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12th International Conference on Information technology in Medicine and Education, ITME 2022

作者： Zhong, Yuning Hu, Rong Li, Zuoyong Cai, Yuanzheng Fujian University of Technology College of Computer Science and Mathematics Fuzhou350118 China Minjiang University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Fuzhou350121 China

ISBN: (纸本)9798350310153

Insulator exposed to a wild environment for long-term running usually suffers from the damage of natural calamities that makes them become one of the most fragile components in the whole power system. In this case, even a slight fault will seriously affect the power supply safety of the power grid. Therefore, it is critical to find and identify the faulty insulator efficiently and accurately. However, an insulator is quite a small component in comparison with a huge power system which makes it hard to visible with naked eyes. This characteristic leads to poor recognition accuracy for existing detection methods. In order to solve the above problems, we propose an insulator defect detection algorithm based on an improved YOLOv4-tiny model. It differs from existing insulator detection models, our algorithm applies the effective channel attention network to the feature extraction network of YOLOv4-tiny, which significantly enhances the feature extraction ability of the backbone network. These two-way features of the pyramid can be fully fused in the two-way feature fusion stages seamlessly. Experimental results show that compared with, our proposed algorithm outperforms Faster RCNN and YOLOv3 in average classification accuracy, missed detection, and false detection. © 2022 IEEE.

关键词： Feature extraction

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Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning

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IEEE/CAA Journal of automatica Sinica 2022年第1期9卷 47-63页

作者： Yongliang Yang Zihao Ding Rui Wang Hamidreza Modares Donald C.Wunsch Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation&Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China School of Automation Beijng Institute TechnologyBeijing 100081China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Mechanical Engineering Department Michigan State UniversityEast LansingMI 48824 USA Department of Electrical&Computer Engineering Missouri University of Science&TechnologyRollaMO 65401 USA

In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the *** presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller *** task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the ***-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance *** the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity *** this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task *** simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.

关键词： Adaptive impedance control data-driven method human-robot interaction(HRI) reinforcement learning velocity-free

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A Dynamic Time Slot Algorithm Based on Throughput Optimization in IEEE 802.11 Wireless Networks 12

A Dynamic Time Slot Algorithm Based on Throughput Optimizati...

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12th International Conference on Information technology in Medicine and Education, ITME 2022

作者： Jin, Guonian Lu, Shejie Hu, Siping Xu, Haihong Gao, Jinfeng Liu, Fang Wu, Haitao Hubei University of Science and Technology School of Computer Science and Technology Institute of Engineering and Technology Xianning437100 China Huanghuai University International Joint Laboratory of Behavior Optimization Control for Smart Robots College of Computer and Artificial Intelligence Zhumadian463000 China

ISBN: (纸本)9798350310153

In IEEE 802.11 wireless LAN, as the number of nodes increases, collisions will increase correspondingly, channel utilization will decline, and the total throughput will decline instead of increasing, leading to system performance degradation. Through in-depth analysis of the root cause of this problem, this paper designs a simple and effective algorithm, which uses ARMA filtering algorithm to measure the conditional collision probability and then calculate the number of nodes in the network. The AP tells all nodes in the network in the form of broadcast when the number of nodes in the network changes, after all nodes receive the broadcast sent by the AP, they dynamically adjust the network parameters accordingly. Finally, NS2 simulation software is used to conduct simulation experiments in a variety of network scenarios, and the experimental results verify that the algorithm in this paper is simple and effective, with less changes to IEEE 802.11, and is suitable for use and promotion in wireless networks. It can optimize the network system performance based on the number of nodes, improve the system throughput, and significantly improve the network performance. According to the number and density of nodes, the algorithm reduces the collision probability by dynamically adjusting the timeslot, accordingly increases the total network throughput, and achieves the purpose of effectively improving the network performance. © 2022 IEEE.

关键词： IEEE Standards

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Real-time FPGA implementation of the Semi-Global Matching stereo vision algorithm for a 4K/UHD video stream

arXiv

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arXiv 2023年

作者： Grabowski, Mariusz Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics Agh University of Science and Technology Krakow Poland

In this paper, we propose a real-time FPGA implementation of the Semi-Global Matching (SGM) stereo vision algorithm. The designed module supports a 4K/Ultra HD (3840 ×2160 pixels @ 30 frames per second) video stream in a 4 pixel per clock (ppc) format and a 64-pixel disparity range. The baseline SGM implementation had to be modified to process pixels in the 4ppc format and meet the timing constrains, however, our version provides results comparable to the original design. The solution has been positively evaluated on the Xilinx VC707 development board with a Virtex-7 FPGA device. © 2023, CC BY.

