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13th Conference on Image and Graphics Technologies and Applications, IGTA 2018

作者： Jiang, Sicong Zhang, Jianing Zhang, Yunzhou Qiu, Feng Wang, Dongdong Liu, Xiaobo College of Information Science and Engineering Northeastern University Shenyang110819 China Faculty of Robot Science and Engineering Northeastern University Shenyang110819 China

ISBN: (纸本)9789811317019

In recent year correlation filtering based algorithms have achieved significant performance in tracking. In traditional, the previous frame has been trained in order to get the prediction position of the next frame. However, in experiments we find that once the present frame drifts, the latter frame will be affected and accumulate error, which can cause the loss of the target eventually. In that case, the tracker cannot track a target for a long time. To solve these problems and design an efficient long-term tracking algorithm, we propose a long-term tracking algorithm by combining the short-term tracker and the YOLO v2 detector. We use the SURF algorithm to get the similarity of the tracking result and the current contrast template, once the similarity is lower than a threshold, the YOLO v2 will be activated and find the right target through a three-stage cascade selecting mechanism we designed before, then the short-term tracker will be restarted and the contrast template will be updated. In this way, the short-term tracker can be transformed to a long-term tracker which is able to track a target for a long time in complex circumstance. Besides, we also adopt the compound feature to improve our short-term tracker, so our algorithm has better accuracy and robustness. The experimental results demonstrate the proposed approach outperforms state-of-the-art approaches on large-scale benchmark datasets. © Springer Nature Singapore Pte Ltd., 2018.

关键词： Computer vision

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A Localization Algorithm Based on NLOS Identification with Improved VB-AKF

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IOP Conference Series: Materials science and engineering 2020年第1期806卷

作者： Hao Chu Zhibo Fan Fei Wang Peng Ji Chengdong Wu Faculty of Robot Science and Engineering Northeastern University Shenyang Liaoning 110000 China.

As a research hotspot, wireless sensor network (WSN) has a wide range of application prospect. The non-line of sight (NLOS) localization is one of the most basic techniques. In order to mitigate the NLOS influence and increase the localization accuracy, we proposes an improved VB-AKF algorithm in this paper. Firstly, the propagation state of the signal is identified. Then, for the LOS and NLOS mix environments, we reduce the NLOS error by changing the attenuation coefficient. And the maximum likelihood (ML) method is used for localization. Finally, the simulation results show that our method can effectively obtain higher localization accuracy.

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A Non-line-of-Sight Propagation Identification Algorithm in Wireless Sensor Network

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IOP Conference Series: Materials science and engineering 2020年第1期806卷

作者： H Chu P Ji S Lian H Yang R Wu Faculty of Robot Science and Engineering Northeastern University Shenyang Liaoning 110000 China.

With the rapid developing of communication technology, Wireless Sensor Network(WSN) has been applied in many fields. The accuracy of localization is the vital key to all these applications. In order to mitigate the non-line of-sight(NLOS) influence, we propose a propagation identification algorithm based on Anderson-Darling(AD) test. Firstly, the status of signal is determined by the AD testing. Secondly, the particle swarm optimization algorithm is adopted to estimate the mobile node based on the identification results. Finally, the effectiveness of the algorithm is verified by simulation experiments.

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Saliency detection based region extraction for pedestrian detection system with thermal imageries

Saliency detection based region extraction for pedestrian de...

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作者： Xu, Ming Yu, Xiaosheng Wu, Chengdong Chen, Dongyue College of Information Science and Engineering Northeastern University Shenyang110-819 China Faculty of Robot Science and Engineering Northeastern University Shenyang110-819 China

A robust pedestrian detection approach in thermal infrared imageries for an all-day surveillance is proposed. Firstly, the candidate regions which are likely to contain pedestrians are extracted based on a saliency detection method. Then a deep convolutional network with a multi-task loss is constructed to recognize the pedestrians. The experimental results show the superiority of the proposed approach in pedestrian detection. © 2018 The Institute of Electronics, Information and Communication Engineers.

关键词： Convolution

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A novel method for quality assessment of image stitching based on the gabor filtering

A novel method for quality assessment of image stitching bas...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Zhu, Shangdong Zhang, Yunzhou Tao, Liang Liu, Tongbo Liu, Yanjiao Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Information Science and Engineering Northeastern University Shenyang China School of Computer and Communication Engineering University of Science and Techonology of Beijing Beijing China

ISBN: (纸本)9781538680698

Predicting perceptual quality is the main goal of the Image Quality Assessment (IQA) and image stitching is an exceedingly important branch in the field of computer vision, especially for panoramic maps. Nevertheless, there are few existing objective IQA methods suitable for the quality assessment of stitched images. In order to better reflect people's subjective feelings and verify the validity of stitching and fusion algorithms in the reverse direction, an overall IQA framework is proposed in this paper based on characteristics of the image stitching and the Human Vision System (HVS), named Difference Information Sensing Model (DISM). The presented method first uses the Gabor filtering to detect the edge of the image, then constructs the difference image, and finally forms the assessment model combined with the Just Noticeable Difference (JND) threshold. Meanwhile, an improved edge detection algorithm is proposed, which filters out more high-frequency information and preserves the edge of the image skeleton. Furthermore, we developed an edge difference image generation algorithm which can obtain the butt seam, dislocations and brightness differences in the process of stitching. Experimental results demonstrate the efficacy of the proposed method outperforming prior work for quality assessment of image stitching. © 2018 IEEE.

