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3D reconstruction and defect pattern recognition of bonding wire based on stereo vision

CAAI Transactions on Intelligence technology 2024年第2期9卷 348-364页

作者： Naigong Yu Hongzheng Li Qiao Xu Ouattara Sie Essaf Firdaous Faculty of Information Technology Beijing University of TechnologyBeijingChina Beijing Key Laboratory of Computing Intelligence and Intelligent System Beijing University of TechnologyBeijingChina Engineering Research Center of Digital Community Ministry of EducationBeijingChina College of Robotic UniversitéFélix Houphouët‐BoignyAbidjanCôte d’Ivoire

Non-destructive detection of wire bonding defects in integrated circuits(IC)is critical for ensuring product quality after ***-processing-based methods do not provide a detailed evaluation of the three-dimensional defects of the bonding ***,a method of 3D reconstruction and pattern recognition of wire defects based on stereo vision,which can achieve non-destructive detection of bonding wire defects is *** contour features of bonding wires and other electronic components in the depth image is analysed to complete the 3D reconstruction of the bonding *** to filter the noisy point cloud and obtain an accurate point cloud of the bonding wire surface,a point cloud segmentation method based on spatial surface feature detection(SFD)was *** can extract more distinct features from the bonding wire surface during the point cloud segmentation ***,in the defect detection process,a directional discretisation descriptor with multiple local normal vectors is designed for defect pattern recognition of bonding *** descriptor combines local and global features of wire and can describe the spatial variation trends and structural features of *** experimental results show that the method can complete the 3D reconstruction and defect pattern recognition of bonding wires,and the average accuracy of defect recognition is 96.47%,which meets the production requirements of bonding wire defect detection.

关键词： bonding wire defect detection point cloud point cloud segmentation

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An Encoded Double Auxiliary Pilot Channel Estimation Method for Intrinsic Interference Cancellation in FBMC/OQAM Systems 6

An Encoded Double Auxiliary Pilot Channel Estimation Method ...

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6th IEEE International Conference on Artificial Intelligence in Engineering and technology, IICAIET 2024

作者： Xing, Sixuan Xiang, Jianhong Wang, Ying Qi, Liangang Zhong, Yu College of Information and Communication Engineering Harbin Engineering University Harbin China Harbin Engineering University Key Laboratory of Advanced Ship Communication and Information Technology Harbin China Agile and Intelligent Computing Key Laboratory Chengdu China

ISBN: (纸本)9798350389692

Filter bank multicarrier technique (FBMC) is considered as a promising modulation technique suitable for future communications. However, the presence of intrinsic interference prevents the efficient implementation of techniques such as channel estimation. This paper presents a encode double auxiliary pilot channel estimation method (EDAP) for filter bank multicarrier offset quadrature amplitude modulation (FBMC/OQAM) systems. In order to eliminate the intrinsic interference, we add auxiliary symbols around the pilot, and at the same time perform a precoding process to minimize the auxiliary pilot energy loss and computational complexity. In order to validate the above method, the OQAM/FBMC system is modeled. Theoretical analysis and numerical results show that the method improves the channel estimation accuracy by 2.15-3.22 dB in double selective channels while maintaining low power consumption and low complexity. © 2024 IEEE.

关键词： Quadrature amplitude modulation

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Environmental Features Assessment Network Aided Deep Reinforcement Learning for Quadrupedal Locomotion in Tough Terrain

Environmental Features Assessment Network Aided Deep Reinfor...