关键词： Field programmable gate arrays (FPGA)

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Identification of Magnetorheological Damper Model for Off-Road Vehicle Suspension 21st

Identification of Magnetorheological Damper Model for Off-Ro...

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21st Polish control Conference, PCC 2023

作者： Krauze, Piotr Placzek, Marek Zmudka, Zbigniew Bauke, Dawid Olszowka, Przemyslaw Turek, Jakub Wycislok, Artur Ziaja, Maciej Zosgornik, Szymon Janusz, Wojciech Przybyla, Grzegorz Wychowanski, Michal Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Akademicka 16 Gliwice44-100 Poland Silesian University of Technology Faculty of Mechanical Engineering Konarskiego 18A Gliwice44-100 Poland Silesian University of Technology Faculty of Energy and Environmental Engineering Konarskiego 18 Gliwice44-100 Poland Engineering Office Ozarow27-530 Poland Gliwice Poland

ISBN: (纸本)9783031351693

The article presents results of experimental identification of MR (magnetorheological) damper model for an off-road vehicle. Original shock-absorbers of the vehicle were replaced by suspension MR dampers supplied by a dedicated measurement and control system. The vehicle includes several sensors which allow to observe electric currents controlling MR dampers, forces generated in the front vehicle suspension columns and other sensors which measure deflection of these suspension parts. The front part of the semi-active suspension was tested using laboratory setup with vibration mechanical exciters generating sinusoidally variable excitation at frequency equal to 12 Hz. MR dampers were directly controlled by peripheral electronic units generating different constant currents equal to 0, 0.11 and 0.37 A. As a result, evaluated force-velocity characteristics and analysis of MR damper behaviour in the target vehicle were carried out. Further steps of analysis included mathematical description of the selected MR damper using several types of MR damper models, i.e.: Bingham and hyperbolic tangent function models as well as their variants including first-order output dynamics. It was shown that the dynamic model based on hyperbolic tangent function offers the best fitness to the response of the actual MR damper with respect to the mean-squared error. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Off road vehicles

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Research of Improved TD3 Robotic Arm Path Planning using Evolutionary Algorithm 5

Research of Improved TD3 Robotic Arm Path Planning using Evo...

引用

5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Zhang, Feng Xiong, Jianqiang Yuan, Shuai Wen, Ke Shenyang Jianzhu University Liaoning Province Big Data Management and Analysis Laboratory of Urban Construction Shenyang Branch of National Special Computer Engineering Technology Research Center School of Electrical and Control Engineering Shenyang110168 China Shenyang Jianzhu University School of Electrical and Control Engineering Shenyang110168 China Shenyang Jianzhu University School of Computer Science and Engineering Shenyang110168 China

ISBN: (纸本)9798350307320

Nowadays, application of automated intelligent robot arm devices to improve industrial production efficiency has become a popular research field in the world. The previous off-line path planning method of robotic arm has the inadequacies of low efficiency and slow speed. Although the deep reinforcement learning has accomplished many achievements in the path planning of control manipulator, there are still some problems such as long training time and low planning accuracy. To solve the abovementioned issues, we propose an improved Twin Delayed Deep Deterministic policy gradient (TD3) algorithm (Improved Cross-Entropy Method-TD3: ICEM-TD3) for the path planning of the robotic arm. First, this paper combines evolutionary strategies with TD3 to generate action networks. Then the exploration of TD3 algorithm in the action space is replaced by the exploration in the parameter space. In addition, this paper designs a new reward function to weaken the redundancy of planning and accelerate the convergence speed of training. Finally, the Gazebo simulator is adopted to verify the proposed algorithm, and the results illustrate that the proposed algorithm can greatly improve the accuracy of the path planning of the manipulator using deep reinforcement learning. © 2023 IEEE.

关键词： Motion planning

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Polyp Segmentation Neural Network with Simple Encoding Structure and Reverse Attention Module 13

Polyp Segmentation Neural Network with Simple Encoding Struc...

