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arXiv 2025年

作者： Sun, Jian Sun, Wei Zhang, Genwei Yang, Kailun Li, Song Meng, Xiangqi Deng, Na Tan, Chongbin National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410012 China College of Electrical and Information Engineering Hunan University China School of Robotics Hunan University Changsha410012 China State Key Laboratory of NBC Protection for Civilian Beijing102205 China

Ultra-wideband (UWB) based positioning with fewer anchors has attracted significant research interest in recent years, especially under energy-constrained conditions. However, most existing methods rely on discrete-time representations and smoothness priors to infer a robot’s motion states, which often struggle with ensuring multi-sensor data synchronization. In this paper, we present an efficient UWB-Inertial-odometer localization system, utilizing a non-uniform B-spline framework with fewer anchors. Unlike traditional uniform B-spline-based continuous-time methods, we introduce an adaptive knot-span adjustment strategy for non-uniform continuous-time trajectory representation. This is accomplished by adjusting control points dynamically based on movement speed. To enable efficient fusion of IMU and odometer data, we propose an improved Extended Kalman Filter (EKF) with innovation-based adaptive estimation to provide short-term accurate motion prior. Furthermore, to address the challenge of achieving a fully observable UWB localization system under few-anchor conditions, the Virtual Anchor (VA) generation method based on multiple hypotheses is proposed. At the backend, we propose a CT-UIO factor graph with an adaptive sliding window for global trajectory estimation. Comprehensive experiments conducted on corridor and exhibition hall datasets validate the proposed system’s high precision and robust performance. The codebase and datasets of this work will be open-sourced at https://***/JasonSun623/CT-UIO. Copyright © 2025, The Authors. All rights reserved.

关键词： Continuous time systems

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Reinforcement Learning-based Fault-Tolerant control for Unmanned Aerial Vehicles

Reinforcement Learning-based Fault-Tolerant Control for Unma...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Guoqi Wang Xudong Wang Yang Li Ziwei Gao Zhaoke Ning National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha China State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle Engineering Hunan University Changsha China School of Aeronautics and Astronautics Sichuan University Chengdu China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

This paper focuses on the fault-tolerant control (FTC) problem for unmanned aerial vehicles (UAVs) subject to possible multiple actuator failures, which is a tough problem to solve with traditional FTC methods since they usually require accurate mathematical models. To address the limitation of traditional FTC methods, a model-free FTC approach is proposed based on reinforcement learning (RL). Subsequently, the proposed approach is applied to construct fault-tolerant controller for UAVs without any knowledge of the quadrotor dynamic information. Then, an end-to-end control policy that can tolerant actuator failures is obtained, which can map the state of the UAVs directly to the control commands of the four rotors after learning. Finally, the effectiveness of the proposed fault-tolerant approach is demonstrated by using the flexible modular quadrotor simulator.

关键词： Fault tolerance Actuators Trajectory tracking Fault tolerant systems Autonomous aerial vehicles Stability analysis Mathematical models

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PVPUFormer: Probabilistic visual Prompt Unified Transformer for Interactive Image Segmentation

arXiv

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arXiv 2023年

作者： Zhang, Xu Yang, Kailun Lin, Jiacheng Yuan, Jin Li, Zhiyong Li, Shutao College of Computer Science and Electronic Engineering Hunan University Changsha410082 China School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China College of Electrical and Information Engineering The Key Laboratory of Visual Perception and Artificial Intelligence of Hunan Province Hunan University Changsha410082 China

