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4th International Conference on Big Data and Artificial Intelligence and Software Engineering, ICBASE 2023

作者： Xu, Fuli Wang, Yu Jiang, Yan Wang, Huaizhen Cui, Yong Tao, Ye Wang, Yisheng Zhang, Qi Shenyang University of Technology School of Software Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China Shanghai Ballsnow Intelligent Technology Co. Ltd Shanghai China Shenyang Zhongke Microcyber Technology Co. Ltd Shenyang China

ISBN: (纸本)9798350329490

Due to the interference of blurry background, character occlusion, and low background contrast in the Cast Pipe character images, the detection accuracy and real-time performance cannot meet the requirements of industrial scenes. To address these issues, this paper presents an improvement based on the Cascade Mask RCNN. Firstly, the Channel Attention Mechanism Module (Squeeze-and-Excitation, SE) is embedded into the ResNet structure. By constructing a bottleneck structure with two fully connected layers, the normalized weights are applied to each channel feature to enhance the network representation ability. Secondly, a bottom-up structure is introduced after the Feature Pyramid Networks (FPN) to transmit the strong localization information from lower-level features to higher-level semantic features. Thirdly, an adaptive pooling layer is added to allocate the candidate regions generated by the Region Proposal Network (RPN) to different scale feature maps. Additionally, skip connections are introduced between the bottom-level features and the highest-level features of each stage to reduce model parameters while retaining global representation capabilities. The improved algorithm is tested on a cast pipe dataset, achieving an average detection accuracy (mAP) of 98.7%, which is 2.7% higher than that of Cascade Mask RCNN. The accuracy indicates that the improved performance is superior to the original algorithm. © 2023 IEEE.

关键词： Semantics

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Image Feature Matching Based on Spatial Constraints and Inertial Assistance for AGV Navigation in Digital Workshops 12

Image Feature Matching Based on Spatial Constraints and Iner...

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12th International Conference on CYBER Technology in automation, Control, and intelligent systems, CYBER 2022

作者： Sun, Shijie Chen, Li Liang, Wei An, Haibo Zhang, Yinlong School of Artificial Intelligence Shenyang University of Technology Shenyang110020 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Science and Technology on Information Systems Engineering Laboratory The 28th Research Institute of Cetc Jiangsu Nanjing210007 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

VSLAM shows promising potential for AGV navigation in digital workshops, thanks to its merits in low cost, easy configuration, high flexibility, and high accuracy. However, the AGV visual perception system could be easily affected by lighting changes, and body abrupt motions. The state-of-the-art visual feature matching methods may fail to fulfill the navigation tasks in presence of these challenging issues. In order to solve these problems, we propose a feature matching method based on feature space constraints and inertial assistance. In order to reduce the computational time, the spatial constraints are designed to delete the obvious false matches. Besides, the Inertia Assistance Visual Sample Consensus (IAVSAC) is proposed to reduce the computational time in discriminating the wrong feature matches. In order to ensure the reliability of the inertial data, the analysis of IMU noise has been performed. The best IMU configuration with the smallest noises is designed. Our proposed method has been evaluated on the developed AGV navigation platform. The results show that the feature matching accuracy rate and computational time of ours are more favorable than those of RANSAC and MSAC. © 2022 IEEE.

关键词： Navigation

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ViT-based Terrain Recognition System for wearable soft exosuit

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Biomimetic Intelligence & robotics 2023年第1期3卷 57-64页

作者： Fangliang Yang Chunjie Chen Zhuo Wang Hui Chen Yao Liu Gang Li Xinyu Wua Shenzhen Institute of Advanced Technology Chinese Academy of SciencesShenzhen 518055China Shenzhen College of Advanced Technology University of Chinese Academy of SciencesShenzhen 518055China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Guangdong-Hong Kong-Macao Joint Laboratory of Human–Machine Intelligence-Synergy Systems Shenzhen 518055China SIASUN Robot and Automation CO. LtdShenyang 110169China

Terrain classification and force assistance strategies in complex environments have always piqued the interest of many *** wearable soft exosuits,inaccurate terrain recognition can easily introduce undesired assist forces that can easily injure the *** of these problems,we introduced a depth camera into the exosuit system,perform classification of terrain based on a Vision Transformer(ViT),and optimized the control algorithm,which is known as a ViT-Based Terrain Recognition System(TTRS).First,we used the Transformer algorithm to achieve a considerable classification effect in terrain *** also introduced terrain recognition as prior knowledge into the force assistance strategy of the exosuit,providing different force assistance to the exosuit in different ***,we performed human experiments with seven able-bodied people(six males and one female).The promising results demonstrate that our classification accuracy can reach 99.2%under six different terrains and that it can smoothly switch the force–assist curve in different terrains to better adapt to the complex terrain and improve the walking *** aforementioned terrain recognition algorithms and force–assist strategies may positively influence the study of soft exosuit,powered prostheses,and orthotics.

