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2019 2nd International Conference on Advanced Materials, intelligent Manufacturing and Automation, AMIMA 2019

作者： Huang, Li Liao, Shangchun College of Computer Science and Technology Wuhan University of Science and Technology Wuhan Hubei430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Wuhan Hubei430081 China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Wuhan Hubei430081 China

With the development of artificial intelligence technology, robotics technology has become more and more mature. Ground walking robots not only develop rapidly, but also have been applied in actual production and life. However, the development of wall climbing robot technology is still in the laboratory research and small-scale application. We live in a world where progress is continuing. Large-scale buildings, bridges and ships are becoming more and more common. In these places, it is inevitable to involve the construction, maintenance and clarity of high-rise buildings and ships. In the case of dangerous and inefficient manpower work, the application of wall climbing robots can play a very good role. Therefore, the development of wall climbing robots is of vital importance both now and in the future. Starting from the performance characteristics of wall climbing robot, this paper studies and summarizes the moving mode, control mode, conditions to be satisfied and various adsorption forms of wall climbing robot, and introduces the basic research situation in the field of wall climbing robot. © Published under licence by IOP Publishing Ltd.

关键词： Robot applications

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Generating infrared image from visible image using Generative Adversarial Networks

Generating infrared image from visible image using Generativ...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Lei An Jiajia Zhao Huijun Di School of Computer Science & Technology Beijing Institute of Technology Beijing China Science and Technology on Complex System Control and Intelligent Agent Coorperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781728137933

Infrared images have properties that are unaffected by illumination compared to visible images, object can be clearly recognized at day or night. Therefore, it is a better choice to use infrared images when training deep learning algorithms in unmanned systems. However, how to obtain a large number of infrared images makes it possible to train deep learning algorithm, which is the focus of our attention. In contrast to difficulties in direct shooting, computer simulations can generate large infrared images from visible images. But models that are trained on simulated data usually do not translate well to real scenarios. To bridge the domain gap between simulated and real infrared images, we exploit recent advances in paired image-to-image translation. We extend Pixel2Pixel to generate infrared image from visible image and propose a novel way of multilayer semantic information fusion, which significantly improves the quality of generated images. Finally, the image generated by our proposed PixelPro network is almost consistent with the real image distribution, achieved the purpose of expanding the dataset.

关键词： Image translation Infrared image Generative adversarial networks Infrared imaging Visible Imagery images Infrared radiation Information fusion

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Multi-UAV Cooperative Target Tracking Strategy Based on Formation control

Multi-UAV Cooperative Target Tracking Strategy Based on Form...

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第三十八届中国控制会议

作者： Duo Wang Zhihong Peng Xiaojie Ju Tao Yu Xue Wang China Academy of Launch Vehicle Technology School of Automation Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

In this paper we mainly studies the cooperative tracking issue of multi-UAV based on formation control. The theory and method of formation control are introduced in the paper to ensure the continuous and effective ground target tracking results. The tracking targets are regarded as the leader or the structural center of the formation. The multi-UAVs are considered as followers to form an unstable formation system. The formation stability can be maintained by constructing control law to ensure the continuous and effective tracking of intelligent targets by the multi-UAV. The formation control method based on the leader-follower system and the potential function are adopted to ensure the stability of formation consists of UAVs and the target, so that UAVs can keep tracking of the target. We prove the tracking strategy and the formation control results by MATLAB simulation.

关键词： Cooperative target tracking formation control leader-follower system potential function

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Gradient-direction-based Rectangles and Triangles Traffic Signs Detection Algorithm in Natural Scenes*

Gradient-direction-based Rectangles and Triangles Traffic Si...

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Chinese Automation Congress (CAC)

作者： YanQiong Jin XuJun Guan Hai Zhang School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

In this paper, we propose a novel method to detect rectangular and triangular traffic signs in natural scenes according to the geometric features of the rectangle and triangle traffic signs. It is a Gradient-direction-based method that mainly includes four stages: gradient information classification, filter templates-based line segments with different orientation extraction, structural corners detection and rectangle/triangle detection. The extracted corners are categorized into different sets according to the orientation of the line segments, by which we can quickly extract rectangle and triangle traffic signs in image. And the experimental results demonstrate under different conditions are shown that the proposed method can detect rectangular and triangular traffic signs in natural scenes efficiently and robustness.

关键词： Image segmentation Feature extraction Image edge detection Image color analysis Detection algorithms Shape Gray-scale

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control-oriented fault detection of solid oxide fuel cell system unknown input on fuel supply

Control-oriented fault detection of solid oxide fuel cell sy...

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作者： Wu, Xiao-long Xu, Yuan-wu Xue, Tao Shuai, Junchao Jiang, Jianhua Deng, Zhonghua Fu, Xiaowei Li, Xi School of Automation Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science & Technology Wuhan China College of Computer Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Wuhan China Wuhan Industrial Economic Development Research Center Wuhan China Shenzhen Huazhong University of Science and Technology Research Institute Shenzhen China

As the solid oxide fuel cell (SOFC) system work environment is a high-temperature environment for a long time, it is difficult to obtain the SOFC stack internal state change directly. When the fault occurs, it is difficult to determine where the fault occurs. Moreover, the existing literature ignores the impact of faults, which creates many problems for SOFC system control. Therefore, a state observer-based fault detection method, which is used to detect the input flow sensor fault and the fuel input fault, is proposed. Their advantage is that they do not need data processing. To realize the fault detection, the observer is used to track the changes of SOFC stack chamber temperature. To obtain the observer estimation parameter, an approach from the actual stack structure parameters is employed to approximate the observer parameters. The results show the proposed fault detect method can judge fuel input fault type quickly and shield the disturbances signals from the sensor effectively. The proposed method also can be used to other operating points or air input fault. © 2018 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Fault detection

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Human-like Walking of a Biped Robot Actuated by Pneumatic Artificial Muscles and Springs*

Human-like Walking of a Biped Robot Actuated by Pneumatic Ar...

