To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are ...To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are put forward. First, the educational robot system is abstracted to a multibody system and a general dynamic model of the educational robot is constructed by the Newton-Euler method. Then the dynamic model is simplified by a combination of components with fixed connections according to the structural characteristics of the educational robot. Secondly, in order to obtain a high efficiency simulation algorithm, based on the sparse matrix technique, the augmentation algorithm and the direct projective constraint stabilization algorithm are improved. Finally, a numerical example is given. The results show that the model and the fast algorithm are valid and effective. This study lays a dynamic foundation for realizing the simulation platform of the educational robot.展开更多
Weak feature extraction is of great importance for condition monitoring and intelligent diagnosis of aeroengine.Aimed at achieving intelligent diagnosis of aero-engine main shaft bearing,an enhanced sparsity-assisted ...Weak feature extraction is of great importance for condition monitoring and intelligent diagnosis of aeroengine.Aimed at achieving intelligent diagnosis of aero-engine main shaft bearing,an enhanced sparsity-assisted intelligent condition monitoring method is proposed in this paper.Through analyzing the weakness of convex sparse model,i.e.the tradeoff between noise reduction and feature reconstruction,this paper proposes an enhanced-sparsity nonconvex regularized convex model based on Moreau envelope to achieve weak feature extraction.Accordingly,a sparsity-assisted deep convolutional variational autoencoders network is proposed,which achieves the intelligent identification of fault state through training denoised normal data.Finally,the effectiveness of the proposed method is verified through aero-engine bearing run-to-failure experiment.The comparison results show that the proposed method is good at abnormal pattern recognition,showing a good potential for weak fault intelligent diagnosis of aero-engine main shaft bearings.展开更多
Most research on anomaly detection has focused on event that is different from its spatial-temporal neighboring events.It is still a significant challenge to detect anomalies that involve multiple normal events intera...Most research on anomaly detection has focused on event that is different from its spatial-temporal neighboring events.It is still a significant challenge to detect anomalies that involve multiple normal events interacting in an unusual pattern.In this work,a novel unsupervised method based on sparse topic model was proposed to capture motion patterns and detect anomalies in traffic surveillance.scale-invariant feature transform(SIFT)flow was used to improve the dense trajectory in order to extract interest points and the corresponding descriptors with less interference.For the purpose of strengthening the relationship of interest points on the same trajectory,the fisher kernel method was applied to obtain the representation of trajectory which was quantized into visual word.Then the sparse topic model was proposed to explore the latent motion patterns and achieve a sparse representation for the video scene.Finally,two anomaly detection algorithms were compared based on video clip detection and visual word analysis respectively.Experiments were conducted on QMUL Junction dataset and AVSS dataset.The results demonstrated the superior efficiency of the proposed method.展开更多
The sparse recovery algorithms formulate synthetic aperture radar （SAR） imaging problem in terms of sparse representation （SR） of a small number of strong scatters＇ positions among a much large number of potentia...The sparse recovery algorithms formulate synthetic aperture radar （SAR） imaging problem in terms of sparse representation （SR） of a small number of strong scatters＇ positions among a much large number of potential scatters＇ positions, and provide an effective approach to improve the SAR image resolution. Based on the attributed scatter center model, several experiments were performed with different practical considerations to evaluate the performance of five representative SR techniques, namely, sparse Bayesian learning （SBL）, fast Bayesian matching pursuit （FBMP）, smoothed 10 norm method （SL0）, sparse reconstruction by separable approximation （SpaRSA）, fast iterative shrinkage-thresholding algorithm （FISTA）, and the parameter settings in five SR algorithms were discussed. In different situations, the performances of these algorithms were also discussed. Through the comparison of MSE and failure rate in each algorithm simulation, FBMP and SpaRSA are found suitable for dealing with problems in the SAR imaging based on attributed scattering center model. Although the SBL is time-consuming, it always get better performance when related to failure rate and high SNR.展开更多
We cast vehicle recognition as problem of feature representation and classification, and introduce a sparse learning based framework for vehicle recognition and classification in this paper. After objects captured wit...We cast vehicle recognition as problem of feature representation and classification, and introduce a sparse learning based framework for vehicle recognition and classification in this paper. After objects captured with a GMM background subtraction program, images are labeled with vehicle type for dictionary learning and decompose the images with sparse coding （SC）, a linear SVM trained with the SC feature for vehicle classification. A simple but efficient active learning stategy is adopted by adding the false positive samples into previous training set for dictionary and SVM model retraining. Compared with traditional feature representation and classification realized with SVM, SC method achieves dramatically improvement on classification accuracy and exhibits strong robustness. The work is also validated on real-world surveillance video.展开更多
基金Hexa-Type Elites Peak Program of Jiangsu Province(No.2008144)Qing Lan Project of Jiangsu ProvinceFund for Excellent Young Teachers of Southeast University
文摘To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are put forward. First, the educational robot system is abstracted to a multibody system and a general dynamic model of the educational robot is constructed by the Newton-Euler method. Then the dynamic model is simplified by a combination of components with fixed connections according to the structural characteristics of the educational robot. Secondly, in order to obtain a high efficiency simulation algorithm, based on the sparse matrix technique, the augmentation algorithm and the direct projective constraint stabilization algorithm are improved. Finally, a numerical example is given. The results show that the model and the fast algorithm are valid and effective. This study lays a dynamic foundation for realizing the simulation platform of the educational robot.
