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

Preface
Organization
Contents – Part I
Contents – Part II
Rehabilitation Robotics and Safety
A Novel Approach to Abnormal Gait Recognition Based on Generative Adversarial Networks
	Abstract
	1 Introduction
	2 Abnormal Gait Recognition Based on Generative Adversarial Networks
		2.1 Abnormal Gait Images
		2.2 InfoGAN: Interpretable Representation Learning by Information Maximizing Generative Adversarial Nets
		2.3 ACGAN: Auxiliary Classifier Generative Adversarial Nets
		2.4 AGR-GAN: Abnormal Gait Recognition Generative Adversarial Network
		2.5 AGR-GAN Recognition Network
	3 Experiments and Analysis
		3.1 Gait Dataset
		3.2 Experimental Design
		3.3 Experiments
	4 Conclusions
	References
A Novel Non-contact Recognition Approach of Walking Intention Based on Long Short-Term Memory Network
	Abstract
	1 Introduction
	2 Walking Rehabilitation Training Robot
		2.1 Structure Introduction of Walking Rehabilitation Training Robot
		2.2 Kinematics Model
	3 Walking Intention Recognition Method
		3.1 LSTM Neural Network
		3.2 Training Method of LSTM Neural Network
		3.3 Model Design Based on Walking Intention Recognition
	4 Simulation and Experiment
		4.1 Prediction Model Parameters
		4.2 Result Analysis
		4.3 Performance Evaluation of Prediction Models
	5 Conclusion
	References
A Novel Optimization Approach Oriented to Auxiliary Transfer Based on Improved Reinforcement Learning
	Abstract
	1 Introduction
	2 The Transfer Control System of Excretory Support Robot
		2.1 Excretory Support Robot
		2.2 The Two-Link Model of Human Lower Limb
	3 An Optimization Transfer Method Based on Fuzzy-Reinforcement Learning
		3.1 Reinforcement Learning
		3.2 Fuzzy Evaluation System
		3.3 The Self-learning Strategy of the Combination of Fuzzy Reasoning and Reinforcement Learning
	4 Simulation and Experimental Verification
	5 Conclusion
	References
Analysis of Continuous Motion Angle for Lower Limb Exoskeleton Robot Based on sEMG Signal
	Abstract
	1 Introduction
	2 Experiment
		2.1 Subjects
		2.2 Experiment Process
	3 Data Analysis and Experimental Results
		3.1 Analysis of Starting and Stopping Points of Movement
		3.2 Analysis of Starting and Stopping Points of Movement
		3.3 Feature Extraction
	4 Classification and Recognition
	5 Verification
	6 Conclusion
	Acknowledgements
	References
Modelling for a 6DOF Anthropomorphic Manipulator
	Abstract
	1 Introduction
	2 Kinematics and Dynamics Model
		2.1 Overview of the Robot
		2.2 System Architecture of the Robot
		2.3 Kinematics
		2.4 Dynamics
	3 Simulation and Verification
	4 Conclusion and Future Work
	Appendix A
	References
Machine Vision Application
Object Texture Transform Based on Improved CycleGAN
	Abstract
	1 Introduction
	2 Related Work
		2.1 Generative Adversarial Networks
		2.2 CycleGAN
		2.3 Self-attention Algorithm
	3 Model
	4 Experiment
		4.1 Visual Effect
		4.2 Stability and Speed of Convergence
	5 Conclusion
	References
Research on Human Interaction Recognition Algorithm Based on Interest Point of Depth Information Fusion
	Abstract
	1 Introduction
	2 The Framework of Proposed Method
		2.1 Training Phase of Interest Point of Depth Information Fusion
		2.2 Recognition Phase of Interest Point of Depth Information Fusion
	3 Hierarchical STIP Representation with Depth Information
		3.1 STIP Detection and Description
		3.2 Building a Visual Dictionary
		3.3 Hierarchical Feature Representation
	4 Experiments and Results Analysis
		4.1 Dataset and Experimental Settings
		4.2 The Recognition Results of Different Gray Values
		4.3 The Recognition Results of Decision-Level Fusion
		4.4 The Recognition Results Compared with Other Methods
	5 Conclusion
	Acknowledgements
	References
Pose Estimation for Planar Target Based on Monocular Visual Information
	Abstract
	1 Introduction
	2 Image Feature Detection and Recognition
