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4th International Symposium on Neural Networks, ISNN 2007

作者： Le, Chen Baoming, Ge De Almeida, Aníbal T. School of Electrical Engineering Beijing Jiaotong University Beijing 100044 China Institute of System and Robotics University of Coimbra 3030 Coimbra Portugal

ISBN: (纸本)9783540723820

A temperature control solution is proposed in this paper, which uses a self-tuning PID controller based on flexible neural network (FNN). The learning algorithm of FNN can adjust not only the connection weights but also the sigmoid function parameters. This makes FNN characterized with online learning and high learning speed. The FNN has the following advantages when applied to temperature control problems: high learning ability, which considerably reduces the controller training time;the mathematical model of the plant is not required, which cases the design process;high control performance. These advantages are verified by its application to a practical temperature controlled box, which is used in medicinal inspection. The proposed system presents better behavior than that when using traditional back-propagation neural network. © Springer-Verlag Berlin Heidelberg 2007.

关键词： Neural networks

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High accuracy target point classification through dark-field detection of large-aperture optics surface based on machine vision

High accuracy target point classification through dark-field...

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2024 Applied Optics and Photonics China: Optical Sensing, Imaging Technology, and Applications, AOPC 2024

作者： Zhou, Shicheng Yin, Zhaoyang Wang, Bei Zhao, Linjie Cheng, Jian Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Surface defects on optics seriously affect their service life in high-power laser system. To address this issue, repair technologies for large-aperture optics are extensively employed. However, the operation of high-power laser system generates a large number of optics requiring repair. Currently, microscopic inspection is widely used for target points classification due to its high accuracy, but it has limitations such as small field of view and low efficiency. Utilizing the OTSU algorithm and Convolutional Neural Networks (CNN), a dark-field classification model for optical surface target points has been developed. Upon conducting experiments with several network models, the ResNet model, a probability threshold of 0.998 were determined. In conclusion, the classification accuracy for defects was 99.18% and for contaminants was 90.34%. The outcomes show that target points on the surfaces of optics can be accurately classified using this method. © 2024 SPIE.

关键词： Machine vision

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Study on the hydrodynamics and kinematics of a biomimetic fin propulsor actuated by SMA wires

Study on the hydrodynamics and kinematics of a biomimetic fi...

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2011 International Conference on Electronic and Mechanical engineering and Information Technology, EMEIT 2011

作者： Yang, Zhengbao Wang, Yukui Gao, Fei Wang, Zhenlong Wang, Yangwei State Key Laboratory of Robotics and System at Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781612840857

A flexible noiseless and high-efficient propulsor plays a prominent role in the performance of underwater vehicles. This paper presents a micro flexible caudal fin propulsor actuated by shape memory alloy (SMA) wires. To improve the responding frequency and fatigue of the SMA wires, a pair of slots is designed. So the SMA wires can be heated in the protection of silica gel layer and cool in the other status, i.e. flowing water. Then the propulsive performance of the biomimetic propulsor is evaluated through thrust measurement experiments. Note that higher undulating frequency does not mean stronger thrust force because the undulating amplitude descends along with the undulating frequency increase for this kind SMA propulsor. Further, the kinematics of the propulsor is analyzed and the corresponding equation of motion is obtained. At last, a three-dimensional numerical simulation on the biomimetic fin was conducted by CFD to investigate the interaction of the propulsor with surrounding water and the thrust production. The CFD results consist with the experimental results well, which verify the kinetic model and the numerical simlation. © 2011 IEEE.

关键词： Kinematics

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An effective classification system for separating sugar beets and weeds for precision farming applications

An effective classification system for separating sugar beet...

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2016 IEEE International Conference on robotics and Automation, ICRA 2016

作者： Lottes, P. Hoeferlin, M. Sander, S. Muter, M. Schulze, P. Stachniss, Lammers C. Institute for Geodesy and Geoinformation University of Bonn Germany Institute of Agriculture Engineering University of Bonn Germany BOSCH Deepfield Robotics Germany HYDAC System GmbH Germany

ISBN: (纸本)9781467380263

Robots for precision farming have the potential to reduce the reliance on herbicides and pesticides through selectively spraying individual plants or through manual weed removal. To achieve this, the value crops and the weeds must be identified by the robot's perception system to trigger the actuators for spraying or removal. In this paper, we address the problem of detecting the sugar beet plants as well as weeds using a camera installed on a mobile robot operating on a field. We propose a system that performs vegetation detection, feature extraction, random forest classification, and smoothing through a Markov random field to obtain an accurate estimate of the crops and weeds. We implemented and thoroughly evaluated our system on a real farm robot on different sugar beet fields and illustrate that our approach allows for accurately identifying the weed on the field. © 2016 IEEE.

