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IEEE International Conference on robotics and Biomimetics

作者： Qiong Wu Zhenglong Yi Hongqiang Wang Han Yuan School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen University Town of Shenzhen Shenzhen P.R. China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen P.R. China

ISBN: (纸本)9781665405362

Soft grippers can be used as the end effectors of robots due to their good adaptability to the object being grasped. This is because of the passive compliance of the material. However, for this reason, the grippers have difficulties applying enough forces to the objects. Therefore, how to design the grippers to realize universal adaptive and compliant grasping of the object is worthy of study. In this paper, we design a novel cable-driven soft gripper, the shape and function of which are similar to a human hand. It is able to realize a stable self-adaptive grasp. Kinematic and kinetic models of the finger are established, simulation analysis and finite element analysis are carried out to optimize the finger. Experimental validation proves that the gripper designed can realize stable self-adaptive grasping.

关键词： Analytical models Shape Prototypes Grasping Bending Numerical simulation Mathematical models

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Research on PMSM Vector Control System Based on Fuzzy PI Parameter Self-Tuning 10

Research on PMSM Vector Control System Based on Fuzzy PI Par...

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10th International Conference on Power and Energy systems, ICPES 2020

作者： Ding, Jianhua Zhang, Tao Tao, Ran Wang, Anna Northeastern University College of Information Science and Engineering Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrical Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9781665404945

Based on the analysis of the permanent magnet synchronous motor (PMSM) mathematical model, a PMSM rotor field-oriented double closed-loop vector control system is constructed. Aiming at the defects of slow speed response, large overshoot, severe torque ripple, and poor anti-disturbance ability in the traditional PI controller used in the system speed loop, a fuzzy PI parameter self-tuning controller is proposed. The controller can set the two parameters of proportional and integral online according to fuzzy control rules. The system simulation model is built based on Matlab/Simulink. The simulation results show that the fuzzy PI parameter self-tuning controller has the advantages of fast dynamic response, high steady-state precision and strong anti-disturbance capability. © 2020 IEEE.

关键词： Permanent magnets

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An Anomaly Detection Method of Industrial Data Based on Stacking Integration

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Journal on Artificial Intelligence 2021年第1期3卷 9-19页

作者： Kunkun Wang Xianda Liu College of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang110159China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China Shenyang Institute of Automation Chinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China

With the development of Internet technology,the computing power of data has increased,and the development of machine learning has become faster and *** the industrial production of industrial control systems,quality inspection and safety production of process products have always been our *** at the low accuracy of anomaly detection in process data in industrial control system,this paper proposes an anomaly detection method based on stacking integration using the machine learning *** are collected from the industrial site and processed by feature *** component analysis(PCA)and integrated rule tree method are adopted to reduce the dimension of the process data,which can restore the original feature information of the data to the maximum *** forest(RF),Adaboost,XGboost,SVM were selected as the first layer of basic *** regression(LR)was used as the secondary learner to build the exception detection model based on stacking integrated *** data was used to train the base learner model and the integrated *** comparing and analyzing the experimental results of between integrated model and each basic learning *** comparing and analyzing the experimental results of the constructed anomaly detection model and the basic learning model,the accuracy of process data anomaly detection is effectively improved,and the false alarm rate of process data anomaly detection is effectively reduced.

关键词： Industrial control system anomaly detection random forest SVM stacking

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Short-Term Photovoltaic Power Prediction Modeling Based on AdaBoost Algorithm and Elman 10

Short-Term Photovoltaic Power Prediction Modeling Based on A...

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10th International Conference on Power and Energy systems, ICPES 2020

作者： Sun, Wenxuan Zhang, Tao Tao, Ran Wang, Anna Northeastern University College of Information Science and Engineering Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrical Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9781665404945

In recent years, with the rapid expansion of the installed capacity of renewable energy systems, the availability, stability and quality of smart grids have become increasingly important[1]. The application of renewable energy production forecasting has also been rapidly developed, especially in the field of solar photovoltaic (PV)[2][3]. In the example of solar PV output prediction, machine learning and hybrid technologies have been implemented for many applications. In this paper, a high-precision PV system output power prediction model based on improved AdaBoost and Elman is proposed. Multiple model using integrated AdaBoost algorithm fusion with the bat algorithm for the parameters of optimized combination of weak Elman neural network predictor to become a higher prediction precision, the method of strong predictor of the model can according to the weather information, such as temperature, solar radiation and the history of the output of the PV system data, the probability of photovoltaic power generation for 12 hours and deterministic prediction. The prediction accuracy of the model is determined by Root Mean Squared Error (RMSE). Experimental results show that the prediction accuracy of this algorithm is better than that of other benchmark models, and the algorithm can effectively predict the volatility and irregularity of complex time series. © 2020 IEEE.

