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IEEE International Conference on Industrial Technology (ICIT)

作者： Shane Harrigan Sonya Coleman Dermot Kerr Justin Quinn Leeanne Lindsay Kyle Madden School of Computing Engineering and Intelligent Systems Ulster University Derry Northern Ireland

This paper introduces the Virtual Manufacturing Platform (VMP), a cloud-complete educational platform targeting manufacturing industries providing tutorials and sandboxing. The scope of this paper focuses on the robot control architecture of the platform which allows for seamless control of both virtual and physical robots and end-effectors accompanied by supportive educational materials. The platform seeks to de-risk automation investments for small to medium enterprises by offering confirmatory environments and knowledge transfer opportunities.

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Learning discriminative foreground-and-background features for few-shot segmentation

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Multimedia Tools and Applications 2024年第18期83卷 55999-56019页

作者： Jiang, Cong Zhou, Yange Liu, Zhaoshuo Feng, Chaolu Li, Wei Yang, Jinzhu School of Computer Science and Engineering Northeastern University Liaoning Shenyang110819 China College of Science Northeastern University Liaoning Shenyang110819 China Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Liaoning Shenyang110819 China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Liaoning Shenyang110819 China

Few-shot Semantic Segmentation (FSS) endeavors to segment novel categories in a query image by referring to a support set comprising only a few annotated examples. Presently, many existing FSS methodologies primarily embrace the prototype learning paradigm and concentrate on optimizing the matching mechanism. However, these approaches tend to overlook the discrimination between the features of foreground background. Consequently, the segmentation results are often imprecise when it comes to capturing intricate structures, such as boundaries and small objects. In this study, we introduce the Discriminative Foreground-and-Background feature learning Network (DFBNet) to enhance the distinguishability of bilateral features. DFBNet comprises three major modules: a multi-level self-matching module (MSM), a feature separation module (FSM), and a semantic alignment module (SAM). The MSM generates prior masks separately for the foreground and background, employing a self-matching strategy across different feature levels. These prior masks are subsequently used as scaling factors within the FSM, where the features of the query’s foreground and background are independently scaled up and then concatenated along the channel dimension. Furthermore, we incorporate a two-layer Transformer encoder-based semantic alignment module (SAM) in DFBNet to refine the features, thereby creating a greater distinction between the foreground and background features. The performance of DFBNet is evaluated on the PASCAL-5i and COCO-20i benchmarks, demonstrating its superiority over existing solutions and establishing new state-of-the-art results in the field of few-shot semantic segmentation. The codes will be released if this paper is accepted. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2023.

关键词： Semantic Segmentation

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3D Human Pose Estimation Model Analysis: Gait Analytics for Autism Spectrum Disorder Detection

3D Human Pose Estimation Model Analysis: Gait Analytics for ...

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Artificial Intelligence and Cognitive Science (AICS), Irish Conference on

作者： Benn Henderson Yogarajah Pratheepan Bryan Gardiner T.M. McGinnity School of Computing Engineering and Intelligent Systems Ulster University Londonderry United Kingdom

The automatic classification of ASD has recently been approached from a gait analysis perspective in controlled environments. This paper compares three Monocular Human Pose Estimation models: CLIFF, VideoPose using PoseAug, and PSTMO, on an ASD gait dataset captured using a mobile phone. The ability to collect the 3D joint positions from readily available devices, like mobile phone cameras, removes both: 1) the need to provide a bespoke collection device; and 2) the need for the subject being recorded to travel to a controlled environment. However, the relative performance of phone cameras versus more laboratory-like methods implemented using the Kinect camera sensor or equivalent has not been fully assessed for ASD gait data collection. A combination of peak detection, Dynamic Time Warping, and position correction using average offset values are utilised in the synchronisation and matching of gait data from two devices, the Kinect V2 and the Samsung Note 9 RGB Camera, that have different sampling rates. Experimental results show CLIFF is the most suitable model for gait analysis.