关键词： Edge detection

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Challenges and conceptual framework to develop heavy-load manipulators for smart factories

International Journal of Mechatronics and Applied Mechanics

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International Journal of Mechatronics and Applied Mechanics 2020年第8期2卷 209-216页

作者： Le, Chi Hieu Le, Dang Thang Arey, Daniel Gheorghe, Popan Chu, A.M. Duong, X.B. Nguyen, T.T. Truong, T.T. Prakash, Chander Zhao, Shi-Tian Mahmud, Jamaluddin Gao, James Packianather, M.S. Faculty of Engineering and Science University of Greenwich KentME4 4TB United Kingdom VietMani Co. Ltd and Hanoi University of Science & Technology Hanoi Viet Nam INCDMTM Bucharest Pantelimon 6-8 road Sector 2 Bucharest021631 Romania Institute of Simulation Technology & Faculty of Mech Engineering Le Quy Don Technical University Hanoi Viet Nam Robot3T Group Ward 5 District 8 Ho Chi Minh City Viet Nam School of Mechanical Engineering Lovely Professional University Punjab India School of Mech. Engineering Yancheng Institute of Technology Yancheng224051 China Faculty of Mechanical Engineering Universiti Teknologi MARA Shah AlamSelangor40450 Malaysia School of Engineering Cardiff University CardiffCF24 3AA United Kingdom

Industry 4.0 has been one of the emerging topics in recent years, covering a wide range of concepts and applications as well as political, economic and technological views. Manufacturing is becoming smarter and smarter at all levels, moving toward the concept of Smart Factory (SF), based on the advancements of digital transformation technologies, including Artificial Intelligence (AI) and bigdata analytics, and abilities to learn, configure and execute with cognitive intelligence of smart machines and automation systems. However, the SF adoption in practice, especially in Small and Medium-sized Enterprises (SMEs), is still in the early stage. In addition, there are growing demands of product personalisation, mass-customisation and diversification. Therefore, the involvement of humans is still importantly required in many production processes in SF models, where smart machines, smart manipulators, collaborative robots and Automated guided vehicles (AGVs) are required to co-work with humans, leading to an important concern of safety, reliability, productivity and quality of smart manufacturing systems. In this paper, challenges and a proposed conceptual framework to develop smart heavy-load manipulators are presented, with the focus on the cost-effectiveness and applicability in industrial practices of SF for SMEs. © 2020, Cefin Publishing House. All rights reserved.

关键词： Industry 4.0

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MRPB 1.0: A unified benchmark for the evaluation of mobile robot local planning approaches

arXiv

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arXiv 2020年

作者： Wen, Jian Zhang, Xuebo Bi, Qingchen Pan, Zhangchao Feng, Yanghe Yuan, Jing Fang, Yongchun The Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China The Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China The School of Marine Science and Technology Northwestern Polytechnical University Xi'an710072 China The Faculty of Robot Science and Engineering Northeastern University Shenyang110000 China The College of Systems Engineering National University of Defense Technology Changsha410073 China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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Comparative study of stiffness modeling methods for a novel industrial robotic arm with hybrid open- and closed-loop kinematic chains 15

Comparative study of stiffness modeling methods for a novel ...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Sun, Longfei Liang, Fengyong Fang, Lijin School of Mechanical Engineering Automation Northeastern University Shenyang Liaoning Provence China Faculty of Robot Science and Engineering Northeastern University Shenyang Liaoning Provence China

ISBN: (纸本)9781538660720

Industrial robots are considered as promising options to accomplish machining work due to their advantages of large workspace, good flexibility and low cost. However, industrial robots have weak stiffness and are easy to cause deformations, which affects the machining quality. In this article, a novel industrial robotic arm that has hybrid open- and closed-loop kinematic chains is proposed which is different from the traditional industrial robot. First, the structure of the robot is introduced in brief. Secondly, an analytical method and a semi-analytical method based on strain energy and Castigliano's theorem are proposed to establish the stiffness model of the robot. Finally, the stiffness modeling methods are verified by the FEA and experimental results, and a comparative study of the two stiffness modeling methods is investigated. © 2018 IEEE.

关键词： Stiffness

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son robot System

Development of the Insect-inspired Biomimetic Underwater Mic...

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IEEE International Conference on Mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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Manipulability of the Kondo effect in a T-shaped triple-quantum-dot structure

arXiv

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arXiv 2019年

作者： Yi, Guang-Yu Jiang, Cui Zhang, Lian-Lian Zhong, Su-Rui Chu, Hao Gong, Wei-Jiang College of Sciences Northeastern University Shenyang110819 China Faculty of Robot Science and Engineering Northeastern University Shenyang110819 China Basic Department Shenyang Institute of Engineering Shenyang110136 China

We theoretically investigate the Kondo effect of a T-shaped triple-quantum-dot structure, by means of the numerical renormalization group method. It is found that at the point of electron-hole symmetry, the system's entropy has opportunities to exhibit three kinds of transition processes for different interdot couplings, with the decrease of temperature. This leads to the different pictures of the Kondo physics, including the three-stage Kondo effect. Next when the electron-hole symmetry is broken or the structural parameters are changed, the Kondo resonance can also be observed in the conductance spectrum. However, it shows alternative dependence on the relevant quantities, i.e., the Coulomb interaction and interdot couplings. All these phenomena exhibit the abundant and interesting Kondo physics in this system. We believe that this work can be helpful for further understanding the Kondo effect in the triple-quantum-dot structures. Copyright © 2019, The Authors. All rights reserved.

关键词： Semiconductor quantum dots

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