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第33届中国控制与决策会议

作者： TANG Leisheng XU Hongli WU Han TAN Dongxu Gao Lei Shengyang Institute of Automation Chinese Academy of Science SHENYANG JIANZHU UNIVERSITY Information & Control Engineering Faculty Northeastern University Shenyang Ligong University School of Automation and Electrical Engineering

Autonomous underwater vehicle(AUV) is an important tool for human to explore and research marine *** to the influence of underwater environment,it is impossible to realize the rapid detection and recognition of AUV and the recognition of cooperative *** solve this problem,underwater light vision and underwater image enhancement technology are proposed to realize the rapid detection and recognition of underwater vehicles,so as to realize the recognition of cooperative *** this paper,YOLO algorithm which has a good effect on target detection precision and the recognition speed is used to recognize the underwater vehicle on the Yolo *** the original data set,histogram equalization and CLAHE algorithm are used to enhance the *** are respectively loaded into the same training model and trained on the yolov2 and yolov3 *** analysis of the experimental results shows that the underwater image enhancement technology based on the YOLOv3 network and the CLAHE algorithm can meet the requirements of rapid recognition for underwater vehicle detection and recognition.

关键词： Underwater Vehicle YOLO Neural Network Real-time Detection Target Recognition

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Neural Coding Strategies for Event-Based Vision Data

Neural Coding Strategies for Event-Based Vision Data

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Shane Harrigan Sonya Coleman Dermot Kerr Pratheepan Yogarajah Zheng Fang Chengdong Wu Intelligent Systems Research Centre Ulster University Northern Ireland United Kingdom Faculty of Robot Science and Engineering Northeastern University China

ISBN: (数字)9781509066315

ISBN: (纸本)9781509066322

Neural coding schemes are powerful tools used within neuroscience. This paper introduces three different neural coding scheme formations for event-based vision data which are designed to emulate the neural behaviour exhibited by neurons under stimuli. Presented are phase-of-firing and two sparse neural coding schemes. It is determined that machine learning approaches, i.e. Convolutional Neural Network combined with a Stacked Autoencoder network, produce powerful descriptors of the patterns within events. These coding schemes are deployed in an existing action recognition template and evaluated using two popular event-based data sets.

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INFORMATION ACCESS EQUALITY on NETWORK GENERATIVE MODELS

arXiv

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arXiv 2021年

作者： Wang, Xindi Varol, Onur Eliassi-Rad, Tina Network Science Institute Northeastern University BostonMA United States Faculty of Engineering and Natural Sciences Sabancı University Istanbul Turkey Network Science Institute Khoury College of Computer Sciences Northeastern University BostonMA United States

It is well known that networks generated by common mechanisms such as preferential attachment and homophily can disadvantage the minority group by limiting their ability to establish links with the majority group. This has the effect of limiting minority nodes’ access to information. We present the results of an empirical study on the equality of information access in network models with different growth mechanisms and spreading processes. For growth mechanisms, we focus on the majority/minority dichotomy, homophily, preferential attachment, and diversity. For spreading processes, we investigate simple vs. complex contagions, different transmission rates within and between groups, and various seeding conditions. We observe two phenomena. First, information access equality is a complex interplay between network structures and the spreading processes. Second, there is a trade-off between equality and efficiency of information access under certain circumstances (e.g., when inter-group edges are low and information transmits asymmetrically). Our findings can be used to make recommendations for mechanistic design of social networks with information access equality. © 2021, CC BY.

关键词： Information retrieval

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Face Liveness Detection Algorithm based on Livenesslight Network

Face Liveness Detection Algorithm based on Livenesslight Net...

