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2nd International Conference on Computer Engineering and Application, ICCEA 2021

作者： Chang, Xin Fang, Shun Wu, Shiqian School of Information Science and Engineering Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan China

ISBN: (纸本)9781665426169

Coherent point drift (CPD) is a classic non-rigid point set registration algorithm. Inspired by the CPD idea, an improved CPD method is proposed in this paper. Firstly, we establish a global prior based on the graph feature to dynamically allocate Gaussian components. Secondly, a new neighborhood is defined to flexibly adjust the range of unevenly distributed points. Finally, a local structure constraint based on local neighborhood is proposed, which ensures the structure stability of the point sets. Experimental results on synthetic and real data sets show that the proposed method achieves good performance in degraded data, such as deformation, rotation, and noise. © 2021 IEEE.

关键词： Gaussian distribution

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Role of molecular alignment in attosecond photoionization of N2

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Physical Review A 2023年第1期108卷 013113-013113页

作者： Ru Zhang Feng Wang Qing Liao Peixiang Lu Hubei Key Laboratory of Optical Information and Pattern Recognition Wuhan Institute of Technology Wuhan 430205 China Guangdong Intelligent Robotics Institute Dongguan 523808 China

We theoretically study the influence of molecular alignment on the attosecond photoionization of the N2 molecule. Based on the numerical simulations of the single-active-electron two-dimensional time-dependent Schrödinger equation, we find that the alignment-averaged photoelectron momentum distributions deviate from the single-molecule result, especially for a large molecular alignment angle and a low degree of molecular alignment. As a result, the photoemission time delays extracted from the angular-averaged streaking spectra are different from the single-molecule result. More importantly, the alignment-averaged photoemission time delays are found to depend on the degree of molecular alignment as well as the molecular alignment distribution. Our results reveal the important role of molecular alignment in the molecular attosecond photoionization.

关键词： Atomic & molecular processes in external fields Single- and few-photon ionization & excitation

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Real-Time Polygonal Semantic Mapping for Humanoid Robot Stair Climbing 23

Real-Time Polygonal Semantic Mapping for Humanoid Robot Stai...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Bin, Teng Yao, Jianming Lam, Tin Lun Zhang, Tianwei The Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Harbin Engineering University College of Intelligent Systems Science and Engineering Harbin China Guangdong University of Technology Guangzhou China The Chinese University of Hong Kong - Shenzhen Shenzhen China

ISBN: (纸本)9798350373578

We present a novel algorithm for real-time planar semantic mapping tailored for humanoid robots navigating complex terrains such as staircases. Our method is adaptable to any odometry input and leverages GPU-accelerated processes for planar extraction, enabling the rapid generation of globally consistent semantic maps. We utilize an anisotropic diffusion filter on depth images to effectively minimize noise from gradient jumps while preserving essential edge details, enhancing normal vector images' accuracy and smoothness. Both the anisotropic diffusion and the RANSAC-based plane extraction processes are optimized for parallel processing on GPUs, significantly enhancing computational efficiency. Our approach achieves real-time performance, processing single frames at rates exceeding 30 Hz, which facilitates detailed plane extraction and map management swiftly and efficiently. Extensive testing underscores the algorithm's capabilities in real-time scenarios and demonstrates its practical application in humanoid robot gait planning, significantly improving its ability to navigate dynamic environments. © 2024 IEEE.

关键词： Anisotropy

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6D Movable Antenna Enhanced Interference Mitigation for Cellular-Connected UAV Communications

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IEEE Wireless Communications Letters 2025年第6期14卷 1618-1622页

作者： Ren, Tianshi Zhang, Xianchao Zhu, Lipeng Ma, Wenyan Gao, Xiaozheng Zhang, Rui The School of Information and Electronics Beijing Institute of Technology Beijing100081 China The Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore The Provincial Key Laboratory of Multimodal Perceiving and Intelligent Systems China The Engineering Research Center of Intelligent Human Health Situation Awareness of Zhejiang Province Jiaxing University Jiaxing314001 China School of Science and Engineering Shenzhen Research Institute of Big Data The Chinese University of HongKong Guangdong Shenzhen518172 China

