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A two-level adaptive target recognition and tracking method based on vision for multi-robot system

A two-level adaptive target recognition and tracking method ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Ren, Liang Cao, Zhiqiang Tan, Min Zhao, Peng Chen, Xuechao University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems CASIA Beijing China 21st Research Institute of China Electronics Technology Group Corporation Shanghai China BIT Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China

ISBN: (纸本)9781728163215

The vision-based target recognition and tracking have received much attention in the field of robotics. Existing methods mainly focus on the vision perception of individual robot with a single view, however, the performance is susceptible to illumination and occlusion. Multi-robot collaborative perception provides a potential solution to deal with the limitation of single-view observation, however, the challenging of environmental adaptability for multi-robot collaborative decision still remains unsolved. To solve this problem, this paper proposes a two-level adaptive target recognition and tracking method based on vision for multi-robot system. The problem of multi-robot target recognition and tracking is solved under a two-level framework, which contains the features fusion level of individual robot and the cooperation level of multi-robot system. In the first level, the features measuring results that influence the visual perception of individual robot are fused, while the second level combines the voting of each robot together to determine the target for multi-robot system. Both the features measuring weights and robots voting weights are adaptively updated according to their evaluation, which lead to a beneficial result where the features and robots with higher accuracy play major roles in the first and second levels, respectively. Therefore, a good adaptability to the environments can be guaranteed. The experimental results show that the proposed approach can realize the coordination of multi-robot system in target recognition and tracking with an effective performance. © 2019 IEEE.

关键词： Multipurpose robots

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One New Distributed Low-Power and High-Precision Fault Recording System Based on STM32L4+

One New Distributed Low-Power and High-Precision Fault Recor...

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第三十八届中国控制会议

作者： Fuchun Liu Dehua Yang Yun He Lin Zou Yao Yuan Huanrui Liu College of Automation Science and Engineering The Key Laboratory of Autonomous Systems and Networked Control(ASNC) Ministry of Education South China University of Technology Electric Power Research Institute CSG

The fault recording monitoring system is a kind of automatic information recording equipment for distribution network that is put into operation all the year round. It is used to monitor the operation status of the power system to analyze the cause of the fault, quickly and accurately locate the fault occurrence point, monitor and verify the action characteristics of the relay protection automatic device, etc. Different from the centralized fixed structure of the traditional microcomputer-based fault recorder, we designed a modular distributed grid fault recording system with ultra-low-power characteristic. According to the precision complementary characteristics of the global positioning system(GPS) and the crystal clock signal, the GPS clock is used to calibrate the system clock to realize the microsecond high-precision clock, which meets the high requirements of synchronization acquisition of the three-phase current. The effectiveness of the proposed synchronization algorithm is validated by experiments on actual system.

关键词： fault recorder STM32L4 ultra-low-power GPS time calibration

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Learning category-level implicit 3D rotation representations for 6D pose estimation from RGB Images

Learning category-level implicit 3D rotation representations...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Xiaocan Cai, Yinghao Wang, Shuo Lu, Tao Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9781728163215

We exploit the embedding ability of a de-noising autoencoder for an implicit 3D rotation representation learning at the category level. Contrast to the exact 3D reconstruction model of each instance-level physical object, we leverage the inexact CAD/Reconstruction models of an object as the representative model for some category. Under our assumptions that objects within the same category share resemble geometry, we train a de-noising autoencoder on synthetic 3D views of category-level objects to extract the homogenous features at the bottleneck layer. The latent representation is agnostic not only to heterogeneous textures, colors, and illuminations, but also ambiguous pose caused by object symmetry. To extend the instance-level 3D translation estimation to the category level, we considered the 3D diagonal length ratio between the source and target object. We achieved a frame rate of 17Hz. © 2019 IEEE.

关键词： Object detection

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Encoding Space to Count Multi-Targets with Multiplexed Binary Infrared Sensors

Encoding Space to Count Multi-Targets with Multiplexed Binar...

