Robotics and Rehabilitation Intelligence: First International Conference, ICRRI 2020, Fushun, China, September 9–11, 2020, Proceedings, Part II

Preface
Organization
Contents – Part II
Contents – Part I
Smart Healthcare and Intelligent Information Processing
IFHS Method on Moving Object Detection in Vehicle Flow
Abstract
1 Introduction
2 Inter-frame Difference Method
2.1 Three-Frame Difference Method
2.2 The Process of Three-Frame Difference Method
3 Optical Flow Method
3.1 Optical Flow Field
3.2 Horn-Schunck Optical Flow Method
4 IFHS Algorithm
4.1 Mathematical Morphological Filtering and Denoising
4.2 Improved Three-Frame Difference Method
4.3 Moving Object Detection with IFHS Algorithm
4.4 Vehicle Flow
5 Evaluation
6 Conclusion and Future Work
References
Power Control Algorithm of D2D Communication Based on Non-cooperative Game Theory
Abstract
1 Introduction
2 System Model
3 Non-cooperative Power Control Game Model
3.1 Non-cooperative Game Model
3.2 Existence of Nash Equilibrium Solution
3.3 Uniqueness of Nash Equilibrium Solution
4 Power Distribution
5 Simulation
6 Conclusion
References
A Query Path Recommendation Method Supporting Exploratory Search Based on Search Goal Shift Graphs
Abstract
1 Introduction
2 Related Works
3 Paths Recommendation Framework
4 Query Paths Building
4.1 Related Definitions
4.2 The Search Goal Shift Graph
4.3 Query Paths Identification Algorithm
5 Query Paths Recommendation
6 Experiment
6.1 Baseline Method
6.2 Evaluation Metrics
6.3 Experimental Results and Analysis
7 Conclusion
References
Research on Image Super-Resolution Reconstruction Based on Generative Countermeasure Network
Abstract
1 Introduction
1.1 Research Background
1.2 Related Work
2 Network Model Design
2.1 Generative Countermeasure Network
2.2 Network Model of This Paper
2.3 Loss Function
3 Experimental Analysis
3.1 Evaluating Indicator
3.2 Experimental Environment and Data Set
3.3 Experimental Process and Result Analysis
4 Conclusion
References
Fatigue Detection System Based on Facial Information and Data Fusion
Abstract
1 Introduction
2 Hardware Design
2.1 OPENMV Vision Module
2.2 Positioning Module
3 Fatigue Characteristic Parameters
3.1 PERCLOS Principle
3.2 Mouth Information Extraction
3.3 Blink Rate
3.4 Eyes Closed
4 Face Data Fusion Based on TOPSIS Algorithm
4.1 Basic Principles and Evaluation Steps of TOPSIS
4.2 Comprehensive Calculation of Driver’s Fatigue Evaluation Value
5 Experiment
6 In Conclusion
References
Human-Robot Interaction
Emotion Detection During Human-Robots Interaction in Visual Reality Environment
Abstract
1 Introduction
2 4D Human-Computer Interaction Experiment Platform
2.1 Mobile Device Module
2.2 Environmental Equipment Module
2.3 Physiological Signal Detection Equipment Module
3 Main Software Design
3.1 4D Effect Driver Function
3.2 Synchronization Function of Multi-physiological Signal Equipment
4 Emotional Induction Test
4.1 The Subjects
4.2 Wearing Mode
4.3 Design of the Experiment
5 Data Analysis
6 Conclusion
References
A Novel Auxiliary Strategy with Compliance and Safety for Walking Rehabilitation Training Robot
Abstract
1 Introduction
2 Walking Rehabilitation Training Robot
3 Motion Control Method
3.1 Kinematics of Walking Rehabilitation Robot
3.2 Adaptive Neural Fuzzy Inference System
4 Experiments and Discussion
4.1 Experiment of Auxiliary Walking
4.2 Method Comparison
5 Conclusions
References
Adaptive Collision-Free Reaching Skill Learning from Demonstration
