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2024 International Conference on Mechatronic engineering and Artificial Intelligence, MEAI 2024

作者： Qin, Lijuan Tang, Xiaoyu Gao, Rongjun School of Information Science and Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang China

ISBN: (纸本)9781510689176

With the rapid development of information technology, biometric recognition technologies have become a research hotspot in the field of pattern recognition due to their security, reliability, and effectiveness. Face detection and tracking technologies have become an active exploration topic for researchers both domestically and internationally, as they combine intelligence with everyday life. This paper employs a skin color model-based method for face detection, while for face tracking, an improved combination of the Kalman filter algorithm and the Camshift algorithm is used. The aim is to construct an efficient model system for face tracking. The movement or rapid changes in the face do not interrupt the tracking process, which enhances the real-time performance and robustness of face tracking. © 2025 SPIE.

关键词： Biometrics

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Implementation of license plate detection system based on deep learning

Implementation of license plate detection system based on de...

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2024 International Conference on Mechatronic engineering and Artificial Intelligence, MEAI 2024

作者： Qin, Lijuan Wang, Shiyi Xu, Haifan School of Information Science and Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang China

ISBN: (纸本)9781510689176

In this study, a number plate detection system based on YOLOv8 and LPRNet is designed to improve the detection stability through image enhancement and Gold improvement method of YOLOv8. The system first uses a novel image enhancement algorithm to expand the complexity of the dataset and improve the generalisation of the model. Then, the Gold method is used to improve the network structure of YOLOv8 and optimise the information fusion mechanism to enhance the detection stability and accuracy during model training. In the detection stage, accurate detection results are achieved by combining LPRNet to parse the licence plate characters. The experimental results show that the system can accurately identify various types of licence plates in complex environments and has excellent real-time response capability. © 2025 SPIE.

关键词： Deep learning

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Annular gap width measurement based on sub-pixel edge fitting 3

Annular gap width measurement based on sub-pixel edge fittin...

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3rd International Conference on Electronic Information engineering and Data Processing, EIEDP 2024

作者： Zhang, Jiawei Xu, Yongli Liu, Mingyang Liu, Yufeng Du, Guangrong School of Information Science and Engineering Shenyang University of Technology Shenyang110870 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Northwest Industries Group Co. Ltd. Xi’an710043 China

ISBN: (纸本)9781510680531

To address the difficulty in measuring the annular joint gap structure with structured light, a detection method based on sub-pixel edge fitting is proposed. Firstly, the centerline is extracted by combining the directional template method with the gray centroid method, and then the laser groups are positioned accordingly. Secondly, The Zernike moment method is used to detect the sub-pixel contours of each pair of laser lines. Subsequently, the sub-pixel feature points of the light pattern are obtained by sliding the feature circle along the centerline. Finally, the gap value is determined by calculating the average distance between the fitted straight lines of the sub-pixel feature points. A single annular gap is selected for both visual measurement and manual feeler gauge measurement. The measurement results show that the error between the final measurement value of the proposed method and the manual feeler gauge measurement is no greater than 0.05mm. This indicates that this detection method exhibits good accuracy and high stability. This visual measurement method can meet the requirements for the measurement accuracy of annular joint gap widths. © 2024 SPIE.

关键词： Method of moments

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Spatio-Temporal Communication Compression in Distributed Prime-Dual Flows

arXiv

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arXiv 2024年

作者： Ren, Zihao Wang, Lei Yuan, Deming Su, Hongye Shi, Guodong College of Control Science and Engineering Zhejiang University China School of Automation Nanjing University of Science and Technology China Centre for Field Robotics The University of Sydney Australia

In this paper, we study distributed prime-dual flows for multi-agent optimization with spatio-temporal compressions. The central aim of multi-agent optimization is for a network of agents to collaboratively solve a system-level optimization problem with local objective functions and node-to-node communication by distributed algorithms. The scalability of such algorithms crucially depends on the complexity of the communication messages, and a number of communication compressors for distributed optimization have recently been proposed in the literature. First of all, we introduce a general spatio-temporal compressor characterized by the stability of the resulting dynamical system along the vector field of the compressor. We show that several important distributed optimization compressors such as the greedy sparsifier, the uniform quantizer, and the scalarizer all fall into the category of this spatio-temporal compressor. Next, we propose two distributed prime-dual flows with the spatiotemporal compressors being applied to local node states and local error states, respectively, and prove (exponential) convergence of the node trajectories to the global optimizer for (strongly) convex cost functions. Finally, a few numerical examples are present to illustrate our theoretical results. Copyright © 2024, The Authors. All rights reserved.

