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学者姓名：贾松敏
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Abstract ：
针对室内老人跌倒问题,提出一种室内人体跌倒行为识别方法.首先,提出基于卷积核分解与分组卷积的轻量化3D网络;之后融合浅层2D子网络与轻量化3D子网络,并采用随机滑动组合采样策略改进3D卷积行为识别网络.为进一步提高网络泛化性能,对视频帧进行视觉显著性检测,通过加强背景纹理与人物行为之间关联性提高真实场景识别准确度.实验结果表明:该网络参数量为6.9×10~6,时间复杂度降低至8.04×10~9;实现算法在室内跌倒行为识别任务上达到81.5%的准确度.
Keyword ：
视觉显著性 视觉显著性 跌倒检测 跌倒检测 3D卷积神经网络 3D卷积神经网络 分组卷积 分组卷积 行为识别 行为识别 卷积核分解 卷积核分解
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| GB/T 7714 | 李秀智 , 张冉 , 贾松敏 . 面向助老行为识别的三维卷积神经网络设计 [J]. | 北京工业大学学报 , 2021 , 47 (06) : 589-597 . |
| MLA | 李秀智 等. "面向助老行为识别的三维卷积神经网络设计" . | 北京工业大学学报 47 . 06 (2021) : 589-597 . |
| APA | 李秀智 , 张冉 , 贾松敏 . 面向助老行为识别的三维卷积神经网络设计 . | 北京工业大学学报 , 2021 , 47 (06) , 589-597 . |
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Abstract ：
Video-based action recognition in realistic scenes is a core technology for human-computer interaction and smart surveillance. Although the trajectory features with the bag of visual words have confirmed promising performance, spatiotemporal interactive information cannot be effectively encoded which is valuable for classification. To address this issue, we propose a spatiotemporal semantic feature (ST-SF) and implement the conversion of it to the auxiliary criterion based on the information entropy theory. First, we present a text-based relevance analysis method to estimate the textual labels of objects most relevant to actions, which are employed to train the more targeted detectors based on the deep network. False detections are optimized by the inter-frame cooperativity and dynamic programming to construct the valid tubes. Then, we design the ST-SF to encode the interactive information, and the concept and calculation of feature entropy are defined based on the spatial distribution of ST-SFs on the training set. Finally, we achieve a two-stage classification strategy using the resulting decision gains. Experimental results on three publicly available datasets demonstrate that our method is robust and improves upon the state-of-the-art algorithms.
Keyword ：
Spatiotemporal semantic feature Spatiotemporal semantic feature Feature entropy Feature entropy Action recognition Action recognition Text-based relevance analysis Text-based relevance analysis Bag-of-visual-words model Bag-of-visual-words model
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| GB/T 7714 | Meng, Xiaoyan , Zhang, Guoliang , Jia, Songmin et al. Auxiliary criterion conversion via spatiotemporal semantic encoding and feature entropy for action recognition [J]. | VISUAL COMPUTER , 2020 , 37 (7) : 1673-1690 . |
| MLA | Meng, Xiaoyan et al. "Auxiliary criterion conversion via spatiotemporal semantic encoding and feature entropy for action recognition" . | VISUAL COMPUTER 37 . 7 (2020) : 1673-1690 . |
| APA | Meng, Xiaoyan , Zhang, Guoliang , Jia, Songmin , Li, Xiuzhi , Zhang, Xiangyin . Auxiliary criterion conversion via spatiotemporal semantic encoding and feature entropy for action recognition . | VISUAL COMPUTER , 2020 , 37 (7) , 1673-1690 . |
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Abstract ：
针对全向移动机器人轨迹跟踪控制中存在未知轮子打滑干扰问题,设计自抗扰反步控制器.首先,建立存在轮子打滑扰动的全向移动机器人的运动学模型;然后,融合自抗扰控制技术与反步控制技术,设计基于全向移动机器人运动学模型的轨迹跟踪控制器,该控制器分别从纵向控制、横向控制及姿态控制上对打滑干扰进行实时估计与补偿;最后,利用Lyapunov定理分析闭环系统的稳定性并通过仿真实验验证了所提出控制算法的有效性和鲁棒性.
