Research Center for Intelligent Systems and Robotics Hangzhou Dianzi University Hangzhou310018 China School of Automation International Joint Research Laboratory for Autonomous Robotic Systems Hangzhou Dianzi University Hangzhou310018 China

ISBN: (纸本)9798350368604

For the problem of jamming penetration under the one-to-many scenario with jammer, a real-time radar interference resource allocation method based on the Multi-agent deep deterministic policy gradient (MADDPG) algorithm is proposed. This method describes the interference resource allocation model as a Markov Decision Process (MDP), and designed the state space, action space and reward function for interference resource allocation problem. The jammer is divided into three heterogeneous agents, each responsible for selecting jamming targets, jamming patterns, and jamming power, respectively. These three agents coordinate to enhance the convergence ability of the high-dimensional action space algorithm. Simulation results indicate that the jamming resource allocation method designed in this paper provides better jamming effects on radar positions, higher stability, and effectively improves the operational performance of the jammer. © 2024 IEEE.

关键词： Radar interference

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On Sensor Management of Calligraphic Robot

On Sensor Management of Calligraphic Robot

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IEEE International Conference on robotics and automation (ICRA)

作者： Kejun Zhang Jianbo Su Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

Development of calligraphic robot is motivated by allowing humanoid robot and home service robot to mimic the writing skills of human beings. Similar to human beings, versatile sensors are involved in writing procedure of robot to percept stages of task fulfillment and status of writing-brush. It is well known that the structures of Chinese characters are very complex and delicate. The writing-brush is soft and can draw strokes of different and variable widths, which makes Chinese calligraphy a sort of art like painting. Since the relations of strokes of Chinese characters are complicated and the writing-brush is extremely intricate to handle that it might result in inconsistent strokes with even slight changes in environment, dynamic management of sensors is hence a critical issue for a successful writing of an elegant Chinese character. This paper presents a sensor management method based on fuzzy decision tree (FDT), with which necessary prerequisite knowledge of Chinese character writing can be integrated into control of calligraphic robot system. Properties of sensor management problem in calligraphic robot are analyzed. Implementation of the proposed method is discussed. Experiments evaluate the feasibility and advantages of the proposed method.

关键词： Robot sensing systems Writing Humanoid robots Humans Service robots Art Painting Environmental management Sensor systems Knowledge management

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Dynamic face recognition system in recognizing facial expressions for service robotics

Dynamic face recognition system in recognizing facial expres...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Ren C. Luo Pei. H. Lin Yen. C. Wu C. Y. Huang International Center of Excellence on Intelligent Robotics and Automation Research National Taiwan University Taiwan

ISBN: (纸本)9781467325752

Facial expression recognition is an essential issue in the field of human and computer interactions. The objective of this paper is to deal with the problem of failure for the feature points on face based on active appearance model (AAM) in fitting with different users. We train the fitting model for different users before recognition. A high-quality AAM alignment results rely on appropriate selections of initial positions. In our method, we apply partial AAM fitting on mouth and eyes. Therefore we could have a better alignment for facial features; as a result, it can implement for tracking real-world video and perform real-time alignment. To obtain stable partial AAM, we use multi-level optical flow to determine initial positions of facial feature models. Then we use the Eigen-faces dynamic face recognition system to recognize different users and select the trained fitting model in recognizing the facial expressions, we combine the methodology of facial expression recognition with Eigen-faces dynamic face recognition. In this paper, we have demonstrated our approach which can accurately recognize different user's facial expressions and emotional variation.

关键词： Active appearance model Face recognition Face Fitting Vectors Optical imaging

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Uncalibrated robotic 3-D hand-eye coordination based on the extended state observer

Uncalibrated robotic 3-D hand-eye coordination based on the ...

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IEEE International Conference on robotics and automation (ICRA)

作者： Hongyu Ma Jianbo Su Institute of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong university Shanghai China

ISBN: (纸本)0780377362

This paper studies a novel method to deal with the unknown image Jacobian matrix model for the uncalibrated robotic hand-eye coordination. An extended state observer is designed for online estimation of the image Jacobian matrix that is regarded as the system's unmodeled dynamics. A nonlinear feedback control law is then adopted for the coordination controller. With this scheme, a universal calibration-free controller is developed, which is independent from specific tasks and system configuration, for uncalibrated hand-eye coordination. Simulations and experiments of 3-D robotic visual positioning and tracking tasks show the validity and feasibility of the proposed control scheme.

关键词： Robot kinematics Jacobian matrices robotics and automation intelligent robots Observers Control systems Robot sensing systems Orbital robotics State estimation Visual servoing

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Face contour detection and tracking with complex backgrounds

Face contour detection and tracking with complex backgrounds

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Fu-Zhen Huang Jian-Bo Su Department of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

ISBN: (纸本)0780384032

A novel method combining a motion detection technique and geometric active contours for face contour detection and tracking with complex backgrounds is presented in this paper. First, Wronskian change detector is used to segment moving regions from complex background. Second, via projection histograms of moving silhouette and geometric constraints of facial parts, possible face region can be determined very quickly. Third, a modified geometric active contour model incorporating prior face shape into the Chan-Vese model is applied to further detect face contour accurately. And finally, via first-order linear motion estimation, the detected face contour is tracked correctly in the following frames. Experimental results show the efficiency of our method.