Cellular-connected unmanned aerial vehicle (UAV) communications is an enabling technology to transmit control signaling or payload data for UAVs through cellular networks. Due to the line-of-sight dominant air-to-ground channels, efficient interference mitigation is crucial to UAV communications, while the conventional fixed-position antenna (FPA) arrays have limited degrees of freedom to suppress the interference between the UAV and its non-associated co-channel base stations (BSs). To address this challenge, we propose in this letter a new approach by utilizing the six-dimensional movable antenna (6DMA) arrays to enhance the interference mitigation for the UAV. Specifically, we propose an efficient block coordinate descent algorithm to iteratively optimize the antenna position vector, array rotation vector, receive beamforming vector, and associated BS of the UAV to maximize its signal-to-interference-plus-noise ratio. Numerical results show that the proposed 6DMA enhanced cellular-connected UAV communication can significantly outperform that with the traditional FPA arrays and other benchmark schemes in terms of interference mitigation. © 2025 IEEE. All rights reserved.

关键词： Aircraft communication

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Evaluation and Optimization of Vehicle Cabin Ergonomics Using Virtual Reality

Evaluation and Optimization of Vehicle Cabin Ergonomics Usin...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Aleksey Shubin Evgeniy Zykov Cristina Nadvrshina Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

The article discusses the idea of developing a cabin design complex using virtual reality technology to optimize production, improve ergonomics and comfort of the vehicle. It is planned to create a modifiable “on-the-fly” hardware-software complex for cabin conceptualization, consisting of a set of real cabin elements, a virtual reality helmet for rendering the environment, road and cabin design for the test subject, as well as a special operator program for controlling the driver's condition and changing the configuration of the cabin. The creation of an on-the-fly modifiable hardware and software system will reduce the cost of recreating the model of each new cabin. Various methods of taking information from the human body, such as ECG and EEG, eye movement, level of sleepiness, international standards, and others are proposed. Reviewing and selecting the most relevant metrics will allow for a more accurate determination of driver fatigue levels, and therefore the selection of better vehicle ergonomics.

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Multi-objective Trajectory Planning with State Constraints for 5-DOF Underactuated Tower Crane systems

Multi-objective Trajectory Planning with State Constraints f...

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International Conference on Applied Nonlinear Dynamics, Vibration and Control, ICANDVC 2021

作者： Liu, Zhuoqing Sun, Ning Wu, Yiming Chen, He Liang, Xiao Fang, Yongchun Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Artificial Intelligence Hebei University of Technology Tianjin China

ISBN: (纸本)9789811659119

In the practical applications of tower cranes, to improve work efficiency, it is needed to simultaneously rotate the jib, move the trolley, and change the rope length during transportation;however, there exist few control methods for such 5-DOF tower crane systems. In addition, it is still open how to find a balance among reducing the transportation time, saving the energy consumption, and guaranteeing satisfactory transient performance at the same time. Therefore, to address the above issues, in this paper, a multi-objective trajectory planning strategy with state constraints is proposed for 5-DOF tower cranes, which is the first solution that can achieve Pareto optimality of the transportation time and energy consumption, and can simultaneously satisfy all the practical constraints of the state variables and their corresponding velocities. The positioning and anti-swing performance of the planned trajectories are realized by differential flat outputs construction and B-spline curves design;also the multi-objective optimization problem is solved by the improved nondominated neighbor immune algorithm (NNIA). Finally, simulations are carried out for effectiveness verification. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Curve fitting

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Deep Learning-Guided Single-Cell Encapsulation through photo-crosslinking for Advanced 3D Culture

Deep Learning-Guided Single-Cell Encapsulation through photo...

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IEEE International Conference on Mechatronics and Automation

作者： Yanfeng Zhao Kaijun Lin Haotian Yang Xinyi Dong Tao Sun Qing Shi Qiang Huang Huaping Wang Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institude of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Encapsulating single cells in hydrogels provides them with a relatively autonomous and controllable three-dimensional extracellular environment. This environment can facilitate cell interaction and proliferation, making it highly valuable in fields such as tissue engineering and single-cell research. However, traditional methods of single-cell encapsulation encounter limitations in terms of single-cell encapsulation rate and topography control, which hinder of the progress of single-cell encapsulation research. In this paper, we propose a novel method for printing microgel-encapsulated single cells using deep learning-guided DLP printing. By leveraging deep learning algorithms, we accurately capture and translate the real-time positional data of single cells into the printing system’s coordinate framework. Based on the single-cell positional information, a virtual digital mask is created via the OpenCV algorithm, which is then input into the digital microscope to complete the single-cell encapsulation. The single-cell encapsulation rate achieved by this method is 86.3%, which is about 2.87 times higher than that of the traditional method. Experimental results show that our method achieves high accuracy in single-cell encapsulation and the fabrication of microgels with arbitrary shapes, which hold significant importance for biological and medical applications.