Keyword ：
全向移动机器人 全向移动机器人 运动学模型 运动学模型 自抗扰控制 自抗扰控制 轮子打滑 轮子打滑 反步控制 反步控制
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| GB/T 7714 | 贾松敏 , 卢兴阳 , 张祥银 et al. 轮子打滑状态下全向移动机器人轨迹跟踪控制 [J]. | 控制与决策 , 2020 , 35 (04) : 833-842 . |
| MLA | 贾松敏 et al. "轮子打滑状态下全向移动机器人轨迹跟踪控制" . | 控制与决策 35 . 04 (2020) : 833-842 . |
| APA | 贾松敏 , 卢兴阳 , 张祥银 , 张国梁 . 轮子打滑状态下全向移动机器人轨迹跟踪控制 . | 控制与决策 , 2020 , 35 (04) , 833-842 . |
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Abstract ：
针对齿轮传动系统运动角位移跟踪误差较大、 振动幅度相对严重等问题,对直齿圆柱齿轮运动过程中产生的角位移和输出扭矩等进行研究.建立齿轮传动系统模型,给出齿轮传动系统动力学方程式.对传统线性PID控制系统进行改进,设计非线性PID控制系统.引入粒子群算法,对粒子群算法权重系数进行改进.采用改进后的粒子群算法优化非线性PID控制系统,通过反馈误差对PID控制器参数进行调节,从而达到控制系统输出误差的补偿目标.利用MATLAB软件对优化后的齿轮传动系统输出误差和扭矩进行仿真,并且与线性PID控制结果进行对比.结果表明:与线性PID控制系统相比,优化后的齿轮传动控制系统能够在线调节各项控制参数,从而提高齿轮传动精度.该控制系统反应速度快,稳定性较好,抗干扰能力强,具有较高的控制精度.
Keyword ：
齿轮传动系统 齿轮传动系统 粒子群算法 粒子群算法 非线性PID控制 非线性PID控制 动态误差 动态误差
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| GB/T 7714 | 吴瑞芳 , 贾讼敏 , 郝贵敏 . 基于优化非线性控制的齿轮传动系统动态误差研究 [J]. | 机床与液压 , 2020 , 48 (16) : 140-144 . |
| MLA | 吴瑞芳 et al. "基于优化非线性控制的齿轮传动系统动态误差研究" . | 机床与液压 48 . 16 (2020) : 140-144 . |
| APA | 吴瑞芳 , 贾讼敏 , 郝贵敏 . 基于优化非线性控制的齿轮传动系统动态误差研究 . | 机床与液压 , 2020 , 48 (16) , 140-144 . |
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Abstract ：
Aiming at the problem of unknown wheel skidding disturbance in trajectory tracking control of omnidirectional mobile robots, an active disturbance rejection backstepping controller (ADRBTC) is designed. Firstly, the kinematics model of an omnidirectional mobile robot in the presence of wheel skidding disturbance is established; Then, the trajectory tracking controller based on the kinematics model of the omnidirectional mobile robot is designed by combining the active disturbance relection controller(ADRC) technology with the backstepping control technology, and the controller estimates and compensates the sliding disturbance in real time from longitudinal control, lateral control and attitude control, respectively; Finally the stability of the closed loop system is analyzed by using Lyapunov theorem. Simulation results verify the effectiveness and robustness of the proposed control algorithm. © 2020, Editorial Office of Control and Decision. All right reserved.
