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arXiv 2019年

作者： Pretto, Alberto Aravecchia, Stéphanie Burgard, Wolfram Chebrolu, Nived Dornhege, Christian Falck, Tillmann Fleckenstein, Freya Fontenla, Alessandra Imperoli, Marco Khanna, Raghav Liebisch, Frank Lottes, Philipp Milioto, Andres Nardi, Daniele Nardi, Sandro Pfeifer, Johannes Popović, Marija Potena, Ciro Pradalier, Cédric Rothacker-Feder, Elisa Sa, Inkyu Schaefer, Alexander Siegwart, Roland Stachniss, Cyrill Walter, Achim Winterhalter, Wera Wu, Xiaolong Nieto, Juan Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy International Research Lab 2958 Georgia Tech-CNRS Metz France Department of Computer Science University of Freiburg Germany Toyota Research Institute Los Altos United States Photogrammetry & Robotics Lab University of Bonn Germany Robert Bosch GmbH Corporate Research Renningen Germany Osimo Italy Autonomous Systems Lab. Department of Mechanical and Process Engineering ETH Zurich Zürich Switzerland Department of Environmental Systems Science Institute of Agricultural Sciences ETH Zurich Zürich Switzerland IT+Robotics Srl Padova Italy Smart Robotics Lab. Department of Computing Imperial College London London United Kingdom CSIRO Data61 Australia

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention. Copyright © 2019, The Authors. All rights reserved.

关键词： Mapping

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Rapid Determination of CODcr and Application in Water Purification

Rapid Determination of CODcr and Application in Water Purifi...

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2017 International Conference on Energy, Power and Environmental Engineering(ICEPEE2017)

作者： Yong-hong SHUI Xiao-dong LIU Hong-mei MAO Chao TAN Chengdu Textile College Key Lab of Process Analysis and Control of Sichuan Universities

Rapid COD determination method using spectrophotometry with high-temperature-pressure digestion（SHTP） was designed because COD determination by classic potassium dichromate reflux method（CFM, GB/T 11914-89） had some drawbacks, such unable to analysis in batches, high cost, while had some adverse effect on the environment. SHTP was applied to the study the wastewater quality change of constructed welands for domestic sewage treatment. The results showed that there was a positive correlation between CFM and SHTP（r=0.8801）. The linear regression equation between the two methods was COD=1.2198 COD-4.5745, and the significant test shows no significant difference between the two methods（P=0.07>0.05）. Therefore,the study provided a new and fast method to batch monitoring COD of the sewage water purified.

关键词： Chemical oxygen demand Rapid determination Spectrophotometry Water purification

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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ONLINE LOW-RANK SIMILARITY FUNCTION LEARNING WITH ADAPTIVE RELATIVE MARGIN FOR CROSS-MODAL RETRIEVAL

ONLINE LOW-RANK SIMILARITY FUNCTION LEARNING WITH ADAPTIVE R...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Wu, Yiling Wang, Shuhui Zhang, Weigang Huang, Qingming Chinese Acad Sci Inst Comp Technol Key Lab Intell Info Process Beijing Peoples R China Univ Chinese Acad Sci Sch Comp & Control Engn Beijing Peoples R China Harbin Inst Technol Sch Comp Sci & Technol Weihai Peoples R China

ISBN: (纸本)9781509060672

This paper presents a Cross-Modal Online Low-Rank Similarity function learning method (CMOLRS) for cross-modal retrieval, which learns a low-rank bilinear similarity measure on data from different modalities. CMOLRS models the cross-modal relations by relative similarities on a set of training data triplets and formulates the relative relations as convex hinge loss functions. By adapting the margin of hinge loss using information from feature space and label space for each triplet, CMOLRS effectively captures the multi-level semantic correlation among cross-modal data. The similarity function is learned by online learning in the manifold of low rank matrices, thus good scalability is gained when processing large scale datasets. Extensive experiments are conducted on three public datasets. Comparisons with the state-of-the-art methods show the effectiveness and efficiency of our approach.

关键词： Cross-modality similarity function learning online learning low-rank matrix

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Why synthesizing poly(1,4-phenylene sulfide) through oxidative polymerization has not so far been adopted as the industrial process

Why synthesizing poly(1,4-phenylene sulfide) through oxidati...

