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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Yijiang Wang, Yaonan Mo, Yang Zhu, Qing Miao, Zhiqiang Luo, Yuefan College of Electrical and Information Engineering National Engineering Research Center for Robot Visual Perception and Control Hunan University Changsha410082 China

ISBN: (纸本)9781665481090

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. © 2022 IEEE.

关键词： Mammals

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A Mobile robotic System for Data center Thermal Environment Measurement and Reconstruction

A Mobile Robotic System for Data Center Thermal Environment ...

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2021 China Automation Congress, CAC 2021

作者： Qin, Ronghan Fang, Qiu Wang, Yaonan The National Engineering Laboratory for Robot Visual Perception and Control Technology Hunan University Hunan Changsha410082 China

ISBN: (纸本)9781665426473

Data centers are the key infrastructure for information services. The monitoring of the thermal environment of the data center computer room is an important work for its safe operation. This paper proposed a mobile robotic system for data center thermal environment measurement, which can freely sample the temperature and humidity data around the facilities within the computer room. On one hand, measuring the temperature and humidity in a mobile way can obtain far more environmental data than fixed-point sensors. On the other hand, the mobile robot can be used instead of manual inspection. In addition, a temperature field reconstruction method is provided based on the sampled temperature data. Theoretically, the temperature of locations that have not been measured can be evaluated by interpolating sample temperature around them. The reconstruction of the temperature field can present the variation of the temperature more clearly and help find the hot spots or locations with low cooling efficiency during the operation. Lastly, experiments are carried out to study the measurement error of the mobile robotic system and an error correction method is proposed. After that, the relationship between the temperature reconstruction error and the layout of sampling points is investigated. © 2021 IEEE

关键词： Interpolation

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MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Model

arXiv

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arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Zheng, Jin Geng, Zichen Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering China School of Robotics Hunan University Changsha410082 China Central South University Changsha410082 China Lancaster University LA1 4YW United Kingdom The University of Western Australia WA6009 Australia

Object pose estimation is a core means for robots to understand and interact with their environment. For this task, monocular category-level methods are attractive as they require only a single RGB camera. However, current methods rely on shape priors or CAD models of the intra-class known objects. We propose a diffusion-based monocular category-level 9D object pose generation method, MonoDiff9D. Our motivation is to leverage the probabilistic nature of diffusion models to alleviate the need for shape priors, CAD models, or depth sensors for intra-class unknown object pose estimation. We first estimate coarse depth via DINOv2 from the monocular image in a zero-shot manner and convert it into a point cloud. We then fuse the global features of the point cloud with the input image and use the fused features along with the encoded time step to condition MonoDiff9D. Finally, we design a transformer-based denoiser to recover the object pose from Gaussian noise. Extensive experiments on two popular benchmark datasets show that MonoDiff9D achieves state-of-the-art monocular category-level 9D object pose estimation accuracy without the need for shape priors or CAD models at any stage. Our code will be made public at https://***/CNJianLiu/MonoDiff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Image coding

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An Intelligent Route Recommendation Method for Smart Internet-Connected Electric Vehicles Under the Coupling of Traffic and Electricity 42

An Intelligent Route Recommendation Method for Smart Interne...

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42nd Chinese control Conference, CCC 2023

作者： Xie, Jinhuan Liu, Dongqi Yang, Zhenwu School of Electrical and Information Engineering Changsha University of Science and Technology Hunan 410114 China National Engineering Research Center for Robot Visual Perception and Control Technology Hunan 410012 China

ISBN: (纸本)9789887581543

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 Vehicles. This 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 scale. It is experimentally demonstrated that the proposed route hybrid recommendation model has better planning effect compared with the single travel model. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Roads and streets

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Unsupervised Deep Homography Estimation based on Transformer 8

Unsupervised Deep Homography Estimation based on Transformer

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

作者： Jiang, Tianjian Fang, Qiu Zhu, Qing Wang, Yaonan Zhou, Zhen Chen, Lin Zhou, Jiaming Luo, Yuefan Wu, Chengzhong National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University Hunan Changsha410082 China Jiangxi Communication Terminal Industry Technology Research Institute China

ISBN: (纸本)9798350300178

Homography estimation is a crucial problem in computer vision, which aims to provide an optimal transformation matrix for aligning images captured from different viewpoints. Current methods extract shallow features from image pairs and introduce learnable mask modules to improve homography estimation performance. However, they struggle to capture long-term dependencies between features and comprehend the global structures of image features. A deep unsupervised homography learning framework is proposed in this paper, consisting of a weight-sharing feature extraction network and a homography estimation network based on the Transformer model. The former extracts the local features of images, while the latter learns the correlation between them and understands the global features of images, enabling the algorithm to better estimate the homography of unaligned images. Experimental results demonstrate that the proposed method outperforms the advanced methods for estimating homography matrices in the CA-Unsupervised dataset. © 2023 IEEE.

关键词： Computer vision

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A lightweight intrusion detection method for intelligent substations 3

A lightweight intrusion detection method for intelligent sub...

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3rd International Conference on Electronic Information engineering and Data Processing, EIEDP 2024

作者： Zhang, Zidong Liu, Dongqi Liang, Haolan School of Electrical and Information Engineering Changsha University of Science and Technology Hunan410114 China National Engineering Research Center for Robot Visual Perception and Control Technology Hunan410012 China

ISBN: (纸本)9781510680531

Aiming at the current problem of lack of effective data and high service latency for intrusion detection in smart substations, this paper proposes a lightweight intrusion detection method for smart substations. Through the federated learning method and knowledge distillation method this paper trains a lightweight intrusion detection model based on LSTM. Experiments show that this paper's method has a large improvement in the accuracy and service delay on the NSL-KDD dataset. © 2024 SPIE.

