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2021 6th International Conference on Robotics and Automation Engineering (ICRAE)最新文献

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Uncertainty Estimation for Monocular 3D Object Detectors in Autonomous Driving 自动驾驶中单目三维目标检测的不确定性估计
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657820
Qinghua Yang, Hui Chen, Zhe Chen, Junzhe Su
{"title":"Uncertainty Estimation for Monocular 3D Object Detectors in Autonomous Driving","authors":"Qinghua Yang, Hui Chen, Zhe Chen, Junzhe Su","doi":"10.1109/ICRAE53653.2021.9657820","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657820","url":null,"abstract":"Uncertainty estimation for 3D object detectors plays a critical role in autonomous driving. This is because current state-of-the-art 3D object detectors can make severe errors in their detections, and not knowing the uncertainties in these results may cause catastrophic consequences for safety-critical autonomous vehicles. Prior researches have studied the uncertainty estimation problem for 2D and lidar-based 3D object detectors, but little attention has been paid to monocular 3D object detectors. In consideration of the extensive need to achieve 3D object detection with low-cost cameras, it is of great importance to perform uncertainty estimation for monocular 3D object detectors as well. Thus, in this paper, we propose a merging strategy to perform sampling-based uncertainty estimation for monocular 3D object detectors. Specifically, we adopt the popular Monte Carlo Dropout method to obtain the sampling results for uncertainty estimation, and propose to merge them by soft clustering and Bayesian Inference in the Bird's Eye View. During this process, in order to reduce computational cost of multiple sampling times, we propose the weighted Monte Carlo Dropout uncertainty calculation method that is able to capture uncertainties from very few sampling results. Finally, we verify the effectiveness of the proposed method and its superiority to the existing method on the challenging KITTI dataset.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"130 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124244799","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
SARN: A Lightweight Stacked Attention Residual Network for Low-Light Image Enhancement SARN:一种用于弱光图像增强的轻量级堆叠注意残差网络
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657795
Xinxu Wei, Xianshi Zhang, Yongjie Li
{"title":"SARN: A Lightweight Stacked Attention Residual Network for Low-Light Image Enhancement","authors":"Xinxu Wei, Xianshi Zhang, Yongjie Li","doi":"10.1109/ICRAE53653.2021.9657795","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657795","url":null,"abstract":"Low-light Image suffers from low contrast and brightness. If we increase the brightness of the image, the noise hidden in the dark regions will be amplified, and color and detail information may be lost after brightness enhancement. In this paper, we propose a lightweight Stacked Attention Residual Network (denoted as SARN) for low-light image enhancement. We insert Channel Attention Module (SE Module) into the residual block and its shortcut to construct the Attention Residual Block (ARB) for noise removal, and then stack ARBs as the backbone of our SARN. We insert Bottleneck Attention Module (BAM Module) into the bottlenecks to specially deal with the severe noise in real-world images. We extract the shallow features of the low-light images first, and then fuse the extracted shallow features with the high-level output features of the backbone through global skip connection to preserve the color information. Extensive ablation and comparative experiments demonstrate that our method outperforms many other state-of-the-art methods with much less time cost.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122649426","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Bionic Multiscale Grid Cell Model for Robot Localization and Navigation 机器人定位与导航的仿生多尺度网格单元模型
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657782
Tao Geng, Bo Zhu, Xiaofei Sun, Jia Zhang
{"title":"Bionic Multiscale Grid Cell Model for Robot Localization and Navigation","authors":"Tao Geng, Bo Zhu, Xiaofei Sun, Jia Zhang","doi":"10.1109/ICRAE53653.2021.9657782","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657782","url":null,"abstract":"The bionic localization method based on animal spatial cognition and positioning mechanism provides a new research direction for mobile robot navigation. It also provides the possibility to break through the limitations of existing mobile robot navigation. This paper studied the construction of grid cell model for robot spatial localization, and built the training environment of rat brain spatial cell network model. The grid cell model is achieved, and the network model is trained by Adam optimization algorithm, which learned the spatial cell activities under different parameters. According to the results of space cell simulation, a self-learning multi-scale space cell model is established. In the experiment, firstly, the space cell model training set is collected and synchronized to ensure that the speed and pose information of the time synchronized robot in the experimental environment can be collected. After completing the training of the spatial cell model, we obtained the spatial cognitive activity map of the robot for the experimental environment.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125029428","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design of Photovoltaic Power Station Intelligent Operation and Maintenance System Based on Digital Twin 基于数字孪生的光伏电站智能运维系统设计
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657759
Jiaxin Liu, Xuecheng Lu, Yuxiao Zhou, Juyong Cui, Shuai Wang, Zhenwei Zhao
