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检索条件"机构=Institute of Robotics and Automation Information Systems"

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Gas Source Localization for UAV Using Infotaxis-Based Three-Dimensional Algorithm and Particle Filtering

Gas Source Localization for UAV Using Infotaxis-Based Three-...

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第43届中国控制会议

作者： Duan He Cheng Lei Wang Rong Zhang Yu Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology School of Information Science and Engineering Wuhan University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Unmanned aerial vehicles(UAVs) are extensively utilized in gas source localization tasks due to their payload capacity and maneuverability. This paper presents a UAV gas source localization algorithm that utilizes three-dimensional Infotaxis and particle filter. The algorithm is designed for gas source localization of UAVs in dynamic outdoor airflow *** source localization process comprises UAV search area partitioning, particle filter initialization, observation and update of probability map, entropy calculation and direction selection, particle direction and weight update, and UAV movement. To validate the effectiveness of the algorithm, we build a CFD gas environment and UAV source localization platform, and compare it with traditional Infotaxis-based source localization algorithms. The proposed algorithm based on three-dimensional Infotaxis and particle filter demonstrates higher accuracy.

关键词： infotaxis particle filtering gas source localization olfactory drone path planning

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MvEchoSeg: One-shot In-context Learning for Multi-view Echocardiography Segmentation

MvEchoSeg: One-shot In-context Learning for Multi-view Echoc...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Guo, Yuting Duan, Ya Song, Wenfeng Li, Nannan Li, Aili Li, Shuai Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing100191 China University of Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Beijing Information Science and Technology University School of Computer Science Beijing100192 China Dalian Maritime University School of Information Science and Technology Dalian116000 China China-Japan Friendship Hospital Beijing100029 China

ISBN: (纸本)9798350386226

Echocardiography is the clinical standard for evaluation of cardiac morphology, and function, and providing hemodynamic parameters in patients with known or suspected heart disease. Due to the diversity and complexity of diagnostic tasks, comprehensive interpretation of echocardiography often requires multi-view imaging for integrated metric analysis. Deep learning methods have become the mainstream approach for echocardiography segmentation. However, achieving segmentation of multi-view echocardiography still requires a substantial amount of annotation. To remedy this, we propose a one-shot in-context learning network mvEchoSeg for multi-view echocardiography segmentation. This network requires only one annotated image for each view. Specifically, we propose a Task Prompt Identifier (TPI) module to identify the task type of the image and allocate the most precise task prompt for it, with minimal adaptation of CLIP and few-shot strategies. Additionally, we leverage a unified In-Context Model (ICM) capable of performing a diverse set of echocardiography segmentation tasks automatically. Using fine-tuning and low-rank adapters improved the performance of the pre-trained model, achieving significant results with minimal training cost. Furthermore, we collect a multi-view echocardiography dataset (MVECD) with 8 views to evaluate our method. The results show an improvement of more than 10% in the DICE score compared to the SOTA foundational medical image segmentation models. To our knowledge, this is the first exploration of a one-shot model for multi-view echocardiography segmentation. Our codes and models are available at https://***/stellating/mvEchoSeg. © 2024 IEEE.

关键词： Image segmentation

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A DDOS Attack Traffic Classification Model for Industrial Internet Based on CNN-LSTM

A DDOS Attack Traffic Classification Model for Industrial In...

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2022 Chinese automation Congress, CAC 2022

作者： Wei, Weixuan Liu, Xianda Sheng, Chuan Feng, Ansong Shenyang University of Chemical Technology College of Information Engineering Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665465335

With the continuous development and application of industrial Internet, the weakness of the security defense capability of industrial Internet has become increasingly prominent. This paper presents an end-to-end classification model combining Convolutional Neural Network (CNN) and Long Short-Term Memory (LSTM) network for DDoS attacks over industrial Internet. By self-learning the spatial and temporal characteristics of the original attack traffic, the model can avoid subjective errors that may occur due to manual selection of features. This method is a feasible means, with an accuracy rate of 99%. © 2022 IEEE.

关键词： Long short-term memory

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Identification of PMSM Moment of Inertia based on Model Reference Adaptive Algorithm 4

Identification of PMSM Moment of Inertia based on Model Refe...

