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Development of Method for Generating Trajectories of Movement of End Effectors and Control Programs for Industrial Robots in an Uncertain Working Environment

Development of Method for Generating Trajectories of Movemen...

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2021 International Russian automation Conference, RusAutoCon 2021

作者： Yukhimets, Dmitry Gubankov, Anton Mursalimov, Eduard Institute of Automation and Control Processes Robotic Laboratory Vladivostok Russia Far Eastern Federal University Dept. of Automation and Robotics Vladivostok Russia Institute of Marine Technology Problems Laboratory of Intelligent Information Systems for Marine Robots Vladivostok Russia

ISBN: (纸本)9780738131566

the deals with the implementation of the method of the trajectories generating for end effectors and control programs for industrial robots in an uncertain working environment. To generate correct trajectories, it is proposed to sequentially process data from vision systems, correct them in the human-machine interface, generate a control program in a generalized form using universal commands and then translate it into the form that a specific industrial robot requires. Experimental studies of the proposed method were carried out, which confirmed the operability and effectiveness of the proposed method. © 2021 IEEE.

关键词： Trajectories

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A Robust Surveillance System for AGV Using Forward-Downward Visual Measurements

A Robust Surveillance System for AGV Using Forward-Downward ...

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第35届中国控制与决策会议

作者： Sichao Zhang Wei Liang Xudong Yuan Haibo An Meng Zheng Yinlong Zhang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Science and Technology on Information Systems Engineering Laboratory the 28th Research Institute of CETC

Automatic Guided Vehicle(AGV) has been widely used in the warehouse for transporting the bulky and heavy ***,the AGV may deviate the regular trajectories in presence of incorrect or untimely commands sent form the server due to,e.g.,cyber attacks,unexpected blocks of the wireless *** order to ensure AGV running safely,this paper presents a visual surveillance system by making full use of the measurements from the forward and downward ***,the forward camera estimates the AGV positions and attitudes by tracking the surrounding landmarks detected from the forward image ***,the downward camera is used to detect the QR codes fixed on the floor and estimate the AGV poses in the absolute reference *** from that,the AGV poses from the downward camera could correct scale and poses estimated the forward *** proposed method has been extensively performed on the developed *** results proves the effectiveness in using the complementary forwarddownward visual measurements for AGV security surveillance.

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Industrial Wireless Network Access Selection Based on Multilevel Fuzzy Neural Network

Industrial Wireless Network Access Selection Based on Multil...

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Chinese Control and Decision Conference, CCDC

作者： Yan Xu Zhijun Gao Sichao Zhang School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

In order to solve the issues in the heterogeneous industrial wireless network access selection such as delay and reliability, this paper present an industrial wireless network access selection based on multilevel fuzzy neural network. The algorithm divides the input attributes into three categories: network attributes, terminal attributes, and environment attributes. It synchronously inputs them into the fuzzy neural network to obtain the candidate network scores, which effectively reduces the number of fuzzy rules and reduces the algorithm complexity. Furthermore, this paper also consider the influence of the industrial environment on network selection and quantitatively reduce the number of switching and blocking rate. The simulation experimental results show that this algorithm is able to achieve fast network access selection in noisy and occluded industrial heterogeneous wireless networks, and the blocking rate can remain low in the presence of dense terminals.

关键词： Wireless networks Neural networks Switches Mean square error methods Interference Fuzzy neural networks Delays

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AGV State Monitoring Based on Global and First-person View Fusion in Digital Workshops 12

AGV State Monitoring Based on Global and First-person View F...

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

作者： Zhang, Sichao Liang, Wei Li, Gengyu Yuan, Xudong An, Haibo Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Science Beijing100049 China School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 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

AGV state monitoring is becoming increasingly important for production system safety in digital workshops. This paper develops a global and first-person view fusion to monitor the AGV (Automated Guided Vehicle) running state in the complex digital workshops. Based on the affine transformation model, the AGV running states, i.e., position, velocity and orientation are estimated by the global camera with the assistance of ArUco markers, which are pasted on the front side of the AGV. Besides, the first-person view camera is used to implement pedestrian detection and distance measurement based on the YOLOv3 model. It is noticeable that the pitch angle is considered for distance measurement, and an improved triangular model for distance measurement is proposed. The effectiveness of the proposed method has been verified in our built platform. © 2022 IEEE.

关键词： Cameras

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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A DDOS Attack Traffic Classification Model for Industrial Internet Based on CNN-LSTM

A DDOS Attack Traffic Classification Model for Industrial In...

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2022 Chinese automation Congress, CAC 2022

作者： Wei, Weixuan Liu, Xianda Sheng, Chuan Feng, Ansong Shenyang University of Chemical Technology College of Information Engineering Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665465335

With the continuous development and application of industrial Internet, the weakness of the security defense capability of industrial Internet has become increasingly prominent. This paper presents an end-to-end classification model combining Convolutional Neural Network (CNN) and Long Short-Term Memory (LSTM) network for DDoS attacks over industrial Internet. By self-learning the spatial and temporal characteristics of the original attack traffic, the model can avoid subjective errors that may occur due to manual selection of features. This method is a feasible means, with an accuracy rate of 99%. © 2022 IEEE.

关键词： Long short-term memory

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Development of Method of Generating a Reference Movement Speed of a Group of UAVs

Development of Method of Generating a Reference Movement Spe...

