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2023 IEEE International Conference on Electrical, Automation and Computer Engineering, ICEACE 2023

作者： Xie, Fei Zheng, Gengsheng Wuhan Institute of Technology Hubei Key Laboratory of Intelligent Robot Wuhan430073 China

ISBN: (纸本)9798350309614

To enhance traffic sign object detection further, this paper proposes a method that combines the SSD (Single Shot MultiBox Detector) model with FPN (Feature Pyramid Network) fusion for traffic sign identification. The SSD structure is leveraged to extract feature information from traffic sign images. Subsequently, the obtained feature information is fused using the FPN structure to enable more efficient object detection. Additionally, the attention mechanism is introduced to concentrate the fused FPN and SSD structures on target-relevant features, thereby improving accuracy, classification precision, and the ability to handle interference, ultimately enhancing overall performance. The post-processing step uses DIoU-NMS (Distance-IoU Non-Maximum Suppression) based on centroid distance. Validation is performed on the CCTSDB dataset, demonstrating a significant improvement in accuracy compared to traditional SSD. Experimental results confirm the effectiveness of the proposed method in enhancing detection efficiency and accuracy. © 2023 IEEE.

关键词： DIoU-NMS Feature Pyramid Network object detection Single Shot MultiBox Detector Squeeze-and-Excitation Traffic signage

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Study on evaluating wireless sensor network security based on uncertain linguistic information

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Sensors and Transducers 2013年第11期158卷 60-64页

作者： Wu, Shaofei Hubei Province Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan China School of Computer Science and Engineering Wuhan Institute of Technology Wuhan China

Wireless sensor network (WSN), as an integrated network which can perform information gathering, processing and delivering, can connect the real world and logistic information world. It is greatly changing the interaction between people and nature. There are wide potential applications for wireless sensor network, such as industry, agriculture, military affairs, environment monitoring, biomedicine, city managing and disaster succoring. The problem of evaluating security of Wireless Sensor Network (WSN) with uncertain linguistic information is the multiple attribute group decision making (MAGDM). In this paper, we investigate the multiple attribute group decision making (MAGDM) problems for evaluating the wireless sensor network (WSN) security with uncertain linguistic information. We utilize the uncertain linguistic weighted averaging (ULWA) operator to aggregate the uncertain linguistic information corresponding to each alternative and get the overall value of the alternatives, then rank the alternatives and select the most desirable one(s) by using the formula of the degree of possibility for the comparison between two uncertain linguistic variables. Finally, an illustrative example is given. © 2013 by IFSA.

关键词： Wireless sensor networks

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Image Enhancement via Associated Perturbation Removal and Texture Reconstruction Learning

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IEEE/CAA Journal of Automatica Sinica 2024年第11期11卷 2253-2269页

作者： Kui Jiang Ruoxi Wang Yi Xiao Junjun Jiang Xin Xu Tao Lu IEEE the School of Computer Science and Technology Harbin Institute of Technology Zhengzhou Research Institute Harbin Institute of Technology the School of Artificial Intelligence Jianghan University the School of Geodesy and Geomatics Wuhan University the Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology the School of Computer Science and Engineering and also with the Hubei Province Key Laboratory of Intelligent Robot Wuhan Institute of Technology

Degradation under challenging conditions such as rain, haze, and low light not only diminishes content visibility, but also results in additional degradation side effects, including detail occlusion and color distortion. However, current technologies have barely explored the correlation between perturbation removal and background restoration, consequently struggling to generate high-naturalness content in challenging scenarios. In this paper, we rethink the image enhancement task from the perspective of joint optimization: Perturbation removal and texture reconstruction. To this end, we advise an efficient yet effective image enhancement model, termed the perturbation-guided texture reconstruction network(PerTeRNet). It contains two subnetworks designed for the perturbation elimination and texture reconstruction tasks, respectively. To facilitate texture recovery,we develop a novel perturbation-guided texture enhancement module(PerTEM) to connect these two tasks, where informative background features are extracted from the input with the guidance of predicted perturbation priors. To alleviate the learning burden and computational cost, we suggest performing perturbation removal in a sub-space and exploiting super-resolution to infer high-frequency background details. Our PerTeRNet has demonstrated significant superiority over typical methods in both quantitative and qualitative measures, as evidenced by extensive experimental results on popular image enhancement and joint detection tasks. The source code is available at https://***/kuijiang94/PerTeRNet.

