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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xiuqi Chen Lei Cheng Zongquan Xie School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

Human-robot collaboration is gradually becoming the way of life and production in the future. In this work, we focus on promoting the application scenarios of robots that can autonomously follow users, and propose a quadruped robot that can achieve autonomous following in complex environments. To address the problem that traditional quadruped robots using fixed visual sensors easily lose track of the target, we propose a method of using a gimbal mechanism equipped with a visual sensor for visual servoing tracking. By combining the chassis direction to plan the target servo strategy and controlling the gimbal rotation, we can achieve visual target following. On this basis, this paper controls the foot trajectory by using the cubic spline interpolation method, so that the robot can walk along various expected trajectories to achieve target following. This paper uses a field-of-view evaluation index to evaluate the tracking performance of this method and proves the effectiveness of the proposed target following method through experiments.

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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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Active Camera View Planning Based on Deep Reinforcement Learning in Indoor Exploration

Active Camera View Planning Based on Deep Reinforcement Lear...

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Chinese Control Conference (CCC)

作者： Hao-Yu Wang Qing-Hao Meng Xu-Yang Dai Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin China

In the last decades, significant progress has been made in the field of active vSLAM (visual simultaneous localization and mapping). However, the majority of active vSLAM methods suffer from the problem of coupling the camera's viewpoint to the robot's motion, which limits the initiative during the exploration of unknown environments. To address this issue, this study proposes a camera view planning method based on deep reinforcement learning (DRL), which makes the camera rotate independently. First, feature encoding is performed on the reconstructed navigation map using a multi-layer convolutional neural network (CNN). Second, the DRL-based camera view planning method is trained through the proximal policy optimization (PPO) algorithm. Last, a significant number of tests is performed on a public dataset of indoor environments. The simulation results show that the proposed camera view planning method improves the exploration coverage by an average of 4% (33.86 m 2 for traditional vs. 35.21 m 2 for the suggested method). Meanwhile, the kind of semantic information newly observed in each step increases by 21% (2.9 for traditional vs. 3.5 for the proposed method) on average, indicating the improvement in the efficiency of information acquisition.

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Decoupling of nanoindentation residual stress field in single-crystalline 4H-SiC via micro-Raman spectroscopy

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Optics Letters 2025年第11期50卷 3513-3516页

作者： Yang, Zhoudong Tian, Jing Wang, Xinyue Chen, Junwei Zuo, Yuanhui Zhang, Rongjun Tang, Hongyu Fan, Xuejun Zhang, Guoqi Fan, Jiajie Shanghai Engineering Technology Research Center for SiC Power Device School of Intelligent Robotics and Advanced Manufacturing Fudan University Shanghai200433 China Research Institute of Fudan University in Ningbo Ningbo315336 China School of Information Science and Technology Fudan University Shanghai200433 China Department of Mechanical Engineering Lamar University PO Box 10028 BeaumontTX77710 United States EEMCS Faculty Delft University of Technology Delft2628 Netherlands

This Letter presents a combined analytical and experimental method to effectively decouple the radial and tangential residual stress fields induced by Berkovich nanoindentation in single-crystalline 4H-SiC using micro-Raman spectroscopy. By integrating the Raman stress characterization model with Yoffe’s expanding cavity model, precise extraction of individual residual stress components around the indentation region is realized. Through the vertical backscattering micro-Raman mapping of the E2 phonon mode, we systematically investigate the residual stress distribution near the indentation. The results highlight significant anisotropy in nanoindentation-induced stress fields, strongly dependent on the crystal orientation of 4H-SiC, predominantly featuring radial tensile stress gradients. This comprehensive theoretical–experimental approach offers a robust optical framework for residual stress characterization in 4H-SiC and provides foundational insights for extending Raman spectroscopy-based stress characterization to other crystalline materials and related device structures. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Raman spectroscopy

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Discounted Iterative Adaptive Critic Designs With Novel Stability Analysis for Tracking Control

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1262-1272页

作者： Mingming Ha Ding Wang Derong Liu School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083China Faculty of Information Technology the Beijing Key Laboratory of Computational Intelligence and Intelligent Systemthe Beijing Laboratory of Smart Environmental Protectionand the Beijing Institute of Artificial IntelligenceBeijing University of TechnologyBeijing 100124China Department of Electrical and Computer Engineering University of Illinois at ChicagoChicago IL 60607 USA IEEE

The core task of tracking control is to make the controlled plant track a desired *** traditional performance index used in previous studies cannot eliminate completely the tracking error as the number of time steps *** this paper,a new cost function is introduced to develop the value-iteration-based adaptive critic framework to solve the tracking control *** the regulator problem,the iterative value function of tracking control problem cannot be regarded as a Lyapunov function.A novel stability analysis method is developed to guarantee that the tracking error converges to *** discounted iterative scheme under the new cost function for the special case of linear systems is ***,the tracking performance of the present scheme is demonstrated by numerical results and compared with those of the traditional approaches.

