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Dynamic Movement Primitives Based robot Skills Learning

Machine Intelligence Research 2023年第3期20卷 396-407页

作者： Ling-Huan Kong Wei He Wen-Shi Chen Hui Zhang Yao-Nan Wang School of Intelligence Science and Technology University of Science and Technology BeijingBeijing 100083China Institute of Artificial Intelligence University of Science and Technology BeijingBeijing 100083China School of Robotics and the National Engineering Laboratory of Robot Visual Perception and Control Technology Hunan UniversityChangsha 410082China

In this article,a robot skills learning framework is developed,which considers both motion modeling and *** order to enable the robot to learn skills from demonstrations,a learning method called dynamic movement primitives(DMPs)is introduced to model motion.A staged teaching strategy is integrated into DMPs frameworks to enhance the generality such that the complicated tasks can be also performed for multi-joint *** DMP connection method is used to make an accurate and smooth transition in position and velocity space to connect complex motion *** addition,motions are categorized into different goals and *** is worth mentioning that an adaptive neural networks(NNs)control method is proposed to achieve highly accurate trajectory tracking and to ensure the performance of action execution,which is beneficial to the improvement of reliability of the skills learning *** experiment test on the Baxter robot verifies the effectiveness of the proposed method.

关键词： Dynamic movement primitives(DMPs) trajectory tracking control robot learning from demonstrations neural networks(NNs) adaptive control

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Efficient Real-Time Recognition Model of Plant Diseases for Low-Power Consumption Platform

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第5期5卷 2040-2054页

作者： Deng, Songyun Wu, Wanneng Zou, Kunlin Qin, Hai Cheng, Lekai Liang, Qiaokang Hunan University College of Electrical and Information Engineering Changsha410082 China Changsha University of Science and Technology School of Electrical and Information Engineering Changsha410114 China Hunan University National Engineering Research Center for Robot Vision Perception and Control College of Electrical and Information Engineering Changsha410082 China

Recognition and early warning of plant diseases is one of the keys to agricultural disaster prevention and mitigation. Deep learning-based image recognition methods give us a new idea for plant disease identification. Due to the harsh conditions in agricultural environment, recent research has focused on exploring ways to lightweight the recognition model for deployment on low-power devices. In this article, we propose an efficient and feature-guided real-time plant disease recognition model with a multiclassifier architecture, specifically designed for low-power devices. By comparing with other advanced methods, our model reaches the state of the art in the combined metrics of recognition accuracy, the number of parameters, and inference speed. First, we propose AMI-NanoNet based on Roofline theory to significantly reduce the number of parameters and computational complexity. This model can achieve 99.8343% accuracy on PlantVillage by using a feature-guided curriculum learning with stepwise training strategy. Moreover, we design another training strategy suitable for lightweight ensemble models. Based on this strategy, our model only needs to integrate the classifiers at the end of the network to achieve 99.8708% identification accuracy, and it hardly increases the number of operations and parameters of the network. Extensive evaluations on this dataset demonstrate the effectiveness of our ensemble learning method. Furthermore, we tested our proposed methods on another dataset from other domains to validate its applicability to different scenarios. Overall, our research provides a basis for rapid and intelligent identification of plant diseases. © 2023 IEEE.

关键词： Real time systems

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Automatic basketball detection in sport video based on R-FCN and soft-NMS 2019

Automatic basketball detection in sport video based on R-FCN...

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4th International Conference on Automation, control and robotics engineering, CACRE 2019

作者： Liang, Qiaokang Mei, Li Wu, Wanneng Sun, Wei Wang, Yaonan Zhang, Dan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing National Engineering Laboratory for Robot Vision Perception and Control Hunan University Changsha410082 China Department of Mechanical Engineering York University TorontoM3J 1P3 Canada

ISBN: (纸本)9781450371865

In basketball videos, the ball is always so small in the camera that its appearance feature is hard to be extracted. In this paper, we introduce a deep-learning technology to detect the basketball. Specifically, we train our basketball detection model based on the Region-based Fully Convolutional Networks (R-FCN) which uses the fully convolutional Residual Network (ResNet) as the backbone network. What’s more, we apply some new techniques including Online Hard Example Mining (OHEM), Soft-NMS and multi-scale training strategy to achieve higher detection accuracy. In detail, the OHEM method can reduce the cost of fine-tuning during training by calculating the loss of the RoIs. Soft-NMS can reduce the false positive rate by decreasing the object detection score between the overlap object. And the multi-scale training can improve the detection performance by receiving the good feature from the object with different scale. Finally, we achieve a mean average precision (mAP) value of 89.7% on a public basketball dataset. It proves that applying the deep-learning approach to basketball detection is effective. © 2019 Copyright is held by the owner/author(s).