关键词： Cost functions

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Design, fabrication and characterization of gecko inspired micro-fibrillar adhesive materials for wall climbing robots

Design, fabrication and characterization of gecko inspired m...

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Xiaobin Yu Wenjun Tan Ruiqian Wang Yiwei Zhang Lianchao Yang Yanyu Gu Chuang Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China School of Mechanical Engineering and Automation Northeastern University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

Advancement in adhesion technology has improved the development of wall-climbing robots. But there are still some challenges in the optimization of high adhesion strength bioinspired adhesives. Most of the traditional wall-climbing robot feet use vacuum suction and magnetic suction, which require smooth contact surfaces and magnetic permeability respectively, and their application scenarios are greatly limited. Therefore, new biomimetic adsorption methods need to be developed. Adhesives in air, inspired by geckos and spiders and other climbing animals in nature, adhere to the opposite surfaces using van der Waals forces. The biofiber-dried adhesives have a tree-like hierarchy: on the surface of the animal’s foot has a thin film of arrays of microfibers, each is divided into smaller arrays of submicron fibers. These nanosized fibril can bind tightly to opposite surfaces to induce van der Waals interactions. The van der Waals forces cause these nanosized fibril arrays to bind tightly to surfaces. Bionic studies based on gecko and spider adhesion mechanism has become a fierce research subject in the past few years. Previous studies have confirmed that finer contact structures produce higher adhesion. The influence of tip shape on the performance of adhesives of single fiber and fiber array is also a focus of research. In this work, in order to enhance the adhesion of biomimetic materials, patterned surfaces with micro-columns with different tip shapes are prepared by lithography and micromolding methods. We measured their normal adhesion and compared with flat contact surface. Micro pattern surface was found to be better than flat surface smooth. Different shape has a significant effect on adhesive force. A prestressing force of adhesive force and dependency has been identified and that is a key to obtain the adhesion force, which can provide the possibility to expand the application scenarios of wall-climbing robots and exists many potential applications from wall-cli

关键词： Adhesives Shape Force Lithography Glass Optical fiber devices Permeability

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Focal plane imaging system based on CMOS terahertz detector

Focal plane imaging system based on CMOS terahertz detector

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2024 International Conference on Intelligent Manufacturing and Mechatronics, IMM 2024

作者： Lin, Yue Zhang, Hui Qi, Feng Liu, Zhaoyang Wang, Guanwen Wang, Ningbo School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences China The Key Laboratory of Liaoning Province in Terahertz Imaging and Sensing Shenyang China The Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China The Key Laboratory of OptoElectronic Information Processing Chinese Academy of Sciences Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China

Terahertz technology has shown remarkable potential for application in the field of imaging since it offers several particular advantages such as great penetration capabilities, non-ionization and high instantaneous bandwidth. This paper presents a focal plane imging system based on CMOS terathertz detector for forward-looking detection. The focal plane imaging system has several advantages, including fast scanning, simple composition, low cost, and easy integration of a CMOS detector. It is composed of a terahertz radiation source, a Polytetrafluoroethylene (PTFE) lens and a broadband CMOS detector. The detector was fabricated in a 65 nm CMOS process. The operating frequency range of the detector covers 75 GHz to 1000 GHz. Measurement results have shown that the focal plane imaging system is capable of stably imaging at frequencies of 100 GHz and 220 GHz. To address the issue of missing information in measurement images, the morphological closing algorithm is employed to process the original image, successfully filling in the missing information and improving image quality. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Focusing

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Quadruped Reinforcement Learning without Explicit State Estimation

Quadruped Reinforcement Learning without Explicit State Esti...

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IEEE International Conference on robotics and Biomimetics

作者： Qikai Li Guiyu Dong Ripeng Qin Jiawei Chen Kun Xu Xilun Ding Robotics Institute Beihang University School of Mechanical Engineering and Automation Beijing China

ISBN: (纸本)9781665481106

Reinforcement learning is a promising approach to developing legged robot locomotion controllers. The gen-eral process of development is: large-scale training in the virtual simulation environment to obtain reliable control policy network, and then the policy network is deployed to real legged robot. In the training procedure, a complete robot state increases the speed of training and the stability of policy. The robot's states like body velocities are easily available in simulation training, but they are difficult to obtain in the real robot, hence specifically designed robot state estimators are needed. However, the development of state estimators requires expert knowledge related to control theory and robotics, limiting the direct application of reinforcement learning to robots. To take advantage of the end-to-end mapping of artificial neural networks, we simplified the existing reinforcement learning process for quadruped robots and propose a training method based on curriculum learning in this work. The proposed method can produce a reliable policy that does not require robot state estimator and only take raw sensors data. The feasibility of the proposed method is verified in simulations and real quadrupedal robot. Video of the quadrupedal robot is available at ***/watch?v=-iho4KIlEPw.

