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作者： Li, Nannan Guo, Huiwen Xu, Dan Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781479957514

In this paper, we present a novel approach for video anomaly detection in crowded scenes. The proposed approach detects anomalies based on the contextual information analysis within spatio-temporal video volume. Around each pixel, spatio-temporal volumes are built and clustered to construct the activity pattern codebook. Then, the composition information of the volumes within a large spatiotemporal window is described via a dictionary learned by sparse representation. Furthermore, multi-scale analysis is employed to adapt the size change of abnormal events. Finally, the sparse reconstruction cost is designed to evaluate the abnormal level of an input motion pattern. We demonstrate the efficiency of the proposed method on the existing public available anomaly-detection datasets and the performance comparasion with three existing methods validates that the proposed method detects anomalies more accurately. © 2014 IEEE.

关键词： Statistics

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Adaptive Adjustment of Factor's Weight for a Multi-Sensor SLAM 2

Adaptive Adjustment of Factor's Weight for a Multi-Sensor SL...

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2022 2nd International Conference on Computer, Internet of Things and Control Engineering, CITCE 2022

作者： Zhu, Zihan Zhang, Yi Wang, Weijun Feng, Wei Luo, Haowen Zhang, Yaojie Shenzhen Institute of Advanced Technology Chinese Academy of Sciences 518055 China University of Chinese Academy of Sciences Beijing100049 China Guangdong Provincial Key Lab of Construction Robotics and Intelligent Manufacturing Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial International Joint Research Center for Robotics and Intelligent Construction Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

A multi-sensor fusion simultaneous localization and mapping(SLAM) method based on factor graph optimization that can adaptively modify the weight of the graph factor is proposed in this study, to enhance the localization and mapping capability of autonomous robots in tough situations. Firstly, the algorithm fuses multi-lines lidar, monocular camera, and inertial measurement unit(IMU) in the odometry. Second, the factor graph is constructed using lidar and visual odometry as the unary edge and binary edge constraints, respectively, with the motion determined by IMU odometry serving as the primary odometry in the system. Finally, different increments of IMU odometry, lidar odometry and visual odometry are computed as favor factors to realize the adaptive adjustment of the factor's weight. The suggested method has greater location accuracy and a better mapping effect in complex situations when compared to previous algorithms. © Published under licence by IOP Publishing Ltd.

关键词： Optical radar

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Implementation of the path planning algorithm M*

Implementation of the path planning algorithm M*

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International Conference on Information and Automation (ICIA)

作者： Pengfei Liu Ruiqing Fu Xinyu Wu Yangsheng Xu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Guangdong Provincial Key Lab of Robotics and Intelligent System Chinese Academy of Sciences China

ISBN: (纸本)9781479913329

In decades, many researchers have came up with many path planning algorithms. Robots rely on sensor data to deduce inner and outer state as its position. Many localization algorithm suggests robot's knowledge of its position should be a probability distribution. However, previews path planning algorithms fell to utilize this information and just simply assume the robots to be in a single certain point. In this paper, we described the implementation of a new algorithm M* that takes the uncertainty of the robots location into detailed consideration. M* uses Monto Carlo method to represent probability distribution and by considering problem in high dimension space it transfer the problem into a neatly form. Some important concepts are introduced and pseudo code is used to show how them work.

关键词： Vegetation Path planning Robot sensing systems Conferences Probability distribution Planning

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Thermal and Magnetic Dual-Responsive Catheter-Assisted Shape Memory Microrobots for Multistage Vascular Embolization

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Research 2024年第3期2024卷 529-543页

作者： Qianbi Peng Shu Wang Jianguo Han Chenyang Huang Hengyuan Yu Dong Li Ming Qiu Si Cheng Chong Wu Mingxue Cai Shixiong Fu Binghan Chen Xinyu Wu Shiwei Du Tiantian Xu Guangdong Provincial Key Lab of Robotics and Intelligent Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina University of Chinese Academy of Sciences BeijingChina Department of Neurosurgery South China HospitalMedical SchoolShenzhen University.ShenzhenChina The Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina.