Integration of diverse visual prompts like clicks, scribbles, and boxes in interactive image segmentation significantly facilitates users’ interaction as well as improves interaction efficiency. However, existing studies primarily encode the position or pixel regions of prompts without considering the contextual areas around them, resulting in insufficient prompt feedback, which is not conducive to performance acceleration. To tackle this problem, this paper proposes a simple yet effective Probabilistic visual Prompt Unified Transformer (PVPUFormer) for interactive image segmentation, which allows users to flexibly input diverse visual prompts with the probabilistic prompt encoding and feature post-processing to excavate sufficient and robust prompt features for performance boosting. Specifically, we first propose a Probabilistic Prompt-unified Encoder (PPuE) to generate a unified one-dimensional vector by exploring both prompt and non-prompt contextual information, offering richer feedback cues to accelerate performance improvement. On this basis, we further present a Prompt-to-Pixel Contrastive (P2C) loss to accurately align both prompt and pixel features, bridging the representation gap between them to offer consistent feature representations for mask prediction. Moreover, our approach designs a Dual-cross Merging Attention (DMA) module to implement bidirectional feature interaction between image and prompt features, generating notable features for performance improvement. A comprehensive variety of experiments on several challenging datasets demonstrates that the proposed components achieve consistent improvements, yielding state-of-the-art interactive segmentation performance. Our code is available at https://***/XuZhang1211/PVPUFormer. Copyright © 2023, The Authors. All rights reserved.

关键词： Pixels

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Adaptive Safety control of a Constrained Uncertain robotic System

Adaptive Safety Control of a Constrained Uncertain Robotic S...

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Automation, control and robotics engineering (CACRE), International Conference on

作者： Haijing Wang Jinzhu Peng Fangfang Zhang Yaonan Wang School of Electrical and Information Engineering Zhengzhou University Zhengzhou China National Engineering Laboratory for Robot Visual Perception and Control Hunan University Changsha China College of Electrical and Information Engineering Hunan University Changsha China

The safety control problem of a constrained uncertain robotic system is investigated in this paper. First, the high-order control barrier functions (HoCBFs) are introduced to deal with the output constraints for he system. And to solve the uncertain problem and revisit the HoCBF-based framework, an adaptive approach is proposed to updating the unknown parameters online. In this way, the system safety can be achieved adaptively by keeping the system output within the predefined constrained region even in the presence of parametric uncertainty. Finally, simulation tests are carried out to verify the validity of the proposed controller.

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Multiview Integration Network for Multitask robotic Surgical Scene Analysis

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IEEE Transactions on Instrumentation and Measurement 2025年

作者： Shen, Wenting Wang, Yaonan Liu, Min Wang, Jiazheng Ding, Renjie Zhang, Zhe Meijering, Erik Hunan University College of Electrical and Information Engineering National Engineering Research Center of Robot Visual Perception and Control Technology International Scientific and Technological Innovation Cooperation Base for Biomedical Image Processing Hunan Changsha410082 China University of New South Wales School of Computer Science and Engineering SydneyNSW2052 Australia

Surgical scene analysis holds a pivotal role in robot-assisted surgery. However, existing methods often suffer from single or little views, leading to erroneous scene analysis conclusions. To address these issues, a novel Multiview Integration Network (MVINet) is proposed, which comprehensively analyzes the surgical scene by integrating effective information from multiple views, including global, local, dynamic, and static views. As a multitask scene analysis network, MVINet could simultaneously perform semantic segmentation of surgical instruments and detection of instrument-tissue interaction. By designing a unique Global-Local Spatial Feature Memory module (G-LSFM), the joint information from globally and locally analyzed views following graph analysis simultaneously enhances the accuracy of multitask scene analysis. The Dynamic-Static visual Feature Memory module (D-SVFM) introduces an innovative approach by simultaneously incorporating temporal feature from consecutive frames and static feature from single frame into the node features of the interaction reasoning network. The multiscale perspective of both features further enhances the ability of the module to analyze the complex scenes. Experimental results on a public and a private dataset demonstrate that our method achieves superior performance compared to other state-of-the-art methods for two crucial tasks in surgical scene analysis. In the instrument segmentation task, MVINet outperforms the second-best method by 1.73% and 0.55% in terms of mIoU scores. For the interaction detection task, MVINet surpasses the second-best method by 10.14% and 5.47% in mAP scores. © 1963-2012 IEEE.

