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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Luo, Guifu Du, Ruilong Xie, Anhuan Zhou, Hua Gu, Jason State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Intelligent Robot Research Center Zhejiang Lab Hangzhou China Department of Electrical Engineering Dalhousie University HalifaxNS Canada

ISBN: (纸本)9789819964796

Compliant leg behavior and the spring-loaded inverted pendulum (SLIP) model help understand the dynamics of legged locomotion while few works could be found discussing the effects of leg mass, which is an intriguing and worthwhile question for designers of compliant legged robots. This work is focused on the influence of leg mass on jumping performance using a compliant one-legged robot designed by the authors. An extended SLIP model with the center of mass of the torso offset from the hip and with the leg mass considered is presented for the designed robot, and the bio-inspired virtual pendulum posture control (VPPC) and the velocity-based leg adjustment method (VBLA) are used to achieve stable jumping of the robot. Afterward, the maximum forward pushed velocity at which the robot can recover its stability is investigated for different leg masses, and this velocity is used as a criterion to analyze the effect of leg mass. Results show that the maximum allowed pushed velocity decreases as the leg mass increases, suggesting that leg mass leads to a reduction in the stability of the robot. Results also show that stability decreases sharply when the ratio of leg mass to the total mass of the robot is higher than 0.35, which is close to the ratio of leg mass to the total mass in humans, according to human anatomical data. It suggests that the leg mass ratio should be kept below 0.35 in the practical design of legged robots so that the leg mass would have less effect on the locomotion performance of the robot. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Robots

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MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutional Networks for 3D Human Pose Estimation

MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutiona...

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IEEE International Conference on robotics and Biomimetics

作者： Shanshan Ji Qiwei Meng Wen Wang Zheyuan Lin Te Li Minhong Wan Chunlong Zhang Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

In human-robot interaction (HRI), human pose estimation is a necessary technology for the robot to perceive the dynamic environment and make interactive actions. Recently, graph convolutional networks (GCNs) have been increasingly used for 2D to 3D pose estimation tasks since the skeleton topologies can be viewed as graph structures. In this paper, we propose a novel graph convolutional network architecture, Multi-scale Multi-branch Fusion Graph Convolutional Networks (MSMB-GCN), for 3D Human Pose Estimation(3D HPE) task. The proposed model consists of multiple GCN blocks with a multi-branch architecture. This multi-branch architecture enables the model to get multi-scale features for human skeletal representations. The group of GCN blocks, which has strong multi-level feature extraction capabilities, allows the model to learn global and local features, lower-level and higher-level features. Experiment results on the HumanPose benchmark demonstrate that our model outperforms the state-of-the-art and ablation studies validate the effectiveness of our approach.

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Disassembly Sequence Planning:A Survey

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IEEE/CAA Journal of Automatica Sinica 2021年第7期8卷 1308-1324页

作者： Xiwang Guo MengChu Zhou Abdullah Abusorrah Fahad Alsokhiry Khaled Sedraoui the College of Computer and Communication Engineering Liaoning Shihua UniversityFushun 113001China the Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewark NJ 07102 USA the Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz UniversityJeddah 21481Saudi Arabia the Department of Electrical and Computer Engineering Faculty of Engineeringand the Center of Research Excellence in Renewable Energy and Power SystemsKing Abdulaziz UniversityJeddah 21481Saudi Arabia

It is well-recognized that obsolete or discarded products can cause serious environmental pollution if they are poorly be *** contain reusable resource that can be recycled and used to generate desired economic ***,performing their efficient disassembly is highly important in green manufacturing and sustainable economic *** typical examples are electronic appliances and electromechanical/mechanical *** paper presents a survey on the state of the art of disassembly sequence *** can help new researchers or decision makers to search for the right solution for optimal disassembly *** reviews the disassembly theory and methods that are applied for the processing,repair,and maintenance of obsolete/discarded *** paper discusses the recent progress of disassembly sequencing planning in four major aspects:product disassembly modeling methods,mathematical programming methods,artificial intelligence methods,and uncertainty *** survey should stimulate readers to be engaged in the research,development and applications of disassembly and remanufacturing methodologies in the Industry 4.0 era.

