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2nd International Conference on Digital Society and Intelligent Systems, DSInS 2022

作者： Fan, Linghao Liu, Xiangde Zhang, Yi Chongqing University of Posts and Telecommunications Intelligent Systems and Robotics Laboratory Chongqing China Chongqing Information Accessibility and Service Robot Engineering Technology Research Center Chongqing China

ISBN: (纸本)9781510663244

A way of incorporating landmark information matrix QR to affect the global path planning algorithm is proposed for the use of landmarks in robot localization and navigation. It is also investigated how this method affects the pace at which the original algorithm solves problems. The reward and punishment items in this technique include dangerous locations with lots of obstacles around them, landmarks with location information connected to the ground, and the two combined. Three representative common robot path planning algorithms are also imposed as influences. Through MATLAB simulation experiment, find the optimal path planning algorithm that is appropriate for applying reward and punishment by comparing the quality of the robot's driving path and the algorithm solution speed before and after the reward and punishment. According to the simulation results, the reward and punishment approach is practical and efficient. The heuristic search algorithm is better suited for reward and punishment, and both its path quality and speed of solution have greatly increased. © 2023 SPIE.

关键词： Genetic algorithms

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research on Scheduling Cooperation and Path Planning of Multi-AGV Based on Slime Moulds Algorithm 22

Research on Scheduling Cooperation and Path Planning of Mult...

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2022 International Workshop on Control Sciences and Automation, WCSA 2022

作者： Yueming, Qiu Xiangde, Liu Yi, Zhang National Information Accessibility and Service Robot Engineering Research Center School of Advanced Manufacturing Engineering Chongqing University of Posts and Telecommunications China

ISBN: (纸本)9781450389396

The contemporary society has put forward higher requirements for the logistics system with the development of industrial production automation, intelligence and information integration. Automatic guided vehicle (AGV) is a kind of mobile wheeled robot which can complete the specified transportation task after given path information and map information. In AGV scheduling, AGV path planning is an important part of AGV scheduling system. On the basis of the developed AGV, this study focuses on the path planning technology of AGV in warehousing logistics. The main research contents are as follows. The method of global map environment modeling was studied. After analyzing several commonly adopted environment modeling methods, the grid method which was most suitable for warehouse map modeling was adopted. Based on the raster map model, the path planning technology of AGV was studied, including single AGV path planning technology and multi-AGV path planning technology. In the research of single AGV path planning, we first studied the single AGV path planning technology, and finally chose a new swarm intelligence algorithm-slime mould algorithm. On the basis of single AGV path planning, we continued to study the multi-AGV path planning technology. Firstly, several types of conflicts in multi-AGV path planning were summarized. In order to solve the conflicts, a time window model algorithm was proposed to effectively avoid conflicts. Finally, the scheduling cooperation and path planning of multi-AGV were realized. © 2022 ACM.

关键词： Automatic guided vehicles

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Detection of loop closure in visual SLAM:a stacked assorted auto-encoder based approach

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Optoelectronics Letters 2021年第6期17卷 354-360页

作者： LUO Yuan XIAO Yuting ZHANG Yi ZENG Nianwen Key Laboratory of Optoelectronic Information Sensing and Technology School of Optical EngineeringChongqing University of Posts and TelecommunicationsChongqing 400065China Engineering Research Center for Information Accessibility and Service Robots School of Advanced Manufacturing EngineeringChongqing University of Posts and TelecommunicationsChongqing 400065China

The current mainstream methods of loop closure detection in visual simultaneous localization and mapping(SLAM)are based on bag-of-words(Bo W).However,traditional Bo W-based approaches are strongly affected by changes in the appearance of the scene,which leads to poor robustness and low *** order to improve the precision and robustness of loop closure detection,a novel approach based on stacked assorted auto-encoder(SAAE)is *** traditional stacked auto-encoder is made up of multiple layers of the same *** with the visual Bo W model,although it can better extract the features of the scene image,the output feature dimension is *** proposed SAAE is composed of multiple layers of denoising auto-encoder,convolutional auto-encoder and sparse auto-encoder,it uses denoising auto-encoder to improve the robustness of image features,convolutional auto-encoder to preserve the spatial information of the image,and sparse auto-encoder to reduce the dimensionality of image *** is capable of extracting low to high dimensional features of the scene image and preserving the spatial local characteristics of the image,which makes the output features more *** performance of SAAE is evaluated by a comparison study using data from new college dataset and city centre *** methodology proposed in this paper can effectively improve the precision and robustness of loop closure detection in visual SLAM.

