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IEEE International Conference on Robotics and Biomimetics

作者： Longyue Qian Mingxin Zhang Qian Zhang Lin Zhang Teng Li Wei Zhang Key Laboratory of Machine Intelligence and System Control Ministry of Education School of Control Science and Engineering Shandong University Jinan China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

As 3D object classification becomes increasingly essential in various applications, the need for models to continuously adapt to new scenarios is more crucial than ever. However, existing continual learning methods primarily concentrate on 2D tasks, making their direct application to 3D tasks challenging due to the inherent domain gap. To address this issue, we propose Parameter-level Mask-based Adapter (PMA) for 3D continual learning with Vision-Language Models. Our approach leverages the power of Contrastive Language-Image Pre-Training (CLIP) to extract rich multimodal features by projecting 3D point clouds into multi-angle depth maps, which are then processed by the 2D encoder aligned with rendered images. The core of our method is a parameter-level adapter with learnable masks that effectively integrates 3D point cloud features with 2D features. This mechanism flexibly selects the most relevant subsets of weights for each task, allowing subsequent tasks to utilize the learned weights without the need for updates, which effectively balances stability and plasticity during continual learning. Experimental results show that our method significantly outperforms existing state-of-the-art techniques.

关键词： Continuing education Point cloud compression Training Representation learning Solid modeling Adaptation models Three-dimensional displays Feature extraction Stability analysis Robots

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Proposing,QP-Unification and Verification of DLSM Based MKE-IIWT Scheme for Redundant Robot Manipulators 3

Proposing,QP-Unification and Verification of DLSM Based MKE-...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Min Yang Dechao Chen Weibing Li Dongsheng Guo Xiaogang Yan School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

To remedy the problem of joint-variable oscillation and instability as well as the non-zero final joint-velocity phenomenon arising in the conventional inertia-inverse weighted torque(IIWT) minimizati

ISBN: (纸本)9781509053643;9781509053636

关键词： Manipulators Torque Minimization Acceleration Kinetic energy Performance analysis

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Learning to Navigate Sequential Environments: A Continual Learning Benchmark for Multi-modal Navigation

Learning to Navigate Sequential Environments: A Continual Le...

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IEEE International Conference on Robotics and Biomimetics

作者： Yinduo Xie Yuenan Zhao Qian Zhang Lin Zhang Teng Li Wei Zhang School of Control Science and Engineering Shandong University Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Existing works for robot navigation typically focus on performance in specific tasks, overlooking the adaptability of navigation strategies to sequential environments. In this paper, we present CLBMN, a continual learning (CL) benchmark for multi-modal robot navigation, which aims to enhance robots' navigation capabilities in handling sequential tasks. The benchmark is composed of a multi-modal dataset, a CL-based algorithm, and three comprehensive evaluation metrics for CL-based multi-modal navigation. Specifically, we construct a multi-modal dataset with 10,000 samples by collecting images, point clouds, and odometry data from five scenarios, including daytime, nighttime, rainy conditions, highway, and field. Then, we propose an end-to-end navigation framework with momentum update to mitigate catastrophic forgetting across various environments, which provides a baseline approach for CL-based robot navigation. Furthermore, we define three evaluation metrics specifically designed to evaluate the robot's continual navigation performance across different scenarios. Experimental results demonstrate that the proposed benchmark is effective for studying multi-modal continual robot navigation in sequential environments. Our project page is available at https://***/clbmn/.

关键词： Measurement Continuing education Road transportation Point cloud compression Navigation Biomimetics Benchmark testing Odometry Robots

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Discrete-Time control and Simulation of Ship Course Tracking Using ZD Method and ZFD Formula 4NgSFD 3

Discrete-Time Control and Simulation of Ship Course Tracking...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Huinan Xiao Jinjin Wang Jian Li Pei Chen School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

This paper focuses on solving the ship course tracking problem by using Zhang dynamics(ZD) method and a new Zhang finite difference(ZFD) *** ZD method,which is a powerful class of dynamics to

ISBN: (纸本)9781509053643;9781509053636

This paper focuses on solving the ship course tracking problem by using Zhang dynamics(ZD) method and a new Zhang finite difference(ZFD) *** ZD method,which is a powerful class of dynamics to

关键词： Marine vehicles Trajectory Electronic mail Process control Convergence Mathematical model

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Type-z0g3 controller of Output Tracking for Fractional Power system 3

Type-z0g3 Controller of Output Tracking for Fractional Power...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Fangzheng Lai Penghao He Jinjin Wang Dechao Chen School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

Because most systems are nonlinear in practical applications,output tracking for nonlinear system is of great interest to engineers and *** a specific class of nonlinear system,fractional po

ISBN: (纸本)9781509053643;9781509053636

Because most systems are nonlinear in practical applications,output tracking for nonlinear system is of great interest to engineers and *** a specific class of nonlinear system,fractional po

关键词： Trajectory Nonlinear systems Simulation Power system stability Sun

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ZG controllers Handling VIP system with Nonzero Link Mass,Large Friction Coefficient and Different Initial Pendulum Angle 3

ZG Controllers Handling VIP System with Nonzero Link Mass,La...