关键词： Vision Transformer(ViT) Depth camera Wearable soft exosuit Force assistance strategy Terrain recognition

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Fault Diagnostic Opportunities for Electromagnetic Coils of Active Magnetic Bearings using Physics-of-Failure Analysis 5

Fault Diagnostic Opportunities for Electromagnetic Coils of ...

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5th International Conference on System Reliability and Safety Engineering, SRSE 2023

作者： Li, Ruiqi Wang, Kai Zeng, Peng Cao, Jiwei Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110016 China Harbin Institute of Technology Department of Electrical Engineering China

ISBN: (纸本)9798350305944

Active magnetic bearings (AMBs) have many advantages over traditional oil bearings due to their non-contact characteristics. They are environmentally friendly solution and have been proven to be highly reliable and available. Electromagnetic coils are vital components of AMB and they are failure prone. In this paper, the failure mode of magnetic bearing coil and its corresponding failure mechanism are reviewed by FMMEA method, and the existing coil fault diagnosis methods are introduced. Future directions for coil insulation health monitoring aiming at the application characteristics of AMBs are also discussed. © 2023 IEEE.

关键词： Failure analysis

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Event-Triggered Finite-Time Course Control for Unmanned Surface Vehicles with Quantization

Event-Triggered Finite-Time Course Control for Unmanned Surf...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Yiming Sun Yuqi Liu Xi Jin Changqing Xia Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Liaoning China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

This paper concerns the event-triggered finite-time course control problem of an unmanned surface vehicle (USV) under the network environment. To facilitate investigation, the nonlinear dynamic of the course control system is firstly modeled by a class of state-dependent uncertain systems. Then a output feedback framework of course control is established for the USV subject to wave-induced disturbance, where an event generator with dynamic triggering scheme and a logarithmic quantizer are introduced to save communication resources. By means of slack variable technique, a novel co-design criterion of output feedback controller and event-triggered scheme is developed to guarantee the course control system finite-time bounded with a desired ${\mathcal{H}}_{\infty}$ performance. Finally, the effectiveness of the proposed method is verified through a practical simulation case.

关键词： Industrial electronics Uncertain systems Quantization (signal) Simulation Control systems Nonlinear dynamical systems Vehicle dynamics

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A new SPICE modeling approach of annular MOSFET in 350 nm commercial CMOS process

A new SPICE modeling approach of annular MOSFET in 350 nm co...

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Electronic Information Engineering and Computer Technology (EIECT), International Conference on

作者： He Cheng Zhijia Yang Chao Zhang Zhipeng Zhang Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

Annular gate MOSFETs have emerged as potential solutions for radiation-hardened electronics, demonstrating exceptional total ionizing dose tolerance. However, accurate modeling of annular MOSFETs is crucial when designing analog integrated circuits for use in radiation environments, especially when implementing commercial CMOS processes. To enable circuit simulation using tools like SPECTRE/SPICE, foundry-provided PDKs must incorporate a rigorously verified compact model of annular MOSFET behavior. TCAD simulation can then be used to numerically evaluate the current characteristics of the annular MOSFET against the refined compact model constructed from the foundry-provided PDK. In this paper, by aligning the current characteristics of a standard NMOS between TCAD and SPICE simulations, we can verify the material process conditions. Then, based on the material process parameters, the model of the annular gate MOSFET is established using the TCAD simulator. Finally, reasonable agreements are obtained between the TCAD and SPICE simulation results for the I DS -V GS and I DS -V DS characteristics.

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A Multi-Model Fusion Approach for Transformer Fault Detection 4

A Multi-Model Fusion Approach for Transformer Fault Detectio...