关键词： Crops

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Multi-Type Target Detection and Tracking in UAV Images under Typical Scenarios

Multi-Type Target Detection and Tracking in UAV Images under...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Hou, Lei Lv, Hejun Jia, Beixi Yang, Li Kong, Linghao Li, Hongguang Intelligence General Department Aviation System Engineering Institute of China Beijing China Beijing Key Laboratory of Information Service Engineering College of Robotics Beijing Union University Beijing China Institute of Unmanned System Beihang University Beijing China

ISBN: (纸本)9798350384185

Despite significant advances in UAV target detection and tracking algorithms, real-world flight tests and data validation remain insufficient. In this study, we developed a stable and reliable UAV image target detection and tracking system based on the YOLOv5 and TCTrack networks. The system demonstrated excellent stability and reliability in laboratory-simulated scenarios, particularly excelling in target recognition accuracy. Additionally, the system was tested in real UAV flight scenarios, showcasing robust real-time performance suitable for various task scenarios. Furthermore, we collected and annotated a comprehensive outdoor multi-scene target detection dataset by operating different types of UAVs to further validate and optimize the algorithm. © 2024 IEEE.

关键词： Object tracking

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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2024 IEEE International Conference on Control Science and systems engineering, ICCSSE 2024

作者： Li, Delun Cao, Jianfei Chen, Yiliang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798331517199

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers. © 2024 IEEE.

关键词： Rovers

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BPS2025 - Twisting, stretching, and imaging chiral biopolymers, such as DNA, in real time

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Biophysical Journal 2025年第3期124卷 379a-379a页

作者： Jack W. Shepherd Jamieson A.L. Howard Sebastien Guilbaud Zhaokun Zhou Mark C. Leake School of Physics Engineering and Technology University of York York United Kingdom Cairn Research Ltd. Faversham United Kingdom Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Guangdong China Department of Biology University of York York United Kingdom

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Resolution and precision measurement of a three dimension force sensor based on piezoresistive conductive ink

Resolution and precision measurement of a three dimension fo...

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11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

作者： Liu, Yanjie Wu, Jiang Han, Haijun Liu, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Dep. of Intelligent Mechanical System Engineering Kochi University of Technology Kami Japan

ISBN: (纸本)9781479939787

In order to achieve the function of measuring friction on contacting surface between wafer and manipulator in real time, in this paper, we mainly measured the resolution and precision of the three dimension force sensor based on piezoresistive conductive ink. Resolution of tangential force improves with preload in normal direction increasing and the maximum resolution is less than 0.025 N with 0.8 N preload. Maximum error is about 30.62% because of low tangential stiffness of elastomer. The experiment results indicate that this sensor has characteristics of small volume, high flexibility and high resolution, which is prospective for using in wafer transfer system with improvement of higher precision in the future. © 2014 IEEE.

关键词： Flexible three dimension force sensor Resolution measurement

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Configuration synthesis of planar folded and common overconstrained spatial rectangular pyramid deployable truss units

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Chinese Journal of Aeronautics 2019年第7期32卷 1772-1787页

作者： Hui YANG Hongwei GUO Yan WANG Rongqiang LIU Zongquan DENG College of Electrical Engineering and Automation Anhui UniversityHefei230601China State Key Laboratory Robotics and System Harbin Institute of TechnologyHarbin150001China China Electronics Technology Group Corporation No.38Research Hefei230088China

Compared with non-overconstrained deployable units, overconstrained deployable units are widely used in space missions for their higher stiffness characteristics. Besides the performance of a three-step topological structural analysis and design of the rectangular pyramid deployable truss unit(PDTU), conducting a structural synthesis of an overconstrained deployable unit requires the determination of the relative position and direction of each kinematic axis. The structural synthesis of an overconstrained deployable unit is investigated based on screw theory and its topological structure. The possible overconstrained cases of the rectangular PDTUs are analyzed, and corresponding screw expressions are obtained. Thus, the rectangular PDTUs, which can be folded into a plane, are synthesized systemically, and a series of overconstrained rectangular PDTUs is obtained. Furthermore, the feasibility of the folded and deployed motions under one degree of freedom for those deployable units is verified in dynamical simulation by using ADAMS 2010.

关键词： Assembly SAR antenna Common overconstraint Deployable truss structure Screw theory Structural synthesis

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A study on surface EMG generation model and its extraction

A study on surface EMG generation model and its extraction

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2011 4th International Conference on Biomedical engineering and Informatics, BMEI 2011

作者： Zou, Ling Ma, Xiaojuan Zhou, Tiantong Ma, Zhenghua School of Information and Science and Engineering Changzhou University Changzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424493524

A surface electromyography (sEMG) signal model is established and extracted from noisy background. Firstly, single fiber action potential (SFAP), motor unit action potential (MUAP) and motor unit action potential train (MUAPT) are simulated based on the tripolar signal source model, and then the sEMG is obtained. Secondly, the simulated sEMG signal is extracted from the mixed signals that consists of white noises, power frequency interference signal and electrocardio signal by independent component analysis (ICA) algorithms, and the most effective signal decomposition method Informax is chosen. It will lay the foundation for further decomposing the signals into single MUAP. © 2011 IEEE.

关键词： Independent component analysis

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