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4th IEEE International Conference on Power, Intelligent Computing and systems, ICPICS 2022

作者： Ding, Fan Zhang, Tao Jia, Danping Zhang, Hualiang Pei, Quanshen Huang, Haoran School of Information Science and Engineering Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Electrical Engineering Dalian University of Technology Dalian China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9781665467735

ISBN: (纸本)9781665467735

A method that can identify the rotational inertia in a timely manner is proposed because the performance of a permanent magnet synchronous motor servo system is easily affected by the rotational inertia. Firstly, principles of model-referenced adaptive recognition algorithm is introduced, and the influence of the adaptive gain on the identification results is analyzed. Then, design a suitable range of adaptive gain value, use the set error value to compare the identification error with the set value, and then select the appropriate gain for identification. Finally, through simulation verification, this method has fast identification convergence speed, high precision and strong anti-disturbance. © 2022 IEEE.

关键词： Adaptive algorithms

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Smart Manufacturing Integration of Heterogeneous information systems via OPC UA. A Case Study

Smart Manufacturing Integration of Heterogeneous Information...

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Automatics and Informatics (ICAI), International Conference

作者： Plamen Vasilev Ani Boneva Veronika Ivanova Tsetso Tsvetanov Department of Industrial Automation University of Chemical Technology and Metallurgy Sofia Bulgaria Department of Communication and Computer Systems Institute of Information and Communication Technologies Bulgarian Academy of Sciences Sofia Bulgaria Department of Robotized and Mechatronics Intelligent Systems Institute of Robotics Bulgaria Academy of Sciences Sofia Bulgaria

ISBN: (数字)9798350353907

ISBN: (纸本)9798350353914

Modern automation, digitalization, virtualization, and intelligent production impose new criteria and approaches to process management. The operation and performance of any system and device depend on how it is managed. The article describes Smart Manufacturing Integration of Heterogeneous information systems via OPC UA. The main goal is the development of heterogeneous information systems with real applications, with which reliable and up-to-date information can be exchanged between systems of different hierarchical levels. The goal was achieved with the following steps i) building the research infrastructure ii) analyzing the information compatibility and challenges in integrating systems from different hierarchical levels, and iii) implementing the integration by means of the OPC-UA standard communication protocol. The setup has been tested under laboratory conditions. The obtained results are shown.

关键词： Performance evaluation Protocols automation Process control Production Topology Reliability Virtualization Standards Smart manufacturing

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Research on Multiple Automated Guided Vehicles Path Planning to Reduce Default Time 2

Research on Multiple Automated Guided Vehicles Path Planning...

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2nd IEEE International Conference on Data Science and Computer Application, ICDSCA 2022

作者： Liu, Yiyang Yan, Shuaihua Hou, Zheng Zhao, Yang Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China Kunshan Intelligent Equipment Research Institute Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China University of Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China College of Information Science and Engineering Northeastern University Shenyang China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China

ISBN: (数字)9781665472005

ISBN: (纸本)9781665472005

This paper studies the path planning problem of multiple automated guided vehicles (multi-AGV) in a matrix manufacturing workshop. We proposed the multi-AGV path planning problem with default time, which is a variant of the classic path planning problem. In order to ensure the timely completion of each task, the default time of the task is explicitly considered. The goal is to obtain a conflict-free path with the minimum total default time, total time, and total path length. For these three goals, this problem is NP-hard. In order to solve this problem better, we established a multi-objective optimization model of total default time, total time and total path length of multi-AGV in flexible manufacturing environment. This paper proposes a multi-AGV path planning method that integrates game theory and A∗ algorithm. This method regards each AGV as a participant in the game model, through the default time obtained from each game dynamically adjusts the probability of each AGV planning the next path, and uses game theory to help the system dynamically select the most suitable AGV to plan the next path to improve the on-time delivery rate of tasks. Finally, the simulation results show that the multi-AGV path planning method integrating game theory and A∗ algorithm further reduces the total default time, total time and total path length of all AGVs. © 2022 IEEE.