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Spring International Conference on Material Sciences and Technology, MST-S 2017

作者： Liu, Yefeng Li, Yanfen Yan, Xiaolan Yan, Jie Li, Minjiao Cui, Yishun School of Chemical Engineering Sichuan University of Science & Engineering ZigongSichuan643000 China Sichuan Provincial Key Lab of Process Equipment and Control Sichuan University of Science & Engineering ZigongSichuan643000 China Material Corrosion and Protection Key Laboratory of Sichuan province Sichuan University of Science & Engineering ZigongSichuan643000 China

ISBN: (纸本)9783035710939

Synthesis of poly (1, 4-phenylene sulfide) (PPS) through oxidative polymerization seems promising to us. Comparing with current commercial method to poly (1, 4-phenylene sulfide) from 1, 4-phenylene sulfide and sodium sulfide (Phillips’ Method), there are many advantages of the oxidative polymerization method. For example, it can synthesize PPS at normal temperature and pressure;the yield of reaction is very high;it provides pure PPS without salt contamination. However, several years have passed away;synthesis of poly (1, 4-phenylene sulfide) through oxidative polymerization has not so far been adopted as the industrial process. Many of us are puzzled, why? Through studying all kinds of reported preparation route to poly (1, 4-phenylene sulfide) through oxidative polymerization compared to Phillips’ Method, a generic polymerization mechanism is achieved for most of them excepting two with obvious shortcomings. We suddenly realize that synthesis of poly (1, 4-phenylene sulfide) through oxidative polymerization seems unsuitable to be used in industrial production recently because of its own limits. © 2017 Trans Tech Publications, Switzerland.

关键词： Sulfur compounds

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Conceptual Innovation Design of Novel Intelligent Bicycle Based on Theory of Inventive Problem Solving

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Journal of Beijing Institute of Technology (English Edition) 2017年 26卷 16-20页

作者： Xu, Wenna Hu, Guangzhong Li, Xia School of Mechanical Engineering Sichuan University of Science and Engineering ZigongSichuan643000 China Sichuan Provincial Key Lab of Process Equipment and Control Sichuan University of Science and Engineering ZigongSichuan643000 China

The innovative designs of bicycle have attracted attentions of many researchers. To deal with the shortcomings of insufficient power, single function and low efficiency of energy saving, a conceptual innovation design based on theory of inventive problem solving (TRIZ) is proposed in this *** problem models can be transformed into technical contradiction for establishing the functional unit models of ***, the improving parameters and worsening parameters are systematically analyzed to obtain the recommended innovative principles from contradiction matrix. Moreover, three typical innovative principles are employed for improving the design effects. The results show that the TRIZ based innovative design methods can improve the design efficiency and shorten development cycles directly. © 2017 Editorial Department of Journal of Beijing Institute of Technology.

关键词： Bicycles

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Optimization and evaluation of fish oil rnicrocapsules

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Particuology 2016年第6期14卷 162-168页

作者： Hui Liu Lia nyan Wang Tingyuan Yang Guifeng Zhang Jian Huang Jing Sun Junsheng Huo Division of Food Science & Technology National Institute for Nutrition and Health Chinese Center for Disease Control and Prevention Beijing 100050China National Key Lab of Biochemical Engineering Institute of Process Engineering Chinese Academy of Science Beifing 100190 China

Fish oil microcapsules were prepared using two natural polysaccharides, alginate and chitosan, as the wall materials. A response surface methodology （RSM） was used to optimize the conditions for fish oil encapsulation efficiency （FOEE）. The FOEE was investigated with respect to three key-variables in the RSM： ratio of inner oil phase to aqueous phase （X1 w/w）; concentration of the aqueous phase （X2, wt%）; and ratio of the aqueous phase to outer oil phase （X3, v/v）. The optimal formulation obtained from the RSM model, i.e., 2.7：1 （X1）, 1.6 wt% （X2）, and 11.5：1 （X3）, gave a FOEE of 28%. The model was validated and the fish oil microcapsules prepared under the optimized conditions were characterized in terms of particle size, polydispersity index （PDI）, zeta potential, surface morphology, and in vitro release. The average droplet size, PDI, and zeta potential were 915 nm, 0.038, and ＋5.2 mV, respectively. The fish oil microcapsules were highly uniform microspheres, and had an accumulative release rate of 77.7% in 270 min in a gastrointestinal model, indicating their potential as an alternative carrier for the controlled release of fish oil. In conclusion, formulating optimal microencapsulation conditions by the RSM can be applied to the microencapsulation of various oil-soluble nutrients for food applications.

关键词： Optimization Microencapsulation Fish oil Evaluation Response surface methodology

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Multi-view Subspace Learning with Diversity Enforced Skeleton Embedding

Multi-view Subspace Learning with Diversity Enforced Skeleto...

