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3rd International Conference on Internet of Things and Smart City, IoTSC 2023

作者： Chen, Xinming Shi, Lei Shao, Jinliang School of Automation Engineering University of Electronic Science and Technology of China Chengdu611731 China

ISBN: (纸本)9781510666375

This paper studies the localization problem of wireless sensor network in indoor environment. In order to meet the mobile users' demand for location service in indoor environment, an indoor distributed localization method based on coordinate projection technology and barycentric coordinate representation is proposed, which can realize large-scale localization of wireless sensor networks in 3D indoor environment only through a few anchor nodes. Meanwhile, this method has no too many restrictions on the deployment of wireless sensor networks, and can flexibly adjust sensor nodes, and has strong scalability. Finally, the effectiveness of the proposed localization method is verified by numerical simulation. © 2023 SPIE.

关键词： Numerical methods

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Terrain-Adaptive Gait Planning for Lower Limb Walking Assistance Exoskeleton Robots 42

Terrain-Adaptive Gait Planning for Lower Limb Walking Assist...

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42nd Chinese Control Conference, CCC 2023

作者： Zou, Chaobin Peng, Zhinan Shi, Kecheng Mu, Fengjun Huang, Rui Cheng, Hong School of Automation Engineering University of Electronic Science and Technology of China Chengdu611731 China

ISBN: (纸本)9789887581543

In recent years, Lower Limb Exoskeletons (LLEs) have gained considerable interest walking assistance applications for paraplegic patients. Assisting patients to walk over different terrains such as slopes and stairs is necessary for the widespread use of LLEs. In this paper, a Kernelized Movement Primitives (KMP) based terrain adaptive gait planning approach has been proposed, which can be used to generate adaptive gait trajectories online and dynamically. The main idea is to model the human-exoskeleton system as a reduced order dynamics model, with the given step length, the foot positions can be generated, and the gait trajectory can be encoded and reproduced by the KMP with the geometric parameters of the terrains that measured by the vision sensor. After learning from demonstrated gaits that sampled from healthy subjects, adaptive gait trajectories can be reproduced on-line to adapt to slopes and stairs with different geometric sizes. The efficiency of the proposed approach has been demonstrated on an lower limb walking assistance exoskeleton robot, and experimental results indicate that the proposed approach can provide exoskeletons with the ability to generate appropriate gait trajectories for different terrains. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Trajectories

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Feasibility Study on Thickness Measurement of Coated ZrO2 Using Optical Coherence Tomography 9

Feasibility Study on Thickness Measurement of Coated ZrO2 Us...

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9th International Symposium on System Security, Safety, and Reliability, ISSSR 2023

作者： Li, Jinjian Ding, Yaoyu Zhao, Tianyi Lei, Chenguang Bai, Libing University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China

ISBN: (纸本)9798350302479

ZrO2 is coated on nuclear fuel rod to protect it from high temperature steam oxidation and erosion, the degeneracy of the coated ZrO_2 is inevitable and needs to be measured in-situ periodically to ensure a qualified performance and meet the safety standard. The existing magnet-based method involves complex calibration procedure, which is sensitive to the radiation of the environment, and the sensor module can hardly be placed in the tiny gap between array of the fuel rods. Here, we demonstrated an extended industrial application of 1310 nm wavelength-based spectral domain optical coherence tomography for the non-destructive in-situ thickness measurement of the aforementioned ZrO_2 materials coated on the fuel rod. The nature of optical fiber overcomes the aforementioned challenges for magnet-based methods. The acquired data show a high signal to noise ratio and distinct difference between different thickness, and thus confirms the potential applicability of optical coherence tomography for in-situ thickness measurement of coated ZrO_2 materials. © 2023 IEEE.