{"title":"Design of Photovoltaic Power Station Intelligent Operation and Maintenance System Based on Digital Twin","authors":"Jiaxin Liu, Xuecheng Lu, Yuxiao Zhou, Juyong Cui, Shuai Wang, Zhenwei Zhao","doi":"10.1109/ICRAE53653.2021.9657759","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657759","url":null,"abstract":"With the proposal of “peak carbon dioxide emissions” and “carbon neutrality” goals, photovoltaic power generation as a representative of green renewable energy, its strategic position is prominent. Photovoltaic industry will face more opportunities and challenges. However, in the traditional mode of photovoltaic power station operation and inspection, a large number of operation and inspection personnel need to be configured, so it is difficult to obtain equipment information timely and comprehensively. In this paper, we propose a photovoltaic power station intelligent operation and maintenance system based on digital twin. The mapping of real photovoltaic power station is constructed in virtual space to realize intelligent operation and maintenance of photovoltaic power station. We build a 3D scene model to simulate the real environment. Two artificial intelligence algorithms are designed to realize the real-time power prediction and fault diagnosis of the digital twin system. This paper discusses the different components of this Digital twin photovoltaic power station operation and maintenance system.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131327520","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Event-Triggered Robust Control for Uncertain Nonlinear Systems with Input Constraints 输入约束不确定非线性系统的事件触发鲁棒控制
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657758
Shunchao Zhang, Derong Liu, Yongwei Zhang, Bo Zhao
{"title":"Event-Triggered Robust Control for Uncertain Nonlinear Systems with Input Constraints","authors":"Shunchao Zhang, Derong Liu, Yongwei Zhang, Bo Zhao","doi":"10.1109/ICRAE53653.2021.9657758","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657758","url":null,"abstract":"In this paper, an event-triggered robust control (ETRC) method is developed for input-constrained nonlinear systems with uncertainties in both the internal dynamics and the input matrix by using adaptive dynamic programming (ADP) technique. The ETRC problem is transformed into an event-triggered optimal regulation problem by constructing a modified value function composed of the regulation, the control input and two known upper-bounded functions. Moreover, a critic neural network (NN) is employed to approximate the value function for solving the event-triggered Hamilton-Jacobi-Bellman equation. The ETRC law is obtained by designing an event-triggered condition, which determines whether the robust control law should be updated. To relax the persistence of excitation condition, we introduce the experience replay technique to design a novel critic NN weight updating rule. In the developed ETRC method, the computational burden is reduced, the communication resource and the bandwidths are saved. Furthermore, both the approximate error of the critic NN weights and the closed-loop system states are ensured to be uniformly ultimately bounded by using the Lyapunov's direct method. Finally, a numerical example is utilized to demonstrate the effectiveness of the proposed ADP-based ETRC method.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129165437","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Novel Time-varying Path Planning Method for Dynamic Obstacles 一种新的动态障碍物时变路径规划方法
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657805
Longfei Jia, Zhiyuan Yu, Jigui Zheng, Yaxing Guo, Zhong Chen, Yuping Huang
{"title":"A Novel Time-varying Path Planning Method for Dynamic Obstacles","authors":"Longfei Jia, Zhiyuan Yu, Jigui Zheng, Yaxing Guo, Zhong Chen, Yuping Huang","doi":"10.1109/ICRAE53653.2021.9657805","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657805","url":null,"abstract":"In the research of snake-like manipulator and mobile robot obstacle avoidance, most researchers only plan the path for static obstacles. However, there are many dynamic obstacles in the real world. Therefore, this paper proposes a general method that can plan the real-time changing path for the dynamic obstacle avoidance of moving objects such as quasi-continuous manipulators. The size, position, and other information of the obstacle are extracted by point cloud or image processing. The bounding box method is selected according to the shape of the obstacle so that the obstacle is equivalent to some basic shapes. For the dynamically updated bounding box, the corresponding continuous time-varying path/function is formulated, so that real-time obstacle avoidance can be realized. By analyzing the constraints that the continuous function that characterizes the time-varying path needs to be satisfied, the ultimate continuous function is selected by formulating the optimization objective. For various types of dynamic obstacles, the corresponding time-varying path can be planned, and the quasi-continuous manipulator moving along this path can realize real-time obstacle avoidance. Simulation results demonstrate the effectiveness of the proposed method.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115897978","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Super Short-term Load Forecasting Based on S-LSTM 基于S-LSTM的超短期负荷预测
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657785
Jiaxin Liu, Zijian Zhao, Shuai Wang, Guanyu Wang, Yexing Lang, Jianeng Tang