关键词： Association learning attention mechanism image enhancement perturbation modeling

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The nonlinearity simulation study on electrical hydrostatic actuator

The nonlinearity simulation study on electrical hydrostatic ...

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2012 2nd International Conference on Consumer Electronics, Communications and Networks, CECNet 2012

作者： Gao, Bo Shi, Lian Key Laboratory for Robot and Intelligent Technology of Shandong Province Shandong University of Science and Technology Qingdao China

ISBN: (纸本)9781457714153

This paper introduces a new type of actuator, namely Electro-Hydrostatic Actuator (EHA)[1]. According to the engineering, we choose the asymmetric hydraulic cylinder, establish the mathematical model of permanent magnet synchronous motor and EHA, and adopt the MATLAB proceeds to imitate the true research. To solve the problem of nonlinear system, we adopt PID control method. © 2012 IEEE.

关键词： Three term control systems

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robot Control Design Based On Smartphone

Robot Control Design Based On Smartphone

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第25届中国控制与决策会议

作者： Xiao Lu Wenjun Liu Haixia Wang Qia Sun Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Science and Technology Institute of Automation Chinese Academy of Science

ISBN: (纸本)9781467355339

Internet of things is a new technology system that consists of a number of information technologies, and it's an important part of developing mordern sevice industry. The advent of Internet of things is changing the previous tradition networks. Based on Internet of things, smartphone of Android system is connected with service-oriented robots by wireless communication, where it is programmed based on TCP socket, thus, smartphone controlling service robot can be realized. The robot can be controlled by the system to sing, dance, and so on according to the command, and the characteristics are visual and portable, and the motion control of the robot can be realized well.

关键词： Smartphone, robot, wireless network

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Application of a Hand-Eye Self-Calibration Technique in robot Vision

Application of a Hand-Eye Self-Calibration Technique in Robo...

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第25届中国控制与决策会议

作者： Haixia Wang Xianghua Fan Xiao Lu Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Science and Technology Institute of Automation Chinese Academy of Science

ISBN: (纸本)9781467355339

The Lei's method is studied and analyzed from another angle in this paper. And this method is applied on the MOTOMAN-SV3X robot vision platform after being improved. Firstly, the mathematical model of the hand-eye vision positioning system is re-formulized, in which the camera intrinsic parameters matrix and the hand-eye relation rotation matrix are combined into an integral parameters matrix which is the so-called constant matrix. Then, the constant matrix can be calibrated directly by four translation motion (any three of them are not coplanar). The method doesn't require the known reference object, and it can be realized by any two image points of the environment, which reduces the error caused by solving the parameters of the two parts individually. At the same time, a new calibration method of the hand-eye position vector is proposed, where only two motions with rotation is needed, and it is simpler and higher in accuracy.

关键词： Hand-eye vision systems, Self-calibration, Hand-eye calibration, Camera calibration

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An adaptive nonsingular terminal sliding mode control for bidirectional dc-dc converter in hybrid energy storage systems

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Canadian Journal of Electrical and Computer Engineering 2020年第4期43卷 282-289页

作者： Fu, Zhumu Wang, Yongqiang Tao, Fazhan Si, Pengju School of Information Engineering Henan University of Science and Technology Luoyang China Henan Key Laboratory of Robot and Intelligent Systems Henan University of Science and Technology Luoyang471000 China

In order to improve transient response and robust tracking performance, an adaptive nonsingular terminal sliding mode control (ANTSMC) strategy is developed for bidirectional dc-dc converter (BDC) of hybrid energy storage systems (HESSs). By using the adaptive rules, the estimated values of load variations, external input voltage, input current, and output voltage can be obtained. Then, the voltage tracking error can be calculated based on the estimated value and the actual value. The fast terminal SMC strategy is proposed such that the tracking error converges in a finite time. Simulation results, compared with conventional PID, second-order sliding mode, show that output voltage can robustly track the reference voltage with fast response. © 2003-2010 IEEE Canada.