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4th IEEE International Conference on Information Technology, Big Data and Artificial Intelligence, ICIBA 2024

作者： Zhou, Ke Zhang, Wei Li, Ligang Pan, Shaoming Huang, Chengwei Electric Power Research Institute of Guangxi Power Grid CO. LTD. Guangxi Power Grid Equipment Monitoring and Diagnosis Technology Innovation Center Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment Nanning530023 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems China Power Supply Bureau of Guangxi Hezhou Power Grid Co. Ltd. China

ISBN: (纸本)9798350363586

Addressing the weak generalization capability and suboptimal prediction performance of single mechanistic and data-driven models, this paper proposes a transformer fault detection method based on the fusion of mechanism and data models. Firstly, vibration and current data are collected on-site to train the SVM vibration model and the Adaboost current model. Secondly, current simulation data is obtained using laboratory simulation software. This simulation data, combined with the current data collected under the same conditions on-site, is used as input to train the GBDT error compensation model. Finally, these three models are used as inputs to the GRNN, completing the overall model design. This fusion of mechanistic and data-driven models not only addresses the parameter mismatch issue of the mechanistic model under complex working conditions but also deeply mines time-series data. Experimental results show that The mean squared error of the fusion model is 0.002 lower than that of the data model, and the coefficient of determination is improved by 5.07% compared to the mechanistic model, enhancing the overall predictive accuracy of the model. © 2024 IEEE.

关键词： Data accuracy

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intelligent Leakage Inspection Method of Magnetic Mill Workshop based on Lightweight Yolov5

Intelligent Leakage Inspection Method of Magnetic Mill Works...

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Image Processing, Computer Vision and Machine Learning (ICICML), International Conference on

作者： Shimao Yu Chunhe Song Yong Sun Pengpei Gao Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350355413

ISBN: (纸本)9798350355420

In the process of mining company beneficiation, large rotating equipment, pipelines and electrical equipment have many complex inspection areas and diverse inspection contents. The lack of intelligent solutions to the problem of pipeline leakage will cause serious consequences such as equipment shutdown if it is not found in time. This paper proposes a lightweight yolov5 intelligent leakage inspection method for the magnetic mill workshop. The inspection robot is used to continuously collect images of possible leakage points and transmit them to the background server. The improved yolov5 algorithm simplifies the model structure and realizes rapid and accurate identification of leakage targets with limited computing resources. The computational efficiency is increased by 44.98% with almost no loss of model accuracy. The mAP_0.5 of identifying large targets at leakage points reaches 97.96%.

关键词： YOLO Training Accuracy Conferences Magnetic resonance imaging Computational modeling Pipelines Inspection Servers Monitoring

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Design and Implementation of Industrial Real-Time Ethernet Redundant Network Based on Parallel Redundancy Protocol

Design and Implementation of Industrial Real-Time Ethernet R...

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Computer Science, Electronic Information Engineering and intelligent Control Technology (CEI), IEEE International Conference on

作者： Mingxu Gang Bingjun Yan Bo Hu Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Industrial real-time Ethernet technology is widely used in modern industrial control systems due to its high communication rate and low application cost. However, in complex network environments, industrial real-time Ethernet may encounter data collisions, data loss, and other issues, which reduce the overall reliability of industrial control systems. To address these issues, a method for designing and implementing industrial real-time Ethernet redundancy networks based on parallel redundancy protocols is proposed. The method first analyzes the redundant data frame structure, dual-connected node (DANP) structure, and redundancy implementation principle of parallel redundancy protocols (PRP). Then, aiming at the standard redundancy discard algorithm principle and its shortcomings, an improved sliding window redundancy discard algorithm is proposed to adapt to complex network environments. Based on the discard algorithm, dual-connected redundancy nodes are designed and implemented. Finally, the dual-connected redundancy nodes are used as the core to construct industrial real-time Ethernet redundancy networks. The test results show that in a PRP-based industrial real-time Ethernet redundant network, when a single redundant network fails, the system can switch without delay, greatly improving the reliability of the industrial control system communication network

关键词： Protocols Industrial control Computer network reliability Redundancy Ethernet Complex networks Reliability engineering

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Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

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IEEE International Conference on robotics and Biomimetics

作者： Xiangxiao Chai Shihua Wang Erzhen Pan Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example.

关键词： Legged locomotion Torque Limiting Navigation Propellers Roads Wheels Prototypes Motors System analysis and design

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