关键词： Artificial intelligence(AI) disassembly sequence planning(DSP) intelligent optimization modeling methods multiobjective optimization single-objective optimization uncertainty.

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A Security Enhanced Chaotic-Map-Based Authentication Protocol for Internet of Drones

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IEEE Internet of Things Journal 2024年第12期11卷 22301-22309页

作者： Mahmood, Khalid Ghaffar, Zahid Farooq, Muhammad Yahya, Khalid Das, Ashok Kumar Chaudhry, Shehzad Ashraf National Yunlin University Of Science And Technology Graduate School Of Intelligent Data Science Douliu64002 Taiwan National Yunlin University Of Science And Technology Graduate School Of Engineering Science And Technology Douliu64002 Taiwan Abu Dhabi University Department Of Mathematics And Statistics College Of Arts And Sciences Abu Dhabi United Arab Emirates Istanbul Gelisim University Department Of Electrical And Electronics Engineering Istanbul34310 Turkey Sabratah University Department Of Electrical Engineering Faculty Of Engineering Regdalen Libya Center For Security Theory And Algorithmic Research Hyderabad500 032 India Abu Dhabi University Department Of Computer Science And Information Technology College Of Engineering Abu Dhabi United Arab Emirates Nisantasi University Faculty Of Engineering And Architecture Department Of Software Engineering Istanbul34398 Turkey

The Internet of Drones (IoD) extends the capabilities of unmanned aerial vehicles, enabling them to participate in a connected network. In IoD infrastructure, drones communicate not only among themselves but also with users and a control center. This interconnected communication framework holds promise for various applications, from collaborative decision-making to real-time data exchange. However, the expansion of communication in IoD also introduces new challenges, particularly in terms of security, privacy and authentication. Unfortunately, the current authentication protocols are inadequate in offering robust security features against various attacks in the IoD environment. To address these security issues and limitations, we proposed a secure protocol for the IoD environment using chaotic maps and hash functions. In addition, we also employed a physically unclonable function in the development of the proposed protocol. We assess the security of the protocol through both informal and formal security analysis. The formal security analysis is conducted through a widely used random or real (RoR) model. The informal analysis shows the rigorous security features against various attacks, such as masquerading, anonymity violation, and physical cloning attacks. Moreover, we compare the performance of the devised protocol with similar existing protocols across important performance parameters, such as communication overhead, computation overhead, and security features. The devised protocol provides a 67.86% and 17.80% reduction in computation and communication overheads, respectively, as compared to related protocols. The analysis demonstrates the proposed protocol's capacity to support secure communication in the IoD environment and satisfy desirable security attributes. © 2014 IEEE.

关键词： Drones

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Conceptual Design and Simulation of a BCF Swimming Soft Robotic Fish for Deep-Sea

Conceptual Design and Simulation of a BCF Swimming Soft Robo...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Yanyan Ding, Menglong Zhu, Shiqiang Liang, Yiming Bai, Yunhe Xie, Keren Wan, Minhong Gu, Jason Li, Tiefeng Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H4R2 Canada Center for X-mechanics Zhejiang University Hangzhou310027 China Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Department of Engineering Mechanics Zhejiang University Hangzhou310027 China

ISBN: (纸本)9781665481090

This work provides a design of a deep-sea soft robotic fish propelled by the body and/or caudal fin (BCF) mode. The robotic fish consists of a bionic fish head and a BCF propulsion body. To enhance the swimming performance of the first soft robot fish in the deep sea, the design combines the advantages of high efficiency in BCF propulsion with the large deformation angle of dielectric elastomers (DE) flexible joints. The connection of the bionic fish head and BCF is cast in one piece of silicone to achieve deep-sea pressure self-adaptation of the soft robotic fish. The swimming performance was simulated using the CFD method, and the BCF propulsion behaviors were analyzed to evaluate the design proposed. The design goal was verified through numerical calculation, and a further enhanced strategy for the thrust ability of the fish was presented as well. This work can provide a low-cost bionic soft robot fish solution for deep-sea exploration. © 2022 IEEE.