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IEEE International Conference on Automation science and Engineering (CASE)

作者： Yixiang Liu Qing Bi Xizhe Zang Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

Human walking gait is much more natural looking and energy efficient compared with biped robots. This paper presents a bio-inspired approach to realizing more human-like biped robotic walking. For this purpose, a biped robot actuated coordinately by pneumatic artificial muscles and springs is developed, capable of exploiting passive compliance of the mechanical system in locomotion. And a control scheme for human-like walking is designed based on finite state machine. Experiments show that the biped robot can walk stably on the treadmill even with some small obstacles. The realized gait has the important features of human walking, including heel strike and toe off, stretched knees, and variation in the height of the body's center of mass, which demonstrates the effectiveness of the proposed approach.

关键词： Conferences Automation Computer aided software engineering

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Large-scale 3D Semantic Mapping Using Stereo Vision

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International Journal of Automation and computing 2018年第2期15卷 194-206页

作者： Yi Yang Fan Qiu Hao Li Lu Zhang Mei-Ling Wang Meng-Yin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Nanjing University of Science and Technology Nanjing 210094 China

In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.

关键词： Semantic map stereo vision motion segmentation visual odometry simultaneous localization and mapping （SLAM）.

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Suppression of Actuator Nonlinearities Based on the Cascade Active Disturbance Rejection Approach

Suppression of Actuator Nonlinearities Based on the Cascade ...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Wei Mingjun Xu Cheng Hu Wanhai Ji Hua Gao Feng Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory The Beijing Electro-Mechanical Engineering Institute Beijing China Aviation Institute of Technology of CASIC Beijing China

ISBN: (纸本)9781728137933

In this paper, influences of actuator nonlinearities and their suppression methods are studied. Firstly, the influences of the dead zone and backlash characteristics of the actuator on the control performance of statically unstable missiles are analyzed in detail. Then based on the cascade control method and the active disturbance rejection control (ADRC) theory, a nonlinear "double-layer compensation" suppression method for the actuator nonlinearities is proposed. Finally, the simulation verification is carried out. Simulation results show that the "double-layer compensation" suppression method based on the cascade ADRC approach can significantly suppress the adverse effects such as system self-sustaining oscillation caused by actuator nonlinearities, and effectively improve the control performance of the statically unstable missile.

关键词： Actuators Missiles Disturbance observers Nonlinear control systems control nonlinearities

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An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG Sensors

An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Shaoping Huang Anzhu Gao Zicong Wu Chuqian Lou Yanjun Wang Guang-Zhong Yang The Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China The Imperial College London and Empa-Swiss Federal Laboratories for Materials Science and Technology

MRI-guided robotic systems are emerging platforms for minimally invasive intervention because of high positioning accuracy and excellent tissue contrast. MR safe encoders are critical components for closed-loop robotic control. This paper develops an MR safe absolute rotary encoder based on eccentric sheave and FBG sensors. The eccentric sheave transforms the rotational motion of the shaft to the bending deflection of the beam on which FBG sensors are integrated. A model is built by establishing the relationship of the kinematics of the sheave, the mechanical properties of the beam with unknown length, and the strain model of two Fiber Bragg Grating (FBG) sensors. A Pseudo-Rigid Body (PRB) 3R model is used to solve a set of constrained equations for accurate rotary encoding. A prototype is built to calibrate the parameters and validate the accuracy of the encoder and its MR compatibility. Results show that the maximum angular error is 1.6°, and the RMS error is 0.46°. MRI shows that no noticeable artifacts are observed, and the Signal to Noise Ratio (SNR) is not affected. The results demonstrate the potential of the proposed method for it to be integrated with MR safe robots with easy fabrication, compact structures, and continuous measurement.

关键词： Mechanical sensors Shafts Analytical models Kinematics Transforms Fiber gratings Robot sensing systems

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Resonant beam communications with echo interference elimination

arXiv

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arXiv 2021年

作者： Xiong, Mingliang Liu, Qingwen Wang, Gang Giannakis, Georgios B. Zhang, Sihai Zhu, Jinkang Huang, Chuan College of Electronics and Information Engineering Tongji University Shanghai201804 China State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States Key Lab of Wireless-Optical Communications University of Science and Technology of China Hefei Anhui230026 China School of Science and Engineering Chinese University of Hong Kong Shenzhen Guangdong518172 Hong Kong

Resonant beam communications (RBCom) is capable of providing wide bandwidth when using light as the carrier. Besides, the RBCom system possesses the characteristics of mobility, high signal-to-noise ratio (SNR), and multiplexing. Nevertheless, the channel of the RBCom system is distinct from other light communication technologies due to the echo interference issue. In this paper, we reveal the mechanism of the echo interference and propose the method to eliminate the interference. Moreover, we present an exemplary design based on frequency shifting and optical filtering, along with its mathematic model and performance analysis. The numerical evaluation shows that the channel capacity is greater than 15 bit/s/Hz. Copyright © 2021, The Authors. All rights reserved.

关键词： Internet of things

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