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AI Enabled Automatic Mobile Robot Intelligent Navigation in Construction with Obstacle Awareness

IEEE Transactions on Automation Science and engineering 2025年

作者： Zhang, Yinlong Liu, Yuanhao Cui, Yunge Zeng, Ziming Liang, Wei Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China University of Chinese Academy of Sciences Beijing101408 China Zeekr Group Zeekr Intelligent Driving Department Shanghai110078 China Shenzhen Polytechnic University School of Automotive and Transportation Engineering Shenzhen518055 China

In the construction industry, the integration of artificial intelligence (AI) and robotics has led to significant advancements in automating various tasks. One critical aspect is the intelligent navigation of automatic mobile robot (AMR) within construction sites, where dynamic environments pose challenges such as inaccurate robot state estimation, irregular and textureless obstacle detection. To solve these issues, this paper designs an AI enabled obstacle-aware AMR intelligent navigation approach while ensuring robot safety and efficiency. Specifically, the robot is equipped with the complementary RGB camera, inertial measurement unit (IMU) and wheel encoder to estimate the states (i.e., positions, orientations and velocities), which have been tightly fused in the optimization framework. Furthermore, the RGB-Depth images are jointly fed into the AI model. It combines of Mask-RCNN and multi-scale attention network, to detect and segment the obstacles, and estimate the corresponding relative depth. It should be noted that the system incorporates obstacle awareness mechanisms to dynamically switch the robot's velocities in response to obstacles in the environment, ensuring smooth and collision-free movement. Experimental results demonstrate the effectiveness and robustness of the proposed AI-enabled navigation system in real-world construction scenarios, showcasing its potential to enhance productivity and safety in construction automation. © 2004-2012 IEEE.

关键词： Construction industry

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Development in the application of laser-induced breakdown spectroscopy in recent years:A review

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Frontiers of physics 2021年第2期16卷 45-69页

作者： Lian-Bo Guo Deng Zhang Lan-Xiang Sun Shun-Chun Yao Lei Zhang Zhen-Zhen Wang Qian-Qian Wang Hong-Bin Ding Yuan Lu Zong-Yu Hou Zhe Wang Wuhan National Laboratory for Optoelectronics(WNLO) Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesSheyang 110016China School of Electric Power South China University of TechnologyGuangzhou 510640China State Key Laboratory of Quantum Optics and Quantum Optics Devices Institute of Laser SpectroscopyShanxi UniversityTaiyuan 030006China State Key Laboratory of Multiphase Flow in Power Engineering Xi'an Jiaotong UniversityXi'an 710049China Key Laboratory of Photonic Information Technology School of Optics and PhotonicsBeijing Institute of TechnologyBeijing 100081China School of Physics Dalian University of TechnologyNo.2 Linggong RoadGanjingzi DistrictDalian 116024China Optics and Optoelectronics Laboratory Ocean University of ChinaQingdao 266100China State Key Lab of Power Systems Department of Energy and Power EngineeringTsinghua UniversityBeijing 100084China

Laser-induced breakdown spectroscopy(LIBS)has been widely studied due to its unique advantages such as remote sensing,real-time multi-elemental detection and none-to-little *** the efforts of researchers around the world,LIBS has been developed by leaps and ***,in recent years,more and more Chinese LIBS researchers have put tremendous energy in promoting LIBS *** is worth mentioning that the application of LIBS in a specific field has its special application background and technical difficulties,therefore it may develop in different stages.A review summarizing the current development status of LIBS in various fields would be helpful for the development of LIBS technology as well as its applications especially for Chinese LIBS community since most of the researchers in this field work in *** the present work,we summarized the research status and latest progress of main research groups in coal,metallurgy,and water,*** on the current research status,the challenges and opportunities of LIBS were evaluated,and suggestions were made to further promote LIBS applications.

关键词： laser-induced breakdown spectroscopy application

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DG-NBV: A Cognitive Framework for Direct Generation of Next Best View in Continuous View Space

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IEEE Transactions on Cognitive and Developmental systems 2024年

作者： Liu, Zhicheng Cao, Zhiqiang Li, Jianjie Guan, Peiyu Yu, Junzhi Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Peking University Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Beijing100871 China

The next best view (NBV) plays an important role in the three-dimensional object reconstruction. Existing NBV methods mainly adopt the generate-and-test strategy to select the best view in the discrete view space. This affects the adaptation to diverse objects. To solve this problem, a new NBV paradigm to directly generate the next best view in the continuous view space according to the input point cloud is proposed. Specifically, a point cloud feature extraction module with learnable view and position tokens is presented. These tokens are added upon the neighborhood and the position features of the point cloud to fully mine global contextual information, enhancing the feature representation. The predicted view from the proposed network is linked to a pre-trained view evaluation network. By duplicating this prediction view and then concatenating the duplication result with the extracted point cloud feature, the evaluation network is endowed with the ability to evaluate arbitrary views. Take the evaluation score of the evaluation network corresponding to the predicted view as the supervision signal, the network is trained. In this way, an effective solution of the next best view selection in the continuous view space is obtained. Accordingly, the adaptability to different objects is reinforced. Experimental results on the ShapeNet and MIT CSAIL datasets demonstrate the effectiveness of the proposed method. © 2024 IEEE.

