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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Zheng, Hao Wang, Qiang Ji, Jinming Harbin Institute of Technology Department of Control Science and Engineering Harbin China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

For weeding, compared to satellite navigation, using the location information of crops in the field to directly navigate the weeding robot is more accurate, so navigation line extraction is a key point in weeding robot autonomous navigation in the field. Though deep learning and neural network has developed fast in recent years, it does not run fast enough to be used in real time scenarios, so an image processing based navigation line extraction algorithm is proposed in this paper. We used a camera to take RGB images, of which the top and the bottom portion would be cut out and the middle portion would be remained to reduce the impact of distance between the crops and the robot. The green in the original image would be found out by transforming the image into the HSV color and then the morphological operation would be used to remove the noises for further image processing. Generally there are more than one ridges in the image, so it is necessary to find out the ridge in the middle for navigation. We clustered the crops according to the distance between them and chose the cluster in the middle to extract the navigation line. At last, the least square algorithm was used to calculate the navigation line. We used the slope of the navigation line and the distance between it and the center point of the image to control the direction of the robot. Experiments of the weeding robot on a simulated farm field showed that the algorithm can achieve the desired navigation effect and further experiments in the field also showed its good performance. © 2022 IEEE.

关键词： Crops

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Spatial Transformer Network with Transfer Learning for Small-scale Fine-grained Skeleton-based Tai Chi Action Recognition 48

Spatial Transformer Network with Transfer Learning for Small...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Yuan, Lin He, Zhen Wang, Qiang Xu, Leiyang Ma, Xiang Harbin Institute of Technology Department of Control Science and Engineering Harbin China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Human action recognition is a quite hugely investigated area where most remarkable action recognition networks usually use large-scale coarse-grained action datasets of daily human actions as inputs to state the superiority of their networks. We intend to recognize our small-scale fine-grained Tai Chi action dataset using neural networks and propose a transfer-learning method using NTU RGB+D dataset to pre-train our network. More specifically, the proposed method first uses a large-scale NTU RGB+D dataset to pre-train the Transformer-based network for action recognition to extract common features among human motion. Then we freeze the network weights except for the fully connected (FC) layer and take our Tai Chi actions as inputs only to train the initialized FC weights. Experimental results show that our general model pipeline can reach a high accuracy of small-scale fine-grained Tai Chi action recognition with even few inputs and demonstrate that our method achieves the state-of-the-art performance compared with previous Tai Chi action recognition methods. © 2022 IEEE.

关键词： Large dataset

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Temporal-spatial Feature Fusion for Few-shot Skeleton-based Action Recognition 48

Temporal-spatial Feature Fusion for Few-shot Skeleton-based ...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Xu, Leiyang Wang, Qiang Lin, Xiaotian Yuan, Lin Ma, Xiang Harbin Institute of Technology Department of Control Science and Engineering Harbin China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Recognizing new action categories from a few reference samples is an encouraging research field because the cost of labeling data is expensive. This work presents a method for few-shot (or one-shot) skeleton-based action recognition by fusing temporal and spatial features of actions. Trajectory primitives are proposed to characterize the temporal features, which can be obtained by segmenting and clustering the trajectories of joints. After that, we modify the original dynamic time warping (DTW) algorithm and use it to measure the similarity between trajectory primitive sequences. Besides, we compute the joint angles as spatial feature vectors. Support vector machines (SVM) are used to classify the joint angle vectors. In this way, the temporal distance matrix can be calculated by modified DTW, and the spatial distance matrix can be obtained by trained SVM. Finally, we fuse temporal and spatial distance matrices by adjusting a parameter to improve recognition accuracy. Furthermore, extensive experiments are conducted on three small-scale datasets to verify the effectiveness of our proposed method. © 2022 IEEE.

关键词： Trajectories

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Research on the Flux-weakening Capability of the Reverse-salient Permanent Magnet Synchronous Motor 26

Research on the Flux-weakening Capability of the Reverse-sal...

