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2022 International Conference on Mechanisms and robotics, ICMAR 2022

作者： Song, Libo Shi, Haibo Liu, Chang Zhu, Jun Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China 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: (纸本)9781510657328

Product tending machine (PTM) is one of the most important equipment in the aluminum electrolysis production process, for the problem of PTM optimization, a queuing system model of aluminum electrolysis PTM is proposed for the first time. According to the actual production situation of the aluminum electrolysis industry, a non-preemptive priority M/G/1 aluminum electrolysis PTM queuing system model is defined, and the general calculation formula of the operating index of the non-preemptive priority PTM queuing system is given, including queuing system length, waiting time, optimal service rate, etc. According to the actual production data of an aluminum factory, the relevant indicators were calculated and analyzed, and the relationship between the operating indicators and the number of electrolysis cells was drawn. Finally, under the conditions of meeting different operating indicators, the optimal matching scheme of PTM and aluminum electrolysis cells was given. © 2022 SPIE.

关键词： Queueing theory

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Design of Lifting Mechanism of Transfer Robot for the Elderly

Design of Lifting Mechanism of Transfer Robot for the Elderl...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Yang, Jing Song, Zhen Wu, Ruikai Wang, Jingchuan Dalian Polytechnic University China Min. of Educ. of China Shanghai Eng. Res. Ctr. of Intelligent Contr. and Mgmt. Inst. of Med. Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

With the intensification of the aging trend, the promotion of the design of aging facilities is conducive to improving the livelihood and welfare of the elderly and is of great significance to promoting the comprehensive, coordinated and sustainable development of the cause of aging. The transfer concept of the robot designed in this article is to enable the elderly and the disabled who are living at home to complete the actions of standing, transferring, and sitting like normal people. In view of the lack of analysis of the user's own body state in the current transfer assist equipment in the design process, the robot's lifting mechanism is optimized from the perspective of biomechanics, and finally the optimal size parameter combination of the robot's lifting mechanism is obtained. © 2022 IEEE.

关键词： Machine design

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Discrete particle swarm algorithm with Q-Learning for solving flexible job shop scheduling problem with parallel batch processing machine 2

Discrete particle swarm algorithm with Q-Learning for solvin...

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2022 2nd International Conference on Artificial Intelligence and Industrial Technology Applications, AIITA 2022

作者： Song, Libo Liu, Chang Shi, Haibo Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China 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

For the flexible job shop scheduling problem with parallel batch processing machines (FJSP-PBPM), the mathematical model of the problem is defined, and an improved enhanced discrete particle swarm algorithm is proposed to solve this problem. In terms of global search, an improved discrete particle swarm algorithm is adopted, and effective particle velocity and position update formulas are designed;in the local search, in order to speed up the convergence speed and avoid local convergence, it is integrated into the q-learning method in reinforcement learning. The state space, action space, reward function, and Q-table update methods that meet the scheduling problem are designed, and the proposed hybrid algorithm achieves an effective balance between global search and local search capabilities. At the same time, according to the characteristics of FJSP-PBPM, effective process sequence scheduling rules and batch machine selection rules are designed respectively to improve the search ability of the algorithm. Through the standard FJSP benchmark problem and the production data of a transformer manufacturer that meets the characteristics of the FJSP-PBPM problem, the validity and feasibility of the proposed algorithm are verified. © Published under licence by IOP Publishing Ltd.

关键词： Reinforcement learning

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A distributed integrated energy trading solution

A distributed integrated energy trading solution

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2021 International Conference on Computer, Blockchain and Financial Development, CBFD 2021

作者： Dong, Jingya Song, Chunhe Zheng, Zeyu Zhang, Tao Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Nationality Department of Digital Factory Shenyang China University of Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9781665412278

Blockchain technology can bring profound changes to the energy industry and is now becoming a new driving force for the rapid development of this sector. In order to build a secure, reliable, and stable energy service system, it is necessary to study the framework and interaction mechanism of the energy trading system. This paper introduces a distributed integrated energy trading solution, proposes a new overall architecture, and analyses the blockchain model. This paper presents an algorithm to calculate the score directly in the client. Through this algorithm, users can choose service providers, get rid of cloud control, and realize users' free choice of electricity purchase and interaction between users through the smart contract. The test results show that the system has high performance and efficiency, can meet the needs of integrated energy transactions, and provides a solution for the application of blockchain in energy trading. © 2021 IEEE.

