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arXiv 2024年

作者： Shi, Hao Wang, Song Zhang, Jiaming Yin, Xiaoting Wang, Zhongdao Wang, Guangming Zhu, Jianke Yang, Kailun Wang, Kaiwei The State Key Laboratory of Extreme Photonics and Instrumentation The National Engineering Research Center of Optical Instrumentation Zhejiang University Hangzhou310027 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The College of Computer Science and Technology Zhejiang University Hangzhou310027 China The Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe76131 Germany Huawei Noah’s Ark Lab. Canada The Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom

Vision-based occupancy prediction, also known as 3D Semantic Scene Completion (SSC), presents a significant challenge in computer vision. Previous methods, confined to onboard processing, struggle with simultaneous geometric and semantic estimation, continuity across varying viewpoints, and single-view occlusion. Our paper introduces OccFiner, a novel offboard framework designed to enhance the accuracy of vision-based occupancy predictions. OccFiner operates in two hybrid phases: 1) a multi-to-multi local propagation network that implicitly aligns and processes multiple local frames for correcting onboard model errors and consistently enhancing occupancy accuracy across all distances. 2) the region-centric global propagation, focuses on refining labels using explicit multi-view geometry and integrating sensor bias, especially to increase the accuracy of distant occupied voxels. Extensive experiments demonstrate that OccFiner improves both geometric and semantic accuracy across various types of coarse occupancy, setting a new state-of-the-art performance on the SemanticKITTI dataset. Notably, OccFiner elevates vision-based SSC models to a level even surpassing that of LiDAR-based onboard SSC models. Furthermore, OccFiner is the first to achieve automatic annotation of SSC in a purely vision-based approach. Quantitative experiments prove that OccFiner successfully facilitates occupancy data loop-closure in autonomous driving. Additionally, we quantitatively and qualitatively validate the superiority of the offboard approach on city-level SSC static maps. The source code will be made publicly available at https://***/MasterHow/OccFiner. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantic Segmentation

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Application of Deep Learning Method to Estimate Bottomhole Pressure Dynamics of Oil Wells

Application of Deep Learning Method to Estimate Bottomhole P...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Haibo Cheng Shichao Li Peng Zeng Valeriy Vyatkin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Automation Aalto University Helsinki Finland

Surrogate models, which have become an effective and popular method to close loop reservoir management problems, use a data-driven approach to predict dynamic injection and production wells parameters and optimize waterflooding development. In this study, a deep learning-based surrogate model method is proposed to estimate bottomhole pressure (BHP) of production wells in waterflooding reservoirs. Bidirectional long short-term memory (BiLSTM) network, as an efficient deep learning approach, is applied to BHP estimation using fluctuation data. Extended Fourier amplitude sensitivity test (EFAST) method is employed to analyse the influence of different input factors on BHP dynamics, and a reduced dataset is rebuilt to predict BHP parameter based on BiLSTM-EFAST algorithm. The estimation results are tested on a dataset from Volve oilfield in North Sea, and compared with other deep learning methods. The test results indicate that the proposed method can achieve higher prediction accuracy. A reduced dataset-based approach provides a new attempt to reduce model complexity and improve calculation speed for big data-driven surrogate model in oil and gas industry.

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Generalized Multi-kernel Maximum Correntropy Kalman Filter for Disturbance Estimation

arXiv

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arXiv 2023年

作者： Li, Shilei Shi, Dawei Lou, Yunjiang Zou, Wulin Shi, Ling The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong The School of Automation Beijing Institute of Technology China The State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China Xeno Dynamics Control Department Xeno Dynamics Co. Ltd Shenzhen518055 China

Disturbance observers have been attracting continuing research efforts and are widely used in many applications. Among them, the Kalman filter-based disturbance observer is an attractive one since it estimates both the state and the disturbance simultaneously, and is optimal for a linear system with Gaussian noises. Unfortunately, The noise in the disturbance channel typically exhibits a heavy-tailed distribution because the nominal disturbance dynamics usually do not align with the practical ones. To handle this issue, we propose a generalized multi-kernel maximum correntropy Kalman filter for disturbance estimation, which is less conservative by adopting different kernel bandwidths for different channels and exhibits excellent performance both with and without external disturbance. The convergence of the fixed point iteration and the complexity of the proposed algorithm are given. Simulations on a robotic manipulator reveal that the proposed algorithm is very efficient in disturbance estimation with moderate algorithm complexity. Copyright © 2023, The Authors. All rights reserved.

