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Cognitive Navigation for intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru Cui Zhe Liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

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The guaranteed cost switch control of BTT vehicle based on RBF-NN compensation

The guaranteed cost switch control of BTT vehicle based on R...

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MIPPR 2009 - Pattern Recognition and Computer Vision: 6th International Symposium on Multispectral image processing and Pattern Recognition

作者： Deng, Zhixiang Wang, Yongji Li, Chuanfeng Wang, Zhishen Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology China

ISBN: (纸本)9780819478078

This paper presents a new approach for norm bounded continuous-time uncertain switch systems such as BTT vehicle. Firstly, the flight trajectory has been divided into several intervals according to flight attitude. Meanwhile, the nominal model could be obtained. Secondly, based on the linear matrix inequality (LMI), combining the guaranteed cost control theory, the state feedback guaranteed cost control law is proposed. Then, to reduce the external disadvantage influence on vehicle, the RBF-NN is used to compensate the intensive aerodynamic disturbance. Finally, taking BTT vehicle as the research objective, the final results of the simulation are proved with effectiveness for the proposed design approach. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： State feedback

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Sliding mode control with fuzzy compensator of pneumatic muscle actuator

Sliding mode control with fuzzy compensator of pneumatic mus...

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作者： Wu, Jun Wang, Yongji Huang, Jian Xing, Kexin Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering HuaZhong University of Science and Technology Wuhan Hubei China

In this paper, the Pneumatic Muscle (PM) as actuator is investigated. The PM model is established by using a phenomenological model consisting of a contractile element, a spring element, and a damping element in parallel. Unlike the previous study, we fully consider the different characteristics of PM model in different pressure ranges, especially in low pressure range. In order to test the effectiveness of our PM modelling, the Sliding Mode control (SMC) is applied. For the purpose of improving the tracking accuracy, self-adaptation and robustness of PM control, Sliding Mode control with Fuzzy Compensator (FCSMC) is developed to make PM system track a desired trajectory within a guaranteed accuracy even though there are modelling uncertainties, friction, disturbance, and so on. Based on the Lyapunov theory, the stability criterion under FCSMC control strategy for PM system is established. The experimental results demonstrate the validity of PM modelling as well as indicate the effectiveness of the proposed FCSMC method. Copyright © 2012 Inderscience Enterprises Ltd.

关键词： Sliding mode control

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One-time-pads encryption in the tile assembly model

One-time-pads encryption in the tile assembly model

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作者： Chen, Zhihua Xu, Jin Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Recent research has demonstrated that the ultra-scale computation by self-assembly DNA tiles can be implemented in the laboratory. One of the significant applications is the DNA-based cryptography systems. In this paper, we detail procedures for the DNA-based One-Time-Pads (OTP) cryptography, which is in principle unbreakable. In order to implement the whole encrypting and decrypting processes, we propose four tile systems: encrypting system, ciphertext extracting system, key extracting system and decrypting system. All the tile systems use θ(1) input tiles and compute in θ(n) steps according to the length of the input massage. The method of implementing the DNA OTP encryption extends the self-assemble tile models and achieves the real randomness in the DNA OTP. Copyright © 2010 American Scientific Publishers. All rights reserved.

关键词： Cryptography

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Echo state network-based internal model control for pneumatic muscle system

Echo state network-based internal model control for pneumati...

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2011 International Conference on Electrical, Information Engineering and Mechatronics, EIEM 2011

作者： Wu, Jun Wang, Yongji Huang, Jian Zhou, Hanying Cai, Hong Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology 430074 Wuhan China

ISBN: (纸本)9781447124665

Pneumatic muscle (PM) has strong time varying characteristic. The complex nonlinear dynamics of PM system poses problems in achieving accurate modeling and control. To solve these challenges, we propose an echo state network (ESN)-based internal model control (IMC) for PM system in this paper. Here, ESN is employed for identifying the plant model and constructing controller. Recursive least squares (RLS) is used for the online update of ESN. The ESN-based IMC fully embodies the virtues of ESN and IMC. It can build high accurate plant model without detailed model information, as well as attain strong robustness by online self-tuning of controller and internal model. Experiment demonstrates the effectiveness of the proposed control algorithm. The results show that ESNBIMC achieves satisfactory tracking performance. © 2012 Springer-Verlag London Limited.

关键词： controllers

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Fuzzy PID control of a wearable rehabilitation robotic hand driven by pneumatic muscles

Fuzzy PID control of a wearable rehabilitation robotic hand ...

