Intelligent robotics : Third China Annual Conference, CCF CIRAC 2022, Xi'an, China, December 16-18, 2022 : proceedings

This book constitutes selected papers presented during the Third China Annual Intelligent Robotics Conference, CCF CIRAC 2022, held in Xi' an, China, in December 2022. The 35 papers presented were thoroughly reviewed and selected from the 120 qualified submissions. They are organized in the following topical sections: robot safety; intelligent robot sensing; autonomous robot navigation; artificial intelligence and cloud robot; unmanned cluster collaboration; natural human-computer interaction; other robot-related technologies. Preface Organization Contents Robot Safety Petri Net-Based Attack Modeling for Industrial Control System Networks 1 Introduction 2 Related Work 2.1 PLC Cyber Attacks 2.2 System Vulnerability Model Construction Methods 2.3 Basic Concepts of Petri Networks 3 A PLC Cyber Attack Model Based on Petri Net Theory 3.1 ICS Environmental Model Assumptions 3.2 Attack Method 3.3 Petri Net Model for PLC Network Attacks Based on Bluekeep Vulnerability Exploitation 4 Model Analysis 4.1 Principle of Vulnerability Exploitation 4.2 Defense Patch Model for PLC Network Attacks 5 Experiment 5.1 Industrial Control Cyber Attack 5.2 Compare with the Actual Attack Process 5.3 Comparison with the Current Study 6 Conclusion References Intelligent Robot Sensing CRRNet: Channel Relation Reasoning Network for Salient Object Detection 1 Introduction 2 Related Work 3 Proposed Method 3.1 Common Feature Extraction 3.2 Multi-Level Complementary Feature Extraction 3.3 Channel Relation Reasoning Module 4 Experiments 4.1 Implementation Details 4.2 Datasets and Evaluation Metrics 4.3 Comparison with Other SOTA Methods 4.4 Ablation Studies 5 Conclusion References Visual Object Tracking with Adaptive Template Update and Global Search Augmentation 1 Introduction 2 Algorithmic Framework 2.1 Network Backhone 2.2 Siamese Network 2.3 Global Search Enhancements 3 Algorithmic Test 4 Conclusion References UAV Autonomous Navigation Based on Multi-modal Perception: A Deep Hierarchical Reinforcement Learning Method 1 Introduction 2 Related Works 2.1 Hierarchical Reinforcement Learning 2.2 Autonomous Navigation of UAV 3 Proposed Method 3.1 Background 3.2 Framework Overview 3.3 Reward Function 4 Experiments 4.1 Simulation Environment 4.2 Comparison Methods 4.3 Result 5 Conclusion and Discussion References Design and Control of an Intelligent Robot System for Metro Bottom Inspection 1 Introduction 2 Inspection Robot Mechanical Structure 2.1 Dust Cleaning Structure 2.2 Visual Inspection Structure 2.3 Lateral Movement Structure 3 Inspection Robot Hardware Platform and Intelligent Control System 4 Intelligent Control System Experiment 5 Conclusion and Future Work References Autonomous Robot Navigation An Improved Algorithm of Multi-robot Task Assignment and Path Planning 1 Introduction 2 Mathematical Model 3 Problem Solving 3.1 The Improved A* Algorithm (IA*) 3.2 The Improved Genetic Algorithm (IGA) 3.3 The Enhanced Algorithm Based on the IGA-IA* 4 Experimental Study and Simulation Results 5 Conclusion References Design and Implementation of a Collaborative Air-Ground Unmanned System Path Planning Framework 1 Introduction 2 Related Work 3 System Design and Technical Details 3.1 System Framework 3.2 Coordinate Transformation 3.3 Global Path Planning and Path Management 3.4 Trail Tracking, Collision Avoidance and Visual Guidance 4 Experimental Results 4.1 Experimental Environment Configuration 4.2 Experimental Results and Analysis References Artificial Intelligence and Cloud Robot Wishart Deeplab Network for Polarimetric SAR Image