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

作者： Li, Chenqi Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory BinshuiXidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering Systems and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

A path planning method based on a two-layer coordination system is proposed for the compatibility requirement of path planning global optimum and local coordination in a spherical multi-robot system. In the first layer of the algorithm, the global path quality is improved by proposing a nonlinear sine factor and a sparrow search algorithm with improved levy flight strategy to plan the global collision-free optimal path for each robot. In the second layer, a rolling window method is used to determine the possible collision positions of each robot in the system, and a priority-based conflict resolution strategy is proposed to complete the local coordination of the path near the corresponding position. The experimental results show that the path planning method enables the robots to drive along the global optimal path, but still can carry out flexible and orderly local path coordination, which effectively improves the path planning performance of the system. © 2023 IEEE.

关键词： Multipurpose robots

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Classification of EEG signals based on CNN-Transformer model

Classification of EEG signals based on CNN-Transformer model

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IEEE International Conference on Mechatronics and Automation

作者： Jianwei Liu Enzeng Dong Jigang Tong Sen Yang Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology 391 Binshui West Road Tianjin China Department of Electrical Engineering Tshwane University of Technology Pretoria South Africa

Brain-computer interfaces (BCI) based on EEG have attracted extensive research and attention worldwide, while motor imagery (MI), mental arithmetic (MA), and P300 event-related potentials are a few of the more commonly used *** Transformer(ViT) is a new Transformer model that has superior global processing power compared to Convolutional Neural Networks (CNN) and Recurrent Neural Networks (RNN).In this study, we propose a hybrid CNN-Transformer based model that uses CNN to convolve EEG signals in time and space, followed by ViT for global processing, and finally optimizes the model using 10-run $\times 10$-fold cross-validation and validates it on a publicly available dataset of 29 subjects. Final accuracies of 87.23% and 90.79% were achieved on the MI and MA tasks, respectively. Compared to other literature, the model achieved higher classification accuracies.

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PID control for Aeroengine Based on Sparrow Search Algorithm

PID Control for Aeroengine Based on Sparrow Search Algorithm

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2021 China Automation Congress, CAC 2021

作者： Xu, Liang Wang, Hao Liu, Ying Xue, Wei Li, Ningning Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China National Key Laboratory for Complex Systems Simulation Beijing China BeijingAerospace Propulsion Institute Beijing China

ISBN: (纸本)9781665426473

To address the problem of aeroengine PID parameter optimization and tuning, this work employs the excellent performance of the sparrow search algorithm (SSA) with high convergence accuracy and fast convergence speed to propose a self-tuning PID control method (SSA-PID) for aeroengine parameters. Considering that the oil supply output by the actuator may have a substantial overshoot, the proposed technique adds a penalty mechanism for the overshoot at the output, designs and improves the fitness function weighted by performance indicators, and effectively avoids the possible excessive overshoot and sharp oil supply phenomenon of the engine oil supply. The SSA-PID simulates and verifies the mathematical models of the turbofan engine ' s steady-state operating points on the ground and at high altitudes. The results show that the SSA-PID control method has better parameter tuning and optimization effects, a faster speed step response, and generates a fuel supply that does not have a large overshoot, thereby proving its effectiveness and feasibility. © 2021 IEEE

关键词： Three term control systems

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Dual-beam photothermal material trace detection method based on self-mixing interference

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Applied Optics 2025年第16期64卷 4549-4558页

作者： Yan Zhao Yunlong Zhi Hui Zhao Daming Dong Jigang Tong Chunling Tu School of Electrical Engineering and Automation Tianjin University of Technology Tianjin 300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin 300384 China National Engineering Research Center for Intelligent Agricultural Equipment Beijing Academy of Agriculture and Forestry Sciences Beijing 100097 China Department of Computer Systems Engineering Faculty of ICT Tshwane University of Technology Pretoria 0188 South Africa