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20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science

作者： Wu, Jun Huang, Jian Wang, Yongji Xing, Kexin Xu, Qi Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology 430074 Wuhan China

ISBN: (纸本)9781424450954

Intensive task-oriented repetitive physical therapies need be provided by individualized interaction between the patients and the rehabilitation specialists to improve hand motor performance for those survived from stoke and traumatic brain injury. The goal of this research is to develop a novel wearable device for robotic assisted hand repetitive therapy. We designed a pneumatic muscle (PM) driven therapeutic device that is wearable and provides assistive forces required for grasping and finger extension. The robot has two distinct degrees of freedom at the thumb and all other fingers. The embedded sensors can feedback position and force information for robot control and quantitative evaluation of task performance. It is potential of providing supplemental at-home therapy in addition to in the clinic treatment. To realize the trajectory tracking control, a fuzzy PID controller is designed for the proposed device. The experimental results show angle tracking control of the robotic hand using the fuzzy PID controller has better performance than that using a conventional PID controller. ©2009 IEEE.

关键词： Wearable technology

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A novel DNA computing model based on RecA-mediated triple-stranded DNA structure

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Progress in Natural Science:Materials International 2007年第6期17卷 708-711页

作者： Fang Gang1, Zhang Shemin2, Dong Yafei1 and Xu Jin1(1. The key laboratory of image processing and intelligent control, Department of control Science & Engineering, Huazhong University of Science and Technology, Wuhan 430074, China 2. Shaanxi University of Technology, Hanzhong 723000, China) [a]The Key Laboratory of Image Processing and Intelligent Control Department of Control Science & Engineering Huazhong University of Science and Technology Wuhan China [b]Shaanxi University of Technology Hanzhong China

The field of DNA computing emerged in 1994 after Adleman’s paper was published. Henceforth,a few scholars solved some noted NP-complete problems in this way. And all these methods of DNA computing are based on conventional Watson-Crick hydrogen bond of doublehelical DNA molecule. In this paper, we show that the triple-stranded DNA structure mediated by RecA protein can be used for solving computational problems. Sequence-specific recognition of double-stranded DNA by oligonucleotide-directed triple helix (triplex) formation is used to carry out the algorithm. We present procedure for the 3-vertex-colorability problems. In our proposed procedure, it is suggested that it is possible to solve more complicated problems with more variables by this model.

关键词： DNA computing 3-vertex-colorability problem.

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Discovering distinctive action parts for action recognition

Discovering distinctive action parts for action recognition

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作者： Chen, Feifei Sang, Nong Gao, Changxin Kuang, Xiaoqin Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Automation Huazhong University of Science and Technology China

ISBN: (纸本)9781479957514

Recent methods based on mid-level visual concepts have shown promising capability in human action recognition field. Automatically discovering semantic entities such as parts for an action class remains challenging. In this paper, we focus on discovering distinctive action parts for recognition of human actions by learning and selecting a small number of discriminative part detectors directly from training videos. We initially train a large collection of candidate Exemplar-LDA detectors from clusters obtained by clustering spatiotemporal patches in whitened space. A novel Coverage-Entropy curve is proposed as a means of measuring the representative and discriminative capabilities of part detectors, and used to select a set of compact and meaningful detectors out of the vast candidates. By integrating these mined detectors into 'bag of parts' representation, our approach demonstrates state-of-the-art performance on the UCF50 dataset. © 2014 IEEE.

关键词： Semantics

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A tube length measurement device based on acoustic method

A tube length measurement device based on acoustic method

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2011 IEEE International conference on intelligent Computation and Bio-Medical Instrumentation, ICBMI 2011

作者： Chen, Yimin Qi, Jian Zhang, Xuming Ding, Mingyue Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769546230

A low-cost device using acoustic method for measuring open-end tube length is developed. The proposed device is aimed to get the length of the tubes which are piled up together, and only one end of which is available in the warehouse or dumping areas. The device contains the emitting and receiving probes to echo the sound pulse and receive the reflection sound wave, and has been developed with discrete component circuits whose key part is the logical control circuit based on ARM. Experiments are performed in the open tubes with the lengths between 0.85m to 6m. The measurement error is below 0.5cm. For the tubes blocked by the cement or earth, the device can detect the location of obstruction automatically. Based on the acoustic method, experiments are also conducted in the blocked tubes based on Matlab software, and the analysis of the reflection wave is given. © 2011 IEEE.

关键词： MATLAB

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Equivalent radiometric section coefficient of metal solid objects

Equivalent radiometric section coefficient of metal solid ob...

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2004 4th International Conference on Microwave and Millimeter Wave Technology, ICMMT 2004

作者： Zhang, Guangfeng Zhang, Zuyin Guo, Wei Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)0780384016

It is necessary to study the radiation characteristic of metal solid objects for millimeter wave passive guidance. On basis of discussing the grounded theory, the antenna temperature contrast formula of metal solid objects is presented Furthermore equivalent radiometric section coefficient based on scale-shrinking measuring theory is proposed in favor of engineering applications. The 8mm theoretical calculation and actual measurement are mostly below IK. So equivalent radiometric section coefficient gives a virtual way for engineering measurement of metal solid objects. © 2004 IEEE.

关键词： Millimeter waves

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