Keyword ：
Disturbance rejection Disturbance rejection Mobile robots Mobile robots Navigation Navigation Wheels Wheels Longitudinal control Longitudinal control Backstepping Backstepping Closed loop systems Closed loop systems Controllers Controllers Trajectories Trajectories Kinematics Kinematics Skidding Skidding
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| GB/T 7714 | Jia, Song-Min , Lu, Xing-Yang , Zhang, Xiang-Yin et al. Trajectory tracking control for omnidirectional mobile robot in presence of wheel slipping [J]. | Control and Decision , 2020 , 35 (4) : 833-842 . |
| MLA | Jia, Song-Min et al. "Trajectory tracking control for omnidirectional mobile robot in presence of wheel slipping" . | Control and Decision 35 . 4 (2020) : 833-842 . |
| APA | Jia, Song-Min , Lu, Xing-Yang , Zhang, Xiang-Yin , Zhang, Guo-Liang . Trajectory tracking control for omnidirectional mobile robot in presence of wheel slipping . | Control and Decision , 2020 , 35 (4) , 833-842 . |
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Abstract ：
When the image texture is simple and relatively indistinct, it is difficult to implement pose estimation based on point features. For this problem, a visual SLAM (simultaneous localization and mapping) algorithm based on point-line features is proposed by using the distributed modular technology. Firstly, the point and line features in the environment captured by the camera are extracted and tracked according to the inter-frame feature matching. Then, the improved NICP (normal iterative closest point) algorithm and the key frame matching strategy are used to build the odometer system. Based on this, the loop detection based on point-line feature dictionary and the graph optimization method of GTSAM (Georgia Tech smoothing and mapping library) are introduced to obtain 3D point cloud map with globally consistent poses. A system framework is developed with robot technology middleware to enhance the scalability and flexibility of the functional modules while improving the real-time performance of the system. The experimental results on the standard datasets and in laboratory scenes verify the feasibility and effectiveness of the proposed method. © 2019, Science Press. All right reserved.
Keyword ：
Middleware Middleware Image texture Image texture Graph algorithms Graph algorithms Iterative methods Iterative methods Mapping Mapping Robots Robots Textures Textures
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| GB/T 7714 | Jia, Songmin , Ding, Mingchao , Zhang, Guoliang . Visual SLAM Algorithm Based on Point-Line Features under RTM Framework [J]. | Robot , 2019 , 41 (3) : 384-391 . |
| MLA | Jia, Songmin et al. "Visual SLAM Algorithm Based on Point-Line Features under RTM Framework" . | Robot 41 . 3 (2019) : 384-391 . |
| APA | Jia, Songmin , Ding, Mingchao , Zhang, Guoliang . Visual SLAM Algorithm Based on Point-Line Features under RTM Framework . | Robot , 2019 , 41 (3) , 384-391 . |
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Abstract ：
In view of the global path planning problem of mobile robot, a path planning method based on quantumbehaved fireworks algorithm (QFWA) is proposed. A quantum-behavior fireworks explosion method is added to the fireworks algorithm (FWA). The method has strong local search ability when the fitness value is close to the global optimal fitness value, and has strong global search capability when the fitness value is relatively bigger. The algorithm has improved the diversity of fireworks explosion and the algorithm convergence speed. Test the improved algorithm with Benchmark test function, and contrast the result with other algorithm, the results shows that the improved algorithm has the best optimization effect. The QFWA algorithm is applied to the path planning of mobile robot, and using a method of the artificial potential field algorithm based on the average filter to smooth the planned path. The effectiveness and feasibility of the improved algorithm is verified by simulation results. © 2019, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
Keyword ：
Robot programming Robot programming Mobile robots Mobile robots Optimization Optimization Motion planning Motion planning Explosives Explosives Health Health Benchmarking Benchmarking
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| GB/T 7714 | Xue, Yu-Ying , Zhang, Xiang-Yin , Zhang, Guo-Liang et al. Path planning and smoothing based on quantum-behaved fireworks algorithm for mobile robot [J]. | Control Theory and Applications , 2019 , 36 (9) : 1398-1408 . |
| MLA | Xue, Yu-Ying et al. "Path planning and smoothing based on quantum-behaved fireworks algorithm for mobile robot" . | Control Theory and Applications 36 . 9 (2019) : 1398-1408 . |
| APA | Xue, Yu-Ying , Zhang, Xiang-Yin , Zhang, Guo-Liang , Jia, Song-Min . Path planning and smoothing based on quantum-behaved fireworks algorithm for mobile robot . | Control Theory and Applications , 2019 , 36 (9) , 1398-1408 . |
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Abstract ：
研究室内未知环境下的移动机器人自主探索问题,并提出改进策略.首先,提出一种基于可通行区域的探索目标点快速提取方法,以补充原有方法在特殊环境结构下出现的提取探索目标点失败的缺陷;然后,提出一种基于激光数据和栅格地图信息的实时拓扑地图构建与优化方法,使得探索地图更加精简,探索过程更加高效;最后,通过改进的避障模块实现机器人的运动控制,以到达机器人安全探索的目标.同时,该系统采取机器人操作系统(Robot operating system, ROS)下的分布式结构,将整体算法合理分配到客户端和服务器,降低系统实现的硬件要求.现场实验表明,所提出方法具有良好的自主导航性能,在较复杂的室内未知环境下,仍...