In this paper, a dual-beam photothermal self-mixing substance trace detection system is proposed. The crystal violet (CV) solution of the sample undergoes a thermal lens effect under the action of pump photoperiod excitation, and the refractive index changes cause the deviation of the probe beam, and the self-mixing interference (SMI) effect occurs when the modulated light returns to the cavity. By combining theoretical and experimental results, the power fluctuation of the SMI signal caused by the thermo-optic effect is linearly related to CV concentration and other parameters. At an excitation power of 24 mW, the detection limit can reach $8.0 \times {10^{- 8}}\;{\rm mol/L}$ . This method does not require labeling or complex CV pretreatment and has high sensitivity and flexibility, providing a guide for CV characterization in biological, environmental, and pharmaceutical research.

关键词： Gaussian beams Laser beams Optical fields Phase shift Refractive index Spatial resolution

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Rapid calibration method for 3d laser scanner

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Recent Patents on Engineering 2020年第2期14卷 234-241页

作者： Liu, Bin Qiao, Qian Han, Fangfang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin City300384 China School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin City300384 China

Background: The 3D laser scanner is a non-contact active-sensing system, which has a number of applications. Many patents have been filed on the technologies for calibrating 3D laser scanner. A precise calibration method is important for measuring the accuracy of the 3D laser scanner. The system model contains three categories of parameters to be calibrated which include the camera intrinsic parameters, distortion coefficients and the light plane parameters. Typically, the calibration process is completed in two steps. Based on Zhangs method, the calibration of the camera intrinsic parameters and distortion coefficients can be performed. Then, 3D feature points on the light plane should precisely be formed and extracted. Finally, the points are used to calculate the light plane parameters. Methods: In this paper, a rapid calibration method is presented. Without any high precision auxiliary device, only one coplanar reference target is used. By using a group of captured images of the coplanar reference target placed in the field of view arbitrarily, calibration can be performed in one step. Based on the constraint from the planes formed by the target in different directions and the camera imaging model, a large amount of 3D points on the light plane can easily be obtained. The light plane equation in the camera coordinates system can be gathered by executing plane fitting to the 3D points. Results: During the experimental process, the developed 3D laser scanner was calibrated by the proposed method. Then, the measuring accuracy of the system was verified with known distance in vertical direction of 1mm with sequential shifting motion generated by precision translation stage. The average value of the measured distances was found to be 1.010mm. The standard deviation was 0.008mm. Conclusion: Experimental results prove that the proposed calibration method is simple and reliable. © 2020, Bentham Science Publishers. All rights reserved.

关键词： Calibration

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Point Density-aware Channel-wise Transformer for LiDAR 3D Object Detection

Point Density-aware Channel-wise Transformer for LiDAR 3D Ob...

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IEEE International Conference on Mechatronics and Automation

作者： Fanhang Yang Enzeng Dong Jigang Tong Sen Yang Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology 391 Binshui West Road Xiqing District Tianjin China Department of Electrical Engineering Tshwane University of Technology Pretoria South Africa

We present a two-stage 3D object detection framework from point clouds, named Point Density-aware Channel-wise Transformer (PD-CT3D), which investigate the property of point density. This architecture uses 3D sparse CNN to effectively generate high-quality proposals at the first stage, then integrates the inherent property of point density and 3D CNN-based voxel features by density-aware proposal grid pooling. Specifically, each generated proposal from the first stage is divided into grids to aggregate corresponding voxel-wise features and raw point-based features for encoding the representative features from the whole scene. Subsequently, a channel-wise encoder-decoder transformer is adopted to extract the encoded density-aware features and decode them into a global representation for final refinement. Experiments on the widely used KITTI dataset show that the PD-CT3D achieves competitive performance among state-of-the-art methods.