关键词： Adaptive boosting

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Monocular Visual SLAM based on VGG Feature Point Extraction

Monocular Visual SLAM based on VGG Feature Point Extraction

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Chinese Control Conference (CCC)

作者： Xu-Yang Dai Qing-Hao Meng Wen-Jian Zheng Shao-Kai Zhu Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University Tianjin China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Significant progress has been made in the field of visual SLAM (Simultaneous Localization and Mapping). However, the localization accuracy of visual SLAM can be significantly reduced in low-texture and illumination-changing environments. To solve these problems, an enhanced visual SLAM algorithm based on VGG (Visual Geometry Group) network was proposed in this paper. Firstly, the VGG network for feature point extraction was incorporated into the visual odometry (VO) to achieve robust camera pose estimation. Secondly, an automatic corner annotation method was adopted to set up the training database, which could reduce the workload of data annotation. Thirdly, to make the backend optimization more suitable for the VGG based VO, the BA (bundle adjustment) optimization process was improved. Experimental results showed that, the proposed visual SLAM method outperformed the mainstream ORB-SLAM (Oriented FAST and Rotated BRIEF SLAM) method, in terms of the number of effective feature points, the robustness of feature matching process to light changes, and the accuracy of robot pose estimation.

关键词： Feature extraction Simultaneous localization and mapping Cameras Visualization Optimization Training Robot vision systems

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A Novel E-Nose Chamber Design for VOCs Detection in Automobiles

A Novel E-Nose Chamber Design for VOCs Detection in Automobi...

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Chinese Control Conference (CCC)

作者： Lu Cheng Yin-Bo Liu Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University Tianjin China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

To detect parts per billion (ppb)-level volatile organic compounds (VOCs) in automobiles, a pre-concentrator is generally needed for electronic noses (e-noses), which can enrich ppb-level concentration to parts per million (ppm) level. However, the current e-nose chamber structure could dilute the pre-concentrated gases and then the detection performance is reduced. To solve this problem, a novel chamber design was proposed in this paper. The core design idea was to reduce the space for the gas flow in the chamber, taking into account the shape and size of the gas sensors. Specially, for the pin-type gas sensors, a series of cylindrical structure design was adopted, and for the micro-electro-mechanical system (MEMS) patch-type sensors, the headspace was compressed. The results of computational fluid dynamics (CFD) based simulation showed that the concentration of pre-concentrated gases in the novel chamber was higher than that of the traditional chamber. The designed chambers were manufactured using polylactic acid (PLA) material by 3D printing. Experimental gases were prepared from polyurethane (PU) leather and polyvinyl chloride (PVC) leather to verify the performance of the chambers, and the results demonstrated that the proposed new e-nose chamber was superior to the traditional one in terms of the pre-concentration effect, repeatability and classification performance.

关键词： Gas detectors Sensor arrays Micromechanical devices Fluid flow Gases Automobiles

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Indoor Layout Estimation by Fusing Monocular RGB Image Features Extracted with HRNet

Indoor Layout Estimation by Fusing Monocular RGB Image Featu...

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Chinese Control Conference (CCC)

作者： Rong-Ze Huang Yin-Bo Liu Meh Jabeen Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University Tianjin China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Indoor layout estimation (ILE) is a challenging research that segments the natural indoor scene image into floor, walls and ceiling, and it has a wide range of application prospects in the fields such as scene understanding, reconstruction, robot positioning, and virtual reality. An ILE method by merging multiple features from a monocular red-green-blue (RGB) image was proposed. Firstly, the High-resolution networks (HRNet) was used to extract the features of indoor corner keypoints (CKs) and informative edges (IEs) in the form of heatmaps. Secondly, the extracted features were then selected through a room type (RT) classification network. Finally, a feature fusion algorithm was proposed, which obtained the initial layout hypothesis through CK features and then continuously optimized the layout hypothesis with IE features. The proposed ILE method was validated on the large scene understanding challenge (LSUN) dataset.