关键词： Kalman filters

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Study on spiral winding swimming motion control of a slender legless creature model

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High Technology Letters 2021年第4期27卷 415-421页

作者： Lu Zhenli Ma Zhipeng Marko Pencic Maja Cavic Borovac Branislav Roumiana Ilieva Bojan Nemec Marjan Mernik School of Electrical Engineering and Automation Changshu Institute of TechnologyChangshu 215500P.R.China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116P.R.China Faculty of Technical Sciences University of Novi SadNovi Sad 621000Serbia Faculty of Management Technical University of SofiaSofia 1000Bulgaria Department of Automatics Biocybernetics and RoboticsJožef Stefan InstituteLjubljana 1000Slovenia Faculty of Electrical Engineering and Computer Science University of MariborMaribor 462000Slovenia

Through the observation and analysis of the motion trajectory of spiral winding motion for slender legless biological creatures in water,V-REP software is adopted to build a dynamic simulator to study on the mechanism of spiral winding swimming(SWS)*** using the output of spiral function(SF),the dynamic simulation model of slender legless creature(SLC)realizes the SWS motion in *** corresponding experiments under the control of different bending angle of SF to control the dynamic model are also carried out to analyze the water performance of SWS in still *** with the output of two different bending angles of the spiral function,the dynamic model can be used to realize SWS and up/down *** work provides technical reserve and experimental platform for the corresponding study in related fields.

关键词： V-REP spiral winding swimming(SWS) motion control slender legless creature(SLC)

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A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models

A Point-to-distribution Degeneracy Detection Factor for LiDA...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sehua Ji Weinan Chen Zerong Su Yisheng Guan Jiehao Li Hong Zhang Haifei Zhu Biomimetic and Intelligent Robotics Lab (BIRL) School of Electromechanical Engineer Guangdong University of Technology Guangzhou China JT-Innovation (Guangdong) Intelligent Technology Co. Ltd. Guangdong Key Laboratory of Modern Control Technology Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou China College of Engineering South China Agricultural University China Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Limited by the working principles, LiDAR-SLAM systems suffer from the degeneration phenomenon in environments such as long corridors and tunnels, due to the lack of sufficient geometric features for frame-to-frame matching. The accuracy and sensitivity of existing degeneracy detection methods need to be further improved. In this paper, we propose a novel method for degeneracy detection using local geometric models based on point-to-distribution matching. To obtain an accurate description of local geometric models, an adaptive adjustment of voxel segmentation according to the point cloud distribution and density is designed. The codes of the proposed method is open-source and available at https://***/jisehua/***. Experiments with public datasets and self-build robots were conducted to evaluate the methods. The results exhibit that our proposed method achieves higher accuracy than the other existing approaches. Applying our proposed method is beneficial for improving the robustness of the LiDAR-SLAM systems.

关键词： Point cloud compression Accuracy Simultaneous localization and mapping Sensitivity Laser radar Geometric modeling Noise

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface

Optical Evanescent Field for Direct Observation of Sub-100nm...

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robotics, engineering, Science, and Technology (RESTCON), International Conference on

作者： Panart Khajornrungruang Thitipat Permpatdechakul Keisuke Suzuki Aran Blattler Yutaka Terayama Daiki Goto Pipat Phaisalpanumas Natthaphon Bun-Athuek Amornphun Phunopas Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Mechanical Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Mechanical Information Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Production and Robotics Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Mechanical Science and Technology Course Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Industiral Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Mechanical Engineering Technology College of Industrial Technology King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes.

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EigenMPC: An Eigenmanifold-Inspired Model-Predictive control Framework for Exciting Efficient Oscillations in Mechanical Systems

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control...

