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Path Optimization Method for the Spherical Underwater robot in Unknown Environment

Journal of Bionic Engineering 2020年第5期17卷 944-958页

作者： Jian Guo Chunying Li Shuxiang Guo Tianjin Key Laboratory for Control Theory&Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyTianjin 300384China Department of Intelligent Mechanical Systems Engineering Faculty of EngineeringKagawa UniversityTakamatsu 761-0396Japan

One of the major respects of the autonomous capability of underwater robots in unknown environment is to be capable of global path planning and obstacles avoiding when encountering abrupt *** the Spherical Underwater robot(SUR)to fulfill autonomous task execution,this paper proposed a novel fuzzy control method that incorporates multi-sensor technology to guide underwater robots in unknown *** attain the objective,a SUR we designed is used to design the *** to its kinematic model,the safety distance was calculated and sensors(US1000-21 A)were *** novel fuzzy control method was then explored for robot's path planning in an unknown environment through *** simulation results demonstrate the capability of the proposed method to guide the robot,and to generate a safe and smooth trajectory in an unknown *** effectiveness of the proposed method was further verified through experiments with a SUR in a real *** real environment experiments by using the novel fuzzy control method were compared with the basic control *** experimental results show that in unknown environments,the proposed method improves the execution efficiency and flexibility of the SUR.

关键词： path planning fuzzy control spherical underwater robot unknown environment

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When Shannon Meets Nonstochastic Information: Communication and Estimation

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IEEE Transactions on Automatic Control 2025年

作者： Zhang, Wentao Zuo, Zhiqiang Zhao, Rui Wang, Yijing Hu, Guoqiang Zhang, Hui Wang, Yaonan Hunan University School of Robotics Changsha410082 China Nanyang Technological University Continental-NTU Corporate Lab Singapore639798 Singapore Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin300072 China Nanyang Technological University School of Electrical and Electronic Engineering Singapore639798 Singapore National Engineering Research Center for Robot Visual Perception and Control Changsha410082 China Hunan University College of Electrical and Information Engineering Changsha410082 China

This notes focuses on the issue of whether or not the state of a plant can be estimated when the inputs of communication channel involve noise and disturbance simultaneously. It turns out to calculate the maximum capacity of stationary memoryless multiple quasi-access channel under nonstochastic information theory. It is shown that the maximum information rate over such a channel is determined by a convex hull spanned by the zero-error capacities which are specified on the underlying sample spaces. Moreover, the state of a plant could be estimated provided that the maximal information rate is strictly greater than the topology entropy. © 1963-2012 IEEE.

关键词： Communication channels (information theory)

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Noise Reduction of UAV Using Biomimetic Propellers with Varied Morphologies Leading-edge Serration

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Journal of Bionic Engineering 2020年第4期17卷 767-779页

作者： Yuliang Wei Feng Xu Shiyuan Bian Deyi Kong State Key Laboratory of Transducer Technology Key Laboratory of Biomimetic Sensing and Advanced Robot Technology of Anhui ProvinceInstitute of Intelligent MachinesChinese Academy of SciencesHefei 230031China Science Island Branch of Graduate School University of Science and Technology of ChinaHefei 230009China

The Leading-Edge(LE)serrations on owls'wings are known to be responsible for silent ***,this design has rarely been applied to reduce the noise of rotational rotor propellers and the morphologies of the existing serration designs are ***,we present a comparative study ofLE serrations with different morphologies in terms of the effectiveness in suppressing noise and promoting thrust *** performances of biomimetic propellers are investigated by Computational Fluid Dynamics(CFD)simulations and rotation *** simulation results reveal that LE serrations could reduce velocity fluctuations and change the lamina-turbulent transition and turbulence distribution on the suction surface of propeller,but the morphology of the serrations influences its *** testing results indicate that the sawtooth propeller has the best performance on noise reduction(on average 2.43 dB and in maximum 4.18 dB)and simultaneously enhancing the thrust forces(3.53%).The largest practical noise reductions(4.73 dB and 3.79 rdB)using the sawtooth propeller are observed when the quad-rotor Unmanned-Aerial Vehicle(UAV)is hovering at heights of 5 m and 8 m,*** results indicate the robustness and usefulness of owl-inspired biomimetic serration devices for aero-acoustic control and aerodynamic performance promotion on propeller *** finding is expected to con^bute to suppressing the sound of propeller and the rotor-based aircraft.