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Ocean Studies (ICOS), International Conference on

作者： Anton Gubankov Igor Gornostaev Robotics Laboratory Laboratory of intelligent information systems for marine robots Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems FEB RAS Admiral G.I. Nevelskoy Maritime State University Vladivostok Russia Robotics Laboratory Laboratory of Robotic Systems Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems FEB RAS Admiral G.I. Nevelskoy Maritime State University Vladivostok Russia

ISBN: (数字)9798331532307

ISBN: (纸本)9798331532314

The article presents the results of the development of a method for the automatic formation of reference speeds for autonomous unmanned aerial vehicles of multirotor type, performing specified missions (such as monitoring of the sea and coastal territory in order to track populations of rare and endangered species, as well as evaluating the potential volumes of biological resources) singly or as part of a group (in formation). At the same time, the trajectories of these aircraft are set by smooth spatial curves - parametric splines of the third order, which makes it easy to adjust the specified trajectories during the mission. In order to maintain a high speed of movement of vehicles along trajectories with high accuracy of movement and saving formation, it is proposed to adjust the specified speed directly during the mission in such a way that the thrusters can ensure their required movements, taking into account the restrictions on the thrust vectors. At the same time, a simplified model of the dynamics of a quadcopter was used to calculate the values of reference speeds, taking into account the influence of wind force, environmental resistance, gravity and the total thrust vector of the propellers. The systems synthesized on the basis of this method can be implemented even on low-power onboard computing devices of unmanned aerial vehicles.

关键词： Accuracy Sea measurements Autonomous aerial vehicles Vectors Real-time systems Trajectory Aircraft Vehicle dynamics Splines (mathematics) Standards

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SlowFast GCN Network for Quantification of Parkinsonian Gait Using 2D Videos 12

SlowFast GCN Network for Quantification of Parkinsonian Gait...

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

作者： Zeng, Qingyi Liu, Peipei Bai, Ying Yu, Huan Sun, Xiaoyi Han, Jianda Wu, Jialing Yu, Ningbo College of Artificial Intelligence Nankai University Haihe Education Park Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Haihe Education Park Tianjin300350 China Department of Neurology Tianjin Huanhu Hospital Tianjin300350 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institute of Intelligence Technology and Robotics Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Parkinson's disease(PD) is a progressive neu-rodegenerative disease defined by clinical syndrome including bradykinesia, tremor and postural instability. The PD-related disability and impairment are usually monitored by clinicals using the MDS-UPDRS scale. However, due to COVID-19, it became much harder for the patients to reach hospitals and obtain necessary assessment and treatment. Nowadays, 2D videos are easily accessible and can be a promising so-lution for on-site and remote diagnosis of movement disorder. Inspired by the frequency-based video processing mechanism of human visual system, we propose a video-based SlowFast GCN network to quantify the gait disorder. The model consists of two parts: the fast pathway and the slow pathway. The former detects characteristics such as tremor and bilateral asymmetry, while the latter extracts characteristics such as bradykinesia and freezing of gait. Furthermore, in order to investigate the influence of age on the model performance, an aged control group and a young control group were set up for verification. The proposed model was evaluated on a video dataset collected from 68 participants. We achieved a balanced accuracy of 87.5% and precision of 87.9%, which outperformed existing competing methods. When replacing the young healthy controls with the same number of older controls, the balanced accuracy and precision were decreased by 10.4% and 9.7%, which indicates that age has a significant effect on the model perfomance. © 2022 IEEE.

关键词： COVID-19

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Performance Analysis for Polar Codes under Successive Cancellation List Decoding with Fixed List Size

arXiv

引用

arXiv 2023年

作者： Piao, Jinnan Li, Dong Yu, Xueting Li, Zhibo Yang, Ming Liu, Jindi Zeng, Peng The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China The Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China The Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

In this paper, we first indicate that the block error event of polar codes under successive cancellation list (SCL) decoding is composed of path loss (PL) error event and path selection (PS) error event, where the PL error event is that correct codeword is lost during the SCL decoding and the PS error event is that correct codeword is reserved in the decoded list but not selected as the decoded codeword. Then, we simplify the PL error event by assuming the all-zero codeword is transmitted and derive the probability lower bound via the joint probability density of the log-likelihood ratios of information bits. Meanwhile, the union bound calculated by the minimum weight distribution is used to evaluate the probability of the PS error event. With the performance analysis, we design a greedy bit-swapping (BS) algorithm to construct polar codes by gradually swapping information bit and frozen bit to reduce the performance lower bound of SCL decoding. The simulation results show that the BLER performance of SCL decoding is close to the lower bound in the medium to high signal-to-noise ratio region and we can optimize the lower bound to improve the BLER performance of SCL decoding by the BS algorithm. Copyright © 2023, The Authors. All rights reserved.

关键词： Decoding

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A distributed integrated energy trading solution

A distributed integrated energy trading solution

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2021 International Conference on Computer, Blockchain and Financial Development, CBFD 2021

作者： Dong, Jingya Song, Chunhe Zheng, Zeyu Zhang, Tao Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Nationality Department of Digital Factory Shenyang China University of Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9781665412278

Blockchain technology can bring profound changes to the energy industry and is now becoming a new driving force for the rapid development of this sector. In order to build a secure, reliable, and stable energy service system, it is necessary to study the framework and interaction mechanism of the energy trading system. This paper introduces a distributed integrated energy trading solution, proposes a new overall architecture, and analyses the blockchain model. This paper presents an algorithm to calculate the score directly in the client. Through this algorithm, users can choose service providers, get rid of cloud control, and realize users' free choice of electricity purchase and interaction between users through the smart contract. The test results show that the system has high performance and efficiency, can meet the needs of integrated energy transactions, and provides a solution for the application of blockchain in energy trading. © 2021 IEEE.

关键词： Smart contract

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