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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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ECINFusion: A Novel Explicit Channel-wise Interaction Network for Unified Multi-modal Medical Image Fusion

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IEEE Transactions on Circuits and Systems for Video Technology 2024年第5期35卷 4011-4025页

作者： Wei, Xinjian Qiu, Yu Xu, Xiaoxuan Xu, Jing Mei, Jie Zhang, Jun Nankai University National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases College of Artificial Intelligence Tianjin300350 China Hunan Normal University College of Information Science and Engineering Changsha410081 China National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha410081 China College of Artificial Intelligence Nankai University Tianjin300350 China

Multi-modal medical image fusion enhance the representation, aggregation and comprehension of functional and structural information, improving accuracy and efficiency for subsequent analysis. However, lacking explicit cross channel modeling and interaction among modalities results in the loss of details and artifacts. To this end, we propose a novel Explicit Channel-wise Interaction Network for unified multi-modal medical image Fusion, namely ECINFusion. ECINFusion encompasses two components: multi-scale adaptive feature modeling (MAFM) and explicit channel-wise interaction mechanism (ECIM). MAFM leverages adaptive parallel convolution and transformer in multi-scale manner to achieve the global context-aware feature representation. ECIM utilizes the designed multi-head channel-attention mechanism for explicit modeling in channel dimension to accomplish the cross-modal interaction. Besides, we introduce a novel adaptive L-Norm loss, preserving fine-grained details. Experiments demonstrate ECINFusion outperforms state-of-the-art approaches in various medical fusion sub-tasks on different metrics. Furthermore, extended experiments reveal the robust generalization of the proposed in different fusion tasks. In breif, the proposed explicit channel-wise interaction mechanism provides new insight for multi-modal interaction. © 2024 IEEE.

关键词： Image fusion

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Steady Tracker: Tracking a Target Stably Using a Quadrotor

Steady Tracker: Tracking a Target Stably Using a Quadrotor

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Hongwen Zhong, Hang Lv, Yongsheng Sha, Jianjun Long, Yu Wang, Yaonan Harbin Engineering University Harbin150001 China Qingdao Innovation and Development Center Harbin Engineering University Qingdao266000 China School of Robotics National Engineering Research Center for Robot Visual Perception and Control Hunan University China College of Electrical and Information Engineering Hunan University Changsha410082 China

ISBN: (纸本)9781665481090

Maneuvering target tracking of Unmanned Aerial Vehicle(UAV) in cluttered environments is a challenging issue owing to the unknown motion intention of the target and the complex moving environments. As the complexity of the environment increases, stable and secure target tracking is increasingly difficult to guarantee. To address the issue, this paper proposes a stable quadrotor tracking solution. The proposed solution contains two parts: target motion prediction and tracking path searching. The target motion prediction method predicts the future target motion based on the obtained target observations while considering observation noise and prediction errors. The tracking path searching method utilizes a sampling-based search method, using the homotopy of paths to ensure that the tracking path and the target position are in the same space. Finally, simulations, real-world experiments and statistical analysis verify the correctness and effectiveness of the proposed approach. © 2022 IEEE.

关键词： Antennas

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A Muti-stage Selection Filter Based on Wavelet Packet and 2DCNN for Fault Diagnosis of Rotating Machinery 42

A Muti-stage Selection Filter Based on Wavelet Packet and 2D...

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42nd Chinese control Conference, CCC 2023

作者： He, Wenbin Mao, Jianxu Liu, Li Li, Zhe Yang, Miao Wang, Yaonan College of Electrical and Information Engineering Hunan University Changsha410082 China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China State Grid Hunan Electric Power Company Limited Research Institute Changsha410007 China

