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2023 China Automation Congress, CAC 2023

作者： Zhang, Hao Ma, Xin Yu, Yining Wang, Liang Hao, Lin Center for Robotics School of Control Science and Engineering Shandong University China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Shandong Marine Group Ltd Jinan250000 China Shandong Deep Sea Green Farming Ltd Qingdao266000 China

ISBN: (纸本)9798350303759

In intensive aquaculture, achieving accurate monitoring of fish behavior is crucial for improving efficiency. Previous studies on fish behavior recognition have been limited to recognizing fish school behavior from a global perspective, disregarding the importance of recognizing behaviors that occur in local regions. In this study, a spatial pyramid attention based two-stream network (SPA-TSN) is proposed to recognize fish behavior from both global and local perspective. SPA-TSN is comprised of a spatial stream and a motion stream, both of which use a spatial pyramid attention module to obtain the spatial and temporal features of fish behavior respectively. Specifically, the spatial pyramid attention module aggregates the features from different levels of the baseline to capture the correlation between local and global information. Then, a fusion feature is obtained by adding the temporal feature to the spatial feature. The three features are assigned different weights through a learnable multiplier M for behavior recognition. To validate the effectiveness of the proposed method, experiments are conducted on our established fish behavior dataset which consists four common fish behaviors. The results demonstrate that the proposed method has the best performance with an accuracy of 95.904%, performing better than state-of-the-art methods. © 2023 IEEE.

关键词： Fish

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Event-triggered-based self-organizing fuzzy neural network control for the municipal solid waste incineration process

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Science China(Technological Sciences) 2023年第4期66卷 1096-1109页

作者： HE HaiJun MENG Xi TANG Jian QIAO JunFei Faculty of Information Technology Beijing University of TechnologyBejing 100124China Beijing Laboratory of Smart Environmental Protection Beijing 100124China Beijing Key Laboratory of Computational Intelligence and Intelligent System Bejing 100124China Engineering Research Center of Intelligence Perception and Autonomous Control Ministry of Education Bejing 100124China Xi'an Institute of Electromechanical Information Technology Xi'an 710065China

Due to the large uncertainty in the municipal solid waste incineration(MSWI)process,the furnace temperature of the MSWI process is difficult to control and the controller is updated *** improve the accuracy and reduce the number of controller updates,a novel event-triggered control method based correntropy self-organizing TS fuzzy neural network(ETCSTSFNN)is ***,the neurons of the rule layer are grown or pruned adaptively based on activation intensity and control error to meet the dynamic change of the actual operating ***,the performance index is designed based on the correntropy of tracking errors,and the parameters of the controller are adjusted by gradient descent ***,a fixed threshold event-triggered condition is designed to determine whether the current controller is updated or *** stability of the control system is proved based on the Lyapunov stability ***,the furnace temperature control experiments are conducted based on the actual data of a municipal solid waste incineration plant in *** experimental results show that the proposed ET-CSTSFNN controller shows a better control performance,which can reduce the number of the controller update significantly while achieving accurate furnace temperature control compared with other traditional control methods.

关键词： municipal solid waste incineration furnace temperature fuzzy control event-triggered

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Nonlinear Adaptive control for 3-D Ship-mounted Cranes with Double-pendulum Effect Without Velocity Feedback

Nonlinear Adaptive Control for 3-D Ship-mounted Cranes with ...

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第43届中国控制会议

作者： Ling Yang Kai Wang Xin Ma Zizhong Wei Jiankang Zhang Center for Robotics School of Control Science and EngineeringEngineering Research Center of Intelligent Unmanned SystemMinistry of EducationShandong University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Unmeasurable velocities and noise amplification by numerical differentiators are difficult problems for crane *** this paper,an adaptive controller,without velocity feedback,is proposed for 3-D ship-mounted cranes to achieve swing suppression and accurate boom positioning. Auxiliary variables are designed to substitute for velocities that cannot be obtained directly. Additionally,bounded functions are utilized to constrain the input torque for safety. The stability of the control system is rigorously proven using Lyapunov's method. Furthermore,simulations validate the effectiveness of the proposed method.

关键词： Adaptive control Ship-mounted Cranes Wave Disturbances

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A dual-robot collaborative coverage path planning method for complex surfaces based on a 2.5D grid map

A dual-robot collaborative coverage path planning method for...

