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学者姓名：何虔恩
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Abstract ：
In recent years, mobile robots have found extensive application across diverse sectors including industry, agriculture, healthcare, and defense. However, relying solely on a single sensor for mobile robot localization presents several challenges, such as limited accuracy, divergence of localization errors over time, and susceptibility to obstruction from obstacles. This paper proposes an indoor mobile robot localization algorithm assisted by Ultra-Wideband (UWB). The algorithm begins by calculating the credibility of the Line-of-Sight (LOS) environment using UWB ranging measurements and predicted distances, enabling the identification of the Non-Line-of-Sight (NLOS) environment. Subsequently, ranging measurements affected by NLOS errors are compensated by using a complementary filter. Finally, these measurements are utilized for Extended Kalman Filter updates to achieve the best estimation of the mobile robot’s position. Field tests are conducted on a wheeled robot to validate the effectiveness and performance of the developed approach. Results show that the localization approach reduces the maximum localization error from 41 cm to 19 cm compared to UWB trilateration, achieving a 53.7% improvement. Even under a prolonged NLOS environment, the algorithm ensures that the localization error remains below 25 cm. The proposed method is of significant merit in solving the challenge of indoor mobile robot localization.
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| GB/T 7714 | Guobao He , Qianen He . Study on the indoor mobile robot localization based on multi-sensor fusion [J]. | Journal of Physics:Conference Series , 2024 , 2803 (1) . |
| MLA | Guobao He 等. "Study on the indoor mobile robot localization based on multi-sensor fusion" . | Journal of Physics:Conference Series 2803 . 1 (2024) . |
| APA | Guobao He , Qianen He . Study on the indoor mobile robot localization based on multi-sensor fusion . | Journal of Physics:Conference Series , 2024 , 2803 (1) . |
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Low-cost microelectromechanical inertial measurement units (MIMUs) are widely used in various fields such as healthcare, sports, industry, and indoor navigation. However, rapid and robust heading alignment under dynamic conditions remains a challenge. A novel heading alignment method of low-cost MIMU using position loci for indoor navigation is proposed. Aiming at the state-of-the-art acceleration-based optimization-based alignment (ABOBA) method's vulnerability to dynamic disturbances, the observation equation of the initial attitude matrix is established based on velocity and position loci. On this basis, Davenport's q-method is adopted to estimate the initial attitude. Field tests are conducted under dynamic conditions with about 0.7 m/s to verify the performance of the proposed method and the effect of the referenced position error on the heading alignment is explored. Results show that the initial heading error could be quickly converged to less than 4 degrees within 5 s, which is far better than the state-of-the-art method and is of significant merits to solve the challenge of in-motion accurate heading alignment under weak acceleration conditions.
Keyword ：
Accelerometers Accelerometers Indoor navigation Indoor navigation Inertial navigation Inertial navigation in-motion heading alignment method in-motion heading alignment method low-cost microelectromechanical inertial measurement unit (MIMU) low-cost microelectromechanical inertial measurement unit (MIMU) Odometers Odometers position loci position loci Vectors Vectors Vehicle dynamics Vehicle dynamics Wheels Wheels
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| GB/T 7714 | He, Qianen , He, Guobao , Yang, Hongze et al. In-Motion Rapid and Robust Heading Alignment of Low-Cost Inertial Measurement Units Using Position Loci for Indoor Navigation [J]. | IEEE SENSORS JOURNAL , 2024 , 24 (12) : 19454-19465 . |
| MLA | He, Qianen et al. "In-Motion Rapid and Robust Heading Alignment of Low-Cost Inertial Measurement Units Using Position Loci for Indoor Navigation" . | IEEE SENSORS JOURNAL 24 . 12 (2024) : 19454-19465 . |