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IEEE Conference on Decision and control

作者： Andre Coelho Alin Albu-Schaeffer Arne Sachtler Hrishik Mishra Davide Bicego Christian Ott Antonio Franchi Institute of Robotics and Mechatronics of the German Aerospace Center (DLR) Oberpfaffenhofen Germany Dextrous Robotics Inc Memphis TN USA Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Netherlands Department of Informatics Technical University of Munich Germany Automation and Control Institute (ACIN) Technical University of Vienna Austria LAAS-CNRS University of Toulouse France

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a Nonlinear Model-Predictive control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigenmanifold theory, which defines the sets of line-shaped oscillations of a robot as an invariant two-dimensional submanifold of its state space. By defining the control problem as a nonlinear program (NLP), the controller is able to deal with constraints in the state and control variables and be energy-efficient not only in its final trajectory but also during the convergence phase. An initial implementation of this approach is proposed, analyzed, and tested in simulation.

关键词： Analytical models Aerospace electronics Energy efficiency Trajectory Mechanical systems Oscillators Robots

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Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft robotics

arXiv

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arXiv 2023年

作者： Pustina, Pietro Della Santina, Cosimo Boyer, Frédéric De Luca, Alessandro Renda, Federico Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen82234 Germany Institute Mines Telecom Atlantique Nantes44307 France The Department of Mechanical and Nuclear Engineering Khalifa University of Science and Technology Abu Dhabi127788 United Arab Emirates

Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? Not only we show that the answer to this question is yes, but we also provide necessary and sufficient conditions. More specifically, we look for a representation of the configuration space such that the right-hand side of the dynamics in Euler-Lagrange form becomes [I O]Tu, being u the system input. We identify a class of systems, called collocated, for which this problem is solvable. Under mild conditions on the input matrix, a simple test is presented to verify whether a system is collocated or not. By exploiting power invariance, we provide necessary and sufficient conditions that a change of coordinates decouples the input channels if and only if the dynamics is collocated. In addition, we use the collocated form to derive novel controllers for damped underactuated mechanical systems. To demonstrate the theoretical findings, we consider several Lagrangian systems with a focus on continuum soft robots. © 2023, CC BY.

关键词： Dynamics

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Bipartite Flocking control for Multi-Agent Systems with Switching Topologies and Time Delays Under Coopetition Interactions

Bipartite Flocking Control for Multi-Agent Systems with Swit...

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IEEE Conference on Decision and control

作者： Zhuangzhuang Ma Bowen Li Jinliang Shao Yuhua Cheng Wei Xing Zheng School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing China School of Computer Data and Mathematical Sciences Western Sydney University Sydney NSW Australia

This paper investigates the bipartite flocking behavior of multi-agent systems with coopetition interactions, where communications between agents are described by signed digraphs. The scenario with switching topologies due to the movement of agents, and time delays caused by the limited data transmission capability, is considered comprehensively. Nonlinear weight functions are designed to describe the relationship between the communication distance of agents and the coopetition degree in real biological networks. A distributed update rule based on the neighbors' information and the designed weight functions is proposed. By the aid of the graph theory and sub-stochastic matrix properties, the effectiveness of the proposed update rule is proved theoretically, and the algebraic conditions for achieving the bipartite flocking behavior are obtained. Finally, the theoretical results are verified by numerical simulations.

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Reinforcement Learning with Large Language Model for Hybrid Disassembly Lines in Remanufacturing Contexts

Reinforcement Learning with Large Language Model for Hybrid ...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Peng Ji Xi Wang Guo Jiacun Wang Weitian Wang Shu Jin Qin Ying Tang Qi Kang College of Information and Control Engineering Liaoning Petrochemical University Fushun China Dept of Comp. Sci. and Soft. Eng. Monmouth University W. Long Branch NJ USA Collaborative Robotics and Smart Systems Laboratory (CRoSS Lab) Montclair State University Montclair NJ USA College of Economics and Management Shangqiu Normal University Shangqiu China Electrical and Computer Engineering Rowan University Glassboro New Jersey USA Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Large language models (LLM), ChatGPT is making substantial impact across various fields. This study for the first time presents a novel approach to the hybrid disassembly line balancing problem using LLM and reinforcement learning algorithms in remanufacturing contexts. The problem is divided into two sub-stages. LLM is innovatively used to capture a disassembly sequence well in the first stage, while reinforcement learning is utilized to address the problem in the second stage. Upon comparing the performance with and without LLM, the proposed approach significantly reduces the trial-and-error space and achieves faster convergence to achieve the desired solution. Future work of this study is also discussed.

关键词： computer aided software engineering Automation Large language models Reinforcement learning Chatbots Convergence

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