1 Introduction
2 Motion Trajectory Learning
2.1 Gaussian Mixture Model
2.2 Gaussian Mixture Regression
2.3 Learning GMM Parameters
3 Theoretical Background of Artificial Potential Field
4 Desired Direction Estimation
4.1 Trajectory Segmentation with Fitted Ellipse
4.2 Obstacle Closest Distance
4.3 Trajectory Component Adjustment
4.4 Modified APF
5 Experimental Setup
5.1 Data Acquisition and Preproccessing
5.2 Experimental Result
5.3 Conclusion
References
Multi-robot Systems and Control
Event-Based Cooperative Control Framework for Robot Teams
1 Introduction
2 Event-Based Control Framework
3 PCF-Based Approach to des Control
4 Formation Path-Following Problem
5 Path-Planning Problem
6 Group Routing Problem
7 Action Planning Problem
8 Conclusion
References
Probability-Based Time-Optimal Motion Planning of Multi-robots Along Specified Paths
1 Introduction
2 Problem Formulation
3 Time-Optimal Motion for a Single Robot
3.1 Velocity Interval Propagation
3.2 Probability-Based Motion Planning
4 Time-Optimal Motion for Multiple Robots
4.1 Conflict Probability Between Robots
4.2 Conflict Resolution
4.3 Obstacle Simplification
4.4 Probabilistic Conflict-Based Search Scheme
4.5 Prioritized Motion Planning
5 Experiments and Results
5.1 Environments and Metrics
5.2 Results
6 Conclusions
References
Robot Design and Control
Dynamic Precision Analysis of a Redundant Sliding Manipulator
1 Introduction
2 Overview of the Redundant Sliding Manipulator
3 Dynamic Precision Modeling of the Redundant Sliding Manipulator
3.1 Establish Vibration Differential Equations
3.2 Natural Frequency and Main Vibration of the System
3.3 Establish Mathematical Model of Dynamic Precision
4 Dynamic Precision Analysis of the Redundant Sliding Manipulator
4.1 Preliminaries of Dynamic Precision Analysis
4.2 Stiffness and Rotational Inertia Analysis of the Redundant Sliding Manipulator
5 Simulation Analysis and Experiment
5.1 Simulation Analysis
5.2 Implementation and Verification Experiment
6 Conclusion
References
Kinematic Optimal Design of Ball-Screw Transmission Mechanisms Based on NoCuSa
Abstract
1 Introduction
2 Model of Ball-Screw Transmission System
3 Optimization Design of Variable Speed Input Function
3.1 Description of the Optimization Problem
3.2 Restraint Conditions
3.3 Objective Function
4 Optimal Polynomial Parameterons Searching Based on NoCuSa
4.1 Nonhomogeneous Cuckoo Search Algorithm
4.2 Optimal Parameters Searching and Result Analysis
4.3 Actual Output Performance Simulation
5 Conclusion
Acknowledgement
References
Robotic Vision and Machine Intelligence
Research on Short-Term Traffic Flow Forecast Based on Improved GA-Elman
Abstract
1 Introduction
2 Elman Neural Network Prediction Model
3 Improved GA-Elman Neural Network Short-Term Traffic Flow Prediction Model
4 Experimental Results and Performance Analysis
4.1 Experimental Setup
4.2 Analysis of Results
5 Conclusion
Acknowledgments
References
Tire Defect Detection Based on Faster R-CNN
Abstract
1 Introduction
2 Related Work
3 Proposed Method
3.1 X-Ray Image Defect Detection of Tire
4 Experimental Results and Analysis
4.1 Analysis of Preprocessed Results
4.2 Defect Detection Results
4.3 Comparison of Test Results
5 Conclusions
Acknowledgment
References
Real-Time Target Tracking Based on Airborne Vision
Abstract
1 Introduction
2 Overall System Framework
3 Vision-Based Target Detection
3.1 Yolov3-Tiny Network Structure
3.2 Simulation Production Data Set
