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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xiang, Tian-Yu Zhou, Xiao-Hu Xie, Xiao-Liang Liu, Shi-Qi Yang, Hong-Jun Feng, Zhen-Qiu Hao, Jian-Long Hou, Zeng-Guang Institute of Automation The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The School of Information Shanxi University of Finance and Economics Taiyuan030006 China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China Institute of Systems Engineering Macau University of Science and Technology The Joint Laboratory of Intelligence Science and Technology Taipa China

ISBN: (纸本)9781665481090

Electroencephalogram (EEG) is one of the most pop-ular sources for learning human motor characteristics. However, most current methods only consider its temporal features and overlook spatial information. This paper proposes a novel two-stream model based on spatial and temporal features to learn human motor characteristics from EEG signals. The spatial stream is analyzed by graph neural networks (GNN) to extract the relationship among different channels. Adjacent matrices can be learned through the training process, unlike pre-defined ones used in other GNN-based EEG analysis methods. The temporal stream is processed with mixed convolution structures, which consist ID convolution, depthwise convolution, and separable convolution. The features of two streams are fused with fully-connected neural networks for human motor characteristics learning. Experimental results show the proposed model can achieve the accuracy of 0.684/0.709 (four classes motor imagery) in subject-independent/dependent schemes, demonstrating the promising for it used in brain computer interface (BCI) scenarios. © 2022 IEEE.

关键词： Convolution

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Active Disturbance Rejection control Design for the Hydraulic Actuator on Weeding Machine

Active Disturbance Rejection Control Design for the Hydrauli...

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第40届中国控制会议

作者： Fuchun Liu Yang Yang Lei Wang School of Automation Science and Engineering The Key Laboratory of Autonomous Systems and Networked Control （ASNC） Ministry of Education South China University of Technology

A weeding machine can sometimes cause plant damage while working in the paddy field due to the seedling line bending phenomenon. Thus, we introduce a computer-vision-based automatic seedling avoidance system for the weeding machine, with a hydraulic cylinder actuator driving the weeding wheels according to the guidance information. This paper aims to study and design a Linear Active Disturbance Rejection control（LADRC） controller for the hydraulic system. The proportional directional valve has a large input dead zone, decreasing the controller’s performance and causing oscillation of the system output near the setpoint. We designed a nonlinear dead zone compensation module and proposed a residual dead zone compensation method, taking advantage of the Extended state Observer（ESO）. A well-behaved hydraulic position servo system was designed and tested in Simulink simulation and on an experimental platform based on the compensation method. The results show that the system performance meets the requirement with approximately no overshoot, response time within 0.7 s, and steady-state error within 0.7 mm on the experimental platform.

关键词： weeding machine hydraulic system dead zone compensation LADRC

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Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment

Towards Efficient Trajectory Generation for Ground Robots be...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jingping Wang Long Xu Haoran Fu Zehui Meng Chao Xu Yanjun Cao Ximin Lyu Fei Gao State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China School of Intelligent Systems Engineering Sun Yat-sen University Shenzhen China Applicaion Innovation Laboratory Huawei Technologies Co. Ltd.

With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation planning framework beyond 2D. Existing methods rarely considers both simultaneously, limiting the capabilities and applications of ground robots. In this paper, we proposed an optimization-based planning framework for ground robots considering both active and passive height changes on the z-axis. The proposed planner first constructs a penalty field for chassis motion constraints defined in $\mathbb{R}^{3}$ such that the optimal solution space of the trajectory is continuous, resulting in a high-quality smooth chassis trajectory. Also, by constructing custom constraints in the z-axis direction, it is possible to plan trajectories for different types of ground robots which have z-axis degree of freedom. We performed simulations and real-world experiments to verify the efficiency and trajectory quality of our algorithm.

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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年第7期47卷 5520-5537页

作者： Jian Liu Wei Sun Hui Yang Pengchao Deng Chongpei Liu Nicu Sebe Hossein Rahmani Ajmal Mian National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China Department of Information Engineering and Computer Science University of Trento Trento Italy School of Computing and Communications Lancaster University Lancaster U.K. Department of Computer Science The University of Western Australia Crawley WA Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance.

