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arXiv 2023年

作者： Ausserlechner, Philipp Haberger, David Thalhammer, Stefan Weibel, Jean-Baptiste Vincze, Markus Vision for Robotics Laboratory Automation and Control Institute TU Wien Austria

As robotic systems increasingly encounter complex and unconstrained real-world scenarios, there is a demand to recognize diverse objects. The state-of-the-art 6D object pose estimation methods rely on object-specific training and therefore do not generalize to unseen objects. Recent novel object pose estimation methods are solving this issue using task-specific fine-tuned CNNs for deep template matching. This adaptation for pose estimation still requires expensive data rendering and training procedures. MegaPose for example is trained on a dataset consisting of two million images showing 20,000 different objects to reach such generalization capabilities. To overcome this shortcoming we introduce ZS6D, for zero-shot novel object 6D pose estimation. Visual descriptors, extracted using pre-trained Vision Transformers (ViT), are used for matching rendered templates against query images of objects and for establishing local correspondences. These local correspondences enable deriving geometric correspondences and are used for estimating the object's 6D pose with RANSAC-based PnP. This approach showcases that the image descriptors extracted by pre-trained ViTs are well-suited to achieve a notable improvement over two state-of-the-art novel object 6D pose estimation methods, without the need for task-specific fine-tuning. Experiments are performed on LMO, YCBV, and TLESS. In comparison to one of the two methods we improve the Average Recall on all three datasets and compared to the second method we improve on two datasets. Copyright © 2023, The Authors. All rights reserved.

关键词： Template matching

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Health Monitoring of Pressure Transmitter Sensing Line Based on Convolutional Neural Network 12

Health Monitoring of Pressure Transmitter Sensing Line Based...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2022

作者： He, Tianfang Xu, Aidong Wang, Kai Zeng, Peng Laboratory of Industrial Control Network and System State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China University of Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Industrial Control Network and System State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781839538360

Blockages of pressure transmitter sensing line are a recurring problem in nuclear plants. The traditional solution is to purge them with nitrogen periodically, which is time consuming and radiation intensive. It is thus desirable to monitor the status of sensing lines on-site. The noise analysis method is a promising method for sensing line health monitoring. However, the existing noise analysis methods, which evaluate the sensing line status by analyzing time domain or frequency domain features of process noise signal, are susceptible to working conditions of pressure transmitters. Further, blockage degree of the sensing line can not be determined by existing methods. Therefore, this paper proposes a machine learning based noise analysis method for health monitoring of pressure transmitter sensing line, in which 1-D Convolutional Neural Network (CNN) is used to extract features from process noise signals. Experimental results show that the proposed method achieved satisfactory results in diagnosis accuracy, false alarm rate and robustness of the model under different working conditions. Further, blockage degree of sensing line can also be evaluated. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Frequency domain analysis

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An Improved DeeplabV3+ Tile Image Positioning Method

An Improved DeeplabV3+ Tile Image Positioning Method

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2024 International Conference Optoelectronic Information and Optical Engineering, OIOE 2024

作者： Li, Xiaoyang Wang, Rui Tong, Xing Niu, Lianqiang Shenyang University of Technology Shenyang China Key Laboratory of Network Control Systems Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9781510688209

ISBN: (纸本)9781510688193

In order to improve the detection accuracy and efficiency of surface defects on ceramic tiles, a detection model based on DeepLabV3+and combined with MobileNetv2 for feature extraction was constructed. Using ECA attention mechanism and multi branch receptive field cascade fusion structure to expand the sampling range of global and local element features for the empty space pyramid pooling module ASPP of the original model. Meanwhile, the model decoder uses depthwise separable convolutions instead of the original standard convolutions. Experimental results have shown that the improved model has an MPA value of 96.12%, a MIou value of 97.29%, an F1 value of 90.03%, and an Accuracy value of 99.89%. Compared with the previous model, the improved model's indicators have increased by 4.07%, 4.44%, 2.04%, and 1.02%, respectively. The segmentation accuracy and detection speed have been significantly improved. The experimental results fully demonstrate that the algorithm proposed in this article can effectively complete the task of detecting surface defects on ceramic tiles. © 2025 SPIE.

关键词： Image segmentation

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State-of-Charge (SOC) Estimation of Lithium-Ion Battery Based on Unscented Kalman Filtering 6

State-of-Charge (SOC) Estimation of Lithium-Ion Battery Base...