关键词： Motion planning

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Speed Optimization of Cell Penetration based on Simulation

Speed Optimization of Cell Penetration based on Simulation

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Chinese Control Conference (CCC)

作者： Bin Yang Huiying Gong Zengshuo Wang Ke Li Qili Zhao Maosheng Cui Xin Zhao Mingzhu Sun Institute of Robotics and Information Automation Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China Institute of Animal Science and Veterinary of Tianjin Tianjin China

Cell penetration is an essential step in many biological technologies. In this paper, we propose a cell penetration optimization method based on dynamics simulation. Firstly, we establish a cell model and perform the simulation of the process of cell penetration. The cell model, which is a three-dimensional model, is composed of elastic particles, plastic particles and liquid particles mixed in a certain proportion. The cell penetration process simulated by this model can not only analyze the intracellular deformation, but also the deformation of the extracellular surface. We analyze the penetration process especially according to the extracellular surface. Secondly, the cell is penetrated at different speeds(uniform velocity), and the coordinate data of all particle points that formed the cell during the penetration process are recorded. The normal vector of the extracellular surface is calculated from the particle points of the extracellular surface based on PCA. We select some areas on the extracellular surface and analyze the change progress of the normal vector of the extracellular surface during the whole process of penetrating the cell. Finally, we design the penetration speed according to the changing trend of the normal vector of the extracellular surface under different penetration speeds. Simulation results verify that the designed penetration speed scheme is better.

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Towards Fast Face Image Quality Assessment via Latent Diffusion Model 18th

Towards Fast Face Image Quality Assessment via Latent Diffu...

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18th Chinese Conference on Biometric Recognition, CCBR 2024

作者： Yan, Zheyu Zhao, Weisong Zhu, Xiangyu Gao, Li Zhang, Xiao-Yu Lei, Zhen State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China China Mobile Financial Technology Co. Ltd. Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Hong Kong Institute of Information Engineering Chinese Academy of Sciences Beijing China School of Cyber Security University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9789819610679

Face recognition technology has gradually come into wide application in real life. However, in real-life unconstrained scenarios, low-quality images could be matched to unpredictable individuals, thereby affecting the stability of recognition and even causing security problems. Conducting quality assessment on face images before facial recognition can help alleviate these problems by rejecting low-quality samples. In this paper, we propose a Fast Diffusion-model-based Face Image Quality Assessment method (FDif-FIQA). It uses a diffusion model to perturb face images and measures image quality based on the similarity of features before and after the perturbation. The denoising process is transferred from the pixel space to the latent space, thereby reducing the computational cost. We evaluated the performance of this method with multiple mainstream face recognition models on various public datasets. Compared to state-of-the-art methods, our approach demonstrates highly competitive performance and significant improvements in computational efficiency. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Face recognition

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Development of Method for Generating Trajectories of Movement of End Effectors and Control Programs for Industrial Robots in an Uncertain Working Environment

Development of Method for Generating Trajectories of Movemen...

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2021 International Russian automation Conference, RusAutoCon 2021

作者： Yukhimets, Dmitry Gubankov, Anton Mursalimov, Eduard Institute of Automation and Control Processes Robotic Laboratory Vladivostok Russia Far Eastern Federal University Dept. of Automation and Robotics Vladivostok Russia Institute of Marine Technology Problems Laboratory of Intelligent Information Systems for Marine Robots Vladivostok Russia

ISBN: (纸本)9780738131566

the deals with the implementation of the method of the trajectories generating for end effectors and control programs for industrial robots in an uncertain working environment. To generate correct trajectories, it is proposed to sequentially process data from vision systems, correct them in the human-machine interface, generate a control program in a generalized form using universal commands and then translate it into the form that a specific industrial robot requires. Experimental studies of the proposed method were carried out, which confirmed the operability and effectiveness of the proposed method. © 2021 IEEE.

关键词： Trajectories

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The generalized synchronization for double-layer delayed coupling complex networks by dynamic soft variable structure control method

The generalized synchronization for double-layer delayed cou...

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2022 Chinese automation Congress, CAC 2022

作者： Qian, Kang Chen, Zhihuan Sun, Yanqin Engineering Research Center for Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9781665465335

This study focuses on the synchronization problem of double-layer complex networks with time delayed coupling. Distinguish from most of previous works, a more general network model is introduced, where the number and the dimension of the nodes can be different between the drive network and the response network. This network model is more close to the practice. In order to obtain the synchronization of double-layer complex networks, an ingenious dynamic soft variable structure controller is proposed, where three sub-controllers and one adaptive observers are designed, and the stability of the controller is demonstrated by a strict mathematical proof. Numerical simulations verify the effectiveness of proposed strategy. © 2022 IEEE.

关键词： Complex networks

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