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Image Processing, computer Vision and Machine Learning (ICICML), International Conference on

作者： Yafei Fan Jun Liu Jian Wang Kecheng Zhou Jun Wang School of Computer Science and Technology Shenyang University of Chemical Technology Key Laboratory of Industrial Intelligence Technology on Chemical Process Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China

ISBN: (数字)9798350355413

ISBN: (纸本)9798350355420

In terms of surface defect detection of glazed tiles, there are problems such as false detection and insufficient ability to identify small target defects due to the rich texture on the surface of glazed tiles. In response to these challenges, this article has compiled a dataset of glazed ceramic tiles and proposed an improved algorithm ECANet-FPG based on Faster R-CNN. Due to the similarity in texture and defects on the surface of ceramic tiles, this algorithm introduces the Efficient Channel Attention (ECA) module into the feature extraction network of Faster R-CNN to enhance the ability to extract deep features. At the same time, a Feature Pyramid Grids (FPG) structure is adopted to achieve efficient fusion of multi-scale features, in order to improve the recognition accuracy of small target defects. The experimental results show that the improved algorithm achieves higher detection accuracy and efficiency than the baseline model, demonstrating its effectiveness and practicality in detecting surface defects on glazed ceramic tiles.

关键词： Accuracy Target recognition Tiles Object detection Feature extraction Robustness Ceramics Surface texture Surface treatment Defect detection

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Drives and Impulses: Shaping Motivation and Procedural Learning for Humanoid Robots

Drives and Impulses: Shaping Motivation and Procedural Learn...

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IEEE International Conference on Development and Learning, ICDL

作者： Leonardo L. Rossi Letícia Berto Paula D. P. Costa Ricardo Gudwin Esther Colombini Alexandre Simões School of Electrical and Computer Engineering University of Campinas Campinas Brazil Hub for Artificial Intelligence and Cognitive Architectures (H.IAAC) Campinas Brazil Institute of Computing University of Campinas Campinas Brazil Department of Control and Automation Engineering São Paulo State University Sorocaba Brazil

ISBN: (数字)9798350348552

ISBN: (纸本)9798350348569

In the emerging field of robotics, the initial development of robots handling basic tasks represented a revolutionary breakthrough. With ongoing advancements in science and technology, we anticipate the integration of artificial entities into diverse environments, performing a range of tasks autonomously. This necessitates the cultivation of intelligence and adaptability in these agents. To achieve this, agents must make informed decisions, considering environmental consequences. Motivation becomes pivotal, guiding decision-making and behavior toward fulfilling the agent's needs, drawing inspiration from human adeptness driven by motivation. This research endeavors to adapt two distinct motivation theories from human literature for the learning process of artificial agents. Employing a cognitive architecture, our investigation involves the learning process of a simulated humanoid robot, incorporating two distinct motivation systems: (i) behaviors driven by enduring needs and (ii) behaviors arising from impulses linked to temporary needs. The primary aim is to enhance comprehension of behaviors under diverse motivational frameworks within artificial cognitive agents and give insights into the direction of autonomous robots.

关键词： Affordances Scalability Decision making Humanoid robots External stimuli Learning (artificial intelligence) Drives

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Lightweight Language-driven Grasp Detection using Conditional Consistency Model

arXiv

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arXiv 2024年

作者： Nguyen, Nghia Vu, Minh Nhat Huang, Baoru Vuong, An Le, Ngan Vo, Thieu Nguyen, Anh FPT Software AI Center Viet Nam Automation & Control Institute TU Wien Vienna Austria GmbH Austria Imperial College London United Kingdom University of Arkansas United States National University of Singapore Singapore Department of Computer Science University of Liverpool United Kingdom

Language-driven grasp detection is a fundamental yet challenging task in robotics with various industrial applications. In this work, we present a new approach for language-driven grasp detection that leverages the concept of lightweight diffusion models to achieve fast inference time. By integrating diffusion processes with grasping prompts in natural language, our method can effectively encode visual and textual information, enabling more accurate and versatile grasp positioning that aligns well with the text query. To overcome the long inference time problem in diffusion models, we leverage the image and text features as the condition in the consistency model to reduce the number of denoising timesteps during inference. The intensive experimental results show that our method outperforms other recent grasp detection methods and lightweight diffusion models by a clear margin. We further validate our method in real-world robotic experiments to demonstrate its fast inference time capability. © 2024, CC BY.