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第43届中国控制会议

作者： Hui Gao Qihang Zhang Xin Ma Center for Robotics School of Control Science and EngineeringShandong UniversityEngineering Research Center of Intelligent Unmanned SystemMinistry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The coverage path planning(CPP) for complex three-dimensional(3 D) surfaces is one of the challenging problems in the field of path *** this paper,we propose a dual-robot collaborative coverage path planning method based on a 2.5-dimensional(2.5 D)grid map to address the CPP problem for complex ***,to effectively describe the CPP problem for complex surfaces,we establish a new model called the Generalized Traveling Salesman Problem(GTSP).Secondly,we develop a 2.5 D grid map that better conforms to the shape of complex surfaces by preserving their height ***,an adaptive Vertex Reward-based Coverage Path Planning(VR-CPP) algorithm is proposed to solve GTSP,which can achieve a coverage path with shorter length,fewer transitions,and lower robot energy *** tests are carried out on complex surface and the results validate the effectiveness of the proposed approach.

关键词： Coverage path planning(CPP) Dual-robot Complex surfaces Vertex Reward-based Coverage Path Planning

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Transfer Learning Based Multi-Perception Safety Strategy for Human-Robot Collaboration

Transfer Learning Based Multi-Perception Safety Strategy for...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Wei, Chongyi Wang, Changcong Bai, Shaoping Li, Yibin Tian, Xincheng Zhou, Lelai Shandong University Center for Robotics School of Control Science and Engineering Jinan250061 China Ministry of Education Engineering Research Center of Intelligent Unmanned System Jinan250061 China Aalborg University Department of Materials and Production Aalborg9220 Denmark

ISBN: (纸本)9798350327182

Human-robot collaboration (HRC) is vital to adapt to the significant change in manufacturers' demands for automation, and safety is a primary and major challenge that must be addressed for it. In this paper, a muti-perception safety strategy and framework are introduced to ensure human safety while trying to avoid reducing the work efficiency of the robot by taking human activity intentions and human-robot distance into account. To realize the safety strategy, an LSTM-CNN based neural network is built for human activity classification. To improve the generalization ability and performance of the network with data scarcity for existing deep learning-based human activity recognition methods, transfer learning-enabled activity recognition is proposed. Based on the studies, a feasible security system is implemented in the human-robot collaboration scenario. © 2023 IEEE.

关键词： Long short-term memory

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HCRI: A ROS2 Human Collision Object Interface for Robotic Manipulation Planning

HCRI: A ROS2 Human Collision Object Interface for Robotic Ma...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Wang, Changcong Wei, Chongyi Bai, Shaoping Li, Yibin Tian, Xincheng Zhou, Lelai Shandong University The Center for Robotics School of Control Science and Engineering Jinan250061 China The Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Aalborg University Department of Materials and Production Aalborg9220 Denmark

ISBN: (纸本)9798350327182

Human-Robot Collaboration (HRC) is people and robots work together in the same workspace to achieve shared goals. To ensure safety, robots need to perceive the position of the human body for planning purposes. However, there is no universal method for converting the human body into collision objects. To solve this problem, we propose an interface to convert the human body segments into collision objects in the robot planning scene. The interface estimates the human body Skinned Multi-Person Linear model (SMPL) by RGB image and measures the collision object size of the corresponding body segment. The corresponding size of collision objects are added to the corresponding positions of the human pose estimated by different types of sensors. The accuracy of human size estimation is verified on TotalMocap of AMASS. The interface with OctoMap is compared to evaluate the efficiency and the validity on interface is verified on the robot UR5e. © 2023 IEEE.

