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An Efficient Evaluation Method for Automobile Shells Design Based on Semi-supervised Machine Learning Strategy 2

An Efficient Evaluation Method for Automobile Shells Design ...

引用

2nd International Conference on Computer, Big Data and Artificial Intelligence, ICCBDAI 2021

作者： Chen, Wenxing Dai, Shuyang Zheng, Baojuan Lin, Hao School of Mathematics and Statistics Wuhan University Wuhan430072 China Department of Algorithm Research and Development Commerical Vehicle Technology Center of SAIC Motor Group Co. Ltd Shanghai 200433 China

Automobile is one of the important modes of transportation for human travel in today's society. Batch production in various countries in the world has also promoted the transformation of production concepts. At present, the development of the automobile industry is developing towards the trend of intelligence, personalizat-ion and sharing. Car appearance in a variety of ways, not every design is reasonable. Therefore, the main purpose of this article is to establish a scientific evaluation standard in order to large-scale test the quality of a variety of car shells design. The scientific nature is mainly reflected in combination the fluid-solid coupling knowledge and machine learning in this article, which can analyze the force of different shells in the flow field, and put out the cloud map information such as the stress, pressure and velocity of the shell. At last, analyze the best test samples and store them in the database, and then using semi-supervised heuristic algorithm to perform the sample training, the ultimate goal is to make the evaluation system more robust. The trained model can correctly evaluate each personalized car shape and give a reasonable score, which is convenient for car manufacturers to make best decision with personalized demand and scientific production. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Automotive industry

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Field Trial of a New Metropolitan WDM Architecture and Flexible Scheduling Based on Optical Layer OAM

Field Trial of a New Metropolitan WDM Architecture and Flexi...

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Asia Communications and Photonics Conference and Exhibition (ACP)

作者： Yang Zhao Yucong Liu Xiang Li Dong Wang Changbin Hu Dechao Zhang Department of Fundamental Network Technology China Mobile Research Institute Beijing China Optical System & Algorithm Development Department Huawei Technologies Co. Ltd. Wuhan China

A novel wavelength pooling technology and a flexible scheduling method based on optical layer OAM (O-OAM) are proposed. Costs of network construction and maintenance are reduced significantly, and service latency is r... 详细信息

ISBN: (数字)9798350379266

ISBN: (纸本)9798350379273

关键词： Costs Asia Optical fiber networks Wavelength division multiplexing Maintenance Monitoring Photonics

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Tightly-Coupled Lidar-Based Lifelong Mapping using Wheels and a MEMS Gyroscope for Mobile Robots in Dynamic Environment 24

Tightly-Coupled Lidar-Based Lifelong Mapping using Wheels an...

引用

3rd International Symposium on Robotics, Artificial Intelligence and Information Engineering, RAIIE 2024

作者： Hu, Lizhi Chen, Huilin Li, Xiang Lu, Wei Zhao, Yifan Hu, Songyu Navigation and Localization Algorithm Department Zhejiang HuaRay Technology Co. Lt. Hangzhou China Software Research and Development Center Zhejiang HuaRay Technology Co. Lt. Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems College of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798400718311

Localization and mapping technology of mobile robots is important in production and warehousing. The changing warehousing environment always result in poor accuracy and robustness of the mobile robot's localization. It is necessary to detect the degree of environmental changes and update the map. This paper proposes a novel lifelong mapping method fusing measurements from the lidar, wheels and a MEMS gyroscope, which can create a reliable map corresponding to the current working environment. Firstly, we use the wheels and gyroscopes measures for pre-integration to provide relative motion constraints, while integrating wheels and gyroscopes to provide initial pose for lidar matching. We also establish lidar odometry by submaps to provide another type of relative motion constraints. The absolute constraints are obtained by matching the lidar measurements with prior map. These three types of constraints are optimized in a factor graph. At the same time, during the process of updating the map, detect newly added artificial markers such as reflective columns or strips, and update them into the map timely. Then, in order to delete redundant lidar data keyframes for building map, we propose a determine redundancy method based on submaps. Finally, we propose a method for calculating the degree of map changes, which can update the map timely. Experimental results prove that our method can establish higher quality maps, optimize lidar external parameters timely during the mapping process, delete redundant lidar keyframes more efficiently, and update the current environmental map more accurately and timely. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Gyroscopes

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Fast Rail Surface Inspection Method and System Based on 3D Line Laser Imaging

Fast Rail Surface Inspection Method and System Based on 3D L...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Lingshu Liu Yihua Kang Fuqiang Liu Shiyuan Liu School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China Software Algorithm Department Beijing Metallurgical Technology Development Co. LTD. Beijing China