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2023 China Automation Congress, CAC 2023

作者： Zuo, Guoyu Wang, Yong Huang, Gao Yu, Shuangyue Beijing University of Technology Faculty of Information Technology Beijing100124 China Beijing Key Laboratory of Computing Intelligence and Intelligent Systems Beijing100124 China

ISBN: (纸本)9798350303759

Quadrupedal robots have more powerful locomotion capabilities compared to other types of mobile robots. However, the complexity of their controllers and the need to adapt to a wide variety of terrains poses a huge difficulty in the design of the controllers. Recently, deep reinforcement learning (DRL) has been widely used in quadruped robot controller design but still relies on complex and reliable sensing frameworks. In this paper, we propose a motion controller training framework. The framework includes an Environmental Feature Assessment Network (EFANet) to guide the action output of the policy network, and an asymmetric actor-critic structure to help the policy network infer terrain features. We also introduce a strategic trajectory generator into our framework to prevent the robot from generating abnormal gaits. The proposed framework for learning quadrupedal locomotion allows quadrupedal robots to traverse challenging terrains with limited sensors. Finally, the proposed approach is tested and evaluated in a simulation environment using the A1 quadruped robot model. © 2023 IEEE.

关键词： Reinforcement learning

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Repetitive Path Planning with Experience-Based Bidirectional RRT 1

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International Conference on Robots for Space Applications in Orbital Stations, TORVEASTRO 2023

作者： Zuo, Guoyu Wu, Chun Huang, Gao Beijing Key Laboratory of Computing Intelligence and Intelligent Systems Beijing100124 China Faculty of Information Technology Beijing University of Technology Beijing100124 China

ISBN: (数字)9783031284472

ISBN: (纸本)9783031284465

Repetitive motion planning in semi-structured environments is involved in many robotics applications, such as manufacturing and in-orbit service of spatial robotic arms. In these scenarios, the environment is mainly static, but it may contain some movable obstacles that the robot needs to avoid, and the planning problems that the robot will encounter are very similar. However, most current sampling-based motion planning methods ignore the correlation among tasks, and instead plan each task instance from scratch, or assume that the environment is highly structured. In order to overcome this problem, this paper proposes an experience-based bidirectional rapidly-exploring random trees* (EBRRT*) for repetitive path planning in semi-structured environments. First, an adaptive sampler learned from the demonstration paths by a Gaussian mixture model (GMM) is constructed, which can guide the planner to generate samples in task-related regions. Second, an experience graph is proposed to capture the exploration of configuration space by previous similar tasks. Subsequent tasks can retrieve locally valuable information from the graph to avoid exploring the configuration space repeatedly. In addition, the validity of edges contained in the experience graph is lazily verified during the planning process so that the experience graph can adapt to small environmental changes. Finally, the proposed method is verified in a 2D simulation environment and a 7-DOF manipulator scene. Experimental results show that the proposed method can return a high-quality path in less time than other state-of-the-art sample-based motion planning for repetitive path planning in semi-structured environments. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Motion planning

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A graph reasoning method for multi-object unordered stacking scenarios

A graph reasoning method for multi-object unordered stacking...

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2023 IEEE International Conference on Real-Time computing and Robotics, RCAR 2023

作者： Zuo, Guoyu Wang, Zihao Gong, Daoxiong Huang, Gao Beijing University of Technology Faculty of Information Technology Beijing100124 China Beijing Key Laboratory of Computing Intelligence and Intelligent Systems Beijing100124 China

ISBN: (纸本)9798350327182

In order to enable the robot to safely pick the target object from it in the face of a scene with multiple objects stacked in a disorderly manner. It is of great importance for intelligent robot grasping to get the operation order by obtaining the position relationship between the target object and other objects in space. In this paper, an end-to-end detection inference network is proposed, in which features are extracted from the input RGB information by EfficientNet-B0 combined with BiFPN in terms of feature extraction, and in terms of operation relationships, object pairs without up-down position relationships are first eliminated to reduce the amount of operations, and graph attention networks (GAT) are later used to reason about the positions between objects. The network model is trained and tested on the VMRD dataset, and the experiments show that this model has good results in inference of object spatial position relationships for multi-object unordered stacked scenes. © 2023 IEEE.