关键词： Feature extraction

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Zibo Miao Yu Pan Qing Gao Guangdong Key Laboratory of Intelligent Morphing Mechanisms School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Shenzhen China State Key Laboratory of Industrial Control Technology The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique.

关键词： Perturbation methods Design methodology Quantum optics Robustness Feedback control Closed loop systems Tuning Cybernetics

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Spot electricity market design for a power system characterized by high penetration of renewable energy generation

Energy Conversion and Economics

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Energy Conversion and Economics 2021年第2期2卷 67-78页

作者： Yang, Jiajia Dong, Zhao Yang Wen, Fushuan Chen, Qixin Liang, Bomiao School of Electrical Engineering and Telecommunications University of New South Wales SydneyNSW Australia School of Electrical Engineering Zhejiang University Hangzhou China Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia State Key Laboratory of Power Systems Department of Electrical Engineering Tsinghua University Beijing China School of Automation and Electrical Engineering Zhejiang University of Science and Technology Hangzhou China

The continuous growth of renewable generation in power systems brings serious challenges to electricity markets due to their characteristics different from conventional generation technologies. These challenges come from two dimensions, including short-term (energy and ancillary service markets) and long-term (long-term bilateral and capacity markets) aspects. Under this background, the design of energy and ancillary service markets is studied for power systems with a high penetration level of variable renewable generation. In the proposed spot market mechanism, energy and frequency regulation service (FRS) bids are jointly cleared, where renewable generators are motivated to proactively manage the intermittency and uncertainty of their power outputs. The proposed market mechanism can also ensure the adequacy of FRS capacity for compensating variability of renewables. Besides, in order to ensure the execution of spot market clearing outcomes, this paper established a penalty scheme for mitigating the real-time fluctuations of renewable generation outputs in the spot market. Differences between real-time generation outputs and market clearing outcomes are managed within a certain limit by imposing the designed penalty prices on deviations. Finally, the feasibility and efficiency of the developed market mechanism and algorithms are manifested in the case studies. © 2021 The Authors. Energy Conversion and Economics published by John Wiley & Sons Ltd on behalf of The Institution of engineering and Technology and the state Grid Economic & Technological Research Institute Co., Ltd.

关键词： Power markets

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Kinematic Parameter Calibration for Parallel Robot Based on Robust Estimation and PCR Algorithm

Kinematic Parameter Calibration for Parallel Robot Based on ...

引用

Advanced Algorithms and Control engineering (ICAACE), International Conference on

作者： Jin Wang Renge Zhang Weijun Hu Haiyun Zhang Guodong Lu Silu Chen Jingbo Luo State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Institute of Zhejiang University Hangzhou China School of Robotics Ningbo University of Technology Ningbo China Zhejiang Qiantang Robot and Intelligent Equipment Research Co. LTD Hangzhou China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China

ISBN: (数字)9798350361445

ISBN: (纸本)9798350361452

Due to the existence of redundant identification parameters and parallel branch chains, the nonlinear error model of parallel robot is likely to produce multicollinearity, which will lead to the undesirable ill-conditioned identification matrix. Though PCR method can modify the ill-conditioned identification matrix, it is still susceptible to the gross error of the original data. In terms of these problems, this paper proposes a parameter calibration algorithm for parallel robot based on robust estimation and principal component regression (RE-PCR). Firstly, the linear identification model is established based on the closed-loop vector chain perturbation theory to improve the identification accuracy. On this basis, for the configuration types with redundant identification parameters and parallel branch chains, PCR is used to modify the ill-conditioned matrix and a robust estimation (RE) algorithm is designed to improve the resistance capacities of PCR to gross error data points. Finally, through the identification experiment based on 4PPa-2PaR parallel robot, the proposed algorithm demonstrates higher efficiency and stronger robustness in comparison with traditional methods.

关键词： Resistance Parallel robots Parameter estimation Perturbation methods Estimation Kinematics Vectors

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Distributed Optimization by Network Flows with Spatio-Temporal Compression

arXiv

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arXiv 2024年

作者： Ren, Zihao Wang, Lei Yi, Xinlei Wang, Xi Yuan, Deming Yang, Tao Wu, Zhengguang Shi, Guodong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China College of Electronics and Information Engineering Tongji University China School of Electrical Engineering Telecommunications University of New South Wales Sydney Australia School of Automation Nanjing University of Science and Technology China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University China Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney SydneyNSW2006 Australia

