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检索条件"机构=Shenzhen Key Laboratory of Control Theory and Intelligent Systems"

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A General Iterative Extended Kalman Filter Framework for State Estimation on Matrix Lie Groups

A General Iterative Extended Kalman Filter Framework for Sta...

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IEEE Conference on Decision and control

作者： Ben Liu Hua Chen Wei Zhang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

In this paper, we focus on state estimation problem for nonlinear systems on joint matrix Lie group and Euclidean space We propose a general iterative Kalman filter, aiming to integrate the prediction step into the iteration scheme, which is not considered in the conventional iterative extended Kalman filter framework. Such an extra iteration scheme in the prediction step helps improving the accuracy of probability density function propagation through nonlinearities, which can further lead to more accurate estimations of the system states. In addition, the proposed framework unifies the Kalman filter based estimation schemes on studied manifold by adopting the perspective from Gaussian Bayesian inference. The improvement of the proposed framework is illustrated by the ES-GIKF algorithm that is instantiated from the proposed framework in a numerical simulation.

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Application of the hybrid algorithm in path planning of the spherical mobile robot 15

Application of the hybrid algorithm in path planning of the ...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Jian Li, Chunying Guo, Shuxiang Yang, Xujie Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Genetic algorithms (GA) and ant colony algorithm (ACO) are computational models that simulate the process of biological evolution and are widely applied to problems related to path planning. This paper proposes a path planning algorithm which combines the genetic algorithm and the ant colony algorithm. The hybrid algorithm overcomes the problem of genetic algorithm's poor ability in local search, and overcomes the slow convergence speed, local optimal solution of ant colony algorithm's in the process of convergence. The effectiveness and rapidity of the proposed hybrid algorithm is verified by simulation and experiment. The overall performance is better than the genetic algorithm and the ant colony algorithm. Finally, we carried out the experiments to verify the effectiveness of the proposed hybrid algorithm which could avoid collision and reach the target safely, and the proposed hybrid algorithm was compared with ACO and GA respectively. The experimental results showed that the proposed hybrid algorithm overcame the defects of ACO and GA, verified the effectiveness and rapidity of the proposed hybrid algorithm. © 2018 IEEE.

关键词： Genetic algorithms

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Design of the speech control system for a upper limb rehabilitation robot based on wavelet de-noising 15

Design of the speech control system for a upper limb rehabil...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Wang, Zhi Guo, Jian Fu, Qiang Li, Nan Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

In order to help stroke patients to go on rehabilitation training, a new type of exoskeleton upper limb rehabilitation robot based on biomechanics has been designed in this paper, and speech control has been implemented. The speech control is suitable for patients who can speak. Doctors or family members can also assist patients in training. The system can help patients with hemiplegia to recover the upper limbs and fingers movement function, at the same time, it has the characteristics of small size, more portable and convenient operation. It can also effectively solve the shortage of traditional doctors and patients' one to one rehabilitation training. It is convenient for patients to use in the family. Anybody can help patients with rehabilitation training and has a broad application prospect in the field of rehabilitation. Finally, the speech control system was tested and the master-slave control experiment was implemented. In order to better perform speech recognition and further reduce the noise in the environment, the original speech signals have been de-noised with wavelet transform . The experimental results showed that the success rate of post-noise speech control system rehabilitation training is higher, and the average correct recognition rate of speech control is 94%, thus the feasibility of the speech control system is verified. © 2018 IEEE.

关键词： control systems

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Design of a novel drug-delivery module for active locomotive intestinal capsule endoscopy 15

Design of a novel drug-delivery module for active locomotive...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Jian Bao, Zihong Guo, Shuxiang Fu, Qiang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Current Wireless Capsule Endoscopic systems (WCE) provide only diagnostic tools, but in the future, advanced functionalities such as controllable drug delivery could be available for clinicians. This paper proposes a spiral capsule robot driven by external magnetic field control wireless targeted drug delivery module, the module includes two radial magnetizing magnetic ring and a simple plastic chain, and it has a volume of 1.15 ml medicine cavity integration within the interior space. The control system of the robot including the driven system, motion control and drug release of the robots was presented. The robot module has two spiral grooves outside the module, which can be controlled in the external magnetic field. The inner two ring magnets can be operated and closed under the control of external strong pulse magnetic field. Then the robot was driven by a three-axis Helmholtz coil system. Finally, the feasibility of the function of drug release is verified. The developed capsule robot can be used to improve the capsule robot system, increase the function of the capsule robot, and can be used in the future medical treatment. © 2018 IEEE.

关键词： Robots

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A Multi-Frequency Information Graph Representation for Graph Classification

A Multi-Frequency Information Graph Representation for Graph...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Da Li Liting Wang Zhiyun Lin School of Automation and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China Peng Cheng Laboratory Shenzhen China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

This paper proposes a novel graph classification method to tackle the categorization of complex and irregularly structured graphs, demonstrating state-of-the-art performance on several benchmarks. This method is predicated on the principle of graph signal decomposition. Although significant research has been conducted on frequency decomposition for node classification tasks, its application to graph classification has not been extensively explored. To this end, we introduce an innovative graph classification framework known as the Multi-Frequency Graph Convolutional Network (MFGCN). The MFGCN framework operates by capturing both high-frequency and low-frequency information within graph data at various hierarchical levels, thereby enriching the graph representation, which is crucial for classification tasks. Subsequently, these multi-frequency graph representations are processed using 3D convolutional layers, followed by fully connected layers to perform the classification. We have conducted a theoretical analysis on the extraction of high and low-frequency signals from graph signals. To validate the efficiency of our MFGCN framework, we evaluated it against six benchmark datasets: COLLAB, MUTAG, IMDB-BINARY, PROTEINS, IMDB-MULTI, and D&D. Our results demonstrate a marked improvement in graph classification accuracy when compared to the most advanced existing methods.

