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IEEE Joint International Information technology and Artificial Intelligence Conference (ITAIC)

作者： Yijing Zhang Jia Liu Ya Zhao Linlin Hou Yunxi Zhang School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin China Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin University of Technology and Education Tianjin China School of Information Science and Engineering Qufu Normal University Rizhao China

This paper studies the problem of simultaneous localization and autonomous mapping of mobile machines, based on multiple sensor fusion SLAM algorithms. This method can solve the problem that the feature information of the collected image is not accurate or lost when a single laser or vision sensor is used in simultaneous localization and mapping (SLAM) research of mobile robots, which leads to localization failure. First, combining LIO-SAM algorithm and LVI-SAM algorithm, the simulation and construction of large scene maze environment are carried out for the mobile robot equipped with Lidar and depth camera. Then through the experimental simulation, the map built by the two algorithms is compared and analyzed. The results show that the map built by LID-SAM algorithm is more accurate in the maze environment with fewer feature points, and the map building effect is obviously better than that of LVI-SAM algorithm.

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Spherical interpolated convolutional network with distance-feature density for 3D semantic segmentation of point clouds

arXiv

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arXiv 2020年

作者： Wang, Guangming Yang, Yehui Zhang, Huixin Liu, Zhe Wang, Hesheng Department of Automation Insititue of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China Department of Computer Science and Technology University of Cambridge United Kingdom

The semantic segmentation of point clouds is an important part of the environment perception for robots. However, it is difficult to directly adopt the traditional 3D convolution kernel to extract features from raw 3D point clouds because of the unstructured property of point clouds. In this paper, a spherical interpolated convolution operator is proposed to replace the traditional grid-shaped 3D convolution operator. This newly proposed feature extraction operator improves the accuracy of the network and reduces the parameters of the network. In addition, this paper analyzes the defect of point cloud interpolation methods based on the distance as the interpolation weight and proposes the self-learned distance-feature density by combining the distance and the feature correlation. The proposed method makes the feature extraction of spherical interpolated convolution network more rational and effective. The effectiveness of the proposed network is demonstrated on the 3D semantic segmentation task of point clouds. Experiments show that the proposed method achieves good performance on the ScanNet dataset and Paris-Lille-3D dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Semantic Segmentation

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Electrical Design and Application of Smart Home System Based on Distributed control

Electrical Design and Application of Smart Home System Based...

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IEEE Advanced Information technology, Electronic and Automation control Conference (IAEAC)

作者： Yunxi Zhang Zexi Meng Rui Shen Linlin Hou Jia Liu Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin University of Technology and Education Tianjin China School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin China School of Information Science and Engineering Qufu Normal University Rizhao China

ISBN: (数字)9781728180281

ISBN: (纸本)9781728180298

This paper designs a set of smart home circuit control system based on distributed control, which provides theory and application foundation for peripheral applications of smart home environment centered on service robots. The control system originally designed takes two loads, the constant water level water tank and the constant illumination lamp, as the control objects. The liquid level height and light intensity are converted into electrical signals through the water pressure sensor and the illuminance sensor and transmitted to the controller group to provide a smart home system. The control system originally designed takes two loads, a constant water level tank and a constant illumination lamp, as the control objects. The liquid level height and light intensity are converted into electrical signals through the water pressure sensor and the illuminance sensor and transmitted to the controller group to obtain the smart home system circuit design ideas.

关键词： Pressure sensors Liquids Service robots Decentralized control Smart homes Robot sensing systems Circuit synthesis

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Dynamic simulation system of space robot with series rotary joint

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Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and technology Edition) 2008年第SUPPL. 2期38卷 260-267页

作者： Hu, Song-Hua Xue, Li-Jun Xu, Wen-Fu Qiang, Wen-Yi Liang, Bin Liu, Yu Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China Institute of Space Intelligent System Harbin Institute of Technology Harbin 150001 China

The kinematical and dynamic models of space robot are more complex than fixed-base robot on ground because the free-floating base increases the system's degrees of freedom, and the space robot in low orbit was significantly affected by Gravity Gradient Torque. Firstly, the dynamic equations were derived based on the Lagrange equation. Then the coupling dynamics was deduced with the Newton-Euler Equation. The numerical computing method of the nonlinear part of the dynamic equations was introduced in detail, and the gravity gradient torque of the space robot was derived at the same time. Finally, the modularized space robot simulation system with rotary joints in series was established with these equations, and the influence of the gravity gradient torque was given by the simulation. Suggestions for decreasing the influence were presented as well.

