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TextGeo-SLAM: A LiDAR SLAM With Text Semantics and Geometric-Constraint-Based Loop Closure

IEEE Internet of Things Journal 2025年第9期12卷 12021-12033页

作者： Chen, Shoubin Li, Chunyu Jiang, Qi Zhuang, Xuebin Zhang, Bo Zhou, Baoding Li, Qingquan Shenzhen518060 China Sun Yat-sen University School of Systems Science and Engineering Guangzhou510275 China National University of Singapore Queenstown Singapore Shenzhen University College of Mechatronics and Control Engineering Shenzhen City Joint Laboratory of Autonomous Unmanned Systems and Intelligent Manipulation Shenzhen518060 China Shenzhen518060 China Shenzhen University Department of Shenzhen Key Laboratory of Spatial Smart Sensing and Services Shenzhen518060 China

A robust back-end module with loop closure detection is crucial for accurate positioning and mapping in LiDAR-based simultaneous localization and mapping (SLAM) systems, particularly in Internet of Things (IoT) environments where multiple devices collaborate. Traditional methods that rely on images or point clouds often fail in environments with similar structures or textures, leading to incorrect loop closures. To address this, we propose a novel LiDAR SLAM system that integrates a front-end odometry module, a loop closure detection module using text semantics and geometric constraints, and a global optimization module. By using cameras on an unmanned ground vehicle (UGV), the system captures text information from the environment, enabling semantic matching to identify potential loops. Geometric constraints help eliminate erroneous loops caused by identical text in different locations. Evaluations on datasets with similarly structured environments, such as indoor parking lots, outdoor campus areas, and mixed indoor–outdoor scenes, show that our method significantly improves loop closure detection accuracy and global precision compared to existing state-of-the-art approaches. Our research can support autonomous IoT systems and multiagent systems that rely on accurate positioning and mapping, with potential applications in embodied intelligence, self-driving cars, and smart cities. © 2014 IEEE.

关键词： Multi agent systems

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Trajectory tracking control for collaborative robotic arms with SEA based on force compensation in Cartesian space

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Kongzhi yu Juece/control and Decision 2025年第6期40卷 1807-1816页

作者： Zhang, An-Long Lin, Zhi-Yun Wang, Bo Han, Zhi-Min School of Automation Hangzhou Dianzi University Hangzhou310018 China School of Automation and Intelligent Manufacturing Southern University of Science and Technology Shenzhen518055 China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen518055 China Peng Cheng Laboratory Shenzhen518000 China

A trajectory tracking control algorithm based on Cartesian space force compensation is proposed to address the issues of low control accuracy and poor dynamic performance of trajectory tracking control for robotic arms with a serial elastic actuator(SEA). The algorithm aims to improve the accuracy of Cartesian space trajectory tracking. Firstly, the SEA and the 6-degree-of-freedom(6-DOF) robotic arm system model are introduced, and a position-velocity-torque mixed control algorithm based on neural network model predictive control(NNMPC) is designed. Subsequently, based on this joint controller, a Cartesian space force compensation control algorithm for flexible joint manipulators is designed. This algorithm calculates the force compensation value in Cartesian space based on the tracking error, combines it with a PID controller, converts it into a target torque compensation value in the joint space, and compensates it to the joint controller to achieve high-precision Cartesian space trajectory tracking. Cartesian space force compensation can effectively counteract external disturbances and system uncertainties, reduce tracking errors, and enable the manipulator to more accurately track the target trajectory. Finally, the effectiveness and superiority of the proposed trajectory tracking controller are validated through simulation and experimental trials. The experimental outcomes demonstrate that the controller achieves an overall accuracy of 1.86 mm, marking an enhancement of 2.91 mm and 1.77 mm over the uncompensated trajectory tracking and position-based compensation trajectory tracking control algorithms, respectively. © 2025 Northeast University. All rights reserved.

关键词： Robotic arms

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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A Seamless Pedestrian Localization System Based on GNSS/IμUWB/MAP Integration

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IEEE Internet of Things Journal 2025年第11期12卷 16653-16667页

作者： Zhang, Shuning Tang, Hongjing Chen, Liangming Gao, Yufeng Southern University of Science and Technology School of Automation and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