		2.1 Image Preprocessing
		2.2 Ellipse Fitting and Ellipse Center Acquisition
	3 Target Pose Estimation
		3.1 Camera Model and Calibration
		3.2 Pose Estimation Method
	4 Experimental Results
		4.1 Camera Calibration Experiment
		4.2 Error Analysis Experiment of Attitude Angle
		4.3 Error Analysis Experiment of Position
	5 Conclusion
	References
Context-Aware Convolutional Neural Network for Single Image Super-Resolution
	Abstract
	1 Introduction
	2 Related Work
	3 The Proposed Method
		3.1 Network Architecture
		3.2 Spatial Feature Extraction
		3.3 Channel Feature Extraction
	4 Experiment
		4.1 Data
		4.2 Training Details
		4.3 Results Comparison
		4.4 Number of Parameters and Execution Time
	5 Conclusion
	References
Electric Drive and Power System Fault Diagnosis
Online Fault Diagnosis of High-Voltage Vacuum Circuit Breaker Based on Deep Convolutional Long Short-Term Memory Network
	1 Introduction
	2 Convolution Neural Network Model
	3 CNN-LSTM Model
		3.1 Convolution Layer
		3.2 Long-Short Term Memory Model
	4 Experiment and Results
		4.1 Acquisition of Vibration Signal of High Voltage Circuit Breaker
		4.2 Model Parameter Setting and Evaluation Method
		4.3 Experimental Analysis
	5 Summary
	References
Online Fault Diagnosis of Power Transformer with Temporal and Spatial Features
	1 Introduction
	2 Convolution Neural Network Model
	3 LSTM Model
	4 Case Study
		4.1 Fault Samples and Data Preprocessing
		4.2 Evaluation Criteria and Parameter Setting
		4.3 Comparative Analysis
	5 Summary
	References
Robust Stability and Stabilization
Real-Time Path Planning with Application for Multi-UAVs to Track Moving Target
	Abstract
	1 Introduction
	2 Modeling of Path Planning
		2.1 Problem Description
		2.2 Modeling of UAV
		2.3 Modeling of Target
	3 Cooperative Moving Target Tracking by LGVF
		3.1 Target Tracking by High-Altitude UAV
		3.2 Target Tracking by Low-Altitude UAV
	4 The Optimizing Index of Path
	5 Simulation
	6 Conclusion
	References
Research on Energy Management Strategy of Isolated Microgrid with Photovoltaic Power Generation
	Abstract
	1 Introduction
	2 Research on Energy Management of Independent	Micro-Grid Considering Randomness
		2.1 Energy Management Strategy for Independent Operation	of Micro-Grid
		2.2 Dispatch Flexibility of Independent Operation of Micro-Grid
	3 Construction of Independent Micro-Grid Operation Model with Photovoltaic Power Generation System
		3.1 Objective Function
		3.2 Restrictions
	4 Multi-objective Optimization Processing of Micro-Grid
		4.1 Multi-objective NSGA-II Optimization Algorithm
		4.2 The NSGA-II Algorithm Process
	5 Example Analysis
		5.1 Basic Data of Micro-Grid
	6 Optimization Results
	7 Conclusion
	References
Quantitative Analysis of Oil Drilling Fluid Based on Partial Least Square Method
	1 Introduction
	2 Establishment of Mathematical Model – Partial Least Squares Algorithm PLS
	3 Establishment and Verification of Mathematical Model
	4 Prediction of Concentration Percentage Based on Mathematical Model
	5 Conclusion
	References
Blurring Detection Based on Selective Features for Iris Recognition
	Abstract
	1 Introduction
	2 Technical Details
		2.1 Pupil Localization
		2.2 Statistical Features on Space Domain
		2.3 Statistical Feature on Frequency Domain
		2.4 Classify Feature via SVM
	3 Feature Selection via LASSO
	4 Feature Classification via SVM
	5 Performance Evaluation
	6 Conclusion
	Acknowledgement
	References
Minimize State Jumps and Guaranteed Cost Control for a Class of Switched Descriptor Systems
	1 Introduction
	2 Problem Statement and Preliminaries
	3 Admissible Control and Guaranteed Cost Control
	4 Minimize State Jumps and Guaranteed Cost Control
	5 Example
	6 Conclusions
	References
Intelligent Method Application
Entropy Based Ranking Method for Nodes on Weighted and Directed Networks
	1 Introduction
	2 Related Works
	3 Methodology