关键词： Semantic Segmentation

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Domain Adaptation in visual Reinforcement Learning via Self-Expert Imitation with Purifying Latent Feature

Domain Adaptation in Visual Reinforcement Learning via Self-...

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IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Lin Chen Jianan Huang Zhen Zhou Yaonan Wang Yang Mo Zhiqiang Miao Kai Zeng Mingtao Feng Danwei Wang School of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Visual Perception and Control Technology Changsha China School of Computer Science and Technology Xidian University Xian China School of Electrical and Electrical Engineering Nanyang Technological University Singapore

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Generalizing visual reinforcement learning is fundamental to robot visual navigation, involving the acquisition of a policy from interactions with source environments to facilitate adaptation to analogous, yet unfamiliar target environments. Recent advancements capitalize on data augmentation techniques, self-supervised learning methods, and the generative adversarial network framework to train policy neural networks with enhanced generalizability. However, current methods, upon extracting domain-general latent features, further utilize these features to train the reinforcement learning policy, resulting in a decline in the performance of the learned policy guiding the agent to accomplish tasks. To tackle these challenges, a framework of self-expert imitation with purifying latent features was devised, empowering the policy to achieve robust and stable zero-shot generalization performance in visually similar domains previously unseen, without diminishing the performance of guiding the agent to accomplish tasks. The extraction method of domain-general latent features is proposed to enhance their quality based on the variational autoencoder. Extensive experiments have shown that our policy, compared with state-of-the-art counterparts, does not diminish the performance of the policy guiding the agent to accomplish tasks after generalization.

关键词： Training visualization Navigation Semantic segmentation Autoencoders Neural networks Reinforcement learning Self-supervised learning Feature extraction Intelligent robots

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Electromagnetism-Like Mechanism Algorithm with New Charge Formula for Optimization

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Journal of Donghua University(English Edition) 2021年第3期38卷 231-239页

作者： YIN Feng KANG Yongliang ZHANG Dongbo QIU Jie College of Automation and Electronic Information Xiangtan University Xiangtan 411105 China National Engineering Laboratory of Robot Vision Perception and Control Technology Xiangtan University Xiangtan 411105 China

The electromagnetism-like(EM)algorithm is a meta-heuristic optimization algorithm,which uses a novel searching mechanism called attraction-repulsion between charged *** is worth pointing out that there are two potential problems in the calculation of particle charge by the original EM *** of the problems is that the information utilization rate of the population is not high,and the other problem is the decline of population diversity when the population size is much greater than the dimension of the *** contrast,it is more fully to exploit the useful search information based on the proposed new quadratic formula for charge calculation in this ***,the population size was introduced as a new multiplier term to improve the population *** the end,numerical experiments were used to verify the performance of the proposed method,including a comparison with the original EM algorithm and other well-known methods such as artificial bee colony(ABC),and particle swarm optimization(PSO).The results showed the effectiveness of the proposed algorithm.

关键词： electromagnetism-like(EM)mechanism stochastic search method constrained optimization global optimization attraction-repulsion

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An Improved SCA-BP Delay Prediction Method for Networked control Systems

An Improved SCA-BP Delay Prediction Method for Networked Con...

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Chinese Automation Congress (CAC)

作者： Jiayin Xie Yaonan Wang Haoran Tan You Wu Bowen Zhou National Engineering Research Center for Robot Visual Perception and Control College of Electrical and Information Engineering Hunan University Changsha China Hunan Retoo Intelligent Technology Co. Ltd. Changsha China

A networked control system is a system that uses communication networks to connect the various parts. However, network delay affects the performance and stability of the networked control system. In order to eliminate the impact of network delay on the control system, an improved SCA-BP delay prediction method is proposed in this paper. The proposed method optimizes the initial weights and biases of the BP neural network, and further optimizes them through backpropagation gradient descent, obtaining the final prediction model. The proposed method introduces a random perturbation factor in the sine and cosine functions, which increases the explorability and diversity of the method. And they are sorted and grouped according to the fitness values of the candidate solutions. At the same time, different update strategies are adopted based on the different groups, enabling the method to perform global and local search simultaneously. In the update strategy, a linear function is also introduced in addition to the sine and cosine functions, enabling the method to maintain the direction of the current optimal solution to a certain extent. Finally, the superiority and effectiveness of the method compared with traditional methods are verified through some comparative simulations, indicating that the method has a strong delay prediction ability.

