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14th IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems, CYBER 2024

作者： Ni, Zihao Han, Zhi Wang, Shixian Gu, Yuping Yang, Yongliang School of Artificial Intelligence Shenyang University of Technology Liaoning Shenyang110023 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China

ISBN: (纸本)9798331506056

The swarm phenomena observed in nature have inspired many control algorithms for diverse robot swarm systems. However, most of these endeavors are qualitative simulations aimed at understanding the mechanisms underlying biological swarm behavior. Reliably predicting morphologies of robot swarms from their features remains a formidable challenge. In molecular biology, the 3D structure of a protein molecule, which is a main factor of its functions, is mainly determined by its sequence of amino acids. Inspired by this, our lab developed RoboFold, a robot swarm platform for developing protein-folding-inspired methods controlling the morphologies of robot swarms. Using the data collected from this platform, we proposed a deep learning approach to predict the morphologies of swarm robotics based on their initial sequences. The goal of this research is predicting the initial sequence of robots forming the desired morphology. Preliminary results presented here demonstrated the efficacy of this method and underscore the feasibility of applying protein-folding-inspired methods to program robot swarms. © 2024 IEEE.

关键词： Microrobots

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A Single Image Deraining Network Based on Global Feature Perception 6

A Single Image Deraining Network Based on Global Feature Per...

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6th International Conference on Computer Science and Artificial Intelligence, CSAI 2022

作者： Fu, Bo Wang, Hongguang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China and University of Chinese Academy of Sciences China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China and Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China

ISBN: (纸本)9781450397773

Rainy weather can degrade the quality of image captured outdoors, which in turn reduces the effectiveness of the subsequent computer vision algorithm. Therefore, as a way to improve the performance of subsequent visual tasks, single image deraining has become an important research topic. In this paper, a single image deraining method based on global feature perception is proposed, which can effectively locate the rain streak and estimate corresponding background content via Swin Transformer mechanism. Different from convolutional neural network and traditional Transformer, the proposed network can extract the global features of an image while reducing the amount of computation. Combing advantages of Swin Transformer and convolutional network, a three-stage deraining network is proposed. First, the coarse features of an image are extracted through the convolutional layer. Then, using the feature refining module based on Swin Transformer, global features are extracted and fused. Finally, through the image reconstruction module, the clean image is generated by using residual learning. The experimental results show the superiority of the proposed network. © 2022 Owner/Author.

关键词： Image reconstruction

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Comparative Study of Anti-Swing Controllers for a Triple Link Rotary Pendulum System 8

Comparative Study of Anti-Swing Controllers for a Triple Lin...

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8th IEEE International Conference on Engineering Technologies and Applied Sciences, ICETAS 2023

作者： Hazem, Zied Ben Bingul, Zafer University of Technology Bahrain Department of Mechatronics Engineering 18041 Bahrain Kocaeli University Automation and Robotics Laboratory Department of Mechatronics Engineering Kocaeli41001 Turkey

ISBN: (纸本)9798350327090

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination. © 2023 IEEE.

关键词： Controllers

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An enhancement method for underwater polymetallic nodule images

An enhancement method for underwater polymetallic nodule ima...

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2022 International Conference on Mechanisms and robotics, ICMAR 2022

作者： Lv, Fengtian Xu, Huixi Wang, Xiaohui State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China Key Laboratory of Marine Robotics Liaoning Province Shenyang China

ISBN: (纸本)9781510657328

Due to the absorption and scattering of light in the water environment, the polymetallic nodule images were of low quality, such as color deviation, uneven illumination and blur, which was negative for the extraction and abundance calculation of polymetallic nodules. An improved image color correction method based on the dual transmission underwater imaging model is proposed. Its key lies in the estimation of direct component transmission (DCT) and backscattering component transmission (BCT) in the model. BCT is estimated in red, green and blue color channels, which are no longer considered equal. The DCT is estimated based on the mean pixel value and BCT of the background light region. In addition, the retinex algorithm is used to eliminate the illumination image and solve the imbalance of illumination and shadows caused by photoshooting with supplementary lighting. The image contrast is enhanced by using the contrast limited adaptive histogram equalization (CLAHE) algorithm. The polymetallic nodule images are used to evaluate the proposed method qualitatively and quantitatively. The results demonstrate that the proposed method has high performance in image visibility enhancement and color restoration. It is beneficial to the extraction and distribution analysis of polymetallic nodules. © 2022 SPIE.

