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A Haptic Exploration and Surface Classification of Objects with Four Typical Surface Properties

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Peng Qi Yunfeng Wu Tianliang Yao Bo Lu Yi Sun Jian S. Dai Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai P. R. China Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Suzhou Jiangsu China Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne Lausanne Switzerland Department of Mechanical and Energy Engineering College of Engineering Southern University of Science and Technology Shenzhen P. R. China School of Natural Mathematical and Engineering Sciences King's College London

To effectively interact with the physical world, an intelligent robot is required to have the ability to obtain the detailed features of an unknown object. Visual devices are commonly used to detect the global geometry of an object; however, detailed information such as surface properties cannot be identified using these devices. The current study proposes an efficient haptic exploration method to recognize the physical properties of surfaces using an intelligent fingertip. Our surface-following algorithm utilizes the normal force vector and the tangential force vector at the contact point between the fingertip and the target object to predict the moving direction and implement the surface exploration. And a correction index $K$ is introduced to adjust the sliding velocity. The algorithm is proved to be robust and high performance both in simulation and lab experiments. Finally, we propose and explore a haptic prediction neural network, which enables our robot to have an accurate feel through physical interaction. In the classification experiment of four types of objects with different surface properties, the average accuracy of the proposed model is 90.2%.

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PoCET: a Polynomial Chaos Expansion Toolbox for Matlab

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IFAC-PapersOnLine 2020年第2期53卷 7256-7261页

作者： Felix Petzke Ali Mesbah Stefan Streif Automatic Control & System Dynamics Lab at Technische Universität Chemnitz Faculty for Electrical Engineering and Information Technology Chemnitz Germany Department of Chemical and Biomolecular Engineering University of California Berkeley CA USA

We introduce PoCET: a free and open-scource Polynomial Chaos Expansion Toolbox for Matlab, featuring the automatic generation of polynomial chaos expansion (PCE) for linear and nonlinear dynamic systems with time-invariant stochastic parameters or initial conditions, as well as several simulation tools. It offers a built-in handling of Gaussian, uniform, and beta probability density functions, projection and collocation-based calculation of PCE coefficients, and the calculation of stochastic moments from a PCE. Efficient algorithms for the calculation of the involved integrals have been designed in order to increase its applicability. PoCET comes with a variety of introductory and instructive examples. Throughout the paper we show how to perform a polynomial chaos expansion on a simple ordinary differential equation using PoCET, as well as how it can be used to solve the more complex task of optimal experimental design.

关键词： polynomial chaos simulation tools optimal experiment design optimal control

Zero-shot Text-driven Physically Interpretable Face Editing

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arXiv 2023年

作者： Meng, Yapeng Yang, Songru Hu, Xu Zhao, Rui Li, Lincheng Shi, Zhenwei Zou, Zhengxia Image Processing Center School of Astronautics Beihang University Beijing100191 China Beijing Key Laboratory of Digital Media Beihang University Beijing100191 China State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191 China Shanghai Artificial Intelligence Laboratory China The Netease Fuxi AI Lab Hangzhou China The Department of Guidance Navigation and Control School of Astronautics Beihang University Beijing100191 China

This paper proposes a novel and physically interpretable method for face editing based on arbitrary text prompts. Different from previous GAN-inversion-based face editing methods that manipulate the latent space of GANs, or diffusion-based methods that model image manipulation as a reverse diffusion process, we regard the face editing process as imposing vector flow fields on face images, representing the offset of spatial coordinates and color for each image pixel. Under the above-proposed paradigm, we represent the vector flow field in two ways: 1) explicitly represent the flow vectors with rasterized tensors, and 2) implicitly parameterize the flow vectors as continuous, smooth, and resolution-agnostic neural fields, by leveraging the recent advances of implicit neural representations. The flow vectors are iteratively optimized under the guidance of the pre-trained Contrastive Language-Image Pretraining (CLIP) model by maximizing the correlation between the edited image and the text prompt. We also propose a learning-based one-shot face editing framework, which is fast and adaptable to any text prompt input. Our method can also be flexibly extended to real-time video face editing. Compared with state-of-the-art text-driven face editing methods, our method can generate physically interpretable face editing results with high identity consistency and image quality. Our code will be made publicly available. © 2023, CC BY-NC-SA.