关键词： Nonlinear equations

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Fuzzy model identification and fuzzy controller design based on data characteristic

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural science Edition) 2009年第SUPPL. 1期39卷 53-56页

作者： Zhu, Wenbiao Sun, Zengqi National Defence Science and Technology Key Laboratory of Aerospace Intelligent Control Technology Beijing Aerospace Automatic Control Institute Beijing 100854 China Department of Computer Science and Technology Tsinghua University Beijing 100084 China

A fuzzy model identification method based on data characteristic is presented for complex processes which are difficult to be mathematically modeled. First, the domain of discourse of input variables is divided according to the changing degree of the process output while the input variables change. Then, the total number and the premise parameters of the fuzzy rules are determined based on the division. Finally, the fuzzy model can be expressed as a feedfoward fuzzy neural network, so the BP algorithm is applied to obtain the consequent parameters of the fuzzy rules. The fuzzy controller of a flexible link robot is designed based on the presented fuzzy model identification method, and the corresponding fuzzy control experiment is performed. The experimental results show that the satisfactory performance is achieved by using the presented fuzzy model identification and fuzzy control method.

关键词： Fuzzy control

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SAR IMAGING BASED ON TWO-DIMENSIONAL MULTIFRACTIONAL MODELING

SAR IMAGING BASED ON TWO-DIMENSIONAL MULTIFRACTIONAL MODELIN...

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IEEE International Geoscience and Remote Sensing Symposium

作者： Gang Xiong Lizhe Wang Fang Wang Lijun Wang Shanghai Key Lab. of Intelligent Sensing and Recognition Shanghai Jiao Tong University China Jiangsu Urban and Rural Construction College Changzhou City China Science and Technology on Communication Information Security Control Laboratory China

Based on the two-dimensional multifractional Brownian motion (2D-mFBM) scene model, a novel analytical electromagnetic scattering model considering the scattering characteristics of 2D-mFBM surface is proposed, and then a direct SAR imaging model based on 2D-mFBM is derived. The SAR images are simulated using SAR simulator based on multifractional geometric modeling and electromagnetic modeling. The multifractal spectrum and singularity power spectrum of simulated SAR images are analyzed and compared with those of 2D-mFBM scene model. The simulation and analysis indicates that the SAR image with both HH and VV polarization inherited the multifractal characteristics of 2D-mFBM terrain, and presents similar MFS with the original terrain, which provides valuable reference for the feature extraction of high-resolution SAR remote sensing image.

关键词： Radar polarimetry Fractals Analytical models Electromagnetic scattering Synthetic aperture radar Two dimensional displays Logistics

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A visual kinematics calibration method for manipulator based on nonlinear optimization

arXiv

引用

arXiv 2020年

作者： Peng, Gang Wang, Zhihao Yang, Jin Li, Xinde Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China IEEE senior member School of Automation South East University Nanjing China

The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not applicable to all manipulators. Another calibration method uses a camera, but the system error caused by the camera's parameters affects the calibration accuracy of the kinematics of the robot arm. Therefore, this paper proposes a method for calibrating the geometric parameters of a kinematic model of a manipulator based on monocular vision. Firstly, the classic Denavit-Hartenberg (D-H) modeling method is used to establish the kinematic parameters of the manipulator. Secondly, nonlinear optimization and parameter compensation are performed. The three-dimensional positions of the feature points of the calibration plate under each manipulator attitude corresponding to the actual kinematic model and the classic D-H kinematic model are mapped into the pixel coordinate system, and the sum of Euclidean distance errors of the pixel coordinates of the two is used as the objective function to be optimized. The experimental results show that the pixel deviation of the end pose corresponding to the optimized D-H kinematic model proposed in this paper and the end pose corresponding to the actual kinematic model in the pixel coordinate system is 0.99 pixels. Compared with the 7.9 deviation pixels between the pixel coordinates calculated by the classic D-H kinematic model and the actual pixel coordinates, the deviation is reduced by nearly 7 pixels for an 87% reduction in error. Therefore, the proposed method can effectively avoid system errors caused by camera parameters in visual calibration, can improve the absolute positioning accuracy of the end of the robotic arm, and has good economy and universality. Copyright © 2020, The Authors. All rights reserved.

