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International Conference on control, Automation, robotics and Vision (ICARCV)

作者： Weiwei Zhan Zhiqiang Miao Yang Hu Yizong Chen Yanjie Chen Yaonan Wang College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center of Robot Visual Perception and Control Technology Changsha China School of Mechanical Engineering and Automation Fuzhou University Fuzhou China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Deception attacks are employed to compromise cyber-physical systems through fake data injection. This paper concentrates on the distributed resilient estimation issue of multi-sensor networked systems under deception attacks. In order to detect deception attacks, we utilize Kullback-Leibler(K-L) divergence as a criterion to distinguish the discrepancy between the deceived information and the estimated information. When the attack does not exist, the transmitted information can be restored to ensure the resilient estimation performance. Based on the extended Kalman filter design method, a distributed resilient estimation with a dual-gain mechanism is developed. This advanced approach dynamically adjusts the weighting balance between the predictive model and sensor data inputs, achieving the optimal estimation during the shutdown and activation of spoofing attacks. Finally, numerical simulations are provided to further illustrate the results.

关键词： Measurement Fault tolerance Design methodology Buildings Estimation Predictive models Cyber-physical systems robot sensing systems Numerical simulation Kalman filters

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Power Grid Fastener Defect Detection Based on Dual Context Information Fusion

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

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IEEE Advanced Information Management,Communicates,Electronic and Automation control Conference (IMCEC)

作者： Liu Qingxian Mao Jianxu Yi Junfei Tao Ziming Yu Junlong 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)9781665479691

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.

关键词： Correlation Automation Aggregates Fasteners Feature extraction Power grids Information management

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无人飞行器在不确定扰动下的动态目标跟踪

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engineering 2024年第4期35卷 74-85页

作者： Yanjie Chen Yangning Wu Limin Lan Hang Zhong Zhiqiang Miao Hui Zhang Yaonan Wang School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350108China Department of Computer Science Aberystwyth UniversityAberystwyth SY233DBUK School of Robotics Hunan UniversityChangsha 410082China College of Electrical and Information Engineering Hunan UniversityChangsha 410082China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan UniversityChangsha 410082China

This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied *** proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is *** depth model ensures image feature accuracy and image trajectory smoothness in rotating target *** relative velocities of the UAV and the dynamic target are estimated using the proposed velocity *** to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is *** integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance *** stability of the velocity observer and IBVS controller is analyzed using the Lyapunov *** simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.

关键词： Unmanned aerial vehicle visual servoing Velocity observer Target tracking

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Unsupervised Multimodal 3D Medical Image Registration with Multilevel Correlation Balanced Optimization

arXiv

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arXiv 2024年

作者： Wang, Jiazheng Chen, Xiang Zhang, Yuxi Liu, Min Wang, Yaonan Zhang, Hang College of Electrical and Information Engineering Hunan University Hunan Changsha China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Hunan Changsha China Cornell University United States

Surgical navigation based on multimodal image registration has played a significant role in providing intraoperative guidance to surgeons by showing the relative position of the target area to critical anatomical structures during surgery. However, due to the differences between multimodal images and intraoperative image deformation caused by tissue displacement and removal during the surgery, effective registration of preoperative and intraoperative multimodal images faces significant challenges. To address the multimodal image registration challenges in Learn2Reg 2024, an unsupervised multimodal medical image registration method based on multilevel correlation balanced optimization (MCBO) is designed to solve these problems. First, the features of each modality are extracted based on the modality independent neighborhood descriptor, and the multimodal images is mapped to the feature space. Second, a multilevel pyramidal fusion optimization mechanism is designed to achieve global optimization and local detail complementation of the deformation field through dense correlation analysis and weight-balanced coupled convex optimization for input features at different scales. For preoperative medical images in different modalities, the alignment and stacking of valid information between different modalities is achieved by the maximum fusion between deformation fields. Our method focuses on the ReMIND2Reg task in Learn2Reg 2024, and to verify the generality of the method, we also tested it on the COMULIS3DCLEM task. Based on the results, our method achieved second place in the validation of both two tasks. Copyright © 2024, The Authors. All rights reserved.