关键词： Conceptual design

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Anomaly Detection Based on Principle of Justifiable Granularity and Probability Density Estimation

Anomaly Detection Based on Principle of Justifiable Granular...

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2023 China Automation Congress, CAC 2023

作者： Du, Sheng Ma, Xian Li, Xiang Wu, Min Cao, Weihua Pedrycz, Witold School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Faculty of Engineering and Natural Sciences Department of Computer Engineering Istanbul Sariyer Turkey

ISBN: (纸本)9798350303759

Anomaly detection is essential to ensure the safety of industrial processes. This paper presents an anomaly detection approach based on the probability density estimation and principle of justifiable granularity. First, time series data are transformed into a two-dimensional information granule by the principle of justifiable granularity. Then, the test statistic is constructed, and the probability density and cumulative distribution functions of the test statistic are calculated. Next, the confidence level determines the test threshold. Finally, the time series data of a key parameter in the sintering process is used as a case study. The experimental result demonstrates that the proposed approach can detect abnormal time series data effectively, providing an accurate and effective solution for detecting time series anomalies in industrial processes. © 2023 IEEE.

关键词： Time series

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Fractional Order Linear Active Disturbance Rejection Control for Linear Flexible Joint System

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computers, Materials & Continua 2022年第3期70卷 5133-5142页

作者： Ibrahim M.Mehedi Rachid Mansouri Ubaid M.Al-Saggaf Ahmed I.M.Iskanderani Maamar Bettayeb Abdulah Jeza Aljohani Thangam Palaniswamy Shaikh Abdul Latif Abdul Latif Department of Electrical and Computer Engineering(ECE) King Abdulaziz UniversityJeddah21589Saudi Arabia Center of Excellence in Intelligent Engineering Systems(CEIES) King Abdulaziz UniversityJeddah21589Saudi Arabia L2CSP Laboratory Mouloud Mammeri UniversityTizi OuzouAlgeria Electrical&Computer Engineering Department University of SharjahUnited Arab Emirates Department of Nuclear Engineering King Abdulaziz UniversityJeddah21589Saudi Arabia Department of Mathematics King Abdulaziz UniversityJeddah21589Saudi Arabia

A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this *** this control scheme,the performance against disturbances,uncertainties,and attenuation is *** active disturbance rejection control(LADRC)is mainly based on an extended state observer(ESO)technology.A fractional integral(FOI)action is combined with the LADRC technique which proposes a hybrid control scheme like *** this FOI action improves the robustness of the standard *** set-point tracking of the proposed FO-LADRC scheme is designed by Bode’s ideal transfer function(BITF)based robust closed-loop concept,an appropriate pole placement *** effectiveness of the proposed FO-LADRC scheme is illustrated through experimental results on the linear flexible joint system(LFJS).The results show the enhancement of the robustness with disturbance ***,a comparative analysis is presented with the results obtained using the integer-order LADRC and FO-LADRC scheme.

