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IEEE International Conference on Mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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Efficient Random Subspace Decision Forests with A Simple Probability Dimensionality Setting Scheme

SSRN

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SSRN 2022年

作者： Wang, Quan Wang, Fei Li, Zhongheng Jiang, Peilin Ren, Fuji Nie, Feiping Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing100094 China School of Software Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China School of Computer Science and Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China Northwestern Polytechnical University Shaanxi Xi’an710072 China

The random subspace concept is widely used in decision forests. However, there is not a reasonable approach to specify the appropriate number of randomly selected features. Previous random subspace decision forests simply specify the random subspace dimensionality d s to a preset function value such as [log 2 d ] or [√ d ] where d is the number of the total feature dimensions. Actually, this preset value may be a relatively poor choice for high dimensional data sets. In this paper, a novel framework named Efficient Random Subspace decision forest (ERS) is proposed which pays attention to how to set the random subspace dimensionality for each decision tree of decision forests. Specifically, a simple discrete uniform distribution is employed to set with probability the number of randomly selected features for each tree in random subspace decision forests. The proposed Half Range Discrete Uniform distribution-based Varied Dimensionality setting (HRDUVD) method removes the hesitation of how to preset an appropriate d s for different data sets but also results in good enough classification performance along with relatively short running time. Plenty of experiments on public benchmark data sets have demonstrated the effectiveness and the efficiency of the proposed ERS. © 2022, The Authors. All rights reserved.

关键词： Decision trees

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Discrete Element Simulation of Durability for Bionic Wheels of Mars Rover

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Journal of Physics: Conference Series 2020年第5期1507卷

作者： Y C Lin Y P Yan B F Yuan Y F Liu M Zou Beijing Key Laboratory of Intelligent Space Robotic System Technology and application Institute of Spacecraft System Engineering CAST Beijing 100094 China Key Laboratory for Bionics Engineering of Education Ministry Jilin University Changchun 130022 China

Four kinds of bionic surfaces (convex, scale-like, ribbed and concave shape) for Mars rover wheels were designed to improve wheel durability. A discrete element wheel-soil simulation system was developed, and three-dimensional discrete element analysis and soil bin tests were conducted. The results show that the masses of the convex and scale-like forms increased by 5.4% and 17%, respectively, and that the tangential cumulative forces decreased by about 40% and 70%, respectively. The wear mass decreased by 53% and 47%, respectively, compared with a prototypical wheel. The simulation shows that the durability increased significantly. The average tangential cumulative forces of the concave and ribbed shapes increased by more than 50%, and the wear mass decreased by 35% and 32%, respectively, compared with a prototypical wheel. The simulation shows that the results were not definitive. The analysis shows that the durability of the wheels can be improved via bionic optimization method. These results therefore provide a basis and reference for the design and optimization of the Mars rover's wheel surface.

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Research on obstacle detection and path planning based on visual navigation for mobile robot

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Journal of Physics: Conference Series 2020年第6期1601卷

作者： Yixiao Zheng Bixi Yan Chao Ma Xinyu Wang Haoyang Xue School of Instrument Science and Optoelectronic Engineering Beijing Information Science and Technology University Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

Both obstacle and path planning are of significance for autonomous visual navigation of a mobile robot which is able to realize free movement and obstacle avoidance. In this paper, a scheme of obstacle detection which is based on binocular vision to identify obstacles is constructed and it is combined with improved A* algorithm for obstacle avoidance motion for mobile robot platform. First, a binocular vision system to detect the robot's perception of the environment is used and the visual information is obtained. Then a Gaussian filter is used to reduce the noise in the image, and the grayscale image is obtained through the binocular vision system. The gray scale map is matched with SAD (Sum of Absolute Differences) in order to obtain the disparity image with comparison. Second, the location information of the obstacle is extracted through the environmental depth information contained in the disparity image, and the improved A* algorithm is used as the path planning algorithm in this paper, which can modify the path of the planning error. Furthermore, the detection experiment of the robot visual obstacle avoidance system was established and the optimal path was obtained. The examples show that, the obstacle avoidance system can complete the task of obstacle detection and give a better path for the mobile robot.