关键词： Convex optimization

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Minimalist and High-Quality Panoramic Imaging with PSF-aware Transformers

arXiv

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arXiv 2023年

作者： Jiang, Qi Gao, Shaohua Gao, Yao Yang, Kailun Yi, Zhonghua Shi, Hao Sun, Lei Wang, Kaiwei The State Key Laboratory of Modern Optical Instrumentation The National Engineering Research Center of Optical Instrumentation Zhejiang University Hangzhou310027 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China

High-quality panoramic images with a Field of View (FoV) of 360° are essential for contemporary panoramic computer vision tasks. However, conventional imaging systems come with sophisticated lens designs and heavy optical components. This disqualifies their usage in many mobile and wearable applications where thin and portable, minimalist imaging systems are desired. In this paper, we propose a Panoramic Computational Imaging Engine (PCIE) to achieve minimalist and high-quality panoramic imaging. With less than three spherical lenses, a Minimalist Panoramic Imaging Prototype (MPIP) is constructed based on the design of the Panoramic Annular Lens (PAL), but with low-quality imaging results due to aberrations and small image plane size. We propose two pipelines, i.e. Aberration Correction (AC) and Super-Resolution and Aberration Correction (SR&AC), to solve the image quality problems of MPIP, with imaging sensors of small and large pixel size, respectively. To leverage the prior information of the optical system, we propose a Point Spread Function (PSF) representation method to produce a PSF map as an additional modality. A PSF-aware Aberration-image Recovery Transformer (PART) is designed as a universal network for the two pipelines, in which the self-attention calculation and feature extraction are guided by the PSF map. We train PART on synthetic image pairs from simulation and put forward the PALHQ dataset to fill the gap of real-world high-quality PAL images for low-level vision. A comprehensive variety of experiments on synthetic and real-world benchmarks demonstrates the impressive imaging results of PCIE and the effectiveness of the PSF representation. We further deliver heuristic experimental findings for minimalist and high-quality panoramic imaging, in terms of the choices of prototype and pipeline, network architecture, training strategies, and dataset construction. Our dataset and code will be available at https://***/zju-jiangqi/PCIE-PART. Copyrig

关键词： Optical transfer function

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Materobot: Material Recognition in Wearable robotics for People with visual Impairments

MateRobot: Material Recognition in Wearable Robotics for Peo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Junwei Zheng Jiaming Zhang Kailun Yang Kunyu Peng Rainer Stiefelhagen Institute for Robotics and Anthropomatics Karlsruhe Institute of Technology Karlsruhe Germany Department of Engineering Science University of Oxford UK School of Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

People with visual Impairments (PVI) typically recognize objects through haptic perception. Knowing objects and materials before touching is desired by the target users but under-explored in the field of human-centered robotics. To fill this gap, in this work, a wearable vision-based robotic system, MATErobot, is established for PVI to recognize materials and object categories beforehand. To address the computational constraints of mobile platforms, we propose a lightweight yet accurate model MATEViT to perform pixel-wise semantic segmentation, simultaneously recognizing both objects and materials. Our methods achieve respective 40.2% and 51.1% of mIoU on COCOStuff-10K and DMS datasets, surpassing the previous method with +5.7% and +7.0% gains. Moreover, on the field test with participants, our wearable system reaches a score of 28 in the NASA-Task Load Index, indicating low cognitive demands and ease of use. Our MATErobot demonstrates the feasibility of recognizing material property through visual cues and offers a promising step towards improving the functionality of wearable robots for PVI. The source code has been made publicly available at MATErobot.

关键词： visualization Source coding Semantic segmentation visual impairment Semantics Wearable robots Mobile applications

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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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IEEE International Conference on Real-time Computing and robotics (RCAR)

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

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

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.