| APA | He, Qianen , He, Guobao , Yang, Hongze , Chen, Shen , Wang, Jiaqing , Liu, Sheng . In-Motion Rapid and Robust Heading Alignment of Low-Cost Inertial Measurement Units Using Position Loci for Indoor Navigation . | IEEE SENSORS JOURNAL , 2024 , 24 (12) , 19454-19465 . |
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Permanent magnet synchronous motors (PMSMs) are widely used in a variety of fields such as aviation, aerospace, marine, and industry due to their high angular position accuracy, energy conversion efficiency, and fast response. However, driving errors caused by the non-ideal characteristics of the driver negatively affect motor control accuracy. Compensating for the errors arising from the non-ideal characteristics of the driver demonstrates substantial practical value in enhancing control accuracy, improving dynamic performance, minimizing vibration and noise, optimizing energy efficiency, and bolstering system robustness. To address this, the mechanism behind these non-ideal characteristics is analyzed based on the principles of space vector pulse width modulation (SVPWM) and its circuit structure. Tests are then conducted to examine the actual driver characteristics and verify the analysis. Building on this, a real-time compensation method is proposed, physically matched to the driver. Using the volt-second equivalence principle, an input-output voltage model of the driver is derived, with model parameters estimated from test data. The driving error is then compensated with a voltage method based on the model. The results of simulations and experiments show that the proposed method effectively mitigates the influence of the driver's non-ideal characteristics, improving the driving and speed control accuracies by 88.07% (reducing the voltage error from 0.7345 V to 0.0879 V for a drastic command voltage with a sinusoidal amplitude of 10 V and a frequency of 50 Hz) and 53.08% (reducing the speed error from 0.0130 degrees/s to 0.0061 degrees/s for a lower command speed with a sinusoidal amplitude of 20 degrees and a frequency of 0.1 Hz), respectively, in terms of the root mean square errors. This method is cost-effective, practical, and significantly enhances the control performance of PMSMs.
Keyword ：
driving error compensation driving error compensation permanent magnet synchronous motor permanent magnet synchronous motor space vector pulse width modulation space vector pulse width modulation speed control speed control
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| GB/T 7714 | Chen, Qihang , Wu, Wanzhen , He, Qianen . Characteristic Analysis and Error Compensation Method of Space Vector Pulse Width Modulation-Based Driver for Permanent Magnet Synchronous Motors [J]. | SENSORS , 2024 , 24 (24) . |
| MLA | Chen, Qihang et al. "Characteristic Analysis and Error Compensation Method of Space Vector Pulse Width Modulation-Based Driver for Permanent Magnet Synchronous Motors" . | SENSORS 24 . 24 (2024) . |
| APA | Chen, Qihang , Wu, Wanzhen , He, Qianen . Characteristic Analysis and Error Compensation Method of Space Vector Pulse Width Modulation-Based Driver for Permanent Magnet Synchronous Motors . | SENSORS , 2024 , 24 (24) . |
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Currently, wideband integrated optical phase modulators are available in several types such as silicon modulators, polymer modulators, and lithium niobate modulators [1], [2]. Among these, Lithium niobate (LiNbO3) phase modulators are particularly noteworthy due to their extensive applications in the fields of fiber optic communication, microwave photonics, and fiber optic sensing [3]-[5]. Designing corresponding high-precision phase modulator driver circuits is crucial to achieve accurate modulation of optical phase. Nonetheless, due to the impact of structure asymmetry, electronic noise and weak interference immunity, traditional phase modulator driving circuits cannot ensure the driving voltage sequences applied to the two electrodes strictly align. It could cause phase deviation in actuality and reduce the modulation accuracy.