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

Due to the significance and complexity of rail surface quality inspections on production lines, manual completion is inefficient. Existing 3D vision techniques, such as stereo vision, are too complex and cumbersome for industrial use. This paper introduces a straightforward and fast line laser calibration method, along with a rail surface defect detection approach using line laser 3D reconstruction. By projecting line lasers onto the sides of a calibration board of specific thickness, the position of the laser centerlines in the side areas is extracted to ascertain the world coordinates of the corresponding point clouds. Four sets of line laser measurement devices are then employed to conduct a full coverage scan of the rail. A streamlined multi-camera joint calibration method is presented, which stitches together 3D point clouds from various perspectives to recreate the complete cross-sectional profile of the rail. After transforming into a surface depth variation map, defects are identified based on depth thresholds. The method not only precisely locates and categorizes defects but also reduces reconstruction errors by 0.1mm and simplifies the calibration process by eliminating the need for multiple rotations of calibration targets, thereby speeding up and enhancing the feasibility of industrial application. The approach overcomes the complexities and cumbersome processes associated with traditional methods not suited for industrial settings. The system can detect at a speed of 1.5m/s, identifying surface defects deeper than 0.3mm with a verified accuracy of less than 0.02mm, thus fulfilling the requirements for rail surface defect inspection.

关键词： Rails Surface reconstruction Three-dimensional displays Measurement by laser beam Surface emitting lasers Inspection Calibration Steel Surface treatment Defect detection

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Reinforcement Learning Based End-to-end Autonomous Obstacle Avoidance for Manipulators

Reinforcement Learning Based End-to-end Autonomous Obstacle ...

引用

Chinese Automation Congress (CAC)

作者： WenPeng Zhang Dan Chen Xiao Sun WeiBing Huang ZheZhuang Xu Fuzhou University School of Electrical Engineering and Automation Fuzhou China Algorithm development department Shenzhen Evomotion Co. Ltd Shenzhen China

In this paper, a simple end-to-end obstacle avoidance method is introded for manipulators. First of all, the 2D images in the workspace are used to uniformly describe the characteristics of obstacles in the 3D space. After that, a model-free reinforcement learning algorithm DrQ-v2 is used to train the obstacle avoidance strategy, which directly outputs the joint angles to avoid the obstacles autonomously and accurately in the joint space. Finally, the simulation results demonstrate that the proposed end-to-end simple control method is more effective and convenient in handling obstacle avoidance tasks in complex dynamic environments.

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High accuracy localization and docking for mobile robots in low dynamic environments

High accuracy localization and docking for mobile robots in ...

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Neural Networks, Information and Communication Engineering (NNICE), International Conference on

作者： Lizhi Hu Wei Lu Xiang Li Hui Lin Navigation and Localization Algorithm Department Zhejiang HuaRay Technology Co. Lt. Hangzhou China Software Research and Development Center Zhejiang HuaRay Technology Co. Lt. Hangzhou China

Localization and Navigation technology of mobile robots is becoming increasingly important in production and manufacturing factory. It is necessary to ensure localization and docking accuracy at high accuracy points and routes. In this paper, we propose a high-accuracy localization method based on 2D laser, wheel odometry, and prior probability grid map. The algorithm can maintain the accuracy of robot trajectory estimation in an dynamic environment that changes over time. Two resolution prior probability grid maps are constructed to determine the initial pose of the mobile robot. A factor graph model is constructed, allowing multiple relative or absolute observations, to be added to the factor graph as factors. During localization, two local submaps are constructed in real time, and are jointly optimized with prior maps before being used to the local scan matching. The laser odometry is generated by using local submaps scan matching, and is added to the factor graph model along with the wheel odometry and prior map scan matching. At the same time, several artificial features are designed at high-accuracy docking target points, and ensure the final docking accuracy by identifying artificial features.

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A Large Scale Extended algorithm for 2D Halton Points with Low-Discrepancy Sequences 3

A Large Scale Extended Algorithm for 2D Halton Points with L...

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3rd International Conference on Artificial Intelligence and Advanced Manufacture, AIAM 2021

作者： Chen, Wenxing Dai, Shuyang Zheng, Baojuan Wuhan University School of Mathematics and Statistics Wuhan430072 China Commercial Vehicle Technology Center of SAIC Motor Group Co. Ltd Department of Algorithm Research and Development Shanghai200433 China

ISBN: (纸本)9781665417327

Random discrete points have important application value in meshless PDE equation discretization, molecular dynamics simulation, point cloud imaging and so on. There are many common methods to generate random points, such as Monte Carlo, Gibbs Sampling, and Hammersley series and etc. But Halton random point algorithm has a defect that it only generates discrete points in [0, 1]2 region. However, in practical applications, it is necessary to be able to generate discrete points on any area. This paper proposed a new Halton points extension algorithm to solve this defects. We defined a linear operator which can transform discrete points from [0, 1]2 region into any plane region. Two examples are given, the extension algorithm respectively includes square, rectangular and polar coordinates region. The numerical results show that our method is accurate, effective and more general, it also enhanced the application range by our method. © 2021 IEEE.