关键词： Iterative methods

Removal notice to: “Detecting Anomalies within Unmanned Aerial Vehicle (UAV) Video Based on Contextual Saliency” [Appl. Soft Comput. 96 (2020) 106715]

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Applied Soft Computing 2021年 110卷

作者： Mostafa Al-Gabalawy Power Engineering and Automatic Control Department Pyramids Higher Institute for Engineering and Technology Egypt

Input Constrained Prescribed Performance-Based control for Hypersonic Gliding Vehicle

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SSRN

SSRN 2025年

作者： Zheng, Kefan Zhao, Xinyue Zeng, Xianlin Zhang, Xiaozhen Fang, Hao Hong, Yiguang National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing100081 China School of Automation Beijing Institute of Technology Beijing100081 China Research Institute for Intelligent Autonomous Systems Tongji University Shanghai200092 China Department of Control Science and Engineering Tongji University Shanghai200092 China

This paper proposes an input constrained prescribed performance-based control (IC-PPC) scheme to investigate the tracking control problem of hypersonic glide vehicle (HGV) system simultaneously considering the user-specified tracking performance and control input constraints. To overcome the challenges caused by the high nonlinearity of the aerodynamic coefficients, the dynamic of HGV system is transformed into the strict-feedback form through the introduction of virtual inputs. A novel decoupling method is developed for the separation of the non-convex coupling constraints of virtual inputs and the calculation of the input saturation errors (the errors between actual and desired inputs). To avoid the violation of the user-specified tracking performance due to the input saturation, an auxiliary system is developed to generate the modified signals. These signals are guaranteed to be non-negative and used to create the input constrained performance functions (IC-PFs), which are capable to degrade or recover the performance boundaries depending on different saturation conditions. Consequently, it is theoretically shown that the output can always track the desired trajectories and satisfy the constraints of the IC-PFs. Finally, comparative simulations are presented to showcase these theoretical findings. © 2025, The Authors. All rights reserved.

关键词： Three term control systems

Neuromorphic system development based on adaptive neuronal network to modulate synaptic transmission in hippocampus 3

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Neuromorphic system development based on adaptive neuronal n...

3rd International Conference "Neurotechnologies and Neurointerfaces", CNN 2021

作者： Lebedeva, Albina Gerasimova, Svetlana Fedulina, Anastasiya Mishchenko, Mikhail Beltyukova, Anna Matveeva, Mariya Mikhaylov, Alexey Pisarchik, Alexander Kazantsev, Victor Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665424745

The project presents fundamental research on the development of concept and basic components of physical circuit based on optoelectronic elements (neuromorphic generators, memristors, optical fibers). This network can replace some functions of brain’s neural networks (such as memory) through adaptive stimulation of neural interfaces at the cellular and cellular networks level. Developing learning system will perform the electrical stimulation of brain areas based on the neural activity recorded and will include electronic devices for recording and processing signals. In addition, this system will include electronic devices for generating electrical stimuli based on hardware models of neurons and memristive devices. The basic idea is to integrate an artificial network with living microcircuits of the brain. The artificial network is capable of adaptively generating electrical output signals and can stimulate a given area of the brain according to the recorded pattern of input signals. We suppose that such a network will be able to reproduce the functions of brain systems, based on the use of learning algorithms. It can be used to expand the functionality of these brain systems and to replace lost functions in pathology or trauma. © 2021 IEEE.

关键词： Memristors

Continuous Cross-resolution Remote Sensing Image Change Detection

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arXiv 2023年

作者： Chen, Hao Zhang, Haotian Chen, Keyan Zhou, Chenyao Chen, Song Zou, Zhengxia Shi, Zhenwei The Image Processing Center School of Astronautics Beihang University Beijing100191 China The Beijing Key Laboratory of Digital Media Beihang University Beijing100191 China The State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191 China The Shanghai Artificial Intelligence Laboratory Shanghai200232 China The Department of Journalism and Communications Jeonuk National University Jeonju-Si54896 Korea Republic of The Department of Guidance Navigation and Control School of Astronautics Beihang University Beijing100191 China