关键词： Image segmentation

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Reversible solid-liquid conversion enabled by self-capture effect for stable non-flow zinc-bromine batteries

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Green Energy & Environment 2024年第6期9卷 1035-1044页

作者： Xixi Zhang Xiaoke Wang Guangmeng Qu Tairan Wang Xiliang Zhao Jun Fan Cuiping Han Xijin Xu Chunyi Zhi Hongfei Li School of Physics and Technology University of JinanShandong250022China Songshan Lake Materials Laboratory DongguanGuangdong523808China Department of Materials Science and Engineering City University of Hong Kong83 Tat Chee AvenueHong KongChina Faculty of Materials Science and Engineering and Low Dimensional Energy Materials Research Center Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdong518055China School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhenGuangdong518055China

Non-flow aqueous zinc-bromine batteries without auxiliary components(e.g.,pumps,pipes,storage tanks)and ion-selective membranes represent a cost-effective and promising technology for large-scale energy ***,they generally suffer from serious diffusion and shuttle of polybromide(Br^(-),Br^(3-))due to the weak physical adsorption between soluble polybromide and host carbon materials,which results in low energy efficiency and poor cycling ***,we develop a novel self-capture organic bromine material(1,10-bis[3-(trimethylammonio)propyl]-4,4'-bipyridinium bromine,NVBr4)to successfully realize reversible solid complexation of bromide components for stable non-flow zinc-bromine battery *** quaternary ammonium groups(NV^(4+)ions)can effectively capture the soluble polybromide species based on strong chemical interaction and realize reversible solid complexation confined within the porous electrodes,which transforms the conventional“liquid-liquid”conversion of soluble bromide components into“liquid-solid”model and effectively suppresses the shuttle ***,the developed non-flow zinc-bromide battery provides an outstanding voltage platform at 1.7 V with a notable specific capacity of 325 mAh g^(-1)NVBr4(1 A g^(-1)),excellent rate capability(200 mAh g^(-1)NVBr4 at 20 A g^(-1)),outstanding energy density of 469.6 Wh kg^(-1)and super-stable cycle life(20,000 cycles with 100%Coulombic efficiency),which outperforms most of reported zinc-halogen *** mechanism analysis and DFT calculations demonstrate that the chemical interaction of quaternary ammonium groups and bromide species is the main reason for suppressing the shuttle *** developed strategy can be extended to other halogen batteries to obtain stable charge storage.

关键词： Solid-liquid conversion Self-capture Non-ﬂow zinc-bromine batteries Quaternary ammonium

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A Co-regularization Facial Emotion Recognition Based on Multi-Task Facial Action Unit Recognition 41

A Co-regularization Facial Emotion Recognition Based on Mult...

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第41届中国控制会议

作者： Chinonso Paschal Udeh Luefeng Chen Sheng Du Min Li Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Facial emotion recognition helps feed the growth of the future artificial intelligence with the development of emotion recognition,learning,and analysis of different angles of a human face and head *** worlds recent pandemic gave rise to the rapid installment of facial recognition for fewer applications,while emotion recognition is still within the experimental *** current challenges encountered with facial emotion recognition(FER) are the difference between background *** todays world shows us that humans soon need robotics in the most significant role of human perception,attention,memory,decision-making,and human-robot interaction(HRI) needs *** merging the head pose as a combination towards the FER to boost the robustness in understanding emotions using the convolutional neural networks(CNN).The stochastic gradient descent with a comprehensive model is adopted by applying multi-task learning capable of implicit parallelism,inherent and better global optimizer in finding better network *** executing a multi-task learning model using two independent datasets,the experiment with the FER and head pose learning multi-views co-regularization frameworks were subsequently merged with validation accuracy.

关键词： head pose facial expression convolution neural network deep learning emotion recognition

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An online drilling rate of penetration(ROP) optimization method 41

An online drilling rate of penetration(ROP) optimization met...

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第41届中国控制会议

作者： Tuo Wang Chao Gan Weihua Cao School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Drilling rate of penetration(ROP) optimization is crucial due to its vital role in increasing the drilling efficiency and decreasing the non-productive *** existing methods seldom pay attention to updating model parameter during drilling,which is actually important for ROP optimization under dynamical and uncertain downhole *** this paper,an online drilling ROP optimization method is proposed via three stages(drilling data pre-processing,online ROP modelling and online optimal operational parameters optimization).In the first stage,drilling data is pre-processed by resampling and Savitzky-Golay *** this,support vector regression and moving-window strategy are introduced together to establish an online ROP model in the next ***,particle swarm optimization algorithm is applied in the online ROP optimization framework to obtain the optimal operational parameters in the last *** results indicated the effectiveness of the proposed method.

关键词： Rate of penetration Drilling optimization Online optimization Moving-window strategy

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