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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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An Improved SCA-BP Delay Prediction Method for Networked control Systems

An Improved SCA-BP Delay Prediction Method for Networked Con...

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2023 China Automation Congress, CAC 2023

作者： Xie, Jiayin Wang, Yaonan Tan, Haoran Wu, You Zhou, Bowen College of Electrical and Information Engineering Hunan University National Engineering Research Center for Robot Visual Perception and Control Changsha China Hunan Retoo Intelligent Technology Co. Ltd. Changsha China

ISBN: (纸本)9798350303759

A networked control system is a system that uses communication networks to connect the various parts. However, network delay affects the performance and stability of the networked control system. In order to eliminate the impact of network delay on the control system, an improved SCA-BP delay prediction method is proposed in this paper. The proposed method optimizes the initial weights and biases of the BP neural network, and further optimizes them through backpropagation gradient descent, obtaining the final prediction model. The proposed method introduces a random perturbation factor in the sine and cosine functions, which increases the explorability and diversity of the method. And they are sorted and grouped according to the fitness values of the candidate solutions. At the same time, different update strategies are adopted based on the different groups, enabling the method to perform global and local search simultaneously. In the update strategy, a linear function is also introduced in addition to the sine and cosine functions, enabling the method to maintain the direction of the current optimal solution to a certain extent. Finally, the superiority and effectiveness of the method compared with traditional methods are verified through some comparative simulations, indicating that the method has a strong delay prediction ability. © 2023 IEEE.

关键词： Forecasting

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An insulator feature-enhanced segmentation method based on the residual-type attention mechanism 5

An insulator feature-enhanced segmentation method based on t...

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5th IEEE Advanced Information Management, Communicates, Electronic and Automation control Conference, IMCEC 2022

作者： Tang, Xin Mao, Jianxu Yi, Junfei Tao, Ziming He, Zhenyu College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Vision Perception and Control Technology Changsha China

ISBN: (纸本)9781665479677

As an crucial component of power line, the timely check for the state of insulator is necessary for the normal running of transmission lines. In view of debasement of insulator segmentation accuracy in current transmission line caused by complex background, low contrast, and the quality of images is not guaranteed, we improve U-Net by combining attention mechanism and residual connection. Residual connection is added to the encoder part to improve the extraction of low-level semantic information, and the attention mechanism is added to the decoder part for integrating high and low level features better and reduce the error between them. We confirm the effectiveness of the improved module through experiments, while the results showing that the improved U-Net model segmentation performance on insulator dataset is improved from 0.875 to 0.912. And our method also outperforms previous segmentation work on insulator dataset. © 2022 IEEE.

关键词： Electric lines

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Power Grid Fastener Defect Detection Based on Dual Context Information Fusion 5

Power Grid Fastener Defect Detection Based on Dual Context I...

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5th IEEE Advanced Information Management, Communicates, Electronic and Automation control Conference, IMCEC 2022

作者： Qingxian, Liu Jianxu, Mao Junfei, Yi Ziming, Tao Junlong, Yu College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Vision Perception and Control Technology Changsha China

ISBN: (纸本)9781665479677

The working state of fasteners is closely related to the safe and stable operation of the power grid. However, the performance of the existing fastener defect detection models is not enough to meet the requirements, because the size of object is small, the environment is complex, the sample size is unbalanced and so on. Therefore, we design a simple but effective feature fusion method, called Double Context Information Enhancement Module. The model can fully learn the features of fasteners by expanding the receptive field of the feature map during the construction of the feature pyramid, and the feature expression ability of fasteners can be enhanced by learning the features of adjacent layers after the construction of the feature pyramid. Through experiments, we proved that DCEM can improve about 8.8AP compared with the original model, and at the same time, the effectiveness and advancement of DCEM are proved by comparing with SOTA. © 2022 IEEE.

关键词： Defects

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Fusion visual Saliency with Dual-Spectral Saliency of Anomaly Detection for Hyperspectral Herbal Oral Liquid 9

Fusion Visual Saliency with Dual-Spectral Saliency of Anomal...

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9th Symposium on Novel Photoelectronic Detection technology and Applications

作者： Yin, Ating Mao, Jianxu Wang, Yaonan Zeng, Kai Zhang, Hui Li, Yaping College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center of Robot Vision Perception and Control Technology Changsha China

ISBN: (纸本)9781510664432

Chinese herbal oral liquid can leach a variety of effective ingredients from herbs and has become a major drug for clinical application. However, it is easy to produce or introduce foreign matters that are very faint in the automatic filling production process. To solve the challenge of low accuracy of faint foreign matter detection, in this paper, we proposed a salient-based anomaly detection method which is fuses visual saliency with dual-spectral saliency (VDS) for the hyperspectral herbal oral liquid. Specifically, we first select the most discriminative bands via the band selection method to generate the pseudo-color map. Subsequently, the histogram-based contrast method is introduced to select the saliency feature map with the largest variance of color features, while fusing the multi-scale gradient features to obtain the preliminary vision-based anomaly detection map. After that, the spectral angles and spectral Euclidean distances are calculated separately based on the oral liquid hyperspectral images to fused into dual-spectral saliency maps. Finally, the dual-spectral saliency map is employed to suppress the background information of the preliminary anomaly detection map. The experimental results show that our proposed method outperforms the state-of-the-art anomaly detection methods, which accurately and quickly achieve the detection of faint foreign matter in the hyperspectral herbal oral liquid. It will accelerate the process of automated filling production lines for oral liquid in the pharmaceutical industry. © 2023 SPIE.

