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arXiv 2023年

作者： Song, Chuanxin Wu, Hanbo Ma, Xin Center for Robotics School of Control Science and Engineering Shandong University China Engineering Research Center of Intelligent Unmanned System Ministry of Education China

Exploring the semantic context in scene images is essential for indoor scene recognition. However, due to the diverse intra-class spatial layouts and the coexisting inter-class objects, modeling contextual relationships to adapt various image characteristics is a great challenge. Existing contextual modeling methods for scene recognition exhibit two limitations: 1) They typically model only one type of spatial relationship (order or metric) among objects within scenes, with limited exploration of diverse spatial layouts. 2) They often overlook the differences in coexisting objects across different scenes, suppressing scene recognition performance. To overcome these limitations, we propose SpaCoNet, which simultaneously models Spatial relation and Co-occurrence of objects guided by semantic segmentation. Firstly, the Semantic Spatial Relation Module (SSRM) is constructed to model scene spatial features. With the help of semantic segmentation, this module decouples spatial information from the scene image and thoroughly explores all spatial relationships among objects in an implicit manner, thereby obtaining semantic-based spatial features. Secondly, both spatial features from the SSRM and deep features from the Image Feature Extraction Module are allocated to each object, so as to distinguish the coexisting object across different scenes. Finally, utilizing the discriminative features above, we design a Global-Local Dependency Module to explore the long-range co-occurrence among objects, and further generate a semantic-guided feature representation for indoor scene recognition. Experimental results on three widely used scene datasets demonstrate the effectiveness and generality of the proposed method. Copyright © 2023, The Authors. All rights reserved.

关键词： Semantic Segmentation

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Adaptive Artificial Potential Field Ship Motion Planning Based on DDPG

Adaptive Artificial Potential Field Ship Motion Planning Bas...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Chen, Huimin Liu, Chenguang He, Zhibo Zhang, Guoqing Han, Bing State Key Laboratory of Maritime Technology and Safety Wuhan University of Technology Wuhan430063 China Intelligent Transportation Systems Research Center Wuhan University of Technology Wuhan430063 China School of Transportation and Logistics Engineering Wuhan University of Technology Wuhan430063 China Navigation College Dalian Maritime University Dalian116026 China State Key Laboratory of Maritime Technology and Safety Dalian116026 China National Engineering Research Center of Ship & Shipping Control System Shanghai200134 China

ISBN: (纸本)9789819639601

The paper presents a ship motion planning method that adjusts the attractive and repulsive gain parameters of the artificial potential field (APF) algorithm using the deep deterministic policy gradient (DDPG) algorithm, to address the challenges of parameter design and limited adaptability of traditional APF algorithms. This approach leverages the speed advantage of the APF planning algorithm and the exploration capability of the DDPG reinforcement learning algorithm. By optimizing the parameters of APF with DDPG, the local optima problem can be alleviated in complex obstacle environments. Simulation results demonstrate that the proposed motion planning algorithm can generate reasonable trajectories and exhibit strong adaptability in complex obstacle scenarios. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Motion planning

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Weld Seam Extraction of Intersecting Pipelines Based on Point Cloud Entropy 11

Weld Seam Extraction of Intersecting Pipelines Based on Poin...

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11th IEEE Data Driven control and Learning systems Conference, DDCLS 2022

作者： Lu, Shuaibing Shi, Xiaorui Tian, Xincheng Liu, Yan Center for Robotics School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China SINOTRUK Jinan Power Co. Ltd

ISBN: (数字)9781665496759

ISBN: (纸本)9781665496759

This paper presents a method for extracting intersecting pipelines weld seam based on point cloud. Firstly, the collected point cloud is filtered by PassThrough filter to extract the region of interest, and the intersecting pipelines model is reconstructed by using the camera calibration results and the pose of robot. Then VoxelGrid filtering and Moving Least Squares filtering are performed on the reconstructed model to smooth the error caused by camera and robot. The Fast Point Feature Histograms of point cloud is used to calculate the entropy map, and the weld seam region is extracted by threshold segmentation. Finally, an iterative algorithm for weld point extraction based on entropy is proposed. Through experimental verification, the algorithm can extract the weld points of the actual intersecting pipelines and obtain the real position of the weld points in the robot base coordinate frame, which has great application value in robot automatic welding area. © 2022 IEEE.

关键词： Entropy

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Human-like Walking of Biped Robot with Foot Rotation Using Passive Metatarsophalangeal Joint 12

Human-like Walking of Biped Robot with Foot Rotation Using P...

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12th International Conference on CYBER technology in Automation, control, and intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Analyzing Influence Factors of Blockchain technology in Prognostics and Health Management Based on Spherical Fuzzy DEMATEL Method and technology Adoption Theory

Analyzing Influence Factors of Blockchain Technology in Prog...