关键词： Training Legged locomotion Process control Reinforcement learning Robot sensing systems Sensors Control theory

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Compact 3D Gaussian Splatting for Dense Visual SLAM

arXiv

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arXiv 2024年

作者： Deng, Tianchen Chen, Yaohui Zhang, Leyan Yang, Jianfei Yuan, Shenghai Liu, Jiuming Wang, Danwei Wang, Hesheng Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Shanghai200240 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, when we revisit the existing GS-based SLAM systems, we observe that the redundancy of the Gaussian ellipsoids created by SLAM systems is significantly superior to those of the original 3D Gaussian Splatting methods. We further quantitatively demonstrate the geometric similarity and the redundancy of 3D Gaussian scene representation, leading to high memory and storage costs. To address this limitation, we propose a compact 3D Gaussian Splatting SLAM system that reduces the number and the parameter size of Gaussian ellipsoids. A sliding window-based masking strategy is first proposed to reduce the redundant ellipsoids. Then, a novel geometry codebook-based quantization method is proposed to further compress 3D Gaussian geometric attributes. Robust and accurate pose estimation is achieved by a local-to-global bundle adjustment method with reprojection loss. Extensive experiments demonstrate that our method achieves faster training, rendering speed (226% increase), and low memory usage (2.21× compression) while maintaining the state-of-the-art (SOTA) quality of the scene representation. https://***/dtc111111/CompactGSSLAM Copyright © 2024, The Authors. All rights reserved.

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Optimal Energy Storage Operation under Demand Uncertainty: A Prospect Theory Analysis 14

Optimal Energy Storage Operation under Demand Uncertainty: A...

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14th IEEE International Conference on Communications, Control, and Computing Technologies for Smart Grids, SmartGridComm 2023

作者： Huang, Qisheng Xu, Jin Sun, Peng Liu, Bo Courcoubetis, Costas Harbin Institute of Technology Shenzhen School of Mechanical Engineering and Automation Shenzhen518055 China Huazhong University of Science and Technology School of Management Wuhan China Hunan University College of Computer Science and Electronic Engineering Changsha410082 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China The Chinese University of Hong Kong Shenzhen School of Data Science Shenzhen518712 China

ISBN: (纸本)9781665455541

In this paper, we study the consumer's optimal energy storage operation problem under demand uncertainty. Each consumer can purchase energy storage service from an independent energy storage aggregator to shift demand from peak periods to off-peak periods under time-of-use (ToU) pricing. Previous studies on energy storage operation and investment mainly focused on the expected cost-minimization problem of a risk-neutral consumer based on the expected utility theory (EUT). We propose a prospect theory (PT) model from behavioral economics to understand the consumer's realistic energy storage operation behaviors considering their risk preferences. Although it is challenging to solve the PT-based non-convex optimization problem, we are able to characterize the optimal solution by exploiting the unimodal structure of the objective function. Theoretical and numerical results show that the consumer's risk preferences have a significant impact on his decisions: 1) a PT-consumer with a low reference point is more willing to use energy storage to reduce risk compared with the EUT benchmark;and 2) a PT consumer is more willing to use the energy storage when the probability of high demand is small, due to the probability distortion. © 2023 IEEE.

关键词： Energy storage

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Design, Fabrication, and Characterization of a Helical Multi-Material MicroRobot with a Detachable Payload (HMMR-DP)

Design, Fabrication, and Characterization of a Helical Multi...

引用

International Conference on Manipulation, automation and robotics at Small Scales (MARSS)

作者： Yang Yang Liyuan Tan Aaron C. Davis David J. Cappelleri Multi-Scale Robotics and Automation Lab School of Mechanical En-gineering Purdue University West Lafayette IN USA Weldon School of Biomedical Engineering Purdue University West Lafayette IN USA

ISBN: (数字)9798350376807

ISBN: (纸本)9798350376814

This paper employs a biodegradable hydrogel to create a Helical Multi-Material MicroRobot with a Detachable Payload (HMMR-DP) capable of achieving for drug delivery applications. The biodegradability of the microstructures is as-sessed through experimentation at different concentrations and temperatures. The swimming capabilities of the microrobots are examined by experimental analysis using a rotating magnetic field.

关键词： Connectors Targeted drug delivery Hydrogels Hidden Markov models Tail Rigidity Microstructure

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