基金the National Natural Science Foundations of China(Nos.91860125,51705398)the National Key Basic Research Program of China(No.2015CB057400)the Shaanxi Province 2020 Natural Science Basic Research Plan(No.2020JQ-042).
文摘Weak feature extraction is of great importance for condition monitoring and intelligent diagnosis of aeroengine.Aimed at achieving intelligent diagnosis of aero-engine main shaft bearing,an enhanced sparsity-assisted intelligent condition monitoring method is proposed in this paper.Through analyzing the weakness of convex sparse model,i.e.the tradeoff between noise reduction and feature reconstruction,this paper proposes an enhanced-sparsity nonconvex regularized convex model based on Moreau envelope to achieve weak feature extraction.Accordingly,a sparsity-assisted deep convolutional variational autoencoders network is proposed,which achieves the intelligent identification of fault state through training denoised normal data.Finally,the effectiveness of the proposed method is verified through aero-engine bearing run-to-failure experiment.The comparison results show that the proposed method is good at abnormal pattern recognition,showing a good potential for weak fault intelligent diagnosis of aero-engine main shaft bearings.
基金Project(50808025)supported by the National Natural Science Foundation of ChinaProject(20090162110057)supported by the Doctoral Fund of Ministry of Education,China
文摘Most research on anomaly detection has focused on event that is different from its spatial-temporal neighboring events.It is still a significant challenge to detect anomalies that involve multiple normal events interacting in an unusual pattern.In this work,a novel unsupervised method based on sparse topic model was proposed to capture motion patterns and detect anomalies in traffic surveillance.scale-invariant feature transform(SIFT)flow was used to improve the dense trajectory in order to extract interest points and the corresponding descriptors with less interference.For the purpose of strengthening the relationship of interest points on the same trajectory,the fisher kernel method was applied to obtain the representation of trajectory which was quantized into visual word.Then the sparse topic model was proposed to explore the latent motion patterns and achieve a sparse representation for the video scene.Finally,two anomaly detection algorithms were compared based on video clip detection and visual word analysis respectively.Experiments were conducted on QMUL Junction dataset and AVSS dataset.The results demonstrated the superior efficiency of the proposed method.
基金Project(61171133)supported by the National Natural Science Foundation of ChinaProject(11JJ1010)supported by the Natural Science Fund for Distinguished Young Scholars of Hunan Province,ChinaProject(61101182)supported by National Natural Science Foundation for Young Scientists of China
文摘The sparse recovery algorithms formulate synthetic aperture radar （SAR） imaging problem in terms of sparse representation （SR） of a small number of strong scatters＇ positions among a much large number of potential scatters＇ positions, and provide an effective approach to improve the SAR image resolution. Based on the attributed scatter center model, several experiments were performed with different practical considerations to evaluate the performance of five representative SR techniques, namely, sparse Bayesian learning （SBL）, fast Bayesian matching pursuit （FBMP）, smoothed 10 norm method （SL0）, sparse reconstruction by separable approximation （SpaRSA）, fast iterative shrinkage-thresholding algorithm （FISTA）, and the parameter settings in five SR algorithms were discussed. In different situations, the performances of these algorithms were also discussed. Through the comparison of MSE and failure rate in each algorithm simulation, FBMP and SpaRSA are found suitable for dealing with problems in the SAR imaging based on attributed scattering center model. Although the SBL is time-consuming, it always get better performance when related to failure rate and high SNR.
基金the National Natural Science Foundation of China under Grant NO 61472166,NO 61105015,Jiangsu Provincial Natural Science Foundation under Grant NO BK2010366 and Key Laboratory of Cloud Computing and Intelligent Information Processing of Changzhou City under Grand NO CM20123004
文摘We cast vehicle recognition as problem of feature representation and classification, and introduce a sparse learning based framework for vehicle recognition and classification in this paper. After objects captured with a GMM background subtraction program, images are labeled with vehicle type for dictionary learning and decompose the images with sparse coding （SC）, a linear SVM trained with the SC feature for vehicle classification. A simple but efficient active learning stategy is adopted by adding the false positive samples into previous training set for dictionary and SVM model retraining. Compared with traditional feature representation and classification realized with SVM, SC method achieves dramatically improvement on classification accuracy and exhibits strong robustness. The work is also validated on real-world surveillance video.