关键词： Robotics

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Curiosity and Affect-Driven Cognitive Architecture for HRI

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IEEE Transactions on Affective Computing 2025年

作者： Berto, Leticia Tanevska, Ana Cirne, Azamor Costa, Paula Simoes, Alexandre Gudwin, Ricardo Rea, Francesco Colombini, Esther Sciutti, Alessandra State University of Campinas Institute of Computing Campinas Brazil Italian Institute of Technology CONTACT Unit Genoa Italy Uppsala University Department of Information Technology Uppsala Sweden Federal University of Paraiba Department of Finance and Accounting João Pessoa Brazil State University of Campinas School of Electrical and Computer Engineering Campinas Brazil São Paulo State University Department of Control and Automation Engineering Sorocaba Brazil

This study explores how humans and cognitive robots with different value systems and motivations understand each other's needs in free-form interactions. We developed a cognitive architecture that links sensing and perception to internal motivation and an intrinsic value system for determining actions. Inspired by young children's needs, this architecture includes three drives: learning, interaction, and recharging, each with varying dependence on the human partner. We aimed to assess how experimentally changing the importance of these drives within a fixed architecture affects interaction dynamics with human partners (acting as caregivers) and their understanding of the robot's needs. By adjusting the learning and interaction drives, we created two robot profiles: Playful, which prioritizes environmental exploration and playfulness to reduce boredom, and Social, which focuses on social interaction through touch and visual contact to increase comfort. Our findings show that changing the importance of these drives produces distinct behaviors and human perceptions. Robot behaviors matched their profiles, and participants adapted their responses accordingly. Participants identified and attributed distinct traits to each robot without knowing the specific profiles. Despite variability among human partners, the robots, especially the playful one, were generally well understood by most participants. © 2025 IEEE. All rights reserved.

关键词： Robot learning

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Barrier Offset Varying-Parameter Dynamic Learning Network for Solving Dual-Arms Human-Like Behavior Generation

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IEEE Transactions on Cognitive and Developmental Systems 2025年

作者： Zhang, Zhijun Zhang, Mingyang Guo, Jinjia He, Haotian School of Automation Science and Engineering South China University of Technology Guangzhou510640 China Key Library of Autonomous Systems and Network Control Ministry of Education China Jiangxi Thousand Talents Plan Nanchang University Nanchang330031 China Guangzhou510335 China Shaanxi Provincial Key Laboratory of Industrial Automation School of Mechanical Engineering Shanxi University of Technology Hanzhong723001 China School of Information Science and Engineering Changsha Normal University Changsha410100 China School of Automation Science and Engineering Institute of Artificial Intelligence and Automation Guangdong University of Petrochemical Technology Maoming525000 China School of Computer Science and Engineering Jishou University Jishou416000 China

Enabling robots to imitate human actions and perform tasks with high precision while avoiding potential obstacles in the environment can effectively enhance the interaction between social robots and humans. In this paper, to achieve higher precision trajectory tracking and obstacle avoidance for dual-arm humanoid robots, the barrier offset varying-parameter dynamic learning neural (BOVDL) network method is proposed and applied to dual-arm humanoid behavior generation scheme. To do so, a dual-arms humanoid robot model is set up, and transformed into a constrained time-varying quadratic programming (TVQP) problem. Secondly, by using lagrangian multiplier method and Karush-Kuhn-Tuchker condition, the inequality constrained TVQP is converted as a time-varying equation with a barrier parameter. Thirdly, a varying-parameter dynamic learning network is presented to solve the time-varying equation with a barrier parameter. computer simulation experiments are conducted to verify the feasibility, accuracy, and safety of the proposed BOVDL network method. Experimental results show that all 14 joints of the humanoid robot's arms are within the motion range of each real human arm's physical constraints. The maximum position error and velocity error between the desired trajectory and the actual trajectory of the end effector are less than 10-6m magnitude and 10-7m magnitude, respectively, representing a reduction of 5 orders of magnitude compared to the traditional varying-parameter convergent-differential neural network. Furthermore, the proposed method also enables the dual-arm humanoid robot to avoid collisions with obstacles while performing tasks, demonstrating the superiority of the proposed BOVDL network scheme. © 2016 IEEE.