关键词： visual closure SLAM

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Defect Quantification Evaluation of a Rolling Element Bearing Based on Physical Modelling and Instantaneous Vibration Energy Investigation

SSRN

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SSRN 2024年

作者： Luo, Maolin Guo, Yu Su, Zuqiang André, Hugo Tang, Zhi Zhou, Chen Li, Chao School of Advanced Manufacturing Engineering Chongqing University of Posts and Telecommunications Chongqing400065 China Postdoctoral Research Workstation of Chongqing Information Accessibility and Service Robot Engineering Technology Research Center Chongqing University of Posts and Telecommunications Chongqing400065 China Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming650500 China Université de Lyon Université Jean Monnet de Saint-Etienne LASPI EA3059 20 Avenue de Paris Roanne42334 Cedex France

The estimation of defect size of rolling element bearing (REB) is expected to remain a significant and challenging task in vibration-based condition monitoring of rotating machinery. The conventional approaches focus on extracting the time spacing of the double impulse signal to estimate the defect size of the REB which is subsequently found to be inaccurate and arbitrary. In this paper, a novel model is developed to estimate the defect size of the REB based on the theories of physics and kinematics, in which the multi-event excitations, i.e. the entry, destressing and collision generated by the rolling element-defect interaction, are considered and investigated. The kinematic and geometric contact mechanism, which is mapped onto the rolling element-defect interaction as the rolling element passes over the defect zone, are analysed and modelled as a function of the time information. In view of the fact that the variation of the vibration energy contained in the multi-impact vibration response is deeply mapped to the time information, a novel idea is proposed to extract the time information by analyzing the instantaneous energy variation of the defect-induced impulse using the scheme of the autoregressive model and the smooth pseudo Wigner-Ville distribution. The proposed model and idea are validated by experiments under different defect size and rotational speed scenarios. The results calculated by the proposed model show good agreement with the real defect size. Experimental and modelling comparisons show that the proposed model has reliable effectiveness and good performance and confidence in quantifying the size of the defect area localised on the outer raceway of the REB, and can provide some theoretical guidance for damage detection and remaining useful life prediction of the REB. © 2024, The Authors. All rights reserved.

关键词： Wigner-Ville distribution

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A Multi-AGV scheduling planning method based on improved GA 4

A Multi-AGV scheduling planning method based on improved GA

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2020 4th International Workshop on Advanced Algorithms and Control engineering, IWAACE 2020

作者： Zhang, Yi Li, Mengsi China Chongqing Information Accessibility and Service Robot Technology Research Center Chongqing University of Posts and Telecommunications Chongqing400065 China

The path planning of Multi-AGV does not especially consider the power consumption. Therefore, a new Multi-AGV scheduling planning method based on improved GA(Genetic Algorithm) is proposed. The improvement of this algorithm is showed in three aspects: first, in order to ensure that AGVs have the power to perform the task, the operation of power evaluation is added after each iteration is completed;second, the objective function will have two constraints: first, the minimum total power consumption for all AGV;second, the maximum power consumption of a single AGV is minimal;finally, by changing the mutation operator of the GA, the convergence speed and the convergence of the population are improved. The simulation results show that the improved GA scheduling results are more reasonable, and under the same conditions, AGVs power consumption will be smaller. © Published under licence by IOP Publishing Ltd.

关键词： Genetic algorithms

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Visual focus of attention estimation based on improved hybrid incremental dynamic Bayesian network

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Optoelectronics Letters 2020年第1期16卷 45-51页

作者： LUO Yuan CHEN Xue-feng ZHANG Yi CHEN Xu LIU Xing-yao FAN Ting-kai Institute of Photoelectric Engineering Chongqing University of Posts and TelecommunicationsChongqing 400065China Engineering Research Center for Information Accessibility and Service Robots Chongqing University of Posts and TelecommunicationsChongqing 400065China

In this paper, a visual focus of attention(VFOA) detection method based on the improved hybrid incremental dynamic Bayesian network(IHIDBN) constructed with the fusion of head, gaze and prediction sub-models is proposed aiming at solving the problem of the complexity and uncertainty in dynamic scenes. Firstly, gaze detection sub-model is improved based on the traditional human eye model to enhance the recognition rate and robustness for different subjects which are detected. Secondly, the related sub-models are described, and conditional probability is used to establish regression models respectively. Also an incremental learning method is used to dynamically update the parameters to improve adaptability of this model. The method has been evaluated on two public datasets and daily exper iments. The results show that the method proposed in this paper can effectively estimate VFOA from user, and it is robust to the free deflection of the head and distance change.

关键词： Visual incremental network

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Facial expression recognition based on improved completed local ternary patterns

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Optoelectronics Letters 2019年第3期15卷 224-230页

作者： LUO Yuan LIU Xing-yao ZHANG Yi CHEN Xue-feng CHEN Zhuo Key Laboratory of Optoelectronic Information Sensing and Technology Chongqing University of Posts and TelecommunicationsChongqing400065China Engineering Research Center for Information Accessibility and Service Robots Chongqing University of Posts andTelecommunicationsChongqing400065China

The information of expression texture extracted by the completed local ternary patterns(CLTP) method is not accurate enough, which may cause low recognition rate. Therefore, an improved completed local ternary patterns(ICLTP) is proposed here. Firstly, the Scharr operator is used to calculate gradient magnitudes of images to enhance the detail of texture, which is beneficial to obtaining more accurate expression features. Secondly, two different neighborhoods of CLTP features are combined to obtain much information of facial expression. Finally, K nearest neighbor(KNN) and sparse representation classifier(SRC) are combined for classification and a 10-fold cross-validation method is tested in the JAFFE and CK+ databases. The results show that the ICLTP method can improve the recognition rate of facial expression and reduce the confusion between various expressions. Especially, the misrecognition rate of other six expressions recognized as neutral is reduced in the 7-class expression recognition.