Several data compressors have been proposed in distributed optimization frameworks of network systems to reduce communication overhead in large-scale applications. In this paper, we demonstrate that effective information compression may occur over time or space during sequences of node communications in distributed algorithms, leading to the concept of spatio-temporal compressors. This abstraction classifies existing compressors as spatio-temporal compressors, with their effectiveness described by constructive stability criteria from nonlinear system theory. Subsequently, we apply these spatio-temporal compressors to standard continuous-time consensus flows and distributed prime-dual flows, establishing conditions ensuring convergence. Additionally, we introduce a novel observer-based distributed primal-dual continuous flow integrated with spatio-temporal compressors, which provides broader convergence conditions. These continuous flows achieve exponential convergence to the global optimum when the objective function is strongly convex and can be discretized using Euler approximations. Finally, numerical simulations illustrate the versatility of the proposed spatio-temporal compressors and verify the convergence of algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Stability criteria

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A New Workspace and Structural Parameter Optimization Method of Parallel Robot

A New Workspace and Structural Parameter Optimization Method...

引用

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Haiyun Zhang Weijun Hu Renge Zhang Jin Wang Guodong Lu School of Robotics Ningbo University of Technology Ningbo China Robotics Institute of Zhejiang University Hangzhou China Zhejiang Qiantang Robot and Intelligent Equipment Reserch Co. LTD Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Robotics Research Center of Yuyao City Ningbo China

The parallel robot workspace refers to the set of points and boundary that can be reached by the parallel mechanism. With the continuous development and industrial application of parallel robots, the workspace analysis and optimization becomes a critical link in this process. In this paper, a workspace solution approach based on seed space segmentation and principal component analysis is proposed. In order to improve the working performance of parallel robots, a flexible workspace evaluation method based on quadratic fourth moment is proposed, and a relationship model between flexible workspace and structural parameters is established. Furthermore, based on the multi-objective genetic algorithm, the structure parameters of the parallel robot are optimized by the workspace and flexible workspace indexes. Finally, the advantage and effectiveness of proposed method are verified by experiment and comparison with traditional methods.

关键词：

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Investigating the dynamic memory effect of human drivers via ON-LSTM

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Science China(Information Sciences) 2020年第9期63卷 83-93页

作者： Shengzhe DAI Zhiheng LI Li LI Dongpu CAO Xingyuan DAI Yilun LIN Department of Automation Tsinghua University Shenzhen International Graduate School Tsinghua University Department of Mechanical and Mechatronics Engineering University of Waterloo State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

It is a widely accepted view that considering the memory effects of historical information(driving operations) is beneficial for vehicle trajectory prediction models to improve prediction accuracy. However,many commonly used models(e.g., long short-term memory, LSTM) can only implicitly simulate memory effects, but lack effective mechanisms to capture memory effects from sequence data and estimate their effective time range(ETR). This shortage makes it hard to dynamically configure the most suitable length of used historical information according to the current driving behavior, which harms the good understanding of vehicle motion. To address this problem, we propose a modified trajectory prediction model based on ordered neuron LSTM(ON-LSTM). We demonstrate the feasibility of ETR estimation based on ON-LSTM and propose an ETR estimation method. We estimate the ETR of driving fluctuations and lane change operations on the NGSIM I-80 dataset. The experiment results prove that the proposed method can well capture the memory effects during trajectory prediction. Moreover, the estimated ETR values are in agreement with our intuitions.

关键词： driving behavior memory effect trajectory prediction historical information ON-LSTM

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Robot-aided fN∙m torque sensing within an ultrawide dynamic range

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Microsystems & Nanoengineering 2021年第1期7卷 51-61页

作者： Shudong Wang Xueyong Wei Haojian Lu Ziming Ren Zhuangde Jiang Juan Ren Zhan Yang Lining Sun Wanfeng Shang Xinyu Wu Yajing Shen State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049China Mechanical and Biomedical Engineering Department City University of Hong KongHong Kong SAR 999077China Department of Mechatronics Chang’an UniversityXi’an 710054China Robotics and Microsystems Center Soochow UniversitySuzhou 215021China Shenzhen Institutes of Advanced Technology Chinese Academy of SciencesShenzhen 518055China Shenzhen Research Institute City University of Hong KongShenzhen 440305China

In situ scanning electron microscope(SEM)characterization have enabled the stretching,compression,and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale ***,as one of the fundamental approaches for material analytics,torsion tests at a small scale remain a major challenge due to the lack of an ultrahigh precise torque sensor and the delicate sample assembly ***,we present a microelectromechanical resonant torque sensor with an ultrahigh resolution of up to 4.78 fN∙m within an ultrawide dynamic range of 123 ***,we propose a nanorobotic system to realize the precise assembly of microscale specimens with nanoscale positioning accuracy and to conduct repeatable in situ pure torsion tests for the first *** a demonstration,we characterized the mechanical properties of Si microbeams through torsion tests and found that these microbeams were five-fold stronger than their bulk *** proposed torsion characterization system pushes the limit of mechanical torsion tests,overcomes the deficiencies in current in situ characterization techniques,and expands our knowledge regarding the behavior of micro/nanomaterials at various loads,which is expected to have significant implications for the eventual development and implementation of materials science.

关键词： torsion precise dynamic

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