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International Conference on Mobile Ad-hoc and Sensor Networks, MSN

作者： Longxiang Luo Yang Xiao Wei Liang Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Department of Computer Science The University of Alabama Tuscaloosa AL USA

ISBN: (数字)9781728152127

ISBN: (纸本)9781728152134

Recently, many researchers multiplex binary infrared sensors in object tracking, habitat monitoring, and atypical behavior detection. Due to the binary digit output of binary sensors, multiplex binary sensors may lead to count the wrong number of targets when three or more targets present in the field of interest (FOI). We call this as the invisible targets' problem. To enhance the sensing results of sensors, a reference structure tomography technique is used to segment and code the FOI by modulating the sensing view of sensors. In this paper, we propose a subregion coding method to count targets moving in the FOI. Hexagon modulators are designed to make their projections segment the FOI into hexagon cells. We also propose a signature construct scheme to code cells and a encoder to count the number of targets in the FOI. Experiment results show that the accuracy to correctly count targets of our method is around 90% which is much better than 45% of a conventional method.

关键词： Modulation Monitoring Shape Sensor systems Encoding Intelligent sensors

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Wrist MEMS Sensor for Movements Recognition in Ball Games

Wrist MEMS Sensor for Movements Recognition in Ball Games

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Xueliang Zhang Hongjun Duan Ming Zhang Yuliang Zhao Xiaopeng Sha Haibo Yu School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In ball games, the arm movements are diverse and complex. The accurate recognition of the arm movements is of great significance to the quality of training and sports guidance. Wrist sensor is one of the important means. Traditional wrist sensors recognize batting action by measuring the acceleration and angular velocity of the arm and have a good performance. But they measure few features, and it has a slightly larger size that has some effect on player performance. In this paper, we develop a motion recognition platform for Basketball, Ping-Pong, and badminton. It is accurate enough for recognizing these motions whether hits or miss the Ping-Pong ball. The system integrates a low-power nine-axis inertial sensor and a low-power environment sensor that can output eleven different characteristics such as triaxial acceleration, triaxial angular velocity, triaxial magnetic field strength, air pressure, and temperature. This system includes the power management part, attitude detection part, Bluetooth wireless communication part and mobile terminal monitoring part. The inertial sensor can identify the arm action, and then transmits posture data to the Microcontroller Unit (MCU) for analysis and processing. Bluetooth 5.0 is used between the MCU and the mobile monitor for information exchange, which makes data transmission faster and more stable. Experiments of the 3 athletes have demonstrated that the movements can be accurately identified. And the entire system has very low power consumption and very small size (23.05mm*9.25mm*5.5mm). It provides a multi-feature measurement platform for body movement posture research and can recognize a variety of ball games movement, which is of great significance for intelligent sports training and research.

关键词： Acceleration Angular velocity Wrist Training Magnetic fields Temperature measurement Temperature sensors

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Design and Implementation of a new Fault Indicator for Power System based on Ultra-Low-Power MCU

Design and Implementation of a new Fault Indicator for Power...

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第三十八届中国控制会议

作者： Yun He Dehua Yang Fuchun Liu Xiangyang Li Lin Zou Yao Yuan Huanrui Liu College of Automation Science and Engineering The Key Laboratory of Autonomous Systems and Networked Control（ASNC） Ministry of Education South China University of Technology Electric Power Research Institute CSG

With the increasing scale of the power grid, real-time monitoring requirements for on-site data of power systems in various countries around the world are getting higher and higher. The high-voltage distribution network is widely distributed,spanning rivers, rivers, mountains, deep valleys, jungles, and other complex and variable environments so that it is susceptible to short-circuit faults caused by various natural disasters and other environmental factors. Single-phase ground faults are also common in the grid, and working information and necessary alarm indications during network operation are also *** real-time monitor of the line current is indispensable for short-circuiting faults, while ground faults need to monitor the zero-sequence voltage in the substation and call the original sampled data for analysis. When there is a transient short-circuit fault in the distribution network, the transmission line resumes operation after reclosing, but the hidden danger still exists. In the fault recording system, the data can be analyzed in time to avoid the fault happening again. For the permanent short-circuit fault, the fault still exists after the gate reclosing. The analyze of recorded data can avoid strong power transmission measures of the system which can reduce the secondary impact and minimize the loss caused by the fault. In response to these functional requirements, this paper designs a new fault recording system and introduces its hardware structure and function implementation.