3.3 Detection and Recognition Result
4 Real-Time Target Tracking
4.1 PID Control Model
4.2 Fuzzy PID System
4.2.1 Define Fuzziness and Membership
4.2.2 Building a Knowledge Base
4.2.3 Deblurring
5 Simulation Verification and Analysis
5.1 Filter-Based Tracking Algorithm
5.2 Tracking Based on Target Detection
6 Summary and Outlook
References
Hyperspectral Image Classification Based on a Novel LDSLTSR Method
Abstract
1 Introduction
2 Hyperspectral Image Preprocessing
3 The Proposed LDSLTSR Method
3.1 LDS Model
3.2 The Proposed LDSSR Method
3.3 The Optimization of LDSLTSR Method
3.4 The Classification of Hyperspectral Image
4 Experiments and Analysis
5 Conclusion
Acknowledgement
References
Deep Convolutional Neural Network for Remote Sensing Scene Classification
Abstract
1 Introduction
2 Overview of the Proposed Method
3 Convolutional Neural Network Architecture
4 Deep CNN for Remote Sensing Scene Classification
4.1 Neural Network Architecture
4.2 Training Process
4.3 Classification
5 Experiments and Analysis
5.1 The Data Sets
5.2 Experimental Results and Analysis
6 Conclusion
References
Optimization Method in Monitoring
Localization Method of Multiple Leaks in Fluid Pipeline Based on Compressed Sensing and Time-Frequency Analysis
Abstract
1 Introduction
2 Multiple Leaks Localization Method
2.1 Multiple Leak Localization Analysis
2.2 Wavelet Analysis and Compressed Sensing
2.3 Time-Frequency Analysis
2.4 Multiple Leak Localization Method
3 Experiment of Multiple Leaks Localization of Pipeline
3.1 Experimental System of Multiple Leaks Localization
3.2 Time-Frequency Analysis of Multiple Leaks Localization
4 Conclusion
Acknowledgment
References
Research on the Reconstruction Method of Furnace Flame Temperature Field with Small Singular Value Based on Regularization
Abstract
1 Introduction
2 Acoustic Method Temperature Field Reconstruction Principle
3 Image Reconstruction Linear Model
4 Solving the Inverse Problem and Constructing a New Regularization Matrix
4.1 Regularization Solution of Acoustic CT Inverse Problem
4.2 Construct a New Regularization Matrix
5 Temperature Field Reconstruction Simulation Analysis
6 Conclusion
Acknowledgments
References
Research and Development of the Detection Robot in Pipeline Based on Electromagnetic Holography
Abstract
1 Introduction
2 Structure and Function of Electromagnetic Holography Detection Robot
2.1 Structural Composition
2.2 Major Function
3 Electronic System of Electromagnetic Holography Detection Robot
4 Analysis Software of Upper Computer of Detection Robot
5 Application and Data Analysis of Electromagnetic Holography Detection Robot
5.1 Field Application
5.2 Data Analysis
6 Conclusion
Fund projects
References
Data-Driven Optimal Tracking Control for Linear Systems Based on Output Feedback Approach
Abstract
1 Introduction
2 On the Optimal Control Problem
3 Data Driven Q-Learning Algorithm
4 Simulation Experiment
5 Conclusion
Acknowledgments
References
Features of Interest Points Based Human Interaction Prediction
Abstract
1 Introduction
2 Feature Point Feature Extraction and Description
3 Action Prediction Model Establishment
3.1 Feature Representation of the Video
3.2 A Video Model Building
4 Probabilistic Fusion Prediction Strategy
4.1 A Subsection Sample
5 Experimental Results and Analysis
5.1 Database Introduction
5.2 Probability Fusion Result
5.3 Comparison of Different Forecasting Methods
6 Conclusion
References
Advanced Process Control in Petrochemical Process
