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49th International Symposium on Robotics, ISR 2017

作者： Wu, Qingtian Guo, Huiwen Key Laboratory of Human-Machine Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Acad. of Sci. Guangdong Provincial Key Laboratory of Robotics and Intelligent System China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences China

In this paper, a multi-pose human detection system is presented for a patrol robot in real-time. 20 fps (frame per second) and a satisfying detection accuracy of multi-pose human detection in complex outdoor environments can be achieved in the system with no additional special hardware like GPU (graphics processing unit). First, 30,000 positive samples with various appearances are selected manually from different camera angles and are used to train the convolutional neural network (CNN) classifier. Secondly, optical flow of two successive frames taken by on-board camera is used to extract region of interests (ROIs) and a series of post-processing methods, i.e., average filtering, morphological operation and extraction of outer contour are applied for the real-time requirement. Thirdly, a two-stream CNN combining appearance and motion information are applied to reduce the false detection accuracy. Field experiments in complex outdoor environments have been performed to verify that the proposed system can be used to detect multi-pose humans with high detection accuracy in realtime. © 49th International Symposium on Robotics, ISR 2017. All rights reserved.

关键词： Graphics processing unit

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An Adaptive Sliding Mode Terminal Guidance Method

An Adaptive Sliding Mode Terminal Guidance Method

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2023 China Automation Congress, CAC 2023

作者： Zhu, Yichuan Yao, Na Fan, Hu Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing China Beijing Aerospace Automatic Control Institute System Simulation Laboratory Beijing China The Third Representative Office of Air Force Equipment in Beijing Area Beijing China

ISBN: (纸本)9798350303759

This article designs a sliding mode terminal guidance law for high-speed targets by modifying the approach law. Firstly, the relative motion equation of the chaser and escaper is established;Then adjust the aircraft based on the changes in the distance of the chaser and escaper and approach speed, design a self adaptive approach law, and derive the guidance law. At the same time, prove the stability of the guidance system by constructing a Lyapunov function;Finally, simulation verification was conducted. The simulation results showed that the designed guidance law can achieve the encounter between the chaser and the escaper. By comparing it with proportional guidance under different operating conditions, it was verified that the method has higher adaptability to different operating conditions, thus verifying the effectiveness of the guidance law designed in this paper and providing certain reference value for further research. © 2023 IEEE.

关键词： Equations of motion

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Laser tracking leader-follower automatic cooperative navigation system for UAVs

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International Journal of Agricultural and Biological Engineering 2022年第2期15卷 165-176页

作者： Rui Ming Zhiyan Zhou Zichen Lyu Xiwen Luo Le Zi Cancan Song Yu Zang Wei Liu Rui Jiang College of Engineering South China Agricultural University/Guangdong Laboratory for Lingnan Modern AgricultureGuangzhou 510642China College of Computer and Control Engineering Minjiang University/Fujian Provincial Key Laboratory of Information Processing and Intelligent ControlFuzhou 350108China Guangdong Provincial Key Laboratory for Agricultural Artificial Intelligence(GDKL-AAI) Guangzhou 510642China Guangdong Engineering Research Center for Agricultural Aviation Application(ERCAAA) Guangzhou 510642China Key Laboratory of Key Technology on Agricultural Machine and Equipment South China Agricultural UniversityMinistry of Education of P.R.ChinaGuangzhou 510642China

Currently,small payload and short endurance are the main problems of a single UAV in agricultural applications,especially in large-scale *** is one of the important methods to solve the above problems of UAVs by improving operation efficiency through multi-UAV cooperative *** study proposed a laser tracking leader-follower automatic cooperative navigation system for *** leader in the cluster fires a laser beam to irradiate the follower,and the follower performs a visual tracking flight according to the light spot at the relative position of the laser tracking *** on the existing kernel correlation filter(KCF)tracking algorithm,an improved KCF real-time spot tracking method was *** with the traditional KCF tracking algorithm,the recognition and tracking rate of the optimized algorithm was increased from 70%to 95%in indoor environment,and was increased from 20%to 90%in outdoor *** navigation control method was studied from two aspects:the distance coordinate transformation model based on micro-gyroscope and navigation control *** error of spot position was reduced from the maximum(3.12,−3.66)cm to(0.14,0.12)cm by correcting the deviation distance of the spot at different angles through a coordinate correction *** image coordinate conversion model was established for a complementary metal-oxide-semiconductor(CMOS)camera and laser receiving device at different mounting *** laser receiving device was divided into four regions,S0-S3,and the speed of the four regions is calculated using an uncontrollable discrete Kalman *** outdoor flight experiments of two UAVs were carried out outdoors using this *** experiment results show that the average flight error of the two UAVs on the X-axis is 5.2 cm,and the coefficient of variation is *** average flight error on the Z-axis is 7.3 cm,and the coefficient of variation is *** study demonstrated the possibility