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2017 IEEE 第3届信息技术与机电一体化工程国际学术会议(ITOEC 2017)

作者： Yunong Zhang Jinjin Wang Binbin Qiu Deyang Zhang Yang Shi School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

The vehicular inverted pendulum(VIP) system is one of the most important issues in dynamics and control theory,and has been widely used as a benchmark for testing control ***,the tracki

ISBN: (纸本)9781509053643;9781509053636

The vehicular inverted pendulum(VIP) system is one of the most important issues in dynamics and control theory,and has been widely used as a benchmark for testing control ***,the tracki

关键词： Trajectory Vehicle dynamics Mathematical model Friction Electronic mail Heuristic algorithms

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A novel multi-scale fourier descriptor based on plane orthogonal vectors for fast shape retrieval

A novel multi-scale fourier descriptor based on plane orthog...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Ma, Jiajun Zhu, Jiafeng Liang, Guoyuan Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen Guangdong Province China

ISBN: (纸本)9781728163215

Shape retrieval is an interesting and challenging issue in computer vision and robot vision. The recent works employing Fourier-based multi-scale descriptors achieve some success in shape retrieval, especially make real-time application possible by improving the efficiency. However, these methods are commonly adopting really complex shape descriptors to present the shape information which is not intuitive enough. In our work, we propose a new Fourier-based method with novel multi-scale descriptor which is a combination of contour feature and regional feature. This novel descriptor has two main characteristics: First, utilize six different invariant signatures which are based on plane orthogonal vectors;Second, leverage multiple scale structures to describe local and global information of shapes. Except the easiness in understanding, this descriptor approach also produces a more distinct topology of shapes than other approaches which means the property of stability on variations, linear or nonlinear. The method is tested on some popular databases that provides a promising retrieval rate(87.46% and 99.27%) with constant time complexity optimization. The results confirm that our method is more capable of representing the topology of shapes than most other methods based on Fourier descriptor. © 2019 IEEE.

关键词： Topology

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

A SINS Error Correction Approach Based on Dual-Threshold ZV ...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Xu, Ruijie Chen, Shichao Sun, Wenqiao Lv, Yisheng Luo, Jialiang Tang, Ying Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences China University of Geosciences Beijing School of Information Engineering The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Rowan University Department of Electrical and Computer Engineering Glassboro United States

ISBN: (纸本)9798350337020

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation system (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance. © 2023 IEEE.

关键词： Cubature Kalman Filter Inertial Pedestrian Navigation Zero-Velocity Update

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Parameter-Free Shifted Laplacian Reconstruction for Multiple Kernel Clustering

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1072-1074页

作者： Xi Wu Zhenwen Ren F.Richard Yu the School of National Defence Science and Technology Southwest University of Science and TechnologyMianyang 621010China the School of National Defence Science and Technology Southwest University of Science and TechnologyMianyang 621010 the Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou UniversityWuzhou 543002 the Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ) Shenzhen 518060China

Dear Editor,This letter proposes a parameter-free multiple kernel clustering(MKC)method by using shifted Laplacian *** MKC can effectively cluster nonlinear data,but it faces two main challenges:1)As an unsupervised method,it is up against parameter problems which makes the parameters intractable to tune and is unfeasible in real-life applications;2)Only considers the clustering information,but ignores the interference of noise within Laplacian.

关键词： parameter letter Parameter

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Application Design of Virtual Immersion Command Information system 9

Application Design of Virtual Immersion Command Information ...

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9th International Conference on Big Data and Information Analytics, BigDIA 2023

作者： Liu, Renjie Chen, Hongli Wang, Mingyang Zhu, Jian Zhang, Zhenqian Zhang, Ming Beijing Institute of Control and Electronic Technology Key Laboratory of Information System and Technology Beijing China China Industrial Control Systems Cyber Emergency Response Team Laboratory of Artificial Intelligence Integration Development and Security Application Beijing China

ISBN: (纸本)9798350330076

Based on the existing resources of general command information system, the virtually immersive display system is constructed. In this paper, the application design of virtual and augmented reality display system was discussed. The main contents included the overall system design, business requirements, application design of virtual reality (VR) and augmented reality (AR) table display system, expected results, and equipment selection. The deployment and application of VR and AR display system were introduced. Therefore, the hardware selection of VR and AR were HTC Vive and XLOOG X200 products, respectively. The Unreal Engine 4 was selected as the software development platform. This solution meets the current immersive display requirements. The system integrates VR and AR display application capabilities and can fully serve the command and control requirements in the future virtual field. © 2023 IEEE.

关键词： Virtual reality

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