关键词： Anthropomorphic robots

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Adaptive Estimation for Environmental Monitoring Using an Autonomous Underwater Vehicle

Adaptive Estimation for Environmental Monitoring Using an Au...

引用

IEEE Conference on Decision and control

作者： Ziwen Yang Joana Fonseca Shanying Zhu Cailian Chen Xinping Guan Karl H. Johansson Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Digital Futures

This paper considers the problem of monitoring and adaptively estimating an environmental field, such as temperature or salinity, using an autonomous underwater vehicle (AUV). The AUV moves in the field and persistently measures environmental scalars and its position in its local coordinate frame. The environmental scalars are approximately linearly distributed over the region of interest, and an adaptive estimator is designed to estimate the gradient. By orthogonal decomposition of the velocity of the AUV, a linear time-varying system is equivalently constructed, and the sufficient conditions on the motion of the AUV are established, under which the global exponential stability of the estimation error system is rigorously proved. Furthermore, an estimate of the exponential convergence rate is given, and a reference trajectory that maximizes the estimate of the convergence rate is obtained for the AUV to track. Numerical examples verify the stability and efficiency of the system.

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Two-Step Online Trajectory Planning of a Quadcopter in Indoor Environments with Obstacles

arXiv

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arXiv 2022年

作者： Zimmermann, Martin Vu, Minh Nhat Beck, Florian Nguyen, Anh Kugi, Andreas TU Wien Vienna Austria Center for Vision Automation and Control AIT Austrian Institute of Technology Vienna Austria Department of Computer Science University of Liverpool Liverpool United Kingdom

This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*) algorithm and the Line-of-Sight (LOS) algorithm are employed to generate a collision-free path consisting of multiple waypoints. Then, in the second step, constrained quadratic programming is utilized to compute a smooth trajectory that passes through all computed waypoints. The main contribution of this work is the development of a flexible trajectory planning framework that can detect changes in the environment, such as new obstacles, and compute alternative trajectories in real time. The proposed algorithm actively considers all changes in the environment and performs the replanning process only on waypoints that are occupied by new obstacles. This helps to reduce the computation time and realize the proposed approach in real time. The feasibility of the proposed algorithm is evaluated using the Intel Aero Ready-to-Fly (RTF) quadcopter in simulation and in a real-world experiment. © 2022, CC BY-NC-ND.

关键词： Motion planning

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An Approach for Rapid Online Robustness Enhancement of Distributed Power Systems using Load Classifier Forecasting

An Approach for Rapid Online Robustness Enhancement of Distr...

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International (EPE-PEMC) Power Electronics and Motion control Conference

作者： Xin Wei Denis Sidorov Aliona Dreglea Alexey Iskakov Zongjie Wang Liguo Wang School of Electrical Engeering & Automation Harbin Institute of Technology Harbin China Energy Systems Institute of Russian Academy of Sciences Irkutsk Russia Baikal School of BRICS Irkutsk National Research Technical University Irkutsk Russia V.A.Trapeznikov Institute of Control Sciences Russian Academy of Sciences Moscow Russia Electrical and Computer Engineering Department University of Connecticut Storrs US

ISBN: (数字)9798350385236

ISBN: (纸本)9798350385243

In this paper, we propose an online approach to rapidly and efficiently improve the robustness of distributed power systems (DPSs). Based on real-time monitoring of sudden voltage sag the main work includes the following two steps: offline classifier identification and online instantaneous disturbance suppression. In order to accurately forecast load classifiers, we adopt an automatic analytical solution, Wu’s Elimination Method (WEM), to derive the expressions of differential equations that are used to describe the phenomena in DPS. Then the corresponding load classifiers have been obtained by BCU method (Boundary of stability region based controlling Unstable equilibrium point method). The optimum switching time of the proposed Active Damping Generator can be chosen based on combining the obtained classifiers with digital signal processing. Simulation and experimental results show that through our work the suddenly changed voltage and distorted current of the DPS can be quickly recovered within 15ms which is faster than the standard IEC TS62749-2015.