关键词： LBP LTP Facial expression recognition based on improved completed local ternary patterns

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Design Method of the Heating System for Controllable Heating Humidity Sensor 1

Design Method of the Heating System for Controllable Heating...

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1st International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2020

作者： Hu, Chun Li, Dapeng Peng, Peng Zheng, Dezhi Beihang University School of Electronics and Information Engineering Beijing China Chongqing Dexin Robot Testing Center Service Robot Testing Department Chongqing China Beihang University Innovation Institute of Frontier Science and Technology School of Instrument Science and Opto-electronics Engineering Beijing China

ISBN: (数字)9781728192772

ISBN: (纸本)9781728192772

Humidity sensors are prone to condensation in high humidity and low temperature environments, reducing the sensor's measurement performance. Aiming at the current humidity sensor heating system that may not reach the target temperature due to open-loop control and high power consumption, a closed-loop control heating system for the humidity sensor is designed to perform real-time heating and temperature detection of the humidity-sensitive structure. The finite element analysis method is used to conduct thermal analysis on the heating structure, which obtains the temperature distribution of the sensor heating area, guides the heater structure design and gains the location distribution of temperature sensors. A variable parameter fuzzy PID (Proportion Integration Differentiation) control method with variable target temperature is proposed to perform closed-loop control on the temperature of the sensor's sensitive structure. The heating target temperature is set as a function of the ambient temperature. Also the coefficient of PID changes with error. Thus, the power consumption of the system has been effectively reduced and the heating speed is apparently increased. Simulation experiments show that the heating system designed for controllable heating humidity sensor has uniform temperature distribution. When the ambient temperature is-70°C, the difference between upper and lower temperatures is only 0. 0878°C, with a low power consumption (5 × 106W/m3). At the same time, the overregulation of the temperature control system is low, which is 7. 227%. The system has high environmental adaptability and temperature stability. © 2020 IEEE.

关键词： Finite element method

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In-pipe Detection System Based on Magnetic Flux Leakage and Eddy Current Detection 1

In-pipe Detection System Based on Magnetic Flux Leakage and ...

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1st International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2020

作者： Liu, Xiaolin Hu, Chun Peng, Peng Li, Rui Zhao, Xiaoming Zheng, DeZhi Beihang University Innovation Institute of Frontier Science and Technology School of Instrumentation and Optoelectronic Engineering Beijing China Beihang University School of Electronics and Information Engineering Beijing China Chongqing Dexin Robot Testing Center Limited Company Service Robot Detection Department Chongqing China PetroChina Pipeline Company Langfang China

ISBN: (纸本)9781728192772

Pipeline plays an important role in the transportation of oil and gas. In-pipe detection technology is currently widely used at home and abroad. It is of great significance to develop in-pipe detection equipment with independent intellectual property rights and suitable for the actual situation of oil and gas pipelines in China. ANSYS software is used to simulate and analyze the leakage magnetic field of pipeline defect, and the influence rule of defect size on the leakage magnetic field is explored. An in-pipe detection system based on magnetic flux leakage and eddy current detection is designed and implemented, which takes the magnetic flux leakage (MFL) detection and eddy current (EC) detection as the main detection means, mainly including detection sensor and data acquisition and storage system. The system is carried by in-pipe detection equipment to carry out a pull test in a specially-made pipe. The results show that the system has a good detection effect for various types of defects, and the results of the pull test further verify the simulation results. The in-pipe detection system combines the advantages of MFL and EC detection, and can meet the needs of the pipeline detection tasks in China. © 2020 IEEE.

关键词： Pipelines

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Path planning of mobile robot based on hybrid improved artificial fish swarm algorithm 31

Path planning of mobile robot based on hybrid improved artif...

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31st International Conference on Vibroengineering

作者： Zhang, Yi Hua, Yuanhong Center of Chongqing Information Accessibility and Service Robot Engineering Technology Research Chongqing400065 China

The artificial fish swarm algorithm is easy to fall into the local optimum for robot global path planning. A hybrid improved Artificial Fish Swarm Algorithm (HIAFSA) is proposed. Firstly, the sub-optimal path is determined by A* algorithm, and then the adaptive behavior of artificial fish swarm algorithm is improved based on the inertia weight factor, and the attenuation function is introduced to improve the visual range and moving step length of the artificial fish, balance the global path planning and local path planning, and further improve the convergence speed and quality of the solution. The experimental results show that the hybrid improved artificial fish swarm algorithm has been improved in avoiding local optimum, convergence speed and precision. © JVE INTERNATIONAL LTD.

关键词： Motion planning

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