关键词： Distillation

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Task and Motion Planning for Manipulators Using Linear Temporal Logics

Task and Motion Planning for Manipulators Using Linear Tempo...

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

作者： Liu, Tailai Miao, Zhiqiang Qin, Guangyu Wu, Wenjie Li, Lin Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China National Engineering Research Center for Robot Visual Perception and Control Changsha China

ISBN: (纸本)9798350372601

This paper deals with the problem of combining task and motion planning for a manipulator system. We propose a linear temporal logic (LTL) approach which follows the traditional hierarchical planning process, including task planning and motion planning. Firstly, the feasible network topology graph is obtained from the high-level task planning module, and the planning algorithm of search is used to obtain the task sequence. Secondly, the coordination module receives the task sequence to extract the manipulator's action sequence to make planning suggestions. Furthermore, a lower level planning module is used to receive the suggestions and motion planning is performed using sampled planning algorithms to generate and output the motion trajectory. Finally, we verified the feasibility of our method through simulations and physical experiments. Our method has smoother trajectories and is about 10% more efficient than the traditional method of setting way points. © 2024 IEEE.

关键词： Motion planning

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Velocity-free Formation control for Quadrotors Using High-order Sliding Mode Differentiator

Velocity-free Formation Control for Quadrotors Using High-or...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Lin, Qiong Miao, Zhiqiang Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China National Engineering Research Center for Robot Visual Perception and Control Changsha China

ISBN: (纸本)9798350327182

This paper deals with the problem of achieving formation control for underactuated multiple quadrotors without velocity measurements by employing the higher-order sliding mode (HOSM) differentiator. The primary objective of this work is to attain a coordinated formation behavior among the quadrotor group. In this paper, the dynamics of each quadrotor are transformed into a new form, wherein the attitude is described using rotation matrices. Subsequently, an intermediate guide is designed using the HOSM differentiator, taking into account the desired relative positions between the quadrotors and their actual positions. Next, the actual control thrusts and torques for each quadrotor are designed and solved by the intermediate guide. Finally, rigorous theoretical analysis and multiple simulations are performed to ensure that the multiple quadrotors converge asymptotically and accurately to the desired formation shape. © 2023 IEEE.

关键词： Sliding mode control

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Edge-Computing-Driven Autonomous Ubiquitous Internet of Things in Electricity: Architecture and Challenges 3

Edge-Computing-Driven Autonomous Ubiquitous Internet of Thin...

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3rd IEEE Conference on Energy Internet and Energy System Integration, EI2 2019

作者： Liu, Dongqi Zeng, Xiangjun Wang, Yaonan Changsha Unviersity of Science and Technology Changsha China National Engineering Laboratory for Robot Visual Perception and Control Technology Changsha China

ISBN: (纸本)9781728131375

The distribution network is developing towards the direction of Internet of Things in Electricity(IoTE). As an emerging technology of the Internet of Things(IoT), edge computing has great application potential in the future IoTE. This paper presents an architecture of edge computing-driven IoTE, whose physical layer is an electrical network containing a high proportion of power electronic devices, and its information layer is a 5G-oriented power communication network containing a large amount of power terminal and mass communication data generated by the power terminal. For the physical layer, the virtual synchronous machine(VSM) algorithm are adopted to control the large number of power electronic components so as to guarantee the dynamic stability of physical power network. For the information layer, a new layered distributed information processing architecture, the Edge Computing Architecture, is introduced to address the needs of information monitoring and protection control in the smart distribution network. The architecture of the edge computing, and the applications that may be deployed in the edge computing gateways are introduced, and the challenges may be faced by the IoTE in the future development are further discussed. © 2019 IEEE.

关键词： Internet of things

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Multiobjective Differential Evolution for Higher-Dimensional Multimodal Multiobjective Optimization

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1458-1475页

作者： Jing Liang Hongyu Lin Caitong Yue Ponnuthurai Nagaratnam Suganthan Yaonan Wang School of Electrical and Information Engineering Zhengzhou UniversityZhengzhou 450001 School of Electrical Engineering and Automation Henan Institute of TechnologyXinxiang 453003China School of Electrical and Information Engineering Zhengzhou UniversityZhengzhou 450001China KINDI Center for Computing Research Qatar UniversityDohaQatarand also with the Nanyang Technology UniversitySingapore College of Electrical and Information Engineering and also with the National Engineering Research Center for Robot Visual Perception and Control TechnologyHunan UniversityChangsha 410082China IEEE

In multimodal multiobjective optimization problems(MMOPs),there are several Pareto optimal solutions corre-sponding to the identical objective *** paper proposes a new differential evolution algorithm to solve MMOPs with higher-dimensional decision *** to the increase in the dimensions of decision variables in real-world MMOPs,it is diffi-cult for current multimodal multiobjective optimization evolu-tionary algorithms(MMOEAs)to find multiple Pareto optimal *** proposed algorithm adopts a dual-population framework and an improved environmental selection *** utilizes a convergence archive to help the first population improve the quality of *** improved environmental selection method enables the other population to search the remaining decision space and reserve more Pareto optimal solutions through the information of the first *** combination of these two strategies helps to effectively balance and enhance conver-gence and diversity *** addition,to study the per-formance of the proposed algorithm,a novel set of multimodal multiobjective optimization test functions with extensible decision variables is *** proposed MMOEA is certified to be effective through comparison with six state-of-the-art MMOEAs on the test functions.

关键词： Benchmark functions diversity measure evolution-ary algorithms multimodal multiobjective optimization.

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