关键词： Optical tomography

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High Resolution Remote Sensing Image Segmentation Method with Improved DeepLabv3+

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Journal of Shanghai Jiaotong university (Science) 2024年 1-11页

作者： Tao, Hongjie Li, Zhaofei Qi, Fei Chen, Jingjue Zhou, Hao School of Automation and Information Engineering Sichuan University of Science and Engineering Sichuan Yibin643002 China Artificial Intelligence Key Laboratory of Sichuan Province Sichuan University of Science and Engineering Sichuan Yibin643002 China Chengdu Tianxun Microsatellite Technology Co. Ltd. Chengdu610200 China

In order to address the challenges associated with poor semantic segmentation results of classical semantic segmentation networks in high-resolution remote sensing images, limited performance in complex scenes, a large number of network parameters, and high training costs, this study proposes an efficient segmentation method for high-resolution remote sensing images based on an improved DeepLabv3+ approach. The method focuses on three key aspects: reducing the number of network parameters, minimizing computation volume, and enhancing performance. First, the proposed method replaces the original DeepLabv3+ backbone network Xception, which is computationally heavy, with the lighter MobileNetV2 network for feature extraction. This substitution helps reduce the number of network parameters while maintaining effective feature extraction. Second, a lightweight convolutional block attention module (CBAM) is added after the feature extraction module to enhance the network’s feature extraction capability. The inclusion of CBAM further reduces the number of network parameters. Last, coordinate attention is introduced after the shallow features obtained from the feature extraction module. This addition allows the network to focus more on relevant features in the image, while disregarding irrelevant background information. Experimental results demonstrate the effectiveness of the proposed method. In the segmentation task of the high-resolution image dataset, the method achieves a mean intersection over union (mIoU) of 75.33%. This result surpasses mainstream semantic segmentation networks such as SegNet, PSPNet, and U-Net by 12.49%, 3.16%, and 1.62% respectively. Furthermore, the proposed model has a relatively low number of network parameters, with only 6.02 × 106 parameters, and a computation volume of 26.45 GFLOPs. This balance between computational efficiency and segmentation accuracy makes the model highly valuable for edge computing applications. © Shanghai Jiao Tong Univ

关键词： Feature extraction

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An Improved Wildfire Identification Method Based on Yolov7 and Attention Mechanism 3

An Improved Wildfire Identification Method Based on Yolov7 a...

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3rd International Conference on Artificial Intelligence, Virtual Reality, and Visualization, AIVRV 2023

作者： Yang, Qiang Yu, Fan Zhang, Gexiang Jin, Xiaozhao Guo, Dequan Wang, Ping Yao, Guangle Liang, Kai College of Computer Science and Cyber Security Chengdu University of Technology Chengdu China School of Automation Chengdu University of Information Technology Chengdu China School of Network & Communication Engineering Chengdu Technological University Chengdu China

ISBN: (纸本)9781510671485

Wildfires, also called forest fires, are a common natural disaster that often occur in forests and are difficult to control. Detecting and suppressing them at an early stage, primarily through monitoring smoke and fires, is crucial in reducing losses. Thanks to the efforts of researchers, wildfire detection technology has advanced significantly, from traditional manual monitoring to target detection, sensor detection, and infrared detection. However, the various detection methods still have some issues, including low accuracy, high costs, slow detection speeds and susceptibility to interference. This paper presents an improved approach to identifying wildfires based on YOLOv7 with CBAM. Our experimental results indicate that our approach achieves a mean Average Precision (mAP) of 95.77%, surpassing VGG-SSD with CBAM by 0.53%, MobileNetv2-SSD with CBAM by 0.37%, and Faster R-CNN with CBAM by 2.1%. Thus, our method offers a highly accurate approach to wildfire identification. © 2023 SPIE.

关键词： Smoke

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A Self-organized Coverage Algorithm for UAV Swarms based on Color Information Recognition 4

A Self-organized Coverage Algorithm for UAV Swarms based on ...

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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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Dynamic learning from neural PID output-feedback control for a lower limb exoskeleton rehabilitation robot

Dynamic learning from neural PID output-feedback control for...