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High Performance Big Data and Intelligent Systems (HPBD&IS)

作者： Yinlong Zuo Wenlong Gao Jintao Wang Faculty of Robot Science and Engineering Northeastern University Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (数字)9781728165127

ISBN: (纸本)9781728158976

Face liveness detection is the first stage of the whole face detection technology, and it is of great significance to the system security using face recognition technology. In this paper we use convolutional neural networks to extract facial features. Compared to ResNet, SqueezeNet and VGG Face networks, the network structure is lighter and the model training takes less time. After testing, it achieved an accuracy of 99.5% on the Nanjing university of Aeronautics and Astronautics (NUAA) face detection data set of China Southern Airlines. In order to improve the robustness of the model, we built our own dataset through collecting pictures from internet and camera shooting, and horizontally compared the accuracy of the above several models on the self-built dataset. Finally the model proposed in this paper achieved the highest 99.02% accuracy and achieved the best results in actual testing.

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Two-DOF Speed Control of Permanent Magnet Synchronous Machine with a novel Parameter Identification Method

Two-DOF Speed Control of Permanent Magnet Synchronous Machin...

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第三十九届中国控制会议

作者： Mingjin Hu Wei Hua Xudong Wu Chengdong Wu Dazhi Wang Zhentao Liu Xiaofang Yuan Wennong Zhang School of Electrical Engineering Southeast University Faculty of Robot Science and Engineering Northeastern University College of Information Science and Engineering Northeastern University Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems College of Electrical and Information Engineering Hunan University

In this paper, a two-degree-of-freedom（2-DOF） speed control scheme for permanent magnet synchronous machines is developed. Both the reference-tracking and disturbance rejection performance are taken into account and only a single parameter related to expected bandwidth determines the dynamics. To improve the performance of speed control, a novel identification method for mechanical parameters is also proposed. The effectiveness of the proposed method is verified by simulations.

关键词： Speed Control two-degree-of-freedom permanent magnet synchronous machine parameter identification

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Localization of mobile robot based on multi-sensor fusion

Localization of mobile robot based on multi-sensor fusion

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第32届中国控制与决策会议

作者： Yu Gao Fei Wang Jinghong Li Yuqiang Liu College of Information Science and Engineering Northeast University Faculty of Robot Science and Engineering Northeast University

In order to realize the precise positioning of mobile robot,the data information of multiple sensors needs to be collected by the localization system to enhance the state estimation ability of *** to the need for accurate calibration and initialization of sensor groups,as well as the processing of measurement errors with different rates and delays,multi-sensor fusion still needs to solve many problems and faces many challenges.A method of multi-sensor fusion,which can analyze and screen the signal quality of sensors is proposed in this *** on the extended Kalman filter,UWB data,IMU data and Lidar data are *** filtering and processing the sensor information,the impact of noise can be *** the same time,the results of various sensor information fusion are closer to the actual results,and the mobile robot can be located.

关键词： Mobile robot Localization Extended Kalman filter Multiple-sensors fusion

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Magnetism-Enhanced Strong Electron-Phonon Coupling in Infinite-Layer Nickelates

arXiv

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arXiv 2025年

作者： Zhang, Ruiqi Wang, Yanyong Engel, Manuel Lane, Christopher Miranda, Henrique Hou, Lin Chowdhury, Sugata Singh, Bahadur Barbiellini, Bernardo Zhu, Jian-Xin Markiewicz, Robert S. Gross, E.K.U. Kresse, Georg Bansil, Arun Sun, Jianwei Department of Physics and Engineering Physics Tulane University New OrleansLA70118 United States VASP Software GmbH Berggasse 21/14 Vienna1090 Austria Theoretical Division Los Alamos National Laboratory Los AlamosNM87545 United States Department of Physics and Astronomy Howard University WashingtonDC20059 United States Department of Condensed Matter Physics and Materials Science Tata Institute of Fundamental Research Mumbai400005 India Department of Physics School of Engineering Science LUT University LappeenrantaFI-53850 Finland Department of Physics Northeastern University BostonMA02115 United States Quantum Materials and Sensing Institute Northeastern University BurlingtonMA01803 United States Fritz Haber Center for Molecular Dynamics Institute of Chemistry The Hebrew University of Jerusalem Jerusalem91904 Israel University of Vienna Faculty of Physics Kolingasse 14-16 ViennaA-1090 Austria