Keyword ：
Circuit synthesis Circuit synthesis Design engineering Design engineering Lithium niobate Lithium niobate Optical design Optical design Optical fibers Optical fibers Optical fiber sensors Optical fiber sensors Optical modulation Optical modulation Optical polymers Optical polymers Phase measurement Phase measurement Phase modulation Phase modulation Silicon Silicon Wideband Wideband
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| GB/T 7714 | He, Qianen , Wang, Jiaqing , Zeng, Congjie et al. Analysis and Design of High-Accuracy Driving Circuit for Wideband Phase Modulators [J]. | IEEE INSTRUMENTATION & MEASUREMENT MAGAZINE , 2024 , 27 (4) : 76-82 . |
| MLA | He, Qianen et al. "Analysis and Design of High-Accuracy Driving Circuit for Wideband Phase Modulators" . | IEEE INSTRUMENTATION & MEASUREMENT MAGAZINE 27 . 4 (2024) : 76-82 . |
| APA | He, Qianen , Wang, Jiaqing , Zeng, Congjie , He, Guobao , Xu, Xiuying . Analysis and Design of High-Accuracy Driving Circuit for Wideband Phase Modulators . | IEEE INSTRUMENTATION & MEASUREMENT MAGAZINE , 2024 , 27 (4) , 76-82 . |
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Efficient detection of smoke plays a critical role in preventing and suppressing fires. However, smoke is generally of variable shapes and colors, blurred borders, and irregular textures, which makes smoke detection based on deep learning a challenging task. Aiming at this problem, a smoke detection adaptive deep model named DB-YOLO is proposed. In the model, Spatial attention-based Dynamic Convolution kernel (SDConv) is designed and embedded as a feature extraction block to improve the ability of extracting representative features from images of diverse textures. Besides, an improved Bi-directional Feature Pyramid Network (BiFPN) is integrated as a feature fusion block to fuse multi-scale features. Results show that mAP@0.5 of the DB-YOLO can increase by 6.08% to 14.40% in smoke dataset compared to currently popular object detection models. © 2023 IEEE.
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| GB/T 7714 | Zhang, Huisheng , He, Qianen . Smoke Detection Model Based on Adaptive Feature Extraction Network [C] . 2023 . |
| MLA | Zhang, Huisheng et al. "Smoke Detection Model Based on Adaptive Feature Extraction Network" . (2023) . |
| APA | Zhang, Huisheng , He, Qianen . Smoke Detection Model Based on Adaptive Feature Extraction Network . (2023) . |
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Visual tracking of objects in complex environment is generally of low accuracy and high identity switching rate due to the changes of visual and motion characteristics, which brings challenges to the complete prediction of the object trajectory and can hardly be overcome by traditional object tracking algorithms. This paper introduces a novel object tracking model which enhances tracking accuracy by integrating deep learning and depth. The tracking algorithm centered on the acquisition of depth can not only facilitate the retrieval of lost objects but also expeditiously eliminate falsely detected objects. This approach effectively reduces interruptions in object tracking trajectories during object motion. Rigorous tests in diverse scenarios show the proposed algorithm achieves a tracking accuracy (MOTA) of 88.12%, representing a substantial enhancement of 3.54% over the baseline algorithm, and witnessing a noteworthy 73.68% reduction in identity switch frequency. © 2023 IEEE.
