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Underwater image clarifying based on human visual colour constancy using double-opponency

CAAI Transactions on Intelligence technology 2024年第3期9卷 632-648页

作者： Bin Kong Jing Qian Pinhao Song Jing Yang Amir Hussain Institute of Intelligent Machines Chinese Academy of SciencesHefeiChina Peng Cheng Laboratory ShenzhenChina Anhui Key Laboratory of Biomimetic Sensing and Advanced Robot Technology HefeiChina University of Science and Technology of China HefeiChina Peking University Shenzhen Graduate School ShenzhenChina Edinburgh Napier University EdinburghScotland

Underwater images are often with biased colours and reduced contrast because of the absorption and scattering effects when light propagates in *** images with degradation cannot meet the needs of underwater *** main problem in classic underwater image restoration or enhancement methods is that they consume long calcu-lation time,and often,the colour or contrast of the result images is still *** of using the complicated physical model of underwater imaging degradation,we propose a new method to deal with underwater images by imitating the colour constancy mechanism of human vision using ***,the original image is converted to the LMS *** the signals are linearly combined,and Gaussian convolutions are per-formed to imitate the function of receptive fields(RFs).Next,two RFs with different sizes work together to constitute the double-opponency ***,the underwater light is estimated to correct the colours in the *** contrast stretching on the luminance is *** show that the proposed method can obtain clarified underwater images with higher quality than before,and it spends significantly less time cost compared to other previously published typical methods.

关键词： computers computer vision image processing image reconstruction

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Research on Contrast Calculation Method for Color Image 18th

Research on Contrast Calculation Method for Color Image

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18th Chinese Conference on Image and Graphics technology and Application Conference, IGTA 2023

作者： Qian, Jing Kong, Bin Yang, Jing Wang, Can Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China University of Science and Technology of China Hefei230026 China Peng Cheng Laboratory Shenzhen518053 China Anhui Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China School of Artificial Intelligence and Big Data Hefei University Hefei230031 China

ISBN: (纸本)9789819975488

Contrast is one of the commonly used indicators for evaluating image quality and is related to color information. However, the traditional contrast calculation method only reflects the clarity of the image by counting the distribution probability of the gray difference between adjacent pixels in the region, which lacks consideration of the chrominance information. We propose a contrast calculation method considering the perceptual color difference in color images. First, we obtain each pixel’s hue and saturation information from the HSV color space. And the luminance information of each pixel is obtained while retaining the color contrast information of the original image. Then, the contrast of a color image is obtained by counting the number of adjacent pixels whose color difference exceeds the threshold and calculating the sum of color differences. Experiment results show that our method is less affected by the uniform color patches than other methods. It can effectively reflect the relationship between the contrast values of different images and reduce the information loss of color contrast. In addition, for different color images, the magnitude of the contrast value obtained by our method is consistent with the trend of human visual judgment. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Image quality

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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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LLNet: A Lightweight Lane Line Detection Network 11th

LLNet: A Lightweight Lane Line Detection Network

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11th International Conference on Image and Graphics, ICIG 2021

作者： Zhang, Lu Kong, Bin Wang, Can Institute of Intelligent Machines Chinese Academy of Sciences Hefei230031 China University of Science and Technology of China Hefei230026 China The Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China

ISBN: (纸本)9783030873547

The lane line detection methods based on semantic segmentation networks have achieved remarkable results in recent years. However, the semantic segmentation networks are aimed at the pixel level. These methods have a large amount of computation, which can reduce the real-time performance. To reduce the calculation, we propose a Light-weight Lane line detection Network (LLNet). A new sub-layer is established. We also adopt a jumping structure between two sub-layers to enhance the supervisory role of ground truth. Furthermore, we adopt two branches, including instance segmentation and embeddable branch. The combination of two branches can filter out the wrongly detected pixels and further improve the accuracy of detection. Experimental results in the Tusimple dataset show that the detection accuracy of the proposed network is comparable with LaneNet. Meanwhile, it has good real-time performance, and the processing time of a single image is 10.285 ms, which is about one-half of LaneNet. © 2021, Springer Nature Switzerland AG.

关键词： Semantic Segmentation

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Design and Analysis for the Axe Foot of Bio-inspired Anchoring robot 17

Design and Analysis for the Axe Foot of Bio-inspired Anchori...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Liu, Lei Xu, Linsen Liu, Jinfu Xu, Jiajun Chen, Shouqi Cheng, Gaoxin Xu, Hong Shi, Jia University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

ISBN: (纸本)9781728164151

Mooring location has become increasingly important with the rapid development and utilization of marine resources. The mooring system of the underwater mobile robot is required to be efficient and intelligent. This paper proposes a novel anchoring robot by imitating the excellent inhabitation functions and physiological structure of the razor clam. This bio-inspired robot can autonomously dig holes, anchor, and detach to improve the efficiency of mooring location in marine operations. Specifically, the axe foot of the robot plays an important role in these movements. It contains a screw-cone drill and two soft parts. The screw-cone drill is the main forced part while the robot is in the digging state and the rationality of drill design is proved by mechanics analysis. Moreover, the soft part, which is connected with the upper end of the drill, is analyzed to show the capability of obstacle avoidance. The rationality of the structural design and a good submarine anchoring function of the axe foot are verified by the above analysis. © 2020 IEEE.

关键词： Drills

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The Analysis of Muscle-Synergy Similarity between Walking and Pedaling Based on Variational Mode Decomposition and Non-Negative Matrix Factorization

The Analysis of Muscle-Synergy Similarity between Walking an...