Catheters navigating through complex vessels,such as sharp turns or multiple U-turns,remain challenging for vascular ***,we propose a novel multistage vascular embolization strategy for hard-to-reach vessels that releases untethered swimming shape-memory magnetic microrobots(SMMs)from the prior catheter to the vessel ***,made of organo-gel with magnetic particles,ensure biocompatibility,radiopacity,thrombosis,and fast thermal and magnetic *** SMM is initially a linear shape with a 0.5-mm diameter at 20°C inserted in a *** transforms into a predetermined helix within 2 s at 38°C blood temperature after being pushed out of the catheter into the *** enable agile swimming in confined and tortuous vessels and can swim upstream using helical propulsion with rotating magnetic ***,we validated this multistage vascular embolization in living rabbits,completing 100-cm travel and renal artery embolization in 2 *** 4 weeks,the SMMs maintained the embolic position,and the kidney volume decreased by 36%.

关键词： turns maintained travel

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Ultrafast polarization modulation with high-purity chiral quasi-BIC metasurfaces

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Chinese Optics Letters 2025年第5期23卷 053605-053605页

作者： Fangxing Lai Yubin Fan Xinbo Sha Huachun Deng Xiong Jiang Shumin Xiao Can Huang Qinghai Song Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic Systems Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China Department of Electrical Engineering City University of Hong Kong Hong Kong 999077 China Heilongjiang Provincial Key Laboratory of Advanced Quantum Functional Materials and Sensor Devices Harbin 150001 China

Precise control of the polarization state of light on ultrafast time scales plays a key role in revealing the inherent chiral or anisotropic optical responses in various material systems, and it is crucial for applications that require complex polarization encoding. Here, we explore ultrafast polarization control enabled by silicon-based chiral bound state in the continuum (BIC) metasurfaces. By utilizing the intrinsic chiral mode, we achieve high-purity chiral reflection light (S 3 ∼ −0.92) and rapid modulation (∼0.4 ps) of polarization states through all-optical methods. Unlike traditional polarization modulation techniques, our approach leverages the unique advantages of slanted etching dielectric chiral BIC metasurfaces, which facilitate high- Q resonance and exhibit narrow linewidths. These advantages allow swift alterations in polarization states with minimal modulation energy consumption, which should help for greater control of light in integrated photonic applications.

关键词： Light matter interactions Modulation techniques Polarization control Q factor Refractive index Scanning electron microscopy

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Step-by-step Linearized Kalman Filter-Based Fault Detection of Workpiece Machining

Step-by-step Linearized Kalman Filter-Based Fault Detection ...

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2023 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2023

作者： Sun, Xiaohui Wu, Xinyu Wen, Chenglin Ma, Xue Tsinghua University Department of Automation Beijing China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen China Guangdong University of Petrochemical Technology School of Automation Maoming China

ISBN: (纸本)9798350337754

This paper is concerned with step-by-step linearized Kalman filter to deal with multiplicative faults diagnosis problem for class of nonlinear systems. Multiplicative fault variables are defined as parameter variables to be estimated, and linear dynamic models between fault variables and all variables are established. The indirect linear state and measurement models of fault variables and the corresponding step-by-step linearized Kalman filters are established based on current estimated values of all variable and some obtained estimated values of future variables;further, combined with fault variables, a filter is designed for state variables in the linearized system. On basis of EKF, the redisual generation is obtained. The effectiveness of the novel filter is verified in workpiece machining process. © 2023 IEEE.

关键词： Fault detection

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Small Sample Learning Mechanism Based on Knowledge-transferring for Fault Diagnosis

Small Sample Learning Mechanism Based on Knowledge-transferr...

