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arXiv 2023年

作者： Wang, Xihan Xu, Xi Gao, Yu Yang, Yi Yue, Yufeng Fu, Mengyin School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

Modern object detectors take advantage of rectangular bounding boxes as a conventional way to represent objects. When it comes to fisheye images, rectangular boxes involve more background noise rather than semantic information. Although multi-point representation has been proposed, both the regression accuracy and convergence still perform inferior to the widely used rectangular boxes. In order to further exploit the advantages of multi-point representation for distorted images, Concentric Rectangles Regression Strategy(CRRS) is proposed in this work. We adopt smoother mean loss to allocate weights and discuss the effect of hyper-parameter to prediction results. Moreover, an accurate pixel-level method is designed to obtain irregular IoU for estimating detector performance. Compared with the previous work for muti-point representation, the experiments show that CRRS can improve the training performance both in accurate and stability. We also prove that multi-task weighting strategy facilitates regression process in this design. Source code is at https://***/IN2-ViAUn/Concentric-Rectangles-Loss. Copyright © 2023, The Authors. All rights reserved.

关键词： Semantics

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An Improved Active Disturbance Rejection control Method for Crane System

An Improved Active Disturbance Rejection Control Method for ...

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Chinese control and decision Conference, CCDC

作者： Yubo Sun Xiyuan Shan Zhicheng Zong School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

In order to improve the dynamic performance of the underdriven crane system, an improved linear active disturbance rejection controller (LADRC) based on the new error was proposed. The improved LADRC takes the error value between the disturbance and its observed value multiplied by a coefficient as the basis for adjusting the linear extended state observer (LESO). The improved method has two advantages. Firstly, the new error can prevent the traditional LESO from choosing larger parameter adjustment disturbances, which will limit the performance of the observer. Secondly, the pole can be configured by adjusting the coefficient to obtain better dynamic characteristics. Finally, the effectiveness of the proposed method is verified by simulation and experiment. The proposed method can effectively restrain the swing of the payload and it is robust to system parameters perturbation as well.

关键词： Robust control Couplings Adaptation models Cranes Uncertainty Perturbation methods Bandwidth

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IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using Wheel-Encoder and Inertial-RGB-Depth Measurements 30

IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using ...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Liu, Yuanhao Liang, Wei Wang, Chu Zhang, Xin Gao, Huanbing Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China School of Information and Electrical Engineering Shandong Jianzhu University Jinan China Shandong Key Laboratory of Intelligent Buildings Technology Jinan China

ISBN: (纸本)9798350391916

Safe & smart move (SSM) aims to help industrial vehicular robot (IVR), such as warehousing robots, running safely and smartly by detecting the obstacles in front and maintaining a safe distance & attitude. However, the traditional SSM methods suffer the drawbacks of limited ranges, inaccurate regression of safety distance & orientation between the robot and the forward unexpected obstacles, and the inappropriate IVR control strategies. To solve these issues, this paper designs an innovative real-time safety-aware framework using the complementary Wheel-Encoder and Inertial-RGB-Depth measurements to ensure the IVR running safely, reasonably and reliably. To estimate the robot running states, we take advantages of the complementary wheel encoder, monocular RGB images and inertial measurements to obtain the robot positions, orientations, angular and linear velocities in a tightly-coupled manner. To improve the safety relative distance & attitude estimation accuracy, we exploit the RGB and depth measurements in a task-oriented fashion. The forward obstacles with the specific contours are detected using the Mask-RCNN model, followed by the Gaussian Mixture Model to obtain the forward obstacle depth. Eventually, an IVR control strategy is designed to maintain the robot safety distance and orientation, and to keep the minimum damage to the robot mechanical system. The presented method has been evaluated on the developed industrial vehicular robot safety perception platform. The experimental results prove the competitiveness against the state-of-the-art methods. © 2024 IEEE.

关键词： Industrial robots

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GAT-Net: A Network using Grid Attention and Transformer for Dynamic Facial Expression Recognition

GAT-Net: A Network using Grid Attention and Transformer for ...

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Chinese control and decision Conference, CCDC

作者： Wenxin Dai Yaping Dai Kaoru Hirota Shuai Shao School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

Dynamic facial expression recognition (DFER) in the wild has received widespread attention recently. There are complex factors such as face occlusion and pose variation in the wild. Facial expression recognition has a subtle competition between capturing local features of a human face and obtaining a global feature representation. This paper proposes an end-to-end DFER network GAT-Net based on the grid attention module and Transformer, which improves the robustness and accuracy of DFER in the wild. Specifically, GAT-Net is divided into two components: spatial feature extraction and temporal feature processing. The grid attention module of the spatial feature extraction component guides the network to pay attention to the local salient features of the face, which reduces the interference of field occlusion and non-frontal poses. The Transformer in the temporal feature processing component guides the network to learn the temporal relationship of high-level semantic features and the global representation of facial expression features. These two components balance the subtle competition between local features and global feature representations of facial expressions. The ablation experiment has proved the effectiveness of the grid attention module and Transformer. Experiments demonstrate that our GAT-Net outperforms state-of-the-art methods on DFEW and AFEW benchmarks with accuracies of 67.53%, and 50.14% respectively.