ISBN: (纸本)9789887581543

Fault information of rotating machinery is often drowned in strong noise signals, so it is crucial to accurately identify faults from high-intensity noise signals. In this article, an end-to-end fault diagnosis model is developed, which consists of a multi-stage selection filter based on wavelet packet and 2D-CNN. First, the original measured mechanical signals were processed by the three-level wavelet packet decomposition to obtain eight sub-bands with coefficient matrices. Second, the signal is reconstructed using different numbers of sub-bands, where the number is increased by one at a time to obtain eight different multi-stage reconstructed signals. Third, the reconstructed signals are reorganized into 2D signal maps;and a parallel training network is constructed using signal maps and 2D-CNN to achieve fault classification. Then, guided by the training results, eight parallel classification results are compared, so as to train the best fault diagnosis model. Finally, the simulation experiment based on a bearing data set illustrates the proposed multi-stage selection filter is effective and feasible in application. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Failure analysis

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Accurate RGB-D SLAM in dynamic environments based on dynamic visual feature removal

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Science China(Information Sciences) 2022年第10期65卷 256-269页

作者： Chenxin LIU Jiahu QIN Shuai WANG Lei YU Yaonan WANG Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center College of Electrical and Information Engineering Hunan University National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University

visual localization is considered an essential capability in robotics and has attracted increasing interest for the past few years. However, most proposed visual localization systems assume that the surrounding environment is static, which is difficult to maintain in real-world scenarios due to the presence of moving objects. In this paper, we present DFR-SLAM, a real-time and accurate RGB-D SLAM based on ORB-SLAM2 that achieves satisfactory performance in a variety of challenging dynamic scenarios. At the core of our system lies a motion consensus filtering algorithm estimating the initial camera pose and a graph-cut optimization framework combining long-term observations, prior information, and spatial coherence to jointly distinguish dynamic and static visual features. Other systems for dynamic environments detect dynamic components by using the information from short time-span frames, whereas our system uses observations from a long period of keyframes. We evaluate our system using dynamic sequences from the public TUM dataset, and the evaluation demonstrates that the proposed system outperforms the original ORB-SLAM2 system significantly. In addition, our system provides competitive localization accuracy with satisfactory real-time performance compared to closely related SLAM systems designed to adapt to dynamic environments.

关键词： SLAM dynamic environments indoor localization graph-cut robot navigation

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Natural interactive control method for unmanned swarm systems based on gesture recognition

Natural interactive control method for unmanned swarm system...

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IEEE International Conference on robotics and Biomimetics

作者： Yijiang Li Yaonan Wang Yang Mo Qing Zhu Zhiqiang Miao Yuefan Luo College of Electrical and Information Engineering National Engineering Research Center for Robot Visual Perception and Control Hunan University Changsha China

ISBN: (纸本)9781665481106

Interactive control is very important for unmanned swarm systems to understand human intentions and execute tasks. However, traditional interactive control usually uses a keyboard, mouse, or remote controller, which is not intuitive and convenient enough. This paper proposes a natural interaction control method based on gesture recognition for unmanned swarm systems. First, considering the real-time requirement of interactive control, the YOLOv5 algorithm is improved by replacing the original GIoU loss function with the DIoU loss function to improve the performance of the algorithm. Then, according to the interactive control requirements of unmanned swarm systems, the corresponding gesture database is established. Finally, the AirSim platform is used to build the simulation system, and the interactive control based on gesture recognition is tested and verified. The experimental results show that the recognition accuracy of the control intention is 97% and the response time is approximately 0.027 s, which can realize the interactive control of unmanned swarm systems.

关键词： Location awareness Training Databases Atmospheric modeling Gesture recognition control systems Real-time systems

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Posture-based Leader-follower Formation for Multiple Mobile robot Systems Using Data-based Adaptive Iterative Learning control

Posture-based Leader-follower Formation for Multiple Mobile ...