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13th International Conference on Information technology in Medicine and Education, ITME 2023

作者： Wang, Jie Li, Zuoyong Xu, Haiping Cheng, Xuesong Teng, Shenghua College of Electronic and Information Engineering Shandong University of Science and Technology Qingdao266590 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Minjiang University Fuzhou350121 China Fujian Key Laboratory of Medical Big Data Engineering Fujian Provincial Hospital Fuzhou350001 China College of Mathematics and Data Science Minjiang University Fuzhou350121 China

ISBN: (纸本)9798350319156

Colorectal cancer is a common malignancy. In colonoscopy images, computer-assisted polyp segmentation helps doctors diagnose and treat disorders more precisely. In recent years, some methods based on deep convolutional neural networks have made significant breakthroughs in this task. However, only a few algorithms explicitly consider the effect of light intensity on segmentation performance, which results in algorithms needing to be more robust for complex samples. This paper proposes a neural network combining a simple encoding structure with a reverse attention module. Specifically, the model uses HarDNet68 as the backbone network, adds a camouflage identification module (CIM) to enhance the capture of polyp details on the underlying features, and finally utilizes adaptive feature fusion with the reverse attention module (RAM). The proposed model effectively addresses the challenge of poor segmentation quality in colonoscopy images caused by inconsistent illumination. Extensive experiments on five datasets show that the proposed model performs well in polyp segmentation. © 2023 IEEE.

关键词： Diseases

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Real-time FPGA implementation of the Semi-Global Matching stereo vision algorithm for a 4K/UHD video stream

TechRxiv

引用

TechRxiv 2023年

作者： Grabowski, Mariusz Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

In this paper, we propose a real-time FPGA implementation of the Semi-Global Matching (SGM) stereo vision algorithm. The designed module supports a 4K/Ultra HD (3840×2160 pixels @ 30 frames per second) video stream in a 4 pixel per clock (ppc) format and a 64-pixel disparity range. The baseline SGM implementation had to be modified to process pixels in the 4ppc format and meet the timing constrains, however, our version provides results comparable to the original design. The solution has been positively evaluated on the Xilinx VC707 development board with a Virtex-7 FPGA device. © 2023, CC BY.

关键词： Field programmable gate arrays (FPGA)

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Retinal Vessel Segmentation Based on UNet and Edge Detection 12

Retinal Vessel Segmentation Based on UNet and Edge Detection

引用

12th International Conference on Information technology in Medicine and Education, ITME 2022

作者： Yan, Peixin Li, Zuoyong Hu, Rong Cao, Xinrong Fujian University of Technology College of Computer Science and Mathematics Fuzhou350118 China Minjiang University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Colloge of Computer and Control Engineering Fuzhou350121 China

ISBN: (纸本)9798350310153

Retinal vessel segmentation is important for the diagnosis of many diseases. The segmentation of microscopic vessels is one of the challenges because of the complex structure of retinal vessels, which makes it challenging to tell the vessels apart from the background. In order to improve the segmentation performance of retinal vessels, we use the edge detection method of HED to optimize the segmentation effect of UNet. Using Hybrid Dilated Convolution not only increases the perceptual field, but also avoids the loss of information continuity caused by the continuous use of dilated convolution. The Pyramid Pooling Module is used at the end of the encoder to compensate for the information loss caused by downsampling. Finally, the output of edge detection and image segmentation is combined as the final result. The model is evaluated in two mainstream datasets DRIVE and CHASE-DB1, and the experimental results show that the proposed model can improve the performance of retinal vessel segmentation. © 2022 IEEE.

关键词： Convolution

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Towards construction of analog solver of Schroedinger and Ginzburg-Landau equation based on Long Line

arXiv

引用

arXiv 2023年

作者： Pluszyński, Lukasz Pomorski, Krzystof Cracow University of Technology Department of Computer Science Poland Cracow University of Technology Department of Automatic Control and Computer Engineering Poland Quantum Hardware Systems Lodz Poland

The analog electronic computers are a type of circuitry used to calculate specific problems using the physical relationships between the voltages and currents following classical laws of physics. One specific class of these circuits are computers based on the interactions between passive circuit elements. Models presented by Gabriel Kron in 1945 are the example of using such passive elements to construct a solver for the problem of free quantum particles confined by rectangular potential. Numerical validation of Kron's second model is conducted for different shapes of particle confining potential. Kron's model is generalized by introduction of non-linear resistive elements what implies deformation of Schroedinger equation solution into Ginzburg-Landau form. © 2023, CC BY.

关键词： Analog computers

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