Intriguing analogies between the nickelates and the cuprates provide a promising avenue for unraveling the microscopic mechanisms underlying high-Tc superconductivity. While electron correlation effects in the nickelates have been extensively studied, the role of electron-phonon coupling (EPC) remains highly controversial. Here, by taking pristine LaNiO2 as an exemplar nickelate, we present an in-depth study of EPC for both the non-magnetic (NM) and the C-type antiferromagnetic (C-AFM) phase using advanced density functional theory methods without invoking U or other free parameters. The weak EPC strength λ in the NM phase is found to be greatly enhanced (∼4×) due to the presence of magnetism in the C-AFM phase. This enhancement arises from strong interactions between the flat bands associated with the Ni-3dz2 orbitals and the low-frequency phonon modes driven by the vibrations of Ni and La atoms. The resulting phonon softening is shown to yield a distinctive kink in the electronic structure around 15 meV, which would provide an experimentally testable signature of our predictions. Our study highlights the critical role of local magnetic moments and interply EPC in the nickelate. © 2025, CC BY.

关键词： Local density approximation

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Overview of Dialogue robot Competition 2022

arXiv

引用

arXiv 2022年

作者： Minato, Takashi Higashinaka, Ryuichiro Sakai, Kurima Funayama, Tomo Nishizaki, Hiromitsu Nagai, Takayuki Hiroshi Ishiguro Laboratories ATR Kyoto Japan Guardian Robot Project RIKEN Kyoto Japan Graduate School of Informatics Nagoya University Nagoya Japan Graduate Faculty of Interdisciplinary Research University of Yamanashi Yamanashi Japan Graduate School of Engineering Science Osaka University Osaka Japan

Although many competitions have been held on dialogue systems in the past, no competition has been organized specifically for dialogue with humanoid robots. As the first such attempt in the world, we held a dialogue robot competition in 2020 to compare the performances of interactive robots using an android that closely resembles a human. Dialogue robot Competition 2022 (DRC2022) was the second competition, held in August 2022. The task and regulations followed those of the first competition, while the evaluation method was improved and the event was internationalized. The competition has two rounds, a preliminary round and the final round. In the preliminary round, twelve participating teams competed in performance of a dialogue robot in the manner of a field experiment, and then three of those teams were selected as finalists. The final round will be held on October 25, 2022, in the robot Competition session of IROS2022. This paper provides an overview of the task settings and evaluation method of DRC2022 and the results of the preliminary round. Copyright © 2022, The Authors. All rights reserved.

关键词： Anthropomorphic robots

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MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile robot Local Planning Approaches

MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile R...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jian Wen Xuebo Zhang Qingchen Bi Zhangchao Pan Yanghe Feng Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Systems Engineering National University of Defense Technology Changsha 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.

关键词： Measurement Industries Service robots Dynamics Benchmark testing Planning Safety

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Practical Inverse Kinematic Solution Based on Calibrated Parameters Using in engineering 2

Practical Inverse Kinematic Solution Based on Calibrated Par...

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2019 2nd International Symposium on Power Electronics and Control engineering, ISPECE 2019

作者： Shi, Guosong Zhao, Shuying Lin, Tianyu College of Information Science and Engineering Northeastern University Shenyang110819 China Quality and R and D Center Yuanda Intelligent Robot Co. Ltd. No.27 Kaifa Road Shenyang110144 China

Inverse kinematic (IK) problem is an essential problem in industrial robot control. In some high accuracy projects, the solution needs the robot act based on online sampled data rather than the pre-teached actions. It is necessary to reduce the absolute positioning error to complete these challenging projects. The IK solution is on the way there. This article simply introduces the standard IK solution based on robot KUKA R2700, points out the shortage of standard IK solution in enhancing the absolute positioning accuracy and develops an practical IK solution, PIKFCP, which is necessary in some measures. © Published under licence by IOP Publishing Ltd.

关键词： robots

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