关键词： Shape Solid modeling Three-dimensional displays Pose estimation Training Robots Grasping Diffusion models Real-time systems Point cloud compression

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PanoVPR: Towards Unified Perspective-to-Equirectangular Visual Place Recognition via Sliding Windows across the Panoramic View

arXiv

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arXiv 2023年

作者： Shi, Ze Shi, Hao Yang, Kailun Yin, Zhe Lin, Yining Wang, Kaiwei State Key Laboratory of Modern Optical Instrumentation Zhejiang University Hangzhou China School of Robotics and with the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha China Shanghai SUPREMIND Technology Co Ltd Shanghai China

— Visual place recognition has gained significant attention in recent years as a crucial technology in autonomous driving and robotics. Currently, the two main approaches are the perspective view retrieval (P2P) paradigm and the equirectangular image retrieval (E2E) paradigm. However, it is practical and natural to assume that users only have consumer-grade pinhole cameras to obtain query perspective images and retrieve them in panoramic database images from map providers. To address this, we propose PanoVPR, a perspective-to-equirectangular (P2E) visual place recognition framework that employs sliding windows to eliminate feature truncation caused by hard cropping. Specifically, PanoVPR slides windows over the entire equirectangular image and computes feature descriptors for each window, which are then compared to determine place similarity. Notably, our unified framework enables direct transfer of the backbone from P2P methods without any modification, supporting not only CNNs but also Transformers. To facilitate training and evaluation, we derive the Pitts250k-P2E dataset from the Pitts250k and establish YQ360, latter is the first P2E visual place recognition dataset collected by a mobile robot platform aiming to simulate real-world task scenarios better. Extensive experiments demonstrate that PanoVPR achieves state-of-the-art performance and obtains 3.8% and 8.0% performance gain on Pitts250k-P2E and YQ360 compared to the previous best method, respectively. Code and datasets will be publicly available at PanoVPR. Copyright © 2023, The Authors. All rights reserved.

关键词： Query processing

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Reinforcement Learning-based Fault-Tolerant control for Unmanned Aerial Vehicles

Reinforcement Learning-based Fault-Tolerant Control for Unma...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Guoqi Wang Xudong Wang Yang Li Ziwei Gao Zhaoke Ning National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha China State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle Engineering Hunan University Changsha China School of Aeronautics and Astronautics Sichuan University Chengdu China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

This paper focuses on the fault-tolerant control (FTC) problem for unmanned aerial vehicles (UAVs) subject to possible multiple actuator failures, which is a tough problem to solve with traditional FTC methods since they usually require accurate mathematical models. To address the limitation of traditional FTC methods, a model-free FTC approach is proposed based on reinforcement learning (RL). Subsequently, the proposed approach is applied to construct fault-tolerant controller for UAVs without any knowledge of the quadrotor dynamic information. Then, an end-to-end control policy that can tolerant actuator failures is obtained, which can map the state of the UAVs directly to the control commands of the four rotors after learning. Finally, the effectiveness of the proposed fault-tolerant approach is demonstrated by using the flexible modular quadrotor simulator.

关键词： Fault tolerance Actuators Trajectory tracking Fault tolerant systems Autonomous aerial vehicles Stability analysis Mathematical models

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A Double Node Thin-Film Thermocouples for In-Situ Measurement

A Double Node Thin-Film Thermocouples for In-Situ Measuremen...

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Automation, robotics and Computer Engineering (ICARCE), International Conference on

作者： Rong Ma Meiju Zhang Zhongkai Zhang Manguo Huang Xiaobo Liang Jiangjiang Liu Zhaojun Liu Bian Tian State Key Laboratory for Mechanical Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an China Beijing Changcheng Aeronautic Measurement and Control Technology Research Institute Aviation Key Laboratory of Science and Technology on Special Condition Monitoring Sensor Technology Beijing China

ISBN: (纸本)9781665475495

The design, fabrication, testing and implementation of a new high-performance tungsten-rhenium thin film thermocouple are introduced. In this paper, tungsten-rhenium TFTCs are taken as the research object, after simulation analysis in COMSOL software and design, it is made by screen-printing technology and magnetron sputtering. This kind of thin film thermocouple primarily utilizes two kinds of electrode materials with varying composition combination, mainly tungsten with 5% rhenium and tungsten with 26% rhenium. Furthermore, high-temperature annealing is performed to maintain the mechanical properties and thus improve thermoelectric performance. The results demonstrate that the performance is reliable in the temperature range of 150-600 C° with a repeatability of 2.02%, providing application value for high-temperature in-situ sensing.

