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robotics, Control and Automation (ICRCA), International Conference on

作者： Liuzhao Li Xiaonan Hou Jinxin Xu Qihan Fan Robotics Engineering Center The 21st Research Institute of China Electronics Technology Group Corporation Shanghai China

ISBN: (数字)9798350344721

ISBN: (纸本)9798350344738

In view of the problems of sensor installation error, poor real-time performance and low accuracy of ground point cloud segmentation in robot obstacle detection technology based on Lidar, a robot ground laser point cloud segmentation algorithm based on adaptive slope threshold is proposed. First, the extrinsic parameter calibration algorithm of the Lidar and robot body coordinate system based on trajectory matching is used to improve the extrinsic parameter installation accuracy of the Lidar; secondly, in order to improve the real-time performance of ground point cloud segmentation, the original laser point cloud is preprocessed; then, In order to improve the efficiency and accuracy of point cloud segmentation, polar coordinate mapping is used to order the laser point cloud, and the idea of adaptive slope threshold is used to complete the reliable segmentation of ground point cloud; finally, an experimental comparative analysis is conducted. The results show that under the same environment, the segmentation efficiency and accuracy of this algorithm are higher.

关键词： Point cloud compression Accuracy Laser radar Three-dimensional displays Robot kinematics Lasers Robot sensing systems

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Target Defense with Multiple Defenders and an Agile Attacker via Residual Policy Learning

arXiv

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arXiv 2025年

作者： Tao, Jiyue Shen, Tongsheng Zhao, Dexin Zhang, Feitian Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering and the State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China National Innovation Institute of Defense Technology Beijing100071 China

The target defense problem involves intercepting an attacker before it reaches a designated target region using one or more defenders. This letter focuses on a particularly challenging scenario in which the attacker is more agile than the defenders, significantly increasing the difficulty of effective interception. To address this challenge, we propose a novel residual policy framework that integrates deep reinforcement learning (DRL) with the force-based Boids model. In this framework, the Boids model serves as a baseline policy, while DRL learns a residual policy to refine and optimize the defenders’ actions. Simulation experiments demonstrate that the proposed method consistently outperforms traditional interception policies, whether learned via vanilla DRL or fine-tuned from force-based methods. Moreover, the learned policy exhibits strong scalability and adaptability, effectively handling scenarios with varying numbers of defenders and attackers with different agility levels. Copyright © 2025, The Authors. All rights reserved.

关键词： Adversarial machine learning

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Advancement in Smart Cane Technology: Enhancing Mobility for the Visually Impaired Using ROS and LiDAR

Advancement in Smart Cane Technology: Enhancing Mobility for...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Saqib Zafar Hafiz Farhan Maqbool Naveed Ahmad Arham Ali Abdul Moeizz Faizan Ali Juri Taborri Stefano Rossi Department of Economics Engineering Society and Business Organization University of Tuscia Viterbo VT Italy Department of Mechanical Mechatronics and Manufacturing Engineering University of Engineering and Technology Lahore (Faisalabad Campus) Pakistan Human-Centred Robotics Lab National Center of Robotics and Automation Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

Visual impairment affects the ability to navigate independently in an unknown environment due to reliance on human/dog assistance, potential miscommunication, and discomfort during mobility. To make the visually impaired (VI) individuals self-reliant and confident in their mobility the proposed system has been developed that contains a light detection and ranging (LiDAR) sensor for obstacle detection and two omni-wheels coupled with the DC gear encoder motors for precise movement in any direction without lifting the cane. Hector Simultaneous Localization and Mapping (SLAM), A *, and steering wheel algorithms have been implemented in the robot operating system (ROS) for real-time environment mapping, efficient path planning, and navigating in an unknown indoor static environment, respectively. The Raspberry Pi 3B+ and Arduino Mega 2560 are used in the master-slave configuration for decision-making on path planning and controlling the maneuverability of the system in real-time. The proposed system in the paper is successfully tested on one subject in two indoor environments. The results demonstrate that the system serves as an assistive mobile robot, helping the VI individual to navigate confidently in an unknown environment and reach the destination without assistance.