Pedestrian localization has broad applications. However, achieving seamless positioning in complex environments remains a significant challenge due to factors like environmental occlusion and indoor-outdoor transitions. This paper proposes a combined localization framework using Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), Ultra-Wideband (UWB), and MAP data to address this issue. In the framework, a three-step GNSS localization method is proposed to enhance accuracy and stability by eliminating Non-Line-of-Sight (NLOS) effects and filtering anomalies. Inertial Navigation System (INS) and Pedestrian Dead Reckoning (PDR) models are integrated to improve local precision and stability. UWB, known for its superior localization capabilities, has been integrated into some smartphones and is promising for large-scale indoor applications. The paper presents a gradient descent-based optimal anchor deployment algorithm and localization methods for varying anchor quantities. Additionally, a non-stationary Markov model fuses map data for trajectory prediction and correction. Finally, anomaly detection filtering and low-pass filtering are applied to the corrected trajectories, yielding high accuracy and stability. Experiments on the Honor V20 and iQOO U3 smartphones showed significant improvements compared to the baseline algorithm. Outdoor Root Mean Square Error (RMSE) was reduced by 44.4% (10.83m) for the Honor V20 and 40.0% (10.77m) for the iQOO U3. Additionally, outdoor Standard Deviation (STD) improved by 43.9% (4.80m) and 43.5% (5.50m), respectively. In transitional areas, RMSE improved by 4.61% (10.77m) and 19.6% (4.76m), respectively. Indoor RMSE also showed improvements, with the Honor V20 reducing it by 8.00% (3.79m) and the iQOO U3 by 5.78% (3.91m). © 2025 IEEE.

关键词： Location awareness Global navigation satellite system Accuracy Pedestrians Filtering Sensors Prediction algorithms Predictive models Smart phones Kalman filters

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Improved Extrinsic Calibration of Acoustic Cameras via Batch Optimization

Improved Extrinsic Calibration of Acoustic Cameras via Batch...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Zhi Li Jiang Wang Xiaoyang Li He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems and the Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Acoustic cameras have found many applications in practice. Accurate and reliable extrinsic calibration of the microphone array and visual sensors within acoustic cameras is crucial for fusing visual and auditory measurements. Existing calibration methods either require prior knowledge of the microphone array geometry or rely on grid search which suffers from slow iteration speed or poor convergence. To overcome these limitations, in this paper, we propose an automatic calibration technique using a calibration board with both visual and acoustic markers to identify each microphone position in the camera frame. We formulate the extrinsic calibration problem (between microphones and the visual sensor) as a nonlinear least squares problem and employ a batch optimization strategy to solve the associated problem. Extensive numerical simulations and real-world experiments show that the proposed method improves both the accuracy and robustness of extrinsic parameter calibration for acoustic cameras, in comparison to existing methods. To benefit the community, we open-source all the codes and data at https://***/AISLAB-sustech/AcousticCamera.

关键词： Visualization Accuracy Cameras Numerical simulation Acoustics Robustness Microphone arrays Calibration Optimization Sensor arrays

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Calibration of Multiple Asynchronous Microphone Arrays using Hybrid TDOA

Calibration of Multiple Asynchronous Microphone Arrays using...

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Chengjie Zhang Wenda Pan Xinyang Han He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems and the Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Accurate calibration of acoustic sensing systems made of multiple asynchronous microphone arrays is essential for satisfactory performance in sound sour ce localization and tracking. State-of-the-art calibration methods for this type of system rely on the time difference of arrival and direction of arrival measurements among the microphone arrays (denoted as TDOA-M and DOA, respectively). In this paper, to enhance calibration accuracy, we propose to incorporate the time difference of arrival measurements between adjacent sound events (TDOA-S) with respect to the microphone arrays. More specifically, we propose a two-stage calibration approach, including an initial value estimation (IVE) procedure and the final joint optimization step. The IVE stage first initializes all parameters except for microphone array orientations, using hybrid TDOA (i.e., TDOA-M and TDOA-S), odometer data from a moving robot carrying a speaker, and DOA. Subsequently, microphone orientations are estimated through the iterative closest point method. The final joint optimization step estimates multiple microphone array locations, orientations, time offsets, clock drift rates, and sound source locations simultaneously. Both simulation and experiment results show that for scenarios with low or moderate TDOA noise levels, our approach outperforms existing methods in terms of accuracy. All code and data are available at https://***/AISLAB-sustech/Hybrid-TDOA-Multi-Calib.

关键词： Direction-of-arrival estimation Accuracy Time difference of arrival Position measurement Odometers Microphone arrays Calibration Arrays Optimization Noise level

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Calibration of Multiple Asynchronous Microphone Arrays using Hybrid TDOA

arXiv

引用

arXiv 2025年

作者： Zhang, Chengjie Pan, Wenda Han, Xinyang Kong, He Shenzhen Key Laboratory of Control Theory and Intelligent Systems The Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology The Southern University of Science and Technology Shenzhen518055 China

Accurate calibration of acoustic sensing systems made of multiple asynchronous microphone arrays is essential for satisfactory performance in sound source localization and tracking. State-of-the-art calibration methods for this type of system rely on the time difference of arrival and direction of arrival measurements among the microphone arrays (denoted as TDOA-M and DOA, respectively). In this paper, to enhance calibration accuracy, we propose to incorporate the time difference of arrival measurements between adjacent sound events (TDOA-S) with respect to the microphone arrays. More specifically, we propose a two-stage calibration approach, including an initial value estimation (IVE) procedure and the final joint optimization step. The IVE stage first initializes all parameters except for microphone array orientations, using hybrid TDOA (i.e., TDOA-M and TDOA-S), odometer data from a moving robot carrying a speaker, and DOA. Subsequently, microphone orientations are estimated through the iterative closest point method. The final joint optimization step estimates multiple microphone array locations, orientations, time offsets, clock drift rates, and sound source locations simultaneously. Both simulation and experiment results show that for scenarios with low or moderate TDOA noise levels, our approach outperforms existing methods in terms of accuracy. All code and data are available at https://***/AISLABsustech/Hybrid-TDOA-Multi-Calib. © 2025, CC BY.