关键词： two-UAVs cooperative visual navigation laser tracking

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Path planning in changing environments by using optimal path segment search

Path planning in changing environments by using optimal path...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Hong Liu He Wen Yan Li Key Laboratory of Machine Perception and Intelligence and the Key Laboratory of Integrated Micro-system Shenzhen Graduate School Peking University China Key Laboratory of Machine Perception and Intelligence and the Key Laboratory of Integrated Micro-system Shenzhen Graduate School Peking University Shenzhen China

This paper presents a novel planner for manipulators and robots in changing environments. When environments are complicated, it's always difficult to find a completely valid path solution, which is essential for many methods. However, our planner searches for several path segments to make robot move towards its goal as much as possible even though such a complete solution doesn't exist currently. In the learning phase, the planner begins by building a roadmap that captures the topological structure of the configuration space in a workspace without obstacles. In the query phase, the planner searches for a solution path in the roadmap with the A* algorithm and performs roadmap updating using the lazy evaluation idea concurrently with the solution search process. If a completely valid solution is found, it will be adopted immediately. Otherwise the planner will collect a set of maximum valid path segments and then select the optimal one for planning in the execution process. The searching and execution process will be repeatedly performed until a goal configuration is reached. In plentiful experiments, our planner shows promising performances.

关键词： Path planning Intelligent robots Orbital robotics Performance evaluation USA Councils Helium Manipulators Buildings Process planning Tree data structures

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Adaptive Enhancement Technology for Screen Content Photos 17th

Adaptive Enhancement Technology for Screen Content Photos

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17th International Forum on Digital TV and Wireless Multimedia Communication, IFTC 2020

作者： Zhou, Yazhen Kyefondeme, Dakurah Collins Zhou, Huayi Zhao, Min Guo, Nan Wu, Li Faculty of Information Technology Beijing University of Technology Beijing China Key Laboratory of Artificial Intelligence Ministry of Education Shanghai China Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China Beijing Artificial Intelligence Institute Beijing China

ISBN: (纸本)9789811611933

Recent years have witnessed the widespread applications of mobiles and other portable electronic devices, involving a variety of screen content photos. Different from natural scene photos, screen content photos are composed of more lines, fewer colors and unique text messages. Thus, it is difficult to realize the satisfactory enhancement effect of screen content photos using traditional image enhancement technology since they are designed for the natural scene. In this paper, we develop a novel enhancement model for screen content photos by considering text and picture separately. To be specific, we first use a fully convolutional network to divide a screen content photo into three independent parts: picture region, foreground text region, and background. Second, an optimal modification of histogram is used to automatically enhance the picture region’s contrast, and the guided image filter is used to enhance the foreground text region. Third, the enhanced picture region, the enhanced foreground text region, and background are fused to obtain the final enhanced image. Experimental results show that our model has produced less noise and derived outstanding enhancement effect than the popular enhancement techniques. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Image segmentation

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controller Design for Switched LPV systems with Hidden semi-Markov Mode Switching 11

Controller Design for Switched LPV Systems with Hidden semi-...

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11th International Conference on Intelligent control and Information Processing, ICICIP 2021

作者： Wang, Jianfeng Chen, Zhiru Sun, Yichong Li, Zhan Pei, Dacheng Cai, Bo China Institute of Marine Technology & Economy Beijing China Beijing Machine and Equipment Institute Beijing China Harbin Institute of Technology Key Laboratory of System Control and Information Processing Harbin China

ISBN: (纸本)9781665425155

This paper is concerned with issue of stability analysis and control synthesis for a class of switched LPV systems with stochastic mode switching. The stochastic switching process is further regarded as hidden semi-Markov switching by using concepts of semi-Markov kernel and emission probability. With the construction of a novel Lyapunov function that depends on accessible-mode, parameter as well as elapsed time, the mean-square stability (MSS) criteria are developed for the closed-loop system with the usage of designed controller. Numerically testable stability criteria are established in sense of MSS by introducing the upper bound sojourn time and some mathematical techniques. The theoretical results are testified by a numerical example to demonstrate the effectiveness of the designed stabilizing controller. © 2021 IEEE.