		3.1 Highlights of Information Entropy
		3.2 Direct Influence Computation
		3.3 Indirect Influence Computation
	4 Node Ranking Distinction
		4.1 Epidemic Model
	5 Experimental Results
	6 Conclusions and Recommendations
	References
Target Detection in UAV Automatic Landing Based on Artificial Bee Colony Algorithm with Bio-Inspired Strategy Approach
	Abstract
	1 Introduction
	2 Bio-Inspired Artificial Bee Colony Algorithm
		2.1 Principles of the ABC Algorithm
		2.2 Principles of BABC
	3 Template Matching Based on the Bio-Inspired Artificial Bee Colony Algorithm
		3.1 Template Matching Methods
		3.2 Fitness Function
		3.3 Gray Scale Value Template Matching Based on BABC
	4 Experimental Results and Analysis
		4.1 Simulation Experiment of Test Functions
		4.2 The Simulation Experiments of Image Matching
	5 Conclusions
	Conflict of Interest
	References
Research on Multi-modal Emotion Recognition Based on Speech, EEG and ECG Signals
	Abstract
	1 Introduction
	2 Multi-modal Emotion Recognition Patterns
	3 Pretreatment and Emotional Feature Extraction
	4 Emotion Recognition Classifiers
		4.1 Speech Emotion Recognition Based on PNN
		4.2 EEG Emotion Recognition Based on SVC
		4.3 ECG Emotion Recognition Based on ELM
	5 Emotional Information Fusion at Decision Level Based on Voting
	6 Experimental Analysis
		6.1 Data Selection
		6.2 Results and Discussions
	7 Conclusion
	Acknowledgements
	References
Research on Performance Evaluation Method of Fuzzy C-Means Clustering Process Based on PLS Method
	Abstract
	1 Introduction
	2 Partial Least Squares
	3 Fuzzy C-Means Clustering Algorithm
	4 Process Performance Evaluation Method
	5 Simulation
		5.1 Industrial Process Description
		5.2 Establishment of Prediction Model
		5.3 Performance Status Analysis
	6 Conclusion
	References
Intelligent Control and Perception
Path Following Method of a Snake Robot Based on Unilateral Edge Guidance Strategy
	Abstract
	1 Introduction
	2 Analysis of Serpentine Gait
	3 Direction Control Method
	4 Path Edge Guidance Strategy
	5 Simulation and Analysis
		5.1 Trajectory Analysis
		5.2 Parameter Analysis
		5.3 Adaptability Analysis
	6 Conclusion
	Acknowledgements
	References
A Novel Method on Probability Evaluation of ZC Handover Scenario Based on SMC
	Abstract
	1 Introduction
	2 Method
		2.1 Priced Timed Automata Model of CBTC
		2.2 The Algorithm Stochastic Model Checking of CBTC System
		2.3 The Modelling, Verification and Probability Analysis in UPPAAL SMC
	3 The ZC Handover Scenario of CBTC
		3.1 ZC Triggered Handover
		3.2 Crossing Demarcation Point
		3.3 Logout Switching
	4 The Modeling and Probability Evaluation of ZC Handover
		4.1 Trigger Handover Modeling and Verification
		4.2 Crossing Demarcation Point Modeling and Verification
		4.3 Logout Switching Modeling and Verification
		4.4 Probability Evaluation of ZC Handover
	5 Conclusion
	Acknowledgments
	References
Smart Remanufacturing and Industrial Intelligence
Dynamic Adaptive Impedance Matching in Magnetic Coupling Resonant Wireless Power Transfer System
	Abstract
	1 Introduction
	2 Magnetically Coupled Resonators Model
	3 Optimization of Magnetic Coupled Resonant Network
	4 Experimental and Result Analysis
	5 Conclusions
	Acknowledgments
	References
Text Recognition for Automated Test Execution in Interlocking: A Deep Learning Approach
	Abstract
	1 Introduction
	2 Computer-Based Interlocking System
	3 Character Recognition Model Based on CNN
		3.1 Making Training Set
		3.2 Model Building and Training
	4 A Three-Level Character Segmentation Method
		4.1 Image Preprocessing and Binarization
		4.2 Criterion for Evaluating Segmentation Effect——Score
		4.3 First Level Segmentation Based on Analysis of Character Connected Domain
		4.4 Second Level Character Segmentation Based on Analysis of Cumulative Projection of Vertical Pixels
		4.5 Third Level Character Segmentation Based on Analysis of Contour Projection