关键词： Adaptive critic design adaptive dynamic programming(ADP) approximate dynamic programming discrete-time nonlinear systems reinforcement learning stability analysis tracking control value iteration(VI)

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Fuzzy Based Steering Control of a Multi-Joint AUV

Fuzzy Based Steering Control of a Multi-Joint AUV

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Control Conference (ANZCC), Australian and New Zealand

作者： Zakarya Omar Ke-Xian Liu Chao Ren Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Intelligent Un-manned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin China Faculty of Engineering Sana'a University Sana'a Yemen

The multi-joint structure of our Autonomous Underwater Vehicle (AUV) enhances its maneuverability, allowing it to navigate in the underwater environment with greater flexibility. However, this added maneuverability poses challenges to the steering process. When the multi-joint AUV (MJ-AUV) performs steering maneuvers, its joints undergo rotation, leading to a change in the orientation of the cabins with respect to the overall forward heading of the vehicle. As a result, this change in orientation affects the values of the hydrodynamic reactions, including Coriolis and damping, experienced by the cabins. The dynamic interaction between the joints' rotation and the resulting change in hydrodynamic forces significantly impacts the steering performance and stability of the MJ-AUV. Understanding and addressing these effects are crucial for the development of effective control strategies that ensure precise and reliable steering in various underwater environments. Overcoming the difficulties posed by joint rotation during steering can lead to advancements in MJ-AUV navigation and expand their potential applications in complex underwater missions. This research proposes a fuzzy-based control with sliding mode control (SMC) approach for the steering of an MJAUV. The developed fuzzy-based SMC control algorithm is validated through extensive MATLAB simulations. The results demonstrate improved tracking performance and robustness in comparison to the SMC control method. Moreover, the proposed approach shows superior trajectory tracking accuracy while mitigating undesired chattering effects associated with standard SMC techniques.

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Deep Learning-Enabled ISAC-OTFS Pre-equalization Design for Aerial-Terrestrial Networks

arXiv

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arXiv 2024年

作者： Wang, Weihao Guo, Jing Wang, Siqiang Wang, Xinyi Yuan, Weijie Fei, Zesong the School of Information and Electronics Beijing Institute of Technology Beijing100081 China the School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China

Orthogonal time frequency space (OTFS) modulation has been viewed as a promising technique for integrated sensing and communication (ISAC) systems and aerial-terrestrial networks, due to its delay-Doppler domain transmission property and strong Doppler-resistance capability. However, it also suffers from high processing complexity at the receiver. In this work, we propose a novel pre-equalization based ISAC-OTFS transmission framework, where the terrestrial base station (BS) executes pre-equalization based on its estimated channel state information (CSI). In particular, the mean square error of OTFS symbol demodulation and Cramér-Rao lower bound of sensing parameter estimation are derived, and their weighted sum is utilized as the metric for optimizing the pre-equalization matrix. To address the formulated problem while taking the time-varying CSI into consideration, a deep learning enabled channel prediction-based pre-equalization framework is proposed, where a parameter-level channel prediction module is utilized to decouple OTFS channel parameters, and a low-dimensional prediction network is leveraged to correct outdated CSI. A CSI processing module is then used to initialize the input of the pre-equalization module. Finally, a residual-structured deep neural network is cascaded to execute pre-equalization. Simulation results show that under the proposed framework, the demodulation complexity at the receiver as well as the pilot overhead for channel estimation, are significantly reduced, while the symbol detection performance approaches those of conventional minimum mean square error equalization and perfect CSI. Copyright © 2024, The Authors. All rights reserved.

关键词： Channel estimation

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Cooperative Local Path Planning for Multi-unmanned Vehicles Formation Using the Enhanced Artificial Potential Field 3rd

Cooperative Local Path Planning for Multi-unmanned Vehicles...