关键词： Pixels

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Research on Simultaneous Localization and Mapping of Mobile Robot Based on Improved Karto Algorithm

Research on Simultaneous Localization and Mapping of Mobile ...

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IEEE Joint International Information technology and Artificial Intelligence Conference (ITAIC)

作者： Ya Zhao Yunxi Zhang Yijing Zhang Linlin Hou Jia Liu School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin China Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin University of Technology and Education Tianjin China School of Information Science and Engineering Qufu Normal University Rizhao China

The simultaneous localization and mapping (SLAM) of mobile robot is one of the important technologies of mobile robot application., which has been paid much attention. Laser SLAM., as the most traditional SLAM algorithm., has been widely used in mobile robots. In this paper., the problem of synchronous positioning and mapping of mobile robot is studied. Ceres back-end optimization library was introduced into the back-end to improve Karto algorithm to eliminate the phenomenon of overlapping in the process of mobile robot mapping and achieve more accurate mapping effect. Finally., simulation experiments based on ROS experimental platform are carried out to verify the effectiveness of the algorithm.

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A novel GIS platform for UGV application in the unknown environment

A novel GIS platform for UGV application in the unknown envi...

引用

International Conference on Geoinformatics

作者： Qiangrong Yang Meiling Wang Mei-po Kwan Yi Yang Key Laboratory of Intelligent Control and Decision of Complex System Beijing China School of Automation Beijing institute of Technology Beijing China Department of Geography and Geographic Information Science University of Illinois at Urbana Champaign Champaign IL USA

ISBN: (纸本)9781467376648

Recently, the UGV (Unmanned Ground Vehicle) receives more and more attention from the public with the application in deep space exploration, national defense, and riot relief. Moreover, how to describe the driving environment of UGV with the sensor data objectively and share these data with other UGV efficiently becomes the focus of the research of the UGV. To solve the above problems, a novel GIS platform for UGV application in the unknown environment is proposed in this paper based on the features of UGV. First, the GIS database is redesigned and the properties such as road width, lane number, lane info, and if_traffic are proposed. The data structure of the database is redesigned to fit the need of UGV to describe the environment simply and explicitly. Then a two-line road model is proposed to model the feature of the road network clearly. This model can meet the driving need of UGV and represent the traffic rules of the urban environment. Moreover, the turning path in the intersection is designed to be an arc instead of a right angle path considering the dynamic features of UGV. Finally a cost map for navigating the UGV locally is generated with the road model and the environment information from the sensors. The GIS platform designed in this paper proves to be able to offer guidance and help to UGV for driving through the unknown environment wisely and quickly without human intervention. And it shows promising application of sharing data with other UGV efficiently by using cost map instead of the original sensor data.

关键词： Navigation Vehicles Robots

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A Pose Estimation Method for Non-Cooperative spacecrafts Based on 3d Bounding Box Detection

SSRN

引用

SSRN 2023年

作者： Chen, Liwei Wu, Bin Yi, Jianjun Xia, Wenxuan Su, Lin Wu, Hailei Department of Mechanical Engineering East China University of Science and Technology Shanghai200237 China Aerospace System Engineering Shanghai NO.3888 Yuanjiang Road Minhang District Shanghai201109 China Shanghai Aerospace Control Technology Institute Shanghai201109 China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai201109 China

Relative pose estimation of a non-cooperative spacecraft is the basis of many in-orbit space tasks. In many cases, only visible light based observation methods can meet the real-time and feasibility requirements of space tasks. In this paper, we design a neural network with image as input, which can effectively extract the image and global structure features of a spacecraft with the symmetrical structure of double panels to estimate the positions and relative depths of 9 key points of the 3D bounding box fitting the main body of the spacecraft. On this basis, our post-processing method is able to further optimize the detection results by recovering the scale of relative depth detection result and a simplified ICP registration method, so as to obtain the accurate pose estimation from the detection results with errors. Experiments show that our method performs well on non-cooperative spacecrafts under different lighting conditions. © 2023, The Authors. All rights reserved.

关键词： spacecraft

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