关键词： Image enhancement

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A Novel Two-Branch Convolutional Neural Network for EEG Decoding of Motor Imagery

A Novel Two-Branch Convolutional Neural Network for EEG Deco...

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2023 China automation Congress, CAC 2023

作者： Yang, Guangyu Liu, Jinguo Shenyang Institute of Automation State Key Laboratory of Robotics 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: (纸本)9798350303759

In recent years, deep learning has been applied to the classification of motor imagery EEG, which can decode and classify EEG signals end-to-end. However, compared with picture datasets, EEG datasets are relative small and difficult to adapt to deeper networks. To solve this problem, we propose a shallow two-branch convolutional neural network (TBCNNet) to decode EEG information. More EEG information can be obtained by fusing the spatio-temporal features extracted from each single branch. Thus, the accuracy of EEG decoding can be improved without increasing the depth of the network. We tested this method on the BCI Competition IV-2a dataset, and the average decoding accuracy reached 86.59%, the average kappa value reached 0.82, and the average Fl-score reached 0.86. The results show that the proposed method can effectively improve the performance of motor imagery decoding. © 2023 IEEE.

关键词： Convolutional neural networks

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Modeling of dynamic-elastic deformation error for a collaborative robot 18

Modeling of dynamic-elastic deformation error for a collabor...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zhu, Shijing Pan, Xinan Wang, Hongguang Li, Dianqi School of Mechanical Engineering Shenyang University of Technology Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9798350312201

In the operation of a collaborative robot, the inertial force, gravity force, and other factors can cause elastic deformation of links and joints, and hence results in considerable deviations from the desired trajectory. However, the effects of inertial force, gravity force, and Jacobian matrix are rarely considered in common deformation analyses. This paper proposes a method for modeling dynamic elastic deformation of collaborative robots including joint torsional stiffness and complementary stiffness. Firstly, the dynamics equation was established based on the Newton-Euler method, and the driving torque of the joint was analyzed. Secondly, a dynamic-elastic deformation error model was established based on the joint torsional stiffness and complementary stiffness. Finally, the simulation results show that the established dynamic error model has good predictability, and the relative error is less than 1.63% compared with the ADAMS simulation results. © 2023 IEEE.

关键词： Errors

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A Hierarchical Framework for Dynamic Global Path Planning 10

A Hierarchical Framework for Dynamic Global Path Planning

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10th International Forum on Electrical Engineering and automation, IFEEA 2023

作者： Fan, Zhiwei Jia, Kai Zhang, Lei Zou, Fengshan Du, Zhenjun Liu, Mingmin Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang Siasun Robot & Automation Co. Ltd Shenyang China

ISBN: (纸本)9798350309379

This article presents a hierarchical global path planning algorithm designed for mobile robots. The global path planning problem is divided into three distinct components: waypoint generation, reference path generation, and path optimization. In the waypoint generation phase, we allocate the computation of environmental changes and map updates within each frame point cloud based on dynamically updated visibility graph. We then derive waypoints by identifying visibility edge vertices. Next, a smooth reference path is obtained through B-spline fitting optimization, delineating the convex driving region within the environment for further optimization within homotopy classes. To mitigate collision issues arising from B-spline fitting, we formulate the path optimization problem in the Frenet coordinate system as a quadratic programming task. This approach yields a globally collision-free path with high computational efficiency. Simulation experiments have been conducted to validate the effectiveness of the algorithm proposed in this paper. © 2023 IEEE.