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3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Zhang, Xin Duan, Xuting Zhou, Jianshan Zhang, Long Opening Project of Key Laboratory of Operation Safety Technology on Transport Vehicles Ministry of Transport PRC Beijing China School of Transportation Science and Engineering Beihang University Beijing China State Key Lab of Intelligent Transportation System Beijing China Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China Zhongguancun Laboratory Beijing China National Key Laboratory of Science and Technology on Information System Security Institute of Systems Engineering Beijing China

ISBN: (纸本)9789819711024

An enhanced approach utilizing APF(artificial potential field) method is introduced in this paper. By adopting this approach, the challenge of local minima that may occur when dealing with local path planning for unmanned vehicles is tackled. When the unmanned vehicle approaches an obstacle, a virtual attractive potential field is implemented, utilizing the deviation in the heading angle of the vehicle to control the steering angle. Consequently, the vehicle can avoid obstacles, resolving the issue of local minima and enabling its application in path planning for multi-unmanned vehicles. The ROS with Gazebo simulation platform is used to verify the enhanced algorithm’s effectiveness in multi-unmanned vehicle path planning in an unknown environment. © Beijing HIWING Scientific and Technological information institute 2024.

关键词： Motion planning

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Video key concept extraction using Convolution Neural Network 3

Video key concept extraction using Convolution Neural Networ...

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3rd IEEE International Conference on AI in Cybersecurity, ICAIC 2024

作者： Sardar, Tanvir H Amin Hazarika, Ruhul Pandey, Bishwajeet Guru Prasad, M.S. Mahmudul Hassan, Sk Dodmane, Radhakrishna Gohel, Hardik Dept. of Computer Science & Engg Bengaluru India Manipal Institute of Technology Department of Information Technology Bengaluru India Astana It University Department of Intelligent System and Cyber Security Kazakhstan Dept. of Computer Science & Engg. Dehradun India VIT-AP School of Computer Science and Engineering India Nmam Institute of Technology Department of Computer Science & Engg. Nitte India University of Houston Department of Cse Victoria United States

ISBN: (纸本)9798350381856

Objectives: This work aims to develop an automated video summarising methodology and timestamping that uses natural language processing (NLP) tools to extract significant video ***: The methodology comprises extracting the audio from the video, splitting it into chunks by the size of the pauses, and transcribing the audio using Google's speech recognition. The transcribed text is tokenised to create a summary, sentence and word frequencies are calculated, and the most relevant sentences are selected. The summary quality is assessed using ROUGE criteria, and the most important keywords are extracted from the transcript using ***: Our proposed method successfully extracts key points from video lectures and creates text summaries. Timestamping these key points provides valuable context and facilitates navigation within the lecture. Our method combines video-to-text conversion and text summarisation with timestamping key concepts, offering a novel approach to video lecture analysis. Existing video analysis methods focus on keyword extraction or summarisation, while our method offers a more comprehensive approach. Our timestamped key points provide a unique feature compared to other methods. Our method enhances existing video reports by (i) providing concise summaries of key concepts and (ii) enabling quick access to specific information through timestamps. (iii) Facilitating information retrieval through a searchable index. Further research directions: (i) Improve the accuracy of the multi-stage processing pipeline. (ii) Develop techniques to handle diverse accents and pronunciations. (iii) Explore applications of the proposed method to other video genres and ***/Improvements: This approach is practical in giving accurate video summaries, saving viewers time and effort when comprehending the main concepts presented in a video. © 2024 IEEE.

关键词： Speech recognition

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A transfer learning fusion model for semi-physical simulation and filed accuracy data 3

A transfer learning fusion model for semi-physical simulatio...

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3rd International Conference on Artificial Intelligence, information Processing and Cloud Computing, AIIPCC 2022

作者： Geng, Huapin Li, Xiaolu Li, Ziwei Suo, Bin Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing100083 China Beijing Electro-mechanical Engineering Institute Beijing100083 China School of Information Engineering Southwest University of Science and Technology Mianyang621010 China

ISBN: (纸本)9783800759330

In order to solve the problem that the accuracy assessment of a single data source is subject to multiple constraints, data fusion reliability evaluation model based on transfer learning was established. Take the high-confidence but small sample field test data as the target domain, the semi-simulation test data as the source domain. Using the principal component analysis to extract the features separately, then embedding the feature distribution in glassman manifold space as two points, construct geodesic flow curve to attach them. So as to achieve data fusion, map the source and target domain to a common space through the geodesic flow curve. Accuracy evaluation can be calculated by constructing confidence region of semi-simulation data. The example verifies the feasibility and effectiveness of this model. © VDE VERLAG GMBH.

关键词： Data fusion

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