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TechRxiv 2022年

作者： Kuros, Sylwia Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland

Quantum Neural Networks (QNNs) are an emerging technology that can be used in many applications including computer vision. In this paper, we presented a traffic sign classification system implemented using a hybrid quantum-classical convolutional neural network. Experiments on the German Traffic Sign Recognition Benchmark dataset indicate that currently QNN do not outperform classical DCNN (Deep Convolutuional Neural Networks), yet still provide an accuracy of over 90% and are a definitely promising solution for advanced computer vision. © 2022, CC BY.

关键词： Traffic signs

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Event-Based Supervisor control for a Bascule Bridge

Event-Based Supervisor Control for a Bascule Bridge

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South Eastern European Design Automation, Computer Engineering, Computer Networks and Social Media Conference (SEEDA-CECNSM)

作者： Dimitrios G. Fragkoulis Fotis N. Koumboulis Maria P. Tzamtzi Georgios L. Giannaris Department of Digital Industry Technologies School of Science Robotics Automatic Control and Cyber-Physical Systems Laboratory National and Kapodistrian University of Athens Euripus Campus Euboea Greece Core Department National and Kapodistrian University of Athens Euripus Campus Euboea Greece

ISBN: (数字)9798331504489

ISBN: (纸本)9798331504496

The automation of a bascule bridge, located in the Netherlands, is studied. The modeling of the system is worked out in the framework of Ramadge-Wonham and analyzed per automation component of the bridge. The desired performance of the bridge is expressed in the form of rules, that will be translated to five groups of sets of regular languages. Next, new groups of sets of regular languages will be introduced by the injection of appropriate uncontrollable events, in order to guarantee the controllability of the languages. Finally, an event-based supervisor scheme will be developed and the nonblockingness of the controlled automaton is proved.

关键词： Bridges Automation Design automation Event detection Social networking (online) Smart cities Programmable logic devices Automata SCADA systems Europe

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

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Chinese control Conference (CCC)

作者： Yanling Zhou Xuebo Zhang Runhua Wang Shiyong Zhang Mingxing Yuan Jing Yuan Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin P. R. China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin P. R. China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms)

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MIMIR-UW: A Multipurpose Synthetic Dataset for Underwater Navigation and Inspection

MIMIR-UW: A Multipurpose Synthetic Dataset for Underwater Na...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Olaya Álvarez-Tuñón Hemanth Kanner Luiza Ribeiro Marnet Huy Xuan Pham Jonas le Fevre Sejersen Yury Brodskiy Erdal Kayacan Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (AiRLab) Aarhus University Aarhus C Denmark EIVA a/s Skanderborg Denmark Automatic Control Group (RAT) Paderborn University Paderborn Germany

This paper presents MIMIR-UW, a multipurpose underwater synthetic dataset for SLAM, depth estimation, and object segmentation to bridge the gap between theory and application in underwater environments. MIMIR-UW integrates three camera sensors, inertial measurements, and ground truth for robot pose, image depth, and object segmentation. The underwater robot is deployed within a pipe exploration scenario, carrying artificial lights that create uneven lighting, in addition to natural artefacts such as reflections from natural light and backscattering effects. Four environments totalling eleven tracks are provided, with various difficulties regarding light conditions or dynamic elements. Two metrics for dataset evaluation are proposed, allowing MIMIR-UW to be compared with other datasets. State-of-art methods on SLAM, segmentation and depth estimation are deployed and benchmarked on MIMIR-UW. Moreover, the dataset's potential for sim-to-real transfer is demonstrated by leveraging the segmentation and depth estimation models trained on MIMIR-UW in a real pipeline inspection scenario. To the best of the authors' knowledge, this is the first underwater dataset targeted for such a variety of methods. The dataset is publicly available online. https://***/remaro-network/MIMIR-UW/

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CAMETA: Conflict-Aware Multi-Agent Estimated Time of Arrival Prediction for Mobile Robots

CAMETA: Conflict-Aware Multi-Agent Estimated Time of Arrival...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jonas le Fevre Sejersen Erdal Kayacan Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (AiR Lab) Aarhus University Aarhus C Denmark Department of Electrical Engineering and Information Technology Automatic Control Group Paderborn University Paderborn Germany

This study presents the conflict-aware multi-agent estimated time of arrival (CAMETA) framework, a novel approach for predicting the arrival times of multiple agents in unstructured environments without predefined road infrastructure. The CAMETA framework consists of three components: a path planning layer generating potential path suggestions, a multi-agent ETA prediction layer predicting the arrival times for all agents based on the paths, and lastly, a path selection layer that calculates the accumulated cost and selects the best path. The novelty of the CAMETA framework lies in the heterogeneous map representation and the heterogeneous graph neural network architecture. As a result of the proposed novel structure, CAMETA improves the generalization capability compared to the state-of-the-art methods that rely on structured road infrastructure and historical data. The simulation results demonstrate the efficiency and efficacy of the multi-agent ETA prediction layer, with a mean average percentage error improvement of 29.5% and 44% when compared to a traditional path planning method (A *) which does not consider conflicts. The performance of the CAMETA framework shows significant improvements in terms of robustness to noise and conflicts as well as determining proficient routes compared to state-of-the-art multi-agent path planners.