关键词： Encapsulation Printing Fabrication Deep learning Three-dimensional displays Shape Hydrogels

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Modification of Skeletal Character Animation Using Inverse Kinematics Controllers

Modification of Skeletal Character Animation Using Inverse K...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Rim Gazizov Aleksey Shubin Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

The article discusses in detail the use of inverse and forward kinematics to modify skeletal character animation, with a focus on adapting existing 3D objects to specific project requirements. It highlights the limitations of existing assets and animations when integrating them into new projects. Two main approaches are presented, using the skeleton “wrapping” technique and animation retargeting to solve the problems of modifying existing animations. A practical solution is proposed to achieve the required motion animations without the need to implement a riggin and animation step from scratch. Thus, the proposed methods optimize the animation process to prepare the animation to the required quality and the development efficiency is improved.

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Description and fault diagnosis in autonomous underwater vehicles based on ontologies

Description and fault diagnosis in autonomous underwater veh...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Alexander, Timoshenko Alexander, Zuev Eduard, Mursalimov Valeria, Gribova Alexander, Inzartsev Far Eastern Federal University Institute of Marine Technology Problems Feb Ras Laboratory of Intelligent Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia Institute of Automation and Control Feb Ras Laboratory of Intelligent Systems Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Control Systems Vladivostok Russia

ISBN: (纸本)9781665473729

The paper proposes new ontologies for describing and diagnosing malfunctions of subsystems of autonomous underwater vehicles (AUV) as a part of the development of a previously created approach to the intelligent diagnosis of these vehicles using knowledge bases. To implement this approach, it is proposed to use two knowledge bases, one of which describes malfunctions, features for their identification and actions necessary to adapt to the negative consequences caused by the appearance of these malfunctions. The other database contains information about the main subsystems of the AUV, devices and replaceable modules, as well as the states they may be in. Knowledge bases are used in the work of the intelligent control-emergency system (ICES) on board the AUV, which allows for comprehensive functional diagnostics of all subsystems of the device, including payload modules, as well as adaptation to the consequences of emerging malfunctions, taking into account the actual cause-and-effect relationships between them. To test the system's operability, a prototype was developed. The results of the prototype simulation showed that ICES performs the tasks and can be implemented on the onboard computers of existing AUV using well-known programming technologies. © 2022 IEEE.

关键词： Autonomous underwater vehicles

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Tolerant Tracking Control Protocol for PMSM Based on Policy Iteration Algorithm and Fault Compensation 16th

Tolerant Tracking Control Protocol for PMSM Based on Polic...

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16th International Conference on Social robotics, ICSR + InnoBiz 2024

作者： Yan, Shuya Li, Xiaocong Qian, Huaming Ma, Jun Al Mamun, Abdullah College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin150001 China Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Guangzhou China Information Science and Technology Eastern Institute of Technology Ningbo China

ISBN: (纸本)9789819611508

In robotics applications, ensuring reliable performance in the presence of actuator faults is essential for maintaining system safety and reliability. This paper presents a tolerant tracking control method for permanent magnet synchronous motors (PMSMs) based on adaptive dynamic programming and fault compensation. The method simultaneously considers tracking accuracy and energy consumption through a policy iteration algorithm. In the optimality analysis of the algorithm, more relaxed conditions are provided to demonstrate that the performance function can converge to a near-optimal value within a finite number of iterations. In practical implementation, an actor-critic network is used to approximate the performance function and control protocol, alongside a fault detection mechanism based on an expanded time horizon, which achieves fault detection from arbitrary initial values. The effectiveness of the proposed algorithm is verified using a high-fidelity PMSM model in Simulink. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Permanent magnets

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