关键词： Simultaneous localization and mapping Laser radar Navigation Operating systems Decision making Visual impairment Wheels Real-time systems Path planning robotics and automation

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HSMR: A Head-Shoulder Mask Aided ResNet to Guide Focus of Re-Identification Implemented on Tour-Guide Robot

HSMR: A Head-Shoulder Mask Aided ResNet to Guide Focus of Re...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Lin, Zheyuan Huang, Min Wang, Wen Qin, Mengjie Li, Te Wan, Minhong Gu, Jason Zhu, Shiqiang Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

For service robots, person re-identification (ReID) and multi-pedestrian tracking (MPT) are vital to get a person's location and link identities across frames. Though their accuracy keeps improving, most work lacks consideration of the application scenario, haunted by limited space, constrained power supply, and demands of the real-time response during human-robot interaction. Some ReID models learn trivial or unrelated features, inhibiting the downstream tasks. To solve these issues, the efficient and light-weighted Head-Shoulder Mask aided ResNet (HSMR) is proposed. This model applies multi-task learning to enhance the feature extraction performance in the training stage without extra computational load during inference. The auxiliary task fully uses head-shoulder information to guide the network and focuses on the head region, which contains the identity information. In experiments on the Tour-Guide Robot Data Base (TGRDB), HSMR earned results better than ResNet-18 on the ReID task and was superior to the recent two-stream method on the MPT task. On the mobile hardware, inference reaches an average of 15.2 FPS, three times faster than the two-stream method. The code is released at https://***/ZhYLin99/HSMR. © 2022 IEEE.

关键词： Human robot interaction

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Design and Implementation of Model Predictive Control (MPC) Based Pressure Regulation System for a Precision Agricultural Sprayer

Design and Implementation of Model Predictive Control (MPC) ...

引用

International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Adrees Khan Fazal Nasir Muhammad Tufail Muhammad Haris Muhammad Tahir Khan Zhang Dong Department of Mechatronics Engineering University of Engineering and Technology Peshawar Pakistan Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Institute of Automation Qilu University of Technology (Shandong Academy of Sciences) Jinan China

Model Predictive Control (MPC) is a control scheme that involves predicting the future behavior of a system and optimizing control actions to accomplish the desired objective. In this study, we develop an intelligent control algorithm, based on MPC to regulate the target pressure in variable-rate agriculture sprayer robots. Modeling and simulation steps of the spraying system are developed using MATLAB/Simulink environment, before passing to the description of the MPC algorithm. Real-time implementation of the MPC algorithm was conducted on an Arduino Mega 2560 controller board by using Simulink Support Package for Arduino Hardware in MATLAB/Simulink to experimentally validate the preliminary results of simulations. The work evaluates MPC to regulate the pressure in the system and compares the results with a traditional PID control system. Moreover, MPC is a novel method for nonlinear system control that achieves zero steady-state error, low transient response, and reduces peak overshoot compared to the results obtained with a PID controller, thereby reducing the waste of chemicals, and minimizing the toxicology and environmental risk.

关键词： Transient response Toxicology Software packages Spraying Agriculture Regulation Real-time systems

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Acoustic Beamforming via Interference-Plus-Noise Covariance Matrix Construction for Interferences and Noise Attenuation

Acoustic Beamforming via Interference-Plus-Noise Covariance ...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xiao, Yongxiong Zhu, Shiqiang Song, Wei Wan, Minhong Gu, Jason Li, Te Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

The interference-plus-noise covariance matrix (INCM) is essential in improving an acoustic beamformer's interference and noise attenuation performance. In practical implementation, INCM reconstruction is required to remove the signal of interest (SOI) components from the sample covariance matrix. However, some of the interference and noise components are inevitably removed during the INCM reconstruction process to avoid distortion of the desired speech, which deteriorates the interference and noise attenuation performance of the beamformer. This paper proposes constructing an INCM with as much information on the interferences and noise as possible by adding covariance matrices of the spherically diffuse noise, background noise, and interferences. The final INCM is reconstructed by using the principal eigenvector and definition of INCM. The beamformer's weight coefficients are computed by the linearly constrained minimum variance (LCMV) formulation. The proposed method is validated by experiments using a circular microphone array mounted on a tour robot in an exhibition hall. The results show that the proposed beamformer improves the robustness of automatic speech recognition and the performance of robot audition. © 2022 IEEE.

关键词： Beamforming

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Preliminary Design and Performance Analysis of A Solar-Powered Jumping-Gliding Martian Aircraft

Preliminary Design and Performance Analysis of A Solar-Power...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Lou, Bin Xie, Anhuan Zhu, Shiqiang Liu, Yaru Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

A solar-powered jumping-gliding Martian aircraft is proposed as a new tool for Mars exploration, designed especially to perform long-term wide-range detection. A completely new way of continues detection performed by aircraft is created. A preliminary design of the jumping-gliding Martian aircraft is carried out while its flight performance is analyzed afterwards. The conceptual design of a large-aspect ratio foldable wing with a thin fuselage and a jumping device is put forward. The solar energy model, aerodynamic model and weight mode are all built. The energy balance models are established for the periods of detecting mission that the aircraft lands on the ground for harvesting solar energy and flies in the sky. The gliding performance of this aircraft is particularly discussed here. © 2022 IEEE.