Most contemporary supervised Remote Sensing (RS) image Change Detection (CD) approaches are customized for equal-resolution bitemporal images. Real-world applications raise the need for cross-resolution change detection, aka, CD based on bitemporal images with different spatial resolutions. Given training samples of a fixed bitemporal resolution difference (ratio) between the high-resolution (HR) image and the low-resolution (LR) one, current cross-resolution methods may fit a certain ratio but lack adaptation to other resolution differences. Toward continuous cross-resolution CD, we propose scale-invariant learning to enforce the model consistently predicting HR results given synthesized samples of varying resolution differences. Concretely, we synthesize blurred versions of the HR image by random downsampled reconstructions to reduce the gap between HR and LR images. We introduce coordinate-based representations to decode per-pixel predictions by feeding the coordinate query and corresponding multi-level embedding features into an MLP that implicitly learns the shape of land cover changes, therefore benefiting recognizing blurred objects in the LR image. Moreover, considering that spatial resolution mainly affects the local textures, we apply local-window self-attention to align bitemporal features during the early stages of the encoder. Extensive experiments on two synthesized and one real-world different-resolution CD datasets verify the effectiveness of the proposed method. Our method significantly outperforms several vanilla CD methods and two cross-resolution CD methods on the three datasets both in in-distribution and out-of-distribution settings. The empirical results suggest that our method could yield relatively consistent HR change predictions regardless of varying bitemporal resolution ratios. Our code is available at https://***/justchenhao/SILI_CD. Copyright © 2023, The Authors. All rights reserved.

关键词： Change detection

Feedback-based digital higher-order terminal sliding mode for 6-DOF industrial manipulators

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arXiv 2021年

作者： Kuang, Zhian Zhang, Xiang Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China Department of Mechanical Engineering University of California BerkeleyCA94720 United States Department of Mechanical Engineering University of California BerkeleyCA94720 United States

The precise motion control of a multi-degree of freedom (DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel higher-order sliding mode controller in the discrete-time form with time delay estimation is proposed in this paper. The dynamic model of the manipulator used in the design allows proper handling of nonlinearities, uncertainties and disturbances involved in the problem. Specifically, parametric uncertainties and disturbances are handled by the time delay estimation and the nonlinearity of the manipulator is addressed by the feedback structure of the controller. The combination of terminal sliding mode surface and higher-order control scheme in the controller guarantees a fast response with a small chattering amplitude. Moreover, the controller is designed with a modified sliding mode surface and variable-gain structure, so that the performance of the controller is further enhanced. We also analyse the condition to guarantee the stability of the closed-loop system in this paper. Finally, the simulation and experimental results prove that the proposed control scheme has a precise performance in a robot manipulator system. © 2021, CC BY.

关键词： Sliding mode control

Convergence Rate Bounds for the Mirror Descent Method: IQCs, Popov Criterion and Bregman Divergence

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arXiv 2023年

作者： Li, Mengmou Laib, Khaled Hatanaka, Takeshi Lestas, Ioannis Department of Engineering University of Cambridge Trumpington Street CambridgeCB2 1PZ United Kingdom Graduate School of Advanced Science and Engineering Hiroshima University 1-2-1 Kagamiyama Higashi-Hiroshima Japan Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology S5-16 2-12-1 Ookayama Meguro-ku Tokyo Japan School of Engineering University of Leicester LeicesterLE1 7RH United Kingdom

This paper presents a comprehensive convergence analysis for the mirror descent (MD) method, a widely used algorithm in convex optimization. The key feature of this algorithm is that it provides a generalization of classical gradient-based methods via the use of generalized distance-like functions, which are formulated using the Bregman divergence. Establishing convergence rate bounds for this algorithm is in general a non-trivial problem due to the lack of monotonicity properties in the composite nonlinearities involved. In this paper, we show that the Bregman divergence from the optimal solution, which is commonly used as a Lyapunov function for this algorithm, is a special case of Lyapunov functions that follow when the Popov criterion is applied to an appropriate reformulation of the MD dynamics. This is then used as a basis to construct an integral quadratic constraint (IQC) framework through which convergence rate bounds with reduced conservatism can be deduced. We also illustrate via examples that the convergence rate bounds derived can be tight. Copyright © 2023, The Authors. All rights reserved.

关键词： Lyapunov functions