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2024 China automation Congress, CAC 2024

作者： Li, Wen Zhang, Xinhao He, Weitian Zou, Chaobin Yang, Qinchen Zhang, Fukai Cheng, Hong Wang, Cong School of Control Science and Engineering Shandong University Jinan China School of Automation Engineering University of Electronic Science and Technology of China Chengdu China

ISBN: (纸本)9798350368604

With the intensification of population aging and the increasing number of patients with lower limb dysfunction, the research and precise control of lower limb rehabilitation robots have become increasingly important. In this study, a sitting and lying lower limb exoskeleton robot model is developed based on the CoppeliaSim platform. For the nonlinear system of a two-degree-of-freedom single-leg robot with uncertainty, an improved PID control method based on deterministic learning is proposed. Under the condition of persistent excitation, this control method accurately identifies the unknown dynamic characteristics of the system by introducing a neural network, ensuring precise control of lower limb movements. Learning-based PID controllers are constructed using the gained knowledge to achieve fast, smooth tracking and greatly improve the safety of rehabilitation control. The results of simulation experiments show that the proposed control strategy in this paper is effective. © 2024 IEEE.

关键词： Exoskeleton (Robotics)

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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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An Evolutionary Design Method for an Adder with Spiking Neural P Systems 5

An Evolutionary Design Method for an Adder with Spiking Neur...

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5th International Conference on Pattern Recognition and Artificial Intelligence, PRAI 2022

作者： Luo, Biao Zhang, Gexiang Xiao, Dongyang Dong, Jianping Chengdu China Chengdu University of Technology School of Nuclear Technology and Automation Engineering Chengdu China

ISBN: (数字)9781665499163

ISBN: (纸本)9781665499163

As one of the most widely studied membrane systems, a spiking neural P system (SN P system) consists of three fundamental elements: initial spikes, evolution rules, and connection between neurons. In the previous literatures, the evolutionary design of the SN P systems is usually to select the redundant evolution rules set when the connections between neurons and the initial spikes are known. In this paper, an evolutionary design method of the adder for the SN P systems is proposed. More specifically, an encoding method is introduced to encode the initial spikes and evolution rules. In addition, an evolutionary strategy is proposed to select initial spikes and evolution rules. Finally, according to the encoding method and the evolutionary strategy, an adder based on spiking neural P systems is designed to achieve the addition of natural numbers. The experimental results indicate that the evolutionary design method of the adder for SN P systems is feasible and effective. © 2022 IEEE.

关键词： Adders

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Adaptive Prescribed Finite-Time Bipartite Consensus Control for Nonaffine Nonlinear MASs Under Structurally Unbalanced Topology

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3532-3541页

作者： Wang, Xiaomei Song, Yongduan Zhao, Xudong Wang, Huanqing Wang, Ding Niu, Ben Chongqing University School of Automation Chongqing400044 China Shandong Normal University School of Information Science and Engineering Shandong Jinan250014 China Dalian University of Technology School of Control Science and Engineering Liaoning Dalian116023 China Bohai University College of Mathematical Sciences Liaoning Jinzhou121013 China Beijing University of Technology Faculty of Information Technology Beijing100124 China Sichuan University School of Electrical Engineering Chengdu610065 China

This article investigates an adaptive bipartite consensus tracking control algorithm for a class of heterogeneous nonaffine nonlinear multiagent systems (MASs) with prescribed finite-time tracking performance under an unbalanced communication topology. In the case of an unbalanced digraph, a novel locally optimal bipartition strategy is proposed to transform the unbalanced communication topology into a structurally balanced one, thereby enabling the implementation of bipartite consensus tracking control. To achieve the expected tracking performance, the design philosophy focuses on developing a prescribed finite-time performance function (PFTPF), capable of preassigning the convergence time and accuracy precisely beforehand. The explored adaptive control algorithm can ensure that the whole signals concerning the closed-loop MASs remain bounded while the bipartite consensus errors converge to a predetermined range around zero within the prescribed finite time. Ultimately, the simulation results on robotic systems prove the availability of the developed design solution. © 2013 IEEE.

关键词： Topology

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