关键词： unmanned-aerial vehicle biomimetic noise reduction LE serration rotor propeller

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The ringed residual u-net with non-natural regions feature for image splicing forgery detection and localization

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Journal of intelligent and Fuzzy Systems 2024年第4期46卷 7447-7459页

作者： Wang, Qi Lu, Tongwei School of Computer Science and Engineering Wuhan Institute of Technology Wuhan China Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan China

Recently, with the emergence of many image editing tools (photoshop, Topaz studio, etc.), the authenticity of images has been severely challenged. However, the performance of some existing traditional feature extraction methods and detection methods based on convolutional neural network (CNN) is poor, and the information provided by the features extracted from the network is limited and single. In this paper, an end-To-end ringed residual U-Net is proposed to detect image splicing forgery by blending features of non-natural regions. Some regions with significant differences from the image background are defined as non-natural regions(such as the irregular border at the splicing of images). In this paper, a feature enhancement module for non-natural regions is constructed, which the image through the pooling of four different scales, and these features are then combined with the original image and input to the backbone network for processing, aiming to highlight regions of the image that differ significantly from the background. Therefore, after adding the feature enhancement module for non-natural regions to the end-To-end ring residual U-Net, more attention will be paid to the tampering regions in the feature extraction stage, image manipulation detection and localization will also become more accurate. Compared with some mainstream methods, this method achieves better performance on the three standard datasets(CASIA2.0, NIST2016, COLUMBIA). In addition, it has excellent robustness under JPEG compression attack and noise corruption attack. © 2024-IOS Press. All rights reserved.

关键词： Topaz

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Bionic Muscle Control with Adaptive Stiffness for Bionic Parallel Mechanism

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Journal of Bionic Engineering 2023年第2期20卷 598-611页

作者： Yaguang Zhu Ruyue Li Zhipeng Song The Key Laboratory of Road Construction Technology and Equipment of MOE Chang’an UniversityXi’an710064China Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components Shanghai201620China

As the torso is critical to the coordinated movement and flexibility of vertebrates,a 6-(Degree of Freedom)DOF bionic parallel torso with noteworthy motion space was designed in our previous *** improve the compliance of the parallel mechanism,a pair of virtual muscle models is constructed on both sides of the rotating joints of each link of the mechanism,and a bionic muscle control algorithm is *** analyzing the control parameters of the muscle model,dynamic characteristics similar to those of biological muscle are *** adaptive stiffness control is proposed to adaptively adjust the stiffness coefficient with the change in the external load of the parallel *** attitude closed-loop control can effectively keep the attitude angle unchanged when the position of the moving platform *** simulations and experiments are undertaken to validate compliant movements and the flexibility and adaptability of the parallel mechanism.

关键词： Bionic mechanism Compliance control Muscle model Stiffness adaptation Dura-rate integral learning

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Accurate Acquisition of Minimum Gap of Non-Concentric Stator and Rotor during Rotation 41

Accurate Acquisition of Minimum Gap of Non-Concentric Stator...

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第41届中国控制会议

作者： Ze Zhang Haixia Wang Huayu Zhang Huibin Liang College of Mechanical and Electronic Engineering Shandong University of Science and Technology Shandong Key Laboratory for Robot and Intelligent Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the production process of compression pump,the minimum gap measurement of non-concentric stator and rotor rotation is the key to ensure the quality of finished *** present,it is mainly manual detection,which has the problems of high labor intensity and low detection *** at the problem,a detection method based on image processing is proposed in this ***,the image obtained by the high-power camera is filtered,and different filter sizes are used to obtain the stator and rotor ***,the ordinary least squares method based on threshold filtering is used to obtain the fitting circle of the stator and rotor contour,and then the maximum distance between the fitting circle and the stator and rotor contour is *** this distance,the largest repulsion circle of the stator contour and the minimum circumscribed circle of the rotor contour are *** minimum distance between the two circles is the minimum gap value,Finally,by building an platform for experiments,and comparing the experimental results with the manual detection results,it is concluded that the detection method can fully meet the actual production needs and can replace the manual detection.

关键词： Image processing Threshold filtering Ordinary least squares Minimum circumscribed circle

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A SAR Denoising Network Based on Generative Adversarial Learning 6

A SAR Denoising Network Based on Generative Adversarial Lear...