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A Comfortable Wrist-Worn Gesture Recognition System via HD-sEMG 18

A Comfortable Wrist-Worn Gesture Recognition System via HD-s...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Qiu, Haomeng Liao, Yizhi Chen, Yan Xie, Longhan South China University of Technology Shien-Ming Wu School of Intelligent Engineering Guangzhou China University of Melbourne School of Computing and Information Systems Melbourne Australia Liz Medical Technology Co. Ltd Guangzhou China

ISBN: (纸本)9798350312201

In Internet of Things (IoT) services, wearable devices have been widely used for gesture recognition applications. Recently, gesture recognition based on high-density surface electromyogram (HD-sEMG) has attracted growing attention because its ability to recognize various gestures and achieve good performance. However, most previous studies based on HD-sEMG focused on the forearm while people prefer wrist-worn IoT devices like smartwatches. Although some studies have used single-end sEMG for wrist-worn gesture recognition, its recognition accuracy needs to be improved. An ideal gesture recognition should balance comfort and accuracy. In this work, we propose and design a gesture recognition system based on wrist-worn HD-sEMG. This wearing method is more intuitive and comfortable to use compared to the forearm-worn method. In the test, our proposed gesture recognition system achieves 98.08% accuracy. Our method facilitates a more comfortable gesture recognition without compromising the accuracy. © 2023 IEEE.

关键词： Gesture recognition

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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A Generative Prediction Model Based on TimeVAE and Crossformer for Predicting Multichannel Data of Transformer Bushing

A Generative Prediction Model Based on TimeVAE and Crossform...

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2024 China Automation Congress, CAC 2024

作者： Huang, Xiangjie Lang, Xun Li, Peng Guo, Tao Yu, Li Department of Electronic Engineering Information School Yunnan University Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China Honghe Power Supply Bureau Yunnan Power Grid Corporation Honghe Yunnan China

ISBN: (纸本)9798350368604

Transformer bushings play a crucial role in power systems. Despite their importance, there has been limited research specifically on the state prediction of transformer bushings. Moreover, currently available models only predict univariate data of bushings without considering the physical connection to other relevant data, which would give rise to a compromised prediction. To achieve a more accurate joint prediction of three critical transformer states: dielectric loss, end shield current, and equivalent capacitance, this work builds upon the state-of-the-art predictive network Crossformer. In addition to Crossformer, a data generation model named TimeVAE is introduced to enlarge the scale of the training dataset. This combination enabled us to achieve accurate multivariate predictions for transformer bushings. To evaluate the effectiveness of the proposed predictor, we conducted comparative experiments with attention-based frameworks (Autoformer, Pyraformer, Informer, Reformer, Transformer), which are considered efficient for multivariable prediction tasks. The results show that our proposed model outperforms these models in four key metrics: mean square error, mean absolute error, root mean squared error, and coefficient of determination. © 2024 IEEE.

关键词： Prediction models

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An Obstacle Avoidance Path Planning Algorithm for Manipulator in Deep Crate Grasping

An Obstacle Avoidance Path Planning Algorithm for Manipulato...

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2023 China Automation Congress, CAC 2023

作者： Yao, Zhuobin Gan, Yahui Han, Zao Gao, Huan Li, Ang School of Automation Southeast University Key Laboratory of Measurement and Control of Systems of Engineering Ministry of Education NanJing China Intel Joint Research Institute on Intelligent Edge Computing Nanjing YingQi Intelligent Technology Co. Ltd. NanJing China

ISBN: (纸本)9798350303759

The deep crate grasping problem is a major challenge for manipulator in industrial applications. In order to solve the issue of deep crate grasping and ensure the path quality of the algorithm, this paper proposes a new hybrid obstacle avoidance planning algorithm based on goal-biased rapidly exploring random tree and improved artificial potential field (RRT-APF). Initially, the algorithm strategizes an efficient trajectory for the working element within the operational area. Subsequently, it dissects this trajectory through sampling, creating a sequence of sub-target points. These points serve as the basis for obstacle avoidance planning within the manipulator's configuration space, mitigating planning complexities. Moreover, the RRT algorithm is employed to address the challenge of local optima within the artificial potential field method. The stochastic nature of the RRT algorithm plays a crucial role in enabling the APF algorithm to break free from local optima. Ultimately, the efficacy of the algorithm is demonstrated through the planning of a path for obstacle avoidance on the DOBOT CR5 manipulator using MATLAB. © 2023 IEEE.