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| GB/T 7714 | Wang, Qiming , He, Qianen . Deep Learning and Depth Integrated Method for Visual Tracking of Object under Complicated Background [C] . 2023 . |
| MLA | Wang, Qiming et al. "Deep Learning and Depth Integrated Method for Visual Tracking of Object under Complicated Background" . (2023) . |
| APA | Wang, Qiming , He, Qianen . Deep Learning and Depth Integrated Method for Visual Tracking of Object under Complicated Background . (2023) . |
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Wearable motion-capture systems offer promising avenues for human lower limb rehabilitation. However, unstable data transmission and attitude estimation challenge their practical application. Aiming at this problem, a reliable method utilizing wearable inertial sensors for rehabilitation applications is innovatively proposed and implemented within our designed wearable motion-capture systems tailored to patients with impaired lower limbs. A stable data transmission process based on star-type Bluetooth body sensor networks is designed by establishing a connection parameter setting method to guarantee reliable attitude estimation. Then, a robust attitude estimating method based on an improved gradient descent method is proposed to promote the anti-interference capability of the algorithm by introducing trust coefficients. Lower limb motion-capture experiments are conducted, and results show that the proposed method enables the system to maintain a package loss rate of no more than 0.24% and has a maximum coefficient of variation (CV) of 5.9% during the data transmission process. Attitude estimation reliability experiments reveal that the proposed algorithm substantially enhances anti-interference capabilities while preserving estimation accuracy. Compared to the state-of-the-art method, under acceleration shock, estimation errors decrease by up to 39.1% (roll), 42.9% (pitch), and 20.2% (yaw). When exposed to external magnetic field interference, conventional estimation algorithms falter, whereas the proposed method maintains an average error within 2 degrees. Significance analysis underscores the method's distinctiveness at the 0.05% significance level (p < 0.05). This study effectively bridges the gap between wearable inertial motion-capture systems and their application in clinical lower limb rehabilitation.
Keyword ：
Attitude estimation Attitude estimation limb rehabilitation limb rehabilitation reliability enhancement reliability enhancement wearable motion-capture system wearable motion-capture system
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| GB/T 7714 | Yang, Hongze , Lu, Yong , Zheng, Zhiyong et al. Reliability Enhancement Method of Attitude Estimation for Wearable Motion-Capture Systems in Human Lower Limb Rehabilitation [J]. | IEEE SENSORS JOURNAL , 2023 , 23 (21) : 26677-26690 . |
| MLA | Yang, Hongze et al. "Reliability Enhancement Method of Attitude Estimation for Wearable Motion-Capture Systems in Human Lower Limb Rehabilitation" . | IEEE SENSORS JOURNAL 23 . 21 (2023) : 26677-26690 . |
| APA | Yang, Hongze , Lu, Yong , Zheng, Zhiyong , Liu, Sheng , He, Guobao , Chen, Shen et al. Reliability Enhancement Method of Attitude Estimation for Wearable Motion-Capture Systems in Human Lower Limb Rehabilitation . | IEEE SENSORS JOURNAL , 2023 , 23 (21) , 26677-26690 . |
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Timely detection of swimming accidents plays a critical role in keeping the safety of infants in pools. However, the targets in the infant drowning detection are generally small, densely-distributed and often immersed in complicated environment with lighting various and toy disturbances, and thus there are currently few efficient, accurate and comprehensive solutions for such a task. Aiming at this problem, a novel intelligent real-time framework for detecting infant drowning is proposed. Processing of the framework includes two stages: in stage I, an attention mechanism-integrated YOLOv5-alike model is designed to extract infant portrait foreground, which can reduce the interferences caused by background noise and improve the accuracy of detecting tiny objects. On this basis, in stage II, Single Shot Multi-box Detector (SSD) is utilized to filter out the falsely -detected targets in stage I and recognize swimming posture accurately. Live videos are collected from ten infant swimming pools to generate training dataset of totally 7,296 swimming images and 7,723 portrait images of infants for stage I and II respectively. And a set of 1,222 infant swimming images from another two pools are annotated to test the trained framework. Experimental results show that the Mean Average Precision (mAP) of the framework is 97.17%, and the processing speed can reach 43 frames per second, which outperforms any previous related network and has significant application value in practical infant drowning detection. Additionally, a web-based platform is developed to put the framework into practice, whose preliminary test results demonstrate its strong application potential.
