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2024 International Conference on Optical and Photonic engineering, icOPEN 2024

作者： Miao, Huisi Liu, Wan Yan, Ziyu Xu, Weidong Zhang, Dongbo Zhang, Hui School of Automation and Electronic Information Xiangtan University Xiangtan411105 China Xiangtan Electric Manufacturing Co..Ltd. Xiangtan411105 China National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha410082 China

ISBN: (数字)9781510688117

ISBN: (纸本)9781510688100

Traditional fringe projection profilometry (FPP) struggles with robust imaging and high-precision three-dimensional (3D) reconstruction in complex lighting environments with strong inter-reflection. This paper proposes a method combining frequency-shifted fringe projection and epipolar constraint to achieve high-precision 3D profilometry in such scenarios. First, environmental light interference is mitigated and the maximum fringe frequency is reduced through window function analysis (WFA) and a four-step phase-shifting (PS). Then, direct and indirect illumination are separated in the Fourier domain. Direct illumination positions are identified using threshold segmentation and epipolar geometry constraint, enhancing imaging robustness in strong inter-reflection contexts. Experimental results demonstrate that the method constructs direct and indirect illumination feature models, accurately obtaining direct illumination information and eliminating multi-path interference. Additionally, in tests with complex geometrical surfaces, imaging efficiency and robustness significantly improve, with effective point cloud data increasing by over 30% and planar accuracy improving by 50%. © 2025 SPIE.

关键词： Light interference

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The Impact of Domain Name Server(DNS)over Hypertext Transfer Protocol Secure(HTTPS)on Cyber Security:Limitations,Challenges,and Detection Techniques

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Computers, Materials & Continua 2024年第9期80卷 4513-4542页

作者： Muhammad Dawood Shanshan Tu Chuangbai Xiao Muhammad Haris Hisham Alasmary Muhammad Waqas Sadaqat Ur Rehman Faculty of Information Technology Beijing University of TechnologyBeijing100124China National Center of Robotics and Automation University of Engineering and TechnologyPeshawar25000Pakistan Department of Computer Science College of Computer ScienceKing Khalid UniversityAbha61421Saudi Arabia School of Computing and Engineering Sciences Faculty of Engineering and ScienceUniversity of GreenwichLondonSE109LSUnited Kingdom School of Engineering Edith Cowan UniversityPerthWA 6027Australia School of Computer Science and Engineering University of SalfordManchesterM54BRUnited Kingdom

The DNS over HTTPS(Hypertext Transfer Protocol Secure)(DoH)is a new technology that encrypts DNS traffic,enhancing the privacy and security of ***,the adoption of DoH is still facing several research challenges,such as ensuring security,compatibility,standardization,performance,privacy,and increasing user *** significantly impacts network security,including better end-user privacy and security,challenges for network security professionals,increasing usage of encrypted malware communication,and difficulty adapting DNS-based security ***,it is important to understand the impact of DoH on network security and develop newprivacy-preserving techniques to allowthe analysis of DoH traffic without compromising user *** paper provides an in-depth analysis of the effects of DoH on *** discuss various techniques for detecting DoH tunneling and identify essential research challenges that need to be addressed in future security ***,this paper highlights the need for continued research and development to ensure the effectiveness of DoH as a tool for improving privacy and security.

关键词： DNS DNS over HTTPS cybersecurity machine learning

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Design and Development of IoT Based Weather and Air Quality Monitoring Station

Design and Development of IoT Based Weather and Air Quality ...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Haris Bilal Ubaid Uzma Bibi Ameer Said Syed Najm us Saqib Shahbaz Khan Muhammad Tufail Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Department of Mechatronics Engineering University of Engineering and Technology Peshawar Pakistan Institute of Manufacturing Engineering Management University of Engineering and Applied Sciences Swat Swat Pakistan

This paper presents the Design and Development of IoT Based Weather and Air Quality Monitoring stations that provide weather-related information for agriculture, and aviation climate forecasting purposes. The prototype is made up of an outdoor unit that consistently monitors numerous climatic variables such as temperature, humidity, barometric pressure, wind speed, wind direction, rainfall, and air quality using sensors with high accuracy. The air quality index(AQI) is also calculated using the sensors values which tell us whether the atmosphere is safe or polluted. ESP32(Microcontroller) which has a WiFi module is used to gather and send the sensor data through the Internet of things (IoT) to a ThingSpeak channel (IoT cloud), an internet platform where the data is saved, analyzed and read the data remotely. The weather station makes use of photovoltaic power and a rechargeable lead-acid battery to sustain the system. This paper also discusses the obvious strengths and shortcomings of the system and suggests plausible upgrades to assist the system in obtaining higher and long-term performance.

关键词： Temperature sensors Cloud computing Wind speed Transportation Air quality Sensors Internet of Things

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TiltXter: CNN-based Electro-tactile Rendering of Tilt Angle for Telemanipulation of Pasteur Pipettes

TiltXter: CNN-based Electro-tactile Rendering of Tilt Angle ...