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6th IEEE Advanced Information Management, Communicates, Electronic and automation control Conference, IMCEC 2024

作者： Miao, Mengfan Li, Ligang Wang, Zhongfeng Jiang, Jing Shenyang Ligong University College of Automation and Electrical Engineering Liaoning China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9798350316520

Real-time estimation of State of Charge (SOC) for lithium-ion batteries is one of the core technologies in Battery Management Systems (BMS). Accurate SOC estimation is fundamental for managing lithium-ion batteries. In this study, a second-order RC equivalent circuit model is established, and parameter identification methods are employed to determine the model parameters. The identified parameters are then incorporated back into the second-order RC model. The accuracy of these parameters and the model is validated through Hybrid Pulse Power Characteristic (HPPC) tests. Finally, the Unscented Kalman Filtering algorithm (UKF) is utilized to estimate battery SOC. Experimental results demonstrate that SOC estimation based on UKF exhibits high precision and stability. © 2024 IEEE.

关键词： Lithium-ion batteries

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Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile

Thermally Drawn Monolithic Polymer Continuum Robot with Lase...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Huanghua Zou, Yun Xu, Zheng Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350325706

Continuum robots have the great potential in endoluminal diagnosis and intervention toward narrow and confined workspace. However, fabrication of continuum robots still poses a grant challenge in its miniaturization. To solve this, this paper designs a thermally drawn monolithic polymer continuum robot with laser cutting profile. First, the continuum robot is designed with two degrees of freedom (DOF) for shape deflection, and it consists of four optical fibers with the fiber Bragg grating (FBG) sensor on each for tension sensing as driving cables. Second, its main body is a multi-channel polycarbonate (PC) tube produced by thermal drawing process, and a series of rectangular cutouts are made on it via laser cutting process. By combining these two fabrication processes, the developed continuum robot realizes the integration of the multi-channel structure and the notch feature. Third, a control framework of puller-follower controller using the integrated tension sensing is proposed for teleoperation control. Finally, experimental setup is built for the robot validation, and results show that the repeated positioning accuracy of the robot is 1.08 mm. Moreover, a micro endoscope and a needle are added to the end of the continuum robot, and a phantom study of auripuncture and drug delivery is completed to verify the preliminary feasibility. And the proposed fabrication approach enables the miniaturization and complex structure for the cable-driven continuum robots. © 2023 IEEE.

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Model Predictive control for Nonlinear Bilateral Teleoperation Systems With Time Delay 41

Model Predictive Control for Nonlinear Bilateral Teleoperati...

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第41届中国控制会议

作者： Yu Liu Chuanzhi Zang Yuqi Liu Peng Zeng School of Artificial Intelligence Shenyang University of Technology Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Bilateral teleoperation systems have received extensive attention as a substitute for the human to perform tasks in remote and hazardous *** paper proposes a model predictive control strategy for nonlinear bilateral teleoperation systems based on Long-Short Term Memory(LSTM) ***,model predictive control is used to achieve good tracking performance in the presence of input constraints in the *** the same time,considering the influence of different proficiency operators operating the master manipulator on the system performance,the error between the actual master manipulator trajectory and the reference trajectory is introduced into a linear feedback term to compensate for the decrease in system control accuracy caused by the error of ***,the LSTM network is used to predict the trajectory of the master manipulator in the future time equivalent to the network transmission *** predictions are used to control the remote slave manipulator,thereby eliminating the impact of communication delay on the ***,in slave sides,the trajectory creators are applied to generate the desired trajectories to achieve good force feedback *** experiments are carried out to verify the proposed control strategy,which can guarantee good performance with both position tracking and force feedback under time delay.

关键词： Model predictive control bilateral teleoperation long-short term memory network communication delay

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Insulators Defect Detection for Power Grid Based on Improved Yolov7 Algorithm 13

Insulators Defect Detection for Power Grid Based on Improved...

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13th International Conference on Intelligent control and Information Processing, ICICIP 2025

作者： Zhang, Zhiwei Zhuang, Yan Liang, Zhida Kong, Shuai Zhu, Shengyi School of Control Science and Engineering Dalian University of Technology Dalian China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Special Equipment Safety Testing Technology of Zhejiang Province Zhejiang Academy of Special Equipment Science Hangzhou China

ISBN: (纸本)9798331516147

High-current out-of-phase closed bus is an essential link in the transmission of electric energy and is widely used in thermal power stations, hydropower stations and nuclear power plants. Although these busbars have the advantages of excellent dustproof effect and strong magnetic shielding, they are susceptible to insulator aging and damage in long-term operation, posing a potential safety risk to the power grid. Due to the enclosed space inside the bus and the complexity of external maintenance tasks, manual inspection has problems such as inefficiency and low safety. In order to solve these problems, this paper proposes an improved detection algorithm based on Yolov7 for insulator defect detection in hydropower station scenarios. Because of the particularity of Yolov7 network structure and application scenarios, this paper proposes a Channel Feature Enhancement module to enhance the channel representation ability of the network. In addition, an Edge Feature Enhancement module is introduced to improve the boundary detection of insulators by enhancing the contrast between the target and the background. Considering the limitations of existing studies in specific scenarios and the scarcity of dataset, this paper constructs and accurately annotates an insulator defect detection dataset applied to hydropower station scenarios. Experimental results show that the improved-Yolov7-tiny algorithm in this paper achieves a balance between accuracy and inference speed. © 2025 IEEE.

