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13th IEEE International Conference on CYBER Technology in automation, Control, and Intelligent Systems, CYBER 2023

作者： Zhang, Zhaoyang Zhang, Guangyu Yang, Liying He, Yuqing Li, Siliang Northeastern University Shenyang110819 China Shenyang Institute of Automation CAS State Key Laboratory of Robotics Shenyang110016 China

ISBN: (纸本)9798350315196

This paper proposes a deep learning-based target pose estimation method for aerial vehicle, a robotic system combining a rotary-wing UAV and a robotic arm, which is difficult to accurately acquire the pose of the target when performing tasks in the field environment. Firstly, in the offline stage, the YOLOv5 model is improved by adding angle prediction branches to make it capable of pose estimation;secondly, the offline model is used to complete target recognition, target segmentation and pose estimation in combination with online images, and the online visual point cloud is combined with statistical filtering to complete the position estimation of targets;Finally, the effectiveness and feasibility of this visual guidance method is verified through indoor static experiments and outdoor flight experiments, and this method successfully guided the aerial vehicle to complete the torch docking task. © 2023 IEEE.

关键词： Image segmentation

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A pixel affinity adaptive expansion weakly supervised skin image segmentation method 3

A pixel affinity adaptive expansion weakly supervised skin i...

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3rd International Conference on Advanced Algorithms and Signal Image Processing, AASIP 2023

作者： Huang, Shan Fan, Huijie Shenyang Ligong University School of Automation and Electrical Engineering Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shen Yang China

ISBN: (纸本)9781510668522

Image annotation of medical scenes is expensive, then weak supervision methods have emerged. Therefore, this paper proposes a pixel affinity adaptive expansion model for medical image label generation in skin scenes. The method is divided into two stages. In the first stage, initial pseudo label is generated based on the characteristics of the skin image using the proposed self-Adaptation expansion module. In the second stage, the generated initial pseudo label uses the characteristics of the pixel pair to distinguish the foreground background and class boundaries to generate the final label. Finally, the generated tags are used for fully supervised segmentation. Experiments were conducted on the ISIC 2016 and ISIC 2017 datasets, respectively. The MIoU of the proposed method was 63.24% and 50.43% on the two datasets, while the Dice-score was 76.13% and 67.79%, the accuracy rate was 81.28% and 64.79%, and the recall rate was 73.54% and 71.03%, which is higher than most existing weakly supervised semantic segmentation algorithms, and achieved Sota (State of the arts) on the two skin datasets. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Semantics

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Design of a Pipeline Inside Anti-corrosion Robot Using Axiomatic Design Method

Design of a Pipeline Inside Anti-corrosion Robot Using Axiom...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Wang, Zhiyang Wang, Qifeng Du, Liang Wang, Mingyuan Hu, Zhengtao Bao, Sheng Yuan, Jianjun Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China Shanghai University Shanghai Robotics Institute Shanghai China Changshu New & Hi-Tech Industrial Development Zone China

ISBN: (纸本)9798350372601

With the expanding of pipeline applications and development in related technologies, there is a growing requirement for inside anti-corrosion of pipelines. Currently, there is relatively limited application of robots for large-diameter pipeline inside anti-corrosion, and the design of such robots often facing coupling issues between the locomotion capability and operation requirements. In this study, an axiomatic design method is employed to analyze the design of a pipeline inside anti-corrosion robot, and a decoupling method is proposed to separate the locomotion and the anti-corrosion mechanism. The robot design is implemented with the axiomatic method. Preliminary analysis using dynamic simulation demonstrates that the robot equipped with independently adjustable steering functions works more stably and effectively during anti-corrosion operations pipelines inside. © 2024 IEEE.

关键词： Machine design

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How Collective Intelligence Emerges in a Crowd of People Through Learned Division of Labor: A Case Study

How Collective Intelligence Emerges in a Crowd of People Thr...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Wang, Dekun Zhang, Hongwei School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Guangdong Shenzhen518055 China

ISBN: (纸本)9781665410205

This paper investigates the factors fostering collective intelligence (CI) through a case study of *LinVi's Experiment, where over 2000 human players collectively controll an avatar car. By conducting theoretical analysis and replicating observed behaviors through numerical simulations, we demonstrate how self-organized division of labor (DOL) among individuals fosters the emergence of CI and identify two essential conditions fostering CI by formulating this problem into a stability problem of a Markov Jump Linear System (MJLS). These conditions, independent of external stimulus, emphasize the importance of both elite and common players in fostering CI. Additionally, we propose an index for emergence of CI and a distributed method for estimating joint actions, enabling individuals to learn their optimal social roles without global action information of the whole crowd. © 2024 IEEE.

关键词： Linear systems

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Bearing-Only Formation Tracking Control With Time-Varying Leaders' Velocity without Inter-Agent Communication 43

Bearing-Only Formation Tracking Control With Time-Varying Le...

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43rd Chinese Control Conference, CCC 2024

作者： Huang, Yuxiao Chen, Tianxing Zhang, Hongwei Harbin Institute of Technology Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and Automation Guangdong Shenzhen518055 China

ISBN: (纸本)9789887581581

This paper studies the bearing-only formation tracking problem of leader-follower multi-agent systems, where the leaders move at a time-varying velocity. Different from the existing formation tracking methods, the proposed control protocol can be implemented without inter-agent communication. We construct the control protocol via a variable structure approach to track the time-varying velocity and almost achieve the target formation. We also show that the velocity tracking error will converge to zero and the position tracking error can be restricted in an upper bounded set while the upper bound can be arbitrarily minimized by increasing the control gain. Simulation results are presented to illustrate the effectiveness of the control protocol. © 2024 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Target tracking

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Development and deep-sea exploration of the Haidou-1

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Frontiers of Engineering Management 2023年第3期10卷 546-549页

作者： Yuangui TANG Shuo LI State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institute for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Key Laboratory of Marine Robotics Liaoning ProvinceShenyang 110169China

1 Introduction The Haidou-1 Autonomous and Remotely-operated Vehicle(hereinafter referred to as Haidou-1)(Fig.1)has been developed to address the significant demands for core key technologies and equipment in China’s deep and distant *** vehicle is capable of covering all global ocean depths up to a maximum of 11000 ***-ocean-depth underwater vehicles represent one of the highest technological and capability benchmarks in current international marine science research.