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Path Optimization Method for the Spherical Underwater Robot in Unknown Environment

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Journal of Bionic Engineering 2020年第5期17卷 944-958页

作者： Jian Guo Chunying Li Shuxiang Guo Tianjin Key Laboratory for Control Theory&Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyTianjin 300384China Department of Intelligent Mechanical Systems Engineering Faculty of EngineeringKagawa UniversityTakamatsu 761-0396Japan

One of the major respects of the autonomous capability of underwater robots in unknown environment is to be capable of global path planning and obstacles avoiding when encountering abrupt *** the Spherical Underwater Robot(SUR)to fulfill autonomous task execution,this paper proposed a novel fuzzy control method that incorporates multi-sensor technology to guide underwater robots in unknown *** attain the objective,a SUR we designed is used to design the *** to its kinematic model,the safety distance was calculated and sensors(US1000-21 A)were *** novel fuzzy control method was then explored for robot's path planning in an unknown environment through *** simulation results demonstrate the capability of the proposed method to guide the robot,and to generate a safe and smooth trajectory in an unknown *** effectiveness of the proposed method was further verified through experiments with a SUR in a real *** real environment experiments by using the novel fuzzy control method were compared with the basic control *** experimental results show that in unknown environments,the proposed method improves the execution efficiency and flexibility of the SUR.

关键词： path planning fuzzy control spherical underwater robot unknown environment

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Optimal Design of Laser SLAM Algorithm Based on RBPF improved resampling technology 17

Optimal Design of Laser SLAM Algorithm Based on RBPF improve...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Wang, Hainan Ni, Jianyun Qi, Yong Zhao, Mingyang Tianjin University of Technology Tianjin Key Laboratory for Control Theory Applications in Complicated Systems China

ISBN: (纸本)9781728164151

Simultaneous Localization and Mapping (SLAM) has always been a fundamental and central issue for mobile robots. At present, Rao-Blackwellized particle filter (RBPF) is a practical method to solve the Simultaneous Localization and Mapping of robots. In order to improve the problem of lack of particles and lack of diversity in the traditional RBPF algorithm, an optimized laser SLAM algorithm is proposed. Minimum sampling-variance(MSV) resampling is used to improve the original resampling method, and improve the proposal distribution to make it closer to the target distribution. In this paper, simulation experiments are carried out on Matlab and ROS platforms, and the experimental results prove that the improved algorithm can effectively improve the positioning effect and the quality of mapping. © 2020 IEEE.

关键词： Mobile robots

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Research on Optical Power Attenuation Compensation Algorithm of φ-OTDR system

Research on Optical Power Attenuation Compensation Algorithm...

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IEEE International Conference on Mechatronics and Automation

作者： Yinhao Liu Baofeng Zhang Zhili Zhang Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems TianJin University of Technology No. 391 Binshuixi Road Tianjin CHINA Intelligent Manufacturing Institute TianJin Sino-German University of Applied Sciences No. 2 Yashen Road Tianjin CHINA

The $\varphi$-OTDR technology is an optical fibre sensing method that enables real-time monitoring of fibre vibrations by using optical time domain reflection technology. However, during the process of transmitting signals through optical fibres, the issue of optical power attenuation arises, which ultimately results in a reduction of the long-distance signal recognition ability of the $\varphi$-OTDR system. This paper presents an innovative optical power attenuation compensation technique that utilizes the $\varphi$-OTDR system to address the challenge of signal attenuation in optical fibre. The proposed solution enhances the long-distance recognition ability of weak signals. To solve the attenuation issue, the polynomial fitting method is used. A comparison between the system’s performance with and without a Raman amplifier is presented. To locate signals, mean square error and deviation from the average are utilized, while signal strength is determined by calculating the signal-to-noise ratio after fitting. This approach emphasizes precision in detecting relevant signals and optimizing system performance. The results show that the signal recognition ability of the $\varphi$-OTDR system improves significantly with the implementation of this compensation algorithm.

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Design of a Capsule Robot system for Gastric Hemorrhage Detection using Luminol 20

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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