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IEEE International Conference on Engineering, technology and Innovation

作者： Wangyang Ge Jinhua She Shijie Guo Feng Wang Juan Zhao Seiichi Kawata School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Engineering Research Center of the Ministry of Education for Intelligent Rehabilitation Equipment and Detection Technologies Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction Tianjin China School of Mechanical Engineering Hebei University of Technology Tianjin China

ISBN: (数字)9798350362435

ISBN: (纸本)9798350362442

Pedaling lower-limb rehabilitation robots are widely used in various stages of lower-limb rehabilitation because of their high safety and low requirements for patients' lower-limb strength. Researchers found that the activation sequence of the surface electromyographic (sEMG) signals of the muscles of the lower limb during pedaling is very similar to that of walking, which makes it possible to simulate the muscle force generation during walking by changing the pedal load during pedaling training. However, most pedaling lower-limb rehabilitation robots use constant loads, and it is of great importance to study the relationship between load and muscle synergy and to design load phase angle trajectories with higher muscle synergy consistency in the walking-pedaling motion to optimize the training effect of pedal-type rehabilitation robots. In this paper, we used variational mode decomposition (VMD) and nonnegative matrix factorization (NMF) to extract the muscle synergy features in each band of sEMG during walking and pedaling and to study the similarity of pedaling and walking and the influence of pedal load on muscle synergy consistency.

关键词： Legged locomotion Training Technological innovation Time series analysis Muscles Assistive robots Feature extraction Trajectory Safety Matrix decomposition

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Design,Modeling and Experimentation of a Biomimetic Wall-climbing robot for Multiple Surfaces

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Journal of Bionic Engineering 2020年第3期17卷 523-538页

作者： Jinfu Liu Linsen Xu Jiajun Xu Tao Li Shouqi Chen Hong Xu Gaoxin Cheng Marco Ceccarelli Institute of Advanced Manufacturing Technology Hefei Institutes of Physical ScienceCASChangzhou 213164China Department of Precision Machinery and Precision Instrumentation University of Science and Technology of ChinaHefei 230026China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei 230026China Department of Industrial Engineerings University of Rome Tor Vergata Via del Politecnico 100133RomaItaly

Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time,which can improve operation ***,traditional single-mode robots cannot ensure the stable attachment on complex wall *** by the structure characteristics of flies and clingfishes,three bionic structures including the flexible spine wheel,the adhesive material and the adsorption system are *** at task requirements on multiple walls and based on the above three bionic structures,a wall-climbing robot with the composed mode of“grabbing+adhesion+adsorption”is presented v/a the law of mechanism configuration *** static analysis,the safe attachment conditions for the robot on smooth and rough walls are that the adsorption force is 30 N or *** on Newton's Euler and Lagrange formulas,the dynamic equations of the robot on vertical walls are established to deduce that the maximum theoretical torque of the driving motor is 1.43 N·m at a uniform ***,the prototype of the wall-climbing robot is manufactured and tested on the vertical lime wall,coarse sandpaper wall and acrylic ceiling ***,experiment results imply that the average maximum moving speed and the corresponding load are 7.19 cm·s-1 and 0.8 kg on the vertical lime wall,7.78 cm·s-1 and 0.6 kg on the coarse sandpaper wall,and 5.93 cm·s-1 and 0.2 kg on the acrylic ceiling wall *** findings could provide practical reference for the robot’s application on walls.

关键词： wall-climbing robot spine wheel adhesive material adsorption system

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Design, simulation and experimentation of a biomimetic wall-climbing robot with tracked spines

Design, simulation and experimentation of a biomimetic wall-...

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2020 IEEE International Conference on Power, Intelligent Computing and Systems, ICPICS 2020

作者： Shi, Jia Xu, Linsen Liu, Jinfu Cheng, Gaoxin Liang, Xingcan Liu, Lei Chen, Shouqi Xu, Hong Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Cas University of Science and Technology of China Changzhou City Jiangsu Province China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Cas Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Changzhou City Jiangsu Province China

ISBN: (数字)9781728198743

ISBN: (纸本)9781728198736

This paper presents a novel cooperative grasping wheeled wall-climbing robot with the ability to climb concrete, brick walls using tracked-spines arrays located around the track. The robot uses a combination of the crank-link mechanism and gear transmission to control the tracked spines on both sides of the robot to grasp the asperities. The kinematic and dynamic analysis of the crank-link mechanism and the simulation demonstrate that the motion state of the robot is stable in the climbing process. By means of wireless communication, the control information is transmitted to the main controller, which drives the motors to make each mechanism work together. Finally, the prototype is fabricated and several experiments are carried out to verify the climbing performance of the robot. © 2020 IEEE.

关键词： Biomimetics

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Analysis on the Environmental Adaptability of A Reconfigurable Wheel-Tracked Wheel

Analysis on the Environmental Adaptability of A Reconfigurab...

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IEEE International Conference on Mechatronics, robotics and Automation (ICMRA)

作者： Lei Liu Linsen Xu Jinfu Liu Shouqi Chen Gaoxin Cheng Jia Shi University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

The following topics are dealt with: mobile robots; motion control; path planning; human-robot interaction; particle filtering (numerical methods); medical robotics; finite element analysis; robot vision; biomechanics... 详细信息

ISBN: (数字)9781728190327

ISBN: (纸本)9781728190334

关键词： Adaptation models Analytical models Tracking Roads Wheels Finite element analysis Strain

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Design and Analysis for the Axe Foot of Bio-inspired Anchoring robot

Design and Analysis for the Axe Foot of Bio-inspired Anchori...

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IEEE International Conference on Mechatronics and Automation

作者： Lei Liu Linsen Xu Jinfu Liu Jiajun Xu Shouqi Chen Gaoxin Cheng Hong Xu Jia Shi University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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