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Chinese intelligent Systems Conference, CISC 2017

作者： Zhao, Bin Liu, Zhongxin Chen, Zengqiang College of Computer and Control Engineering Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China

ISBN: (纸本)9789811064951

This paper studies the consensus problem of the leader-following system. First of all, we propose a new kind of leader, smart leader, by adding the velocity states of the followers to the leader’s control algorithm. We also use the event-triggered control to make the leader only use the feedback at necessary time. Then a distributed control law for both the leader and followers is designed. Compared with the multi-agent system with traditional leader, the system with a smart leader can reach the consensus more quickly, smoothly and have a smaller control energy consumption. Moreover, we propose a suffcient condition which can ensure the system can reach the consensus. Finally, some simulation examples are presented for illustration. © 2018, Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Gait-based Emotion Recognition Using Spatial Temporal Graph Convolutional Networks 4

Gait-based Emotion Recognition Using Spatial Temporal Graph ...

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4th International Conference on Computer Information Science and Artificial Intelligence, CISAI 2021

作者： Yu, Shiyi Li, Xinde Southeast University Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Nanjing China Guangdong Intelligent Robotics Institute Dongguan China

ISBN: (纸本)9781665406925

Most of the existing gait emotion recognition methods use spatial convolution or temporal convolution separately. Without integrating these two dimensions, it is easy to loss valid information for emotion analysis. In order to solve this problem, we propose a supervised learning method using Spatial Temporal Graph Convolutional Networks (ST-GCN) to classify emotions into positive, neutral and negative patterns. In addition, we made a new gait dataset called EmoGait3d including 742 real gait skeleton sequences extracted from videos, also annotated with emotion labels. According to the experiment results, our method achieves the accuracy of 92.2% which outperforms current state-of-art algorithms for gait emotion recognition. © 2021 IEEE.

关键词： Speech recognition

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Distributed fixed-time consensus algorithm for multiple nonholonomic chained-form systems

Distributed fixed-time consensus algorithm for multiple nonh...

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Chinese intelligent Systems Conference, CISC 2018

作者： Jiang, Yutao Liu, Zhongxin Chen, Zengqiang College of Computer and Control Engineering Nankai University Tianjin300353 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300353 China

ISBN: (纸本)9789811322877

In this paper, the fixed-time control algorithm is used to address the consensus problem for multiple nonholonomic chained-form systems. For the sake of analysis, a switching control strategy is introduced to solve the fixed-time consensus problem. Compared with the finite-time control algorithm, the convergence time of the fixed-time consensus protocol, can be guaranteed regardless of the initial conditions. Rigorous proof using Lyapunov theory shows that the sates of multiple nonholonomic chained-form systems can reach a consensus in a fixed time. To further illustrate the effectiveness of the control algorithm, a numerical simulation is given. © Springer Nature Singapore Pte Ltd. 2019.

关键词： Distributed parameter control systems

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Accurate modulation of photoprinting under stiffness imaging feedback for engineering ECMs with high-fidelity mechanical properties

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Microsystems & Nanoengineering 2022年第3期8卷 291-301页

作者： Xin Li Huaping Wang Xinyi Dong Qing Shi Tao Sun Shingo Shimoda Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China The Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China School of Medical Technology Beijing Institute of TechnologyBeijing 100081China Intelligent Behavior Control Collaboration Unit RIKEN Center of Brain Science463-0003 NagoyaJapan

Engineered extracellular matrices(ECMs)that replicate complex in-vivo features have shown great potential in tissue *** hydrogel microstructures have been widely used to replace these native ECMs for physiologically relevant ***,accurate reproduction of the 3D hierarchical and nonuniform mechanical stffness inside one integrated microstructure to mimic the complex mechanical properties of native ECMs presents a major ***,by using digital holographic microscopy(DHM)-based stffness imaging feedback,we propose a novel closed-loop control algorithm to achieve high-accuracy control of mechanical properties for hydrogel microstructures that recapitulate the physiological properties of native ECMs with high *** photoprinting,the photocuring area of the hydrogel is divided into microscale grid areas to locally control the photocuring *** the assistance of a motorized microfluidic channel,the curing thickness is controlled with layer-by-layer *** DHM-based stiffness imaging feedback allows accurate adjustment of the photocuring degree in every grid area to change the crosslinking network density of the hydrogel,thus enabling large-span and high-resolution modulation of mechanical ***,the gelatin methacrylate was used as a typical biomaterial to construct the highfidelity biomimetic *** Young's modulus could be flexibly modulated in the 10 kPa to 50 kPa ***,the modulus gradient was accurately controlled to within 2.9 *** engineering ECM with locally different mechanical properties,cell spreading along the stff areas was observed *** believe that this method can regenerate complex biomimetic ECMs that closely recapitulate in-vivo mechanical properties for further applications in tissue engineering and biomedical research.

关键词： microstructure ECM curing

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Research on the Application of Mask2Former for Segmenting Small Mushroom Caps of Seafood Mushrooms 4

Research on the Application of Mask2Former for Segmenting Sm...