关键词： Damping Power quality Signal processing algorithms Power system stability Robustness Generators Real-time systems Classification algorithms Surges Standards

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2M3DF: Advancing 3D Industrial Defect Detection with Multi Perspective Multimodal Fusion Network

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IEEE Transactions on Circuits and Systems for Video Technology 2025年

作者： Asad, Mujtaba Azeem, Waqar Jiang, He Mustafa, Hafiz Tayyab Yang, Jie Liu, Wei Shanghai Jiao Tong University Institute of Image Processing and Pattern Recognition Department of Automation Shanghai200240 China Lahore Garrison University Department of Software Engineering Lahore54000 Pakistan China University of Mining and Technology School of Information and Control Engineering Jiangsu Xuzhou221116 China Zhejiang Normal University School of Computer Science and Technology Jinhua321004 China

In the context of Industrial Anomaly Detection (IAD), ensuring the quality of manufactured products is critical. Traditional 2D based methods often fail to capture anomalies present in complex 3D shapes. For effective anomaly detection in 3D shapes, it is essential to incorporate global semantic context, local geometric structure, and color information of the object. To fully leverage these features, we propose a network named 2M3DF, that leverages knowledge from multi-view RGB images and corresponding point cloud information for enhanced anomaly detection performance. Our model initially employs pre-trained feature extractors that generate local features from multi-view RGB images and corresponding point clouds. The novel inter-modality feature representation and fusion module first adapts these inter-modality features and then effectively aligns and aggregates these multimodality features on a pixel-to-point basis. To learn the normality from point-wise fused multimodal features, we fit a multivariate Gaussian distribution to model the normal feature distribution. Comprehensive experimental evaluations using the MVTec3D-AD and Eyecandies dataset validate the effectiveness of our propose model and demonstrate significant improvements in comparison to existing state-of-the-art methods. Our model achieves a 96.6% mean I-AUROC while delivering real-time results. © 1991-2012 IEEE.

关键词： Normal distribution

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A Novel YJQR-LSTM Model for Nonparametric Probabilistic Sustainable Agriculture Wind Power Forecasting Based on Intelligent IoT

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IEEE Internet of Things Journal 2024年

作者： Wang, Jie Jiang, Junhui Chen, Xinlong Cai, Defu Wu, Yue Lu, Renzhi School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Harbin Engineering University College of Computer Science and Technology Harbin150001 China State Grid Hubei Electric Power Research Institute Hubei Wuhan430079 China School of Technology State Key Laboratory of Efficient Production of Forest Resources Key Laboratory of National Forestry and Grassland Administration on Forestry Equipment and Automation Beijing Forestry University Beijing100083 China Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing400065 China State Key Laboratory of Mechanical Transmission for Advanced Equipment Chongqing University Chongqing400044 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Energy costs associated with the consumption of non-renewable energy sources have become an important issue in improving the international competitiveness of agriculture. Wind power, as a renewable energy source, can replace non-renewable energy sources to reduce energy costs and improve the sustainability of agricultural. However, the inherent intermittency, randomness, and volatility within weather conditions and wind speed presents a substantial challenge in accurately predicting wind power generation. This work proposes a novel YJQR-LSTM algorithm that leverages Yeo-Johnson quantile regression (YJQR) with a long short-term memory (LSTM) network for nonparametric probabilistic forecasting of wind power generation via the Intelligent Internet of Things. First, an improved YJQR model based on the YJ transformation is designed to obtain a more precise characterization of wind uncertainty, providing a more flexible probability density function for wind power generation. Then, utilizing the unique structure of the LSTM network to learn the parameters of the YJQR model, temporal features can be extracted from time series data. To mitigate the impact of outliers in the raw data on accuracy and improve computational efficiency, a novel logarithmic likelihood function is developed as the loss function utilized in the training phase. The effectiveness of the proposed algorithm is validated using a real-world dataset from five wind farms from the Global Energy Forecasting Competition. Numerical results demonstrate that the algorithm provides more accurate wind power prediction results in complex wind power data environments, which is important for making full use of wind energy and thus reducing the consumption of non-renewable energy in agriculture. © 2024 IEEE.

关键词： Wind forecasting

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