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26th International Conference on Electrical Machines and Systems, ICEMS 2023

作者： Zhao, Xiaokun Zhang, Cheng Wang, Weinan Kou, Baoquan Zhu, Liangkuan Northeast Forestry University College of Computer and Control Engineering Harbin China Harbin Institute of Technology Department of Electrical and Automation Harbin China

ISBN: (纸本)9798350317589

Permanent magnet synchronous motors (PMSMs) offer the benefits of high torque density and a superior power factor. Nevertheless, the challenge lies in the inherent difficulty of adjusting the permanent magnet flux. To address this issue, this paper analyzes the influence of electromagnetic parameters on the constant-power speed range (CPSR). First, the analysis focuses on the influence of d-axis inductance and saliency ratio, aiming to establish a design method for achieving a wide CPSP in PMSMs. Second, based on the electromagnetic parameter requirements, a reverse-salient PMSM is proposed and its working principle is explained. Finally, the electromagnetic characteristics, including torque and the CPSP, are determined through the application of the finite element method (FEM). The obtained results confirm that the reverse-salient PMSM achieves a CPSP of 7:1, thus validating the accuracy of the theoretical analysis. © 2023 IEEE.

关键词： Finite element method

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A Data-Driven Closed-Loop System Identification Approach Using Canonical Correlation Analysis 25

A Data-Driven Closed-Loop System Identification Approach Usi...

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25th IEEE International Conference on Industrial technology, ICIT 2024

作者： Qiao, Xinyu Li, Xianling Zheng, Wei Huo, Mingyi Jiang, Yuchen Luo, Hao Harbin Institute Of Technology Department Of Control Science And Engineering Harbin China Wuhan 2ndShip Design And Research Institute Science And Technology On Thermal Energy And Power Laboratory Wuhan China

ISBN: (纸本)9798350340266

In this paper, a data-driven closed-loop system identification approach using canonical correlation analysis (CCA) is proposed. Based on the subspace identification methods (SIM), an auxiliary matrix is constructed by utilizing known controller information in the structure of the closed-loop system. With the help of the projection, the equivalent relationship between past input and future output is found, and the optimal identification of system parameters is implemented by using the CCA method. The proposed method solves the biased identification problem caused by the correlation between closed-loop input and noise. The main results are tested and verified via the numerical example, and the superiority of the identification estimation results of the proposed method is compared through different methods. © 2024 IEEE.

关键词： Closed loop systems

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SkeletonCLIP: Recognizing Skeleton-based Human Actions with Text Prompts 8

SkeletonCLIP: Recognizing Skeleton-based Human Actions with ...

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8th International Conference on Systems and Informatics, ICSAI 2022

作者： Yuan, Lin He, Zhen Wang, Qiang Xu, Leiyang Ma, Xiang Harbin Institute of Technology Department of Control Science and Engineering Harbin China

ISBN: (纸本)9781665474481

Human action recognition has been a hot research for decades, and mainstream supervised frameworks include a feature extraction backbone and a softmax classifier to predict daily human actions. When the number of classes applied to the dataset changes, we must retrain the classifier on the well-trained backbone. This pipeline restricts the generalization and transfer ability of the model due to an extra training period. Moreover, replacing action labels with simple number labels discards useful semantic information and can only receive a meaningless classifier at last. In this work, we present a model SkeletonCLIP for skeleton-based human action recognition. We add an alternative text encoder to extract semantic information from labels while keeping the original sequence encoder. We use dot production to measure the similarities of sequence-text pairs in place of traditional classifier head and cross-entropy loss. Experiments from three human action datasets show that our framework can reach a higher recognition accuracy with the help of semantic information when training the network from scratch. The code has been shown at eunseo-v/SkeletonCLIP. © 2022 IEEE.

关键词： Semantics

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A Study of Electromagnetic Acoustic Emission technology in Non-destructive Testing 2

A Study of Electromagnetic Acoustic Emission Technology in N...