关键词： Object recognition

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A decomposition-based multiobjective evolutionary algorithm for sparse reconstruction 9th

A decomposition-based multiobjective evolutionary algorithm ...

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9th International Conference on Swarm Intelligence, ICSI 2018

作者： Zhu, Jiang Cai, Muyao Tian, Shujuan Xu, Yanbing Pei, Tingrui College of Information Engineering Xiangtan University Xiangtan411105 China National Engineering Laboratory for Robot Visual Perception and Control Technology Hunan University Changsha410082 China

ISBN: (纸本)9783319938141

Sparse reconstruction is an important method aiming at obtaining an approximation to an original signal from observed data. It can be deemed as a multiobjective optimization problem for the sparsity and the observational error terms, which are considered as two conflicting objectives in evolutionary algorithm. In this paper, a novel decomposition based multiobjective evolutionary algorithm is proposed to optimize the two objectives and reconstruct the original signal more exactly. In our algorithm, a sparse constraint specific differential evolution is designed to guarantee that the solution remains sparse in the next generation. In addition, a neighborhood-based local search approach is proposed to obtain better solutions and improve the speed of convergence. Therefore, a set of solutions is obtained efficiently and is able to closely approximate the original signal. © Springer International Publishing AG, part of Springer Nature 2018.

关键词： Multiobjective optimization

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Design and Analysis of a Synergy-Inspired Three-Fingered Hand

Design and Analysis of a Synergy-Inspired Three-Fingered Han...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wenrui Chen Zhilan Xiao Jingwen Lu Zilong Zhao Yaonan Wang National Engineering Laboratory for Robot Vision Perception and Control Technology Hunan University Changsha China

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Hand synergy from neuroscience provides an effective tool for anthropomorphic hands to realize versatile grasping with simple planning and control. This paper aims to extend the synergy-inspired design from anthropomorphic hands to multi-fingered robot hands. The synergy-inspired hands are not necessarily humanoid in morphology but perform primary characteristics and functions similar to the human hand. At first, the biomechanics of hand synergy is investigated. Three biomechanical characteristics of the human hand synergy are explored as a basis for the mechanical simplification of the robot hands. Secondly, according to the synergy characteristics, a three-fingered hand is designed, and its kinematic model is developed for the analysis of some typical grasping and manipulation functions. Finally, a prototype is developed and preliminary grasping experiments validate the effectiveness of the design and analysis.

关键词： Thumb robots Joints Muscles Grasping Electronics packaging

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Adaptive extended state observer-based distributed fault detection and estimation for an unstable wave equation 36

Adaptive extended state observer-based distributed fault det...

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36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021

作者： Feng, Yun Wang, Yaonan Kang, Wen Miao, Zhiqiang Hunan University National Engineering Laboratory for Robot Visual Perception and Control Technology College of Electrical and Information Engineering Changsha China University of Science and Technology School of Automation and Electrical Engineering Beijing China

ISBN: (纸本)9781665437127

In this paper, we study the fault detection along with the estimation problem for an unstable wave equation based on an adaptive extended state observer (ESO) using only boundary measurements. A fault detection filter (FDF) is proposed in the first place to detect fault based on a naive observer. Once an alarm has been raised by the FDF, a fault estimation filter is activated for fault identification by incorporating an adaptive law into the naive observer. The fault estimator along with the adaptive state observer consists of an adaptive ESO motivated by the intuitive idea of ESO. Numerical simulations on a faulty wave equation are presented to validate the fault detection and estimation performance. © 2021 IEEE.

关键词： Wave equations

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Self-Contrastive Learning Fault Diagnosis Network for Signal Imaging: A Case Study

Self-Contrastive Learning Fault Diagnosis Network for Signal...

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2024 China Automation Congress, CAC 2024

作者： He, Wenbin Mao, Jianxu Wang, Yaonan Li, Zhe Yan, Feng Liu, Kexin College of Electrical & Information Engineering National Engineering Research Center of Robot Visual Perception & Control Technology Hunan University Hunan China College of Control Science & Engineering State Key Laboratory of Industrial Control Technology Zhejiang University Zhejiang China

ISBN: (纸本)9798350368604

The deep convolution method based on MSDP signal imaging has been proven to be an effective means of monitoring the robot grinding process. This method has very high requirements on the quality of imaging and requires a lot of computing resources. This paper proposes an image self-contrastive learning network that can effectively extract fault information from low-pixel fuzzy images and achieve efficient and accurate condition monitoring. The network first calculates the correlation distance matrix between two identical modified symmetrized dot pattern (MSDP) images and uses the generated similarity labels to calculate the contrast loss to extract the embedded features of the image. Finally, the classification network is trained using the cross entropy loss to achieve the classification of fault images. The method was verified on a robotic grinding platform to significantly reduce the calculation time while maintaining the recognition accuracy, which provides reliable technical support for the real-time monitoring of the robotic grinding process. © 2024 IEEE.