	5 Experimental Result
	6 Conclusion
	Acknowledgment
	References
A LSTM-Based Passenger Volume Forecasting Method for Urban Railway Systems
	Abstract
	1 Introduction
		1.1 A Subsection Sample
	2 Related Works
	3 LSTM-Based Passenger Volume Forecasting Method
		3.1 LSTM Neural Network Model
		3.2 Procedure of Applying LSTM in Passenger Volume Forecasting
	4 Experimental Results
		4.1 Data-Set
		4.2 Short-Term Forecast Results
	5 Conclusion
	Acknowledgement
	References
Intelligent Control of Integrated Energy System
Multi-objective Coordination and Optimal Scheduling of Integrated Energy System for Improving Wind Power Consumption
	Abstract
	1 Introduction
	2 P2G and Establishment of Energy Hub Model
		2.1 The Principle of Power to Gas (P2G)
		2.2 P2G Operating Costs
		2.3 Modeling of Energy Hub with P2G
	3 Multi-objective Day-Ahead Scheduling Model for Integrated Energy Systems
		3.1 Objective Function
		3.2 Constraints
	4 Multi-objective Coordinated Optimization Processing
		4.1 Improved Multi-objective Particle Swarm Optimization Algorithm
		4.2 Eclectic Solution
	5 Example Analysis
		5.1 Study System Introduction
		5.2 Impact of P2G Raw Material Cost on System Scheduling Operation
		5.3 Analysis of Optimization Result
	6 Conclusion
	Acknowledgement
	References
Research on the Transformation Method of Power Grid Equipment Model Based on Improved BP Neural Network
	Abstract
	1 Introduction
	2 Background Technology of Model Transformation
		2.1 Model Transformation of Power Grid Equipment
		2.2 Characteristics of BP Neural Network
	3 Transformation Method of Power Grid Equipment Model Based on Improved BP Neural Network
		3.1 Data Preprocessing
		3.2 Traditional BP Neural Network
		3.3 Improved BP Neural Network
		3.4 Algorithm Description
	4 Experiment
		4.1 Neural Network Training
		4.2 A Subsection Sample
	5 Conclusion
	Acknowledgement
	References
Study on Operation Strategy of Thermal Storage in Thermal Power Plant Based on Continuous Discrete Hybrid Control Method
	Abstract
	1 Introduction
	2 Principle of Correlation of Electric Heat Storage
		2.1 Operation Control Principle of Single Electric Heat Storage Unit
		2.2 Operation Control Principle of Single Electric Heat Storage Unit
		2.3 Electric Heat Storage Control Function
	3 Continuous Discrete Hybrid Control Method for Electric Heat Storage
		3.1 Control Principle of AGC Thermal Power Unit
		3.2 Traditional AGC Adjustment Strategy
		3.3 A Continuous Discrete Hybrid Control Method for Single Analog Instruction
	4 Simulation
	5 Conclusion
	Acknowledgement
	References
Research on High Precision Adaptive Phasor Measurement Algorithm Based on Taylor Series and Discrete Fourier Transform
	Abstract
	1 Introduction
	2 Signal Modeling
	3 Algorithm Synthesis Implementation
		3.1 Time Domain Algorithm
		3.2 Frequency Domain Algorithm
		3.3 Verification Algorithm and Comprehensive Algorithm Implementation
	4 Simulation Analysis
		4.1 Frequency Deviation Analysis
		4.2 Harmonic Influence Analysis
		4.3 Frequency Slope Response Analysis
		4.4 Step Response Analysis
	5 Experimental Test
		5.1 Measurement Accuracy Test Under Dynamic Condition
		5.2 Fast Response Performance Test Under Dynamic Conditions
	6 Conclusion
	Acknowledgement
	References
Research on Multi-energy Trading Mechanism of Energy Internet
	Abstract
	1 Introduction
	2 Energy Hub Model
		2.1 Energy Conversion
		2.2 Energy Storage
	3 The Main Body of Energy Internet Game with Energy Hub
		3.1 Energy Internet Trading Mechanism
		3.2 The Payoff Function for Game Players
		3.3 Nash Equilibrium Solution for Multi-player Transactions
	4 Example Analysis
		4.1 Distribution of Nash Equilibrium Points
		4.2 Comparison of Profit Results of Market Entities
		4.3 Influence of Parameters of Each Trading Entity on Nash Equilibrium
	5 Conclusion
	Acknowledgement
	References
Author Index