关键词： fault detection current sampling 4G LORA zero sequence voltage

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A wireless acoustic wave sensor modified with biocompatible polymer for glucose monitoring

A wireless acoustic wave sensor modified with biocompatible ...

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IET Doctoral Forum on Biomedical Engineering, Healthcare, robotics and Artificial Intelligence 2018, BRAIN 2018

作者： Li, Huiyan Sha, Pengfei Hu, Ruifen Li, Guang State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou310027 China

ISBN: (纸本)9781839530838

The dynamic monitoring of vivo blood glucose acts an important role for diabetic patients to ensure timely healthcare and help to prevent from multiple complications caused by diabetes. This report describes a new non-enzyme glucose sensor based on wireless quartz crystal microbalance (QCM) that can be adapted for use in implanted devices. The chitosan-based enzyme-free boronic-acid glucose sensor improves biocompatibility considering for future vivo implanting. The optimal response of the sensor is in chitosan: 4-Formylphenylboronic acid (4-FPBA) =3:2. In the case of pH 7.4, the sensor has good linear response to glucose and selectivity of sensor to fructose, mannose, urea, and lactic acid performs well under physiological conditions. At physiological temperature, the linear response was also repeated and the average response time was about 4 min. The characteristics of this sensor indicate that it can be applied to dynamic monitoring of implantable blood glucose concentrations. © 2018 Institution of Engineering and Technology. All rights reserved.

关键词： Glucose sensors

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Neural Network Tracking of Switched Robotic Manipulators with Mode-Dependent Average Dwell Time

Neural Network Tracking of Switched Robotic Manipulators wit...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Chao Ma Wei Wu Yidao Ji Wei Wang School of Mechanical Engineering University of Science and Technology Beijing Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

This paper is concerned with the tracking control for robotic manipulators with switching loads and parameter uncertainties. More precisely, the neural network approximation method is adopted with adaptive control to deal with the unmodeled dynamics. Multiple Lyapunov function method is used based on mode-dependent average dwell time, such that the tracking error can converge with desired region. A numerical example is finally provided for illustrating our proposed tracking strategy.

关键词： Switches Robots Manipulators Neural networks control systems Manipulator dynamics Uncertain systems

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Neural-based Inverse Kinematical Analysis for Bio-inspired Cable-driven Robotic Manipulator

Neural-based Inverse Kinematical Analysis for Bio-inspired C...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Hang Fu Yang Liu Wei Wu Xiaoqing Li School of Mechanical Engineering University of Science and Technology Beijing Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

In this paper, the inverse kinematical analysis problem is investigated for a class of bio-inspired cable-driven robotic manipulator. Moreover, the modeling of the redundant cable-driven robotic manipulator is performed. In particular, the RBF neural network is adopted to deal with the unmodeled parameters uncertainties such that the inverse kinematic analysis precision can be improved. In the end, an illustrative example is presented for showing the usefulness of the developed analysis approach.

关键词： Manipulators Clustering algorithms Entropy Robot kinematics Kinematics Training Radial basis function networks

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Design and Kinematic Analysis of a 2-DoF Spatial Parallel Mechanism with Flexible Orientation Capability

Design and Kinematic Analysis of a 2-DoF Spatial Parallel Me...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Jiakai Chen Fugui Xie Xin-Jun Liu The State Key Laboratory of Tribology & Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics Tsinghua University Beijing China State Key Laboratory of Tribology & Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics and Beijing Key Lab of Precision /Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Mechanisms with flexible orientation capability and compact structure have great application prospects in manufacturing equipment, flight simulator, airborne radar, and similar fields. In this paper, a two-degree-of-freedom (2-DoF) spatial parallel kinematic mechanism with three identical kinematic chains is presented. Due to the strong coupling property, its kinematic mechanism issues in terms of forward and inverse kinematics are fundamental to its practical application and thus have been investigated. Based on the kinematic analysis results, the orientation capability of the presented mechanism can reach 40° for an arbitrary azimuth angle. Benefitting from the parallel kinematic structure and coupling kinematics, the presented mechanism also has potential advantages of high stiffness and quick response.

关键词： Gears Kinematics Mathematical model Solid modeling Airborne radar Couplings Satellite broadcasting

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