关键词： hadal zone autonomous and remotely-operated vehicle integrated exploration operation deep dive exceeding 10000 meters

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Research on time-frequency cross mutual of motor imagination data based on multichannel EEG signal

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High Technology Letters 2022年第1期28卷 21-29页

作者： REN Bin PAN Yunjie Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444P.R.China

At present,multi-channel electroencephalogram(EEG)signal acquisition equipment is used to collect motor imagery EEG data,and there is a problem with selecting multiple acquisition *** too many channels will result in a large amount of *** irrelevant to the task will interfere with the required features,which is not conducive to the real-time processing of EEG *** too few channels will result in the loss of useful information and low robustness.A method of selecting data channels for motion imagination is proposed based on the time-frequency cross mutual information(TFCMI).This method determines the required data channels in a targeted manner,uses the common spatial pattern mode for feature extraction,and uses support vector ma-chine(SVM)for feature *** experiment is designed to collect motor imagery EEG da-ta with four experimenters and adds brain-computer interface(BCI)Competition IV public motor imagery experimental data to verify the *** data demonstrates that compared with the meth-od of selecting too many or too few data channels,the time-frequency cross mutual information meth-od using motor imagery can improve the recognition accuracy and reduce the amount of calculation.

关键词： electroencephalogram(EEG)signal time-frequency cross mutual information(TFCMI) motion imaging common spatial pattern(CSP) support vector machine(SVM)

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic Systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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Micro-cylindrical lens-assisted femtosecond laser ultra-fine nanostructure etching on silicon surface 15

Micro-cylindrical lens-assisted femtosecond laser ultra-fine...

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15th International Conference on Information Optics and Photonics, CIOP 2024

作者： Gong, Haifeng Sun, Lina Liu, Zhiyong Luo, Hao Wang, Xiaoduo College of Mechanical Engineering and Automation Northeastern University Shenyang110819 China State Key Laboratory of Robotics 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 Sciences Beijing100049 China

ISBN: (数字)9781510686175

ISBN: (纸本)9781510686168

Femtosecond laser direct writing technology is an advanced micro- and nano-fabrication technique widely used in the fabrication of semiconductor devices. To realize nano-fabrication, it is usually necessary to immerse a high-numerical-aperture objective lens in water or oil to improve the focusing accuracy. However, the use of liquid media limits its wide application in semiconductor fabrication. The aim of this study is to develop a technique for nanoscale fabrication on silicon surfaces using femtosecond laser direct writing without the need for liquid immersion. In this work, a technique for modulating a tightly focused femtosecond laser using a micro-cylindrical lens is presented, which enables the fabrication of dual nanowires on a silicon surface in ambient air. By optimizing the height difference between the micro-cylindrical lens and the silicon wafer, the laser energy and the pulse frequency, a dual nanowire structure with a minimum feature size of 15 nm was prepared. The method is carried out in ambient air, simplifying the setup, and has potential application scenarios for affordable, ultra-high-precision, high-speed laser direct writing of semiconductors. © 2024 SPIE.

关键词： Femtosecond lasers

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BLE beacons for sample position estimation in a life science automation laboratory

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Transportation Safety and Environment 2024年第3期6卷 111-123页

作者： Haiping Wu Steffen Junginger Thomas Roddelkopf Hui Liu Kerstin Thurow Institute of Artificial Intelligence&Robotics(IAIR) Key Laboratory of Traffic Safety on Track of Ministry of EducationSchool of Traffic and Transportation EngineeringCentral South UniversityChangsha 410075HunanChina Institute of Automation(IAT) University of Rostock18119 RostockGermany Center of Life Science Automation(celisca) University of Rostock18119 RostockGermany

Estimation of the sample position is essential for working process monitoring and management in the life science automation lab*** low-energy(BLE)beacons have the advantages of low price,small size and low energy consumption,which make them a promising solution for sample position estimation in the automated *** fingerprinting models have been proposed to achieve indoor localization with the received signal strength(RSS)***,most of the research depends on intensive beacon *** estimation,which depends entirely on one beacon,is more suitable for sample position estimation in large automated *** complexity of the life science automation laboratory environment brings challenges to the traditional path loss model(PLM),which is a widely used radio wave propagation model-based proximity estimation *** this paper,BLE sensing devices for sample position estimation are *** BLE beacon-based proximity estimation is discussed in the framework of machine learning,in which the support vector regression(SVR)is utilized to model the nonlinear relationship between the RSS data and distance,and the Kalman filter is utilized to decrease the RSS data *** experimental results over different environments indicate that the SVR outperforms the PLM significantly,and provides 1 m absolute errors for more than 95%of the testing *** Kalman filter brings benefits to stable distance *** from proximity-based sample position estimation,the proposed framework turned out to be effective in position estimation between parallel workbenches and position estimation on an automated workstation.

关键词： BLE beacon position estimation proximity estimation received signal strength(RSS) support vector regression(SVR) life science automation laboratory

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