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Telepresence, IEEE Conference on

作者： Miguel Altamirano Cabrera Jonathan Tirado Aleksey Fedoseev Oleg Sautenkov Vladimir Poliakov Pavel Kopanev Dzmitry Tsetserukou Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology (Skoltech) Moscow Russia

ISBN: (数字)9798331528249

ISBN: (纸本)9798331528256

The shape of deformable objects can change drastically during grasping by robotic grippers, causing an ambiguous perception of their alignment and hence resulting in errors in robot positioning and telemanipulation. Rendering clear tactile patterns is fundamental to increasing users’ precision and dexterity through tactile haptic feedback during telemanipulation. Therefore, different methods have to be studied to decode the sensors’ data into haptic stimuli. This work presents a telemanipulation system for plastic pipettes that consists of a Force Dimension Omega.7 haptic interface endowed with two electro-stimulation arrays and two tactile sensor arrays embedded in the 2-finger Robotiq gripper. We propose a novel approach based on convolutional neural networks (CNN) to detect the tilt of deformable objects. The CNN generates a tactile pattern based on recognized tilt data to render further electro-tactile stimuli provided to the user during the telemanipulation. The study has shown that using the CNN algorithm, tilt recognition by users increased from 23.13% with the downsized data to 57.9%, and the success rate during teleoperation increased from 53.12% using the downsized data to 92.18% using the tactile patterns generated by the CNN.

关键词： Telepresence Shape Tactile sensors Grasping Rendering (computer graphics) Pattern recognition Convolutional neural networks Plastics Grippers Sensor arrays

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SparallaxMPC: High-Speed Model Predictive Control Solver with High Sparsity and Parallelism

SparallaxMPC: High-Speed Model Predictive Control Solver wit...

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Chinese Automation Congress (CAC)

作者： ZhengXing Lei Xiaodong Deng Longjun Liu Caigui Jiang National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications and Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Model Predictive Control (MPC) is one of the most popular methods used in control problem. However, MPC is computationally demanding with limited use of sparse and parallel implementations. We present SparallaxMPC, a high-speed MPC solver with parallel and sparse representation. Our approach is based on sparse matrix representation and leverages the structure of the MPC problem for efficiency. We demonstrate the effectiveness of SparallaxMPC by benchmarking it against the state-of-the-art solver CasADi, achieving more than a 3x acceleration.

关键词： Sparse approximation Single instruction multiple data Graphics processing units Kinematics Programming Benchmark testing Predictive models Prediction algorithms Sparse matrices Predictive control

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A Novel Gas Classification Method Based on The Improved GasNet 43

A Novel Gas Classification Method Based on The Improved GasN...

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43rd Chinese Control Conference, CCC 2024

作者： Qin, Xiaolin Cheng, Lei Tao, Xiang Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan430081 China Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan430081 China Wuhan University of Science and Technology School of Information Science and Engineering Wuhan430081 China

ISBN: (纸本)9789887581581

Accurately and promptly identifying harmful gases in the environment can effectively prevent many accidents. Most existing pattern recognition methods are focused on addressing gas classification problems in static scenarios, but the real world is a dynamic and changing environment. Therefore, researching gas classification in continuous learning scenarios will better meet the needs of suddenly emerging gas classification tasks in real-world environments. To address this issue, an incremental learning model was introduced into gas classification, and an improved deep convolutional network was proposed for gas image feature extraction. The proposed model and other baseline methods experimented on an open-source gas dataset. The proposed model reduces knowledge loss due to catastrophic forgetting and effectively classifies the 10 gas samples in the dataset in continuous learning scenarios compared to non-incremental methods. It outperforms other baseline incremental methods by optimizing the network's shortcut connections, making the feature extraction network easier to train and improving gas classification performance. In dynamic learning scenarios, the proposed model achieved a classification accuracy of 86.30% for 10 gas samples. The experimental results demonstrate that the proposed method effectively mitigates catastrophic forgetting interference and completes gas classification tasks in continuous learning scenarios. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Contrastive Learning

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A Robust Control Technique for Pitch Control of an Aeropendulum 6

A Robust Control Technique for Pitch Control of an Aeropendu...

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6th International Conference on robotics, Control and Automation engineering, RCAE 2023

作者： Tanveer, M. Hassan Koduru, Charles Roy, Rupam Gupta Lakhekar, Girish V. Chun, Cary Kennesaw State University Department of Robotics and Mechatronics Engineering MariettaGA30067 United States National Institute of Technology Department of Electronics and Instrumentation Engineering Agartala Barjala Jirania Tripura Agartala India College of Engineering Department of Instrumentation Engineering Maharashtra Pune India

ISBN: (纸本)9798350315301

Pitch control of an aviation system presents a plethora of control complications, such as nonlinear effects, parameter uncertainties, disturbances, etc. In the face of parametric uncertainties and disturbances, as well as communication limits in an auditory medium, it is difficult to create efficient control algorithms that can accomplish precise path-following tasks and effective resilient control actions. This paper presents the Second Order Sliding Mode Control method for regulating the pitch angle in an aero-pendulum mechatronic system. The fundamental purpose of this study is to develop a reliable controller capable of minimising the system error between the regulated signal and the planned signal that corresponds to the pitch angle of the vehicle. By employing the proposed approach, both the prevalence of chattering and the control efficiency can be greatly improved. A comparison is given between the proposed model and the classical technique now in use, such as the classical Sliding Mode Controller. © 2023 IEEE.