Classification 1 Introduction 2 Proposed Methodology 2.1 Wishart Convolution Structure 2.2 Wishart Deeplab Network 3 Experiments 3.1 Dataset and Experimental Settings 3.2 Flevoland Area 3.3 San Francisco Area 4 Conclusion References Intelligent Detection of Stratigraphy Boundary Based on Deep Learning 1 Introduction 2 Related Works 3 GRSBD ImageNet 3.1 Data Sampling 3.2 Dataset Labeling 4 Methods 4.1 Drawing Pre-processing 4.2 Drawing Slicing and Data Augmentation 4.3 Stratigraphy Boundary Detection 5 Experimental Analysis 6 Conclusions References Unmanned Cluster Collaboration Multi-UAV Path Planning in Complex Obstacle Environments 1 Introduction 2 Related Work 3 The Improvement of Algorithm 3.1 The Genetic Algorithm Structure 3.2 Nash Equilibrium 3.3 Balanced Search and Convergence Capabilities 3.4 Constraints for UAV Flight 4 Experiment Results 4.1 Environment Model 4.2 Result Analysis 5 Conclusions References Natural Human-Computer Interaction Research on Network Traffic Anomaly Detection for Class Imbalance 1 Introduction 2 Related Theory 2.1 Deep Convolutional Generative Adversarial Networks 2.2 Vision Transformer 3 Network Traffic Anomaly Detection Model Combining Generative Adversarial Network and Transformer 3.1 Network Traffic Anomaly Detection Algorithm Combining Generative Adversarial Network and Transformer 4 Experiment Analysis 4.1 Experimental Data 4.2 Data Preprocessing 4.3 Evaluation Indicators 4.4 DCGAN Class Balance Experiment 4.5 Analysis of the Experimental of Vision Transformer 5 Conclusion References Dual-Sequence LSTM Multimodal Emotion Recognition Based on Attention Mechanism 1 Introduction 2 Proposed Method 2.1 Video Sequence Preprocessing 2.2 Video Sequence Feature Extraction 2.3 Audio Sequence Preprocessing 2.4 Audio Sequence Feature Extraction 2.5 Audio-Video Bimodal Features Fusion 3 Experiments 3.1 Datasets 3.2 Experimental Setting 3.3 Experimental Design 3.4 Results and Discussion 4 Summary References Learning to Embed Knowledge for Medical Dialogue System 1 Introduction 2 Related Work 3 Model 3.1 Task Definition 3.2 KGMD 3.3 Knowledge Search Layer 3.4 Embedding Layer 3.5 Knowledge Masked Context Encoder 3.6 Knowledge-Grounded Dialogue Generation Decoder 4 Experiments 4.1 Datasets 4.2 Baselines 4.3 Implementation Details 4.4 Automatic Evaluation 4.5 Manual Evaluation 4.6 Case Study 5 Conclusion References Robot Learning from Human Demonstration for Playing Ocarina 1 Introduction 2 Related Work 3 System Structure Overview 4 Methods 4.1 Performance of Reading Digital Music Score 4.2 Learning from Demonstrations 4.3 Performance Similarity Evaluation Index 5 Conclusions References A Complex Networks Analytics Approach Combining Markov Skeleton Process for Predicting Makespan of Aircraft Overhaul Process 1 Introduction 2 Overall Architecture of AOP Makespan Prediction Approach 3 Key Technologies 3.1 AOP Complex Network Model Considering Uncertainties 3.2 Identification of Critical Process Routes for AOP 3.3 Solution of AOCN Model Using Markov Skeleton Process 4 Case Study and Analysis 5 Conclusions References A Cyber Physical System (CPS) Enabled Approach for Aircraft Overhaul Shop-Floor Based on Real-Time Smart Data Analyzing 1 Introduction 2 A CPS Enabled Real-Time Analytical Framework for AOP 3 Key Technologies 3.1 Real-Time Perception and Value-Adding of Aircraft Overhaul Shop-Floor Data 3.2 Real-Time Information and Data-Driven Prediction of AOP 3.3 AOP Decision-Making Model 4 Case Study 4.1 Background 4.2 Implementation of the Proposed Framework 5 Conclusion References Other Robot-Related Technologies A Lightweight Algorithm Based on YOLOv5 for Relative Position Detection of Hydraulic Support