关键词： Transient analysis

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Application of Screw Axis Identification Method for Serial robot Calibration In The Service robot

Application of Screw Axis Identification Method for Serial R...

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第25届中国控制与决策会议

作者： Haixia Wang Qia Sun Wenjun Liu Xiao Lu Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Science and Technology Institute of Automation Chinese Academy of Science

ISBN: (纸本)9781467355339

A screw axis identification (SAI) method for serial robot calibration is applied in the service robot. The proposed method is newly introduced by Wang and can be operated easily. The self-designed service robot is a head-eye robot consisting of a binocular camera fixed on the head and two arms with four-degree of freedom. The binocular camera is used to calibrate the parameters of the arms joints. Then the kinematic model of the robot can be built by these parameters. Finally, by comparing the nominal angle values of the joints with the calculated values, a group of error values within 1 are achieved, which can meet the requirement of the further research of the robot about grabbing objects. Therefore, the SAI method which can automatically calibrate parameters has great efficiency and can be calibrated easily, which makes an identified contribution to the spreading of the robot application.

关键词： screw axis identification, head-eye, service robot

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Double PWM coordinated control based on model predictive algorithm and power compensation

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International Journal of Reasoning-based intelligent Systems 2019年第1期11卷 38-46页

作者： Fan, Bo Song, Lu Song, Shuzhong Pu, Jiexin Information Engineering College Henan University of Science and Technology Luoyang China Henan Provincial Laboratory on Intelligent Manufactory and Control Engineering Luoyang471003 China Henan Key Laboratory of Robot and Intelligent Systems Luoyang471003 China

With analysis on double PWM structure though system's energy flow theory, active power and reactive power of rectifier are controlled by model predictive algorithm. System adopts the method of combine dynamic power's compensation with static power's compensation for system power in order to reduce system power error. A new power compensation algorithm is proposed to designs a new controller to replace PI controller of system's voltage loop, which can restrain fluctuation of DC bus voltage when load power suddenly varies and reduces DC-link's capacity of capacitance. As for inverter side, the system uses the method of rotor flux linkage oriented to control three phase asynchronous motor. Results of simulation can show that, system can realise the smallest tracking error of active power and reactive power by model predictive control, and restrain fluctuation of DC bus when load power suddenly changes. As the same time, the gird current's waveform is well. © 2019 Inderscience Enterprises Ltd.

关键词： Reactive power

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A prostate seed implantation robot system based on human-computer interactions: Augmented reality and voice control

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Mathematical Biosciences and Engineering 2024年第5期21卷 5947-5971页

作者： Zhang, Xinran Zhang, Yongde Yang, Jianzhi Du, Haiyan Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin University of Science and Technology Harbin150080 China Foshan Baikang Robot Technology Co. Ltd. Foshan528237 China

The technology of robot-assisted prostate seed implantation has developed rapidly. However, during the process, there are some problems to be solved, such as non-intuitive visualization effects and complicated robot control. To improve the intelligence and visualization of the operation process, a voice control technology of prostate seed implantation robot in augmented reality environment was proposed. Initially, the MRI image of the prostate was denoised and segmented. The three-dimensional model of prostate and its surrounding tissues was reconstructed by surface rendering technology. Combined with holographic application program, the augmented reality system of prostate seed implantation was built. An improved singular value decomposition three-dimensional registration algorithm based on iterative closest point was proposed, and the results of three-dimensional registration experiments verified that the algorithm could effectively improve the three-dimensional registration accuracy. A fusion algorithm based on spectral subtraction and BP neural network was proposed. The experimental results showed that the average delay of the fusion algorithm was 1.314 s, and the overall response time of the integrated system was 1.5 s. The fusion algorithm could effectively improve the reliability of the voice control system, and the integrated system could meet the responsiveness requirements of prostate seed implantation. © 2024 the Author(s).

关键词： Iterative methods

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