Keyword ：
Attention mechanism Attention mechanism Deep learning Deep learning Infant drowning detection Infant drowning detection SSD SSD YOLOv5 YOLOv5
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| GB/T 7714 | He, Qianen , Zhang, Huisheng , Mei, Zhiqiang et al. High accuracy intelligent real-time framework for detecting infant drowning based on deep learning [J]. | EXPERT SYSTEMS WITH APPLICATIONS , 2023 , 228 . |
| MLA | He, Qianen et al. "High accuracy intelligent real-time framework for detecting infant drowning based on deep learning" . | EXPERT SYSTEMS WITH APPLICATIONS 228 (2023) . |
| APA | He, Qianen , Zhang, Huisheng , Mei, Zhiqiang , Xu, Xiuying . High accuracy intelligent real-time framework for detecting infant drowning based on deep learning . | EXPERT SYSTEMS WITH APPLICATIONS , 2023 , 228 . |
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A UWB high-accuracy distance measurement method based on hybrid compensation of temperature and distance error was proposed in this paper. First, we explored the influence of the signal propagation time error and analyzed the influence of temperature and humidity on ranging results. The linear correlation coefficient of ranging error with temperature is-0.8793, and that with humidity is 0.0147. Based on this experimental result, we established a temperature compensation model of ranging error. Then, we collected 31 sets of experimental data in the range of 0-190 m to explore the relationship between timestamp delay error and actual distance, and finally obtained a hybrid compensation model based on temperature and distance. The statistical results show that the error after hybrid compensation are similar to the Gaussian distribution. This will improve the esti-mation accuracy of the Kalman filter. The model was also tested in different environments to verify its robustness.
Keyword ：
Gaussian distribution Gaussian distribution Hybrid compensation Hybrid compensation Temperature compensation Temperature compensation UWB UWB
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| GB/T 7714 | Liu, Sheng , Yang, Hongze , Mei, Zhiqiang et al. Ultra-wideband high accuracy distance measurement based on hybrid compensation of temperature and distance error [J]. | MEASUREMENT , 2022 , 206 . |
| MLA | Liu, Sheng et al. "Ultra-wideband high accuracy distance measurement based on hybrid compensation of temperature and distance error" . | MEASUREMENT 206 (2022) . |
| APA | Liu, Sheng , Yang, Hongze , Mei, Zhiqiang , Xu, Xiuying , He, Qianen . Ultra-wideband high accuracy distance measurement based on hybrid compensation of temperature and distance error . | MEASUREMENT , 2022 , 206 . |
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Motion capture system can transform motion information of human body into digital data for analysis and processing in computer or cyberspace. It is an important medium to connect physical space and cyberspace. Aiming at the problems of high cost and high power consumption of existing inertial motion capture systems, this paper proposes a wearable wireless motion capture system based on nine-axis inertial sensor and Bluetooth Low Energy technology. The system can capture the motion trajectory of human body and realize real-time human motion display and data storage in computer. An explicit complementary filtering algorithm based on proportional integral model is used in the process of character motion update. Motion capture experiments are carried out on a human body and results show that the system has sound dynamic performance with the error less than 2 degrees and can achieve efficient human motion capture. The sampling frequency of the system reaches 125Hz and the working time is up to 10 hours. The system can serve as the basis for developing affordable human motion capture solutions that require long-term testing without precise kinematic analysis. © 2022 IEEE.
Keyword ：
Acceleration Acceleration Bluetooth Bluetooth Costs Costs Data handling Data handling Digital storage Digital storage Inertial navigation systems Inertial navigation systems Two term control systems Two term control systems Wearable sensors Wearable sensors
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| GB/T 7714 | He, Qianen , Zheng, Zhiyong , Zhu, Xiangyu et al. Design and Implementation of Low-Cost Inertial Sensor-Based Human Motion Capture System [C] . 2022 : 664-669 . |
| MLA | He, Qianen et al. "Design and Implementation of Low-Cost Inertial Sensor-Based Human Motion Capture System" . (2022) : 664-669 . |
| APA | He, Qianen , Zheng, Zhiyong , Zhu, Xiangyu , Zhang, Huisheng , Su, Yujie , Xu, Xiuying . Design and Implementation of Low-Cost Inertial Sensor-Based Human Motion Capture System . (2022) : 664-669 . |
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