关键词： Proteins Accuracy Three-dimensional displays Convolution Graph convolutional networks Benchmark testing Feature extraction Data mining Signal resolution Image classification

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A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot 16th

A Modified Artificial Potential Field Method Based on Subgoa...

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Mo, Jixue Gao, Changqing Liu, Fei Yang, Qingkai Fang, Hao Department of Mathematics and Theories Pengcheng Laboratory Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Industrial Training Center Shenzhen Polytechnic Shenzhen518055 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819964826

In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force;the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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A Fully Actuated System Approach to Interval Observer Design with Applications in Fault Detection

A Fully Actuated System Approach to Interval Observer Design...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Weijie Ren Guang-Ren Duan He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern Uni. of Sci. and Tech. Shenzhen China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper explores a fully actuated system approach for interval observer design with applications in fault detection. Leveraging the full-actuation property, a stabilization control law is initially implemented to cancel open-loop nonlinearities, resulting in a constant high-order linear system. Subsequently, two interval observer design approaches are introduced. Employing the parametric design method, the challenge of determining the observer gain and nonsingular transformation matrix is converted into solving the generalized Sylvester matrix equation. This method allows for the free assignment of the eigenstructure of the observer error system. Additionally, a fault detection logic is presented. Finally, the feasibility and effectiveness of the proposed interval observers are demonstrated through an illustrative example.

关键词： Linear systems Fault diagnosis Fault tolerance Fault detection Design methodology Fault tolerant systems Observers

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A Fully Actuated System Approach to control of the 3D Cubli: theory and Experiments

A Fully Actuated System Approach to Control of the 3D Cubli:...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Zhijie Liu Fuxing Yao Guangren Duan He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern Uni. of Sci. and Tech. Shenzhen China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

The 3D Cubli is an interesting underactuated mechatronics system that has reaction wheels mounted on three of its faces and can balance on its corner or edge by applying controlled torques to the reaction wheels. control of the 3D Cubli has attracted much attention in the literature, yet remains challenging due to strong nonlinearity and coupling inherent in the system, as well as adverse effects from external disturbances, unknown friction and other unmodeled dynamics that further intensify the difficulty of regulating system attitude. To address the above issues, this paper is concerned with high-order fully actuated (HOFA) system approach to control of the 3D Cubli. First, by adopting the concepts and tools from the recently developed fully actuated system approach, we transform the system dynamics of the Cubli into a nonlinear HOFA model. We leverage the full actuation property of the latter model to design a baseline controller to eliminate the nonlinearities inherent in the Cubli system. Second, a nonlinear observer is developed to estimate the additive system disturbance in real time. The estimated disturbance is then used to enhance the performance of the baseline controller. The stability of the closed-loop system has been rigorously established. Compared to the linearization-based LQR strategy, the proposed framework exhibits significantly better performance in hardware experiments that were conducted on a self-built 3D Cubli platform by the authors.

关键词： Three-dimensional displays Mechatronics System dynamics Wheels Transforms Observers Stability analysis

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Differential Enhancement and Commonality Fusion for RGBT Tracking 20

Differential Enhancement and Commonality Fusion for RGBT Tra...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yang, Jianrong Dong, Enzeng Tong, Jigang Yang, Sen Zhang, Zufeng Li, Wenyu Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory 391 Binshui West Road Tianjin China Nankai University College of Artificial Intelligence 94 Weijin Road Tianjin China

ISBN: (纸本)9798350320831

Target tracking is a fundamental task and an important part in the field of computer vision. The image information contained in the visible (RGB) modality and thermal infrared (T) modality has differences. RGBT tracking utilizes this difference to fuse the information of the two modalities, fully combining the uniqueness and complementarity of the information of the two modalities. How to maximize the uniqueness of individual modalities in RGBT tracking and how to effectively combine the complementarity of the two modalities is the key issue in RGBT tracking. For the combination of the uniqueness and complementarity of the two modalities, a novel Differential Enhancement and Commonality Fusion Network (DECFNet) is designed in this paper, in which the main components include a feature enhancement module for the visible modality and a feature enhancement module for the thermal infrared modality, as well as a fusion module that effectively fuses the information of both. The results on three RGB T tracking benchmark datasets demonstrate the effectiveness of the proposed method. © 2023 IEEE.

关键词： Target tracking

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A Single-Frame Face Anti-Spoofing Algorithm With Circular CDC and Multi-Scale Spatial Attention 20

A Single-Frame Face Anti-Spoofing Algorithm With Circular CD...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： He, Shan Dong, Enzeng Tong, Jigang Yang, Sen Liang, Xuehui Li, Wenyu Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory 391 Binshui West Road Tianjin China Nankai University College of Artificial Intelligence 94 Weijin Road Tianjin China

ISBN: (纸本)9798350320831

Face anti-spoofing is to prevent face images with attack properties from entering face recognition and causing confusion or spoofing of the face recognition function. Since most face presentation attacks do not possess true deep information, some recent works use this information as supervisory signal. In this paper, we continue such a pattern by proposing a circular CDC (Central Difference Convolution) with larger sensory field and contextual semantic awareness, and use it in a backbone network for improving the network model's ability to characterize texture features and multi-scale information. Combined with the spatial attention method concat multiple scale feature maps are used to fuse the feature map information from multiple scales. We conduct a series of experiments on OULU-NPU and demonstrate that our network accuracy is better than the original algorithm, especially in terms of generalizability across devices and different environments. © 2023 IEEE.

关键词： Face recognition

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