关键词： Aspect ratio

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Development of real-time digital twin model of autonomous field robot for prediction of vehicle stability

引用

Journal of institute of Control, robotics and Systems 2021年第3期27卷 109-196页

作者： Han, Jong-Boo Kim, Sung-Soo Song, Ha-Jun Ocean System Engineering Research Division Korea Research Institute of Ships & Ocean Engineering Korea Republic of Department of Mechanics Engineering Chungnam National University Korea Republic of Intelligent Robotics Research Center Korea Electronics Technology Institute Korea Republic of

This study aimed to develop a real-time digital twin model for an autonomous field robot. Autonomous control involves controlling vehicle stability parameters such as angular and translational velocities. However, stability is lost when a vehicle run over rough terrain. Therefore, it is necessary to accurately predict vehicle stability in real time using a digital twin model. In this study, we developed the digital twin model for an autonomous driving robot using real-time multibody dynamics. To verify the accuracy, we carried out real road tests on a flat road, and roads with symmetric and asymmetric bumps. We regulated the dynamic parameters such as the position of the center of gravity and coefficients of force elements in the built digital twin model and evaluated its efficiency as well. © ICROS 2021.

关键词： Autonomous vehicles

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Design and Experimental Validation of Sealing Assembly for Lunar Regolith Volatile Extraction Heating Furnace

Design and Experimental Validation of Sealing Assembly for L...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Hongan Tang, Junyue Wang, Yinchao Lu, Zixiao Wang, Bo Cao, Miaoyan Jiang, Shengyuan Yanshan University Mechanical Engineering Qinhuangdao China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Shenyang Aerospace University Mechatronics Institute Shenyang China Chinese Academy of Science National Center for Nanoscience and Technlogy Beijing China China Academy of Space Technology Beijing China

ISBN: (纸本)9798350325706

A lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed to exactly detect the water ice of the South Pole of the moon for China future lunar exploration missions. In order to realize the goal, an airtight heating furnace for volatile extraction from lunar regolith is desired. In this paper, sealing methods for lunar regolith volatile in heating furnace to future proposed in-situ sampling and analysis of lunar samples were investigated based on power requirements, furnace closing accuracy requirements, dust tolerance and operation in the Lunar environment. Methods implemented include a balanced metal hollow ring seal, a double channel ferrule tab ring radial seal and a spring energized seal. Comparing the performance of sealing methods under the above conditions, a spring energized seal is selected as the heating furnace seal. The materials and structure of the seal are designed based on the rigidity requirements, leakage rate requirements and working environment requirements. In order to test the sealing performance of seals after repeated sealing in high and low temperature environments, a seal leak detection system was designed. The test results indicate that the seal can meet the sealing performance requirements after repeated sealing at various temperatures. © 2023 IEEE.

关键词： Dust tolerance Leakage rate Lunar environment Repeated sealing Spring energized seal

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CoMT: Chain-of-Medical-Thought Reduces Hallucination in Medical Report Generation

CoMT: Chain-of-Medical-Thought Reduces Hallucination in Medi...

引用

2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Jiang, Yue Chen, Jiawei Yang, Dingkang Li, Mingcheng Wang, Shunli Wu, Tong Li, Ke Zhang, Lihua Academy for Engineering and Technology Fudan University China Tencent YouTu Lab China Xiamen University China Institute of Meta-Medical Fudan University China Engineering Research Center of AI and Robotics Ministry of Education Shanghai China Jilin Provincial Key Laboratory of Intelligence Science and Engineering Changchun China

ISBN: (纸本)9798350368741

Automatic medical report generation (MRG), which possesses significant research value as it can aid radiologists in clinical diagnosis and report composition, has garnered increasing attention. Despite recent progress, generating accurate reports remains arduous due to the requirement for precise clinical comprehension and disease diagnosis inference. Furthermore, owing to the limited accessibility of medical data and the imbalanced distribution of diseases, the underrepresentation of rare diseases in training data makes large-scale medical visual language models prone to hallucinations, such as omissions or fabrications, severely undermining diagnostic performance and further intensifying the challenges for MRG in practice. In this study, to effectively mitigate hallucinations in medical report generation, we propose a chain-of-medical-thought approach (CoMT), which intends to imitate the cognitive process of human doctors by decomposing diagnostic procedures. The radiological features with different importance are structured into fine-grained medical thought chains to enhance the inferential ability during diagnosis, thereby alleviating hallucination problems and enhancing the diagnostic accuracy of MRG. © 2025 IEEE.

关键词： chain-of-thought hallucination medical report generation

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