关键词： Contrastive Learning fault diagnosis robotic grinding signal imaging

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Semi-supervised Cloud Edge Collaborative Power Transmission Line Insulator Anomaly Detection Framework 11th

Semi-supervised Cloud Edge Collaborative Power Transmission ...

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11th International Conference on Image and Graphics, ICIG 2021

作者： Yang, Yanqing Mao, Jianxu Zhang, Hui Chen, Yurong Zhong, Hang Huang, Zhihong Wang, Yaonan National Engineering Laboratory of Robot Visual Perception and Control Technology Hunan University Hunan Changsha China State Grid Hunan Electric Power Corporation Limited Research Institute Hunan Changsha China

ISBN: (纸本)9783030873547

The widely deployed power transmission line expedites developing the age of electricity. Thus, it is necessary to maintain a power system with a great quantity of manpower and material resources, especially for crucial equipment, such as insulator string. However, the current main inspection method relies on artificial with the problem of time-consuming and labor-intensive. There is a trend of utilizing deep learning techniques on unmanned aerial vehicles (UAVs) to accomplish the inspection task, but its development is restricted by the limitation of energy. In this paper, we propose a semi-supervised cloud edge collaborative insulator string anomaly detection framework. Specifically, an anchor-free object detector is deployed on the edge device for locating the insulator. On the cloud side, we propose a generative insulator defect detection model based on the autoencoder (AE) with a generator-discriminator pattern. Particularly, we introduce the variational memory encoder-decoder architecture to model defect-free insulator data distribution. Furthermore, the adversarial strategy is employed to regularize the generated data space with input data space. In the end, the anomaly can be detected if its data space is an outlier of training defect-free distribution. Comprehensive experiments demonstrate that our method can effectively reduce the computational load, meanwhile archiving superior performance, including accuracy (0.968) and recall (0.985), for defect recognition using a standard insulator data set. © 2021, Springer Nature Switzerland AG.

关键词： Deep learning

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Research on Selective filtering and PCNN for Nickel Foam Surface Defect Segmentation

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IFAC-PapersOnLine 2018年第21期51卷 135-140页

作者： Li, Jianqi Zhu, Jiang Nie, Fangyan Cao, Binfang Huang, Lijuan Hunan Province Cooperative Innovation Center for The Construction & Development of Dongting Lake Ecological Economic Zone Hunan University of Arts and Science ChangdeHunan China College of Information Engineering Xiangtan University Xiangtan411105 China National Engineering Laboratory for Robot Visual Perception and Control Technology Hunan University Changsha410082 China

As the key basis materials of Ni-MH and Ni/Cd battery electrode, the quality of the nickel foam products is closely related with the performance and safety of rechargeable batteries. In order to meet the requirements of automatic defect inspection, this paper proposes an image segmentation method for the appearance defects of nickel foam. Nickel foam image has the characteristics of a low degree of differentiation between foreground and background, basic structure of mutual adhesion, surface morphology for complex random texture features. In order to extract defects from complex nickel foam surface image, a novel selective filtering method is proposed to preprocess the original image, thereby reducing the effects of the above factors, and then a modified PCNN method is used to segment the defect area. The results show that the proposed method can effectively segregate the defects from the background, which lays a foundation for the automatic detection of the appearance quality of nickel foam. © 2018

关键词： Image segmentation Computer vision Nickel metal hydride batteries Surface defects Appearance qualities Automatic defect inspection Automatic Detection Defect inspection modified PCNN Nickel foam Segmentation methods Selective filtering

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Adaptive Fixed-time Fuzzy Tracking control of Uncertain robot 27

Adaptive Fixed-time Fuzzy Tracking Control of Uncertain Robo...

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27th International Conference on Automation and Computing, ICAC 2022

作者： Zhou, Beibei Zhu, Chengzhi Jiang, Yiming Guangzhou Jianxin Technology Co. Ltd Guangzhou510640 China South China University of Technology Key Laboratory of Autonomous Systems and Net-worked Control College of Automation Science and Engineering Guangzhou510640 China Hunan University National Engineering Laboratory for Robot Visual Perception and Control Hunan Changsha410082 China

ISBN: (数字)9781665498074

ISBN: (纸本)9781665498074

We propose a novel fixed-time fuzzy control strategy to achieve the trajectory tracking of the robot systems with uncertainties in this article. The tracking errors of the system can be convergent to a small area around zero with fixed-time convergence rate, combining with the fuzzy logic system and the backstepping technique. Besides, the boundedness of all the closed-loop system signals can be proved under the proposed controller. The superiority performance of the proposed control strategy has been shown by the simulation results. © 2022 IEEE.

关键词： Closed loop systems

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