关键词： intelligent robots

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Hybrid particle swarm optimization with adaptive learning strategy

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Soft computing 2024年第17-18期28卷 9759-9784页

作者： Wang, Lanyu Tian, Dongping Gou, Xiaorui Shi, Zhongzhi School of Mathematics and Information Sciences Baoji University of Arts and Science Shaanxi Baoji721007 China Institute of Computer Software Baoji University of Arts and Sciences Shaanxi Baoji721007 China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China

Particle swarm optimization (PSO) is a meta-heuristic algorithm that can be used to solve different real-world optimization problems. However, PSO suffers from some intrinsic drawbacks, including falling into local optimal and slow convergence in the latter evolution process. To deal with these issues, a hybrid PSO with adaptive learning strategy (abbreviated as HPSO-ALS) is proposed in this paper. To start with, the chaotic opposition-learning method is employed to generate the uniformly distributed particles so as to enhance the quality of the initial swarm. Next, a self-logical mapping-based nonlinear decreasing inertia weight is formulated to trade off the global search and local search abilities. Meanwhile, different adaptive position updating strategies are leveraged to achieve better convergence according to different evolution status. In addition, inspired by the cask effect, the global worst particle (gworst) is introduced into the velocity updating to make full use of the potential information of the particles. Finally, extensive experiments on sixteen benchmark functions and CEC’13 test suite have verified the promising performance of HPSO-ALS proposed in this paper. Alternatively, HPSO-ALS is also applied to the classical traveling salesman problem (TSP) and the experimental results have further validated the effectiveness and efficiency of our proposal. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Traveling salesman problem

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High-Performance Thin Film Lithium Niobate Electro-optic Modulator By Embedding Structure

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IEEE Photonics technology Letters 2025年第13期37卷 701-704页

作者： Song, Shuxiang Li, Haisheng Yang, Jiayu Yin, Yihui Yang, Wanli Li, Yue Li, Hangyu Cen, Mingcan Guangxi Normal University Guangxi Key Laboratory of Brain-inspired Computing and Intelligent Chips School of Electronic and Information Engineering Guilin China Guilin China Guangxi Key Laboratory of Precision Navigation Technology and Application Guilin University of Electronic Technology 541004 China 34th Research Institute of China Electronics Technology Group Corporation Guilin541004 China

Electro-optic modulators with low driving voltage and wide bandwidth are critical for advanced analog and digital communication systems. Improving the modulation efficiency of thin-film lithium niobate (TFLN) modulators is essential to reducing drive voltage and device length, thereby enabling compact chip integration and enhanced modulation bandwidth. This work introduces a novel TFLN modulator featuring an embedded dual capacitance-loaded traveling-wave electrode (EDC-TWE) to achieve superior electro-optic modulation efficiency and minimized optical loss. The fabricated modulator, with a 10-mm-long modulation region, achieves a half-wave voltage of 1.45 V and an electro-optic modulation bandwidth exceeding 40 GHz, demonstrating its potential for high-performance optical communication applications. © 1989-2012 IEEE.

关键词： Digital communication systems

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Data secure transmission intelligent prediction algorithm for mobile industrial IoT networks

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Digital Communications and Networks 2023年第2期9卷 400-410页

作者： Lingwei Xu Hao Yin Hong Jia Wenzhong Lin Xinpeng Zhou Yong Fu Xu Yu Department of Information Science and Technology Qingdao University of Science and TechnologyQingdao266061China Fujian Key Laboratory of Sensing and Computing for Smart Cities Xiamen UniversityXiamen361005China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control(Minjiang University) Fuzhou350121China Faculty of Information Science and Engineering Ocean University of ChinaQingdao266100China Shandong Provincial Key Laboratory of Computer Networks Shandong Computer Science Center(National Supercomputer Center in Jinan)JinanChina

Mobile Industrial Internet of Things(IIoT)applications have achieved the explosive growth in recent *** mobile IIoT has flourished and become the backbone of the industry,laying a solid foundation for the interconnection of all *** variety of application scenarios has brought serious challenges to mobile IIoT networks,which face complex and changeable communication *** data secure transmission is critical for mobile IIoT *** paper investigates the data secure transmission performance prediction of mobile IIoT *** cut down computational complexity,we propose a data secure transmission scheme employing Transmit Antenna Selection(TAS).The novel secrecy performance expressions are first ***,to realize real-time secrecy analysis,we design an improved Convolutional Neural Network(CNN)model,and propose an intelligent data secure transmission performance prediction *** mobile signals,the important features may be removed by the pooling *** will lead to negative effects on the secrecy performance prediction.A novel nine-layer improved CNN model is *** of the input and output layers,it removes the pooling layer and contains six convolution ***,Back-Propagation(BP)and LeNet methods are employed to compare with the proposed *** simulation analysis,good prediction accuracy is achieved by the CNN *** prediction accuracy obtains a 59%increase.