关键词： Attitude control Algebra Trajectory tracking Process control Aerospace electronics Real-time systems Motion control

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Admittance Based robot Force control Framework for Server Board Assembly 25

Admittance Based Robot Force Control Framework for Server Bo...

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25th IEEE International Conference on Industrial technology, ICIT 2024

作者： Ma, Yunlong Wang, Yaonan Jiang, Yiming Zhou, Xianen Zhu, Ge Zhu, Qing Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China Xiangjiang Laboratory Hunan China College of Electrical and Information Engineering Hunan University Changsha China School of Robotics Hunan University Changsha China National Engineering Research Center for Robot Vision Perception and Control Technology Hunan University Changsha China ZTE Corporation Shenzhen China

In server board assembly tasks, the effect of vision-based robot assembly schemes is not ideal due to the small installation gap and the blocking of vision. Adding force sensors and force controllers can be a good solution to the above problems and increase the flexibility in the assembly process. In this paper, we propose a force control strategy applied to a server board assembly task. The method is divided into two main parts. In the first part, the zero offset of the force sensor and the load gravity are calibrated and compensated, so that the external force on the load is accurately obtained. In the second part, the admittance controller is designed to achieve compliant behavior between the robot and the environment. Finally, the experimental verification of the board insertion is carried out on the experimental platform. Experimental results verify the effectiveness and practicability of the proposed method. © 2024 IEEE.

关键词： controllers

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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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IEEE International Conference on robotics and Biomimetics

作者： Tianyi Yang Zhiqiang Miao Guo Yi Yaonan Wang College of Electrical and Information Engineering Hunan University Chang-sha 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 Changsha China

ISBN: (纸本)9781665481106

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.

关键词： Attitude control Quaternions Biomimetics Numerical simulation Safety Quadratic programming robots

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Auxiliary force EEG (AFEEG) recognition oriented to stroke patients 1

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2nd International Conference on Healthcare Science and engineering, Healthcare 2018

作者： Lu, Peng Zhang, Jingjing Xie, Quanwei Han, Xinzhe Wang, Yingying School of Electrical Engineering Zhengzhou University Zhengzhou450001 China Cooperative Innovation Center of Internet Healthcare Zhengzhou450001 China Industrial Technology Research Institute Zhengzhou University Zhengzhou450001 China Robot Perception and Control Engineering Laboratory in Henan Zhengzhou University Zhengzhou450001 China

ISBN: (数字)9789811368370

ISBN: (纸本)9789811368363

Purpose In this paper, electroencephalogram (EEG) is used to recognize the pattern of the different auxiliary forces (AFs) on the upper extremity. It is expected that the robot obtains human feedback information in order to achieve robot control based on EEG. Method Collect the EEG of ten healthy subjects under different AF states, which is divided into non-AF, AF1, and AF2. Combined with power spectrum method, WPT is used to determine the key frequency bands and the EEG energy spectrum distribution state of key signal channels in different frequency ranges. Then, extract the energy features using support vector machine to classify the EEG data. Finally, ant colony algorithm is applied to optimize the key channels. Result According to the energy spectrum distribution of EEG at different frequency bands, it can be concluded that the frequency bands of the correlation features were 7.33–7.81Â Hz and 8.30–8.79Â Hz. The correct recognition rates were 84.54 and 79.43% for the two-stage classification and multi-stage classification, respectively. Through the optimization of the relevant electrode channels for assisted brain electricity, the original 13 channels were compressed to within 10 channels. Conclusion The use of EEG enables offline recognition of the magnitude of the AF on the upper extremity. During the rehabilitation training, according to patient’s active intention based on EEG signals, robot exerts different auxiliary forces. It is expected to provide an important technical approach for the rehabilitation robots to exert different auxiliary forces on patients in different rehabilitation periods. © Springer Nature Singapore Pte Ltd 2019.

关键词： Support vector machines

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