关键词： global path planning mobile robot quadratic program visibility graph

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Cooperative attack–defense decision-making of multi-UAV using satisficing decision-enhanced wolf pack search algorithm

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Soft Computing 2024年第17-18期28卷 9575-9586页

作者： Zhou, Tongle Chen, Mou Wang, Yuhui Zhu, Ronggang Yang, Chenguang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing211106 China Key Laboratory of Avionics System Integrated Technology Shanghai200241 China Science and Technology on Electro-optic Control Laboratory Luoyang Institute of Electro-Optical Equipment of Avic Luoyang471000 China Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

Unmanned aerial vehicles (UAVs) have shown their superiority for applications in complicated military missions. A cooperative attack–defense decision-making method based on satisficing decision-enhanced wolf pack search (SDEWPS) algorithm is developed for multi-UAV air combat in this paper. Firstly, the multi-UAV air combat mathematical model is provided and the attack–defense decision-making constraints are defined. Besides the traditional air combat situation, the capability of UAVs and target information including target type and target intention are all considered in this paper to establish the air combat superiority function. Then, the wolf pack search (WPS) algorithm is used to solve the attack decision problem. To improve efficiency, the satisficing decision theory is employed to enhance the WPS to obtain the satisficing solution rather than optimal solution. The simulation results show that the developed method can realize the cooperative attack decision-making. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Decision making

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Improving millimeter-wave imaging quality using the vortex phase method

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Defence Technology（防务技术） 2024年第9期39卷 193-202页

作者： Nairui Hu Feng Qi Yelong Wang Zhaoyang Liu Pengxiang Liu Weifan Li Key Laboratory of Terahertz Imaging and Sensing Shenyang 110169China Shenyang Aerospace University Shenyang 110136China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

This paper investigates a new vortex wave imaging approach to improve the imaging quality of small metal targets of size less than 1.5 *** with different spiral phase plates are designed to efficiently transmit vortex beams with orbital angular momentums(OAMs).By analyzing the OAM spectrum of the target,it was discovered that the predominant reflection contains a particular OAM mode that carries abundant azimuthal *** can be explained by the OAM selectivity of the target and the guidance of the vortex transmitting beam.A simple reflection vortex imaging system was designed to capture the phase *** results show that the high image contrast reaches 14.9%,which is twice as high as that of the imaging without *** of simulations and experiments demonstrate that the vortex phase imaging approach proposed in this paper can effectively improve the imaging quality at 80 *** approach is suitable for other millimeter wave imaging systems and is helpful to improve the resolution in anti-terrorism security checks.

关键词： Orbital angular momentums(OAMs)beams Focal plane imaging Spiral phase plates(SPPs) Vortex spectrum

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Adaptive Control of Wiener Systems with Polynomial Description

Adaptive Control of Wiener Systems with Polynomial Descripti...

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2023 China automation Congress, CAC 2023

作者： Li, Jiwei Wu, Chen Shi, Enming Zhi, Wenzhuo Zhang, Bi Zhao, Xingang Shenyang Institute of Automation State Key Laboratory of Robotics 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 School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China

ISBN: (纸本)9798350303759

For plenty of practical applications, Wiener model structures are believed to play important roles for modeling and controller design tasks. Such models have physical insights and are close to realistic systems. This brief tries to introduces a new control scheme based on Wiener models. A criterion function is firstly presented, which fully considers the output tracking and minimizes the control effort. According to reasonable principles, these weighting terms can be easily designed. Derived from the cost function, an extended system of the original plant is further analyzed, the parameters of which are online updated by robust estimator. Then based on these estimates, the control law is developed. Intriguingly, to enhance the tracking performance, the estimate of unmodeled dynamics is designed as an important feedback information as well. Rigorous theoretical analysis has proven the closed-loop system stability. Finally, representative simulation studies have been conducted to show the merits of the novel controller. © 2023 IEEE.

关键词： Model structures

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