关键词： Smart contract

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Enhancement of Two-Photon Fluorescence Microscopy Through Auxiliary Microspheres for Microscopic Observation

Enhancement of Two-Photon Fluorescence Microscopy Through Au...

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IEEE International Conference on Cyber Technology in Automation, control, and intelligent Systems

作者： Feng Zhang Zijian Jin Chaodi Jiang Shuai Yuan Yongliang Yang Xiaoduo Wang School of Electrical & Control Engineering Shenyang Jianzhu University Shenyang Liaoning Province China School of Computer Science and Engineering Shenyang Jianzhu University Shenyang Liaoning Province China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

At present, it is still a great challenge to improve the observation accuracy of two-photon fluorescence microscope. A new method that using auxiliary microspheres as movable components on the sample is proposed to solve this challenge in this study, it can improve high-resolution imaging. In experiments using two-photon fluorescence microscopy, the half-width height (FWHM) of red fluorescent nanoparticles with a diameter of 20 nm was observed to be 296 nm using a primitive microscope system. In this paper by combining barium titanate microspheres with two-photon fluorescence microscopy, the accuracy of the point spread function of the nanoparticles can be improved by a factor of about 1.65, which results in a significant reduction of their half-width height measurements to 179 nm. The research is of great significance to improve the resolution of two-photon fluorescence microscope. This progress is very valuable for studying biological tissues and cell structures, it provides a new impetus for the sustainable development in the microscopic imaging field.

关键词： Nanoparticles Accuracy Barium Microscopy Refractive index High-resolution imaging Fluorescence Titanium compounds Sustainable development intelligent systems

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A High-Precision Edge Detection Algorithm Based on Improved Sobel Operator-Assisted HED

A High-Precision Edge Detection Algorithm Based on Improved ...

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IEEE International Conference on Cyber Technology in Automation, control, and intelligent Systems

作者： Yeborui Yuan Wenyuan Chen Jie Tang Jia Yang School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China State Key Laboratory of Robotics Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

In response to the problem of poor detection performance of the traditional Sobel operator in edge detection, a high-precision edge detection algorithm based on Sobel operator-assisted Holistically-nested Edge Detection (HED) network was proposed, which is named ISAHED here. The algorithm is designed as follows. Firstly, an improved Sobel operator based on the traditional Sobel operator was proposed through adding gradient direction. Then, the image output by the improved Sobel operator is taken as the ground-truth image and as the end-to-end comparison object in a HED-like network. Finally, the ISAHED algorithm outputs edge images with better quality through iterative learning of the HED-like neural network. The experimental results prove that the proposed ISAHED algorithm has better edge detection performance by visually observing the final edge images and further evaluating the values of FOM. This work provides an important reference for the further development of the edge detection technology.

关键词： Automation Image edge detection Image processing Neural networks control systems Iterative algorithms intelligent systems

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Self-supervised Multi-frame Monocular Depth Estimation with Pseudo-LiDAR Pose Enhancement

Self-supervised Multi-frame Monocular Depth Estimation with ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wenhua Wu Guangming Wang Jiquan Zhong Hesheng Wang Zhe Liu MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Insititute of Medical Robotics Shanghai Jiao Tong University Shanghai China