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IEEE International Conference on Multimedia Big Data (BigMM)

作者： Shijie Yang Liang Li Shuhui Wang Weigang Zhang Qingming Huang School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing China Key Lab of Intel. Info. Process Chinese Academy of Scicences School of Computer Science and Technology Harbin Institute of Technology Weihai China

ISBN: (纸本)9781509065509

We consider the task of multi-view subspace learning which integrates multi-view information to learn a unified representation for multimedia data. In real-world scenarios, we encounter views with high diversities of semantic levels. Neglecting the problem of semantic inconsistency, existing graph-based methods directly convert heterogeneous information into local affinity matrices to conduct a fusion process, which inevitably destroys the valuable high-semantic-level structure. To address semantic inconsistency, we propose Multi-view Subspace Skeleton Embedding (MSSE), in which the high-level semantic structure of the learned subspace is explicitly taken as the skeleton of the learned subspace. Specifically, cooperating with a set of anchor points, the high-level semantic structure is adopted as semantic constraints to guide the multi-graph learning process based on RESCAL tensor factorization. To guarantee sufficient geometric coverage of the skeleton in the learned subspace, we enforce the diversity of anchor points by a Determinantal Point process (DPP) regularizer. Compared with traditional methods, the learned subspace is endowed with higher semantic consistency and more robust to noisy views. Experiments on real-world image datasets demonstrate the promising performance comparing to state-of-the-art graph-based methods.

关键词： Semantics Skeleton Tensile stress Multimedia communication Robustness Noise measurement Image reconstruction

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Lithium-ion Battery State of Charge/State of Health Estimation Using SMO for EVs

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Energy Procedia 2017年 105卷 4383-4388页

作者： Cheng Lin Jilei Xing Aihua Tang National Engineering Laboratory for Electric Vehicles and Collaborative Innovation Center of Electric Vehicles in Beijing School of Mechanical Engineering Beijing Institute of Technology Beijing 100081 China Sichuan Provincial Key Lab of Process Equipment and Control School of Mechanical Engineering Sichuan University of Science & Engineering Zigong 643000 China

Advanced battery management systems (BMS) in electric vehicles (EVs) require immediate and accurate battery state, such as State-of-Charge (SoC) and State-of-Health (SoH) for efficient monitoring and control. To improve the state estimation performance of battery, an electrochemical model is applied in this paper. First, the electrochemical model is reduced to describe the instantaneous Li-ion concentration dynamics of each electrode sufficiently without main information loss. Second, two separate sliding mode observers (SMOs) combined with reduced order electrochemical model are designed to identify SoC/SoH of lithium-ion cell from external measured voltage and current value. An estimation scheme which is comprised of two subestimators is designed. They work jointly: one separate sliding mode observer (SMO) for SoC estimation using Li-ion solid-electrolyte concentration and the other observer for cell contact resistance adopting Lyapunov's stability theory. Finally, in order to demonstrate the performance of proposed scheme, the simulations are verified by experiments from a 2.3Ah high-power LiFePO 4 /graphite cell used in EVs. The results indicate that the proposed estimation scheme with the SMO algorithm performs well with initial error values. The maximum SoC and SoH estimation error are less than 3% and 2.5% under Urban Dynamometer Driving Schedule (UDDS) drive cycles.

关键词： electric vehicles (EVs) State-of-Charge (SoC) State-of-Health (SoH) sliding mode observers (SMO) electrochemical model

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Online low-rank similarity function learning with adaptive relative margin for cross-modal retrieval

Online low-rank similarity function learning with adaptive r...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Yiling Wu Shuhui Wang Weigang Zhang Qingming Huang School of Computer and Control Engineering University of Chinese Academy of Sciences China Key Lab of Intell. Info. Process Institute of Computing Technology CAS China School of Computer Science and Technology Harbin Institute of Technology at Weihai China

ISBN: (纸本)9781509060689

This paper presents a Cross-Modal Online Low-Rank Similarity function learning method (CMOLRS) for cross-modal retrieval, which learns a low-rank bilinear similarity measure on data from different modalities. CMOLRS models the cross-modal relations by relative similarities on a set of training data triplets and formulates the relative relations as convex hinge loss functions. By adapting the margin of hinge loss using information from feature space and label space for each triplet, CMOLRS effectively captures the multi-level semantic correlation among cross-modal data. The similarity function is learned by online learning in the manifold of low-rank matrices, thus good scalability is gained when processing large scale datasets. Extensive experiments are conducted on three public datasets. Comparisons with the state-of-the-art methods show the effectiveness and efficiency of our approach.

关键词： Conferences Multimedia communication

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