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A Geometric Flow Perspective on Continuous-Depth Networks

SSRN

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SSRN 2024年

作者： Chen, Jun Zhu, Tianyi Liu, Lina Jiang, Yunliang Liu, Yong Zhejiang Normal University Jinhua321004 China China Mobile Research Institute Beijing100032 China Zhejiang Key Laboratory of Intelligent Education Technology and Application Zhejiang Normal University Jinhua321004 China School of Computer Science and Technology Zhejiang Normal University Jinhua321004 China Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

The continuous-depth model, introduced by neural ordinary differential equations, have revived interest in exploring dynamic systems based on deep learning prototypes. The studies employed to investigate their theoretical properties mainly rely on Euclidean space, however, the geometric principle of general neural networks has been developed on the Riemannian manifold. Motivated by this open problem, we construct a formalized geometric theory of continuous-depth networks through the lens of diffeomorphic flows. From this perspective, the Riemannian metric with coordinate representations learned by the continuous-depth network itself is the closed-form solution of diffeomorphic flows. With the presence of ordinary differential equations, the continuous-depth network governs the velocity field to drive the different kinds of data apart from each other, which is a novel observation between the velocity field and data separation. Toy experiments confirm the proposed theory, as well as provide intuitions and visualizations as to how the velocity field governed by continuous-depth networks evolves on the manifold to operate on data. © 2024, The Authors. All rights reserved.

关键词： Ordinary differential equations

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Context-specific miRNA regulation network predicts cancer prognosis

Context-specific miRNA regulation network predicts cancer pr...

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IEEE International Conference on systems Biology

作者： Xionghui Zhou Juan Liu Changning Liu Simon Rayner Fengji Liang Jingfang Ju Yinghui Li Shanguang Chen Jianghui Xiong School of Computer Science Wuhan University Wuhan China Bioinformatics Research Group Key Laboratory of Intelligent Information Processing Advanced Computing Research Laboratory Institute of Computing Technology Chinese Academy of Sciences (CAS) Beijing China Bioinformatics Group State Key Laboratory of Virology Wuhan Institute of Virology Chinese Academy of Sciences (CAS) Wuhan China Bioinformatics Group and Data Coordination Center State Key Laboratory of Space Medicine Fundamentals and Application China Astronaut Research and Training Center Beijing China Department of Pathology Stony Brook University Medical Center New York USA

MicroRNAs can regulate hundreds of target genes and play a pivotal role in a broad range of biological process. However, relatively little is known about how these highly connected miRNAs-target networks are remodelled in the context of various diseases. Here we examine the dynamic alteration of context-specific miRNA regulation to determine whether modified microRNAs regulation on specific biological processes is a useful information source for predicting cancer prognosis. A new concept, Context-specific miRNA activity (CoMi activity) is introduced to describe the statistical difference between the expression level of a miRNA's target genes and non-targets genes within a given gene set (context).

关键词： Breast cancer Context Correlation Biological processes Metastasis Tumors

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A Survey of space robotic Technologies for On-Orbit Assembly

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空间科学与技术（英文） 2023年第3期3卷 291-303页

作者： Delun Li Lou Zhong Wei Zhu Zhipeng Xu Qirong Tang Wenhao Zhan Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringCASTBeijingChina College of Mechanical Engineering Tongji UniversityShanghaiChina National Key Laboratory of Human Factors Engineering China Astronaut Research and Training CenterBeijingChina

The construction of large structures is one of the main development trends of the space exploration in the future,such as large space stations,large space solar power stations,and large space *** is one of important development tendency,which aims to make full use of space robots to assemble space structures autonomously in the aerospace *** that on-orbit assembly is an effective method to solve the problem of construction of large-scale spatial structures,it is necessary to motivate and facilitate the research of space robotics technologies for on-orbit ***,in this paper,the development status of space robot technology and the relevant space robot on-orbit assembly technology in recent decades are ***,based on the space robot motion planning and assembly sequence planning,the development of space robot planning algorithms is *** space robot assembly task,the space robot assembly method is *** the control point of view,how to solve the vibration suppression and compliant assembly of on-orbit assembly is reviewed,which provides a reference for the autonomous intelligent assembly of space robots for large-scale structures in *** order to simulate the space assembly scene on the ground,this paper introduces the development of ground verification experiments and provides ideas for the effective verification of space on-orbit assembly *** summary,though some of these problems have been satisfactorily solved in the past research,further research is still necessary in the ***,it looks forward to the future research direction of space machine on-orbit assembly.

关键词： technologies space assembly on-orbit robotic survey

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Corrections to “Iris Center Localization Using Energy Map With Image Inpaint technology and Post-Processing Correction”

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IEEE Access 2020年 8卷 76595-76595页

作者： Lihong Dai Jinguo Liu Zhaojie Ju Yang Gao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China School of Electronic and Information Engineering University of Science and Technology Liaoning Anshan China School of Computing University of Portsmouth Portsmouth U.K. Space Technology for Autonomous and Robotic Systems Laboratory (STAR LAB) Surrey Space Centre University of Surrey Guildford U.K.

In the above article [1] , the affiliations of authors Lihong Dai and Yang Gao need to be corrected. Moreover, the biography of Yang Gao needs to be corrected. The specific corrections are as follows.

关键词： Robots Biographies Aerospace electronics Automation Manufacturing Research and development Object recognition

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