Depth estimation is one of the most important tasks in scene understanding. In the existing joint self-supervised learning approaches of depth-pose estimation, depth estimation and pose estimation networks are independent of each other. They only use the adjacent image frames for pose estimation and lack the use of the estimated geometric information. To enhance the depth-pose association, we propose a monocular multi-frame unsupervised depth estimation framework, named PLPE-Depth. There are a depth estimation network and two pose estimation networks with image input and pseudo-LiDAR input. The main idea of our approach is to use the pseudo-LiDAR reconstructed from the depth map to estimate the pose of adjacent frames. We propose depth re-estimation with a better pose between the image pose and the pseudo-LiDAR pose to improve the accuracy of estimation. Besides, we improve the reconstruction loss and design a pseudo-LiDAR pose enhancement loss to facilitate the joint learning. Our approach enhances the use of the estimated depth information and strengthens the coupling between depth estimation and pose estimation. Experiments on the KITTI dataset show that our depth estimation achieves state-of-the-art performance at low resolution. Our source codes will be released on https://***/IRMVLabIPLPE-Depth.

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Human-like Walking of Biped Robot with Foot Rotation Using Passive Metatarsophalangeal Joint 12

Human-like Walking of Biped Robot with Foot Rotation Using P...

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12th International Conference on CYBER Technology in Automation, control, and intelligent Systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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TryOn-Adapter: Efficient Fine-Grained Clothing Identity Adaptation for High-Fidelity Virtual Try-On

arXiv

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arXiv 2024年

作者： Xing, Jiazheng Xu, Chao Qian, Yijie Liu, Yang Dai, Guang Sun, Baigui Liu, Yong Wang, Jingdong Laboratory of Advanced Perception on Robotics and Intelligent Learning College of Control Science and Engineering Zhejiang University Zhejiang Hangzhou310027 China Alibaba Group China SGIT AI Lab State Grid Shaanxi Electric Power Company China Baidu Inc China

Virtual try-on focuses on adjusting the given clothes to fit a specific person seamlessly while avoiding any distortion of the patterns and textures of the garment. However, the clothing identity uncontrollability and training inefficiency of existing diffusion-based methods, which struggle to maintain the identity even with full parameter training, are significant limitations that hinder the widespread applications. In this work, we propose an effective and efficient framework, termed TryOn-Adapter. Specifically, we first decouple clothing identity into fine-grained factors: style for color and category information, texture for high-frequency details, and structure for smooth spatial adaptive transformation. Our approach utilizes a pre-trained exemplar-based diffusion model as the fundamental network, whose parameters are frozen except for the attention layers. We then customize three lightweight modules (Style Preserving, Texture Highlighting, and Structure Adapting) incorporated with fine-tuning techniques to enable precise and efficient identity control. Meanwhile, we introduce the training-free T-RePaint strategy to further enhance clothing identity preservation while maintaining the realistic try-on effect during the inference. Our experiments demonstrate that our approach achieves state-of-the-art performance on two widely-used benchmarks. Additionally, compared with recent full-tuning diffusion-based methods, we only use about half of their tunable parameters during training. The code will be made publicly available at https://***/jiazhengxing/TryOn-Adapter. © 2024, CC BY-NC-ND.

关键词： Textures

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Attitude Estimation from Vector Measurements: Necessary and Sufficient Conditions and Convergent Observer Design

arXiv

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arXiv 2022年

作者： Yi, Bowen Wang, Lei Manchester, Ian R. The Australian Centre for Field Robotics Sydney Institute for Robotics and Intelligent Systems The University of Sydney SydneyNSW2006 Australia State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability. Such a condition is shown to be strictly weaker than those previously used for attitude observer design. Thereafter, we show that even for the single vector case the resulting condition is sufficient to design almost globally convergent attitude observers, and two explicit designs are obtained. To overcome the weak excitation issue, the first design employs to make full use of historical information, whereas the second scheme dynamically generates a virtual reference vector, which remains non-collinear to the given vector measurement. Simulation results illustrate the accurate estimation despite noisy measurements. © 2022, CC BY.

关键词： Vectors

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