关键词： Microphone array

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Topology-Driven Attribute Recovery for Attribute Missing Graph Learning in Social Internet of Things

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IEEE Internet of Things Journal 2025年第11期12卷 16298-16313页

作者： Li, Mengran Chen, Junzhou Yu, Chenyun Jiang, Guanying Zhang, Ronghui Shen, Yanming Song, Houbing Herbert Shenzhen Campus of Sun Yat-sen University School of Intelligent Systems Engineering Shenzhen518107 China Baidu Inc Beijing100085 China Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of Education School of Electronic Information and Electrical Engineering Dalian116024 China Department of Information Systems Baltimore County BaltimoreMD21250 United States

With the advancement of information technology, the Social Internet of Things (SIoT) has fostered the integration of physical devices and social networks, deepening the study of complex interaction patterns. Text Attribute Graphs (TAGs) capture both topological structures and semantic attributes, enhancing the analysis of complex interactions within the SIoT. However, existing graph learning methods are typically designed for complete attributed graphs, and the common issue of missing attributes in Attribute Missing Graphs (AMGs) increases the difficulty of analysis tasks. To address this, we propose the Topology-Driven Attribute Recovery (TDAR) framework, which leverages topological data for AMG learning. TDAR introduces an improved pre-filling method for initial attribute recovery using native graph topology. Additionally, it dynamically adjusts propagation weights and incorporates homogeneity strategies within the embedding space to suit AMGs' unique topological structures, effectively reducing noise during information propagation. Extensive experiments on public datasets demonstrate that TDAR significantly outperforms state-of-the-art methods in attribute reconstruction and downstream tasks, offering a robust solution to the challenges posed by AMGs. The code is available at https://***/limengran98/TDAR. © 2014 IEEE.

关键词： Undirected graphs

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Optimal Sensor Placement for Full-Set TDOA Localization Accounting for Sensor Location Errors

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Zhang, Chengjie Han, Xinyang Kong, He Ho, K.C. Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China University of Missouri Electrical Engineering and Computer Science Department ColumbiaMO65211 United States

The positioning accuracy of a signal source is influenced by where the sensors are deployed. Studies in the literature for the optimal sensor placement (OSP) of localization often ignore the presence of sensor position errors. In practice, however, it is impossible to place the sensors precisely at the desired locations. This work designs OSP by accounting for the presence of Gaussian sensor position errors that are independent and identically distributed (IID), with the full set of Time Difference of Arrival measurements corrupted by Gaussian IID noise. The criterion is the A-optimality equal to the trace of the source position Cramer-Rao Bound (CRB). We show that the presence of sensor position errors introduces a multiplication factor to the same criterion for the case without sensor position errors. The latter factor is dependent on the ratio of the sensor position error power to the range difference noise power but independent of the sensor positions, implying that the A-optimality OSP in the presence of sensor position errors is the same as in the absence. To our knowledge, this is the first time such results have been derived. Simulation studies validate the derived OSP, show the minimal OSP performance gap with sensor positioning error and without, and illustrate the better source localization accuracy by OSP. © 1965-2011 IEEE.

关键词： Cramer-Rao bounds

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A high-order fully actuated system approach to attitude control of 3D Cubli

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Liu, Zhijie Yao, Fuxing Sun, Lujun Han, Fei Duan, Guangren Kong, He Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China Shanghai Aerospace Control Technology Institute Shanghai201109 China Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150006 China

The Cubli is an interesting underactuated mechatronics system that can balance on one of its corners or edges by applying controlled torques to the reaction wheels mounted on its three faces. This study presents a high-order fully actuated (HOFA) system approach to attitude control of 3D Cublis with additive disturbances. First, by adopting the concepts and tools from the recently developed HOFA system theory, we transform the system model of the Cubli into a HOFA one. We then leverage the latter model that has the full actuation characteristic to design a baseline controller to eliminate the nonlinearities inherent in the 3D Cubli system, thereby resulting in linear dynamics with additive nonlinear terms. Second, a nonlinear observer is developed to estimate the additive system disturbance in real time. The estimated disturbance is then utilized to improve the effectiveness of the baseline controller. The rigorous stability of the overall 3D Cubli system has been established. The proposed scheme exhibits improved performance compared to the linearization-based LQR strategy and the backstepping strategy in numerical simulations. The effectiveness of the proposed framework has also been extensively validated in hardware experiments on a self-built 3D Cubli platform. © 1965-2011 IEEE.

关键词： control nonlinearities

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