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Chinese Automation Congress (CAC)

作者： Zhuolei Chaochen Yaonan Wang Haoran Tan Jiaming Zhou Qiong Lin College of Electrical and Information Engineering Hunan University National Engineering Research Center for Robot Visual Perception and Control Changsha China

Multiple mobile robot systems (MMRSs) have great potential in various fields and their reliable application depends on accurate formation among robots. Focusing on the formation problem of MMRSs, a posture-based adaptive iterative learning control scheme (PB-AILC) is proposed in this paper. Firstly, the leader-follower formation model is built. Then PB-AILC scheme is introduced to optimize the control linear and angular velocity of follower robots at each iteration based on the robots’ global posture only, guaranteeing that followers can steadily track their leader with prescribed relative distance and orientation. Meanwhile, we analyze its feasibility mathematically. Finally, numerical simulations illustrate the validity of the PB-AILC scheme and we compare PB-AILC with an iterative learning control (ILC) method to demonstrate its superiority.

关键词： Adaptation models Adaptive systems Uncertainty Process control Numerical simulation Real-time systems Numerical models

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An intelligent route recommendation method for smart Internet-connected electric vehicles under the coupling of traffic and electricity

An intelligent route recommendation method for smart Interne...

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第42届中国控制会议

作者： JinhuanXie Dongqi Liu ZhenwuYang School of Electrical and Information Engineering Changsha University of Science and Technology National Engineering Research Center for Robot Visual Perception and Control Technology

Aiming at the charging and navigation strategy of electric vehicles in the road-electricity coupling scenario,this paper proposes a hybrid planning travel scheme based on the pre-charging and charging warning model based on the road traffic congestion predicted by the big data of the Internet of *** model integrally balances the interests of users and power grid in the coupled road-electric network,and solves the optimal path scheme under different travel scenarios based on collaborative filtering algorithm and user feedback,considering the influence of vehicle departure time and remaining power in short time *** is experimentally demonstrated that the proposed route hybrid recommendation model has better planning effect compared with the single travel model.

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Motion Planning for Mobile robots with Temporal Logic Specifications

Motion Planning for Mobile Robots with Temporal Logic Specif...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Jianxin Zeng Yaonan Wang Zhiqiang Miao Sifei Wang College of Electrical and Information Engineering and the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha China

In this paper, we propose a motion planning method for mobile robots in order to satisfy task requirements specified in linear temporal logic (LTL). The proposed method follows the traditional hierarchical planning workflow, including path planning and trajectory planning. Firstly, we propose a path planning method based on rapidly exploring random trees (RRT*) and Dubins curve. The tree derived from RRT* is expanded with the help of Buchi automaton converted by an LTL formula. The proposed method can automatically adjust the iterations of sampling according to the scale of Buchi automata. Then, we formulate an optimization problem for the generation of trajectory. We use Bezier curve to express the trajectory and use differential flatness of mobile robots to simplify the optimization problem. Finally, we validate the practicality of our method through simulations and real-world experiments.

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Robust Nonlinear Observer-based Adaptive visual Servo control for a Multirotor

Robust Nonlinear Observer-based Adaptive Visual Servo Contro...

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

作者： Long, Yu Zhong, Hang Qian, Zhenyu Liu, Min Zhang, Hui Jiang, Yiming Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China National Engineering Research Center for Robot Visual Perception and Control Changsha China Hunan University College of Robotics Changsha410082 China China China Highway Engineering ConsultingCorporation DATA CO. LTD Beijing100089 China

ISBN: (纸本)9798350372601

In this article, an robust nonlinear observer-based visual servo adaptive control strategy is investigated for a multirotor for stable tracking of targets. This article uses the Newton Euler equation to model the dynamics of the multirotor and describes the visual servo system model. In order to avoid being affected by various disturbances, this article designs disturbance observer and velocity observer to improve the robustness of the system. Based on nonlinear observers, this article designs a layered controller that includes a visual outer loop controller and an adaptive sliding mode geometric inner loop controller. To verify the feasibility of this algorithm, this article conducts simulation experiments using MATLAB and Simulink, and adds constant disturbances for verification. Both simulation experiments and experimental results in real environments show that the controller we designs has excellent stability and robustness. © 2024 IEEE.

关键词： Euler equations

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