at Coal Mining Faces 1 Introduction 2 YOLOv5 Network Model 3 GhostNet Lightweight Network Model 4 LG-YOLO Network Model 4.1 YOLOv5s Network Optimisation Based on the Ghost Module 4.2 Activation Function Optimisation 4.3 Nonmaximum Suppression Method Optimization 5 Model Compression 5.1 Sparse Training 5.2 Channel Pruning 5.3 Knowledge Distillation 6 Relative Position Detection of Hydraulic Supports 6.1 Coordinates Collection of Hydraulic Supports 6.2 Position Status Analysis of Hydraulic Support 7 Experiments and Results Analysis 7.1 Data Set 7.2 Network Model Optimisation Experiment 7.3 Model Compression Experiments 7.4 Model Comparison Experiment 7.5 Detection Effect 8 Conclusion References Inverter Fault Diagnosis Based on Improved Grey Correlation Analysis 1 Introduction 2 Inverter Fault Diagnosis Based on Improved Grey Correlation Analysis 2.1 Inverter Fault Classification 2.2 Compressed Sensing Based Noise Reduction for Fault Signals 2.3 Fault Identification of Inverter Based on Grey Correlation Analysis 3 Experimental Verification 4 Conclusion References Cross-View Nearest Neighbor Contrastive Learning of Human Skeleton Representation 1 Introduction 2 Related Work 3 Approach 3.1 Problem Setting 3.2 Our Approaches 4 Experiments 4.1 Datasets 4.2 Experimental Settings 4.3 Analysis of Experimental Results 4.4 Analysis of Ablation Experiment Results 5 Conclusion References Bogie Temperature Detection Method for Subway Trains Based on Dual Optical Images 1 Introduction 2 Transformer-Based Part Positioning Strategy 2.1 Transformer Target Recognition Framework 2.2 DETR Target Detection Framework 3 Infrared Image and Visible Image Matching Strategy Based on Affine Transformation 3.1 Affine Transformation 3.2 Dual Light Camera Calibration 4 Bogie Temperature Testing Experiment 4.1 Experimental Environment 4.2 Experimental Procedure 4.3 Evaluation Indicators 4.4 Analysis of Experimental Results 5 Conclusion References Operating Health State Prediction and Evaluation of Excitation Unit Based on GMM and LSTM 1 Introduction 2 Analysis of Data Correlation 3 Data Pre-processing 4 Healthiness Prediction Model Construction 5 Healthiness Evaluation Model 5.1 GMM 5.2 HDI Health Decline Indicator 6 Healthiness Prediction 6.1 Experimental Data 6.2 LSTM Network Prediction 6.3 Results Analysis 7 Conclusion References Fire Detection Based on Visual Image from 2010 to 2021: A Bibliometric Analysis and Visualization 1 Introduction 2 Data Source and Processing 2.1 The Sources of Data 2.2 Research Methods 3 Analysis and Discussion 3.1 Analysis of Publication Output 3.2 Analysis of Categories 3.3 Analysis of Countries and Institutions 3.4 Analysis of Cited Journals 3.5 Analysis of Author and Cited Author 3.6 Analysis of Reference 4 High Frequency Keywords and Trend Analysis 4.1 High Frequency Keywords 4.2 High-Frequency Keyword Analysis 4.3 Popular Trend Analysis 5 Discussion and Future Direction References Real-Time Security Monitoring System for Intelligent Multi-region Transfer Platform 1 Introduction 2 System Overview 2.1 System Composition 2.2 Implementation Principle of Main Functional Modules 3 Experimental Results 3.1 Model Training on Self-built Dataset 3.2 On-Site Environmental Testing 4 Conclusion References Autonomous Object Tracking System of UAV Based on Correlation Filtering 1 Introduction 2 Autonomous Object Tracking of UAV System 3 Experiment 3.1 Object Simple Movement 3.2 Object Complex Motion 4 Conclusion References A Vision-Based Rail Alignment Detection Algorithm for the Transfer Platform 1 Introduction 2 Algorithm 2.1 Online Image Acquisition 2.2 Rail Number Recognition 2.3 Rail Detection 3 Experiment 3.1 Camera