关键词： Stability criteria

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A Fast Growing Cascade Neural Network for BOD Estimation

A Fast Growing Cascade Neural Network for BOD Estimation

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第三十四届中国控制会议

作者： LI Fanjun QIAO Junfei ZHANG Wei College of Electronic Information and Control Engineering Beijing University of Technology School of Mathematical Science University of Jinan Beijing Key Laboratory of Computational Intelligence and Intelligent System

ISBN: (纸本)9781467374439

In this paper, a fast growing cascade neural network(FGCNN) is proposed, as a software sensor, to rapidly estimate the biochemical oxygen demand(BOD) in wastewater treatment plants(WWTPs). Firstly, a novel method, based on the orthogonal least squares(OLS), is put forward to add input and hidden units to the existing network one by one. Every unit added to the network affords the maximal reduction of the sum of squared errors(SSE). Then, the FGCNN incrementally updates its output weights by iterations without gradients and generalized inverses, while the other weights remain unchanged during the growth of the network. The simple and effective training method make the FGCNN learn extremely fast. Finally, the proposed FGCNN is applied to estimate the BOD in WWTPs using other easy-to-measure or secondary variables. The experiment results show that the FGCNN has better performance on real-time estimation of BOD than other similar methods.

关键词： Artificial neural network,biochemical oxygen demand,wastewater treatment plant,software sensor

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Exploring changes in brain function in IBD patients using SPCCA: a study of simultaneous EEG-fMRI

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Mathematical Biosciences and Engineering 2024年第2期21卷 2464-2670页

作者： Zhang, Yin Wu, Xintong Sun, Jingwen Yue, Kecen Lu, Shuangshuang Wang, Bingjian Liu, Wenjia Shi, Haifeng Zou, Ling School of Microelectronics and Control Engineering Changzhou University Changzhou213164 China The Affiliated Changzhou No.2 People’s Hospital of Nanjing Medical University Department of Radiology China School of Computer and Artificial Intelligence Changzhou University Jiangsu Changzhou213164 China Key Laboratory of Brain Machine Collaborative Intelligence Foundation of Zhejiang Province Hangzhou310018 China

Research on functional changes in the brain of inflammatory bowel disease (IBD) patients is emerging around the world, which brings new perspectives to medical research. In this paper, the methods of canonical correlation analysis (CCA), kernel canonical correlation analysis (KCCA), and sparsity preserving canonical correlation analysis (SPCCA) were applied to the fusion of simultaneous EEG-fMRI data from 25 IBD patients and 15 healthy individuals. The CCA, KCCA and SPCCA fusion methods were used for data processing to compare the results obtained by the three methods. The results clearly show that there is a significant difference in the activation intensity between IBD and healthy control (HC), not only in the frontal lobe (p ©2024 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons Attribution License.

关键词： Data fusion

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A PSO-RBF neural network for BOD multi-step prediction in wastewater treatment process

A PSO-RBF neural network for BOD multi-step prediction in wa...

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2021 China Automation Congress, CAC 2021

作者： Liu, Yonglei Li, Wenjing Faculty of Information Technology Beijing University of Technology Beijing Institute of Artificial Intelligence Beijing Laboratory of Smart Environmental Protection Beijing Key Laboratory of Computational Intelligence and Intelligent System Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing China

ISBN: (纸本)9781665426473

The single-step prediction of the effluent biochemical oxygen demand (BOD) in wastewater treatment process (WWTP) cannot provide the information for future trends, which will affect the decision-making for subsequent control strategies in WWTP. To solve this problem, a radial basis function (RBF) neural network soft-sensing model based on PSO algorithm (PSO-RBF) is proposed for multi-step prediction of the biochemical oxygen demand (BOD) in WWTP. First, we propose an RBF model for multi-step prediction based on MIMO strategy. Then, the PSO algorithm is used to optimize the RBF parameters. Finally, the proposed model is applied to a four-step BOD prediction in WWTP. Experimental results show that this model can better predict BOD in multiple steps compared to traditional models. © 2021 IEEE

关键词： Forecasting

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A Compliant Traction Method of Manipulator Based on Online Calibration of Force Sensor Zero-Point 6

A Compliant Traction Method of Manipulator Based on Online C...

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6th International Conference on Automation, control and Robots, ICACR 2022

作者： Xu, Zhilu Wang, Weijun Feng, Wei Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen China Shenzhen Institute of Advanced Technology Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

ISBN: (数字)9781665498739

ISBN: (纸本)9781665498739

With the increasing number of cooperative robots, it is becoming increasingly important to improve the safety and operability of human-robot interaction. Installing a six-dimensional force sensor at the end of the manipulator can realize the drag of the manipulator in Cartesian space. A compliant traction method of manipulator based on online calibration of force sensor zero-point is proposed in this paper. Aiming at the problem of "zero drift"of force sensor, after calculating the gravity of the end tool, the zero-point of the force sensor is calibrated online by means of mean processing, so as to obtain more accurate external force. Then, the relationship between the end position of the manipulator and the external force, the end moving speed of the manipulator and the external force is established, and the change of the position and speed of the manipulator is controlled by the external force at the same time. Finally, experiments show the effectiveness of this method and ensure the safety and reliability in the traction process. © 2022 IEEE.

关键词： Manipulators

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