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EFaR 2023: Efficient Face Recognition Competition

EFaR 2023: Efficient Face Recognition Competition

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IEEE International Joint Conference on Biometrics (IJCB)

作者： Jan Niklas Kolf Fadi Boutros Jurek Elliesen Markus Theuerkauf Naser Damer Mohamad Alansari Oussama Abdul Hay Sara Alansari Sajid Javed Naoufel Werghi Klemen Grm Vitomir Štruc Fernando Alonso-Fernandez Kevin Hernandez Diaz Josef Bigun Anjith George Christophe Ecabert Hatef Otroshi Shahreza Ketan Kotwal Sébastien Marcel Iurii Medvedev Bo Jin Diogo Nunes Ahmad Hassanpour Pankaj Khatiwada Aafan Ahmad Toor Bian Yang Fraunhofer Institute for Computer Graphics Research IGD Germany TU Darmstadt Germany Department of Electrical and Computer Engineering Khalifa University Abu Dhabi United Arab Emirates Laboratory for Machine Intelligence Faculty of Electrical Engineering University of Ljubljana Slovenia Halmstad University Sweden Idiap Research Institute Martigny Switzerland École Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland Université de Lausanne (UNIL) Lausanne Switzerland Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Information Security and Communication Technology eHealth and Welfare Security Group Norwegian University of Science and Technology Norway

This paper presents the summary of the Efficient Face Recognition Competition (EFaR) held at the 2023 International Joint Conference on Biometrics (IJCB 2023). The competition received 17 submissions from 6 different teams. To drive further development of efficient face recognition models, the submitted solutions are ranked based on a weighted score of the achieved verification accuracies on a diverse set of benchmarks, as well as the deployability given by the number of floating-point operations and model size. The evaluation of submissions is extended to bias, cross-quality, and large-scale recognition benchmarks. Overall, the paper gives an overview of the achieved performance values of the submitted solutions as well as a diverse set of baselines. The submitted solutions use small, efficient network architectures to reduce the computational cost, some solutions apply model quantization. An outlook on possible techniques that are underrepresented in current solutions is given as well.

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Analysis and Control of the Dynamic Walking of the Compass Biped Walker Using Poincaré Maps: Comparison Between Two Design Approaches

Analysis and Control of the Dynamic Walking of the Compass B...

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Signal, Control and Communication (SCC), International Conference on

作者： Wafa Znegui Hassène Gritli Safya Belghith Higher Institute of Information and Communication Technologies (ISTIC) University of Carthage Tunis Tunisia Laboratory of Robotics Informatics and Complex Systems (RISC Lab LR16ES07) National Engineering School of Tunis (ENIT) University of Tunis El Manar Tunis Tunisia

ISBN: (纸本)9781665402712

The present work aspires to summarize and compare previous findings treating the analyze and control of the human-like passive walking dynamics of the compass-gait biped walker (CGBW). Our development is based on examining the impulsive hybrid nonlinear dynamics (IHNLD) describing the walking process of the CGBW and defining a linear dynamics around a period-1 passive hybrid limit cycle (p1-PHLC). Based on Taylor series approximation, we analytically demonstrate several expressions of the the Poincaré map (PM) and controlled Poincaré map (CPM). The control of the passive walking of the CGBW is the main objective behind this paper. Therefore, we present two approaches leading to stabilize period-1 fixed point of the PMs and particularly we will compare between two control laws and promote their low energy consumption.

关键词： Legged locomotion Energy consumption Conferences Limit-cycles Taylor series Nonlinear dynamical systems Compass

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Further Analysis of the Passive Walking Gaits of the Compass Biped Robot: Bifurcations and Chaos

Further Analysis of the Passive Walking Gaits of the Compass...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Essia Added Hassène Gritli Safya Belghith Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Tunis Tunisia Higher Institute of Information and Communication Technologies University of Carthage Borj Cedria Tunis Tunisia

In this paper, we are interested in the analysis of the passive walking gaits of the compass-type bipedal robot while descending sloped surfaces. This type of biped robot is a two-degree-freedom mechanical system characterized by an impulsive hybrid dynamics that brings out attractive nonlinear phenomena like chaos and different types of bifurcations. In this work, we investigate by means of bifurcation diagrams, the influence of certain parameters on the passive motion of bipedal robot. As a result, we show the exhibition of new complex walking behaviors emerged from different types of bifurcations such as the period-doubling bifurcation and the Neimark-Sacker bifurcation, and also emerged via the period-remerging scenario. These results further confirm the complexity of the biped/human walk.

关键词： Legged locomotion Dynamics Bifurcation Nonlinear dynamical systems Complexity theory Mechanical systems Compass

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