Calibration 3.2 Recognition Results and Analysis of Rail Numbers 3.3 Rail Detection Results and Analysis 4 Conclusion References Construction and Practice of “Three ‘Wholes’ and Six ‘Integrations’” Intelligent Robot Education System 1 Introduction 2 Review of Related Research 3 Research Approach 3.1 Basis of Topic Selection 3.2 Research Process 4 Conclusion References A Classification Framework Based on Multi-modal Features for Detection of Cognitive Impairments 1 Introduction 2 Methodology 2.1 EEG Data Recording and Data Preprocessing 2.2 Feature Extraction 2.3 Model Training 3 Results 3.1 The Effect of Different Features on a Single Channel 3.2 The Effect of Using Multiple Channels 3.3 Feature-Level Fusion of Multiple Features and Multiple Channels 3.4 Model Performance Evaluation 4 Conclusion References Intelligent Security Video Surveillance System Based on GCN 1 Introduction 2 Related Work 3 Tasks 4 System Design 4.1 System Structure 4.2 Implementations 5 Performance 6 Conclusion References A Single-Cell Imputation Method Based on Mixture Models and Neural Networks 1 Introduction 2 Related Work 2.1 Mixture Model 2.2 Normal Distribution 2.3 Gamma Distribution 2.4 EM 3 Method 3.1 Preprocessing 3.2 Identify Highly Expressed Genes 3.3 Network Architecture 3.4 Impute 3.5 Evaluate 4 Experiment 4.1 Data Set 4.2 Preprocessing Results 4.3 Imputation Results 5 Conclusion References A Novel Community Detection Algorithm Based on Deep Learning Algorithm 1 Introduction 2 Preface 2.1 Matrix Preprocessing 2.2 Deep Sparse Autoencoder 2.3 CDDLA 3 Evaluation Criteria 3.1 Evaluation Criteria Fsame 3.2 Evaluation Criteria NMI 3.3 Evaluation Criteria Q 4 Experiment 4.1 Experiment Description 4.2 Dataset Comparison Experiments 4.3 Dataset Parameter Experiments 4.4 Visualization Experiments 5 Conclusions References Bearing Small Sample Fault Diagnosis Based on DCGAN and CNN 1 Introduction 2 Principle and Objective Function of DCGAN 3 Bearing Fault Diagnosis Method Based on DCGAN and CNN 3.1 Generate Sample Data Using DCGAN 3.2 Fault Classification Using CNN 4 Experiments 4.1 Training and Synthetic Sample Generation Experiments for DCGAN Models 4.2 CNN-Based Fault Classification 4.3 Comparison of the Results of Different Methods 5 Conclusion References AFER: Automated Feature Engineering for Robotic Prediction on Intelligent Automation 1 Introduction 2 Related Work 3 Problem Definition 4 Method 4.1 Principle of AFER’S Design 4.2 The Mechanics of AFER 5 Experiments 5.1 Dataset 5.2 Experimental Setup 5.3 Evaluation Comparison 5.4 Feature Analysis 5.5 Regression Demonstration 6 Conclusion and Future Work References Design of an Improved Process Mining Algorithm for Manufacturing Companies with Industrial Robots 1 Introduction 2 Related Work 3 Log Data Preprocessing 4 Method 4.1 Log Skeleton Algorithm 4.2 Improvement for Log Skeleton 4.3 Conformance Checking 5 Experiments 5.1 Dataset 5.2 Dataset Partition 5.3 Experimental Setup 5.4 Results and Analysis 6 Conclusion and Future Work References Mine-Microseismic-Signal Recognition Based on Meta-learning 1 Introduction 2 Related Work 3 Wavelet Packet Decomposition 4 Meta-learning 5 MAML 6 ANIL 7 Experimental Evaluation 7.1 Dataset Preprocessing 7.2 Model Architecture 7.3 Results Analysis 8 Conclusions References A Positioning Optimization Method for Anti-underwater Vehicle 1 Introduction 2 Theory 3 Simulation 3.1 Simulation and Discussion of Associated Amplitude Modulation Index M 3.2 Simulation and Discussion of Two-Channel Signal Carrier Amplitude Ratio Gp/Hp 3.3 Simulation and Discussion of the Phase Difference K Between the Local Carrier and the Phase Carrier 4 Conclusions References Author Index