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6th International Conference on robotics, Control and Automation Engineering, RCAE 2023

作者： Yi, Niannian Pei, Shengchang Ai, Nianxin Zhang, Shuiping Wuhan Institute of Technology Hubei Key Laboratory of Intelligent Robot Wuhan China

ISBN: (纸本)9798350315301

Synthetic Aperture Radar (SAR) images are critical in microwave remote sensing and are used for resource exploration and target location. However, due to the principle of coherent imaging, SAR images are often interfered by speckle noise, which reduces image quality. It is necessary to remove noise but retain details. We are committed to improving the network structure to increase the diversity and authenticity of generated images. Inspired by Se-Res-Unet, we fuse generative adversarial networks for SAR image denoising and named the model SAR-RsuGan. In it, the generator and the discriminator compete with each other to generate high-quality images. We use synthetic SAR images for training and compare with other methods to obtain the best performance. © 2023 IEEE.

关键词： Synthetic aperture radar

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Manipulation of Spontaneous Emission via Quantum Interference in an Elliptically Polarized Laser Field

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Communications in Theoretical Physics 2013年第5期59卷 603-614页

作者：丁春玲李家华余荣张多杨晓雪 School of Physics and Electronics Henan University Wuhan National Laboratory for Optoelectronics and School of Physics Huazhong University of Science and Technology School of Science Hubei Province Key Laboratory of Intelligent RobotWuhan Institute of Technology

Manipulation of spontaneous emission from an atom confined in three kinds of modified reservoirs has been investigated by means of an elliptically polarized laser field. Some interesting phenomena such as the multi-peak structure, extreme spectral narrowing, and cancellation of spontaneous emission can be observed by adjusting controllable system parameters. Moreover, these phenomena depend on the constructive or destructive quantum interference between multiple decay channels and which can be changed appreciably by varying the phase difference between the two circularly polarized components of the probe field. These results demonstrate the importance of an elliptially polarized laser field in controlling the spontaneous emission and its potential applications in high-precision spectroscopy.

关键词： spontaneous emission elliptically polarized laser field quantum interference

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intelligent referee system in robot-Soccer games based on conditional event algebra

Intelligent referee system in Robot-Soccer games based on co...

引用

2009 2nd Asia-Pacific Conference on Computational Intelligence and Industrial Applications, PACIIA 2009

作者： Zhang, Yanduo Peng, Li Min, Feng Chen, Deng Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan China

ISBN: (纸本)9781424446070

In robot-Soccer games, the intelligent referee system which is used to replace the human referee can perfectly simulate the thinking of human being. This paper presents an intelligent referee system, where we employ the conditional event algebra theory to make intelligent decision. In our system, we first estimate the single purpose of robots and overall purpose by searching the maximal probability of scheduled rules. Then we estimate the overall situation by calculating the favorable value according to the position and direction of ball, the home robots and the opponent robots. Combining the single and overall purpose with the field situation, we give the final results. In the experiments, the intelligent referee system based on conditional event algebra outputs satisfactory results. ©2009 IEEE.

关键词： Sports

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MaskBEV: Mask of Accurate 2D Object to Optimize Multi-view 3D Object Detection 3

MaskBEV: Mask of Accurate 2D Object to Optimize Multi-view 3...

引用

3rd International Conference on Machine Learning and Computer Application, ICMLCA 2022

作者： Hao, Xiaoxing Wuhan Institute of Technology Hubei Key Laboratory of Intelligent Robot Wuhan China

ISBN: (纸本)9781510664814

As a key part of autonomous driving technology, 3D object detection in Bird-Eye-View(BEV) view is designed to accurately detect road conditions based on multiple sensor inputs. However, current 3D detection methods are usually biased towards the acquisition of depth information. There is a strong correlation between 2D object detection and 3D object detection in BEV, especially the latest 2D detection has high robustness and accuracy in complex environments. To the end, this paper proposes a 3D object detection algorithm with object feature enhencement, which reasonably uses mask generated by 2D object detection as prior information and facilitates object extraction in BEV. In particular, in order to amplify the difference between the target and the background, we first designed the Data Preparation Module(DPM) to convert the 2D detection results into a binary target mask which completely separates the target from the background. Then, an Object Enhencement Module (OEM) is designed to enhence the contrast and texture details between the object and background. Finally, we propose Channel Interaction Module(CIM) considering the correlation between multi-channel features, which fully allocates the weights between channels. In this way, MaskBEV-Tiny scores 34.0% mAP and 41.1% NDS on the nuScenes val set which surpasses BEVDet-Tiny by a largin of 2.9% mAP and 2.0% NDS. © 2023 SPIE.

关键词： Object detection

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