关键词： Face recognition Semantics Interference Benchmark testing Transformers Feature extraction Robustness

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Design of a Constant Current Output High Frequency AC-DC Converter for Battery Charging Applications 26

Design of a Constant Current Output High Frequency AC-DC Con...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Wei, Zihao Song, Xiaoxian Jin, Liangwei Huang, Dingbang Zhang, Sheng Fang, Zhijian School of Future Technology China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Automation China University of Geosciences Wuhan430074 China

ISBN: (纸本)9798331521950

How to realize the high power factor, high efficiency, miniaturization and high power density of AC-DC converter is the key problem of battery charging applications. In this paper, an isolated AC-DC converter is proposed. The input voltage is rectified by the first stage AC-DC conversion, and the output is stabilized by the series resonant converter at the secondary stage. A sinusoidal modulation method is adopted to realize the constant current output characteristic independent of load. Then through the output current control loop and the PFC control loop, the constant current output and input high power factor are realized. The design of high switching frequency and resonant frequency provides conditions for high power density and miniaturization of converter design. Finally, the simulation of rated power of 960W was built by Matlab-simulink, which verified the rationality of the converter design. © 2025 IEEE.

关键词： State of charge

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Single Camera Based Gait Analysis Method with Scaled and Image Coordinate key-points

Single Camera Based Gait Analysis Method with Scaled and Ima...

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2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022

作者： Xiang, Tian-Yu Zhou, Xiao-Hu Xie, Xiao-Liang Liu, Shi-Qi Wang, Chen Gui, Mei-Jiang Li, Hao Hou, Zeng-Guang University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation School of Artificial Intelligence Beijing100049 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Clinical experiments and scientific evidence show the relations between gait and cognition. Neurological diseases (like stroke and cerebral palsy) distract patients' attention and restrict their executive functions. Furthermore, these diseases impair patients' movement and limit their social participation. Quantitative motion assessment is significant to medical decision-making for neurological disorders but is possible only with expensive motion capture systems and professional medical workers. Here, an end-To-end video-based quantitative gait analysis algorithm is proposed. Unlike previous works, which only focus on image coordinate key-points, our algorithm also utilizes scaled key-points that can depict the size of patients. These two groups of features are sent to other neural networks to extract temporal and spatial characteristics, and then the deep features are fused by the attention mechanism. Finally, a statistic model is used to process the proposed outputs to get a final result. Experiments on the public patients' dataset show the effectiveness and accuracy of our model. Furthermore, the ablation study proves that every step of the proposed method contributes to the whole system's performance. © 2022 IEEE.

关键词： Gait analysis

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Economic Research on User-Side Photovoltaic Energy Storage System Considering Shared Energy Storage 5

Economic Research on User-Side Photovoltaic Energy Storage S...

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5th International Conference on Power and Energy Technology, ICPET 2023

作者： Chen, Kaiwen Wang, Qingyi Kang, Kai Wang, Hao School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China PowerChina Hubei Electric Engineering Co. Ltd Wuhan China Wuhan Second Ship Design and Research Institute Wuhan China

ISBN: (纸本)9798350339673

Based on the background of photovoltaic development in the whole county and the demand for energy storage on the user-side, this paper establishes an economic evaluation model of user-side photovoltaic energy storage system considering shared energy storage. Firstly, three schemes of no energy storage, independent energy storage and shared energy storage are proposed, and the influence of photovoltaic energy storage system loss on annual power generation is considered. Secondly, based on the whole life cycle theory, the cost and benefit model of the user-side photovoltaic energy storage system is established, and the unit electricity cost of the user is used as the evaluation index. Finally, the relevant data of user in Hubei area are analyzed as an example to verify the effectiveness of the model and provide reference for the investment of related projects. © 2023 IEEE.

关键词： photovoltaic energy storage system shared energy storage the unit electricity cost of the user user-side

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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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Multi-Agent Coverage control on Surfaces Using Conformal Mapping

arXiv

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arXiv 2024年

作者： Zhai, Chao Wu, Yuming School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China

Real-time environmental monitoring using a multi-agent system (MAS) has long been a focal point of cooperative control. It is still a challenging task to provide cost-effective services for potential emergencies in surface environments. This paper explores the transformation of a general surface into a two-dimensional (2D) disk through the construction of a conformal mapping. Multiple agents are strategically deployed within the mapped convex disk, followed by mapping back to the original surface environment. This approach circumvents the complexities associated with handling the difficulties and intricacies of path planning. Technical analysis encompasses the design of distributed control laws and the method to eliminate distortions introduced by the mapping. Moreover, the developed coverage algorithm is applied to a scenario of monitoring surface deformation. Finally, the effectiveness of the proposed algorithm is validated through numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Conformal mapping

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Optimal Portfolio of Wind-solar-hydro Hybrid Renewable Generation based on Variable Speed Pumped Storage 6

Optimal Portfolio of Wind-solar-hydro Hybrid Renewable Gener...

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6th IEEE International Electrical and Energy Conference, CIEEC 2023

作者： Xiang, Shizhe Xu, Da Gao, Menglu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Dc Company of State Grid Hubei Electric Power Co. Ltd. Yichang443000 China

ISBN: (纸本)9798350346671

Compared with separate solar or wind generation, the hybrid wind-solar-hydro renewable portfolio can achieve better generation characteristics due to their temporal-spatial complementarities. This paper proposes optimal portfolio of wind-solar-hydro hybrid renewable generation based on variable speed pumped storage (VSPS). In this portfolio, the complementarities of hydro-solar-wind hybrid renewable energy sources (RESs) are fully exploited via various conversion and storage devices for zero carbon 100% renewable supplies. Compared to traditional fixed speed pumped storage (FSPS), the VSPS has obvious advantages in power regulation and renewable accommodation, which is comprehensively modeled to capture its dynamic operational dispatchability and flexibility. The portfolio production, conversion, storage, and consumption are formulated via a two-stage framework, which takes the minimum system investment cost as the objective function. Case studies on southwest China are performed to show the effectiveness and superiority of the proposed methodology on cost-effective accommodation. © 2023 IEEE.

关键词： Cost effectiveness

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