Robust Model Predictive Tracking Control for Chemical Process with Time-Varying Tracking Trajectory
Abstract
1 Introduction
2 Problem Description and Model Building
3 Main Result
4 Simulation Case
4.1 A Subsection Sample
4.2 Process Model
5 Conclusions
Acknowledgments
References
Hybrid Integrated Model of Water Quality in Wastewater Treatment Process via RBF Neural Network
Abstract
1 Introductions
2 Descriptions of A/O Process
3 The Structure of Hybrid Integrated Model
3.1 Mechanism Model of A/O Process Based on Simplified ASM1 Model
3.2 RBF Neural Network
3.2.1 RBF Neural Network
3.3 The Learning Algorithm
4 Simulations
5 Conclusions
Acknowledgement
References
Optimal Control for Cracking Outlet Temperature (COT) of SC-1 Ethylene Cracking Furnace by Off-Policy Q-Learning Approach
Abstract
1 Introduction
2 The Ethylene Cracking Furnace
2.1 Process Description
2.2 Total Feed Flow Lifting/Lowering Control
3 The Off-Policy Q-Learning Design for the COT of Ethylene Cracking Furnace
3.1 Problem Description
3.2 Off-Policy Q-Learning
4 Simulation Results
5 Conclusion
Acknowledgments
References
Verification, Validation and Accreditation and Credibility Evaluation of Aerospace Product Performance Prototype
Abstract
1 Introduction
2 Definition of the Aerospace Product Performance Prototype
3 The Concepts of VV&A and Credibility Evaluation
4 A VV&A Scheme for the Aerospace Product Performance Prototype
4.1 Requirements V&V for Performance Prototype and VV&A Planning
4.2 Conceptual Model V&V for Performance Prototype
4.3 Design Verification for Performance Prototype
4.4 Implementation Verification for Performance Prototype
4.5 Simulation Results Validation for Performance Prototype
4.6 Credibility Evaluation for Performance Prototype
4.7 Accreditation
5 Conclusions
References
Distributed Model Predictive Control Algorithm Based on PSO-IGA Processing System Structure Decomposition
Abstract
1 Introduction
2 Structure Decomposition of DMPC System Based on PSO-IGA
2.1 ICD for DMPC
2.2 IOPD for DMPC
2.3 PSO-IGA Based on Decomposition of DMPC
2.3.1 Implement PSO-IGA to Solve the ICD
2.3.2 Implement PSO-IGA to Solve the IOPD
3 DMPC Algorithm Based on PSO-IGA Processing System Structure Decomposition
3.1 DMPC Controller Design
3.2 Implementation Process of Distributed Predictive Control Algorithm Based on PSO-IGA System Structure Decomposition
4 Case Study and Discussion
5 Conclusion
References
Rehabilitation Intelligence
Rehabilitation Training Analysis Based on Human Lower Limb Muscle Model
Abstract
1 Introduction
2 Establishment of Musculoskeletal Model of Human Lower Limbs
3 Calculation of Lower Limb Muscle Force
4 Lower Limb Training Experiment
4.1 Establishment of Experimental Platform
4.2 Experimental Process
4.3 Experimental Results
5 Conclusion
References
sEMG-Based Hand Gesture Classification with Transient Signal
1 Introduction
2 Materials and Methods
2.1 Subjects
2.2 Apparatus
2.3 Acquisition Protocol
2.4 Data Preprocessing
2.5 Feature Extraction and Classification
3 Experiment Setup
3.1 Intra-session Strategy
3.2 Inter-session Strategy
3.3 Inter-subject Strategy
4 Results and Discussion
4.1 Classification Accuracy Performance
4.2 Discussion
5 Conclusion
References
Improving Gesture Recognition by Bidirectional Temporal Convolutional Netwoks
1 Introduction
2 Related Work
3 Proposed Method
4 Datasets
4.1 Ninapro DB1
4.2 Ninapro DB5
5 Experiment Setup
6 Result and Discussion
7 Conclusions
References
Author Index