Keyword ：
拓扑地图优化 拓扑地图优化 避障 避障 移动机器人 移动机器人 自主探索 自主探索 目标点提取 目标点提取 机器人操作系统分布式结构 机器人操作系统分布式结构
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| GB/T 7714 | 李秀智 , 龚月 , 张祥银 et al. 一种室内移动机器人自主探索方法 [J]. | 控制与决策 , 2019 , 34 (06) : 1227-1233 . |
| MLA | 李秀智 et al. "一种室内移动机器人自主探索方法" . | 控制与决策 34 . 06 (2019) : 1227-1233 . |
| APA | 李秀智 , 龚月 , 张祥银 , 贾松敏 , 梁兴楠 . 一种室内移动机器人自主探索方法 . | 控制与决策 , 2019 , 34 (06) , 1227-1233 . |
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Abstract ：
针对移动机器人全局路径规划问题,提出一种基于量子行为烟花算法(quantum-behaved fireworks algorithm,QFWA)的路径规划方法.改进算法在基本烟花算法(fireworks algorithm, FWA)的基础上增加了基于量子行为的烟花爆炸策略.该策略使得种群在接近全局最优时具有较强的局部搜索能力,同时在种群远离全局最优位置时具有较强的全局搜索能力.改进算法提高了烟花爆炸产生火花的多样性和算法的收敛速度.在Benchmark测试函数上将改进算法与其他几种优化算法进行了对比,结果表明改进算法的性能优于其他算法.将QFWA应用于求解移动机器人路径规划问题,并采用均值滤...
Keyword ：
路径平滑 路径平滑 烟花算法 烟花算法 均值滤波 均值滤波 量子行为 量子行为 人工势场法 人工势场法 路径规划 路径规划
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| GB/T 7714 | 薛裕颖 , 张祥银 , 张国梁 et al. 基于量子行为烟花算法的移动机器人路径规划及平滑 [J]. | 控制理论与应用 , 2019 , 36 (09) : 1398-1408 . |
| MLA | 薛裕颖 et al. "基于量子行为烟花算法的移动机器人路径规划及平滑" . | 控制理论与应用 36 . 09 (2019) : 1398-1408 . |
| APA | 薛裕颖 , 张祥银 , 张国梁 , 贾松敏 . 基于量子行为烟花算法的移动机器人路径规划及平滑 . | 控制理论与应用 , 2019 , 36 (09) , 1398-1408 . |
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Abstract ：
移动机器人自主建图是完成智能行为的前提。为提高机器人智能水平和直观的用户交互,地图需要扩展超出几何和外观信息的语义信息。研究了将基于深度残差网络(DRN)的像素级图像语义分割和三维同时定位与建图(SLAM)相融合的三维语义地图构建方法。首先,采用一种联合中值滤波算法进行深度图像的修复,使用改进的迭代最近点(ICP)算法得到相机估计位姿以及基于随机蕨类的闭环检测构建出三维环境地图;其次,采用优化的深度残差网络对输入的图像实现较精准的像素语义级别的预测与分割;最后,采用贝叶斯更新方法,渐进式的将图像分割获取的语义分类标签迁移到重建的室内三维模型中,获得完整的三维语义地图。实验表明,所设计的方法可以...
Keyword ：
三维语义地图 三维语义地图 贝叶斯更新 贝叶斯更新 图像语义分割 图像语义分割 闭环优化 闭环优化 同时定位与建图 同时定位与建图
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| GB/T 7714 | 单吉超 , 李秀智 , 张祥银 et al. 室内场景下实时地三维语义地图构建 [J]. | 仪器仪表学报 , 2019 , 40 (05) : 240-248 . |
| MLA | 单吉超 et al. "室内场景下实时地三维语义地图构建" . | 仪器仪表学报 40 . 05 (2019) : 240-248 . |
| APA | 单吉超 , 李秀智 , 张祥银 , 贾松敏 . 室内场景下实时地三维语义地图构建 . | 仪器仪表学报 , 2019 , 40 (05) , 240-248 . |
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