关键词： Trees (mathematics)

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Pediatric Vascular Anomalies Recognition with a Swin Transformer Framework 9

Pediatric Vascular Anomalies Recognition with a Swin Transfo...

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9th International Conference on Image, Vision and computing, ICIVC 2024

作者： Zhang, Xieyang Zhang, Zhao Chen, Siyu Lang, Xun He, Bingbing Zhang, Yufeng School of Information Science and Engineering Yunnan University Kunming China Department of Dermatology Kunming Children’s Hospital Kunming Children’s Hospital Kunming China Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China

ISBN: (纸本)9798350385991

Vascular anomalies primarily manifest in the head and neck area, impacting roughly one in every 22 children. Early and accurate diagnosis of these anomalies holds the potential to significantly improve physical functioning impairments in children. While computer-aided diagnosis (CAD) system can enhance diagnostic accuracy and address the scarcity of medical resources, existing systems for vascular anomalies identification are limited and mainly focus on binary classification tasks like infantile hemangiomas. Motivated by the above problem, this work develops a classification framework using clinical imaging data from Kunming Children’s Hospital, targeting six common vascular anomalies. Specifically, Swin Transformer was chosen as the backbone network for classification due to its ability to capture long-range dependencies of lesions. In addition, Modified RandAugment was employed to enrich the diversity of lesion data and enhance the robustness of the constructed Swin Transformer. Our experimental results demonstrate that the proposed framework can achieve good overall performance and excel in certain disease recognition tasks. This achievement may promote the development of high-quality CAD systems for diagnosing vascular anomalies in children. © 2024 IEEE.

关键词： Pediatrics

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Trusted Non-intrusive Data Exchange based on Ontology in Logistics Industry 3

Trusted Non-intrusive Data Exchange based on Ontology in Log...

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2023 3rd International Conference on Big Data, Artificial Intelligence and Risk Management, ICBAR 2023

作者： Xu, Lianzheng Fu, Deqian Qiu, Jianlong School of Information Science and Engineering Linyi University Shandong Province Linyi City China Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong Linyi University of Linyi City Shandong China

ISBN: (纸本)9798400716478

The logistics industry is becoming increasingly important in our daily lives, leading to a growing demand for digitalization within the sector. However, due to concerns about data privacy, logistics entities have formed natural information silos, which have made logistics data difficult to exchange and share. To address this issue, this paper proposes an ontology-based logistics data exchange model that utilizes blockchain technology to establish user trust among information silos. The model in this paper fuses non-intrusive data access and Ontology-Based Data Access (OBDA) to achieve both precise control over the data access process and interconnection among heterogeneous systems. The proposed model creates a new trustworthy and controllable solution for the circulation of logistics data within the logistics industry, without the need for the secondary development of logistics information systems. © 2023 ACM.

关键词： Ontology

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Dynamic Event-Triggered Leader-Following Consensus of Multiagent systems under DoS Attacks

Dynamic Event-Triggered Leader-Following Consensus of Multia...

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第43届中国控制会议

作者： Ji Ma Xiangyong Chen Yue Wu Ji Sun Jianhua Liu The Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong School of Automation and Electrical Engineering Linyi University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In this paper, the leader-following consensus of multi-agent systems(MASs) under denial-of-service(DoS) attacks over undirected networks is studies. First, introduce an estimator under DoS attacks to design a dynamic event-triggered communication protocol, which avoids continuous communication between agents. Then, with the presence of the estimator between the triggering instants can reduce the state shift. In contrast to the conventional method, the existence of dynamic threshold need fewer triggering times. Under this control strategy, the systems only need the states in triggering instants according to estimated states. Finally, verify the effectiveness of the proposed approach by a simulation example.

关键词： Multi-agent systems Event-triggered protocol Leader-following consensus DoS attacks

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