关键词： Anomaly detection

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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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Multi-Agent Path Finding Using Imitation-Reinforcement Learning with Transformer

Multi-Agent Path Finding Using Imitation-Reinforcement Learn...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Chen, Lin Wang, Yaonan Miao, Zhiqiang Mo, Yang Feng, Mingtao Zhou, Zhen School of Electrical and Information Engineering Hunan University Changsha410082 China National Engineering Research Center for Robot Visual Perception and Control Technology Changsha410082 China School of Computer Science and Technology Xidian University Xian710126 China

ISBN: (纸本)9781665481090

Multi-Agent Path Finding is a problem of finding the optimal set of paths for multiple agents from the starting position to the goal without conflict, which is essential to large-scale robotic systems. Imitation and reinforcement learning are applied to solve the MAPF problem and have achieved certain results, which provides a feasible solution for the path planning problem of large-scale robot systems. The current method improves the performance of distributed strategy-guided agent planning paths in complex environments by introducing the communication between graph neural networks and agents but dramatically reduces the system's robustness. This paper develops a novel imitation reinforcement learning framework by introducing Transformer, which enables algorithms to perform well in complex environments without relying on communication between agents. Compared with its counterparts, experiments show that the policy trained by our method guides the agent to drive from the initial position to the goal without collision and achieve better performance. © 2022 IEEE.

关键词： Reinforcement learning

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Safety-Critical control of Quadrotor UAVs with control Barrier Functions

Safety-Critical Control of Quadrotor UAVs with Control Barri...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yang, Tianyi Miao, Zhiqiang Yi, Guo Wang, Yaonan College of Electrical and Information Engineering Hunan University Changsha410082 China National Engineering Research Center of Robot Visual Perception and Control Changsha China School of Information and Electrical Engineering Hunan University of Science and Technology Changsha411201 China

ISBN: (纸本)9781665481090

For quadrotors, imposing multiple dynamic constraints on the state simultaneously to achieve safe control is a challenging problem. In this paper, a cascaded control archi-tecture based on quadratic programming method is proposed to generate minimally-invasive and collision-free control actions. This architecture consists of exponential control barrier functions(ECBFs) to construct a non-conservative forward invariant safety region and geometric nonlinear PID attitude control with considering quadrotor dynamics to avoid the singularities of Euler-angles and the ambiguity of quaternions. The feasibility and the effectiveness of the proposed cascaded control architecture is demonstrated through numerical simulations. © 2022 IEEE.

关键词： Attitude control

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A Graph-Based SLAM Method Assisted by visual Marker in the Degenerate Scenes 8

A Graph-Based SLAM Method Assisted by Visual Marker in the D...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Zhang, Jieqingxin Zhang, Hui Zhou, Xidong Chen, Bo Wang, Xiangchuan Xu, Tao College of Electrical and Information Engineering Changsha University of Science and Technology Hunan China College of Robotics Robot Visual Perception and Control Technology National Engineering Research Center Hunan University Hunan China College of Electrical and Information Engineering Hunan University Hunan China

ISBN: (纸本)9798350300178

In the post-COVID-19 pandemic era, hospitals and other places have an urgent need for mobile robots with autonomous disinfection ability, and robots need to complete SLAM tasks to realize autonomous navigation. Lidar is widely used for indoor SLAM. However, due to the lack of geometric structure in the indoor environment, two-dimensional lidar information degrades, rendering the robot unable to obtain effective positioning. Therefore, we leverage the easy identification and high robustness of ARTag to fuse vision and range sensor information. We introduce ARTag as visual marker to assist positioning, establish observation window to screen the acquired ARTag pose. We employ the pose graph optimization method to optimize the visual markers and laser scanning results in the back end. This reduces the positioning errors caused by the degradation of lidar information and reduces the frequency of optimization by improving the back end optimization strategy. This method is applied in a UltraViolet C (UVC) Disinfection robot experiment. Experimental results show that our method effectively improves the positioning accuracy and robustness of the robot in the environments with degraded laser information. © 2023 IEEE.

关键词： Disinfection

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Geometric-based Bimodal control for Hybrid Aerial/Ground Vehicles

Geometric-based Bimodal Control for Hybrid Aerial/Ground Veh...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Tang, Haoming Miao, Zhiqiang Wang, Haoyu Chen, Yizong Zhang, Hui Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China National Engineering Research Center for Robot Visual Perception and Control Changsha China School of Robotics Hunan University Changsha410082 China

ISBN: (纸本)9798350372601

Hybrid ground/aerial vehicles, capable of adapting to both terrestrial and aerial environments simultaneously, can accomplish more complex tasks, holding promising applications across various domains. Furthermore, designing a highly real-time multi-modal controller to adapt to environmental and modal changes, is currently a critical issue to be addressed. Based on this requirement, a geometric-based bimodal control structure is proposed in this study. We initially design the aerial controller in the Lie algebra space, based on a geometric attitude controller. Moreover, inspired by the characteristics of ground locomotion, we modify the aerial controller to satisfy the constraints of this mode. Through this approach, we can simplify the design process of the ground controller. Both controllers feature a similar and simpler structure, meet real-time control requirements, and allow them to use the same parameters. Ultimately, the proposed method's efficacy and performance are validated through ROS-Gazebo simulation environment. © 2024 IEEE.

关键词： Antenna grounds

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