关键词： Mobile IIoT networks Data secure transmission Performance analysis intelligent prediction Improved CNN

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Noise Detection and Removal for Underground Communication Systems Based on L2 N onnal Inner Product 6

Noise Detection and Removal for Underground Communication Sy...

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6th IEEE International Conference on Artificial Intelligence in Engineering and technology, IICAIET 2024

作者： Yu, Bangwei Wang, Yong Qi, Liangang Liu, Yang College of Information and Communication Engineering Harbin Engineering University Harbin China Harbin Engineering University Key Laboratory of Advanced Ship Communication and Information Technology Harbin China Sichuan Key Laboratory of Agile Intelligent Computing Chengdu China

ISBN: (纸本)9798350389692

In underground communication systems, continuous mud pulse signals are susceptible to pump noise during transmission, resulting in a high bit error rate(BER). In this paper, a Normal Inner Product Orthogonal Matching Pursuit(NIPOMP) algorithm is proposed for the transmission characteristics of continuous waves in the underground. First, a cyclic prefix(CP) is added in front of the sent data. Then the observation vector is obtained by making a difference between the CP of the latter set of data and the CP of the former set of data. Then, the columns of the sensing matrix that are most correlated with the observation vectors are selected as candidate support sets by calculating the L2 norm. The least squares method was used to solve for the previous set of pump noise estimates. Finally, the pump noise is reconstructed using the correspondence between the time and frequency domains. This paper establishes a complete underground communication system. We discuss the noise characteristics of pump noise and analyze the denoising performance of the NIPOMP algorithm in depth. Simulation results show that the algorithm significantly reduces the system BER in complex channel environments with more drastic fading, including gas-phase, liquid-phase, gas-liquid two-phase, and liquid-solid two-channel environments. © 2024 IEEE.

关键词： Bit error rate

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Adaptive Multi-Updating Strategy Based Particle Swarm Optimization

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intelligent Automation & Soft computing 2023年第9期37卷 2783-2807页

作者： Dongping Tian Bingchun Li Jing Liu Chen Liu Ling Yuan Zhongzhi Shi School of Computer Science and Technology Kashi UniversityKashi844006China Key Laboratory of Intelligent Information Processing Institute of Computing TechnologyChinese Academy of SciencesBeijing100190China

Particle swarm optimization(PSO)is a stochastic computation tech-nique that has become an increasingly important branch of swarm intelligence ***,like other evolutionary algorithms,PSO also suffers from premature convergence and entrapment into local optima in dealing with complex multimodal *** this paper puts forward an adaptive multi-updating strategy based particle swarm optimization(abbreviated as AMS-PSO).To start with,the chaotic sequence is employed to generate high-quality initial particles to accelerate the convergence rate of the ***,according to the current iteration,different update schemes are used to regulate the particle search process at different evolution *** be specific,two different sets of velocity update strategies are utilized to enhance the exploration ability in the early evolution stage while the other two sets of velocity update schemes are applied to improve the exploitation capability in the later evolution *** by the unequal weightage of acceleration coefficients is used to guide the search for the global worst particle to enhance the swarm *** addition,an auxiliary update strategy is exclusively leveraged to the global best particle for the purpose of ensuring the convergence of the PSO ***,extensive experiments on two sets of well-known benchmark functions bear out that AMS-PSO outperforms several state-of-the-art PSOs in terms of solution accuracy and convergence rate.

关键词： Particle swarm optimization local optima acceleration coefficients swarm diversity premature convergence

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