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第30届中国控制与决策会议

作者： Xinye Zong Peng Xiao Shiguang Wen College of Information Science and Engineering Northeastern University Sino-Dutch Biomedical and Information Engineering School Northeastern University Faculty of Robot Science and Engineering Northeastern University

Event cameras are different from CCD cameras, and event signal output only occurs when the light intensity is changed. In this paper, we propose an image processing method, first using the event-based visual flow algorithm to predispose the obtained data. Then use a method based on MLS surface fitting method and local plane fitting method to identify the images collected by the event camera. The method is tested in both uniform motion and high speed motion. It is concluded that this method can better filter noise and has high accuracy and robustness to edge identification and extraction.

关键词： event camera event-based visual flow algorithm local plane fitting MLS surface fitting

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Accelerating Materials Discovery Based on Generalized Low-dimensional Conformation Performance Relationships

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IOP Conference Series: Materials science and engineering 2020年第1期746卷

作者： Yuanyuan Qu Xiangying Meng Zixi Jia Xiaofeng Liu Dongyan Liu Shanshan Li Fang Bian College of Sciences Faculty of Robot Science and Engineering Information Construction and Network Security Office College of Information Science and Engineering Northeastern University Architecture Building Room 115 No.3-11 Wenhua Road Heing District Shenyang P. R. China 110819

The construction of conformation-performance relationships (CPRs) is the core issue of efficient material design. Different from traditional CPRs originating from experience summarizations or rational model cognitions, a strategy of generalized low-dimensional conformation-performance relationships (GLD-CPRs) for rapid material discovery has been established in this work by the aid of material information technology, providing us with a new perspective to material gene (MG) and its function on performance. From a pure computing perspective, the strategy has been concreted by a case study of semiconductor bandgap engineering. Based on more than 20,000 items of self-produced semiconductor bandgap and attributes data, a set of CPRs for bandgap regulation towards arbitrary semiconductor of the same kind has be generated using GLD-CPRs strategy. By comparing with the reported studies, the reliability of the strategy is confirmed. Finally, future improvements needed by GLD-CPRs are addressed.

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Chatter Vibration Analysis of A Novel Industrial robot for robotic Boring Process

Chatter Vibration Analysis of A Novel Industrial Robot for R...

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

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

ISBN: (纸本)9781538655481

Industrial robots are considered as promising options to accomplish fine boring works of aircraft intersection holes. However, industrial robots have weak stiffness and are easy to induce chatter vibration which affects the safety of the robot structure and the cutting insert at the same time, as well as machining quality in robotic boring process. In this article, a novel industrial robot is proposed. First, the robot structure is introduced in brief. Secondly, according to the stiffness model and the dynamic differential equation of the robot, the distribution of directional stiffness and natural frequencies is investigated. The vibration results are analyzed based on the robotic boring vibration mechanism., cutting conditions and robot characteristics. Finally., the vibration results of the robot with different stiffness parameters are investigated., which show that the chatter vibration can be suppressed significantly by improving the robot stiffness.

关键词： Service robots Vibrations Force Boring Manipulators

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Fractional Order Flight Control of Quadrotor UAS: A Simscape Benchmark Environment and a Case Study

Fractional Order Flight Control of Quadrotor UAS: A Simscape...

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IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)

作者： Bo Shang Chengdong Wu Yunzhou Zhang YangQuan Chen Information Science and Engineering Northeastern University Shenyang China Faculty of Robot Science and Engineering Northeastern University China School of Engineering University of California Merced CA USA

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

This paper presents an extension of a quadrotor model in the Simscape simulator. The simulated quadrotor has been equipped with a fractional order proportional derivative altitude controller. Ultimately, the output of this work presents a benchmarking system for doing fractional order controller research that allows different techniques and algorithms to be compared using the same virtual conditions. All the Simulink project files can be found on MATLAB Central: https://***/matlabcentral/fileexchange/66739. Movies on how the simulation works can be accessed at: http://***/albumlist/show/id_***.

关键词： fractional order Case studies BENCHMARKS Aircraft control Proportional derivative algorithms

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Sample-based Frontier Detection for Autonomous robot Exploration

Sample-based Frontier Detection for Autonomous Robot Explora...

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IEEE International Conference on robotics and Biomimetics

作者： Wenchuan Qiao Zheng Fang Bailu Si Faculty of Robot Science and Engineering Northeastern University Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation

ISBN: (纸本)9781728103785;9781728103778

Frontier-based method is most commonly used in robotic exploration. One popular frontier searching method is to exploit the idea of rapidly-exploring random tree and to use the grown edges of the tree to search for frontiers. Compared to traditional methods based on image processing, it can be applied to high-dimensional exploration more efficiently. However, this method usually needs to occupy a large number of storage resources and searches for frontiers slowly in the environment where random trees are not easy to grow (unfavorable environment). In this paper, a sample-based frontier detection algorithm (SFD) is proposed. Firstly, by changing the growth rule and the storage mode of the random tree, the disadvantage of slow growth of the tree under unfavorable environments is overcome. Secondly, we divide the map into blocks which are used to delete redundant tree nodes during the exploration to reduce required computation resources. In order to evaluate the proposed frontier detection algorithm, two different kind of simulation environments have been set up. The experimental results show that our algorithm saves the memory resource greatly and shows better performances in unfavorable environments.

关键词： Image edge detection robot kinematics Detection algorithms Sensors Acceleration Autonomous robots

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Real-time Facial Expression Recognition on robot for Healthcare

Real-time Facial Expression Recognition on Robot for Healthc...