关键词： Temperature measurement Temperature distribution Thermocouples Tungsten Robot sensing systems Software Sensors

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Procedure Recognition by Knowledge-Driven Segmentation in Robotic-Assisted Vitreoretinal Surgery

Procedure Recognition by Knowledge-Driven Segmentation in Ro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhen Li Yawen Deng Qiang Ye Weihong Yu Haoxiang Qi Yaliang Liu Zhangguo Yu Gui-Bin Bian School of Electronic and Information Engineering Tongji University Shanghai China Institute of Automation Chinese Academy of Sciences Beijing China School of Mechatronic Engineering Beijing Institute of Technology Beijing China Department of Ophthalmology Peking Union Medical College Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Internal limiting membrane (ILM) peeling is a vital vitreoretinal surgery procedure. However, due to the thickness of just 1-2 micrometers and the intricacies associated with its varying density and adhesion, the difficulty of manipulation exceeds the physiological limits of human perception and operation. Surgical robot is characterized by high precision and stability. However, navigating intricate intraocular environments and handling minuscule high-precision areas remain enormous challenges. These include issues of uneven lighting, field-of-view loss, and motion blur. This paper proposed a perception method named ‘Multimodal Surgical Process Recognition based on Domain Knowledge and Segmentation (MSPR-DKS),’ designed to address these challenges and provide input for the precise control of robots. Moreover, a comprehensive dataset focused on ILM peeling during macular hole surgeries was established. Experimental results underscore the efficacy of this approach, with segmentation accuracies exceeding 99.27% for instruments and macular holes and an average accuracy of 98.97% in recognizing surgical processes. This study paves the way for leveraging domain knowledge and image segmentation to improve robot-assisted manipulation of soft tissues in ophthalmology.

关键词： Image segmentation Visualization Accuracy Medical robotics Motion segmentation Surgery Lighting

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Efficient Planar Pose Estimation via UWB Measurements

Efficient Planar Pose Estimation via UWB Measurements

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IEEE International Conference on robotics and Automation (ICRA)

作者： Haodong Jiang Wentao Wang Yuan Shen Xinghan Li Xiaoqiang Ren Biqiang Mu Junfeng Wu Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS) School of Data Science the Chinese University of HongKong Shenzhen P. R. China College of Control Science and Engineering and the State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou P. R. China School of Electronic and Optical Engineering Nanjing University of Science and Technology Nanjing P. R. China School of Mechatronic Engineering and Automation Shanghai University Shanghai P. R. China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing P. R. China

state estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband (UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on robotics treat UWB as a stand-alone state estimation solution. The primary purpose of this work is to investigate planar pose estimation using only UWB range measurements. We prove the excellent property of a two-step scheme, which says we can refine a consistent estimator to be asymptotically efficient by one step of Gauss-Newton iteration. Grounded on this result, we design the GN-ULS estimator, which reduces the computation time significantly compared to previous methods and presents the possibility of using only UWB for real-time state estimation.

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Design and implementation of FPGA-based hardware acceleration system for target detection

Design and implementation of FPGA-based hardware acceleratio...

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Chinese Automation Congress (CAC)

作者： Canyu Zhan Bingjie Zhao Huangliang Zhang Zhongpeng Yan Jie Wu Da Yuan Shenyang University of Chemical Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China Shenyang University of Technology Shenyang China

Since the application of target detection in convolutional neural networks is becoming more and more widespread, and the computational volume is increasing, the complexity of the network hierarchy and the memory requirements are gradually increasing, so according to the Field Programmable Gate Array (FPGA) parallel computing characteristics, using FPGA to accelerate the convolutional neural network hardware, can design a CPU+FPGA target detection hardware acceleration system. The system adopts the YOLOv2 target detection algorithm and divides the tasks according to the network structure of the algorithm, and at the same time, it quantifies the 32-bit floating-point numbers of the algorithm with 16-bit fixed points, optimizes the convolutional, pooling, and reordering layers of the algorithm, and finally designs the algorithm by using the HLS high-level synthesis. The system uses PYNQ-Z2 platform to implement the convolutional neural network YOLOv2, and the final system performance reaches 27.06GOPs (Giga Operations Per Second, 1 billion operations/s), and the power consumption is only 2.609W, compared to CPU (E5-2620V4), its performance is 6.58 times that of CPU, and the power consumption is only 3% of the CPU, which has certain advantages compared with current target detection systems.

关键词： Power demand System performance Software algorithms Object detection Software System-on-chip Convolutional neural networks

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