关键词： Face detection Motion detection Active contours Detectors Solid modeling Tracking Humans Head robotics and automation intelligent robots

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Data-Driven Optimal Control of Tethered Space Robot Deployment with Learning Based Koopman Operator

arXiv

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arXiv 2023年

作者： Jin, Ao Zhang, Fan Huang, Panfeng Research Center for Intelligent Robotics School of Automation Northwestern Polytechnical University Xi’an China Research Center for Intelligent Robotics School of Astronautics Northwestern Polytechnical University Xi’an China

To avoid complex constraints of the traditional nonlinear method for tethered space robot (TSR) deployment, this paper proposes a data-driven optimal control framework with an improved deep learning based Koopman operator that could be applied to complex environments. In consideration of TSR’s nonlinearity, its finite dimensional lifted representation is derived with the state-dependent only embedding functions in the Koopman framework. A deep learning approach is adopted to approximate the global linear representation of TSR. Deep neural networks (DNN) are developed to parameterize Koopman operator and its embedding functions. An auxiliary neural network is developed to encode the nonlinear control term of finite dimensional lifted system. In addition, the state matrix A and control matrix B of lifted linear system in the embedding space are also estimated during training DNN. Then three loss functions that related to reconstruction and prediction ability of network and controllability of lifted linear system are designed for training the entire network. With the global linear system produced from DNN, Linear Quadratic Regulator (LQR) is applied to derive the optimal control policy for the TSR deployment. Finally, simulation results verify the effectiveness of proposed framework and show that it could deploy tethered space robot more quickly with less swing of in-plane angle. Copyright © 2023, The Authors. All rights reserved.

关键词： Embeddings

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Reinforcement learning based on human-computer interaction

Reinforcement learning based on human-computer interaction

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Fang Liu Jian-Bo Su Department of Automation Research Center of Intelligent Robotics Shanghai JiaoTong University Shanghai China

A novel interactive learning structure integrated with a reinforcement learning algorithm and human-computer interaction (HCI) is proposed. This interactive learning system can benefit from measurements of the distance between the current state and goal state via an operator's professional knowledge. Thus, the learning procedure is expected to be more efficient. A guess-number task is explored to evaluate the proposed learning system. Experimental results show that the learning efficiency and convergence rate are both increased compared with the normal reinforcement learning method.

关键词： Human computer interaction Learning systems robotics and automation intelligent robots State-space methods Artificial intelligence Feedback Supervised learning intelligent structures Human robot interaction

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Deformable pedal curves with application to face contour extraction

Deformable pedal curves with application to face contour ext...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Fuzhen Huang Jianbo Su Institute of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

ISBN: (纸本)0769519008

Pedal curves are the loci of the feet of perpendiculars to the tangents of a fixed curve to a fixed point called the pedal point. By varying the location of the pedal point, deformable pedal curves have an important feature of incorporating a global parameterized shape into the curve evolution framework. In this paper, a hybrid geometric active model based on deformable pedal curves for face contour extraction is presented. Taking advantage of the deformable pedal curves, the proposed model can allow for representation of global and local shape characteristic of human face. Moreover, by implementing the model in a level set framework, automatic topological changes can be achieved naturally. Experimental results show the validity of our approach.

关键词： Shape Deformable models Solid modeling Level set Active contours Object detection robotics and automation intelligent robots Humans Face

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Online estimation of image Jacobian matrix by Kalman-Bucy filter for uncalibrated stereo vision feedback

Online estimation of image Jacobian matrix by Kalman-Bucy fi...

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IEEE International Conference on robotics and automation (ICRA)

作者： Jiang Qian Jianbo Su Institute of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

This paper studies the visual servoing problem with sensory feedback from uncalibrated stereo cameras. The linear image Jacobian matrix is used to describe the spatial and temporary approximation of the differential movement relation between image space and robotic workspace. We suggest to construct an instrumental dynamic system with state variables formed from elements of the image Jacobian matrix. Thus a Kalman-Bucy filter is used to estimate the state variables of the constructed system online, which is robust to system noise and external disturbances. A 3D tracking task by a robot manipulator with visual feedback from uncalibrated stereo cameras is exemplified to show the formation of the instrumental system, estimation process and performance of the image Jacobian matrix and the design of the servo controller. Effectiveness of the proposed method and satisfactory tracking process can be found from extensive simulations and experiments provided in the paper.

关键词： Jacobian matrices Filters Stereo vision Feedback Robot vision systems Cameras Instruments Visual servoing Robot sensing systems Orbital robotics

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Multiple face contour detection based on geometric active contours

Multiple face contour detection based on geometric active co...

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International Conference on Automatic Face and Gesture Recognition

作者： Fuzhen Huang Jianbo Su Institute of Automation & Research Center of Intelligent Robotics Shanghai Jiaotong University Shanghai China

ISBN: (纸本)0769521223

An approach based on a multiphase geometric active contour model is presented for multiple face contour detection in grayscale still images. The proposed method first adopts the multiphase Chan-Vese model for image segmentation. Bassed on the four-color theorem this model can use only two level set functions to represent any partition in the piecewise smooth case. Then the Hausdorff distance is used as a similarity between a general elliptical face model and the segmented closed curves. Based on the predefined threshold, the final face contours are achieved in this validation step. Experiments are performed on a large test set and show the efficiency of the method.

关键词： Face detection Active contours Solid modeling Level set Active shape model Humans Head robotics and automation intelligent robots Image segmentation

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