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2024 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2024

作者： Hai, Zhengwei Meng, Xiangxiu Hui, Guo Lu, XiaoPing Zhou, Tongtong Ming, Xinguo SJTUSME-COSMOPlat Joint Research Center for New Generation Industrial Intelligent Technology School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Co. Ltd Shandong Qingdao266100 China State Key Laboratory of Massive Personalized Customization System and Technology Shandong 266100 China School of Design Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350386097

Prognostics and health management (PHM) aims to reduce sudden failures during system operation, thereby improving system performance and protecting personal safety from harmful condition. Nonetheless, implementation of PHM still faces many difficulties related to security, privacy, and trustiness issues. Blockchain, an emerging technology, has great potential to resolve these problems. Adopting blockchain in PHM is a challenging task and a comprehensive analysis is required before jumping into innovation. However, scientific surveys pertaining to the topic are still scarce. In this article, a systematical exploration of the potential and influence factor of blockchain adoption in PHM is presented. combined technology adoption theory (TAT) is proposed as theoretical foundation for identifying influence factors of blockchain adoption in PHM. Twenty-one factors at both individual-level and firm-level are captured. Thirdly, a dual-ideal distance based spherical fuzzy DEMATEL is introduced to evaluate the interrelationships and importance of the influence factors with considering vagueness and hesitancy of experts’ judgements. Aiming to demonstrate the feasibility and effectiveness, a case study and several comparative analyses are performed finally. © 2024 IEEE.

关键词： Blockchain adoption DEMATEL Influence factor Prognostics and health management (PHM) Spherical fuzzy sets

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Ontology Modelling of Smart Product-Service system Components towards Mass Personalization

Ontology Modelling of Smart Product-Service System Component...

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2024 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2024

作者： Chen, Lucheng Sheng, Guojun Qin, Chenggang Wang, Chao Wu, Alexander T.Y. Nuertai, Ayala Zhou, Tongtong Ming, Xinguo SJTUSME-COSMOPlat Joint Research Center for New Generation Industrial Intelligent Technology School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Co. Ltd Shandong Qingdao266100 China State Key Laboratory of Massive Personalized Customization System and Technology Shandong266100 China School of Design Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350386097

Customer products have become increasingly driven by mass personalization as industries are shifting to knowledge-driven user-centric design approaches such as Smart Product-Service systems (Smart PSS) to better meet expectations and remain competitive. However current user-centric design methods lack a semantic framework that properly models the components of a Smart PSS, leading to a lack in the usefulness of the knowledge generated from user research. This paper aims to create an ontological model that defines the components of a Smart PSS and their relationships to help enterprises better support dynamic personalization requirements. A case-study of electric vehicles is then presented to explore the usage of the ontology-based knowledge model on a Smart PSS. © 2024 IEEE.

关键词： Smart manufacturing

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Design of intelligent Backflow Prevention system

Design of Intelligent Backflow Prevention System

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Chinese control Conference (CCC)

作者： Jiale Chen Tao Dong Shiyun Wang Guili Jiao Rongrong Zhang Xincheng Tian Center for Robotics Engineering Research Center of Intelligent Unmanned System Ministry of Education School of Control Science and Engineering Shandong University Jinan China Jinan China Shandong Tianyong Intelligent Technology Co. Ltd Jinan China Shandong Hydrology Center Jinan China

With the advent of the rainy season, the chances of urban flooding are increasing, to avoid the risk of flooding people and underground garages, this paper explains our reliance on video surveillance technology and 5G cloud data technology to collect the data of anti-backflow door equipment deployed in various parts of the city, and remote control and command in the management center, which can quickly give flood control measures and early warning to protect the personnel and property of underground garages, and reduced losses.

关键词：

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Model predictive control of event triggering in silicon single crystal growth processes

Model predictive control of event triggering in silicon sing...

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2022 Chinese Automation Congress, CAC 2022

作者： Li, Yankai Ren, Biao Liu, Ding Xi'An University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xi'an710048 China

ISBN: (纸本)9781665465335

In this paper, the control issue of the semiconductor silicon monocrystalline growth process is studied through an event triggered model prediction approach. Firstly, a state-space model of silicon monocrystalline growth process is developed to describe the energy conversion and the dynamics and the geometry of the isodiametric stage silicon monocrystalline via the Czochralski method. Secondly, a small perturbation linearization is used to obtain a linear continuous model, which is translated into a linear discrete model under zero-order retainers. Finally, an event triggered model prediction controller is established to decrease the calculation of model prediction in the rolling optimization process. Based on experimental results, the event-triggered model prediction control algorithm is confirmed to be an effectively control scheme for the silicon monocrystalline growth process. © 2022 IEEE.

关键词： Model predictive control

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Simulation study on control characteristics of semiconductor grade monocrystalline silicon growth process

Simulation study on control characteristics of semiconductor...

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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Yuyu Liu, Ding Song, Zezhong Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi`an University of Technology Xi'an710048 China

ISBN: (纸本)9781665465335

The growth of Czochralski(CZ) monocrystalline silicon is a nonlinear dynamic time-varying system with complex physical changes and multi-field and multi-phase coupling. In order to meet the needs of information development, it is urgent to develop large-scale, high-quality monocrystalline silicon. However, it is extremely difficult to establish an accurate control system model. Therefore, this paper considers the complex physical changes of multi-field coupling and non-linear processes in the growth of CZ monocrystalline silicon, a lumped parameter model for the growth of monocrystalline silicon is established based on energy balance model, fluid mechanics model, and geometry model, according to the internal mechanism of the monocrystalline silicon growth and the transfer mechanism of internal material flow. According to the model, a CZ monocrystalline silicon growth simulation control system is established under the Matlab/Simulink environment, and the real-time simulation data of each state variable of crystal growth is obtained. So that the control characteristics of each state variable in the crystal growth process can be analyzed. Finally, the validity of the established model is checked by the records evaluation of the semiconductor industry production process. Finally, the validity of the established model is verified based on the data analysis of the semiconductor industry production process. The results show that the model has high accuracy and can better describe the dynamic behavior of the actual monocrystalline silicon growth system. © 2022 IEEE.

关键词： MATLAB

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