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Minimalist and High-Quality Panoramic Imaging with PSF-aware Transformers

arXiv

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arXiv 2023年

作者： Jiang, Qi Gao, Shaohua Gao, Yao Yang, Kailun Yi, Zhonghua Shi, Hao Sun, Lei Wang, Kaiwei The State Key Laboratory of Modern Optical Instrumentation The National Engineering Research Center of Optical Instrumentation Zhejiang University Hangzhou310027 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China

High-quality panoramic images with a Field of View (FoV) of 360° are essential for contemporary panoramic computer vision tasks. However, conventional imaging systems come with sophisticated lens designs and heavy optical components. This disqualifies their usage in many mobile and wearable applications where thin and portable, minimalist imaging systems are desired. In this paper, we propose a Panoramic Computational Imaging Engine (PCIE) to achieve minimalist and high-quality panoramic imaging. With less than three spherical lenses, a Minimalist Panoramic Imaging Prototype (MPIP) is constructed based on the design of the Panoramic Annular Lens (PAL), but with low-quality imaging results due to aberrations and small image plane size. We propose two pipelines, i.e. Aberration Correction (AC) and Super-Resolution and Aberration Correction (SR&AC), to solve the image quality problems of MPIP, with imaging sensors of small and large pixel size, respectively. To leverage the prior information of the optical system, we propose a Point Spread Function (PSF) representation method to produce a PSF map as an additional modality. A PSF-aware Aberration-image Recovery Transformer (PART) is designed as a universal network for the two pipelines, in which the self-attention calculation and feature extraction are guided by the PSF map. We train PART on synthetic image pairs from simulation and put forward the PALHQ dataset to fill the gap of real-world high-quality PAL images for low-level vision. A comprehensive variety of experiments on synthetic and real-world benchmarks demonstrates the impressive imaging results of PCIE and the effectiveness of the PSF representation. We further deliver heuristic experimental findings for minimalist and high-quality panoramic imaging, in terms of the choices of prototype and pipeline, network architecture, training strategies, and dataset construction. Our dataset and code will be available at https://***/zju-jiangqi/PCIE-PART. Copyrig

关键词： Optical transfer function

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A Muti-stage Selection Filter Based on Wavelet Packet and2DCNN for Fault Diagnosis of Rotating Machinery

A Muti-stage Selection Filter Based on Wavelet Packet and2DC...

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第42届中国控制会议

作者： Wenbin He Jianxu Mao Li Liu Zhe Li Miao Yang Yaonan Wang College of Electrical and Information Engineering Hunan University National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University State Grid Hunan Electric Power Company Limited Research Institute

Fault information of rotating machinery is often drowned in strong noise signals, so it is crucial to accurately identify faults from high-intensity noise signals. In this article, an end-to-end fault diagnosis model is developed, which consists of a multi-stage selection filter based on wavelet packet and 2D-CNN. First, the original measured mechanical signals were processed by the three-level wavelet packet decomposition to obtain eight sub-bands with coefficient matrices. Second, the signal is reconstructed using different numbers of sub-bands, where the number is increased by one at a time to obtain eight different multi-stage reconstructed signals. Third, the reconstructed signals are reorganized into 2D signal maps;and a parallel training network is constructed using signal maps and 2D-CNN to achieve fault classification. Then, guided by the training results, eight parallel classification results are compared, so as to train the best fault diagnosis model. Finally, the simulation experiment based on a bearing data set illustrates the proposed multi-stage selection filter is effective and feasible in application.

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