关键词： Active disturbance rejection fractional calculus ADRC pole placement linear flexible joint system robust control

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Advances in artificial joint bio-friction and wear simulation assessment technology

Advances in artificial joint bio-friction and wear simulatio...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Yanyan Liang, Yiming Zhu, Shiqiang Ding, Menglong Bai, Yunhe Du, Haoyuan Gu, Jason Li, Tiefeng Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H4R2 Canada Center for X-mechanics Zhejiang University Hangzhou310027 China Zhejiang University Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Department of Engineering Mechanics Hangzhou310027 China

ISBN: (纸本)9781665481090

Natural joints have excellent low-friction properties that positively inspire the frictional wear properties of artificial joints. Replacing damaged biological joints with artificial ones can restore bio-function and reduce the pain of arthritic patients. Improvements in the frictional wear properties of artificial joints will effectively increase the life of the prosthesis, especially for young arthritic patients. This paper reviews the lubrication mechanism of natural joints before systematically introducing the development of lubrication and wear simulation techniques for artificial joints, offering references and insights for further studies of artificial joints and the optimization of tribological properties of commercial artificial joint prostheses. © 2022 IEEE.

关键词： Friction

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3D Facial Expressions through Analysis-by-Neural-Synthesis

3D Facial Expressions through Analysis-by-Neural-Synthesis

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： George Retsinas Panagiotis P. Filntisis Radek Daněček Victoria F. Abrevaya Anastasios Roussos Timo Bolkarr Petros Maragos Institute of Robotics Athena Research Center Maroussi Greece MPI for Intelligent Systems Tübingen Germany Institute of Computer Science (ICS) Foundation for Research & Technology - Hellas (FORTH) Greece School of Electrical & Computer Engineering National Technical University of Athens Greece

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

While existing methods for 3D face reconstruction from in-the-wild images excel at recovering the overall face shape, they commonly miss subtle, extreme, asymmetric, or rarely observed expressions. We improve upon these meth-ods with SMIRK (Spatial Modeling for Image-based Reconstruction of Kinesics), which faithfully reconstructs expres-sive 3D faces from images. We identify two key limitations in existing methods: shortcomings in their self-supervised training formulation, and a lack of expression diversity in the training images. For training, most methods employ differentiable rendering to compare a predicted face mesh with the input image, along with a plethora of additional loss functions. This differentiable rendering loss not only has to provide supervision to optimize for 3D face geom-etry, camera, albedo, and lighting, which is an ill-posed optimization problem, but the domain gap between ren-dering and input image further hinders the learning pro-cess. Instead, SMIRK replaces the differentiable rendering with a neural rendering module that, given the ren-dered predicted mesh geometry, and sparsely sampled pix-els of the input image, generates a face image. As the neural rendering gets color information from sampled im-age pixels, supervising with neural rendering-based reconstruction loss can focus solely on the geometry. Further it enables us to generate images of the input identity with varying expressions while training. These are then utilized as input to the reconstruction model and used as supervision with ground truth geometry. This effectively augments the training data and enhances the generalization for di-verse expressions. Our qualitative, quantitative and partic-ularly our perceptual evaluations demonstrate that SMIRK achieves the new state-of-the art performance on accurate expression reconstruction. For our method's source code, demo video and more, please visit our project webpage: https://***/smirk/.

关键词： Training Geometry Solid modeling Three-dimensional displays Accuracy Face recognition Training data

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Digital Twin Ancient Architecture: The Exploration of the Digital Protection of Ancient Architecture

Digital Twin Ancient Architecture: The Exploration of the Di...

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作者： Li, Shanglin Lin, Anping School of Computer Science and Artificial Intelligence Xiangnan University Hunan Chenzhou423000 China Hunan Engineering Research Center of Advanced Embedded Computing and Intelligent Medical Systems Hunan Chenzhou China School of Physics and Electronic Electrical Engineering Xiangnan University Hunan Chenzhou China

The digital protection of ancient architectures has achieved important achievements. However, technology development has encountered a bottleneck. The main problem is that the digitization of ancient buildings is limited to building static and isolated three-dimensional models, which cannot meet the increasing professional requirements of digital protection. To solve the above problems, the concept of digital twin ancient architecture (DTAA) is proposed, focusing on the high-dimensional data integration method of the DTAA, as well as the construction method and technical route. Finally, the development and application of digital twin ancient architecture are discussed. The proposed method can bring new ideas to the field of digital protection of ancient architectures. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： 3D modeling

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