关键词： Magnetic shielding

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Synthesis of Diagnostic Observers for Linear Systems Based on Optimal control Methods

Synthesis of Diagnostic Observers for Linear Systems Based o...

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2022 International Conference on control, automation and Diagnosis, ICCAD 2022

作者： Kabanov, Aleksey A. Zuev, Aleksandr V. Zhirabok, Aleksey N. Filaretov, Vladimir F. Department of Informatics and Control in Technical Systems Sevastopol State University Russia Laboratory of Intelligent Information Systems for Marine Robots Institute of Marine Technology Problems FEB RAS Russia Department of Automation and Robotics Far Eastern Federal University Russia Robotics Laboratory Institute of Automation and Control Processes FEB RAS Russia

ISBN: (数字)9781665497947

ISBN: (纸本)9781665497947

The paper considers the problem of fault identification in dynamic systems described by linear differential equations. To solve this problem, diagnostic observers constructed on the basis of optimal control methods are used. The proposed new method for the synthesis of such observers is based on the idea of introducing a new system with some auxiliary control which plays a role of an unknown vector function describing emerging faults. This control is proposed to be formed in such a way that it provides a minimum for the residual functional. Unlike popular approaches to solving the problem of fault identification based on observers operating in a sliding mode, the proposed method allows us to expand the class of systems for which the identification problem can be solved. It is known that the methods of sliding mode observers design impose certain restrictions on the systems under consideration. The suggested theory is illustrated by an example. The simulation results confirmed the operability of the diagnostic observers synthesized using the method proposed in the work. © 2022 IEEE.

关键词： Linear systems

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A new SPICE modeling approach of annular MOSFET in 350 nm commercial CMOS process 3

A new SPICE modeling approach of annular MOSFET in 350 nm co...

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3rd International Conference on Electronic Information Engineering and Computer, EIECT 2023

作者： Cheng, He Yang, Zhijia Zhang, Chao Zhang, Zhipeng Key Laboratory of Networked Control Systems Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350357707

Annular gate MOSFETs have emerged as potential solutions for radiation-hardened electronics, demonstrating exceptional total ionizing dose tolerance. However, accurate modeling of annular MOSFETs is crucial when designing analog integrated circuits for use in radiation environments, especially when implementing commercial CMOS processes. To enable circuit simulation using tools like SPECTRE/SPICE, foundry-provided PDKs must incorporate a rigorously verified compact model of annular MOSFET behavior. TCAD simulation can then be used to numerically evaluate the current characteristics of the annular MOSFET against the refined compact model constructed from the foundry-provided PDK. In this paper, by aligning the current characteristics of a standard NMOS between TCAD and SPICE simulations, we can verify the material process conditions. Then, based on the material process parameters, the model of the annular gate MOSFET is established using the TCAD simulator. Finally, reasonable agreements are obtained between the TCAD and SPICE simulation results for the IDS-VGS and IDS-VDS characteristics. © 2023 IEEE.

关键词： Foundries

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Design and Implementation of Industrial Real-Time Ethernet Redundant Network Based on Parallel Redundancy Protocol 3

Design and Implementation of Industrial Real-Time Ethernet R...

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3rd International Conference on Computer Science, Electronic Information Engineering and Intelligent control Technology, CEI 2023

作者： Gang, Mingxu Yan, Bingjun Hu, Bo Chinese Academy of Sciences Key Laboratory of Networked Control Systems China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350372052

Industrial real-time Ethernet technology is widely used in modern industrial control systems due to its high communication rate and low application cost. However, in complex network environments, industrial real-time Ethernet may encounter data collisions, data loss, and other issues, which reduce the overall reliability of industrial control systems. To address these issues, a method for designing and implementing industrial real-time Ethernet redundancy networks based on parallel redundancy protocols is proposed. The method first analyzes the redundant data frame structure, dual-connected node (DANP) structure, and redundancy implementation principle of parallel redundancy protocols (PRP). Then, aiming at the standard redundancy discard algorithm principle and its shortcomings, an improved sliding window redundancy discard algorithm is proposed to adapt to complex network environments. Based on the discard algorithm, dual-connected redundancy nodes are designed and implemented. Finally, the dual-connected redundancy nodes are used as the core to construct industrial real-time Ethernet redundancy networks. The test results show that in a PRP-based industrial real-time Ethernet redundant network, when a single redundant network fails, the system can switch without delay, greatly improving the reliability of the industrial control system communication network © 2023 IEEE.

关键词： Redundancy

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