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7th IEEE Conference on Energy Internet and Energy System Integration, EI2 2023

作者： Liu, Guolong Bai, Yan Liu, Jinjie Zhao, Huan Liang, Gaoqi Zhao, Junhua Shenzhen Institute of Artificial Intelligence and Robotics For Society The Chinese University of Hong Kong Shenzhen Shenzhen China School of Science and Engineering The Chinese University of Hong Kong Shenzhen Shenzhen China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Shenzhen Institute of Artificial Intelligence and Robotics For Society School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics For Society School of Science and Engineering The Chinese University of Hong Kong Shenzhen Shenzhen China

ISBN: (纸本)9798350345094

Smart grids have rapidly developed in recent years, and a large amount of data has been collected and become the basis for decision-making of power grid operation. To ensure the safe and stable operation of the power grid, how to improve the data quality of the collected data has become an important research topic. Therefore, an attention mechanism-based autoencoder is proposed in this paper for missing data recovery to improve data quality in smart grids. The proposed method named missing data recovery autoencoder (MDRAE) contains two parts of an encoder and a decoder, and the attention mechanism is integrated into the encoder part to better extract the key information of the data. The effectiveness of the proposed method is verified by conducting experiments on two datasets including industrial load data and residential load data. The experimental results show that the model performance of the proposed method is better than that of the two benchmarks, and the proposed method can recover the missing data accurately. © 2023 IEEE.

关键词： Smart power grids

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Enhancement of Two-Photon Fluorescence Microscopy Through Auxiliary Microspheres for Microscopic Observation 14

Enhancement of Two-Photon Fluorescence Microscopy Through Au...

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14th IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems, CYBER 2024

作者： Zhang, Feng Jin, Zijian Jiang, Chaodi Yuan, Shuai Yang, Yongliang Wang, Xiaoduo School of Electrical & Control Engineering Shenyang Jianzhu University Liaoning Province Shenyang110168 China School of Computer Science and Engineering Shenyang Jianzhu University Liaoning Province Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798331506056

At present, it is still a great challenge to improve the observation accuracy of two-photon fluorescence microscope. A new method that using auxiliary microspheres as movable components on the sample is proposed to solve this challenge in this study, it can improve high-resolution imaging. In experiments using two-photon fluorescence microscopy, the half-width height (FWHM) of red fluorescent nanoparticles with a diameter of 20 nm was observed to be 296 nm using a primitive microscope system. In this paper by combining barium titanate microspheres with two-photon fluorescence microscopy, the accuracy of the point spread function of the nanoparticles can be improved by a factor of about 1.65, which results in a significant reduction of their half-width height measurements to 179 nm. The research is of great significance to improve the resolution of two-photon fluorescence microscope. This progress is very valuable for studying biological tissues and cell structures, it provides a new impetus for the sustainable development in the microscopic imaging field. © 2024 IEEE.

关键词： Microspheres

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Optimizing Route Efficiency in Formula One (F1) Vehicles Using Reinforcement Learning Algorithms 4

Optimizing Route Efficiency in Formula One (F1) Vehicles Usi...

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4th IEEE International Conference on Artificial Intelligence in Cybersecurity, ICAIC 2025

作者： Narejo, Sanam Khan, Muhammad Taimoor Shaikh, Muhammad Zakir Dhirani, Lubna Luxmi Chowdhery, Bhawani Shankar Mehran Univerity of Engineering and Technology Department of Computer Systems Jamshoro Pakistan Mehran Univerity of Engineering and Technology Jamshoro National Centre for Robotics Automation and Artificial Intelligence Pakistan University of Malaga Mechanical Engineering and Energy Efficiency School of Industrial Engineering Malaga Spain University of Limerick Department of Electronic and Computer Engineering Limerick Ireland

ISBN: (纸本)9798331518882

This research explores the application of reinforcement learning (RL) to enhance route efficiency and performance of a Formula One (F1) car within a simulation environment. The simulation is implemented using Python, NEAT (NeuroEvolution of Augmenting Topologies), and PyGame to create a dynamic system where neural networks control the car's navigation. RL enables the F1 car, acting as an agent, to learn optimal decisions through a fitness-based reward mechanism by interacting with its environment. Equipped with radar sensors to detect obstacles and measure distances, the virtual car adjusts its speed and steering to avoid collisions and optimize movement. Over successive generations, the RL algorithm refines the car's driving ability, improving speed and directional control to maximize distance covered and minimize lap times. A fitness-based evaluation system tracks progress, providing metrics such as best and average fitness scores, which highlight the car's evolving performance. Results demonstrate the effectiveness of RL in enhancing autonomous driving capabilities, enabling the car to navigate complex environments and improve decision-making across generations. © 2025 IEEE.