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2nd International Conference on Sensing, Measurement, Communication and Internet of Things Technologies, SMC-IoT 2023

作者： Chang, Yongqi Shen, Yi Zhang, Xin Song, Shuzhi Zhao, Zhenyu Jie, Huamin Harbin Institute of Technology Department of Control Science and Engineering Harbin China Nanyang Technological University School of Electrical and Electronic Engineering Singapore

ISBN: (纸本)9798350373257

Electromagnetic acoustic emission (EMAE), an emerging and highly promising technology, has gained prominence for its ability to provide profound insights into material integrity evaluation while preserving the specimen integrity. Certain scholars have achieved successful detection of defect in aluminum specimens through the utilization of EMAE technology. However, a comprehensive exploration encompassing the principles, developments, advantages, and limitations pertaining to EMAE remains conspicuously absent within the extant literature. To address aforementioned concern, this paper presents a detailed study on the application of EMAE technology in non-destructive testing (NDT). It categorizes the findings on EMAE based on the distinct electromagnetic interaction mechanisms in ferromagnetic and non-ferromagnetic materials. Additionally, it elucidates the potential of EMAE technology in the detection and identification of rail defects. © 2023 IEEE.

关键词： Ferromagnetic materials

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Infrared Target Generation based on Conditional Diffusion Inpainting

Infrared Target Generation based on Conditional Diffusion In...

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2024 Conference on Spectral technology and Applications, CSTA 2024

作者： Dong, Bo Liu, Xiuhua Wang, Peng Xu, Xiaoyu Department of Control Science and Engineering Harbin Institute of Technology Harbin China Intelligent Science and Technology Academy Limited of CASIC Beijing China Tangshan Workers' Hospital Tangshan China

ISBN: (纸本)9781510683082

A novel method for generating infrared targets is proposed, based on conditional diffusion inpainting. Firstly, we introduce a transformation framework designed to translate detection annotations from text to image, serving as the conditional input for the diffusion inpainting convolutional neural network. Secondly, a novel multi-scale image-condition Unet is designed as the mainframe of diffusion model. Finally, we conduct numerous direct and indirect evaluation experiments to assess the proposed algorithm. Experimental results demonstrate that the proposed algorithm generates high-quality infrared targets. Furthermore, as an augmentation, the generated images significantly enhance the detection accuracy of few-shot thermal infrared targets. © 2024 SPIE.

关键词： Convolutional neural networks

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Design and Realization of Unmanned Vehicle Autonomous Navigation System Based on Binocular Camera 3

Design and Realization of Unmanned Vehicle Autonomous Naviga...

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3rd International Conference on Computer Science, Electronic Information engineering and Intelligent control technology, CEI 2023

作者： Guo, Tianxing Lin, Lianlei Liu, Huanyu Li, Junbao School of Electronics and Information Engineering Harbin Institute of Technology Department of Automatic Test and Control Harbin China Information Countermeasure Technique Institute School of Computer Science and Technology Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350372052

Aiming at the navigation problem of unmanned vehicles in extreme environments such as communication interference and limited GPS signals, this study proposes an autonomous navigation method based on binocular cameras. The method enables the unmanned vehicle to complete the task of localization and map building using only binocular images, without the need for other sensors or signal sources. Meanwhile, this study also proposes a local path planning obstacle avoidance method based on depth map, which, when combined with global localization information, can take into account both local obstacle avoidance and global path navigation, and can cope with random environmental changes. The system uses a single sensor for autonomous obstacle avoidance and navigation, which reduces the computational requirements and ensures the low cost of the navigation system. In order to verify the reliability and effectiveness of the system under signal-constrained conditions, the system is evaluated in a simulation environment and a real field scenario, respectively. The experimental results show that the system is able to achieve reliable localization and path planning under signal-constrained conditions. © 2023 IEEE.

关键词： Cameras

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Sliding Mode control in Power Converters and Drives: A Review

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IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 392-406页

作者： Ligang Wu Jianxing Liu Sergio Vazquez Sudip K.Mazumder IEEE Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Electronic Engineering Department Universidad de Sevilla41092 SevillaSpain Electrical and Computer Engineering Department University of Illinois ChicagoChicagoIL 60607 USA

Sliding mode control(SMC)has been studied since the 1950s and widely used in practical applications due to its insensitivity to matched *** aim of this paper is to present a review of SMC describing the key developments and examining the new trends and challenges for its application to power electronic *** fundamental theory of SMC is briefly reviewed and the key technical problems associated with the implementation of SMC to power converters and drives,such chattering phenomenon and variable switching frequency,are discussed and *** recent developments in SMC systems,future challenges and perspectives of SMC for power converters are discussed.

关键词： Motor drive power electronics systems sliding mode control

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