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4th International Conference on Electronic Information Engineering and Computer Technology, EIECT 2024

作者： Ren, Mengchao Du, Wanhe Yang, Shuzhen Yu, Tao Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China School of Intelligent Manufacturing and Control Engineering Shanghai China School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9798331528850

In the task of monitoring mushroom growth characteristics, the mushroom cap is one of the most important features. To address the challenges faced by traditional instance segmentation algorithms in segmenting the caps of seafood mushrooms during the early stages of growth, such as unclear edges and low success rates. This paper proposes the application of the Mask2Former algorithm for instance segmentation of the caps of seafood mushrooms in their early differentiation stage. First, camera equipment was set up to capture images of the mushroom house for dataset creation. Then, the collected images were augmented through techniques such as flipping and adding noise. Finally, the processed images were input into the model, allowing Mask2Former to be compared with three other instance segmentation algorithms. Experimental results demonstrated that Mask2Former performed better in segmenting small mushroom caps during the early growth stage of seafood mushrooms, achieving an average precision (AP) of 96.731%, which effectively meets practical production needs. © 2024 IEEE.

关键词： Meats

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Robot-CT Scanning Oriented Synchronous Trajectory Planning of a Dual-Manipulator System 42

Robot-CT Scanning Oriented Synchronous Trajectory Planning o...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Shuaikang Yuan, Mingxing Zhang, Xuebo Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing400065 China

ISBN: (纸本)9789887581543

At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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Trust Consensus Protocol for Heterogeneous Underwater Robotic Systems

Trust Consensus Protocol for Heterogeneous Underwater Roboti...

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作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems

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Microanalysis of a ductile iron by microchip laser-induced breakdown spectroscopy

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Plasma Science and Technology 2021年第10期23卷 179-185页

作者： Wei Wang Lanxiang Sun Peng Zhang Liming Zheng Lifeng Qi Jinchi Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People’s Republic of China Key Laboratory of Networked Control System Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People’s Republic of China University of Chinese Academy of Sciences Beijing 100049People's Republic of China

Laser beams with ns pulse width are generally employed as an excitation source in the process of detecting inclusions and elemental segregation on a workpiece surface by microanalysis of the laser-induced breakdown *** addition,the ablation crater interval of laser sampling on the sample surface is generally 20μm or *** is difficult to detect the morphology of inclusions smaller than 50μm in diameter and the micro-segregation of ***,in this work,when the laser ablation crater is 10μm and the sampling resolution of the laser on the sample surface is 5μm,the morphology and distribution of spherical inclusions(20–60μm)in ductile iron can be detected according to the difference of the Fe spectrum on the Fe matrix and the spheroidal ***,the distribution of micro-segregation of Mg and Ti elements in ductile iron was also studied.

关键词： micro-laser-induced breakdown spectroscopy micro-LIBS mapping inclusion segregation ductile iron

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Scratch Detection of the PET Bottle Preform Based on Deep Learning 2

Scratch Detection of the PET Bottle Preform Based on Deep Le...

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2nd International Conference on Information Technology and Computer Application, ITCA 2020

作者： Zhou, Lei Liang, Jianan Cao, Yongjun Institute of Intelligent Manufacturing Gdas Guangdong Key Laboratory of Modern Control Technology Guangzhou China South China Robotics Innovation Research Institute Motion Control and Equipment Center Foshan China

ISBN: (纸本)9780738111414

Scratches are a common phenomenon in the production of the PET bottle preform, and traditional inspection by human eyes bring troubles to the automatic production process. In this paper, deep learning algorithm was used to detect PET bottle preform scratches. The detection algorithm based on YOLOv4 neural network was proposed. The detection effect was tested under different scratch degrees, which provide accurate information for automatic production picking of the PET bottle preform. The average detection time of a single image was 0.154s, and the shortest detection time was 0.133s. © 2020 IEEE.

关键词： Learning algorithms

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Health Monitoring of Pressure Transmitter Sensing Line Based on Convolutional Neural Network 12

Health Monitoring of Pressure Transmitter Sensing Line Based...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2022

作者： He, Tianfang Xu, Aidong Wang, Kai Zeng, Peng Laboratory of Industrial Control Network and System State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China University of Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Industrial Control Network and System State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781839538360

Blockages of pressure transmitter sensing line are a recurring problem in nuclear plants. The traditional solution is to purge them with nitrogen periodically, which is time consuming and radiation intensive. It is thus desirable to monitor the status of sensing lines on-site. The noise analysis method is a promising method for sensing line health monitoring. However, the existing noise analysis methods, which evaluate the sensing line status by analyzing time domain or frequency domain features of process noise signal, are susceptible to working conditions of pressure transmitters. Further, blockage degree of the sensing line can not be determined by existing methods. Therefore, this paper proposes a machine learning based noise analysis method for health monitoring of pressure transmitter sensing line, in which 1-D Convolutional Neural Network (CNN) is used to extract features from process noise signals. Experimental results show that the proposed method achieved satisfactory results in diagnosis accuracy, false alarm rate and robustness of the model under different working conditions. Further, blockage degree of sensing line can also be evaluated. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Frequency domain analysis

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