关键词： Sliding mode control

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Dense 3D Reconstruction of Non-cooperative Target Based on Pose Measurement 9th

Dense 3D Reconstruction of Non-cooperative Target Based on...

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9th International Forum on Digital Multimedia Communication, IFTC 2022

作者： Wang, Jiasong Wang, Hao Zhao, Yongen Yuan, Ronghao Xu, Fan Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun130000 China Aerospace System Engineering Shanghai Shanghai Engineering Research Center of Space Robotics Shanghai201109 China School of Mechatronics Engineering Harbin Institute of Technology Harbin150000 China

ISBN: (纸本)9789819908554

To accurately identify the three-dimensional (3D) structure information of non-cooperative targets in on-orbit service tasks, this paper proposed a 3D reconstruction method combining pose measurement and dense reconstruction. Firstly, based on the depth camera, the Iterative Closest Point (ICP) algorithm is used to realize the pose measurement between each frame of the non-cooperative target. Then, the loopback detection based on the bag-of-words method is adopted to eliminate the cumulative error of pose measurement. At the same time, the sparse 3D model of the non-cooperative target can be obtained by combining feature point extraction and matching. Furthermore, secondary sampling is performed in the tracking and local mapping threads by increasing the dense mapping thread. Then, the loop thread is used to update the pose in turn. After the global pose optimization, a more accurate 3D reconstruction model can be obtained. By using point cloud optimization, the accurate dense 3D reconstruction model of a non-cooperative target is constructed. Finally, numerical simulations and experiments verify the accuracy and effectiveness of the proposed method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Iterative methods

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SharpSLAM: 3D Object-Oriented Visual SLAM with Deblurring for Agile Drones

SharpSLAM: 3D Object-Oriented Visual SLAM with Deblurring fo...

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Telepresence, IEEE Conference on

作者： Denis Davletshin Iana Zhura Vladislav Cheremnykh Mikhail Rybiyanov Aleksey Fedoseev Dzmitry Tsetserukou Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology (Skoltech) Moscow Russia

ISBN: (数字)9798331528249

ISBN: (纸本)9798331528256

The paper focuses on the algorithm for improving the quality of 3D reconstruction and segmentation in DSP-SLAM by enhancing the RGB image quality. SharpSLAM algorithm developed by us aims to decrease the influence of high dynamic motion on visual object-oriented SLAM through image deblurring, improving all aspects of object-oriented SLAM, including localization, mapping, and object *** experimental results revealed noticeable improvement in object detection quality, with F-score increased from 82.9% to 86.2% due to the higher number of features and corresponding map points. The RMSE of signed distance function has also decreased from 17.2 to 15.4 cm. Furthermore, our solution has enhanced object positioning, with an increase in the IoU from 74.5% to 75.7%. SharpSLAM algorithm has the potential to highly improve the quality of 3D reconstruction and segmentation in DSP-SLAM and to impact a wide range of fields, including robotics, autonomous vehicles, and augmented reality.

关键词： Location awareness Visualization Three-dimensional displays Simultaneous localization and mapping Telepresence Heuristic algorithms Motion segmentation Object detection Vehicle dynamics Robots

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Corridor-Walker: Mobile Indoor Walking Assistance for Blind People to Avoid Obstacles and Recognize Intersections

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Proceedings of the ACM on Human-Computer Interaction 2022年第MHCI期6卷 1–22页

作者： Kuribayashi, Masaki Kayukawa, Seita Vongkulbhisal, Jayakorn Asakawa, Chieko Sato, Daisuke Takagi, Hironobu Morishima, Shigeo Waseda University Japan Miraikan The National Museum of Emerging Science and Innovation Japan IBM Research Tokyo Japan IBM Research United States Robotics Institute Carnegie Mellon University United States Waseda Research Institute for Science and Engineering Japan

Navigating in an indoor corridor can be challenging for blind people as they have to be aware of obstacles while also having to recognize the intersections that lead to the destination. To aid blind people in such tasks, we propose Corridor-Walker, a smartphone-based system that assists blind people to avoid obstacles and recognize intersections. The system uses a LiDAR sensor equipped with a smartphone to construct a 2D occupancy grid map of the surrounding environment. Then, the system generates an obstacle-avoiding path and detects upcoming intersections on the grid map. Finally, the system navigates the user to trace the generated path and notifes the user of each intersection’s existence and the shape using vibration and audio feedback. A user study with 14 blind participants revealed that Corridor-Walker allowed participants to avoid obstacles, rely less on the wall to walk straight, and enable them to recognize intersections. © 2022 Association for Computing Machinery.

关键词： Smartphones

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