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PredictiveSLAM - Robust Visual SLAM Through Trajectory-Aware Object Masking

PredictiveSLAM - Robust Visual SLAM Through Trajectory-Aware...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Micha Heiß Jakob Grimm Hansen Dengyun Li Michał Kozłowski Erdal Kayacan Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (AiR Lab) Aarhus University Aarhus C Denmark Department of Electrical Engineering and Information Technology Automatic Control Group Paderborn University Paderborn Germany

This paper proposes PredictiveSLAM, a novel extension to ORB-SLAM2, which extracts features from specific regions of interest (ROI). The proposed method was designed with the risk posed both to humans and robotic systems in large-scale industrial sites in mind. The ROI are determined through an object detection network trained to detect moving human beings. The method detects and removes humans from feature extraction, predicting their potential future trajectory. This is done by omitting a specific ROI from extraction, deemed to be occluded in consecutive time steps. Two masking methods -static object and moving object trajectories - are proposed. This approach improves tracking accuracy and the performance of SLAM by removing the dynamic features from the reference for tracking and loop closures. The method is tested on data collected in a laboratory environment and compared against a state-of-the-art ground truth system. The validation data was collected from real-time experiments which aimed at simulating the typical human worker behaviours in industrial environments using an unmanned aerial vehicle (UAV). This study illustrates the advantages of the proposed method over earlier approaches, even with a highly dynamic camera setup on a UAV working in challenging environments.

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A Novel ADRC control Strategy for PWM Rectifier

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IFAC-PapersOnLine 2023年第2期56卷 422-427页

作者： Wei Wang Zixin Huang Ziang Wei Lejun Wang School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan China Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing China

Aiming at current harmonics, disturbance immunity and energy efficiency of pulse width modulation (PWM) rectifier system, a novel active disturbance rejection control (ADRC) strategy based on equivalent input disturbance (EID) is proposed. The circuit equations of the system are established, and then the underactuated characteristics of the model are used to design a dual closed-loop control strategy. Based on the conventional ADRC voltage loop controller, a new nonlinear error state feedback function is constructed by using the error estimation of the EID control to design a improved ADRC control strategy. The current loop adopts sliding mode controller. Simulation models are built by Matlab/Simulink, and conducted comparative tests. The results demonstrate that the novel ADRC control strategy has better performance than the traditional ADRC control strategy, faster DC voltage response rate, higher power factor and better results in resisting voltage disturbance and load disturbance.

关键词： PWM rectifier Underactuated characteristics Equivalent input interference Active disturbance rejection control Sliding mode control

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MAPPG: Multi-Agent Phasic Policy Gradient

MAPPG: Multi-Agent Phasic Policy Gradient

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IEEE Conference on Decision and control

作者： Qi Zhang Xuetao Zhang Yisha Liu Xuebo Zhang Yan Zhuang Intelligent Robotic Laboratory School of Artificial Intelligence School of Control Science and Engineering Dalian University of Technology Dalian China School of Information Science and Technology Dalian Maritime University Dalian China Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin China

We propose a Multi-Agent Phasic Policy Gradient (MAPPG) algorithm, which can assist agents to further alleviate the non-stationarity of the environment. Different from the existing methods, the auxiliary phase is introduced to train the local policy directly by using the environment state, which can be naturally integrated into other algorithms. Specifically, the hidden layer feature sharing is proposed, which ensures feature sharing between the global value network and the local policy network for the first time. Meanwhile, mirror descent is utilized to iteratively update the policy in the auxiliary stage, which makes the policy update more robust. Through a series of evaluations on multi-agent Particle and multi-agent Mujoco benchmark environments, the experimental results show that our method achieves higher rewards than state-of-the-art benchmarks.

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Topology-Guided Perception-Aware Receding Horizon Trajectory Generation for UAVs

Topology-Guided Perception-Aware Receding Horizon Trajectory...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Gang Sun Xuetao Zhang Yisha Liu Hanzhang Wang Xuebo Zhang Yan Zhuang Intelligent Robotic Laboratory School of Artificial Intelligence also School of Control Science and Engineering Dalian University of Technology Dalian China School of Information Science and Technology Dalian Maritime University Dalian China Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence the Institute of Robotics and Automatic Information System (lRAIS) Nankai University Tianjin China

The perception-aware motion planning method based on the localization uncertainty has the potential to improve the localization accuracy for robot navigation. How-ever, most of the existing perception-aware methods pre-build a global feature map and can not generate the perception- aware trajectory in real time. This paper proposes a topology- guided perception-aware receding horizon trajectory generation method, which contains a topology-guided position trajectory generation and a perception-aware yaw angle trajectory generation. Specifically, a memorable active map is built by selectively storing the visual landmarks. After that, a library of candidate topological trajectories are generated, which are then evaluated in terms of the perception quality based on the active map, smoothness, collision possibility and feasibility. In addition, the yaw angle trajectory is obtained through a front-end multiple refined path search and a back-end path- guided trajectory optimization. Comparative simulation and real-world experiments are carried out to confirm that the proposed method can keep more visual features in view and reduce the localization error.

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Modelling and control of a Parametric Wafer Manufacturing Process

Modelling and Control of a Parametric Wafer Manufacturing Pr...

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IEEE/IAS International Conference on Industry Applications (INDUSCON)

作者： Fotis N. Koumboulis Dimitrios G. Fragkoulis Dimitrios Mparkas Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National and Kapodistrian University of Athens Euripus Campus Greece Core Department National and Kapodistrian University of Athens Euripus Campus Greece

In the present paper the mathematical model of a wafer manufacturing process is presented using Discrete Event Systems. The novelty of the proposed mathematical description is the parametric number of vacuum chambers and robotic manipulators, as well as that three vacuum chambers and the respective buffers are served by each robotic manipulator. The last robotic manipulator serves a parametric number of champers depending on the total number of vacuum chambers modulo 3. The desired behavior of the process is expressed in the form of a set of regular languages. The realization of each regular language in the form of a supervisor automaton is developed. The satisfactory performance of the controlled automaton is derived. The present result can be considered as the first attempt towards the study of wafer manufacturing processes, where each robotic manipulator serves a parametric number of vacuum chambers and buffers.

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