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2023 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2023

作者： Ma, Xue Wu, Xinyu Wen, Chenglin Sun, Xiaohui Tsinghua University Department of Automation Beijing China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen China Guangdong University of Petrochemical Technology Department of Automation Maoming China

ISBN: (纸本)9798350337754

Deep learning-based methods have been applied in many fields which has received increased attention. It requires large annotated data to train a deep model with good generalization ability. However, it may be very difficult, time-consuming, and even expensive to collect and annotate practical industrial data, for example, for fault diagnosis in industrial systems. To address this issue, a novel small sample learning (SSL) mechanism based on Knowledge-transferring is proposed in this manuscript, which leverages the expert system and deep neural network simultaneously. Firstly, an annotator is constructed based on a belief rule base (BRB) expert system only with available small labeled samples. Then, the left unlabeled samples will be labeled through the annotator to form an augmented training dataset (ATD) with the available small labeled samples, which can realize the data representation of expert knowledge. Besides, a united optimization model based on CNN that combines data and knowledge is built, which has realized the transfer of expert knowledge. Finally, we demonstrate the capability of the proposed method on the dataset collected from the real experimental platform for rotating machinery fault diagnosis. © 2023 IEEE.

关键词： Failure analysis

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Learning-based adaptive estimation for AOA target tracking with non-gaussian white noise

Learning-based adaptive estimation for AOA target tracking w...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Xu, Sheng Ou, Yongsheng Wu, Xinyu Shenzhen Institutes of Advanced Technology CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781728163215

In angle-of-arrival (AOA) target tracking, the target states are estimated using the noisy angular measurements. The non-Gaussian measurement noise is common in practical applications and will decrease the estimation accuracy significantly. This paper is to reduce the negative impacts of the non-Gaussian white noise (NGWN), which is modeled by multiple mixture Gaussian white noises, and guarantee the estimation accuracy. A learning-based adaptive extended Kalman filter (EKF) for AOA target tracking is developed in the NGWN environment. In the proposed method, the extreme learning machine (ELM) using a three-layer neural network is applied to identify the characters of measurement noise at each sampling time. Consequence, the EKF will consider the noise characters by the trained ELM, and make the corresponding real-time adjustments to improve the tracking performance. The effectiveness of the proposed method is verified by simulation examples. © 2019 IEEE.

关键词： Target tracking

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Attitude Control of Flapping-Wing Micro Air Vehicles Based on Hyperbolic Tangent Function Sliding Mode Control 16th

Attitude Control of Flapping-Wing Micro Air Vehicles Based o...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Liu, Xiao Wang, Weijun Feng, Wei Wang, Shijie Wang, Xincheng Cheng, Yunxiao Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China International Joint Research Center for Robotics and Intelligent Construction Guangdong China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9789819965007

The flying animals in nature mainly include insects, birds, and bats, which have formed flexible flight wings and control systems through natural evolution. Compared with fixed wing and rotor wing vehicle, flapping wing micro air vehicle (FMAV) have higher maneuverability during flight, but the implementation of different motion attitudes requires effective control of flight attitudes. FMAV is a typical non-constant aerodynamic system, and it is difficult to establish an accurate analytical or semi-analytical mechanical model, which poses certain technical challenges to the systematic design of control laws. Sliding mode control (SMC) is a typical and special nonlinear control, which has good control effect and robustness for uncertain nonlinear systems such as unmanned aerial vehicle (UAV), spacecraft, FMAV, etc. and can solve various disturbances and model uncertainty brought by external complex environment. However, the traditional Sliding mode control has the problem of chattering, so the hyperbolic tangent function is introduced to replace the discontinuous switching function, Then, an attitude control of FMAV based on hyperbolic tangent function Sliding mode control is established to complete the target attitude tracking control. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Sliding mode control

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Walking Control for a Self-Balancing Exoskeleton on Flat Ground

Walking Control for a Self-Balancing Exoskeleton on Flat Gro...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Jinke Tian, Dingkui Li, Feng Sun, Jianquan Yin, Meng Wu, Xinyu University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9798350327182

Designed to provide rehabilitation or the assistance of walking for individuals who are with lower limb muscle injuries or spinal during their activities, self-balancing lower limb exoskeletons have been developed. This paper introduces an innovative controller for a fully actuated exoskeleton that ensures stable walking for wearers without the need for external devices. The exoskeleton robot is represented as a center of mass model, and based on this representation, the trajectory generation and controller are discussed, aiming to improve locomotion stability. To assess the stability and dynamic performance, a stable walking experiment with the exoskeleton was conducted, involving a male subject. © 2023 IEEE.

关键词： Exoskeleton (robotics)

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