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Fei Wang Hu Chen Li Kong Weihua Sheng Faculty of Robot Science & Engineering Northeastern University Shenyang China Shenzhen Academy of Robotics Shenzhen Guangdong China

ISBN: (纸本)9781538655481

Facial expression is important indicator to human health status. This paper is devoted to improving the safety monitor and healthcare for the old through facial expression recognition (FER). A novel convolutional neural network (CNN) architecture which is able to accelerate training process was proposed to deal with FER problems. In order to improve the FER performance in real life, a new dataset was collected to ease the data imbalance of FER2013 dataset. Further more, the method of moving average is ultilized to make up for the drawbacks of still image-based approaches, which is efficient for smoothing the real-time FER results. To monitor the safety and health status of the old, a digital healthcare (DHc) framework was proposed for better healthcare. As a result, the proposed model achieved compariable performance to the state-of-the-art methods both on FER2013 and NVIE datasets. The robot, equipped with the DHc framework, can recognize facial expression in real-life with high performance, and achieved substantial improvement for safety monitor and healthcare of the old.

关键词： Face Training Face recognition Diseases robots Logic gates

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Energy-efficient narrow wall climbing of six-legged robot

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ROBOMECH Journal 2018年第1期5卷 1-10页

作者： Ohara, Kenichi Toda, Takeshi Kamiyama, Kazuto Kojima, Masaru Horade, Mitsuhiro Mae, Yasushi Arai, Tatsuo Department of Mechatronics Engineering Faculty of Science and Technology Meijo University 1-501 Shiogamaguchi Tempaku NagoyaAichi468-8502 Japan Graduate School of Engineering Science Osaka University 1-3 Machikaneyama ToyonakaOsaka568-8502 Japan The University of Electro-Communications 1-5-1 Chofugaoka ChofuTokyo182-8585 Japan Beijing Advanced Innovation Center for Intelligent Robot and Systems Beijing Institute of Technology No.5 Zhongguancun South Street Haidian Beijing100081 China

In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to reduce power consumption during locomotion, we employ a power efficiency model based on the pose of the robot and its limbs. The simulation and experimental results confirm the effectiveness of proposed gait strategies. © 2018, The Author(s).

关键词： robots

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Fractional Order Flight Control of Quadrotor UAS: an OS4 Benchmark Environment and a Case Study

Fractional Order Flight Control of Quadrotor UAS: an OS4 Ben...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Bo Shang Yunzhou Zhang Chengdong Wu YangQuan Chen College of Information Science and Engineering Northeastern University Shenyang China Faculty of Robot Science and Engineering Northeastern University China School of Engineering University of California Merced CA USA

The OS4 quadrotor is a classic quadrotor simulation platform. So far, many different kinds of controllers have been designed based on its plant model. Most of the research only provided a numerical simulation to verify their designed controllers. Only a few researches have put the proposed controllers back to OS4 quadrotor to verify, but they didn't share the project folder to let others continue their work. More open-source and well-documented codes are needed to accelerate the application of fractional order controllers in industry. This paper updated the OS4 folder for the latest MATLAB version. A case of study demonstrated the workflow to design a fractional order proportional derivative controller for the simulated drone. Comparisons showed that fractional order controllers perform better in a nonlinear system like OS4 than integer order PID controllers. An impulse disturbance scenario is also used as a testbed. Project folder can be accessed from: https://***/matlabcentral/fileexchange/67882-os4-foc. Related videos can be found from this link: https://***/heuz4tFqf64.

关键词： Mathematical model Drones Transfer functions Matlab Software packages Frequency control Estimation

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A Novel Approach for Red Lesions Detection Using Superpixel Multi-Feature Classification in Color Fundus Images 29

A Novel Approach for Red Lesions Detection Using Superpixel ...

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第29届中国控制与决策会议

作者： Wei Zhou Chengdong Wu Dali Chen Zhenzhu Wang Yugen Yi Wenyou Du Faculty of Robot Science and Engineering Northeastern University College of Information Science and Engineering Northeastern University School of Software Jiangxi Normal University

ISBN: (纸本)9781509046584

Since red lesions have been found to be one of the earliest lesions in diabetic retinopathy(DR),automatic red lesions detection plays a critical role in diabetic retinopathy *** this article,we develop a novel method using superpixel segmentation and multi-feature classification(SMFC).Using our proposed method,the retinal images are segmented into superpixels with the similar color and spatial *** then,a set of features under multi-channel are proposed for each ***,a novel contextual feature is developed to describe the superpixels with red ***,FDA classification algorithm is used to classify the red lesions with multi-feature for each ***,post-processing is applied to remove the blood vessels and the *** are carried out on public DiaretDBl database and extensive results show the effectiveness of our proposed method.

关键词： Diabetic Retinopathy Red Lesions Superpixel Multi-Channel Multi-Feature FDA Classification

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Automatic Microaneurysm Detection of Diabetic Retinopathy in Fundus Images 29

Automatic Microaneurysm Detection of Diabetic Retinopathy in...

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第29届中国控制与决策会议

ISBN: (纸本)9781509046584

Diabetic retinopathy(DR) is a serious diabetic complication,and Microaneurysm(MA) is the earliest lesion in diabetic retinopathy,so early MA detection plays a critical role in diabetic retinopathy *** this paper,we propose the Joint Dynamic Sparse Representation(JDSR) algorithm with multiple-channel multiple-feature *** for MA are first extracted as small image blocks;then we develop the multiple-channel multiple-feature dictionaries for candidate ***,sparse coefficient can be obtained by the proposed JDSR algorithm which can be used for ***,in order to form an optimal dictionary,the group sparsity dictionary selection method is also *** evaluate our algorithm by comparing it with other state-of-the-art *** experiment results on ROC database demonstrate the effectiveness of the proposed algorithm.

关键词： Diabetic Retinopathy Microaneurysm JDSR Multiple-Channel Multiple-Feature Dictionaries

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