关键词： Reinforcement learning

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A Spiral Coverage Path Planning Algorithm for Nonomnidirectional Robots

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Journal of Field robotics 2025年第0期

作者： Hou, Taogang Li, Jiaxin Pei, Xuan Wang, Hao Liu, Tianhui Institute of Advanced Control Systems School of Automation and Intelligence Beijing Jiaotong University Beijing Beijing China Institute of Robotics School of Mechanical Engineering and Automation Beihang University Beijing Beijing China

The limited steering capabilities of nonomnidirectional robots introduce significant complexity into complete coverage tasks, often leading to increased path overlap or incomplete coverage of certain areas. Although recent research has made progress in optimizing coverage path planning, redundant coverage or omissions are still prone to occur in the target area to be covered. To address these persistent challenges, we propose a novel spiral coverage method. This approach not only conforms to the kinematic constraints of nonomnidirectional robots but also enhances coverage efficiency by dividing the target area into center and boundary regions and devising tailored coverage strategies for each. This method effectively reduces path redundancy and improves overall area coverage. Furthermore, we introduce a comprehensive metric that combines total path length and area coverage ratio to evaluate coverage efficiency, overcoming the limitations and computational complexity associated with existing metrics. For scenarios where maximizing the area coverage ratio is critical, we have developed a high-coverage-rate turning strategy that ensures 100% coverage. Through simulation tests in six representative areas and actual experiments on airport runways, our method shows an improvement of 0.238%–14.538% in coverage efficiency compared with parallel coverage method and 60.548%–76.339% compared with deep reinforcement learning-based method. Additionally, implementing high-coverage-rate turning strategies improves the area coverage ratio by 2.021%–6.732%. In field experiments, our method reduces execution time by 1.61% compared with parallel coverage method. These results show that our method has a significant effect in improving coverage efficiency and achieving complete coverage goals. © 2025 Wiley Periodicals LLC.

关键词： Robot programming

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Trajectory optimization of B-splines interpolation based on dynamic error adjustment 9

Trajectory optimization of B-splines interpolation based on ...

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2023 9th International Forum on Manufacturing Technology and engineering Materials, ICMTEM 2023

作者： Zhao, Peng Gao, Feiyang Guo, Kai Zhang, Enyuan Li, Song School of Mechanical Engineering Shenyang Ligong University Liaoning Shenyang110159 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110016 China Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Liaoning Shenyang110169 China

In this paper, we propose a motion planning algorithm based on the five-fold B-spline curve for multi-axis motion control systems with non-smooth trajectories, acceleration, plus acceleration over the limit, etc. We construct a smooth transition model for the micro-line segment G3 of the continuous five-fold B-spline curve. A derivation of the corresponding theoretical equation is given. Using the transition model, we propose an optimization method for dynamic adjustment of motion trajectory errors based on the velocity forward planning constraints by smoothing the transition after the trajectory of the micro-line segment for the forward planning velocity. Finally, the design flow for the forward planning of the velocity is given. Finally, the above algorithm is used to perform simulation experiments for the optimization algorithm. Experimental results show that the proposed optimization improves the accuracy of fitting motion trajectories under the constraints of acceleration and deceleration addition, which validates the proposed algorithm. © Published under licence by IOP Publishing Ltd.

关键词： Acceleration

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A bionic mimosa soft robot composed by PNIPAM-PEGDA copolymer 5

A bionic mimosa soft robot composed by PNIPAM-PEGDA copolyme...

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5th World Robot Conference Symposium on Advanced robotics and automation, WRC SARA 2023

作者： Wang, Xiaowen Yang, Wenguang Ge, Zhixing Yantai University School of Electromechanical and Automotive Engineering Yantai264005 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China

ISBN: (纸本)9798350307320

Deformation is very important for biological survival, more and more researchers are committed to 3D deformation of 2D materials. In this research, we make 3D deformation by applying different internal stresses to 2D materials. At the beginning, single layer PNIPAM hydrogel sheets with different combinations of microchannels were fabricated by UV curing technology. Because of the uneven distribution of internal stresses, they deformed into different 3D structures. In order to maintain these 3D structures though without continuous stimulation, PNIPAM-PEGDA bilayer structure was prepared. It was found that the bilayer structure could respond to both temperature and solvent composition due to the difference of solubility between PNIPAM and PEGDA. Based on the bilayer structure, we made the bionic Mimosa, which could not only realize the open-closing reversibly, but also maintained the normally closed state without continuous stimulation. This research provides a reference for the development of directionally programmable soft materials and has great potential in the fields of bionics and biomedicine. © 2023 IEEE.

关键词： Bionics

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A Lightweight YOLOv5 Model Integrating GhostNet and Attention Mechanism 4

A Lightweight YOLOv5 Model Integrating GhostNet and Attentio...