关键词： Molecular dynamics

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Digital twin channel: A data-driven continuous trajectory modeling 1

Digital twin channel: A data-driven continuous trajectory mo...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Yu, Zehao Lv, Xingzai Rui, Hua Lin, Wei ZTE Corporation State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China Algorithm Department Wireless Product Research and Development Institute ZTE Corporation Shanghai201203 China

ISBN: (纸本)9781665433372

Digital twin channel modeling is the core and the most challenging part of the digital twin communication systems, due to the complex and susceptible nature of the wireless channel. However, existing channel models are inadequate in capturing the characteristics of real-world channels where the user equipments (UEs) are moving. In this paper, we solve this problem by developing a data-driven continuous trajectory modeling, which requires only a limited number of channel measurements to generate continuous channel coefficients for arbitrary UE tracks. The proposed approach consists of two steps: (1) building a data-driven model which captures the spatial correlation of the wireless channel based on scenario-specific channel measurements, and (2) constructing a trajectory model which models the temporal correlation of channel parameters when the UE is moving. Simulation results show that the proposed modeling process generates channel models whose spatial and temporal characteristics well match the real-world wireless channels. © 2021 IEEE.

关键词： Trajectories

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Multiple Project Scheduling for a Network Roll-Out Problem: MIP Formulation and Heuristic 21st

Multiple Project Scheduling for a Network Roll-Out Problem: ...

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21st International Conference on Mathematical Optimization Theory and Operations Research, MOTOR 2022

作者： Vasilyev, Igor Rybin, Dmitry Kudria, Sergey Ren, Jie Zhang, Dong Matrosov Institute for System Dynamics and Control Theory of the Siberian Branch of the Russian Academy of Sciences Irkutsk Russia Huawei Novosibirsk Research Center Novosibirsk Russia The Chinese University of Hong Kong Shenzhen China Huawei Moscow Research Center Moscow Russia Algorithm and Technology Development Department Global Technical Service Department Huawei Technologies Co. Ltd. Dongguan China

ISBN: (纸本)9783031096068

The paper addresses the Network Roll-Out (NRO) problem aimed at scheduling the construction of mobile stations. In this case, NRO problem can be considered as a generalization of Resource-Constrained Project Scheduling Problem, where we need to find a schedule for the activities related to the construction of a set of base stations taking into account the precedence constraints and the availability of resources while minimizing some measure of performance. The generalization involves the multiple projects, multi-modes, discrete time-cost tradeoff, together with particular business requirements like precedence redundancy and workload stability constraints. To solve this problem, we propose a MIP formulation that is based on a generalization of Disaggregated Discrete-Time formulation with pulse start variables. Using this formulation, we propose a three-stage heuristic based on a relax and fix strategy. The effectiveness and efficiency of the proposed approach are illustrated in a series of computational experiments on real-life problem instances. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Scheduling

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Incremental Model Predictive Control for Velocity-Controlled Robot Manipulators

Incremental Model Predictive Control for Velocity-Controlled...

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Annual Conference of Industrial Electronics Society

作者： Yongchao Wang Hengrui Li Cong Li Fangzhou Liu School of Aerospace Science and Technology Xidian University Xi’an China Algorithm Engineer Research and Development Department Agile Robots Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

In this article, an incremental model predictive controller is proposed for the velocity-controlled robot manipulator. First, the time-delay estimation (TDE) technique is used to approximate the unknown discrepancy between the command and the real joint velocity due to velocity dynamics, and the equation of motion in the incremental form is obtained. Then, on the basis of the resulting equation of motion and taking into account joint position and velocity constraints, the incremental model predictive controller is developed by formulating a constrained optimal control problem (OCP). The constrained OCP is cast to a quadratic programming (QP) problem, making it possible to employ computationally efficient QP solvers to solve the constrained OCP. As a result, real-time control is guaranteed. Finally, experiments on a robot manipulator are implemented to verify the effectiveness of the developed incremental model predictive controller.

关键词： Service robots Computational modeling Optimal control Estimation Predictive models Mathematical models Robustness Computational efficiency Quadratic programming Predictive control

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