{"title":"Super Short-term Load Forecasting Based on S-LSTM","authors":"Jiaxin Liu, Zijian Zhao, Shuai Wang, Guanyu Wang, Yexing Lang, Jianeng Tang","doi":"10.1109/ICRAE53653.2021.9657785","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657785","url":null,"abstract":"Power load forecasting is affected by uncertain factors such as temperature, humidity, light and seasons, and has strong randomness and volatility, so it is difficult to carry out real-time power load forecasting. This paper proposes a digital twin model oriented to power load forecasting based on a simplified long short-term memory network (S-LSTM, Simplify Long Short-Term Memory). For this reason, the proposed digital twin model realizes the synchronization and real-time update of the physical entities of the power system, and obtains more accurate and faster prediction results than traditional prediction methods. The model uses S-LSTM as the core of the digital twin system, trains the S-LSTM model through RMSProp adaptive learning algorithm, constrains the learning rate, obtains the best parameters, and improves the model's adaptability to different types of data. The simulation results show that compared with other prediction methods, it verifies the effectiveness and feasibility of the method proposed in this paper.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122245722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Harris Hawks Optimization for Solving Flexible Jobshop Scheduling Problem Considering Energy Consumption 考虑能耗的柔性作业车间调度问题的Harris Hawks优化
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657813
Mingliang Wu, Dongsheng Yang, Tianyi Liu
{"title":"Harris Hawks Optimization for Solving Flexible Jobshop Scheduling Problem Considering Energy Consumption","authors":"Mingliang Wu, Dongsheng Yang, Tianyi Liu","doi":"10.1109/ICRAE53653.2021.9657813","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657813","url":null,"abstract":"Industrial scheduling problem has always been one of the key problems in manufacturing and management planning enterprises. The previous studies mainly concentrate on the optimization of maximum completion time. With the increasing shortage of non-renewable resources and the increasing demand for industrial energy, the energy crisis increasingly restricts production and living needs. Consider the above issues, this paper designs a FJSP with consideration of energy consumption (EFJSP). Meanwhile, an advanced swarm intelligence optimization algorithm: Harris Hawks Optimization (HHO), is introduced to solve the EFJSP. In the experiment, we formulated 4 FJSP instances to examine the performance of the HHO. The results obtained by the HHO compared with the other five classic metaheuristic algorithms. The comparison result displays that our algorithm far exceeds other algorithms in solving EFJSP.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127940349","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Finite-time Consensus Tracking for Multi-motor System Based on Sliding Mode Control 基于滑模控制的多电机系统有限时间一致跟踪
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657791
Zhang Tao, Dengxiu Yu, Zhen Wang, Xiaoyue Jin, Shengjin Li, Feiping Du
{"title":"Finite-time Consensus Tracking for Multi-motor System Based on Sliding Mode Control","authors":"Zhang Tao, Dengxiu Yu, Zhen Wang, Xiaoyue Jin, Shengjin Li, Feiping Du","doi":"10.1109/ICRAE53653.2021.9657791","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657791","url":null,"abstract":"This study investigates a finite-time consensus tracking algorithm for synchronous coordination control of a multimotor system (MMS), which is extremely meaningful to some practical applications with the demand of high-precision performance and stringent convergence time. The graph theory is applied to realize the system modeling of the relationship between the internal parameters of MMS, which can reduce the complexity of the internal parameters of the system and make it more suitable for practical engineering. Then a distributed finite-time consensus controller based on sliding mode control for MMS is proposed, making the time costs in the reaching phase and sliding phase both finite. Simulations are given to illustrate the effectiveness of the proposed approach.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130292714","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A 3D Vision-Based Conveyor Tracking System for Pick-and-Sort Robotic Applications 基于三维视觉的拣拣机器人输送机跟踪系统
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657787
Y. Yang, Jinxing Yang, Huixiong Zeng, Jun Li
{"title":"A 3D Vision-Based Conveyor Tracking System for Pick-and-Sort Robotic Applications","authors":"Y. Yang, Jinxing Yang, Huixiong Zeng, Jun Li","doi":"10.1109/ICRAE53653.2021.9657787","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657787","url":null,"abstract":"During the process of airport baggage transfer, suitcases move continuously at high speeds and in random positions which arise considerable difficulties for automatic sorting. In order to overcome the challenges mentioned above, an automatic sorting system with a robotic arm based on 3D vision is proposed in this paper. To address shortcomings caused by the random pose of the suitcase, the rotating calipers algorithm is adopted to estimate the pose. In the dynamic picking process, a dichotomous algorithm is proposed to predict the picking position and time. Particularly in the rapid motion of the suitcases, this algorithm shows advantages of short period and higher picking accuracy. An experimental platform built at the airport to verify the algorithm, an average sorting position error of 15.17 mm and a sorting efficiency of 20 seconds per piece were achieved. Results showed that the system can accurately pick up the randomly pose suitcases which were being transferred.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134422105","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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