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4th International Conference on Computer Vision, Image and Deep Learning, CVIDL 2023

作者： Dou, Xinke Wang, Ting Shao, Shiliang School of Information Engineering Shenyang University of Chemical Technology Shenyang China Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350326444

Aiming at the problems of complex structure of neural network, large number of parameters and difficult deployment to terminal devices, this paper proposes an improved lightweight object detection model for the purpose of building a model with high classification accuracy and low complexity. First, the one-stage detector yolov5 is used as the base network. Considering the excessive redundant features of feature extraction, Ghost module is used to replace the traditional convolution, effectively allocate computing resources, to reduce the size of the model and improve the speed of model detection. When designing model bottleneck structure, Normalization-based Attention Module (NAM) is added to improve training efficiency and reduce model complexity. Experimental results show that compared with YOLOv5, the calculation speed of the proposed model is increased by 17% and the accuracy is reduced by less than 2%, which is of great significance in the environment of low-performance computing equipment. © 2023 IEEE.

关键词： Object detection

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Design of Signal Feature Extraction Solution for Gear Performance Degradation

Design of Signal Feature Extraction Solution for Gear Perfor...

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International Conference on Mechanical Design, ICMD 2021

作者： Wu, Jiachi He, Bin Zhang, Dong Wang, Weijia Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China

ISBN: (纸本)9789811673801

The health monitoring technology of gear transmission system is developing towards the direction of big data information mining, high real-time performance and advanced prediction. By using performance degradation assessment and noise prediction technology, sensitive degradation or fault information can be extracted from gear vibration and noise signals, which plays a vital role in the integration of health monitoring systems. In this solution, based on the analysis of gear performance degradation mechanism, a gear transmission system vibration and noise data sensing collection experimental platform are constructed, and a gear performance degradation state sensing operation and maintenance system is constructed following the concept of low-carbon operation and maintenance. Aiming at the problem of noise interference in signal quantitative feature extraction, a preprocessing method for reducing noise interference is proposed. Combined with the advantages of high identification of high-frequency and low-frequency information by wavelet packet, a calculation method based on multi-scale for stepwise filtering of high-frequency signal information (SFH-fre) is proposed. The permutation entropy (PE) is calculated for multi-scale signals, and the ordering distribution at each scale can be obtained. The Wasserstein distance between normal and degraded signals is calculated from the perspective of similarity discrimination, which is used as the quantitative feature of gear degradation under different degradation states, and then the signal feature of gear performance degradation degree data is extracted. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Feature extraction

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A Novel Micro-Defects Imaging system for High-Reflective Material Surfaces

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： He, Zhiyong Lin, Song Xiao, Yafeng Fang, Hao Sun, Lining Soochow University School of Mechatronic Engineering Department of Automation Engineering Suzhou215000 China Robotics and Microsystems Research Center Soochow University Suzhou215000 China Harbin Institute of Technology Institute of Robotics School of Mechatronic Engineering Harbin150000 China

Highly reflective materials, owing to their reflective characteristics, pose challenges in imaging micro-defects under conventional lighting, resulting in a substantial number of missed detections. This paper presents an imaging method tailored for micro-defects on the surfaces of such materials. An investigation into the imaging mechanisms of micro-defects under varying illumination conditions is conducted, leading to the proposal of an edge-light scanning technique. Initially, this technique enhances the contrast of defect imaging optically, yielding a sequence of images with high-contrast defects. Subsequently, a contrast-weighted image synthesis algorithm is introduced to effectively mitigate the interference caused by bright and dark stripe backgrounds. Experimental evaluations of defect detection based on different algorithms demonstrate that the proposed imaging method is applicable to defects of various sizes and significantly improves the detection accuracy of micro-defects. © 2025 IEEE.

关键词： Imaging Surface morphology Optical surface waves Optical imaging Defect detection Feature extraction Lighting Image edge detection Steel Optical reflection

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Automatic Saline Monitoring System Using IoT 56

Automatic Saline Monitoring System Using IoT

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56th International Carnahan Conference on Security Technology, ICCST 2023

作者： Patel, Raju Adhikari, Manoj Singh Shukla, Manoj Kumar Payal, Mohit Kumar, Palvai Manoj Verma, Yogesh Kumar School of Electronics Engineering SENSE Vellore Institute of Technology Chennai India School of Electronics and Electrical Engineering Lovely Professional University Punjab India Department of Robotics and Automation Pune India Graphic Era Hill University Electronic and Communication Engineering Dehradun India

ISBN: (纸本)9798350315875

The need for health prevention is raising every day as the earth's population rises. Thus, everyone in our planet must take adequate care of their health. Due to technical breakthroughs in the domains medical treatment has improved fast in recent years, using sensors, microcontrollers, and computers to ensure quick patient recovery in hospitals. Every patient should receive better care, better monitoring, and the proper amount of essential nutrients at the proper time. By using an Internet of Things (IoT) to remotely monitor the saline system, the suggested method makes it possible to regulate saline drip rate using an improved technique. The suggested system includes a sensor for determining when the saline liquid level in the saline container has decreased to a risky level and a mechanism for stopping the saline flow automatically once the saline bottle is fully empty or at a specific level. The patients will benefit much from this, especially at night. Additionally, because air bubbles in blood may instantly kill a patient, this technique eliminates the deadly chance of their getting into their circulation. Such a gadget will guarantee that patients won't suffer any damage. © 2023 IEEE.

关键词： Microcontrollers

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